A slope deformation monitoring device and method based on unmanned aerial vehicle remote sensing

Abstract

This invention relates to a slope deformation monitoring device and method based on UAV remote sensing, belonging to the field of slope deformation monitoring technology. The device includes a mounting base fixed between the support legs at the bottom of the UAV via a clamping assembly. The mounting base has a control module and a detection base. A rotating base is rotatably mounted on the top of the detection base, and a fixing assembly on its top cooperates with the clamping assembly to fix the mounting base when the clamping assembly releases it. A motor I on one side of the mounting base engages with the insertion slot of the rotating base via a plug-in block, driving the rotating base to swing and adjust the detection angle, and can be brought back with the mounting base. During monitoring, the UAV carries the mounting base to the detection base, cleans the positioning slot using a cleaning assembly, fixes it, adjusts the angle to collect data, and then retrieves it. This device achieves precise positioning and fixation of the detection base, improves monitoring efficiency and data accuracy, reduces equipment costs, and is suitable for various types of slope deformation monitoring.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of slope deformation monitoring, and relates to a slope deformation monitoring device and method based on unmanned aerial vehicle remote sensing. BACKGROUND

[0002] In the field of slope engineering, slope deformation monitoring is of great significance to ensure engineering safety. Traditional slope deformation monitoring relies on manual inspection or fixed monitoring point layout. Manual inspection is not only inefficient, but also difficult to ensure personnel safety in complex terrain and dangerous slope areas. Although fixed monitoring points can be continuously monitored, the layout process is tedious, and the monitoring range is limited, making it difficult to fully reflect the overall deformation of the slope.

[0003] With the development of unmanned aerial vehicle technology, monitoring methods based on unmanned aerial vehicle remote sensing have gradually been applied to slope deformation monitoring. In existing technologies, some devices carry monitoring equipment to the slope area by unmanned aerial vehicle to collect data, and the unmanned aerial vehicle returns after data collection. However, in such devices, the driving components (such as motors) used to adjust the monitoring angle are often fixed with the monitoring base plate on the slope, and cannot be taken back at any time. This results in the need to lay out new driving components on the slope for each monitoring, which not only increases equipment costs, but also makes it difficult to recycle and reuse the device. In particular, in the scenario of multiple monitoring points, the operation is tedious, reducing the monitoring efficiency, and the placement of the detection base plate also requires manual placement, increasing labor costs. SUMMARY

[0004] Therefore, the present application provides a slope deformation monitoring device and method based on unmanned aerial vehicle remote sensing to solve the problems of the need to re-lay out driving components, tedious operation and low monitoring efficiency in the use of existing slope deformation monitoring devices.

[0005] To achieve the above purpose, the present application provides the following technical solutions:

[0006] A slope deformation monitoring device based on unmanned aerial vehicle remote sensing, comprising an unmanned aerial vehicle provided with a positioner and a plurality of detection supports fixed on the slope by expansion fastening bolts;

[0007] The bottom corners of the unmanned aerial vehicle are fixedly provided with support legs, and the four support legs are fixedly provided with a mounting base plate through a clamping assembly. The top of the mounting base plate is fixedly provided with a control module, and the top of the control module is fixedly provided with a detection base plate.

[0008] The rotating base plate is rotatably arranged on the support rod at one side of the detection support, and the support rod at one side of the detection support is fixedly provided with a limiting rib for limiting the swing angle of the rotating base plate.

[0009] The motor I is arranged on one side of the mounting base, and one end of a rotating shaft of the rotating base is fixedly provided with a connecting turntable. A plug-in slot is formed in one side of the connecting turntable. The output end of the motor I is fixedly provided with a plug-in block which is plugged into the plug-in slot. The motor I drives the rotating base to swing through cooperation of the plug-in block and the plug-in slot, so as to adjust the monitoring angle of the detection base, and the motor I is recycled together with the mounting base.

[0010] As a further improvement of the above technical solution:

[0011] The clamping assembly comprises two connecting supports which are fixed between two supporting legs on the same side, two guide sliding rods which are fixed between the two connecting supports, fixed supports which are fixedly arranged on the outer walls of the two guide sliding rods, two moving sliding seats which are slidably arranged on the two guide sliding rods and located on the two sides of the fixed supports, a motor II which is fixedly arranged on the fixed supports through a mounting frame I, an output end of the motor II which is connected with the two moving sliding seats, two clamping ribs which are fixedly arranged on the bottoms of the moving sliding seats and used for clamping the mounting base, two positioning grooves II which are formed in the two sides of the mounting base and matched with the clamping ribs, and the motor II drives the two moving sliding seats to move along the guide sliding rods, so that the clamping ribs are embedded into the positioning grooves II to clamp or release the mounting base.

[0012] The output end of the motor II is fixedly provided with a driving turntable, the top of the moving sliding seat is rotatably provided with a connecting connecting rod, the other end of the connecting connecting rod is rotatably connected with the driving turntable, and the motor II drives the two moving sliding seats to move synchronously through the transmission of the driving turntable and the connecting connecting rod.

[0013] The top of the rotating base is provided with a fixing assembly, the fixing assembly comprises four rotating bars which are rotatably arranged on the top of the rotating base through rotating shafts II, a positioning groove I which is formed in the top of the rotating base and matched with the mounting base, and the four rotating bars are divided into two groups and located on the two sides of the positioning groove I. The two sides of the mounting base are provided with positioning grooves III which are matched with the rotating bars. When the clamping assembly releases the mounting base, the rotating bars are driven to be embedded into the positioning grooves III, so that the mounting base is fixed in the positioning groove I.

[0014] The outside of the clamping rib is fixedly provided with an extension rib, the bottom of the extension rib is fixedly provided with a connecting column, the top of the rotating bar is provided with a U-shaped notch, when the mounting base is placed in place, the connecting column is located in the U-shaped notch, and when the clamping assembly releases the mounting base, the connecting column drives the rotating bar to rotate around the rotating shaft II and is embedded into the positioning groove III.

[0015] One side of the mounting base is fixedly provided with a swing support, one side of the swing support is rotatably provided with a mounting frame II through a rotating shaft I, the motor I is fixed on the mounting frame II, the bottom of the mounting frame II is fixedly provided with four pin shaft columns, a supporting base is fixedly arranged on the supporting rod on one side of the detection base, the top of the supporting base is provided with plug-in through holes which are plugged into the pin shaft columns, and the pin shaft columns are matched with the plug-in through holes to support and position the motor I.

[0016] The same arc-shaped positioning rib is arranged on one side of two adjacent supporting legs, and when the mounting base is placed, the positioning rib cooperates with the rotating base to position and calibrate the mounting base.

[0017] The cleaning assembly comprises two piston cylinders fixed to the top of the rotating base, a piston push rod slidingly arranged in the piston cylinder, and an elastic spring arranged in the piston cylinder, the two ends of the elastic spring being in abutment with the bottom wall of the piston cylinder and the bottom wall of the piston push rod respectively, a plurality of exhaust holes being formed in one side of the positioning groove I, a hollow cavity being formed in the rotating base, the plurality of exhaust holes being in communication with the positioning groove I, the positioning groove I being in communication with the piston cylinder through the hollow cavity, and when the mounting base is placed, the connecting bracket extrudes the piston push rod, so that the gas in the piston cylinder is discharged through the hollow cavity and the exhaust holes to clean the sundries in the positioning groove I.

[0018] The detection base is integrated with a laser radar, the laser radar is used to acquire three-dimensional point cloud data of the slope, and the control module receives and processes the three-dimensional point cloud data.

[0019] A slope deformation monitoring method based on unmanned aerial vehicle remote sensing adopts the slope deformation monitoring device based on unmanned aerial vehicle remote sensing, and comprises the following steps:

[0020] S1, a plurality of detection supports are fixed to the preset positions of the slope through expansion fastening bolts;

[0021] S2, the unmanned aerial vehicle clamps the mounting base through the clamping assembly and flies above the detection support under the guidance of the positioner;

[0022] S3, the unmanned aerial vehicle adjusts the position, so that the mounting base is aligned with the positioning groove I of the rotating base, and the positioning groove I is cleaned through the cleaning assembly during the placing process;

[0023] S4, the clamping assembly releases the mounting base, and the fixing assembly drives the mounting base to be fixed to the rotating base, and the plug-in block of the motor I is inserted into the plug-in groove of the connecting turntable;

[0024] S5, the motor I is started to drive the rotating base to swing, the detection base is adjusted to a preset angle, and the slope deformation data is collected through the detection base;

[0025] S6, after the data collection is completed, the clamping assembly clamps the mounting base again, the fixing assembly is released, and the unmanned aerial vehicle carries the mounting base and the motor I for recycling.

[0026] The beneficial effects of the present application are as follows:

[0027] 1. The slope deformation monitoring device based on unmanned aerial vehicle remote sensing disclosed in the present application, by setting the positioning groove I matched with the installation base plate on the top of the rotating base plate, and setting the positioning groove II matched with the clamping rib on both sides of the installation base plate, the positioning groove III matched with the rotating strip, and the positioning rib, the accurate positioning of the installation base plate can be realized when placing the installation base plate, the accurate docking of each component is ensured, the accuracy and efficiency of installation are improved, the monitoring error caused by installation deviation is reduced, and the reliability of monitoring data is ensured.

[0028] 2. The slope deformation monitoring device based on unmanned aerial vehicle remote sensing disclosed in the present application, the motor II in the clamping assembly drives two moving slides to move relative to each other, so that the clamping rib clamps the installation base plate, reliable fixation is realized, and in the process of placing the installation base plate on the rotating base plate and loosening, the extension rib and the connecting column on the outside of the clamping rib cooperate with the U-shaped notch on the top of the rotating strip, the installation base plate is further fixed on the rotating base plate by driving the fixing assembly, the installation base plate is prevented from loosening or falling off due to vibration or external force during monitoring, and the continuous and stable monitoring work is ensured.

[0029] 3. The slope deformation monitoring device based on unmanned aerial vehicle remote sensing disclosed in the present application, the output end plug-in block of the motor I is inserted into the plug-in slot on the connecting disc at one end of the rotating shaft of the rotating base plate, the rotating base plate is swung by driving the motor I, the angle of the detection base plate can be flexibly adjusted, the monitoring device can adjust the monitoring angle of the detection base plate in real time according to the actual deformation condition and monitoring requirement of the slope, the monitoring range is expanded, the comprehensiveness and accuracy of monitoring are improved, the deformation condition of each part of the slope can be found in time, and when the detection base plate is taken back after use, the motor I can be taken back together, so that the motor I is prevented from being damaged for a long time outside.

[0030] 4. The slope deformation monitoring device based on unmanned aerial vehicle remote sensing disclosed in the present application, in the process of placing the installation base plate, the connecting bracket extrudes the piston push rod to move into the piston cylinder, the gas in the piston cylinder is discharged through the exhaust hole, the positioning groove I is cleaned by using the gas, dust, sundries and the like in the positioning groove I can be effectively removed, the placement accuracy and fixing effect of the installation base plate are prevented from being affected by sundries, the workload of manual cleaning is reduced, the maintenance efficiency and service life of the device are improved

[0031] Other advantages, objects, and features of the present application will be apparent to those skilled in the art from the following specification, in some degree of certainty, and in some degree of certainty, based on the study of the following, or can be taught from the practice of the present application. The objects and other advantages of the present application can be achieved and obtained by the following specification. BRIEF DESCRIPTION OF DRAWINGS

[0032] In order to make the purpose, technical scheme and advantages of the present application more clear, the preferred detailed description of the present application will be given below in combination with the drawings, in which:

[0033] Figure 1 The structural schematic view of the device for monitoring slope deformation based on unmanned aerial vehicle remote sensing in cooperation with the detection support of the present application;

[0034] Figure 2 The structural schematic view of the device for monitoring slope deformation based on unmanned aerial vehicle remote sensing in cooperation with the detection support of the present application;

[0035] Figure 3 The assembly structural schematic view of the clamping rib and the mounting base plate in the present application;

[0036] Figure 4 The assembly structural schematic view of the detection support and the rotating base plate in the present application Figure 2 The mounting structural schematic view of the swing support in the present application;

[0037] Figure 5 The assembly structural schematic view of the detection support and the rotating base plate in the present application Figure 1

[0038] The partial sectional view of the rotating base plate in the present application Figure 6 Figure 5 The enlarged view of A part in the present application

[0039] Figure 7 The product view of the device for monitoring slope deformation based on unmanned aerial vehicle remote sensing in the present application Figure 3

[0040] Figure 8 The product view of the device for monitoring slope deformation based on unmanned aerial vehicle remote sensing in the present application

[0041] The drawings are as follows: 1, unmanned aerial vehicle; 2, positioner; 3, supporting leg; 4, mounting base plate; 5, control module; 6, detection base plate; 7, detection support; 8, expansion fastening bolt; 9, rotating base plate; 10, motor I; 11, positioning rib; 12, swing support; 13, connecting support; 14, guide slide rod; 15, fixed support; 16, moving slide; 17, mounting frame I; 18, motor II; 19, driving turntable; 20, connecting connecting rod; 21, clamping rib; 22, mounting frame II; 23, plug-in block; 24, rotating shaft I; 25, pin shaft column; 26, positioning groove I; 27, piston cylinder; 28, piston push rod; 29, exhaust through hole; 30, supporting base plate; 31, plug-in through hole; 32, connecting turntable; 33, plug-in groove; 34, limiting rib; 35, elastic spring; 36, hollow cavity; 37, rotating shaft II; 38, rotating strip; 39, U-shaped notch; 40, positioning groove II; 41, positioning groove III; 42, extending rib; 43, connecting column. DETAILED DESCRIPTION

[0042] ​Following, specific embodiments of the present application are illustrated by way of specific examples, and other advantages and effects of the present application can be easily understood by those skilled in the art from the disclosure of this specification. The present application can also be implemented or applied by other different specific embodiments, and various modifications or changes can be made to the details in this specification based on different views and applications, without departing from the spirit of the present application.

[0043] As Figure 1 , 2 The slope deformation monitoring device based on unmanned aerial vehicle remote sensing shown in the figure comprises an unmanned aerial vehicle 1 and a plurality of detection supports 7. The top of the fuselage of the unmanned aerial vehicle 1 is provided with a positioner 2. The positioner 2 can acquire the position information of the unmanned aerial vehicle 1 in real time and transmit the information to the remote control end, so as to facilitate the operator to accurately control the flight trajectory of the unmanned aerial vehicle 1 and ensure that the unmanned aerial vehicle 1 can accurately arrive at the position of the detection support 7. The detection support 7 is fixed on the slope through expansion fastening bolts 8. The expansion fastening bolts 8 adopt a conventional type and can stably fix the detection support 7 on the surface of the slope with different textures. Whether it is a hard rock slope or a soft soil slope, the detection support 7 can be ensured not to be displaced during the detection process.

[0044] A support leg 3 is fixed at each of the four corner positions of the bottom of the unmanned aerial vehicle 1. The support leg 3 is made of high-strength alloy material. This material not only has a relatively light weight, but also has good load-bearing capacity and anti-deformation capacity, and can stably support the unmanned aerial vehicle 1 and the components carried thereon. The four support legs 3 are fixed with a mounting base plate 4 through a clamping assembly. The mounting base plate 4 is in a rectangular plate structure and is made of lightweight metal material, which can not only reduce the overall weight, but also provide a stable mounting foundation for the components above. A control module 5 is fixed on the top of the mounting base plate 4. The control module 5 is internally provided with a conventional control circuit, which contains a plurality of relays, contactors and storage batteries, and is used for coordinating the work of each part of the device, such as adjusting the angle of the detection base plate 6 by controlling the start and stop of the motor I 10. A detection base plate 6 is fixed on the top of the control module 5. The detection base plate 6 is integrated with sensors for remote sensing monitoring of slope deformation, such as laser radar. The laser radar can acquire three-dimensional point cloud data of the slope, which can be transmitted to the control module 5 in real time.

[0045] As Figure 3As shown, two connecting brackets 13 in the clamping assembly are fixed between two support legs 3 on the same side, the connecting bracket 13 is fixed with the support leg 3 by welding, the welding is polished to ensure the stability of the connection and avoid loosening when clamping the mounting substrate 4. Two guide sliding rods 14 are fixedly installed between the two connecting brackets 13, the guide sliding rod 14 is a cylindrical structure, the surface is polished to reduce the friction when the moving slide 16 slides. The outer wall of the two guide sliding rods 14 is fixedly sleeved with a fixed support 15, the fixed support 15 is located at the middle position of the two connecting brackets 13 to ensure firm fixation. Two moving slides 16 are slidably sleeved on the two guide sliding rods 14, the two moving slides 16 are located on both sides of the fixed support 15, and the inner wall of the moving slide 16 closely fits the outer wall of the guide sliding rod 14, so that the moving slide 16 can smoothly slide along the guide sliding rod 14.

[0046] The motor II 18 is fixed on the fixed support 15 through the mounting bracket I 17, the mounting bracket I 17 is fixed with the fixed support 15 by bolts to ensure stable installation of the motor II 18. The output end of the motor II 18 is connected with the two moving slides 16, when the motor II 18 works, it can drive the two moving slides 16 to move closer to or away from each other along the guide sliding rod 14. The bottom of the moving slide 16 is fixed with two clamping ribs 21, the clamping rib 21 is L-shaped, which is convenient for better fitting the side of the mounting substrate 4 and improving the stability of clamping. The two sides of the mounting substrate 4 are provided with positioning grooves II 40, the position and shape of the positioning groove II 40 correspond to the clamping rib 21, when the clamping rib 21 clamps the mounting substrate 4, the end of the clamping rib 21 can be embedded in the positioning groove II 40, which further prevents the mounting substrate 4 from sliding during clamping.

[0047] Further, the output end of the motor II 18 is fixedly sleeved with a driving turntable 19, the driving turntable 19 is an elliptical structure, and the edge thereof is provided with a connecting hole for connecting the connecting link 20. The top of the moving slide 16 is rotatably connected with the connecting link 20, and the ends of the two connecting links 20 close to the motor II 18 are connected with the moving slide 16 and the driving turntable 19 through bearings to ensure flexible rotation. When the motor II 18 drives the driving turntable 19 to rotate, the driving turntable 19 pulls or pushes the moving slide 16 through the connecting link 20, so that the two moving slides 16 move synchronously along the guide sliding rod 14, realizing the clamping or loosening action of the mounting substrate 4, and the two moving slides 16 move closer to each other when clamping, and move away from each other when loosening.

[0048] The rotating base plate 9 is rotatably arranged on the top of the supporting rod on one side of the detection support 7. The rotating base plate 9 is connected with the detection support 7 through a bearing. The inner ring of the bearing is fixed with the rotating shaft of the rotating base plate 9, and the outer ring is fixed with the detection support 7, so as to ensure smooth rotation of the rotating base plate 9 and reduce frictional resistance in the rotating process. The supporting rod on one side of the detection support 7 is fixed with a limiting rib 34. The limiting rib 34 is in a long strip structure. The position of the limiting rib 34 can be determined according to the required rotating angle range of the rotating base plate 9. The limiting rib 34 can block and position the rotating base plate 9 when the rotating base plate 9 rotates to a certain angle, so as to prevent the rotating base plate 9 from tilting after being reset and rotated. The top of the rotating base plate 9 is provided with a fixing assembly. The fixing assembly is used in cooperation with the clamping assembly. When the clamping assembly places the installation base plate 4 on the rotating base plate 9 and is loosened, the fixing assembly is driven to act, so as to firmly fix the installation base plate 4 on the rotating base plate 9, thereby avoiding shaking or displacement of the installation base plate 4 in the subsequent monitoring process due to factors such as slope vibration or wind force.

[0049] The fixing assembly includes four rotating bars 38. The rotating bars 38 are rotatably arranged on the top of the rotating base plate 9 through rotating shafts II 37. The rotating shafts II 37 are vertically fixed on the rotating base plate 9. The rotating bars 38 can rotate around the rotating shafts II 37 and have a certain resistance therebetween. The rotating bars 38 will not rotate in the absence of external force. The top of the rotating base plate 9 is provided with a positioning groove I 26. The size of the positioning groove I 26 is matched with the installation base plate 4. When the installation base plate 4 is placed on the rotating base plate 9, the installation base plate 4 can be embedded in the positioning groove I 26, so as to play a role in preliminary positioning and prevent the installation base plate 4 from moving randomly in the horizontal direction. The four rotating bars 38 are divided into two groups and are respectively located on the two sides of the positioning groove I 26. The installation base plate 4 is provided with positioning grooves III 41 on the two sides. The positioning grooves III 41 are matched with the rotating bars 38. When the rotating bars 38 rotate to a certain angle, the end portions of the rotating bars 38 can be embedded in the positioning grooves III 41, so as to further fix the installation base plate 4 and limit the installation base plate 4 from the vertical direction.

[0050] As Figure 7As shown, the outer side of the clamping rib 21 is fixed with an extension rib 42, which extends outward for a certain length, and the extension length can be determined according to the position of the rotating bar 38, so as to ensure that the connecting column 43 can accurately act on the rotating bar 38. The bottom of the extension rib 42 is fixed with a connecting column 43, which is a cylindrical structure, and the diameter is slightly smaller than the width of the U-shaped notch 39, so as to facilitate the movement in the U-shaped notch 39. The top of the rotating bar 38 is provided with a U-shaped notch 39, and when the mounting base plate 4 is placed in place, the connecting column 43 is located in the U-shaped notch 39. When the clamping assembly loosens the mounting base plate 4, the moving slide 16 drives the clamping rib 21 and the extension rib 42 to move, and the connecting column 43 moves in the U-shaped notch 39, pushes the rotating bar 38 to rotate around the rotating shaft II 37, so that the end of the rotating bar 38 is embedded in the positioning groove III 41, and the fixing of the mounting base plate 4 is completed. The whole process does not need extra power driving, and can be realized by relying on the action of the clamping assembly.

[0051] As shown in Figure 5 The motor I 10 is arranged on one side of the mounting base plate 4, and the rotating shaft of the rotating base plate 9 is fixed with a connecting turntable 32, which is a circular disc structure, and the diameter can be set according to actual needs. One side of the connecting turntable 32 is provided with a plug-in slot 33, which can be rectangular or polygonal, and the output end of the motor I 10 is fixed with a plug-in block 23, which is matched with the plug-in slot 33 and can be inserted into the plug-in slot 33. When the motor I 10 works, the output end drives the plug-in block 23 to rotate, and since the plug-in block 23 is matched with the plug-in slot 33, the connecting turntable 32 and the rotating base plate 9 are driven to swing together, so as to adjust the angle of the detection base plate 6, so that the detection base plate 6 can better align the slope monitoring area, and improve the accuracy of data acquisition. For example, the pitch angle of the detection base plate 6 can be adjusted according to the inclination angle of the slope, so as to ensure that the monitoring surface of the slope can be completely detected.

[0052] As shown in Figure 4As shown, one side of the mounting substrate 4 is fixed with a swing bracket 12, which is a sheet structure, and its thickness can be determined according to the required support strength. One side of the swing bracket 12 is rotatably connected with a mounting bracket 22 through a rotating shaft 124, which is horizontally arranged and coaxially arranged with the rotating shaft of the rotating substrate 9. The mounting bracket 22 can rotate around the rotating shaft 124 to adapt to different installation angles. The motor 110 is fixed on the mounting bracket 22, and the bottom of the mounting bracket 22 is fixed with four pin shaft columns 25, which are cylindrical and have sufficient stability after being inserted into the insertion hole 31. The support substrate 30 is fixed on the support rod of one side of the detection support 7, which is a rectangular plate and is arranged perpendicularly to the detection support 7 to ensure that it can provide stable support for the mounting bracket 22. The top of the support substrate 30 is provided with an insertion hole 31, and the position and size of the insertion hole 31 are matched with the pin shaft column 25. When the mounting substrate 4 is placed on the rotating substrate 9, the pin shaft column 25 can be inserted into the insertion hole 31 to support and position the mounting bracket 22 and the motor 110, preventing the motor 110 from shaking during work. At this time, the motor 110 can drive the rotating substrate 9 to rotate, and the swing bracket 12 can rotate around the rotating shaft 124 with the mounting substrate 4.

[0053] The same positioning rib 11 is fixed on one side of the two adjacent support legs 3, which is arc-shaped and has an arc that is matched with the shape of the mounting substrate 4, and can be attached to the side of the mounting substrate 4. During the placement of the mounting substrate 4, the rotating substrate 9 positions the bottom of the mounting substrate 4, and the positioning rib 11 calibrates the mounting substrate 4 from the side. The two cooperate with each other to ensure that the mounting substrate 4 can be accurately placed in the predetermined position, improving the installation precision.

[0054] As shown in the drawings, Figure 6As shown, the device also includes a cleaning assembly for cleaning the positioning groove I 26. The cleaning assembly includes two piston cylinders 27, which are fixed to the top of the rotating base plate 9, with their axes perpendicular to the surface of the rotating base plate 9. A piston push rod 28 is slidably disposed inside the piston cylinder 27, and the outer wall of the piston push rod 28 fits tightly against the inner wall of the piston cylinder 27 to ensure good airtightness. The piston push rod 28 is used in conjunction with the connecting bracket 13. When the connecting bracket 13 descends with the UAV 1, it contacts the piston push rod 28 and pushes it downward. An elastic spring 35 is provided inside the piston cylinder 27. The two ends of the elastic spring 35 abut against the bottom wall of the piston cylinder 27 and the bottom wall of the piston push rod 28, respectively, providing a restoring force for the piston push rod 28. When the connecting bracket 13 leaves, the piston push rod 28 can return to its initial position under the action of the elastic spring 35. Multiple exhaust holes 29 are evenly distributed on one side of the positioning groove I 26, ensuring that gas can be evenly blown to all parts of the positioning groove I 26. A hollow cavity 36 is formed inside the rotating base plate 9, serving as an internal channel. All the exhaust holes 29 are connected to the positioning groove I 26, and the positioning groove I 26 is connected to the piston cylinder 27 through the hollow cavity 36, forming a gas flow path. During the placement of the mounting base plate 4, the connecting bracket 13 compresses the piston push rod 28, causing it to move into the piston cylinder 27. The gas inside the piston cylinder 27 is compressed and discharged into the positioning groove I 26 through the hollow cavity 36 and the exhaust holes 29. The discharged gas cleans dust and debris from the positioning groove I 26, ensuring that the mounting base plate 4 can be smoothly embedded into the positioning groove I 26, while preventing impurities from affecting the fixing effect of the mounting base plate 4.

[0055] When this UAV-based slope deformation monitoring device is in operation, preliminary preparations are first made. Based on the slope's terrain characteristics and the monitoring range, the installation positions of multiple detection supports 7 are determined. Expansion bolts 8 are used to fix the detection supports 7 in the selected positions, ensuring that each detection support 7 is firmly installed and can remain stable during subsequent monitoring. Simultaneously, the performance of the UAV 1 is checked to ensure that the locator 2, control module 5, detection base plate 6, and all motors are functioning properly, preparing for subsequent flight and installation operations.

[0056] Next comes the transportation and placement of mounting base plate 4. Operators control this remotely, such as... Figure 8 The drone 1 shown, with the assistance of the locator 2, carries the mounting base 4 and flies above the first detection support 7. At this time, the clamping assembly is in working condition, and the two movable slides 16 move closer to each other under the drive of the motor II 18, causing the clamping ribs 21 to be embedded into the positioning grooves II 40 on both sides of the mounting base 4, firmly clamping the mounting base 4 and preventing it from falling during flight.

[0057] Subsequently, the unmanned aerial vehicle 1 is guided by the locator 2 to slowly descend and adjust the position, so that the installation base plate 4 is aligned with the positioning groove I 26 on the top of the rotating base plate 9. During the placement process, the positioning ribs 11 on the adjacent support legs 3 calibrate the installation base plate 4 from the side, and the cooperation with the rotating base plate 9 ensures that the installation base plate 4 can be accurately placed into the positioning groove I 26. At the same time, the connecting bracket 13 will squeeze the piston push rod 28 when the unmanned aerial vehicle 1 descends, so that the gas in the piston cylinder 27 is discharged into the positioning groove I 26 through the hollow cavity 36 and the exhaust hole 29, blowing away the dust, small stones and other sundries in the groove, ensuring that the installation base plate 4 can be smoothly embedded.

[0058] When the installation base plate 4 is placed in position, the motor II 18 is started to drive the driving disc 19 to rotate, and through the connecting link 20, the two moving slides 16 are driven to move away from each other along the guide slide rod 14, and the clamping assembly loosens the installation base plate 4. In this process, the extension rib 42 on the outside of the clamping rib 21 moves with the moving slide 16, and the connecting column 43 at the bottom moves in the U-shaped notch 39 at the top of the rotating bar 38, pushing the rotating bar 38 to rotate around the rotating shaft II 37, so that the end of the rotating bar 38 is embedded in the positioning groove III 41 on both sides of the installation base plate 4, firmly fixing the installation base plate 4 on the rotating base plate 9. Under the action of the limiting rib 34, the rotating base plate 9 is in a horizontal state, and at the same time, the pin shaft column 25 at the bottom of the mounting bracket II 22 is inserted into the insertion hole 31 of the support base plate 30, fixing the motor I 10, and at the same time, the insertion block 23 at the output end of the motor I 10 is inserted into the insertion slot 33.

[0059] After the installation base plate 4 is fixed, according to the inclination angle of the slope and the monitoring requirement, the motor I 10 is started through the control module 5. The output end of the motor I 10 drives the insertion block 23 to rotate, and since the insertion block 23 is inserted and matched with the insertion slot 33 on the connecting disc 32, the connecting disc 32 and the rotating base plate 9 are driven to swing together, thereby driving the installation base plate 4 and the detection base plate 6 to adjust to the best monitoring angle, so that the laser radar on the detection base plate 6 can accurately aim at the monitoring area of the slope.

[0060] The detection base plate 6 starts to work, and the laser radar obtains three-dimensional point cloud data of the slope, which is transmitted to the control module 5 for preliminary processing in real time. The control module 5 stores the processed data and sends it to the remote monitoring terminal through wireless transmission, and the operator can view the monitoring data in real time.

[0061] After the data acquisition is completed at the first detection support 7, the motor II 18 is started in reverse to move the sliding seat 16 closer to each other, and the clamping rib 21 clamps the installation base plate 4 again. During the tightening of the clamping assembly, the connecting column 43 drives the rotating bar 38 to rotate in reverse, so that it is separated from the positioning groove III 41, and the fixing of the installation base plate 4 is released. The unmanned aerial vehicle 1 carries the installation base plate 4 to follow the same steps as above to sequentially go to other detection supports 7 for installation, angle adjustment and data acquisition operations.

[0062] During the monitoring process, the installation base plate 4 on each detection support 7 is maintained and data is collected by the unmanned aerial vehicle 1 regularly. The slope images and three-dimensional point cloud data collected at different times are compared and analyzed. By observing the changes of the slope cracks in the images, the displacement of the regions and the ups and downs of the slope terrain in the three-dimensional point cloud data, it is determined whether the slope has deformed and the degree and range of the deformation, so as to complete the continuous monitoring of the slope.

[0063] If abnormal deformation of the slope is found during the monitoring process, the monitoring angle and collection frequency of the detection base plate 6 can be adjusted in time through the control module 5 to obtain more detailed monitoring data, which provides a basis for the safety evaluation and subsequent treatment of the slope.

[0064] Finally, it should be pointed out that the above embodiments are only used to illustrate the technical solutions of the present application and are not limiting. Although the present application has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present application can be modified or replaced equivalently without departing from the purpose and scope of the technical solutions, which should be covered in the scope of the claims of the present application.

Claims

1. A slope deformation monitoring device based on UAV remote sensing, characterized in that, Includes a drone (1) equipped with a locator (2) and multiple detection supports (7) fixed to the slope by expansion bolts (8); The drone (1) has four support legs (3) fixed at the bottom corners. The four support legs (3) are fixed with a mounting base plate (4) through a clamping assembly. The top of the mounting base plate (4) is fixed with a control module (5) and a detection base plate (6). A support rod is fixedly installed on one side of the test support (7), and a rotating base plate (9) is rotatably installed on the support rod. A limiting rib (34) for limiting the swing angle of the rotating base plate (9) is fixedly provided on one side of the support rod. A positioning groove I (26) adapted to the mounting base plate (4) is opened on the top of the rotating base plate (9). The mounting base plate (4) can be detachably locked in the positioning groove I (26). Motor I (10) is provided on the outside of the mounting base plate (4). A connecting turntable (32) with an insertion slot (33) is fixedly installed on the outer end of the rotating shaft of the rotating base plate (9). A plug block (23) that is inserted into the insertion slot (33) is fixedly provided at the output end of motor I (10). Motor I (10) drives the rotating base plate (9) to swing through the cooperation of the plug block (23) and the insertion slot (33) to adjust the monitoring angle of the detection base plate (6). Motor I (10) is retracted together with the mounting base plate (4).

2. The slope deformation monitoring device based on UAV remote sensing according to claim 1, characterized in that, The clamping assembly includes two connecting brackets (13) fixed to the inside of the supporting leg (3) and arranged opposite to each other. Two guide slides (14) for fixing the fixed support (15) are fixed between the two connecting brackets (13). The two guide slides (14) are slidably fitted with movable slides (16) located on both sides of the fixed support (15). The fixed support (15) is fixedly fitted with a motor (18) via a mounting bracket I (17). The output end of the motor (18) is connected to the two movable slides (16). The bottom of the movable slides (16) is fixedly fitted with two clamping ribs (21) for clamping the mounting base (4). The mounting base (4) has positioning grooves II (40) on both sides that cooperate with the clamping ribs (21). The motor II (18) drives the two movable slides (16) to move along the guide slides (14) so ​​that the clamping ribs (21) are embedded in the positioning grooves II (40) to clamp or release the mounting base (4).

3. The slope deformation monitoring device based on UAV remote sensing according to claim 2, characterized in that, The output end of the motor II (18) is fixedly fitted with a drive turntable (19), and the top of the movable slide (16) is rotatably provided with a connecting rod (20). The end of the connecting rod (20) away from the movable slide (16) is rotatably connected to the drive turntable (19). The motor II (18) drives the two movable slides (16) to move synchronously through the transmission of the drive turntable (19) and the connecting rod (20).

4. The slope deformation monitoring device based on UAV remote sensing according to claim 3, characterized in that, The fixing component provided on the top of the rotating substrate (9) includes four rotating bars (38). The rotating bars (38) are rotatably mounted on the top of the rotating substrate (9) via a rotating shaft II (37). The four rotating bars (38) are divided into two groups located on both sides of the positioning groove I (26). The mounting substrate (4) has positioning grooves III (41) on both sides that cooperate with the rotating bars (38). When the clamping component releases the mounting substrate (4), it drives the rotating bars (38) to embed into the positioning grooves III (41), thus fixing the mounting substrate (4) in the positioning groove I (26).

5. The slope deformation monitoring device based on UAV remote sensing according to claim 4, characterized in that, An extension rib (42) is fixedly provided on the outside of the clamping rib (21), and a connecting column (43) is fixedly provided at the bottom of the extension rib (42). A U-shaped notch (39) adapted to the connecting column (43) is opened at the top of the rotating bar (38).

6. The slope deformation monitoring device based on UAV remote sensing according to claim 5, characterized in that, A swing bracket (12) is fixedly provided on one side of the mounting base (4). A mounting bracket (22) for mounting motor (10) is rotatably provided on one side of the swing bracket (12) via a rotating shaft I (24). Four pins (25) are fixedly provided at the bottom of the mounting bracket II (22). A support base (30) is fixedly provided on the support rod on one side of the detection support (7). An insertion through hole (31) for inserting into the pins (25) is opened on the top of the support base (30).

7. The slope deformation monitoring device based on UAV remote sensing according to claim 5, characterized in that, The same arc-shaped positioning rib (11) is fixed on one side of two adjacent support legs (3). When the mounting base plate (4) is placed, the positioning rib (11) and the rotating base plate (9) cooperate to position and calibrate the mounting base plate (4).

8. The slope deformation monitoring device based on UAV remote sensing according to claim 5, characterized in that, Two piston cylinders (27) are fixedly installed on the top of the rotating base plate (9). The piston push rod (28) is slidably arranged inside the piston cylinder (27) and an elastic spring (35) is provided at the bottom. Multiple exhaust holes (29) communicating with the piston cylinder (27) are opened on the inner side of the positioning groove I (26).

9. The slope deformation monitoring device based on UAV remote sensing according to claim 5, characterized in that, The detection substrate (6) is equipped with a lidar, which is used to acquire three-dimensional point cloud data of the slope. The control module (5) receives and processes the three-dimensional point cloud data.

10. A method for monitoring slope deformation based on unmanned aerial vehicle (UAV) remote sensing, characterized in that, The slope deformation monitoring device according to any one of claims 4-9 includes the following steps: S1. Fix multiple testing supports (7) at the preset positions on the slope using expansion bolts (8); S2. The UAV (1) clamps the mounting plate (4) with the clamping assembly and flies to the top of the detection support (7) under the guidance of the locator (2); S3. The UAV (1) adjusts its position so that the mounting plate (4) is aligned with the positioning groove I (26) of the rotating plate (9). S4. The clamping assembly releases the mounting base plate (4), and at the same time the driving fixing assembly fixes the mounting base plate (4) onto the rotating base plate (9). The plug block (23) of motor I (10) is inserted into the insertion slot (33) of the connecting turntable (32). S5. Start motor I (10) to drive the rotating base plate (9) to swing, adjust the detection base plate (6) to the preset angle, and collect slope deformation data through the detection base plate (6); S6. After the data acquisition is completed, the clamping component re-clamps the mounting base plate (4), the fixing component is released, and the UAV (1) carries the mounting base plate (4) and motor I (10) for recovery.

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