Portable free positioning unmanned aerial vehicle carrier surface layer strength penetration detection device and implementation method

Abstract

The invention discloses a portable free positioning unmanned aerial vehicle carrier surface layer strength penetration detection device and an implementation method. The device comprises an unmanned aerial vehicle main body and a penetrometer. A laser radar is carried on the top of the unmanned aerial vehicle, propellers and protective covers are arranged at the four corners of the unmanned aerial vehicle, and a control mainboard, a storage battery, a GPS position indicator, a microprocessor, a signal transceiver and a data storage module are arranged in the unmanned aerial vehicle. A visual positioning system, a detachable penetrometer and a landing support are arranged at the bottom of the device. The penetrometer is provided with a conical head, an end resistance strain gauge, a side resistance strain gauge, a friction sleeve and a data transmission line. After the control terminal issues a monitoring instruction, the unmanned aerial vehicle takes off, the laser radar generates an environment map and detects obstacles, and the microprocessor fuses the laser radar and GPS data and calculates the flight attitude and trajectory in real time. And after the unmanned aerial vehicle arrives at the destination, the unmanned aerial vehicle lands, the penetrometer penetrates into soil under the assistance of the visual positioning system, the end resistance and the side friction resistance are measured, and the surface stratum penetration strength of the remote drop point is detected through free position selection across the air.

Description

TECHNICAL FIELD

[0001] The present application relates to a surface soil layer strength measuring device, in particular to a portable free positioning unmanned aerial vehicle carrier surface layer strength penetration detection device and implementation method, belonging to the technical field of geotechnical engineering detection. BACKGROUND

[0002] The existing traditional surface soil strength measuring method has significant limitations in actual application, mainly in terms of measurement accuracy, operation efficiency, real-time monitoring capability and application scope. First, the traditional method (such as penetration test, sampling test) can only make limited range of local point measurement, it is difficult to fully reflect the soil strength distribution of large range and uneven surface, and the measurement result is easily disturbed by environmental factors such as soil humidity, temperature, etc., resulting in large data fluctuation and insufficient accuracy. Secondly, many traditional methods are destructive, for example, drilling sampling excavation exposes the original structure of the surface soil, changes its physical and mechanical properties, and thus affects the authenticity of the measurement results, and may also damage the initial slope vegetation, which is not conducive to the stability of the slope surface. In addition, the traditional method is complex and time-consuming, and requires special equipment and professional personnel, and also needs to build a working platform, which is high in cost and difficult to meet the needs of large-scale slope monitoring. More importantly, these methods are mostly static measurement, which cannot realize the short-term real-time dynamic monitoring of the slope soil strength, and it is difficult to find the change of the slope strength in time, and it is difficult to provide timely and accurate data support for disaster warning or engineering construction needs. SUMMARY

[0003] The purpose of the present application is to provide a portable free positioning unmanned aerial vehicle carrier surface layer strength penetration detection device and implementation method, which uses the unmanned aerial vehicle platform, the operation hand control system and the hardware sensor group to work cooperatively through the preset program, and through the implementation of free multi-dimensional control and accurate positioning in the flight process, to ensure the stable flight and safe landing of the unmanned aerial vehicle to the specified monitoring point in the complex environment. On this basis, the automatic penetration instrument carried by the unmanned aerial vehicle measures the surface soil layer strength in situ according to the preset parameters, and real-time collects the surface soil resistance data and synchronously records the position information, so as to solve the technical problem that the remote exploration technology and the in-situ measurement technology are difficult to combine.

[0004] To achieve the above purpose, the present application provides the following technical scheme:

[0005] The utility model provides a portable free positioning unmanned aerial vehicle surface layer strength penetration detection device and implementation method, including penetration instrument, the penetration instrument includes cone head, lower anvil, cone resistance strain meter, friction sleeve, side resistance strain meter, upper anvil, sleeve block, intermediate anvil, through -hole and external sleeve block, wherein cone head, lower anvil, cone resistance strain meter, intermediate anvil and sleeve block are located on an axis and sequentially connected, lower anvil, cone resistance strain meter and intermediate anvil are an integral block, side resistance strain meter and upper anvil are another integral, and the connecting place of cone head and lower anvil is detachable screw joint.

[0006] The upper part of the sleeve block is connected with the external sleeve block, the upper anvil and the side resistance strain meter, and the lower part is connected with the integral block of the intermediate anvil, the cone resistance strain meter and the lower anvil, the intermediate embedded through hole, forming the main body structure of the penetration instrument; the inner wall of the external sleeve block is provided with a threaded structure for mounting the penetration probe and the upper part of the unmanned aerial vehicle, facilitating the disassembly and installation of the device, and the waterproof sleeve block is arranged at the upper end of the through hole to prevent water from entering the inside; the friction sleeve is sleeved outside the lower anvil, the side resistance strain meter and the upper anvil, the friction sleeve is slidably connected with the lower anvil and the sleeve block, and the connecting part of the friction sleeve and the sleeve block is a sliding block.

[0007] The cone resistance strain meter is located between the lower anvil and the intermediate anvil, and an end resistance sensor is embedded in the inside, when the cone head penetrates into the soil, the axial stress is transmitted to the cone resistance strain meter through the lower anvil, causing the cone resistance strain meter to deform, and the internal sensor detects and collects the end resistance of the cone head penetrating into the soil; the side resistance strain meter is arranged in the cavity between the upper anvil and the intermediate anvil, one end of which is fixed to the sleeve block, and the other end is connected with the inner wall of the friction sleeve, the top end of the friction sleeve and the sleeve block are provided with a sliding block to form a sliding connection, and a side resistance sensor is designed in the inside of the side resistance strain meter, when the penetration probe is inserted into the soil layer, the friction sleeve bears the axial stress by friction with the soil, causing the side resistance strain meter to deform, and the side resistance sensor in the inside of the side resistance strain meter records the side friction force suffered by the penetration into the soil.

[0008] The through hole axially penetrates the waterproof sleeve block, the sleeve block, the intermediate anvil, the cone resistance strain meter and the lower anvil, respectively, and the cone resistance strain meter is provided with a first hole and a second hole between the lower anvil and the intermediate anvil, respectively, and a data transmission line is arranged through the first hole and the second hole from the upper part to connect the cone resistance strain meter and the side resistance strain meter for data collection.

[0009] The propeller, the blade protection cover, the motor, the antenna, the connecting rod and the connecting block constitute a set of flight components, and the whole unmanned aerial vehicle has four sets of flight components arranged at the four corners of the unmanned aerial vehicle for flight and attitude control; the connecting rod is fixedly connected to the main body structure of the unmanned aerial vehicle, and the connecting block is fixedly connected with the connecting rod and the blade protection cover on both sides, and the motor and the antenna are connected above and below, respectively, wherein the motor is powered by the flight battery inside the unmanned aerial vehicle and drives the propeller to rotate, and the antenna receives signals and transmits the signals to the signal transceiver inside the unmanned aerial vehicle.

[0010] The camera is arranged at the head of the front of the unmanned aerial vehicle body, and can transmit the surrounding influence condition of the unmanned aerial vehicle to the control terminal; a state indicating lamp is arranged at one side of the camera, and can display the working state of the camera in real time; a power switch is arranged at the right front side of the unmanned aerial vehicle; a USB interface and a data interface are arranged at the left rear side of the unmanned aerial vehicle, and a flip cover is arranged to shield the interfaces;

[0011] The laser radar has a smooth semispherical shape, is installed at the top of the unmanned aerial vehicle, and carries an inertial measurement unit and a laser scanner inside, both of which are electrically connected with the control mainboard;

[0012] The penetration instrument is threadedly connected with the bottom bearing plate of the unmanned aerial vehicle through an external sleeve block; the bearing plate can be controlled to move up and down by the pressure telescopic rod controlled by the control mainboard; the control mainboard can push the pressure telescopic plate after the unmanned aerial vehicle stably lands in the to-be-measured area, and the pressure telescopic plate pushes the penetration instrument to penetrate into the soil to measure the required end resistance and lateral friction; the visual positioning system includes a camera and an infrared sensor, and is arranged at the lower abdomen of the unmanned aerial vehicle close to the installation position of the penetration instrument; the landing telescopic support is fixedly connected to the bottom of the side of the unmanned aerial vehicle, and a movable base is installed at the bottom of the landing telescopic support; the movable base is always in vertical contact with the ground when the unmanned aerial vehicle lands.

[0013] Compared with the prior art, the application has the following beneficial effects:

[0014] The application provides a portable free-positioning unmanned aerial vehicle surface layer strength penetration detection device and implementation method, which includes a control terminal preset unmanned aerial vehicle flight path and measurement point; the unmanned aerial vehicle realizes automatic leveling and stable obstacle avoidance flight by combining laser radar and control mainboard data; after reaching the measurement point, the landing telescopic support and the adjustable support safely land the unmanned aerial vehicle on the surface of the to-be-measured soil layer; the control mainboard sends a penetration signal, the pressure telescopic rod applies downward penetration thrust, and the downward pressure is provided by the reverse rotation of the propeller driven by the motor of the unmanned aerial vehicle, so that the penetration instrument penetrates into the soil; the end resistance and lateral friction information are collected by the end resistance strain gauge and the lateral resistance strain gauge inside the penetration instrument; the data is transmitted to the data storage module in real time through the data transmission line; the visual positioning system monitors the penetration condition and records the positioning information in real time during the penetration process, so that the purposes of remote automatic control and in-situ surveying are realized. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 It is a schematic diagram of the overall structure of the application;

[0016] Figure 2 It is a schematic diagram of the sectional structure of the penetration instrument of the application;

[0017] Figure 3 It is a schematic diagram of the bottom structure distribution of the application;

[0018] Figure 4 It is a schematic diagram of the top structure of the application;

[0019] Figure 5 It is a schematic diagram of the front structure of the application;

[0020] Figure 6 It is a schematic diagram of the installation position of the penetration instrument of the application;

[0021] Figure 7 It is a schematic diagram of the control flow of the application.

[0022] Numbering explanation in the figure:

[0023] 1, penetration instrument; 2, propeller; 3, propeller protection cover; 4, motor; 5, antenna; 6, connecting rod; 7, connecting block; 8, camera; 9, status indicator light; 10, USB interface; 11, data interface; 12, visual positioning system; 121, camera; 122, infrared sensor; 13, power key; 14, landing telescopic support; 15, movable support; 16, flight battery; 17, laser radar; 171, inertial measurement unit; 172, laser altimeter; 18, bearing plate; 19, pressure telescopic rod; 20, unmanned aerial vehicle bottom plate; 21, control mainboard; 22, GPS positioning instrument; 23, microprocessor; 24, data storage module; 25, signal transceiver; 101, cone head; 102, lower top block; 103, cone resistance strain gauge; 104, friction sleeve; 105, side resistance strain gauge; 106, upper top block; 107, sleeve block; 108, middle top block; 109, first hole; 110, second hole; 111, waterproof sleeve block; 112, external sleeve block; 113, data transmission line; 114, through hole; 115, sliding block. Specific implementation method

[0024] The technical solutions in the embodiments of the application will be clearly and completely described below with reference to the drawings in the embodiments of the application. Obviously, the described embodiments are only part of the embodiments of the application, rather than all the embodiments. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the application.

[0025] In the description of the application, it should be noted that the terms "upper", "lower", "inner", "outer", "top / bottom end" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the application. In addition, the terms "first", "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0026] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "provided with", "sleeved / connected", "connected" and the like should be understood broadly, for example, "connected" can be fixedly connected, or detachably connected, or integrally connected; can be mechanically connected, or electrically connected; can be directly connected, or indirectly connected through an intermediate medium, can be internal communication of two elements, and those skilled in the art can understand the specific meaning of the above terms in the present application according to the specific circumstances.

[0027] As shown in Figures 1-6 A portable free positioning unmanned aerial vehicle surface layer strength penetration detection device and implementation method, propeller 2, blade protection cover 3, motor 4, antenna 5, connecting rod 6 and connecting block 7 constitute a set of flight components, the whole unmanned aerial vehicle has four sets of flight components, which are respectively arranged at the four corners of the unmanned aerial vehicle for unmanned aerial vehicle take-off and landing and attitude control; the connecting rod 6 is fixedly connected to the unmanned aerial vehicle main body structure, the connecting block 7 is fixedly connected with the connecting rod 6 and the blade protection cover 3 on both sides, and the motor 4 and the antenna 5 are connected above and below, respectively, wherein the motor 4 is driven to rotate by the flight battery 16 inside the unmanned aerial vehicle to provide power for the propeller 2, and the antenna 5 receives signal network transmission inside the unmanned aerial vehicle transceiver 25; the camera 8 is arranged at the front head of the unmanned aerial vehicle main body, which can transmit the influence situation around the unmanned aerial vehicle to the control terminal, and the state indicating lamp 9 is arranged beside the camera 8, which can display the working state of the camera 8 in real time; the power switch 13 is arranged at the right front side of the unmanned aerial vehicle, the USB interface 10 and the data interface 11 are arranged at the left rear side of the unmanned aerial vehicle, and the flip cover is arranged to shield.

[0028] The laser radar 17 is in the shape of a smooth hemisphere, installed on the top of the unmanned aerial vehicle, and carries an inertial measurement unit 171 and a laser scanner 172 inside, both of which are electrically connected with the control mainboard 21; the penetration instrument 1 is connected to the unmanned aerial vehicle bottom bearing plate 18 through threads, wherein the bearing plate 18 can be controlled to move up and down by the pressure telescopic rod 19 controlled by the control mainboard 21; the visual positioning system 12 includes a camera 121 and an infrared sensor 122, which are arranged on the lower abdomen of the unmanned aerial vehicle near the installation position of the penetration instrument 1; the landing telescopic support 14 is fixedly connected to the bottom of the side edge of the unmanned aerial vehicle, and the movable base 15 is installed at the bottom of the landing telescopic support 14, and the movable base 15 is always in vertical contact with the ground when the unmanned aerial vehicle lands.

[0029] As shown in Figure 2As shown, a portable free positioning unmanned aerial vehicle surface layer strength penetration detection device and implementation method, including penetration instrument 1, penetration instrument 1 includes cone head 101, lower top block 102, cone resistance strain gauge 103, friction sleeve 104, side resistance strain gauge 105, upper top block 106, sleeve block 107, intermediate top block 108 through hole 114 and external sleeve block 115; Wherein the cone head 101, the lower top block 102, the cone resistance strain gauge 103, the intermediate top block 108 and the sleeve block 107 are located on an axis and sequentially connected, the lower top block 102, the cone resistance strain gauge 103 and the intermediate top block 108 are an integral block, the side resistance strain gauge 105 and the upper top block 106 are another integral, the cone head 101 and the lower top block 102 are connected by detachable screw connection; With sleeve block 107 as the main body, the upper part is connected with external sleeve block 112, upper top block 106 and side resistance strain gauge 105, the lower part is connected with intermediate top block 108, cone resistance strain gauge 103 and lower top block 102 integral block, intermediate embedded through hole 114, forming the main structure of penetration instrument 1; The inner wall of external sleeve block 112 is provided with a threaded structure for mounting the whole penetration probe 1 and the upper part of unmanned aerial vehicle 2, facilitating the disassembly and installation of the device, waterproof sleeve 111 is arranged on the upper end of through hole 114 to prevent water from entering the inside; The friction sleeve 104 is sleeved on the outside of the lower top block 102, the side resistance strain gauge 105 and the upper top block 106, the friction sleeve 104 is slidably connected with the lower top block 102 and the sleeve block 107, and the connection part of the friction sleeve 104 and the sleeve block 107 is sliding block 114.

[0030] Working principle:

[0031] When in use, turn on the power key 13, the laser radar 17 is installed on the top of the unmanned aerial vehicle, the inertial measurement unit 171 and the laser altimeter 172 are carried inside, and are connected with the control mainboard 21 and the embedded microprocessor 23, the microprocessor 23 filters, divides and extracts features of the laser radar data, generates an environment map and detects obstacles, fuses the inertial measurement unit 171 data in the laser radar 17 and the GPS positioning instrument 22 data, calculates the accurate attitude of the unmanned aerial vehicle in real time, and adjusts the rotor speed of the propeller 2 and the rudder angle according to the attitude data through the control mainboard 21, so that the unmanned aerial vehicle always maintains a horizontal state under complex terrain or wind disturbance conditions.

[0032] After arriving at the destination to be measured, slow landing is carried out in the state of keeping horizontal hovering, in the process, the visual positioning system 12 cooperates with the control mainboard 21, the visual data and the data of the inertial measurement unit 171 and the GPS positioning instrument 22 are fused through the microprocessor 23, the propeller 2 is controlled according to the real-time state of the unmanned aerial vehicle, and the extension length and the inclination angle of the four landing telescopic supports 14 are dynamically adjusted, so as to ensure that the unmanned aerial vehicle is fixed horizontally above the surface of the soil layer to be measured, at the same time, the control mainboard 21 controls the pressure telescopic rod 19 to fall from the bottom of the unmanned aerial vehicle bottom plate 20 and penetrate into the instrument, the insertion depth and the pressure of the penetration instrument 1 are controlled according to the height information provided by the infrared sensor 122, the resistance data of the penetrated soil are collected in real time, at the same time, the motor 4 starts the propeller 2 to reverse to provide downward pressure for the unmanned aerial vehicle, so as to prevent the unmanned aerial vehicle from being lifted and unstable when the penetration instrument 1 penetrates downward. After the measurement is completed, the unmanned aerial vehicle synchronously records the penetration data and the position information, and generates a soil layer strength profile distribution graph through data processing of the microprocessor 23.

[0033] The cone resistance strain gauge 103 is arranged between the lower top block 102 and the intermediate top block 108, and a cone resistance sensor is embedded in the cone resistance strain gauge 103, when the cone head 101 penetrates into the soil, the axial stress is transmitted to the cone resistance strain gauge 103 through the lower top block 102, the cone resistance strain gauge 103 deforms accordingly, and the internal cone resistance sensor detects and collects the end resistance of the cone head 101 penetrating into the soil; the side resistance strain gauge 105 is arranged in the cavity between the upper top block 106 and the intermediate top block 108, one end of the side resistance strain gauge 105 is fixed on the sleeve block 107, and the other end is connected with the inner wall of the friction sleeve 104, the top end of the friction sleeve 104 and the sleeve block 107 are arranged with the sliding block 115 to form a sliding connection, and a side resistance sensor is designed in the side resistance strain gauge 105, when the penetration instrument 1 is inserted into the soil layer, the friction sleeve 104 bears the axial stress by friction with the soil, and drives the side resistance strain gauge 105 to deform, and the side resistance sensor in the side resistance strain gauge 105 records the side friction of the penetrated soil layer.

[0034] The through hole 114 is axially penetrated through the waterproof sleeve block 111, the sleeve block 107, the intermediate top block 108, the cone resistance strain gauge 103 and the lower top block 102, and the first hole 109 and the second hole 110 are arranged between the cone resistance strain gauge 103 and the lower top block 102 and the intermediate top block 108, respectively, the data transmission line 113 is connected with the data storage module 24 at the upper part, and penetrates into the through hole 114 downward, and is arranged with lines through the first hole 109 and the second hole 110, respectively, to connect the cone resistance strain gauge 103 and the side resistance strain gauge 105 for data transmission.

[0035] The specific embodiments of the application are described in detail above in combination with the drawings, but the application is not limited to the above-mentioned embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the purpose of the application.

Claims

1. A portable free positioning unmanned aerial vehicle surface layer strength penetration detection device and implementation method, characterized in that, The utility model provides a kind of penetration instrument (1), the outer shape of the penetration instrument (1) is rotary body, the penetration instrument (1) includes cone head (101), lower anvil (102), cone resistance strain gauge (103), friction sleeve (104), side resistance strain gauge (105), upper anvil (106), sleeve block (107), intermediate anvil (108), waterproof sleeve block (111), external sleeve block (112), through hole (114) and sliding block (115);Wherein, the cone head (101), the lower anvil (102), the cone resistance strain gauge (103), the intermediate anvil (108) and the sleeve block (107) are on an axis and sequentially connected, the lower anvil (102), the cone resistance strain gauge (103) and the intermediate anvil (108) are connected as a whole, the side resistance strain gauge (105) and the upper anvil (106) are connected as a whole, the cone head (101) and the lower anvil (102) connection place is detachable screw connection;With the sleeve block (107) as main body, its upper portion is fixedly connected with the external sleeve block (112), upper anvil (106) and the side resistance strain gauge (105), lower portion is fixedly connected with the intermediate anvil (108), the cone resistance strain gauge (103) and the lower anvil (102) integrated block, intermediate embedded connection has the through hole (114), forms the basic overall structure of the penetration instrument (1);The inner wall of the external sleeve block (112) is provided as screw structure, for the penetration instrument (1) whole and upper portion unmanned aerial vehicle installation, the detachable and installation of convenient device, the waterproof sleeve block (111) is arranged on the upper end of the through hole (114), to prevent water from entering its interior;The friction sleeve (104) is sleeved on the outside of the lower anvil (102), the side resistance strain gauge (105) and the sliding block (115), the friction sleeve (104) and the lower anvil (102) and the sleeve block (107) slidingly connected, the friction sleeve (104) and the sleeve block (107) connecting portion is the sliding block (114).

2. The portable free-position unmanned aerial vehicle surface layer strength penetration detection device and implementation method according to claim 1, characterized in that, The cone resistance strain gauge (103) is located between the lower anvil (102) and the intermediate anvil (108), and an end resistance sensor is embedded in the inside thereof, when the cone head (101) penetrates into soil, axial stress is transmitted to the cone resistance strain gauge (103) with the lower anvil (102), so that the cone resistance strain gauge (103) produces deformation, and the inside sensor detects and collects the end resistance of the cone head (101) penetrating into soil.

3. The portable free-position unmanned aerial vehicle surface layer strength penetration detection device and implementation method according to claim 1, characterized in that, The side resistance strain gauge (105) is arranged in the cavity between the upper top block (106) and the middle top block (108), one end of which is fixed on the sleeve block (107), and the other end is connected with the inner wall of the friction sleeve (104), the top end of the friction sleeve (104) is provided with the sliding block (115) to form a sliding connection with the sleeve block (107), the side resistance strain gauge (105) is internally designed with a side resistance sensor, when the penetration instrument (1) is inserted into the soil layer, the friction sleeve (104) is subjected to axial stress by friction with the soil, which drives the side resistance strain gauge (105) to deform, and the side resistance sensor in the side resistance strain gauge (105) records the side friction force suffered by the penetrated soil.

4. The portable free-position unmanned aerial vehicle surface layer strength penetration detection device and implementation method according to claim 1, characterized in that, The through hole (114) axially penetrates the waterproof sleeve block (111), the sleeve block (107), the middle top block (108), the cone resistance strain gauge (103) and the lower top block (102) respectively, and the cone resistance strain gauge (103) is respectively provided with the first hole (109) and the second hole (110) between the lower top block (102) and the middle top block (108), the data transmission line (113) penetrates the through hole (114) from the upper part, arranges the circuit through the first hole (109) and the second hole (110) respectively, and connects the cone resistance strain gauge (103) and the side resistance strain gauge (105) to collect data.

5. A portable free positioning unmanned aerial vehicle surface layer strength penetration detection device and implementation method, characterized in that, The unmanned aerial vehicle includes a propeller (2), a propeller protection cover (3), a motor (4), an antenna (5), a connecting rod (6), a connecting block (7), a camera (8), a state indicator light (9), a USB interface (10), a data interface (11), a visual positioning system (12), a power switch (13), a landing telescopic support (14), a movable base (15), a flight battery (16), a laser radar (17), a bearing plate (18), a pressure telescopic rod (19), an unmanned aerial vehicle bottom plate (20), a control mainboard (21), a GPS positioning instrument (22), a microprocessor (23), a data storage module (24), and a signal transceiver (25). The propeller (2), the propeller protection cover (3), the motor (4), the antenna (5), the connecting rod (6), and the connecting block (7) constitute a set of flight components, and the entire unmanned aerial vehicle has four sets of flight components, which are arranged at four corners of the unmanned aerial vehicle respectively, for unmanned aerial vehicle flight, landing, and attitude control. The connecting rod (6) is fixedly connected to the unmanned aerial vehicle main body structure, and the connecting block (7) is fixedly connected with the connecting rod (6) and the propeller protection cover (3) on both sides, and is connected with the motor (4) and the antenna (5) on the top and bottom respectively. The motor (4) is driven to rotate by the flight battery (16) inside the unmanned aerial vehicle to provide power for the propeller (2), and the antenna (5) receives a signal network for the signal transmitter (25) inside the unmanned aerial vehicle to operate. The camera (8) is arranged at the front head of the unmanned aerial vehicle main body, can transmit the surrounding influence situation of the unmanned aerial vehicle to the control terminal, and the state indicator light (9) is arranged on one side of the camera (8) to display the working state of the camera (8) in real time. The power switch (13) is arranged on the right front side of the unmanned aerial vehicle, the USB interface (10) and the data interface (11) are arranged on the left rear side of the unmanned aerial vehicle, and a flip cover is arranged to shield. The laser radar (17) has a smooth semispherical shape, is installed on the top of the unmanned aerial vehicle, and carries an inertial measurement unit (171) and a laser scanner (172) inside, both of which are connected with the control mainboard (21). The penetrometer (1) is threadedly connected to the bearing plate (18) at the bottom of the unmanned aerial vehicle, wherein the bearing plate (18) can be lifted up and down by the pressure telescopic rod (19) controlled by the control mainboard (21). The visual positioning system (12) includes a camera (121) and an infrared sensor (122), is arranged on the lower abdomen of the unmanned aerial vehicle, and is arranged near the installation position of the penetrometer (1). The landing telescopic support (14) and the movable base (15) are arranged at the four corners of the bottom of the unmanned aerial vehicle, for unmanned aerial vehicle landing and ground use.

6. The portable free-position unmanned aerial vehicle surface layer strength penetration detection device and implementation method according to claim 5, characterized in that, The laser radar (17) is internally provided with an inertial measurement unit (171) and a laser scanner (172), the laser scanner (172) helps the unmanned aerial vehicle to perceive the distance from the ground or obstacles in real time by scanning the surrounding environment, and collision in the flight process is avoided; the inertial measurement unit (171) monitors the flight attitude of the unmanned aerial vehicle in real time (including pitch, roll and yaw), the control panel (21) fuses the data of the inertial measurement unit (171) with the data of the laser scanner (172) and the GPS positioning instrument (22), calculates the accurate attitude of the unmanned aerial vehicle in real time, dynamically adjusts the rotating speed of the propeller (2) and the angle of the rudder, and makes the unmanned aerial vehicle always keep a horizontal state under the condition of complex terrain or wind disturbance, so that the stable and reliable automatic leveling function is realized.

7. The portable free-position unmanned aerial vehicle surface layer strength penetration detection device and implementation method according to claim 5, characterized in that, The landing telescopic support (14) is arranged at the bottom of the side edge of the unmanned aerial vehicle, and the bottom is provided with a movable base (15); when the unmanned aerial vehicle lands, the landing telescopic support (14) cooperates with the inertial measurement unit (171) in the laser radar (17), dynamically adjusts the telescopic length and the inclination angle of the four landing telescopic supports (14) according to the real-time state of the unmanned aerial vehicle, and ensures that the unmanned aerial vehicle is horizontally fixed above the surface layer to be measured, and the movable base (15) keeps vertical contact with the ground.

8. The portable free-position unmanned aerial vehicle surface layer strength penetration detection device and implementation method according to claim 5, characterized in that, The power switch (13) is connected to the control mainboard (21) inside, controls the switch of the whole unmanned aerial vehicle instrument, the USB interface (10) is connected to the flight battery (16), and external power supply is connected to supply power, and the data interface (11) is connected to the data storage module (24), so that external equipment reads and transmits internal data.

9. The portable free-position unmanned aerial vehicle surface layer strength penetration detection device and implementation method according to claim 5, characterized in that, The visual positioning system (12) is arranged at the bottom of the unmanned aerial vehicle, and is composed of a camera (121) and an infrared sensor (122); the camera (121) observes the support form of the landing telescopic support (14) and the penetration state of the penetration instrument (1) by capturing the ground features in real time, and the infrared sensor (122) accurately measures the height of the unmanned aerial vehicle from the ground; the penetration instrument (1) is screw-connected with the bearing plate (18) of the unmanned aerial vehicle main body through the thread structure on the inner wall of the external sleeve block (112) at the top, and the pressure telescopic rod (19) is arranged between the bearing plate (18) and the unmanned aerial vehicle bottom plate (20); when the unmanned aerial vehicle lands at the monitoring destination, the control mainboard (21) controls the pressure telescopic rod (19) to push downward, applies a constant pressure to the top of the penetration instrument (1) to make it penetrate into the soil, and performs the work of measuring the strength of the penetrated soil layer; meanwhile, the motor (4) controls the propeller (2) to reverse to provide downward pressure for the unmanned aerial vehicle, so as to prevent the unmanned aerial vehicle from being lifted and unstable when the penetration instrument (1) penetrates downward.

10. The portable free-position unmanned aerial vehicle surface layer strength penetration detection device and implementation method according to claim 5, characterized in that, The control mainboard (21) is arranged inside the unmanned aerial vehicle, and is electrically connected with the microprocessor (23), the GPS positioning instrument (24), the data storage module (24), the signal transceiver (25) and the visual positioning system (12), and each module cooperates with each other to control the flight of the unmanned aerial vehicle and the penetration measurement of the penetration instrument.

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