Portable non-contact landslide deformation and slip plane detection equipment

Abstract

The invention discloses a portable non-contact landslide deformation and slip plane detection device, and relates to the technical field of unmanned aerial vehicle detection, the portable non-contact landslide deformation and slip plane detection device comprises an unmanned aerial vehicle, and an undercarriage is fixed at the bottom of the unmanned aerial vehicle; the mounting plate is fixed to the lower end face of the unmanned aerial vehicle through four connecting columns; the stabilizing assembly is mounted on the mounting plate; the adjusting assembly is fixed on the stabilizing assembly, and a detection radar is fixed at one end, far away from the stabilizing assembly, of the adjusting assembly; the stabilizing assembly comprises a driving assembly and a vibration reduction assembly, the driving assembly is installed on the lower end face of the installation plate and is of an annular structure as a whole, a driving motor and an air pump are symmetrically distributed on the outer wall of the driving assembly, a driving gear is fixed to the output end of the driving motor, the output end of the air pump communicates with the driving assembly, and the vibration reduction assembly is installed in the installation plate. The adjusting assembly and the driving assembly are coaxially arranged, and the adjusting assembly is fixed to the lower end face of the vibration reduction assembly; the swing of the unmanned aerial vehicle during flight can be reduced through the stabilizing assembly.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicle (UAV) detection, and particularly to a portable non-contact landslide deformation and slip surface detection device. Background Art

[0002] Traditional landslide monitoring technologies mainly rely on contact sensors and manual inspections. However, contact monitoring technologies have many limitations in practical applications. First of all, the installation and maintenance of sensors require a large amount of manpower and material resources, especially in areas with complex terrain and inconvenient transportation, where the construction difficulty is high and the cost is high. Secondly, contact sensors usually can only monitor the deformation of local areas and it is difficult to achieve large-scale and continuous monitoring. Finally, in extreme weather or geological disasters, the sensors are easily damaged, resulting in data interruption or loss, affecting the monitoring effect.

[0003] Existing non-contact detection generally uses a UAV carrying a detection radar for landslide detection. However, when the UAV is flying, it generates a lot of small vibrations by itself, which greatly affects the accuracy of the detection radar. Moreover, the external wind has a great influence on the UAV. When adjusting, the UAV is prone to tilt, resulting in the accuracy of the detection radar reception. And in severe cold conditions, ice is likely to appear on the surface of the detection radar, affecting the detection accuracy.

[0004] In view of the above problems, the present invention provides a portable non-contact landslide deformation and slip surface detection device to solve the above problems. Summary of the Invention

[0005] To achieve the above object, the present invention provides the following technical solution: A portable non-contact landslide deformation and slip surface detection device, comprising: a UAV, with a landing gear fixed to its bottom;

[0006] A mounting plate, fixed to the lower end surface of the UAV by four connecting columns; a stabilizing assembly, installed on the mounting plate; an adjusting assembly, fixed to the stabilizing assembly, and a detection radar is fixed to the end of the adjusting assembly away from the stabilizing assembly. Among them, the stabilizing assembly includes a driving assembly and a damping assembly. The driving assembly is installed on the lower end surface of the mounting plate and is of an overall annular structure. Driving motors and air pumps are symmetrically arranged on its outer wall. The output end of the driving motor is fixed with a driving gear, and the output end of the air pump is communicated with the driving assembly. The damping assembly is installed in the mounting plate and is coaxially arranged with the driving assembly. The adjusting assembly is fixed to the lower end surface of the damping assembly.

[0007] Preferably, a plurality of counterweight grooves are symmetrically opened on both sides of the mounting plate, and counterweight blocks are detachably installed in the counterweight grooves. The counterweight blocks are used for weight balance of the driving motors and the air pumps.

[0008] Preferably, the adjustment assembly includes: a first adjustment arm rotatably provided on the lower end surface of the shock absorption assembly, rotating around the Z axis; a second adjustment arm rotatably provided on the first adjustment arm, rotating around the Y axis; a third adjustment arm rotatably provided on the second adjustment arm, rotating around the X axis; the first adjustment arm, the second adjustment arm and the third adjustment arm are all driven by adjustment motors.

[0009] Preferably, the drive assembly includes: an annular chamber fixed to the lower end surface of the mounting plate; a circulation ring rotatably provided on the outer wall of the annular chamber; two spray ports symmetrically fixed on the circulation ring; a rotating gear rotatably provided on the outer wall of the annular chamber and fixedly connected to the circulation ring, the rotating gear meshing with the drive gear; a plurality of heating rods, the number of which is even, circumferentially arranged in the annular chamber; two heating spray ports symmetrically fixed to the lower end surface of the annular chamber.

[0010] Preferably, a plurality of air outlets are provided between the annular chamber and the circulation ring, and only one of the two spray ports is in communication with the circulation ring.

[0011] Preferably, the two heating spray ports are both inclined and the spray port directions face the detection radar, and the heating spray ports spray in a fan-shaped manner.

[0012] Preferably, the shock absorption assembly includes: a connection disk installed in the mounting plate by a plurality of energy absorption components; a support ring fixed to the upper end surface of the annular chamber; a plurality of shock absorption balls slidably provided in the support ring, and a plurality of shock absorption springs are provided between the shock absorption balls and the support ring, and the plurality of shock absorption balls are all in contact with the bottom of the connection disk.

[0013] Preferably, the energy absorption component includes fixing columns, a plurality of which are equidistantly fixed on the upper end surface and the side wall of the connection disk. A shock absorption column is slidably provided on each of the plurality of fixing columns. An energy absorption spring is provided between the shock absorption column and the fixing column, and the shock absorption column is slidably connected to the mounting plate.

[0014] Compared with the prior art, the present invention provides a portable non-contact landslide deformation and slip surface detection device, which has the following beneficial effects:

[0015] The present invention combines the driving component composed of an annular bin and a circulation ring with the directional airflow of the injection port to offset the horizontal offset during the hovering of the drone in real time, greatly improving the detection accuracy of the detection radar. The vibration damping component attenuates the high-frequency vibration generated by the drone motor and the rotor through the synergistic action of the energy-absorbing spring, the vibration damping ball and the support ring. Combining the rigid connection disk and the split energy-absorbing structure reduces the transmission of mechanical vibration to the detection radar, thereby effectively absorbing the flight vibration of the drone, filtering the high-frequency mechanical vibration, and further improving the detection accuracy of the detection radar. During the detection process, the adjustment component can automatically adjust the radar pitch angle according to the real-time terrain data to ensure that the beam is vertically incident on the rock formation interface, significantly improving the longitudinal depth accuracy of the deformation monitoring. And through the heating rod combined with the heating nozzle, the ice covering the surface of the detection radar can be quickly melted in a low-temperature environment, and the condensation water can be prevented from accumulating through continuous hot air circulation, ensuring the dryness of the radar wave emission surface. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a schematic diagram of the overall structure of the present invention;

[0017] Figure 2 is a schematic diagram of the structure of the adjustment component in the present invention;

[0018] Figure 3 is a schematic diagram of the structure of the stabilization component in the present invention;

[0019] Figure 4 is a sectional view of the stabilization component in the present invention;

[0020] In the figure: 1, drone; 2, landing gear; 3, mounting plate; 4, connecting column; 5, stabilization component; 6, adjustment component; 7, detection radar; 31, counterweight groove; 61, first adjustment arm; 62, second adjustment arm; 63, third adjustment arm; 51, driving component; 52, vibration damping component; 511, annular bin; 512, circulation ring; 513, injection port; 514, rotating gear; 515, driving motor; 516, driving gear; 517, air pump; 518, heating rod; 519, heating nozzle; 5111, air outlet; 521, connection disk; 522, fixed column; 523, vibration damping column; 524, support ring; 525, vibration damping ball. DETAILED DESCRIPTION OF THE INVENTION

[0021] Refer to Figures 1-4, the present invention provides a technical solution: a portable non-contact landslide deformation and slip surface detection device, comprising: a drone 1, with a landing gear 2 fixed to its bottom; a mounting plate 3, fixed to the lower end face of the drone 1 by four connecting columns 4; a stabilizing assembly 5, mounted on the mounting plate 3; an adjusting assembly 6, fixed to the stabilizing assembly 5, and a detection radar 7 is fixed to the end of the adjusting assembly 6 away from the stabilizing assembly 5; wherein, the stabilizing assembly 5 includes a driving assembly 51 and a damping assembly 52, the driving assembly 51 is mounted on the lower end face of the mounting plate 3 and is of an overall annular structure, with driving motors 515 and air pumps 517 symmetrically arranged on its outer wall, the output end of the driving motor 515 is fixed with a driving gear 516, the output end of the air pump 517 is communicated with the driving assembly 51, the damping assembly 52 is mounted in the mounting plate 3 and is coaxially arranged with the driving assembly 51, and the adjusting assembly 6 is fixed to the lower end face of the damping assembly 52.

[0022] In this embodiment, a plurality of counterweight grooves 31 are symmetrically formed on both sides of the mounting plate 3, and counterweight blocks are detachably mounted in the counterweight grooves 31, and the counterweight blocks are used for weight balance of the driving motors 515 and the air pumps 517.

[0023] Among them, the detachable counterweight blocks in the counterweight grooves 31 support dynamic adjustment (such as adding counterweight blocks on the air pump side), balance the offset weights of the driving motors 515 and the air pumps 517, reduce the center-of-gravity offset of the drone 1, and avoid misjudgment of the slip surface caused by the deviation of the radar beam incident angle.

[0024] In this embodiment, the adjusting assembly 6 includes: a first adjusting arm 61, rotatably arranged on the lower end face of the damping assembly 52, and the rotation direction is around the Z axis; a second adjusting arm 62, rotatably arranged on the first adjusting arm 61, and the rotation direction is around the Y axis; a third adjusting arm 63, rotatably arranged on the second adjusting arm 62, and the rotation direction is around the X axis; the first adjusting arm 61, the second adjusting arm 62 and the third adjusting arm 63 are all driven by adjusting motors.

[0025] That is to say, through the three-axis motor driving arms of the first adjusting arm 61, the second adjusting arm 62 and the third adjusting arm 63 in the Z-axis, Y-axis and X-axis directions, the attitude data of the drone 1 are responded to in real time, and the radar pitch angle and azimuth angle are automatically adjusted to ensure that the beam is always vertically incident on the surface of the landslide body.

[0026] In this embodiment, the driving assembly 51 includes: an annular bin 511 fixed to the lower end surface of the mounting plate 3; a circulation ring 512 rotatably arranged on the outer wall of the annular bin 511; two spray nozzles 513 symmetrically fixed on the circulation ring 512; a rotating gear 514 rotatably arranged on the outer wall of the annular bin 511 and fixedly connected to the circulation ring 512, and the rotating gear 514 meshes with the driving gear 516; a plurality of heating rods 518, the number of which is even, circumferentially arranged in the annular bin 511; and two heating spray nozzles 519 symmetrically fixed to the lower end surface of the annular bin 511.

[0027] As a preferred embodiment, a plurality of air outlets 5111 are provided between the annular bin 511 and the circulation ring 512, and only one of the two spray nozzles 513 is in communication with the circulation ring 512.

[0028] Among them, through the linkage of the driving assembly 51 and the circulation ring 512 by the air pump 517, high-speed air flow is sprayed in real time to offset the horizontal offset of the drone 1. When the wind causes the fuselage to tilt, the spraying direction of the spray nozzle 513 is automatically adjusted with the rotating gear 514 to generate a counterflow air flow, providing a dynamic balance force and reducing the attitude angle fluctuation of the drone 1.

[0029] That is to say, when the wind direction is determined, the driving motor 515 rotates and adjusts the rotating gear 514, so that the spray nozzle 513 in communication with the circulation ring 512 is on the opposite side of the wind direction, thereby forming a counter-blowing air flow to offset the horizontal offset of the drone 1.

[0030] As a preferred embodiment, both of the two heating spray nozzles 519 are inclined, and the spray nozzle directions face the detection radar 7, and the heating spray nozzles 519 spray in a fan-shaped manner.

[0031] That is to say, the heating rods 518 symmetrically distributed in even numbers in the annular bin 511 combined with the fan-shaped spraying heating spray nozzles 519 can quickly melt the ice covering the radar surface in a low-temperature environment, and prevent the accumulation of condensed water through continuous hot air circulation, ensuring the dryness of the radar wave emission surface and keeping the detection accuracy in a low-temperature environment consistent with that at normal temperature.

[0032] It should be noted that in a heavy rain environment, the heating rods 518 are in a non-start state. At this time, the heating spray nozzles 519 spray compressed normal-temperature air in a pulse mode to remove rain drops and dust on the lens of the detection radar 7. When the rain stops, the pneumatic heating rods 518 are activated, and the heating spray nozzles 519 spray heating air to disperse the fog, reducing the scattering attenuation of microwave signals by water vapor.

[0033] As a preferred embodiment, the damping assembly 52 includes: a connection disk 521, which is installed in the mounting plate 3 by a plurality of energy absorption components; a support ring 524, which is fixed to the upper end surface of the annular bin 511; a plurality of damping balls 525, which are slidably arranged in the support ring 524, and a plurality of damping springs are arranged between the damping balls 525 and the support ring 524, and the plurality of damping balls 525 are all in contact with the bottom of the connection disk 521.

[0034] As a preferred embodiment, the energy absorption component includes a plurality of fixed columns 522, which are equidistantly fixed to the upper end surface and the side wall of the connection disk 521. A damping column 523 is slidably arranged on each of the plurality of fixed columns 522. An energy absorption spring is arranged between the damping column 523 and the fixed column 522, and the damping column 523 is slidably connected to the mounting plate 3.

[0035] That is to say, through the plurality of damping balls 525, not only can the connection disk 521 be supported, but also the transmission of the vibration of the drone 1 can be reduced. Combining the rigid connection disk 521 with the split energy absorption structure, the transmission of mechanical vibration to the detection radar 7 is reduced.

[0036] Specifically, when it is necessary to detect a landslide, the drone 1 carries the detection radar 7 for detection, which improves the convenience of detection. During detection, the jet orifice 513 of the driving assembly 51 can form a back-blowing airflow, thereby reducing the influence of wind on the attitude of the drone 1. The heating rod 518 and the heating nozzle 519 can ensure the accurate detection of the detection radar 7 in harsh environments. The damping assembly 52 can reduce the transmission of the mechanical vibration of the drone 1 to the detection radar 7 and improve the detection accuracy.

[0037] As a preferred embodiment, when the detection radar 7 is detecting, it can accurately extract landslide features by optimizing the radar wave parameter configuration and combining the deep learning fusion technology of radar point cloud and visual data; based on the dynamic deduction algorithm of the slip surface of real-time monitoring data, and integrating the Cesium platform to complete three-dimensional visualization, integrating intelligent analysis functions, and realizing the detection of landslide deformation and slip surface under complex terrain.

[0038] The above is only the preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution of the present invention and its inventive concept, makes equivalent substitutions or changes, and should be covered by the protection scope of the present invention.

Claims

1. A portable non-contact landslide deformation and slip surface detection equipment, characterized in that: include: A drone (1) having a landing gear (2) fixed at the bottom; A mounting plate (3) fixed to the lower end surface of the drone (1) using four connecting columns (4); A stabilizing assembly (5) mounted on the mounting plate (3); An adjusting component (6) is fixed on the stabilizing component (5), and a detection radar (7) is fixed on an end of the adjusting component away from the stabilizing component (5); The stabilizing component (5) comprises a driving component (51) and a vibration reduction component (52); the driving component (51) is mounted on the lower end surface of the mounting plate (3) and is an annular structure as a whole, and a driving motor (515) and an air pump (517) are symmetrically arranged on the outer wall thereof; a driving gear (516) is fixed to the output end of the driving motor (515); the output end of the air pump (517) is connected to the driving component (51); the vibration reduction component (52) is mounted in the mounting plate (3) and is coaxially arranged with the driving component (51); and the adjusting component (6) is fixed to the lower end surface of the vibration reduction component (52).

2. A portable non-contact landslide deformation and slip surface detection equipment according to claim 1, characterized in that: A plurality of counterweight grooves (31) are symmetrically provided on both sides of the mounting plate (3), and counterweight blocks are detachably installed in the counterweight grooves (31). The counterweight blocks are used to balance the weight of the drive motor (515) and the air pump (517).

3. A portable non-contact landslide deformation and slip surface detection equipment according to claim 1, characterized in that: The regulating component (6) comprises: A first adjustment arm (61) is rotatably arranged on the lower end surface of the vibration reduction assembly (52), and the rotation direction is about the Z axis; A second adjustment arm (62) is rotatably arranged on the first adjustment arm (61), and the rotation direction is around the Y axis; A third adjustment arm (63) is rotatably arranged on the second adjustment arm (62), and the rotation direction is rotation around the X-axis; The first adjustment arm (61), the second adjustment arm (62) and the third adjustment arm (63) are all driven by adjustment motors.

4. A portable non-contact landslide deformation and slip surface detection equipment according to claim 1, characterized in that: The driving assembly (51) comprises: An annular bin (511) fixed to the lower end surface of the mounting plate (3); A circulation ring (512) rotatably disposed on the outer wall of the annular bin (511); The injection ports (513) are configured as two and symmetrically fixed on the circulation ring (512); a rotating gear (514) rotatably disposed on the outer wall of the annular bin (511) and fixedly connected to the circulation ring (512), the rotating gear (514) being meshed with the driving gear (516); The heating rods (518) are configured as a plurality of heating rods (518), the number of which is an even number, and are arranged in a circle in the annular chamber (511); The heating nozzles (519) are configured as two and are symmetrically fixed on the lower end surface of the annular chamber (511).

5. A portable non-contact landslide deformation and slip surface detection equipment according to claim 4, characterized in that: A plurality of air outlets (5111) are provided between the annular chamber (511) and the circulation ring (512), and only one of the two injection ports (513) is in a communicating state with the circulation ring (512).

6. A portable non-contact landslide deformation and slip surface detection equipment according to claim 4, characterized in that: The two heating nozzles (519) are arranged obliquely, and the nozzle direction is toward the detection radar (7), and the heating nozzle (519) sprays in a fan-shaped manner.

7. A portable non-contact landslide deformation and slip surface detection device according to claim 4, characterized in that: The vibration reduction assembly (52) comprises: A connecting plate (521) is installed in the mounting plate (3) using a plurality of energy absorbing components; A support ring (524) fixed to the upper end surface of the annular bin (511); The vibration-damping balls (525) are configured as a plurality and are slidably disposed in the support ring (524), and a plurality of vibration-damping springs are disposed between the support ring (524), and the plurality of vibration-damping balls (525) are all in contact with the bottom of the connection plate (521).

8. The portable non-contact landslide deformation and slip surface detection equipment according to claim 7 is characterized in that: The energy absorption component comprises a plurality of fixed columns (522) which are arranged to be equidistantly fixed on the upper end surface and the side wall of the connection plate (521); a vibration-damping column (523) is slidably arranged on each of the plurality of fixed columns (522); an energy absorption spring is arranged between the vibration-damping column (523) and the fixed column (522); and the vibration-damping column (523) is slidably connected to the mounting plate (3).

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