Miniature intelligent unmanned static sounding device and method suitable for homogeneous earth dam

Abstract

The invention relates to a miniature intelligent unmanned static sounding device suitable for a homogeneous earth dam. The miniature intelligent unmanned static sounding device comprises an unmanned aerial vehicle module, a moving module, a sounding module, a counter-force module and a remote control platform module, the unmanned aerial vehicle module comprises an unmanned aerial vehicle main body and a micro packaging cabin, the micro packaging cabin accommodates a tracked robot, and the tracked robot is of an integrated structure formed by connecting the sounding module to the upper part of the moving module; the sounding module comprises a probe rod and is connected to the upper part of the moving module, and a probe is arranged at the bottom of the probe rod; the counter-force module is fixed on the opposite side walls of the two protective baffles; the counter-force module comprises a micro servo motor and an anti-pulling screw pile, the micro servo motor is connected with a rotating cylinder, and the anti-pulling screw pile is arranged in the rotating cylinder in a sleeved mode. The static sounding device has the advantages that personal safety of workers is prevented from being threatened, static sounding is directly carried out on site, real-time performance of measured parameters is guaranteed, accuracy of the parameters obtained through sounding is guaranteed, and stability of sounding equipment is guaranteed through the anti-pulling screw pile.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of static sounding equipment, and particularly relates to a miniature intelligent unmanned static sounding device and method suitable for homogeneous earth dams. BACKGROUND

[0002] Homogeneous earth dams are a common type of dam in water conservancy projects in China, but most of the homogeneous earth dams in China were built in the early years of the founding of the country and there are a large number of them. Due to the limitations of construction technology, cognitive level and other conditions at that time, combined with the long operation period, the main bodies of the earth dams currently exist certain quality and safety problems. In the past reservoir dam breaches in China, more than 85% of them were homogeneous earth dams, and the homogeneous earth dam is one of the key monitoring and attention objects in the process of dam operation and management in China.

[0003] When the homogeneous earth dam has diseases and dangers such as large deformation and piping, it brings great challenges to emergency rescue work. The staff personally carries the sounding equipment to the scene for work, and the personal safety cannot be guaranteed, so it is difficult to directly sample the homogeneous earth dam and determine the physical and mechanical parameters in real time on the scene.

[0004] Therefore, a miniature intelligent unmanned static sounding device that can be remotely controlled is needed to determine the physical and mechanical parameters of the homogeneous earth dam in real time, to provide a scientific solution for emergency rescue work, to avoid dangerous accidents of the staff and to improve the sounding efficiency in the sounding process. SUMMARY

[0005] The purpose of the application is to overcome the deficiencies in the prior art and provide a miniature intelligent unmanned static sounding device and method suitable for homogeneous earth dams.

[0006] The miniature intelligent unmanned static sounding device suitable for homogeneous earth dams comprises a unmanned aerial vehicle module, a moving module, a sounding module, a counterforce module and a remote control platform module. The unmanned aerial vehicle module comprises a unmanned aerial vehicle main body and a miniature container cabin, and the miniature container cabin is fixedly installed at the lower part of the unmanned aerial vehicle main body. The miniature container cabin is connected with a leaf fan door, and the miniature container cabin contains a crawler robot. The crawler robot is connected to the integrated structure formed by the moving module on the upper part of the sounding module. The moving module comprises a crawler belt and a protective baffle, and the opposite surfaces of the two crawler belts are provided with crawler belt partitions. The protective baffles are connected to the opposite surfaces between the crawler belt partitions. The sounding module comprises a connecting plate, a screw transmission rod and a probe rod. The sounding module is connected to the upper part of the moving module through the connecting plate. The connecting plate is rotatably connected with the screw transmission rod. Positioning plates with openings are arranged between the connecting plates. The probe rod is slidably penetrated in the openings through the screw transmission rod. A probe is arranged at the bottom of the probe rod. The counterforce module is fixed to the opposite side walls of the two protective baffles. The counterforce module comprises a miniature servo motor and an anti-pulling screw pile. The miniature servo motor is connected with a rotating cylinder, and the anti-pulling screw pile is sleeved in the rotating cylinder.

[0007] Preferably, rotating wings are symmetrically provided at the four corners of the drone body, and a camera is fixed on the lower part of the drone body; the micro container is fixedly installed on the lower part of the drone body through a connecting rod, the side wall of the micro container is connected to a leaf door through an electric turn buckle, and space is left between the upper part of the micro container and the drone body, and a data signal converter is fixed on the upper part of the micro container.

[0008] Preferably, the mobile module includes a main gear, a sub-gear, a drive motor, a wireless signal receiver and an energy storage battery; the drive motor is fixedly connected to the main gears at both ends of the output shaft through a coupling on the connected output shaft; the main gear and the sub-gear are arranged in parallel and have mutually meshing and matching tooth patterns, a driven shaft is connected between the sub-gears, and tracks are provided on the outside of the main gear and the sub-gear; track partitions are provided on the opposite surfaces of the main gears and sub-gears on both sides; a protective baffle is provided on the upper part of the driven shaft and the output shaft; the energy storage battery is fixedly mounted on the protective baffle, and the wireless signal receiver is fixedly mounted on the protective baffle.

[0009] Preferably, the probe module includes a lifting plate and a support platform; the connecting plate is connected to the opposite surfaces between the track partitions, and the probe module is connected to the moving module through the connecting plate; the bottom of the support platform is fixed on the connecting plate, the top of the support platform is a support platform, and an opening is provided in the center of the support platform, and the opening is concentric with the opening of the positioning plate; the probe rod is coaxial with the central opening of the support platform and the opening of the positioning plate; one end of the spiral transmission rod is provided at the bottom of the support platform, and the other end is connected to the top of the connecting plate; the spiral transmission rod and the probe rod are parallel; the probe rod is fixed at the center of the lifting plate, and the lifting plate is provided with a threaded hole that matches the thread of the spiral transmission rod; the support platform is fixed with a drive motor and a camera, and the drive motor is used to control the rotation of the transmission rod.

[0010] Preferably, the side wall of the micro servo motor of the reaction force module is provided with a bracket, and the reaction force module is fixed to the side wall of the protective baffle through the bracket; the rotor of the micro servo motor is connected to the rotating cylinder, and the inside of the rotating cylinder is provided with a thread; the pull-out spiral pile includes a pile body and a spiral blade, the upper part of the pile body is provided with a thread matching the rotating cylinder, and the lower part of the pile body is provided with a spiral blade; the pull-out spiral pile is arranged in the rotating cylinder through a threaded sleeve.

[0011] As a preference, there are four groups of reaction force modules, which are symmetrically arranged on the side walls of the protective baffle. Each group of reaction force modules is provided with an anti-pullout screw pile; the reaction force provided by the anti-pullout screw pile is 4P u , 4P u ≥F, the penetration resistance of the probe during the penetration process is:

[0012] F=q c A+f s S;

[0013] Where q c f is the cone tip resistance of the probe,s is the side wall friction resistance of the probe rod, A is the cross-sectional area of ​​the probe rod, and S is the contact area between the side wall of the probe rod and the soil layer;

[0014] The reaction force provided by a single anti-tension screw pile is:

[0015] P u =G+f1+f2+p=πD 2 ZW s / 4+πd s h s S u +πDHS u +N c πD 2 S u / 4;

[0016] in,

[0017]

[0018] Where G is the total weight of soil above the bottom spiral blade, f1 is the shear friction between the pile and the soil on the pile side, f2 is the shear friction between the spiral blades, p is the sliding surface resistance above the first spiral blade, D is the diameter of the spiral blade, Z is the burial depth of the bottom spiral blade, and W is the shear friction between the pile and the soil on the pile side. s is the soil weight, d s is the pile diameter, h s is the buried depth of the first layer of spiral blades, S u is the undrained shear strength of the soil, H is the distance between the spiral blades, N c is the bearing capacity coefficient, is the internal friction angle of the soil, l is the depth of the probe into the soil, c is the cohesion of the soil, and d is the diameter of the probe.

[0019] Preferably, the remote control platform module is a computer control terminal; a data signal converter is installed on the upper part of the micro container of the drone module, a cone tip resistance sensor is installed in the probe, a side wall friction resistance sensor is installed on the side wall of the probe rod, and a wireless data acquisition and transmission module is provided inside the probe rod; the wireless data acquisition and transmission module collects the cone tip resistance q measured by the cone tip resistance sensor and the side wall friction resistance sensor during the continuous penetration of the soil layer c Data and sidewall friction f s The data is transmitted to the data signal converter; the remote control platform module inputs the command signal to the data signal converter, and the data signal converter converts the command signal into a drive control signal. The drive control signal controls the mobile module, the probe module and the reaction force module to perform the probe operation, and the drive control signal controls the drone module to perform the transport operation; the remote control platform module receives the cone tip resistance q returned by the data signal converter c Data and sidewall friction fs The data is calculated and analyzed, and the safety factor is output.

[0020] The method for using the miniature intelligent unmanned static penetration device suitable for homogeneous earth dams includes the following steps:

[0021] Step 1: The remote control platform module controls the mobile module of the crawler robot to enter the micro container, and the remote control platform module controls the drone body to take off and land at the exploration site;

[0022] Step 2: The remote control platform module controls the leaf door to open and controls the crawler robot to leave the micro container compartment;

[0023] Step 3: The remote control platform module controls the mobile module to move to the probing point, with the probe positioned above the probing point, and activates the micro servo motor of the reaction force module to rotate the spiral drum, driving the anti-pullout spiral pile to drill into the soil.

[0024] Step 4: The remote control platform module controls the spiral transmission rod of the probe module to drive the probe rod to descend at a uniform speed and extend into the soil to complete the probe rod penetration;

[0025] Step 5: After the sounding of the probe point is completed, the remote control platform module controls the spiral transmission rod to drive the probe rod to rise, starts the micro servo motor to rotate the spiral barrel, and drives the pull-out spiral pile to be pulled out; the remote control platform module controls the moving module to move to the remaining sounding points, and repeats steps 3 to 4;

[0026] Step 6: After all the probe points have been probed, the remote control platform module controls the mobile module of the crawler robot to enter the micro container compartment, close the leaf door, and then controls the main body of the drone to return.

[0027] Preferably, in step three, the mobile module includes tracks and protective baffles, track partitions are provided on the opposite surfaces of the tracks on both sides, and the two ends of the protective baffles are connected to the opposite surfaces between the track partitions; there are four groups of reaction modules, and the reaction modules are symmetrically arranged on the side walls of the protective baffles, and each group of reaction modules is provided with an anti-pullout spiral pile; a thread is provided inside the rotating cylinder; the anti-pullout spiral pile includes a pile body, and the pile body is provided with a thread that cooperates with the rotating cylinder; the remote control platform module controls the micro servo motor to drive the spiral cylinder to operate, and through the cooperation of the thread, the spiral cylinder drives the anti-pullout spiral pile to drill into the soil at a uniform speed in a clockwise direction, and the mobile module remains stable during the probing process.

[0028] Preferably, in step four, the probe module includes a lifting plate and a support platform; the connecting plate is connected to the opposite surfaces between the track partitions, and the probe module is connected to the moving module through the connecting plate; the bottom of the support platform is fixed on the connecting plate, and the top of the support platform is a support platform, the support platform is fixed with a drive motor, and four spiral transmission rods are arranged between the support platform and the connecting plate; the probe rod is fixed at the center of the lifting plate, and the lifting plate is provided with a threaded hole that matches the thread of the spiral transmission rod; the remote control platform starts the drive motor, and the drive motor drives the four spiral transmission rods to rotate in a clockwise direction to drive the lifting plate to descend at a uniform speed.

[0029] The beneficial effects of the present invention are:

[0030] 1) The remote control platform of the present invention can remotely control the micro intelligent unmanned static penetration device to arrive at the designated penetration location, and directly perform unmanned and automated static penetration on the homogeneous earth dam. The operation is convenient and simple, and the personal safety of the staff is not threatened.

[0031] 2) When conducting stability analysis and evaluation, the present invention directly performs static penetration testing on site through the sensors of the probe 12 and the probe rod 13, ensuring the real-time nature of the measured parameters. There is no need to take samples first and then conduct tests indoors, which reduces the process and is more convenient. At the same time, it avoids disturbing the original soil samples, ensures the accuracy of the parameters obtained by penetration testing, and provides a more scientific basis for emergency rescue work of homogeneous earth dams.

[0032] 3) The pull-out resistant screw pile of the present invention provides a sounding reaction force during the sounding process through the shear friction resistance between the spiral blades in the soil and the resistance of the sliding surface of the soil, thereby ensuring the stability of the sounding equipment during the sounding process and ensuring that the static sounding work is carried out normally. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a structural schematic diagram of the device of the present invention;

[0034] Figure 2 It is a schematic diagram of the structure of the UAV module in the device of the present invention;

[0035] Figure 3 It is a schematic structural diagram of the probe module in the device of the present invention;

[0036] Figure 4 It is a schematic diagram of the structure of the mobile module in the device of the present invention;

[0037] Figure 5 It is a schematic structural diagram of the reaction force module in the device of the present invention;

[0038] Figure 6 It is a schematic diagram of the dimensions of the static penetration probe rod and the anti-pulling screw pile in the device of the present invention;

[0039] Figure 7is a schematic diagram of the top view of the device during the sounding process;

[0040] Figure 8 is a schematic diagram of the front view of the device during the sounding process;

[0041] Figure 9 is a flow chart of the device during the sounding process.

[0042] Legend: remote control platform 1, unmanned aerial vehicle module 2, sounding module 3, moving module 4, rotating wing 5, micro container 6, electric rotating buckle 7, data signal converter 8, camera 9, leaf fan door 10, connecting plate 11, probe 12, probe rod 13, spiral transmission rod 14, lifting plate 15, support plate 16, drive motor 1 17, track 18, drive motor 2 19, protective baffle 20, main gear 21, micro servo motor 22, rotating cylinder 23, anti-pulling spiral pile 24, spiral blade 25, energy storage battery 26, wireless signal receiver 28. DETAILED DESCRIPTION

[0043] The application will be further described below in conjunction with examples. The following examples are only used to help understand the application. It should be pointed out that for ordinary people in the technical field, several modifications can be made to the application without departing from the principles of the application, and these improvements and modifications also fall within the protection scope of the claims of the application.

[0044] Example 1

[0045] As an example, a micro intelligent unmanned static sounding device suitable for homogeneous earth dam is proposed, such as Figure 1-8As shown, including: unmanned module 2, mobile module 4, touch module 3, counterforce module and remote control platform module 1; unmanned module 2 includes unmanned aerial vehicle main body and micro container 6, micro container 6 is fixedly installed in the lower part of the unmanned aerial vehicle main body; the micro container 6 is connected with the leaf fan door 10, and the micro container 6 contains a crawler robot, and the crawler robot is connected on the upper part of the mobile module 4 to form an integrated structure of the touch module 3; the mobile module 4 includes a track 18 and a protective baffle, the opposite surfaces of the two side tracks 18 are provided with track partitions, and the protective baffles 20 are connected to the opposite surfaces between the track partitions for fixedly connecting the two side tracks 18; the touch module 3 includes a connecting plate 11, a spiral transmission rod 14 and a probe rod 13, the touch module 3 is connected to the upper part of the mobile module 4 through the connecting plate 11, the spiral transmission rod 14 is rotatably connected to the connecting plate, the connecting plate 11 is provided with a positioning plate with an opening, the positioning plate is used for positioning the position of the probe rod 13, the probe rod 13 is slidably penetrated in the opening through the spiral transmission rod 14, and the probe rod 13 is provided with a probe 12 at the bottom; the counterforce module is fixed to the opposite side walls of the two protective baffles 20; the counterforce module includes a micro servo motor 22 and an anti-pulling screw pile, the micro servo motor 22 is connected with a rotating cylinder 23, and the anti-pulling screw pile is sleeved in the rotating cylinder 23; the remote control platform module 1 is used for controlling the unmanned module 2, the mobile module 4, the touch module 3 and the counterforce module.

[0046] As shown in the figure, Figure 2 The unmanned aerial vehicle main body of the unmanned module 2 is symmetrically provided with rotating wings 5 at four corners, which provides sufficient lift for the unmanned aerial vehicle while maintaining balance, and the lower part of the unmanned aerial vehicle main body is fixedly provided with a camera 9 having a 360° rotation function, which transmits the surrounding environment state back to the remote control platform module 1 in real time, judges the damage situation of the dam in real time to complete the risk self-avoidance of the unmanned module 2, and prevents the unmanned module 2 from being damaged; the micro container 6 is fixedly installed on the lower part of the unmanned aerial vehicle main body through a connecting rod, the side wall of the micro container 6 is connected with the leaf fan door 10 through the electric turn buckle 7, the electric turn buckle 7 is controlled by the remote control platform module 1, and then the leaf fan door 10 is controlled to open and close; the upper part of the micro container 6 and the unmanned aerial vehicle main body are left with a space, and the upper part of the micro container 6 is fixedly provided with a data signal converter 8.

[0047] As shown in the figure, Figure 4As shown, the mobile module includes a main gear 21, a sub-gear, a drive motor 19, a wireless signal receiver 28 and an energy storage battery 26; the drive motor 19 is fixedly connected to the main gear 21 at both ends of the output shaft through a coupling on the connected output shaft; the main gear 21 and the sub-gear are arranged in parallel and have mutually meshing and matching tooth patterns, and the sub-gear is driven to rotate, and a driven shaft is connected between the sub-gears, and tracks 18 are provided on the outside of the main gear 21 and the sub-gear; track partitions are provided on the opposite surfaces of the main gear 21 and the sub-gear on both sides; a protective baffle 20 is provided on the upper part of the driven shaft and the output shaft to prevent the drive motor 19 from being affected by external interference and affecting its operation; the energy storage battery 26 is fixedly mounted on the protective baffle 20 for supplying energy to the mobile module 4 and the probe module 3, and the wireless signal receiver 28 is fixedly mounted on the protective baffle 20 for receiving the drive control signal.

[0048] like Figure 3 As shown, the probing module 3 includes a lifting plate 15 and a support platform 16; the connecting plate 11 is connected to the opposite surface between the track partitions, and the probing module 3 is connected to the mobile module 4 through the connecting plate 11; the bottom of the support platform 16 is fixed on the connecting plate 11, and the top of the support platform 16 is a support platform, and the center of the support platform is provided with an opening, and the opening is concentric with the opening of the positioning plate; one end of the spiral transmission rod 14 is provided at the bottom of the support platform, and the other end is connected to the top of the connecting plate 11; the spiral transmission rod 14 and the probe rod 13 are parallel; the probe rod 13 is fixed at the center of the lifting plate 15, and the lifting plate 15 is provided with a threaded hole that matches the thread of the spiral transmission rod 14, and the lifting plate 15 is nested on the spiral transmission rod 14; the support platform is fixed with a drive motor 17 and a camera 9, the drive motor 17 is used to control the rotation of the transmission rod 14, and the camera 9 is used to transmit the surrounding environment scene back to the remote control platform module 1 in real time, and judge the damage situation on site in real time to complete the integrated structure risk avoidance of the mobile module 4 and the probing module 3, and prevent the integrated structure of the mobile module 4 and the probing module 3 from being damaged.

[0049] Example 2

[0050] As another embodiment, this embodiment 2 proposes, on the basis of embodiment 1, a more specific miniature intelligent unmanned static penetration device suitable for homogeneous earth dams.

[0051] like Figure 5As shown, a bracket is provided on the side wall of the micro servo motor 22 of the reaction force module, and the reaction force module is fixed to the side wall of the protective baffle 20 through the bracket; the rotor of the micro servo motor 22 is connected to the rotating cylinder 23, and the rotating cylinder 23 is provided with a thread; the pull-out spiral pile includes a pile body 24 and a spiral blade 25, the upper part of the pile body 24 is provided with a thread that matches the rotating cylinder 23, and the lower part of the pile body 24 is provided with a spiral blade 25; the pull-out spiral pile is arranged in the rotating cylinder 23 through a threaded sleeve; specifically, the rotational and telescopic movement of the pull-out spiral pile in the rotating cylinder 23 is realized by the thread matching the pile body 24 and the rotating cylinder 23, and the rotating cylinder 23 avoids the left and right shaking of the pile body 24, thereby ensuring the stability of the reaction force module and the accuracy of the data obtained by the preliminary exploration module 3.

[0052] like Figure 5-7 As shown, there are four groups of reaction modules, which are symmetrically arranged on the side walls of the protective baffle 20. Each group of reaction modules is equipped with an anti-pulling screw pile. The reaction force provided by the anti-pulling screw pile is 4P u , 4P u ≥F, the penetration resistance of the probe rod 13 during the penetration process is:

[0053] F=q c A+f s S;

[0054] Where q c is the cone tip resistance of the probe 13, f s is the side wall friction resistance of the probe rod 13, A is the cross-sectional area of ​​the probe rod 13, and S is the contact area between the side wall of the probe rod 13 and the soil layer;

[0055] The reaction force provided by a single anti-tension screw pile is:

[0056] P u =G+f1+f2+p=πD 2 ZW s / 4+πd s h s S u +πDHS u +N c πD 2 S u / 4;

[0057] in,

[0058]

[0059] Where G is the total weight of soil above the bottom spiral blade 25, f1 is the shear friction between the pile 24 and the soil on the side of the pile 24, f2 is the shear friction between the spiral blades 25, p is the sliding surface resistance above the first spiral blade 25, D is the diameter of the spiral blade 25, Z is the burial depth of the bottom spiral blade 25, and W is the shear friction between the pile 24 and the soil on the side of the pile 24.s is the soil weight, d s The diameter of the pile body is 24, h s is the embedding depth of the first spiral blade 25, S u is the undrained shear strength of the soil, H is the distance between the spiral blades 25, N c is the bearing capacity coefficient, is the internal friction angle of the soil, l is the depth of the soil probe 13, c is the soil cohesion, and d is the diameter of the probe 13;

[0060] Take d = 0.01m, l = 0.15m, c = 25kPa, Then F=0.26kN; design H=2.5D, Z=7D, D=4d s Under the condition of homogeneous clay soil dam, solving this inequality yields:

[0061] 330D 3 +1099D 2 ≥0.26;

[0062] The solution is D = 0.015m, d s =0.00375m, H=0.0375m, S=0.675m, then the specifications of the pull-out screw piles are designed according to this size.

[0063] The remote control platform module 1 is a computer control terminal; a data signal converter 8 is installed on the upper part of the micro container 6 of the drone module 2, a cone tip resistance sensor is installed in the probe 12, and a side wall friction resistance sensor is installed on the side wall of the probe rod 13. A wireless data acquisition and transmission module is installed inside the probe rod 13; the wireless data acquisition and transmission module collects the cone tip resistance q measured by the cone tip resistance sensor and the side wall friction resistance sensor during the continuous penetration of the soil layer. c Data and sidewall friction f s The data is transmitted to the data signal converter 8; the remote control platform module 1 inputs the command signal to the data signal converter 8, and the data signal converter 8 converts the command signal into an output drive control signal. The drive control signal controls the mobile module 4, the probe module 3 and the reaction force module to perform the probe operation. The drive control signal is transmitted by the data signal converter 8 to the wireless signal receiver 28, and the wireless signal receiver 28 transmits the drive control signal to the drive motor 2 19 of the mobile module, the drive motor 1 17 of the probe module 3, and the micro servo motor 22 of the reaction force module; the drive control signal controls the UAV module 2 to perform the transportation operation, and the drive control signal is transmitted by the data signal converter 8 to the motor of the rotating wing 5 and the electric turn buckle 7; the wireless data acquisition and transmission module in the probe rod 13 transmits the data to the data signal converter 8 through the wireless signal receiver 28, and the remote control platform module 1 receives the cone tip resistance q returned by the data signal converter 8 c Data and sidewall friction fs The data is calculated and analyzed, and the safety factor is output.

[0064] It should be noted that the parts in this embodiment that are the same or similar to those in the first embodiment can be referenced to each other and will not be described in detail in this application.

[0065] Example 3

[0066] As another embodiment, this embodiment 3 proposes, based on the embodiment 2, a method for using a micro intelligent unmanned static penetration device suitable for homogeneous earth dams, such as Figure 1-9 As shown, the following steps are included:

[0067] Step 1: The remote control platform module 1 controls the mobile module 4 of the crawler robot to enter the micro-container 6. The remote control platform module 1 controls the drone body to take off and land at the exploration site. During the entry process, the camera 9 fixed on the lower part of the drone body observes the surrounding conditions in real time to control the drone's stable and safe flight to prevent the equipment from being damaged by collision.

[0068] Step 2: The remote control platform module 1 controls the leaf door 10 to open and controls the crawler robot to leave the micro container 6. Specifically, the micro container 6 is connected to the electric turnbuckle 7, which is connected to the leaf door 10. The remote control platform module 1 controls the electric turnbuckle 7 to rotate, thereby controlling the leaf door 10 to open.

[0069] Step 3: The remote control platform module 1 controls the mobile module 4 to move to the probing point, with the probe 12 positioned above the probing point. The micro servo motor 22 of the reaction force module is activated to rotate the spiral drum 23, driving the anti-pullout screw pile to drill into the soil.

[0070] Specifically, the mobile module 4 includes tracks 18 and protective baffles, and track partitions are provided on the opposite sides of the tracks 18 on both sides, and the two ends of the protective baffles 20 are connected to the opposite surfaces between the track partitions; there are four groups of reaction force modules, and the reaction force modules are symmetrically arranged on the side walls of the protective baffles 20, and each group of reaction force modules is provided with an anti-pullout screw pile; a thread is provided inside the rotating cylinder 23; the anti-pullout screw pile includes a pile body 24, and the pile body 24 is provided with a thread that cooperates with the rotating cylinder 23; the remote control platform module 1 controls the micro servo motor 22 to drive the spiral cylinder 23 to operate, and through the cooperation of the thread, the spiral cylinder 23 drives the anti-pullout screw pile to drill into the soil at a uniform speed in a clockwise direction, and the mobile module 4 remains stable during the probing process; it provides the reaction force required by the probe rod 13 during the probing process to prevent the mobile module 4 from shaking during the probing process, thereby ensuring the stability of the mobile module 4 and the accuracy of the data obtained;

[0071] Step 4: The remote control platform module 1 controls the spiral transmission rod 14 of the probing module 3 to drive the probe 13 to descend at a uniform speed and extend into the soil to complete the probing of the probe; specifically, the probing module 3 includes a lifting plate 15 and a support platform 16; the connecting plate 11 is connected to the opposite surface between the crawler partitions, and the probing module 3 is connected to the mobile module 4 through the connecting plate 11; the bottom of the support platform 16 is fixed on the connecting plate 11, and the top of the support platform 16 is a support platform, and the support platform is fixed with a drive motor 17, and four spiral transmission rods 14 are arranged on the support platform and the connecting plate 11; the probe rod 13 is fixed to the center of the lifting plate 15, and the lifting plate 15 is provided with a threaded hole that matches the thread of the spiral transmission rod 14; the remote control platform 1 starts the drive motor 17, and the drive motor 17 drives the four spiral transmission rods 14 to rotate in the clockwise direction, driving the lifting plate 15 to descend at a uniform speed of 2 cm / s; in this process, the cone tip resistance sensor of the probe 12 and the side wall friction resistance sensor of the probe rod 13 collect the cone tip resistance q of the probe 12 and the probe rod 13 in the process of continuous penetration into the soil layer to be tested c and side wall friction f s The cone tip resistance q obtained by the touch probe is converted into c and side wall friction f s The soil layer mechanical parameters are sent to the remote control platform 1 in real time and the safety factor is directly output through data calculation and analysis;

[0072] Step 5: After the sounding of the sounding point is completed, the remote control platform module 1 controls the spiral transmission rod 14 to drive the probe rod 13 to rise, starts the micro servo motor 22 to rotate the spiral cylinder 23, and drives the anti-pullout spiral pile to be pulled out; the remote control platform module 1 controls the moving module 4 to move to the remaining sounding points, and repeats steps 3 to 4;

[0073] Step 6: After all the probe points have been probed, the remote control platform module 1 controls the mobile module 4 of the crawler robot to enter the micro container compartment 6, closes the leaf door 10, and then controls the drone body to return to complete the work.

[0074] It should be noted that the parts in this embodiment that are the same or similar to those in the second embodiment can be referenced to each other and will not be described in detail in this application.

[0075] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

Claims

1. A miniature intelligent unmanned static penetration device suitable for homogeneous earth dams, characterized by: include: UAV module, mobile module, probing module, reaction module and remote control platform module; the UAV module includes a UAV body and a micro container, the micro container is fixedly installed at the lower part of the UAV body; the micro container is connected with a leaf door, the micro container accommodates a tracked robot, the tracked robot is an integrated structure formed by connecting the probing module to the upper part of the mobile module; the mobile module includes tracks and protective baffles, track partitions are provided on the opposite sides of the tracks, and the two ends of the protective baffles are connected to the opposite surfaces between the track partitions; the probing module includes a connecting plate, a spiral transmission rod and a probe rod, the probing module is connected to the upper part of the mobile module through the connecting plate, the connecting plate is rotatably connected with the spiral transmission rod, a positioning plate with an opening is provided between the connecting plates, the probe rod slides through the opening through the spiral transmission rod, and a probe is provided at the bottom of the probe rod; the reaction module is fixed to the opposite side walls of the two protective baffles; the reaction module includes a micro servo motor and an anti-pullout spiral pile, the micro servo motor is connected with a rotating cylinder, and the anti-pullout spiral pile is sleeved in the rotating cylinder.

2. The micro intelligent unmanned static penetration device suitable for homogeneous earth dams according to claim 1 is characterized in that: Rotating wings are symmetrically provided at the four corners of the drone body, and a camera is fixed on the lower part of the drone body; the micro container is fixedly installed on the lower part of the drone body through a connecting rod, and the side wall of the micro container is connected to a leaf door through an electric turn buckle. There is space between the upper part of the micro container and the drone body, and a data signal converter is fixed on the upper part of the micro container.

3. The micro intelligent unmanned static penetration device suitable for homogeneous earth dams according to claim 1 is characterized in that: The mobile module includes a main gear, a sub-gear, a driving motor, a wireless signal receiver and an energy storage battery; the driving motor is fixedly connected to the main gears at both ends of the output shaft through a coupling on the connected output shaft; the main gear and the sub-gear are arranged in parallel and have mutually meshing and matching tooth patterns, a driven shaft is connected between the sub-gears, and tracks are provided on the outside of the main gear and the sub-gear; track partitions are provided on the opposite surfaces of the main gears and sub-gears on both sides; a protective baffle is provided on the upper part of the driven shaft and the output shaft; the energy storage battery is fixedly mounted on the protective baffle, and the wireless signal receiver is fixedly mounted on the protective baffle.

4. The micro intelligent unmanned static penetration device suitable for homogeneous earth dams according to claim 1 is characterized in that: The probe module includes a lifting plate and a support platform; a connecting plate is connected to the opposite surfaces between the crawler partitions, and the probe module is connected to the mobile module through the connecting plate; the bottom of the support platform is fixed to the connecting plate, the top of the support platform is a support platform, and the center of the support platform is provided with an opening, which is concentric with the opening of the positioning plate; the probe rod is coaxial with the center opening of the support platform and the opening of the positioning plate; One end of the spiral transmission rod is located at the bottom of the support platform, and the other end is connected to the top of the connecting plate; the spiral transmission rod is parallel to the probe rod; the probe rod is fixed at the center of the lifting plate, and the lifting plate is provided with a threaded hole that matches the thread of the spiral transmission rod; The supporting platform is fixed with a driving motor and a camera, and the driving motor is used to control the rotation of the transmission rod.

5. The micro intelligent unmanned static penetration device suitable for homogeneous earth dams according to claim 1 is characterized in that: The side wall of the micro servo motor of the reaction force module is provided with a bracket, and the reaction force module is fixed to the side wall of the protective baffle through the bracket; the rotor of the micro servo motor is connected to the rotating cylinder, and the inside of the rotating cylinder is provided with a thread; the anti-pullout spiral pile includes a pile body and spiral blades, the upper part of the pile body is provided with a thread that matches the rotating cylinder, and the lower part of the pile body is provided with a spiral blade; the anti-pullout spiral pile is arranged in the rotating cylinder through a threaded sleeve.

6. The micro intelligent unmanned static penetration device suitable for homogeneous earth dams according to claim 5 is characterized in that: There are four groups of reaction modules, which are symmetrically arranged on the side walls of the protective baffle. Each group of reaction modules is equipped with an anti-pulling screw pile. The reaction force provided by the anti-pulling screw pile is 4P u , 4P u ≥F, the penetration resistance of the probe during the penetration process is: F=q c A+f s S; Where q c is the cone tip resistance of the probe, f s is the side wall friction resistance of the probe rod, A is the cross-sectional area of ​​the probe rod, and S is the contact area between the side wall of the probe rod and the soil layer; The reaction force provided by a single anti-tension screw pile is: P u =G+f1+f2+p=πD 2 ZW s / 4+πd s h s S u +πDHS u +N c πD 2 S u / 4; in, Where G is the total weight of soil above the bottom spiral blade, f1 is the shear friction between the pile and the soil on the pile side wall, f2 is the shear friction between the spiral blades, p is the sliding surface resistance above the first spiral blade, D is the diameter of the spiral blade, Z is the burial depth of the bottom spiral blade, and W is the shear friction between the pile and the soil on the pile side wall. s is the soil weight, d s is the pile diameter, h s is the buried depth of the first layer of spiral blades, S u is the undrained shear strength of the soil, H is the distance between the spiral blades, N c is the bearing capacity coefficient, is the internal friction angle of the soil, l is the depth of the probe into the soil, c is the cohesion of the soil, and d is the diameter of the probe.

7. The micro intelligent unmanned static penetration device suitable for homogeneous earth dams according to claim 1 is characterized in that: The remote control platform module is a computer control terminal; a data signal converter is installed on the upper part of the micro container of the drone module, a cone tip resistance sensor is installed in the probe, a side wall friction resistance sensor is installed on the side wall of the probe rod, and a wireless data acquisition and transmission module is installed inside the probe rod; the wireless data acquisition and transmission module collects the cone tip resistance q measured by the cone tip resistance sensor and the side wall friction resistance sensor during the continuous penetration of the soil layer c Data and sidewall friction f s The data is transmitted to the data signal converter; the remote control platform module inputs the command signal to the data signal converter, and the data signal converter converts the command signal into a drive control signal. The drive control signal controls the mobile module, the probe module and the reaction force module to perform the probe operation, and the drive control signal controls the drone module to perform the transport operation; the remote control platform module receives the cone tip resistance q returned by the data signal converter c Data and sidewall friction f s The data is calculated and analyzed, and the safety factor is output.

8. A method for using the miniature intelligent unmanned static penetration device for homogeneous earth dams according to any one of claims 1 to 7, characterized in that: The following steps are involved: Step 1: The remote control platform module controls the mobile module of the crawler robot to enter the micro container, and the remote control platform module controls the drone body to take off and land at the exploration site; Step 2: The remote control platform module controls the leaf door to open and controls the crawler robot to leave the micro container compartment; Step 3: The remote control platform module controls the mobile module to move to the probing point, with the probe positioned above the probing point, and activates the micro servo motor of the reaction force module to rotate the spiral drum, driving the anti-pullout spiral pile to drill into the soil. Step 4: The remote control platform module controls the spiral transmission rod of the probe module to drive the probe rod to descend at a uniform speed and extend into the soil to complete the probe rod penetration; Step 5: After the sounding of the probe point is completed, the remote control platform module controls the spiral transmission rod to drive the probe rod to rise, starts the micro servo motor to rotate the spiral barrel, and drives the anti-pullout spiral pile to be pulled out; the remote control platform module controls the moving module to move to the remaining sounding points, and repeats steps 3 to 4; Step 6: After all the probe points have been probed, the remote control platform module controls the mobile module of the crawler robot to enter the micro container compartment, close the leaf door, and then controls the main body of the drone to return.

9. The method for using the micro intelligent unmanned static penetration device suitable for homogeneous earth dams according to claim 8, characterized in that: In step three, the mobile module includes tracks and protective baffles, and track partitions are provided on the opposite sides of the tracks, and the two ends of the protective baffles are connected to the opposite surfaces between the track partitions; there are four groups of reaction modules, and the reaction modules are symmetrically arranged on the side walls of the protective baffles. Each group of reaction modules is provided with an anti-pullout spiral pile; a thread is provided inside the rotating cylinder; the anti-pullout spiral pile includes a pile body, and the pile body is provided with a thread that cooperates with the rotating cylinder; the remote control platform module controls the micro servo motor to drive the spiral cylinder to operate, and through the cooperation of the thread, the spiral cylinder drives the anti-pullout spiral pile to drill into the soil at a uniform speed in a clockwise direction, and the mobile module remains stable during the probing process.

10. The method for using the micro intelligent unmanned static penetration device suitable for homogeneous earth dams according to claim 8, characterized in that: In step four, the probing module includes a lifting plate and a support platform; the connecting plate is connected to the opposite surfaces between the track partitions, and the probing module is connected to the moving module through the connecting plate; the bottom of the support platform is fixed on the connecting plate, and the top of the support platform is a support platform, the support platform is fixed with a drive motor, and four spiral transmission rods are arranged between the support platform and the connecting plate; the probe rod is fixed at the center of the lifting plate, and the lifting plate is provided with a threaded hole that matches the thread of the spiral transmission rod; the remote control platform starts the drive motor, and the drive motor drives the four spiral transmission rods to rotate in a clockwise direction to drive the lifting plate to descend at a uniform speed.

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