In-situ testing apparatus and method for free-fall sediments

Abstract

The application discloses a kind of throw-in sediment in-situ testing device and method, it belongs to geotechnical test equipment technical field, throw-in sediment in-situ testing device includes probe, probe rod, control cabin and lifting ring sequentially from bottom to top, signal transceiver component includes slide bar, transceiver and connecting line, slide bar is movably connected with control cabin, transceiver is arranged at the top of slide bar, one end of connecting line is connected with slide bar, the other end of connecting line is used to connect unmanned aerial vehicle;Speed reduction mechanism includes speed reduction umbrella and drive assembly, speed reduction umbrella includes framework and umbrella leaf, framework is rotatably connected with control cabin, one end of umbrella leaf is connected with control cabin, the other end of umbrella leaf is connected with framework, drive assembly can drive framework to stretch out to the outer periphery of control cabin to drive umbrella leaf to unfold.Throw-in sediment in-situ testing method uses the above-mentioned throw-in sediment in-situ testing device.Umbrella leaf plays the role of speed reduction, avoids that probe is impacted by greater when penetrating into soil body.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of geotechnical test equipment, and particularly relates to a falling type sediment in-situ test device and method. BACKGROUND

[0002] In recent years, with the rapid development of infrastructure construction, the demand for engineering geological survey is increasing. In order to ensure the construction and operation safety of various engineering facilities, the mechanical strength of the surface loose soil layer must be measured accurately, efficiently and economically. In-situ sounding technology is often used to obtain the in-situ mechanical parameters of the foundation soil, providing a basis for engineering design.

[0003] The conventional in-situ sounding methods include static sounding and dynamic sounding. Due to the limitations of terrain, soil characteristics and equipment requirements, it is difficult to use in special scenarios, such as mud, marsh and other ultra-soft ground with extremely low bearing capacity, which makes the static sounding equipment unable to be stably supported, and the dynamic sounding equipment is difficult to operate manually.

[0004] In the process of dynamic sounding, the test equipment needs to be released at a high place, so that the test equipment falls freely and penetrates into the soil. During the high-speed falling process, the test equipment penetrates into the soil and produces high-speed impact with the soil, which causes the mismatch between the data acquisition frequency and the soil impact response, affects the accuracy of the test results, and the high-speed impact easily causes the damage of the test equipment. SUMMARY

[0005] The present application aims to provide a falling type sediment in-situ test device and method to solve the technical problems that the test equipment penetrates into the soil during the high-speed falling process, produces high-speed impact with the soil, causes the mismatch between the data acquisition frequency and the soil impact response, affects the accuracy of the test results, and the high-speed impact easily causes the damage of the test equipment in the prior art.

[0006] As conceived above, the technical solution adopted by the present application is:

[0007] A falling type sediment in-situ test device, comprising a probe, a probe rod, a control cabin and a lifting ring arranged in sequence from bottom to top, wherein the control cabin is provided with a control assembly, a three-axis attitude sensor and a power supply, and the power supply can supply power to the control assembly and the three-axis attitude sensor.

[0008] The in-situ testing device for the falling sediment further comprises a signal transceiver assembly, including a slide rod, a transceiver and a connecting line, the slide rod is arranged on the top of the control cabin and movably connected with the control cabin, the transceiver is arranged on the top end of the slide rod and electrically connected with the control assembly, one end of the connecting line is connected with the slide rod, and the other end of the connecting line is used for connecting the unmanned aerial vehicle; and a deceleration mechanism, including a deceleration umbrella and a driving assembly, the deceleration umbrella includes a framework and umbrella leaves, the framework is rotatably connected with the control cabin, one end of the umbrella leaves is connected with the control cabin, and the other end of the umbrella leaves is connected with the framework, and the driving assembly can drive the framework to stretch out to the outer periphery of the control cabin to drive the umbrella leaves to unfold.

[0009] As preferred, the framework is rotatably connected with the control cabin and a torsional spring is arranged between the framework and the control cabin, the driving assembly includes a sleeve, a driving rod, an electromagnetic rod and an elastic member, the driving rod is arranged in the sleeve, the elastic member is arranged between the driving rod and the sleeve and fixed to one end of the driving rod, the electromagnetic rod limits the elastic member at a compressed position when energized, and the elastic member is released to make the driving rod pop out to push the framework to rotate to the outer periphery of the control cabin when the electromagnetic rod is de-energized.

[0010] As preferred, a first limiting groove is arranged on the driving rod, the rod body of the electromagnetic rod is inserted into the first limiting groove to limit the elastic member at a compressed position when the electromagnetic rod is energized, and the rod body is separated from the first limiting groove to release the elastic member when the electromagnetic rod is de-energized.

[0011] As preferred, a limiting protrusion is arranged on the end of the driving rod away from the framework, the limiting protrusion is located outside the sleeve, and the limiting protrusion can abut against the sleeve when the driving rod pops out.

[0012] As preferred, the framework extends in an arc shape, and a guide arc surface is arranged on the end of the driving rod, the guide arc surface abuts against the framework or the driving rod is slidably connected with the framework.

[0013] As preferred, the framework is rotatably connected with the control cabin and a torsional spring is arranged between the framework and the control cabin, a second limiting groove is arranged on the framework, and the driving assembly includes an electromagnetic rod, the rod body of the electromagnetic rod is inserted into the second limiting groove to limit the framework at a first position when the electromagnetic rod is energized, and the rod body is separated from the second limiting groove, and the framework stretches out to the outer periphery of the control cabin under the action of the torsional spring when the electromagnetic rod is de-energized.

[0014] As preferred, the deceleration mechanism includes at least two groups of the deceleration umbrella, each group of the deceleration umbrella is arranged at intervals around the circumference of the control cabin, and one group of the driving assembly is arranged corresponding to each group of the deceleration umbrella.

[0015] As preferred, a plurality of guide plates are arranged on the outer circumferential surface of the control cabin at intervals.

[0016] As preferred, the probe comprises a connecting rod and a probe body connected with each other, the connecting rod is connected with the probe rod, and the cross-sectional area of the probe body gradually increases and then gradually decreases along the direction from top to bottom.

[0017] A method for in-situ testing of falling sediment, using the in-situ testing device for falling sediment as described above, comprising:

[0018] The unmanned aerial vehicle carries a plurality of in-situ testing devices for falling sediment to the working site, drops one in-situ testing device for falling sediment at each set position, and when falling, the slide rod is in the retracted state and connected with the unmanned aerial vehicle through the connecting line, the connecting line is in the slack state, the deceleration parachute is in the retracted state, and the three-axis attitude sensor can obtain the falling speed.

[0019] The in-situ testing device for falling sediment accelerates downward movement under the action of its own gravity, the connecting line gradually switches to the tension state and pulls the slide rod to switch to the extended state, so that the transceiver is away from the control cabin, and the in-situ testing device for falling sediment continues to descend, causing the connecting line to break due to excessive force.

[0020] When the falling speed is greater than or equal to the first set speed value, the control assembly controls the driving assembly to drive the skeleton to extend to the outer circumference of the control cabin to drive the umbrella leaves to unfold according to the deceleration signal.

[0021] During the falling of the in-situ testing device for falling sediment, the three-axis attitude sensor records the acceleration in three directions, and when the acceleration collected by the three-axis attitude sensor is 0 and remains unchanged within the first set time length, the probe penetrates into the soil body and stops moving.

[0022] The in-situ testing device for falling sediment has the following beneficial effects:

[0023] The in-situ testing device for falling sediment provided by the application comprises a probe, a probe rod, a control cabin and a lifting ring arranged in sequence from bottom to top, the control cabin is internally provided with a control assembly, a three-axis attitude sensor and a power supply, the power supply can supply power to the control assembly and the three-axis attitude sensor; the signal transceiving assembly comprises a sliding rod, a transceiver and a connecting line, the sliding rod is arranged at the top of the control cabin and movably connected with the control cabin, the transceiver is arranged at the top end of the sliding rod and electrically connected with the control assembly, one end of the connecting line is connected with the sliding rod, and the other end of the connecting line is used for connecting the unmanned aerial vehicle; in the falling process, the connecting line is gradually switched to a tensioned state and pulls the sliding rod to switch to an extended state, the connecting line is disconnected due to excessive force, the sliding rod can be extended so that the transceiver is away from the control cabin, and it is ensured that the transceiver is always located above the soil body when the probe penetrates into the soil body, so that signals can be smoothly transmitted and received; the speed reduction mechanism comprises a speed reduction umbrella and a driving assembly, the speed reduction umbrella comprises a framework and umbrella leaves, the framework is rotationally connected with the control cabin, one end of the umbrella leaves is connected with the control cabin, and the other end of the umbrella leaves is connected with the framework, when the falling speed is greater than or equal to a first set speed value, the control assembly controls the driving assembly to drive the framework to extend to the outer periphery of the control cabin according to a speed reduction signal to drive the umbrella leaves to unfold, the umbrella leaves are subjected to air resistance, thus playing a role in reducing the speed of the whole device, avoiding that the probe is subjected to a larger impact when penetrating into the soil body, ensuring the accuracy of the test result, and avoiding that the device is damaged due to high-speed impact. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 FIG. 1 is a structural schematic diagram of the in-situ testing device for falling sediment provided by the embodiment one of the application;

[0025] Figure 2 FIG. 2 is a sectional view of the in-situ testing device for falling sediment provided by the embodiment one of the application;

[0026] Figure 3 FIG. 3 is a sectional view of part of the structure of the in-situ testing device for falling sediment provided by the embodiment one of the application;

[0027] Figure 4 FIG. 4 is a first schematic diagram of the speed reduction umbrella in a retracted state provided by the embodiment one of the application;

[0028] Figure 5 FIG. 5 is a second schematic diagram of the speed reduction umbrella in a retracted state provided by the embodiment one of the application;

[0029] Figure 6 FIG. 6 is a first schematic diagram of the speed reduction umbrella in an unfolded state provided by the embodiment one of the application;

[0030] Figure 7 FIG. 7 is a second schematic diagram of the speed reduction umbrella in an unfolded state provided by the embodiment one of the application;

[0031] Figure 8 FIG. 8 is a first sectional view of the driving assembly provided by the embodiment one of the application;

[0032] Figure 9 Fig. 2 is a second sectional view of the driving assembly provided by the first embodiment of the present application;

[0033] Figure 10 Fig. 3 is a first schematic view of the speed reduction umbrella in a retracted state provided by the second embodiment of the present application;

[0034] Figure 11 Fig. 4 is a second schematic view of the speed reduction umbrella in a retracted state provided by the second embodiment of the present application.

[0035] Fig. 5 is a schematic view of the control cabin provided by the second embodiment of the present application;

[0036] 10, probe; 11, connecting rod; 12, probe body; 121, cone part; 122, frustum part;

[0037] 20, probe rod;

[0038] 30, control cabin; 31, cabin top cover; 32, upper cabin body; 33, lower cabin body;

[0039] 40, control assembly; 41, signal transmission module; 42, speed reduction control module; 43, data processing module;

[0040] 50, three-axis attitude sensor;

[0041] 60, power supply; 70, lifting ring;

[0042] 80, signal transceiver assembly; 81, sliding rod; 82, transceiver;

[0043] 90, speed reduction mechanism; 91, speed reduction umbrella; 911, framework; 9111, second limiting groove; 912, umbrella leaf; 92, driving assembly; 921, sleeve; 922, driving rod; 9221, first limiting groove; 9222, guide camber; 9223, limiting protrusion; 923, electromagnetic rod; 924, elastic member;

[0044] 110, mounting table; 120, threading pipe; 130, rubber plug; 140, flow guide plate. DETAILED DESCRIPTION

[0045] Embodiments of the present application are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference signs represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and are intended to explain the present application, and cannot be understood as a limitation of the present application.

[0046] In the description of the present application, unless otherwise explicitly specified and limited, the terms "connected", "connected", "fixed" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0047] In the present application, unless otherwise explicitly specified and limited, the first feature "on" or "under" the second feature can include that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, the first feature "on", "above" and "above" the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature "under", "below" and "below" the second feature includes that the first feature is directly below and obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0048] The technical solutions of the present application will be further illustrated by specific embodiments in conjunction with the drawings.

[0049] Referring to Figures 1 to 9 , the embodiment provides a throw-in sediment in-situ testing device, which comprises a probe 10, a probe rod 20, a control cabin 30 and a lifting ring 70 arranged in sequence from bottom to top, the control cabin 30 is provided with a control assembly 40, a three-axis attitude sensor 50 and a power supply 60, the power supply 60 can supply power to the control assembly 40 and the three-axis attitude sensor 50; further comprising a signal transceiver assembly 80 and a speed reduction mechanism 90, the signal transceiver assembly 80 comprises a slide rod 81, a transceiver 82 and a connecting line, the slide rod 81 is arranged at the top of the control cabin 30 and is movably connected with the control cabin 30, the transceiver 82 is arranged at the top end of the slide rod 81 and is electrically connected with the control assembly 40, one end of the connecting line is connected with the slide rod 81, and the other end of the connecting line is used for connecting a unmanned aerial vehicle; the speed reduction mechanism 90 comprises a speed reduction umbrella 91 and a driving assembly 92, the speed reduction umbrella 91 comprises a framework 911 and umbrella leaves 912, the framework 911 is rotatably connected with the control cabin 30, one end of the umbrella leaves 912 is connected with the control cabin 30, and the other end of the umbrella leaves 912 is connected with the framework 911, the driving assembly 92 can drive the framework 911 to stretch out to the outer periphery of the control cabin 30 to drive the umbrella leaves 912 to unfold.

[0050] During the falling process, the connecting line gradually switches to the tension state and pulls the slide rod 81 to switch to the extended state, the connecting line is disconnected due to excessive force, the slide rod 81 can be extended to make the transceiver 82 away from the control cabin 30, so that the transceiver 82 is always located above the soil when the probe 10 penetrates into the soil, so that the signal can be smoothly transmitted and received; when the falling speed is greater than or equal to the first set speed value, the control assembly 40 controls the driving assembly 92 to drive the skeleton 911 to extend to the outer periphery of the control cabin 30 to drive the umbrella leaf 912 to unfold according to the deceleration signal, the umbrella leaf 912 is subjected to air resistance, so that the whole device is decelerated, avoiding that the probe 10 is subjected to a larger impact when penetrating into the soil, ensuring the accuracy of the test result, and avoiding that the device is damaged due to high-speed impact.

[0051] The unmanned aerial vehicle is used to carry out the operation, which effectively reduces the dependence on the working condition and significantly expands the operation window period. Compared with the traditional self-falling sounding technology, the unmanned aerial vehicle is used to lay the equipment, which improves the test accuracy and reduces the overall cost of the survey operation. By setting the deceleration mechanism 90, the test accuracy is improved, the problem of insufficient data acquisition frequency caused by super-high-speed movement during the falling process of the unmanned aerial vehicle is solved, the accuracy and reliability of the test result are ensured, the equipment damage is prevented, the impact force on the equipment during the falling sounding process is significantly reduced, the service life of the equipment is prolonged, and the operation safety is improved. It has significant advantages in improving the operation flexibility, reducing the cost, improving the test accuracy and equipment durability, and is suitable for wide application in the field of land resource development and engineering construction.

[0052] Specifically, the unmanned aerial vehicle carries the falling type in-situ sediment test device to the working site, and drops the falling type in-situ sediment test device at the set position. During the falling process, the three-axis attitude sensor 50 records the acceleration in three directions and transmits the data to the control assembly 40, and the control assembly 40 can calculate and obtain the speed, displacement and other data according to the acceleration data. The three-axis attitude sensor 50 is an existing sensor, including a three-axis gyroscope, a three-axis accelerometer, a three-axis electronic compass and other motion sensors, and its working principle is a conventional technology, which will not be described here. The transceiver 82 is an existing signal conversion device, which can realize signal transmission between the control assembly 40 and the unmanned aerial vehicle, and can realize wireless connection by using existing Internet of Things technology.

[0053] In the embodiment, the frame 911 is rotationally connected with the control cabin 30 and a torsion spring is arranged between the frame 911 and the control cabin 30, and the driving assembly 92 can adopt a current motor and transmission mechanism. In order to save space and reduce weight, the driving assembly 92 in the embodiment includes a sleeve 921, a driving rod 922, an electromagnetic rod 923 and an elastic member 924, the driving rod 922 is arranged in the sleeve 921, the elastic member 924 is arranged between the driving rod 922 and the sleeve 921 and is fixed to one end of the driving rod 922, the electromagnetic rod 923 limits the elastic member 924 in the compressed position when energized, and releases the elastic member 924 to make the elastic member 924 drive the driving rod 922 to pop out to push the frame 911 to rotate to the outer periphery of the control cabin 30 when de-energized. When the falling speed is greater than or equal to the first set speed value, the control assembly 40 controls the electromagnetic rod 923 to be de-energized to release the elastic member 924 according to the speed reduction signal, so that the elastic member 924 drives the driving rod 922 to pop out to push the frame 911 to rotate to the outer periphery of the control cabin 30. Since the frame 911 is rotationally connected with the control cabin 30 and a torsion spring is arranged between the frame 911 and the control cabin 30, the driving rod 922 pushes the frame 911 to overcome the elastic force of the torsion spring to realize the pop-out rotation of the frame 911 to the outer periphery of the control cabin 30.

[0054] For example, the driving rod 922 is provided with a first limiting groove 9221, the rod body of the electromagnetic rod 923 is inserted into the first limiting groove 9221 to limit the elastic member 924 in the compressed position when the electromagnetic rod 923 is energized, and the rod body is separated from the first limiting groove 9221 to release the elastic member 924 when the electromagnetic rod 923 is de-energized. When the electromagnetic rod 923 is energized, the rod body of the electromagnetic rod 923 is inserted into the first limiting groove 9221 to limit the driving rod 922, and at the same time, the elastic member 924 is kept in the compressed position. One end of the elastic member 924 is fixed to the driving rod 922, and the other end abuts against or is fixedly connected with the sleeve 921. When the electromagnetic rod 923 is de-energized, the rod body is separated from the first limiting groove 9221, and the elastic member 924 is opened under the action of its own elastic force. The elastic member 924 can adopt a current spring.

[0055] In the embodiment, the frame 911 extends in an arc shape, the end of the driving rod 922 is provided with a guide arc surface 9222, the guide arc surface 9222 abuts against the frame 911, or the driving rod 922 is slidingly connected with the frame 911, as long as the driving rod 922 can push the frame 911 to rotate when it pops out and does not get stuck. The guide arc surface 9222 is arranged to better fit the frame 911.

[0056] The end of the driving rod 922 away from the frame 911 is provided with a limiting protrusion 9223, the limiting protrusion 9223 is located outside the sleeve 921, and the limiting protrusion 9223 can abut against the sleeve 921 when the driving rod 922 pops out. The limiting protrusion 9223 limits the driving rod 922 to prevent the driving rod 922 from being separated from the sleeve 921.

[0057] In other embodiments, the skeleton 911 can be slidably connected with the control cabin 30, and the driving assembly 92 can adopt existing air cylinders, hydraulic cylinders, etc. to drive the skeleton 911 to move linearly and extend out of the control cabin 30.

[0058] The umbrella leaves 912 are selected from flexible woven fabrics or other soft materials with high density to form a large wind resistance. Before being unfolded, the umbrella leaves 912 can be folded in the control cabin 30 to save the device volume and space. The umbrella leaves 912 can be in a fan-shaped structure and have a large windward area when being unfolded to slow down the wind. The umbrella leaves 912 with different areas can be replaced according to needs to be laid flat or form a wind scoop in operation. The umbrella leaves 912 form a wind scoop, i.e. the umbrella leaves 912 are convex upward under the action of air to have a greater slowing effect.

[0059] The slide rod 81 is slidably connected with the control cabin 30. Before being thrown, the slide rod 81 is in a retracted state to reduce the device volume and space occupation. During the falling process, the slide rod 81 is pulled out by the connecting line to make the transceiver 82 away from the control cabin 30, so that the transceiver 82 is always above the soil when the probe 10 penetrates into the soil to smoothly receive and transmit signals. The length of the connecting line can be set according to actual needs.

[0060] The control cabin 30 includes a cabin top cover 31, an upper cabin body 32 and a lower cabin body 33 arranged in sequence from top to bottom. The cabin top cover 31 is threadedly connected with the upper cabin body 32 and a first sealing ring is arranged between the cabin top cover 31 and the upper cabin body 32. The upper cabin body 32 is threadedly connected with the lower cabin body 33 and a second sealing ring is arranged between the upper cabin body 32 and the lower cabin body 33. The lifting ring 70 is arranged on the top of the cabin top cover 31, and the slide rod 81 can slide upward along the cabin top cover 31 to extend out.

[0061] The skeleton 911 and the umbrella leaves 912 are arranged in the cabin top cover 31. The cabin top cover 31 can adopt a split structure to facilitate installation and disassembly of the skeleton 911. Exemplarily, the cabin top cover 31 includes a base and a cover plate connected with each other, and the base and the cover plate enclose an installation cavity in which the skeleton 911 and the umbrella leaves 912 are arranged.

[0062] The control assembly 40 includes a signal transmission module 41, a speed reduction control module 42 and a data processing module 43. The signal transmission module 41 is a component commonly used in electronic systems to send, receive or forward signals, which can adopt wired transmission or wireless transmission. The speed reduction control module 42 is used to control the start and stop or on-off of the driving assembly 92, which can adopt an electromagnetic switch. The data processing module 43 is provided with a data processing program to process data, and the specific working principle is prior art.

[0063] The triaxial attitude sensor 50, the deceleration control module 42 and the data processing module 43 are arranged in the lower cabin body 33, and the power supply 60 and the signal transmission module 41 are arranged in the upper cabin body 32. The power supply 60 is convenient for supplying power to the transceiver 82, and the signal transmission module 41 is convenient for receiving the signal of the transceiver 82. The power supply 60 can adopt an existing battery, and the electromagnetic rod 923 is powered by the battery.

[0064] The signal transmission module 41 is arranged between the power supply 60 and the cabin top cover 31. The reason for such arrangement is to meet the operation requirements of different drop heights, and a filler can be arranged therein to increase the self-gravity of the entire device.

[0065] The control cabin 30 is provided with a mounting table 110, the triaxial attitude sensor 50 is arranged on the lower side of the mounting table 110, and the control assembly is arranged on the upper side of the mounting table 110. By arranging the mounting table 110, the triaxial attitude sensor 50 is convenient to install, the space inside the control cabin 30 is saved, higher value is realized by using limited space, and mutual interference between the triaxial attitude sensor 50 and the control assembly during testing can be avoided.

[0066] Specifically, the mounting table 110 is provided with at least three mounting holes, the triaxial attitude sensor 50 is connected with the mounting table 110 through a locking piece, and the locking piece is locked in the mounting hole. The mounting table 110 and the control cabin 30 can be fixed by welding.

[0067] The triaxial attitude sensor 50 and the probe rod 20 are arranged at intervals. The reason for such arrangement is to meet the operation requirements of different drop heights, and a filler can be arranged therein to increase the self-gravity of the entire device.

[0068] The control cabin 30 is provided with a wire pipe 120 for threading transmission lines such as signal transmission lines and data transmission lines. Specifically, the wire pipe 120 is located in the upper cabin body 32. The upper cabin body 32 is provided with a mounting hole, the wire pipe 120 is threaded in the mounting hole, and a rubber plug 130 is arranged between the outer periphery of the wire pipe 120 and the inner wall of the mounting hole. By arranging the rubber plug 130, different diameters of the wire pipe 120 are convenient to install, and the sealing property inside can be guaranteed to prevent soil or water from entering the inside. A flexible protection structure is arranged between the wire pipe 120 and the signal transmission module 41.

[0069] A plurality of guide plates 140 are arranged at intervals on the outer periphery of the control cabin 30. The reason for such arrangement is to change the direction of airflow to generate control force, stabilize the drop posture, ensure vertical drop, and guarantee reliable measurement data.

[0070] The probe 10 comprises a connecting rod 11 and a probe body 12 connected with each other, the connecting rod 11 is connected with the probe rod 20, and the cross-sectional area of the probe body 12 gradually increases and then gradually decreases in the direction from top to bottom. The probe body 12 is not in the common conical shape, so as to ensure that the stress during the penetration into the soil is mainly the tip resistance.

[0071] Specifically, the probe body 12 comprises a cone part 121 and a frustum part 122, the cone part 121 is arranged at the bottom end of the frustum part 122 and the tip is downward.

[0072] The connecting rod 11 is threadedly connected with the probe rod 20 and the third sealing ring is clamped between the connecting rod 11 and the probe rod 20, so that the connecting rod 11 and the probe rod 20 are convenient to disassemble and replace and the sealing property is ensured, and water or dust is prevented from entering the inside of the probe 10. The probe rod 20 is threadedly connected with the control cabin 30 and the fourth sealing ring is clamped between the probe rod 20 and the control cabin 30, so that the probe rod 20 and the control cabin 30 are convenient to disassemble and replace and the sealing property is ensured, and water or dust is prevented from entering the inside of the control cabin 30. The outer diameter of the connecting rod 11 is equal to the outer diameter of the probe rod 20. The probe 10 can be replaced by different types of structures according to actual needs.

[0073] The speed reduction mechanism 90 comprises at least two groups of speed reduction umbrellas 91, each group of speed reduction umbrellas 91 is arranged at intervals in the circumferential direction of the control cabin 30, and a group of driving assemblies 92 is arranged corresponding to each group of speed reduction umbrellas 91. Each speed reduction umbrella 91 can be opened synchronously or in sequence.

[0074] In the embodiment, the speed reduction mechanism 90 comprises four groups of speed reduction umbrellas 91, the four groups of speed reduction umbrellas 91 are arranged at intervals in the circumferential direction of the control cabin 30, and a group of driving assemblies 92 is arranged corresponding to each group of speed reduction umbrellas 91.

[0075] The embodiment further provides a falling-type sediment in-situ testing method, which adopts the falling-type sediment in-situ testing device and comprises the following steps:

[0076] The unmanned aerial vehicle carries a plurality of falling-type sediment in-situ testing devices to the working site, drops one falling-type sediment in-situ testing device at each set position, and in the process of dropping, the slide rod 81 is in the retracted state and is connected with the unmanned aerial vehicle through the connecting line, the connecting line is in the relaxed state, the speed reduction umbrella 91 is in the retracted state, and the three-axis attitude sensor 50 can acquire the falling speed.

[0077] Under the action of gravity, the falling-type sediment in-situ testing device accelerates downward movement, the connecting line gradually switches to the tension state and pulls the slide rod 81 to switch to the extended state, so that the transceiver 82 is away from the control cabin 30, and the falling-type sediment in-situ testing device continues to drop, causing the connecting line to be disconnected due to excessive stress.

[0078] When the falling speed is greater than or equal to the first set speed value, the control assembly 40 controls the driving assembly 92 to drive the skeleton 911 to extend to the outer periphery of the control cabin 30 to drive the umbrella leaf 912 to unfold according to the speed reduction signal.

[0079] During the falling process of the drop-type in-situ sediment test device, the triaxial attitude sensor 50 records the acceleration in three directions. When the acceleration collected by the triaxial attitude sensor 50 is 0 and remains unchanged within a first set time length, the probe 10 penetrates into the soil body and stops moving.

[0080] According to different operation requirements, different unmanned aerial vehicle models and the number of suspended test devices are selected. The number of drop-type in-situ sediment test devices that can be carried by the unmanned aerial vehicle is determined according to actual conditions. In order to ensure the balance in the work project, the number is generally 5-10.

[0081] During the falling process, the entire device is subjected to the action of its own gravity and air resistance, and moves at an accelerated or first accelerated and then decelerated speed, until the probe 10 stops moving after penetrating into the soil body by a certain distance. When the probe 10 contacts the surface of the soil body, the downward acceleration begins to decrease and gradually decreases to 0. The direction of acceleration changes, and the upward acceleration first increases and then decreases to 0. When the acceleration is 0 and remains unchanged within a first set time length, it indicates that the probe 10 penetrates into the soil body and stops moving. The first set time length can be set according to requirements, for example, 2 min.

[0082] During the falling process, the triaxial attitude sensor 50 records the acceleration change in the movement process. The data processing module 43 calculates and obtains the speed data according to the acceleration data obtained by the triaxial attitude sensor 50 and transmits the speed data to the signal processing module. The signal transmission module 41 sends a deceleration signal to the deceleration control module 42, and the deceleration control module 42 controls the electromagnetic rod 923 to be powered off.

[0083] In the actual data processing process, the data of the ten seconds before and after the probe 10 reaches the surface of the soil body can be collected and transmitted to the data processing module 43. The data processing module 43 can obtain soil body parameters such as soil body strength according to the built-in data processing program. The soil body parameters are transmitted to the transceiver 82 through the data transmission line in the threading pipe 120, and the transceiver 82 sends the soil body parameters to the unmanned aerial vehicle. After receiving the soil body parameters, the unmanned aerial vehicle can move to the next set position for operation.

[0084] The drop-type in-situ sediment test device provided in the embodiment can obtain various data through testing by the drop method. The data can be processed according to actual needs. The data can be processed by using existing data processing methods.

[0085] Exemplarily, the data processing module 43 calculates the soil parameters according to the acceleration data obtained by the triaxial attitude sensor 50. Since there is a moment when the acceleration returns to the value 0 during the penetration of the soil, the acceleration can be reversely integrated to obtain the velocity and displacement of the falling process during the data processing. Exemplarily, the calculation formula of the velocity is wherein v is the velocity of the test device at the time t, m / s; v0 is the initial velocity, m / s; and a is the acceleration about time obtained according to the acceleration obtained by the triaxial attitude sensor 50. The calculation formula of the displacement is wherein s is the displacement of the test device at the time t, m; s0 is the initial displacement, m; and v(t) is the velocity about time calculated according to the calculation formula of the velocity.

[0086] The data processing module 43 can directly calculate the penetration resistance by the acceleration measured by the triaxial attitude sensor 50 by relying on the fixed program, and the relationship is as follows: mg-q cv =ma. Wherein m is the mass of the falling sediment in-situ test device, kg; g is the acceleration of gravity, m / s 2 ; a is the acceleration obtained by the triaxial attitude sensor 50, m / s 2 ; q cv is the penetration resistance, N.

[0087] During the penetration of the soil by the falling sediment in-situ test device, the tip resistance is affected by the velocity, and the data processing module 43 corrects the obtained strength data to obtain the quasi-static penetration resistance. The correction method is built in the data processing module 43, and the conventional correction method can be used to correct the data.

[0088] During the falling process, if the triaxial attitude sensor 50 detects that the inclination angle of the whole device is greater than the first set angle, it indicates that the inclination angle is large and the vertical penetration cannot be realized, and the measured data can be inaccurate, and the test can be performed again.

[0089] After the test is completed, the test device can be recycled, and the skeleton 911 can be manually pushed back during the recycling.

[0090] Embodiment Two

[0091] Figure 10 and Figure 11Embodiment two is shown, wherein the same or corresponding parts as those in embodiment one adopt the corresponding reference numerals in embodiment one. For the sake of simplicity, only the difference between embodiment two and embodiment one is described. The difference lies in that the skeleton 911 is rotatably connected with the control cabin 30 and a torsion spring is arranged between the two, the skeleton 911 is provided with a second limiting slot 9111, the driving assembly 92 comprises an electromagnetic rod 923, when the electromagnetic rod 923 is electrified, the rod body of the electromagnetic rod 923 is inserted into the second limiting slot 9111 to limit the skeleton 911 at the first position, when the electromagnetic rod 923 is de-energized, the rod body is separated from the second limiting slot 9111, and the skeleton 911 is stretched to the outer periphery of the control cabin 30 under the action of the torsion spring. When the falling speed is greater than or equal to the first set speed value, the control assembly 40 controls the electromagnetic rod 923 to be de-energized according to the deceleration signal.

[0092] When the electromagnetic rod 923 is electrified, the rod body of the electromagnetic rod 923 is inserted into the second limiting slot 9111, at this time, the torsion spring is in a compressed state, and due to the limiting of the rod body to the skeleton 911, the skeleton 911 is located in the control cabin 30; when the electromagnetic rod 923 is de-energized, the rod body is separated from the second limiting slot 9111, and the skeleton 911 is stretched to the outer periphery of the control cabin 30 under the action of the torsion spring.

[0093] The above embodiments only illustrate the basic principles and characteristics of the present application, and the present application is not limited to the above embodiments. Without departing from the spirit and scope of the present application, various changes and modifications can be made to the present application, and these changes and modifications all fall within the scope of the present application. The scope of protection of the present application is defined by the appended claims and their equivalents.

Claims

1. An in-situ testing device for a sloughing sediment, characterized in that, The probe comprises a probe head (10), a probe rod (20), a control cabin (30) and a hanging ring (70) arranged in sequence from bottom to top, the control cabin (30) is provided with a control assembly (40), a three-axis attitude sensor (50) and a power supply (60), and the power supply (60) can supply power to the control assembly (40) and the three-axis attitude sensor (50); The in-situ testing device for the falling sediment further comprises: A signal transceiver assembly (80) comprising a sliding rod (81), a transceiver (82) and a connecting line, the sliding rod (81) is arranged at the top of the control cabin (30) and movably connected with the control cabin (30), the transceiver (82) is arranged at the top end of the sliding rod (81) and electrically connected with the control assembly (40), one end of the connecting line is connected with the sliding rod (81), and the other end of the connecting line is used for connecting a drone; A deceleration mechanism (90) comprising a deceleration umbrella (91) and a driving assembly (92), the deceleration umbrella (91) comprises a framework (911) and umbrella leaves (912), the framework (911) is rotatably connected with the control cabin (30), one end of the umbrella leaves (912) is connected with the control cabin (30), the other end of the umbrella leaves (912) is connected with the framework (911), and the driving assembly (92) can drive the framework (911) to stretch out to the periphery of the control cabin (30) to drive the umbrella leaves (912) to unfold; The framework (911) is rotatably connected with the control cabin (30) and a torsional spring is arranged therebetween, a second limiting groove (9111) is arranged on the framework (911), the driving assembly (92) comprises an electromagnetic rod (923), when the electromagnetic rod (923) is electrified, the rod body of the electromagnetic rod (923) is inserted into the second limiting groove (9111) to limit the framework (911) at a first position, when the electromagnetic rod (923) is de-energized, the rod body is separated from the second limiting groove (9111), and the framework (911) stretches out to the periphery of the control cabin (30) under the action of the torsional spring; The deceleration mechanism (90) comprises at least two groups of the deceleration umbrella (91), each group of the deceleration umbrella (91) is arranged at intervals around the periphery of the control cabin (30), and one group of the driving assembly (92) is arranged corresponding to each group of the deceleration umbrella (91).

2. The in-situ test device for free-fall sediments according to claim 1, characterized in that, The skeleton (911) is rotationally connected with the control cabin (30) and a torsional spring is arranged therebetween, the driving assembly (92) comprises a sleeve (921), a driving rod (922), an electromagnetic rod (923) and an elastic member (924), the driving rod (922) is arranged in the sleeve (921), the elastic member (924) is located between the driving rod (922) and the sleeve (921) and is fixed to the driving rod (922) at one end, the electromagnetic rod (923) limits the elastic member (924) at a compressed position when energized, and releases the elastic member (924) to drive the driving rod (922) to pop out to push the skeleton (911) to rotate towards the periphery of the control cabin (30) when de-energized.

3. The in-situ test device for free-fall sediments according to claim 2, characterized in that, A first limiting groove (9221) is arranged on the driving rod (922), the rod body of the electromagnetic rod (923) is inserted into the first limiting groove (9221) to limit the elastic member (924) at a compressed position when the electromagnetic rod (923) is energized, and the rod body is separated from the first limiting groove (9221) to release the elastic member (924) when the electromagnetic rod (923) is de-energized.

4. The in-situ test device for drop-off sediments according to claim 2, characterized in that, A limiting protrusion (9223) is arranged at the end of the driving rod (922) away from the skeleton (911), the limiting protrusion (9223) is located outside the sleeve (921), and the limiting protrusion (9223) can abut against the sleeve (921) when the driving rod (922) pops out.

5. The in-situ test device for free-fall sediments according to claim 3, characterized in that, The skeleton (911) extends in an arc shape, and a guide arc surface (9222) is arranged at the end of the driving rod (922), the guide arc surface (9222) abuts against the skeleton (911) or the driving rod (922) is slidingly connected with the skeleton (911).

6. The in-situ test device for drop-off sediments according to claim 1, characterized in that A plurality of guide plates (140) are arranged on the periphery of the control cabin (30) at intervals.

7. The in-situ test device for free-falling sediments according to any one of claims 1-6, characterized in that, The probe (10) comprises a connecting rod (11) and a probe body (12) connected with each other, the connecting rod (11) is connected with the probe rod (20), and the cross-sectional area of the probe body (12) gradually increases and then gradually decreases along a direction from top to bottom.

8. A method of in-situ testing of a fall-out sediment, characterized by, The in-situ test device for falling sediment is used in the method. The unmanned aerial vehicle carries a plurality of in-situ test devices for falling sediment to the working site, drops one in-situ test device for falling sediment at each set position, and the slide rod (81) is in a retracted state and connected with the unmanned aerial vehicle through a connecting line in a relaxed state, and the deceleration parachute (91) is in a retracted state when falling, and the three-axis attitude sensor (50) can obtain the falling speed. The in-situ test device for falling sediment accelerates downward movement under the action of its own gravity, the connecting line gradually switches to a tensioned state and pulls the slide rod (81) to switch to an extended state, so that the transceiver (82) is away from the control cabin (30), and the in-situ test device for falling sediment continues to drop, causing the connecting line to be disconnected due to excessive stress. The in-situ test device for falling sediment accelerates downward movement under the action of its own gravity, the connecting line gradually switches to a tensioned state and pulls the slide rod (81) to switch to an extended state, so that the transceiver (82) is away from the control cabin (30), and the in-situ test device for falling sediment continues to drop, causing the connecting line to be disconnected due to excessive stress. When the falling speed is greater than or equal to the first set speed value, the control assembly (40) controls the driving assembly (92) to drive the framework (911) to stretch out to the outer periphery of the control cabin (30) according to the deceleration signal so as to drive the umbrella leaves (912) to unfold; During the falling process of the in-situ testing device for falling sediment, the triaxial attitude sensor (50) records the acceleration in three directions, and when the acceleration collected by the triaxial attitude sensor (50) is 0 and remains unchanged within the first set time length, the probe (10) penetrates into the soil body and stops moving.

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