Unmanned aerial vehicle carrying type geological radar rock-soil layering monitoring device

Abstract

The invention discloses an unmanned aerial vehicle carrying type geological radar rock-soil layering monitoring device, and belongs to the technical field of geological radars, the unmanned aerial vehicle carrying type geological radar rock-soil layering monitoring device comprises a rock-soil monitoring mechanism installed on an unmanned aerial vehicle, and the rock-soil monitoring mechanism comprises a geological radar, a cleaning assembly and a controller. The geological radar is installed on the bottom face of the unmanned aerial vehicle through a connecting plate and provided with an antenna. And the controller is used for automatically calling the corresponding cleaning instruction set according to the monitoring data of the surface of the antenna, controlling the cleaning assembly to operate, and accurately cleaning attachments on the surface of the antenna through the cleaning assembly. According to the invention, the air pump generates airflow, and the airflow is heated by the heating box and then blown to the surface of the antenna through the air holes in the hollow ring, so that water mist, a frost layer and an ice layer can be effectively removed; the multi-stage electric push rod is matched to drive the hollow ring to move up and down, the cleaning range is expanded, the cleaning efficiency and quality are improved, especially in a low-temperature and high-humidity environment, the normal working state of the antenna can be quickly recovered, and the continuity and accuracy of monitoring data are ensured.

Description

Technical Field

[0001] The present invention belongs to the technical field of geological radars, and in particular relates to a geological radar rock and soil stratification monitoring device carried by an unmanned aerial vehicle (UAV). Background Art

[0002] In geotechnical engineering surveys, geological disaster warnings, and underground resource exploration, geological radar technology, with its high sensitivity to differences in the electromagnetic properties of underground media, has become one of the core means of monitoring rock and soil stratification. Traditional geological radars are mostly deployed by ground dragging or vehicle-mounted deployment. Due to terrain constraints, these systems suffer from limited monitoring range and low operational efficiency. With the rapid development of drone technology, drone-mounted geological radar systems have gradually become a research hotspot. The high maneuverability and flexibility of drone platforms overcome the terrain limitations of ground-based equipment, enabling large-scale, rapid data collection on rock and soil stratification, significantly improving the feasibility and efficiency of geological surveys in complex areas.

[0003] However, during the flight of a drone, the geological radar antenna it carries is easily affected by environmental factors, and water mist, ice, frost, etc. are easily attached to the antenna surface, which seriously affects the transmission and reception of radar signals, thereby reducing the accuracy and reliability of monitoring data.

[0004] The existing UAV-mounted geological radar rock and soil stratification monitoring device has the following shortcomings:

[0005] First, the antenna cleaning mechanism lacks specificity, often relying on a single purge strategy. It cannot dynamically adjust the cleaning strategy based on the type of debris, which can easily lead to excessive energy consumption or insufficient cleaning.

[0006] Second, there are blind spots in the cleaning range. Traditional cleaning mechanisms mostly use fixed-direction blowing, and the coverage of the blowing gas is limited, resulting in some attachments remaining, which in turn causes electromagnetic signal attenuation and affects the accuracy of rock and soil stratification data. Summary of the Invention

[0007] The purpose of the present invention is to provide a drone-mounted geological radar rock and soil stratification monitoring device, which is used to solve the technical problems in the existing technology that the antenna cleaning mechanism of the drone-mounted geological radar rock and soil stratification monitoring device lacks specificity, mostly adopts a single purge, and cannot dynamically adjust the cleaning strategy according to the type of attachment, which easily leads to excessive energy consumption or insufficient cleaning.

[0008] In order to achieve the above object, the present invention adopts the following technical solutions:

[0009] The unmanned aerial vehicle-mounted geological radar rock-soil layering monitoring device comprises a rock-soil monitoring mechanism mounted on an unmanned aerial vehicle, wherein the rock-soil monitoring mechanism comprises: a geological radar mounted on the bottom surface of the unmanned aerial vehicle, an antenna mounted on the geological radar, a humidity sensor, a first temperature sensor and an infrared ice layer thickness detector mounted on the antenna; a cleaning assembly for cleaning the antenna, which comprises: an air pump mounted on the bottom surface of the unmanned aerial vehicle; a heating box mounted on the bottom surface of the unmanned aerial vehicle, a heating pipe mounted in the heating box, one end of the heating pipe connected with a gas conveying pipe of the air pump and the other end of the heating pipe connected with a hose; a hollow ring sleeved on the antenna, connected with the end of the hose away from the heating box, and a plurality of air holes formed in the inner wall of the hollow ring; a multi-stage electric push rod mounted on the bottom surface of the unmanned aerial vehicle and used for driving the hollow ring to move up and down; and a controller used for automatically calling a corresponding cleaning instruction set according to the monitoring data of the surface of the antenna, controlling the cleaning assembly to operate and accurately cleaning the attachments on the surface of the antenna.

[0010] Preferably, the controller comprises: a rating setting module used for storing an antenna surface attachment rating standard, the rating standard being set by the system or by the user; a state rating module used for receiving antenna surface humidity, temperature and ice layer thickness data collected by the humidity sensor, the first temperature sensor and the infrared ice layer thickness detector, rating the type of antenna surface attachments according to the rating standard and obtaining a rating grade; and a decision control module used for receiving the rating grade of the state rating module, calling a corresponding cleaning instruction set and sending control instructions to the air pump, the heating pipe and the multi-stage electric push rod.

[0011] Preferably, the controller further comprises: a feedback adjustment module used for comparing the rating grades before and after cleaning at the end of the basic cleaning time, if the rating grade decreases, controlling the decision control module to issue a cleaning instruction set corresponding to the decreased rating grade, and if the rating grade does not decrease, triggering compensation cleaning and sending a compensation instruction set.

[0012] Preferably, the rating standard stored by the rating setting module comprises 0-5 grades, wherein: grade 0 corresponds to no significant attachments, grade 1 corresponds to slight water mist, grade 2 corresponds to moderate water mist, grade 3 corresponds to frost layer, grade 4 corresponds to thin ice and grade 5 corresponds to thick ice; and each grade is defined by a quantitative threshold value of the antenna surface temperature, the antenna surface humidity and the antenna surface ice layer thickness.

[0013] Preferably, the cleaning instruction set comprises: a first instruction set, a second instruction set, a third instruction set, a fourth instruction set and a fifth instruction set, and the first instruction set, the second instruction set, the third instruction set, the fourth instruction set and the fifth instruction set correspond to grade 1, grade 2, grade 3, grade 4 and grade 5 of the rating standard respectively.

[0014] Preferably, the compensation instruction set parameters triggered by the feedback adjustment module are: the air pump gas output is 120% of the original instruction set gas output, the temperature threshold in the heating box is 110% of the original instruction set temperature threshold, the multi-stage electric push rod retraction speed is 120% of the original instruction set speed, the compensation time is 50% of the basic cleaning time corresponding to the original instruction set, and the compensation cleaning is triggered continuously at most once.

[0015] Preferably, the geotechnical monitoring mechanism further includes a toggle assembly, which includes: a round rod with limit plates installed at both ends; a rubber rod with one end connected to the limit plate and the other end connected to the hollow ring.

[0016] Preferably, the toggle assembly also includes: a fixed frame, mounted on the drone, with a through slot passing through it, the round rod passing through the through slot, and the two limit plates respectively located on both sides of the fixed frame; a plurality of first semi-cylinders, equidistantly mounted on one side wall of the through slot; a plurality of second semi-cylinders, equidistantly mounted on the other side wall of the through slot, and staggered with the plurality of first semi-cylinders; when the round rod moves vertically along the through slot, the plurality of first semi-cylinders and the plurality of second semi-cylinders will alternately push the round rod to move laterally.

[0017] Preferably, the cleaning assembly further comprises: a rotating seat, fixedly connected to the extended end of the multi-stage electric push rod and rotatably connected to the hollow ring.

[0018] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0019] 1. The cleaning component of the present invention is equipped with an air pump, a heating box, a heating tube, a hollow ring, a hose and a multi-stage electric push rod. The air pump generates airflow, which is heated by the heating box and blown to the antenna surface through the air holes on the hollow ring, which can effectively remove water mist, frost and ice. The multi-stage electric push rod drives the hollow ring to move up and down, expands the cleaning range, improves the cleaning efficiency and quality, especially in low temperature and high humidity environments, can quickly restore the normal working state of the antenna, and ensure the continuity and accuracy of the monitoring data.

[0020] 2. The controller in the present invention is equipped with a rating setting module, a status rating module, a decision control module and a feedback adjustment module. The rating setting module stores the rating standards for antenna surface attachments. The status rating module obtains the rating level according to the sensor data. The decision control module calls the corresponding cleaning instruction set according to the rating level. The feedback adjustment module evaluates the effect after cleaning and determines whether to trigger compensatory cleaning. This greatly simplifies the operating process, improves the accuracy and efficiency of the cleaning operation, reduces manual intervention, reduces the difficulty and cost of operation, and ensures the stability and reliability of the cleaning quality.

[0021] 3. The toggle assembly in the present invention is equipped with a round rod, a rubber rod, a fixed frame, a first semi-cylinder and a second semi-cylinder. When the multi-stage electric push rod drives the hollow ring to move up and down, the toggle assembly causes the hollow ring to rotate back and forth horizontally at the same time, thereby expanding the coverage range of the air blown out of the air hole, further improving the cleaning effect, ensuring that all areas of the antenna surface can be fully cleaned, reducing cleaning dead angles, and improving the overall performance of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0023] Figure 1 The three-dimensional geological radar rock and soil layer monitoring device carried by the UAV in the present invention Figure 1 ;

[0024] Figure 2 The three-dimensional geological radar rock and soil layer monitoring device carried by the UAV in the present invention Figure 2 ;

[0025] Figure 3 A three-dimensional diagram of the geotechnical monitoring mechanism of the present invention;

[0026] Figure 4 This is a schematic diagram of the assembly structure of the geological radar, air pump, heating box, hose, hollow ring and toggle assembly in the present invention;

[0027] Figure 5 Schematic diagram of the assembly structure of the round rod, the fixing frame, the first semi-cylinder and the second semi-cylinder in the present invention;

[0028] Figure 6 This is a schematic diagram of the assembly structure of the heating box, heating tube and hollow ring in the present invention;

[0029] Figure 7 It is a module diagram of the controller in the present invention;

[0030] Figure numerals: 100, UAV; 200, geological radar; 201, connecting plate; 202, antenna; 211, air pump; 212, heating box; 213, heating tube; 214, hose; 215, hollow ring; 216, air hole; 217, multi-stage electric push rod; 218, rotating seat; 221, round rod; 222, limit plate; 223, rubber rod; 224, fixed frame; 225, first semi-cylinder; 226, second semi-cylinder; 230, controller. DETAILED DESCRIPTION

[0031] To make the above-mentioned objects, features, and advantages of the present invention more clearly understood, the following detailed description of the specific embodiments of the present invention is given in conjunction with the accompanying drawings. It is obvious that the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary persons in this field without creative work should fall within the scope of protection of the present invention.

[0032] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0033] Secondly, the term "one embodiment" or "embodiment" herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in various places throughout this specification does not necessarily refer to the same embodiment, nor does it refer to a separate or selective embodiment that is mutually exclusive of other embodiments.

[0034] The present invention is described in detail with reference to the accompanying drawings. When describing embodiments of the present invention, cross-sectional views illustrating device structures may be partially enlarged and not to scale for ease of illustration. Furthermore, the accompanying drawings are merely illustrative and should not limit the scope of protection of the present invention. Furthermore, in actual production, three-dimensional dimensions, including length, width, and depth, should be included.

[0035] At the same time, in the description of the present invention, it should be noted that the terms "first, second or third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0036] In this disclosure, unless otherwise specified or limited, the terms "mounted," "connected," and "connected" should be interpreted broadly. For example, they may refer to fixed, removable, or integral connections. They may also refer to mechanical, electrical, or direct connections, indirect connections through an intermediary, or internal communication between two components. Those skilled in the art will understand the specific meanings of these terms in this disclosure.

[0037] Example 1: Figures 1-4 and Figure 6 As shown, the UAV-mounted geological radar rock and soil layer monitoring device includes a rock and soil monitoring mechanism installed on a UAV 100, and the rock and soil monitoring mechanism includes a geological radar 200, a cleaning component and a controller 230.

[0038] The geological radar 200 is mounted on the bottom surface of the UAV 100 via a connecting plate 201. The geological radar 200 is equipped with an antenna 202. The antenna 202 is equipped with a humidity sensor, a first temperature sensor, and an infrared ice thickness detector.

[0039] The cleaning assembly is used to clean the antenna 202 , and the cleaning assembly includes an air pump 211 , a heating box 212 , a hollow ring 215 and a multi-stage electric push rod 217 .

[0040] The air pump 211 is mounted on the bottom of the drone 100. The air pump 211 is a micro-diaphragm air pump with a rated air output of 6-20 L / min. The air output can be freely adjusted. The heating box 212 is mounted on the bottom of the drone 100. The heating tube 213 and the second temperature sensor are installed inside the heating box 212.

[0041] A second temperature sensor can detect the temperature inside the heating box 212, thereby facilitating more precise control of the heating tube 213. One end of the heating box 212 is connected to the air supply pipe of the air pump 211, and the other end of the heating box 212 is connected to a hose 214. A hollow ring 215 is mounted on the antenna 202 and is connected to the end of the hose 214 away from the heating box 212. A plurality of air holes 216 are formed on the inner wall of the hollow ring 215. A multi-stage electric push rod 217 is mounted on the bottom surface of the drone 100 and is used to drive the hollow ring 215 to move up and down.

[0042] The controller 230 is used to automatically call the corresponding cleaning instruction set based on the monitoring data of the surface of the antenna 202, control the operation of the cleaning component, and accurately clean the attachments on the surface of the antenna 202 through the cleaning component.

[0043] Specifically, when water mist is attached to the antenna 202, the air pump 211 is started to supply air to the heating box 212, and the air enters the hollow ring 215 through the hose 214. The air in the hollow ring 215 is blown out through several air holes 216, and the blown air is blown toward the antenna 202, thereby blowing off the water mist on the antenna 202.

[0044] While the hollow ring 215 blows out air, the multi-stage electric push rod 217 is started to drive the hollow ring 215 to move upward and downward, so that the air blown out by the air hole 216 is blown to other positions of the antenna 202, thereby demisting other positions of the antenna 202.

[0045] When a layer of frost or ice adheres to the surface of the antenna 202, when the air pump 211 supplies air to the heating box 212, the heating tube 213 in the heating box 212 is activated to heat the air passing through the heating box 212, so that the air holes 216 of the hollow ring 215 can blow out hot air, thereby facilitating the removal of the frost or ice on the antenna 202.

[0046] like Figure 4 and Figure 5 As shown, the geotechnical monitoring mechanism further includes a toggle assembly, which includes a round rod 221 , a rubber rod 223 , a fixing frame 224 , a plurality of first semi-cylinders 225 and a plurality of second semi-cylinders 226 .

[0047] Limit plates 222 are installed at both ends of the round rod 221; one end of the rubber rod 223 is connected to the limit plate 222, and the other end of the rubber rod 223 is connected to the hollow ring 215. A fixed frame 224 is installed on the drone 100. The fixed frame 224 is provided with a through slot, through which the round rod 221 passes, and two limit plates 222 are located on either side of the fixed frame 224. A plurality of first semi-cylinders 225 are equidistantly installed on one side of the through slot; a plurality of second semi-cylinders 226 are equidistantly installed on the other side of the through slot, and the plurality of second semi-cylinders 226 are staggered with the plurality of first semi-cylinders 225.

[0048] Specifically, when the rubber rod 223 moves, it drives the hollow ring 215 to move, and further drives the air hole 216 to move, thereby increasing the coverage of the air blown out by the air hole 216.

[0049] When the multi-stage electric push rod 217 drives the hollow ring 215 to move upward or downward, it will also drive the rubber rod 223 to move, and then drive the cylinder to move along the height direction of the fixed frame 224. When the round rod 221 moves upward or downward, it will be hindered by the first semi-cylinder 225 and the second semi-cylinder 226, causing the cylinder to move in the width direction of the fixed frame 224; it can also be said that while the round rod 221 moves along the height direction of the fixed frame 224, it will also move back and forth left and right, and then move the rubber rod 223 through the limiting plate 222, and then drive the hollow ring 215 to rotate reciprocatingly horizontally, thereby driving the air hole 216 to move, thereby increasing the coverage range of the air blown out by the air hole 216.

[0050] like Figure 3 As shown, the cleaning assembly further includes a rotating seat 218 , which is fixedly connected to the extended end of the multi-stage electric push rod 217 , and the rotating seat 218 is rotatably connected to the hollow ring 215 .

[0051] Specifically, by providing the rotating seat 218 , the hollow ring 215 can be rotated without affecting the up and down movement of the hollow ring 215 .

[0052] Working principle: When the geological radar 200 in the geotechnical monitoring organization is working, water mist, frost or ice will appear on the antenna 202 of the geological radar 200 due to weather reasons. The controller 230 first determines the attachments on the surface of the antenna 202 based on the surface humidity data of the antenna 202, the surface temperature data of the antenna 202 and the ice thickness data of the antenna 202 transmitted by the humidity sensor, the first temperature sensor and the infrared ice thickness detector.

[0053] When the attachment on the surface of the antenna 202 is water mist, the controller 230 will control the start of the air pump 211, and the air pump 211 will supply air to the heating box 212. The air will enter the hollow ring 215 through the hose 214, and the air in the hollow ring 215 will be blown out through a plurality of air holes 216. The blown air will blow toward the antenna 202, thereby making it easier to blow off the water mist on the antenna 202.

[0054] While the hollow ring 215 blows out air, the controller 230 controls the activation of the multi-stage electric push rod 217 to drive the hollow ring 215 to move upward and downward, thereby causing the air blown out of the air hole 216 to blow to other positions of the antenna 202, thereby demisting other positions of the antenna 202.

[0055] When the multi-stage electric push rod 217 drives the hollow ring 215 to move upward or downward, it will also drive the rubber rod 223 to move, and then drive the cylinder to move along the height direction of the fixed frame 224. When the round rod 221 moves upward or downward, it will be hindered by the first semi-cylinder 225 and the second semi-cylinder 226, causing the cylinder to move in the width direction of the fixed frame 224, and then move the rubber rod 223 through the limiting plate 222, and then drive the hollow ring 215 to rotate reciprocatingly horizontally, thereby driving the air hole 216 to move, thereby increasing the coverage range of the air blown out by the air hole 216, thereby better removing the water mist on the antenna 202.

[0056] When the attachment on the surface of the antenna 202 is a layer of frost or ice, when the air pump 211 supplies air to the heating box 212, the heating tube 213 in the heating box 212 is started to heat the air passing through the heating box 212, so that the air holes 216 of the hollow ring 215 can blow out hot air, thereby facilitating the removal of the frost or ice on the antenna 202.

[0057] Example 2: Figure 1-Figure 7 As shown, when other parts are the same as those in Example 1, the difference between this embodiment and Example 1 is:

[0058] The controller 230 includes a rating setting module, a state rating module, a decision control module, and a feedback adjustment module.

[0059] The rating setting module is used to store rating standards for attachments on the surface of the antenna 202. The rating standards are system defaults and can also be set by the user. The priority set by the user is higher than the system default.

[0060] The system default rating levels include 0, 1, 2, 3, 4 and 5, among which:

[0061] When T>0℃, H<80%, and D=0mm, the rating level is 0 and the attachment type is no significant attachment;

[0062] When T>0℃, 80%≤H<95% and D=0mm, the rating level is 1 and the attachment type is slight water mist;

[0063] When T>0℃, H≥95% and D=0mm, the rating level is 2 and the attachment type is moderate water mist;

[0064] When -5℃≤T<0℃, 70%≤H and D=0mm, the rating level is 3 and the attachment type is frost layer;

[0065] When T≤0℃, H≥70% and 0mm<D<1mm, the rating level is 4 and the attachment type is thin ice;

[0066] When T≤0℃, H≥70% and D≥1mm, the rating level is 5 and the attachment type is thick ice;

[0067] In the above, T represents the surface temperature of the antenna 202; H represents the surface humidity of the antenna 202; and D represents the thickness of the ice layer on the surface of the antenna 202.

[0068] a status rating module, configured to receive the humidity on the surface of the antenna 202, the temperature on the surface of the antenna 202, and the ice thickness on the surface of the antenna 202, respectively, collected by the humidity sensor, the first temperature sensor, and the infrared ice thickness detector, and to rate the type of attachments on the surface of the antenna 202 according to a preset rating standard for attachments on the surface of the antenna 202;

[0069] The frequency at which the status rating module receives data is dynamically adjusted based on the scenario. Specifically, during the standby phase, the module receives data every 30 seconds; during the cleanup phase, the module receives data every 5 seconds; and within 30 seconds after the cleanup completes, the module receives data every 10 seconds. The frequency of receiving data described above refers to the frequency at which the humidity, temperature, and ice thickness data collected by the humidity sensor, the first temperature sensor, and the infrared ice thickness detector on the surface of antenna 202 are received.

[0070] The decision control module is used to receive the rating level of the status rating module, call the corresponding cleaning instruction set, and send control instructions to the air pump 211, the heating tube 213 and the multi-stage electric push rod 217.

[0071] The cleaning instruction set includes: a first instruction set, a second instruction set, a third instruction set, a fourth instruction set and a fifth instruction set, and the first instruction set, the second instruction set, the third instruction set, the fourth instruction set and the fifth instruction set correspond to rating levels 1, 2, 3, 4 and 5 respectively.

[0072] Among them, the control instructions of the first instruction set include: starting the air pump 211 and adjusting the air output of the air pump 211 to 5L / min; starting the multi-stage electric push rod 217, controlling the multi-stage electric push rod 217 to drive the hollow ring 215 to move up and down once at a speed of 5mm / s, so that the hollow ring 215 covers the entire surface of the antenna 202, and the basic cleaning time is 20s.

[0073] The control instructions of the second instruction set include: starting the air pump 211 and adjusting the air output of the air pump 211 to 8L / min; starting the multi-stage electric push rod 217, controlling the multi-stage electric push rod 217 to drive the hollow ring 215 to move up and down twice at a speed of 10mm / s, and the basic cleaning time is 20s.

[0074] The control instructions of the third instruction set include: starting the air pump 211 and adjusting the air output of the air pump 211 to 8L / min; starting the heating tube 213 and adjusting the temperature inside the heating box 212 to greater than 40°C; starting the multi-stage electric push rod 217 and controlling the multi-stage electric push rod 217 to drive the hollow ring 215 to move up and down twice at a speed of 10mm / s, and the basic cleaning time is 20s.

[0075] The control instructions of the fourth instruction set include: starting the air pump 211 and adjusting the air output of the air pump 211 to 8L / min; starting the heating tube 213 and adjusting the temperature in the heating box 212 to greater than 60°C; starting the multi-stage electric push rod 217 and controlling the multi-stage electric push rod 217 to drive the hollow ring 215 to move up and down 3 times at a speed of 15mm / s, and the basic cleaning time is 20s.

[0076] The control instructions of the fifth instruction set include: starting the air pump 211 and adjusting the air output of the air pump 211 to 12 L / min; starting the heating tube 213 and adjusting the temperature inside the heating box 212 to greater than 80°C; starting the multi-stage electric push rod 217 and controlling the multi-stage electric push rod 217 to drive the hollow ring 215 to move up and down 4 times at a speed of 15 mm / s, and the basic cleaning time is 27 seconds.

[0077] Feedback Adjustment Module: After the basic cleaning time is over, the feedback adjustment module controls the status rating module to immediately collect data, and the status rating module rates the type of attachments on the surface of the antenna 202; then, the feedback adjustment module compares the rating after cleaning with the rating before cleaning:

[0078] If the rating level decreases, the decision control module issues corresponding cleaning instructions according to the decreased rating level;

[0079] If the rating level does not decrease, compensation cleaning is triggered. The feedback adjustment module first issues a compensation instruction set, and the compensation time is 50% of the cleaning basic time corresponding to the initial rating that triggers this cleaning. The compensation parameters are executed within the compensation time; the compensation cleaning is triggered at most once continuously.

[0080] Within the compensation time, the air pump 211 adjusts the air supply amount to 120% of the original air supply amount threshold of the original cleaning instruction set (i.e., the original threshold x 1.2); the temperature threshold in the heating box 212 is adjusted to 110% of the original temperature threshold of the original cleaning instruction set; the extension and retraction speed of the multi-stage electric push rod 217 is adjusted to 120% of the original extension and retraction speed of the multi-stage electric push rod 217 of the original cleaning instruction set.

[0081] After cleaning with the fifth instruction set, the antenna 202 surface attachment rating is still level 5, for example, compensation cleaning is triggered, and the compensation time is 13.5S, within the compensation time, the air pump 211 air supply amount is 12L / min*120% = 14.4L / min; the temperature in the heating box 212 is greater than 80℃*110% = 88℃; the extension and retraction speed of the electric push rod is 15mm / s*120% = 18mm / s. At this time, the compensation control set includes: starting the air pump 211, and adjusting the air supply amount of the air pump 211 to 14.4L / min; starting the heating tube 213, and adjusting the temperature in the heating box 212 to greater than 88℃; starting the multi-stage electric push rod 217, and controlling the multi-stage electric push rod 217 to drive the hollow ring 215 to move up and down at a speed of 18mm / s, and the cleaning time is 13.5s.

[0082] The rating setting module in the controller 230 stores the rating standard, and the state rating module divides the attachments into 0-5 levels based on the temperature, humidity and ice thickness data according to the standard, and rates the surface state of the antenna 202 by quantifying the parameters rather than subjective judgment, and clearly defines the severity of different attachments, providing an objective basis for subsequent cleaning strategy selection.

[0083] The decision control module in the controller 230 calls the corresponding instruction set according to the rating level, matches the differentiated air pump 211 air amount, heating temperature and electric push rod speed according to the type, thickness and humidity characteristics of the attachments of different ratings, avoids the occurrence of excessive cleaning or insufficient cleaning, realizes the precise matching of cleaning parameters and attachment requirements, reduces invalid energy consumption, improves energy utilization efficiency, and at the same time ensures that each rating attachment can be effectively removed.

[0084] The feedback adjustment module compares the ratings before and after cleaning, and if the ratings decrease, the corresponding instruction set is switched; if the ratings do not decrease, compensation cleaning is triggered, which can break through the cleaning bottleneck by short-term intensification of cleaning parameters for stubborn attachments (such as thick ice and hard frost condensed at low temperature), while limiting the number of compensation times to avoid uncontrolled energy consumption, solving the problem of poor cleaning effect of single instruction set on stubborn attachments in complex environments. Through the closed-loop feedback dynamic optimization strategy, the removal rate of attachments in extreme scenarios is improved, while the energy consumption risk is controlled.

[0085] The above is only a preferred embodiment of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can make equivalent replacements or changes within the technical scope disclosed by the present application according to the technical solution and inventive concept of the present application, which should be covered within the protection scope of the present application.

[0086] The preferred embodiments of the application disclosed above are only used to help explain the application. The preferred embodiments do not describe all the details and limit the application to the specific embodiments. Obviously, many modifications and changes can be made according to the content of the present application. The present application selects and describes these embodiments in order to better explain the principles and practical applications of the present application, so that those skilled in the art can well understand and utilize the present application. The present application is limited by the claims and their entire scope and equivalents.

Claims

1. UAV-mounted geological radar rock and soil stratification monitoring device, characterized in that: The invention comprises a geotechnical monitoring mechanism installed on a UAV, wherein the geotechnical monitoring mechanism comprises: a geological radar, mounted on the bottom surface of the UAV, on which an antenna is mounted, and on which a humidity sensor, a first temperature sensor, and an infrared ice thickness detector are mounted; A cleaning component, used for cleaning the antenna, comprising: An air pump, mounted on the bottom surface of the drone; A heating box is installed on the bottom surface of the drone, and a heating tube is installed inside the box, one end of which is connected to the air supply pipe of the air pump, and the other end of which is connected to a hose; A hollow ring, sleeved on the antenna, connected to the end of the hose away from the heating box, and having a plurality of air holes on its inner wall; A multi-stage electric push rod is installed on the bottom surface of the drone and is used to drive the hollow ring to move up and down; the controller is used to automatically call the corresponding cleaning instruction set based on the monitoring data of the antenna surface, control the operation of the cleaning component, and accurately clean the attachments on the antenna surface.

2. The UAV-mounted geological radar rock and soil stratification monitoring device according to claim 1 is characterized in that: The controller includes: A rating setting module is used to store rating standards for antenna surface attachments, where the rating standards are set by the system by default or by the user; a status rating module, configured to receive antenna surface humidity, temperature, and ice thickness data collected by the humidity sensor, the first temperature sensor, and the infrared ice thickness detector, and to rate the type of attachments on the antenna surface according to the rating criteria to obtain a rating grade; The decision control module is used to receive the rating level of the status rating module, call the corresponding cleaning instruction set, and send control instructions to the air pump, heating tube and multi-stage electric push rod.

3. The UAV-mounted geological radar rock and soil stratification monitoring device according to claim 2 is characterized in that: The controller further includes: The feedback adjustment module is used to compare the rating levels before and after cleaning after the basic cleaning time ends. If the rating level decreases, it controls the decision control module to issue a cleaning instruction set corresponding to the decreased rating; if the rating level does not decrease, it triggers compensation cleaning and sends a compensation instruction set.

4. The UAV-mounted geological radar rock and soil stratification monitoring device according to claim 2 is characterized in that: The rating setting module stores rating standards ranging from 0 to 5, where 0 corresponds to no significant attachments, 1 corresponds to slight water mist, 2 corresponds to moderate water mist, 3 corresponds to frost, 4 corresponds to thin ice, and 5 corresponds to thick ice. Each rating level is defined by quantitative thresholds of antenna surface temperature, antenna surface humidity, and antenna surface ice thickness.

5. The UAV-mounted geological radar rock and soil stratification monitoring device according to claim 4 is characterized in that: The cleaning instruction set includes: a first instruction set, a second instruction set, a third instruction set, a fourth instruction set and a fifth instruction set, and the first instruction set, the second instruction set, the third instruction set, the fourth instruction set and the fifth instruction set correspond to level 1, level 2, level 3, level 4 and level 5 of the rating standard respectively.

6. The UAV-mounted geological radar rock and soil stratification monitoring device according to claim 3 is characterized in that: The compensation instruction set parameters triggered by the feedback adjustment module are: the air pump gas output is 120% of the original instruction set gas output, the temperature threshold inside the heating box is 110% of the original instruction set temperature threshold, the multi-stage electric push rod retraction speed is 120% of the original instruction set speed, the compensation time is 50% of the cleaning basic time corresponding to the original instruction set, and the compensation cleaning is triggered continuously for a maximum of 1 time.

7. The UAV-mounted geological radar rock and soil stratification monitoring device according to claim 1 is characterized in that: The geotechnical monitoring mechanism further includes a toggle assembly, which includes: A round rod with limit plates installed at both ends; A rubber rod has one end connected to the limiting plate and the other end connected to the hollow ring.

8. The UAV-mounted geological radar rock and soil stratification monitoring device according to claim 7, characterized in that: The toggle assembly further includes: A fixing frame is mounted on the UAV and is provided with a through slot, the round rod passes through the through slot, and the two limiting plates are respectively located on both sides of the fixing frame; A plurality of first semi-circular cylinders are equidistantly mounted on a side wall of the through slot; Multiple second semi-circular cylinders are equidistantly installed on the other side wall of the through slot and are staggered with the multiple first semi-circular cylinders; when the round rod moves vertically along the through slot, the multiple first semi-circular cylinders and the multiple second semi-circular cylinders will alternately push the round rod to move horizontally.

9. The UAV-mounted geological radar rock and soil stratification monitoring device according to claim 1, characterized in that: The cleaning component also includes: The rotating seat is fixedly connected to the extended end of the multi-stage electric push rod and is rotatably connected to the hollow ring.

Images