A portable non-contact landslide deformation and slip surface detection equipment

Abstract

The present invention discloses a portable non-contact landslide deformation and slip surface detection device, which relates to the technical field of drone detection. It includes a drone with landing gears fixed to the bottom; a mounting plate fixed to the lower end surface of the drone 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. 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. The present invention can reduce the swing of the drone during flight through the stabilizing assembly.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicle (UAV) detection, and specifically 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. Firstly, 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 can usually only monitor the deformation of local areas and it is difficult to achieve large-scale and continuous monitoring. Finally, in extreme weather or during 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, the UAV generates a lot of small vibrations during flight, which greatly affects the accuracy of the detection radar. Moreover, the external wind has a great impact on the UAV, and the UAV is prone to tilt during adjustment, resulting in the accuracy of the detection radar reception. In addition, icing is likely to occur on the surface of the detection radar in cold weather, 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 mounted on the mounting plate; an adjusting assembly fixed to the stabilizing assembly, and a detection radar 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 mounted on the lower end surface of the mounting plate and is in 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 mounted 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 mounted 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 damping assembly and rotatable about the Z-axis; a second adjustment arm rotatably provided on the first adjustment arm and rotatable about the Y-axis; a third adjustment arm rotatably provided on the second adjustment arm and rotatable about 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 driving 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 jet 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 driving gear; a plurality of heating rods arranged circumferentially in the annular chamber and the number of heating rods is even; two heating nozzles 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 jet ports is in communication with the circulation ring.

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

[0012] Preferably, the damping 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 damping balls slidably provided in the support ring, and a plurality of damping springs are provided between the damping balls and the support ring, and all the damping balls are in contact with the bottom of the connection disk.

[0013] Preferably, the energy absorption component includes fixing columns, which are configured to be a plurality of, equidistantly fixed on the upper end surface and the side wall of the connection disk. A damping column is slidably provided on each of the fixing columns, an energy absorption spring is provided between the damping column and the fixing column, and the damping 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 driving component composed of the annular bin and the circulation ring in the present invention combines with the directional airflow of the jet port to offset the horizontal deviation during the hover of the drone in real time, greatly improving the detection accuracy of the detection radar. The damping component attenuates the high-frequency vibration generated by the drone motor and the rotor through the synergistic effect of the energy-absorbing spring, the damping ball and the support ring. Combining the rigid connection disk and the split energy-absorbing structure, it reduces the transmission of mechanical vibration to the detection radar, thereby effectively absorbing the flight vibration of the drone and filtering out the high-frequency mechanical vibration, 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 by combining the heating rod and the heating nozzle, it can quickly melt the ice covering the surface of the detection radar 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. 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 stability component in the present invention;

[0019] Figure 4 is a schematic cross-sectional view of the stability component in the present invention;

[0020] In the figure: 1, drone; 2, landing gear; 3, mounting plate; 4, connecting column; 5, stability 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, damping component; 511, annular bin; 512, circulation ring; 513, jet 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, damping column; 524, support ring; 525, 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 surface 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 shock-absorbing assembly 52, the driving assembly 51 is mounted on the lower end surface 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 shock-absorbing 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 surface of the shock-absorbing 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), balancing the offset weights of the driving motors 515 and the air pumps 517, reducing the center-of-gravity offset of the drone 1, and avoiding 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 surface of the shock-absorbing 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-driven 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, they respond to the attitude data of the drone 1 in real time, automatically adjusting the radar pitch angle and azimuth angle to ensure that the beam is always perpendicular to the surface of the landslide body.

[0026] In this embodiment, the driving assembly 51 includes: an annular bin 511 fixed to the lower end face 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, the rotating gear 514 meshing 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 face 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 air pump 517 with the circulation ring 512, high-speed air flow is sprayed in real time to offset the horizontal offset of the drone 1. When the fuselage tilts due to wind, the spraying direction of the spray nozzle 513 is automatically adjusted along with the rotating gear 514 to generate a recoil 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 reverse 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 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 in combination with the fan-shaped spraying heating spray nozzles 519 can quickly melt the ice covering the surface of the radar 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 water vapor on the microwave signal.

[0033] As a preferred embodiment, the vibration damping assembly 52 includes: a connection disk 521, which is installed in the mounting plate 3 by means of 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 vibration damping balls 525, which are slidably arranged in the support ring 524, and a plurality of vibration damping springs are arranged between the vibration damping balls 525 and the support ring 524, and the plurality of vibration 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 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.

[0035] That is to say, through the plurality of vibration 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 port 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 vibration 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 the landslide characteristics 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 sliding 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 sliding surface under complex terrain.

[0038] The above-mentioned 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 and inventive concept of the present invention, makes equivalent replacements 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 device, characterized in that Including: An unmanned aerial vehicle (1) with a landing gear (2) fixed to its bottom; A mounting plate (3) fixed to the lower end face of the unmanned aerial vehicle (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 one 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. Driving motors (515) and air pumps (517) are 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). The adjusting assembly (6) is fixed to the lower end face of the damping assembly (52); The driving assembly (51) includes: An annular bin (511) fixed to the lower end face of the mounting plate (3); A circulation ring (512) rotatably arranged on the outer wall of the annular bin (511); Jet ports (513) configured to be two and 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). The rotating gear (514) meshes with the driving gear (516); Heating rods (518) configured to be multiple and even in number, and circumferentially arranged in the annular bin (511); Heating jet ports (519) configured to be two and symmetrically fixed to the lower end face of the annular bin (511); A plurality of air outlets (5111) are provided between the annular bin (511) and the circulation ring (512). Only one of the two jet ports (513) is in communication with the circulation ring (512); When the wind direction is determined, the driving motor (515) rotates and adjusts the rotating gear (514), so that the jet port (513) in communication with the circulation ring (512) is on the opposite side of the wind direction, thereby forming a reverse blowing airflow to offset the horizontal offset of the unmanned aerial vehicle (1); The heating rods (518) symmetrically distributed in even numbers in the annular bin (511) are combined with the fan-shaped jet heating jet ports (519) to 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.

2. The 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). Counterweight blocks are detachably mounted in the counterweight grooves (31). The counterweight blocks are used for weight balance of the driving motors (515) and the air pumps (517).

3. The portable non-contact landslide deformation and slip surface detection equipment according to claim 1, characterized in that, 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 rotation around the Z axis; The second adjusting arm (62) is rotatably arranged on the first adjusting arm (61), and the rotation direction is around the Y-axis; The third adjusting arm (63) is 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.

4. The portable non-contact landslide deformation and slip surface detection equipment according to claim 1, characterized in that, Both of the two heating nozzles (519) are obliquely arranged, and the nozzle directions face the detection radar (7), and the spraying mode of the heating nozzles (519) is fan-shaped spraying.

5. The portable non-contact landslide deformation and slip surface detection equipment according to claim 1, characterized in that The damping assembly (52) includes: The connecting disk (521) is installed in the mounting plate (3) by a plurality of energy absorption components; The support ring (524) is fixed on the upper end surface of the annular bin (511); The damping balls (525) are configured to be multiple, and 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 all the damping balls (525) are in contact with the bottom of the connecting disk (521).

6. The portable non-contact landslide deformation and slip surface detection equipment according to claim 5, characterized in that, The energy absorption component includes fixing columns (522), which are configured to be multiple and are equidistantly fixed on the upper end surface and the side wall of the connecting disk (521). Damping columns (523) are slidably arranged on all the fixing columns (522). An energy absorption spring is arranged between the damping columns (523) and the fixing columns (522), and the damping columns (523) are slidably connected to the mounting plate (3).

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