Vertical fixed-wing unmanned aerial vehicle suitable for mining area environment monitoring and data processing method of vertical fixed-wing unmanned aerial vehicle

Abstract

The embodiment of the invention provides a vertical fixed-wing unmanned aerial vehicle suitable for mining area environment monitoring and a data processing method thereof, and relates to the technical field of unmanned aerial vehicles. A vertical fixed-wing unmanned aerial vehicle suitable for mining area environment monitoring comprises a vehicle body, undercarriages are fixedly connected to the two sides of the abdomen of the vehicle body respectively, meanwhile, telescopic holes are upwards formed in the bottom faces of the undercarriages, and telescopic supporting frames are further arranged in the telescopic holes of the undercarriages; meanwhile, an electric push rod is further fixed to the top face of an inner cavity of a telescopic hole, a telescopic rod is arranged at the power output end of the electric push rod, one end of the telescopic rod is fixedly connected with the top of the supporting frame, and when the unmanned aerial vehicle is located on the uneven ground and needs to take off and land, the supporting frames in the four undercarriages can independently stretch out; therefore, the unmanned aerial vehicle can take off and land in a relatively flat mode.

Description

Technical Field

[0001] This invention belongs to the field of unmanned aerial vehicle (UAV) technology, and in particular relates to a vertical take-off and landing fixed-wing UAV suitable for monitoring the environment in mining areas and its data processing method. Background Technology

[0002] In the field of environmental monitoring in mining areas, vertical takeoff and landing (VTOL) fixed-wing unmanned aerial vehicles (UAVs) have become key equipment for monitoring surface deformation and tracing pollution sources due to their combination of long endurance and vertical takeoff and landing capabilities. The fact that VTOL UAVs do not require a runway for takeoff and landing allows them to conduct flight monitoring in mountainous, hilly, and other terrains.

[0003] In the existing technology (publication number CN118730242A, patent application titled "A Monitoring Device for Water Accumulation in Mining Areas"), a drone is controlled by a lifting system to fly back and forth to the water accumulation area, and the water depth is detected by a sonar detector on the central float. This achieves automatic and rapid detection of water accumulation conditions in different areas, which is quite convenient. However, in implementing this technical solution, at least the following problems were found in the existing technology.

[0004] Traditional vertical take-off and landing fixed-wing UAVs mostly use integral rigid landing gear or fixed-height supports, which pose a severe challenge in the complex terrain of mining areas. However, the surface of mining areas generally has unstructured environments such as spoil heap slopes, subsidence pits, gravel accumulation zones, and soft tailings. Integral landing gear cannot adapt to the undulations of the ground, causing the aircraft to tilt or even overturn upon landing. Summary of the Invention

[0005] This application aims to address at least one of the technical problems of unstable takeoff and landing of unmanned aerial vehicles (UAVs) in the prior art. To this end, this application proposes a vertical takeoff and landing fixed-wing UAV suitable for environmental monitoring in mining areas and its data processing method.

[0006] To achieve the above objectives, the specific technical solution of the present invention is as follows:

[0007] A vertical take-off fixed-wing UAV suitable for monitoring the environment in mining areas includes a fuselage. Landing gears are fixedly connected to both sides of the fuselage's belly. Telescopic holes are opened from the bottom surface of the landing gears upwards. A telescopic support frame is also installed inside the telescopic holes. An electric push rod is fixed to the top surface of the inner cavity of the telescopic holes. A telescopic rod is provided at the power output end of the electric push rod. One end of the telescopic rod is fixedly connected to the top of the support frame.

[0008] The drone has two landing modes: the first landing mode, in which the extension length of each support frame (21) is independently controlled by the electric push rod (22) to adapt to take-off and landing on uneven hard ground; the second landing mode, in which the support frame (21) is driven to retract by the electric push rod (22) and a locking mechanism is deployed to adapt to take-off and landing on soft or muddy ground.

[0009] Preferably, the landing gear has a rack groove extending through its surface, and racks are fixed on opposite sides of the outer surface of the support frame, which can engage with the rack groove area.

[0010] Preferably, connecting frames are fixed on both sides of the outer surface of the landing gear at locations parallel to the rack, and anti-sinking mechanisms that can be rotated are connected to both ends of the connecting frames. The anti-sinking mechanisms are anti-sinking cylinders.

[0011] Preferably, the upper two sides of the anti-sinking cylinder are respectively provided with connectors that can be connected to the end of the connecting frame, and a gear is also fixed on the upper side of the anti-sinking cylinder, which forms a meshing connection with the rack.

[0012] Preferably, the bottom surface of the anti-sinking cylinder is also fixed with an expandable expansion film, and a pressure cylinder is fixed on the concave inner arc surface of the anti-sinking cylinder, and an air passage is opened from the surface of the pressure cylinder inward.

[0013] Preferably, one end of the airway is connected to the expansion membrane, and a push rod capable of telescopic displacement is placed inside the airway.

[0014] Preferably, a spring is sleeved on the outer peripheral surface of the push rod, and a pressure plate is fixed to one end of the push rod inside the air passage.

[0015] Preferably, the two ends of the spring are connected to the pressure plate and the end opening of the air passage, respectively.

[0016] Preferably, the fuselage has wings fixedly connected to both sides, a tail fin fixedly connected to the tail end of the fuselage, a tail rotor connected to the tail end of the fuselage, a reinforcing member connected between the wings and the tail fin, and blades connected to the bottom surface of the reinforcing member.

[0017] The vertical take-off fixed-wing UAV and its data processing method for mining area environmental monitoring, as described in this invention, have the following advantages:

[0018] 1. A vertical take-off fixed-wing UAV suitable for monitoring the environment in mining areas and its data processing method, wherein when the UAV is on uneven ground and needs to take off and land, the support frames inside the four sets of landing gear can extend independently, thereby enabling the UAV to take off and land in a relatively flat mode.

[0019] 2. This invention relates to a vertical take-off and landing fixed-wing UAV suitable for monitoring the environment in mining areas, and its data processing method. When the UAV needs to land on soft or muddy surfaces in the mining area, the operation of the electric push rod causes the telescopic rod to retract along the inside of the telescopic hole. Subsequently, the racks on both sides of the outer surface of the support frame drive the gears, thereby closing the two anti-sinking cylinders, increasing the contact area for UAV landing and preventing the UAV from sinking. Furthermore, these anti-sinking cylinders provide two different landing modes for the UAV.

[0020] 3. A vertical take-off fixed-wing UAV suitable for monitoring the environment in mining areas and its data processing method, wherein when the UAV is landing, the two anti-sinking cylinders close. As the anti-sinking cylinders close, the interaction force of the two push rods causes the pressure plate to move along the internal space of the air passage, thereby compressing the gas inside the air passage to the expansion membrane, allowing the expansion membrane to expand and reduce the impact of the UAV landing. Attached Figure Description

[0021] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained from these drawings without creative effort.

[0022] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0023] Figure 2 This is a schematic diagram of the fuselage structure of the present invention;

[0024] Figure 3 This is a schematic diagram of the anti-trapping cylinder structure of the present invention;

[0025] Figure 4 This is a top view of the fuselage structure of the present invention;

[0026] Figure 5 For the purposes of this invention Figure 4 Schematic diagram of the cross-sectional structure of the middle AA section;

[0027] Figure 6 This is a schematic diagram of the exploded landing gear structure of the present invention;

[0028] Figure 7 This is a schematic diagram of the explosion-proof structure of the trap tube of the present invention;

[0029] Figure 8 For the present invention Figure 7 Enlarged structural diagram at point A in the middle;

[0030] Figure 9This is a top view of the anti-sinking cylinder structure of the present invention;

[0031] Figure 10 For the purposes of this invention Figure 9 Schematic diagram of the cross-sectional structure of the middle BB section;

[0032] Figure 11 For the present invention Figure 10 Enlarged structural diagram at point B.

[0033] The markings in the diagram are as follows: 1. Fuselage; 11. Wing; 12. Tail rotor; 13. Blade; 14. Tail fin; 15. Reinforcing member; 2. Landing gear; 21. Support frame; 211. Rack; 22. Electric push rod; 23. Telescopic rod; 24. Rack groove; 25. Telescopic hole; 26. Connecting frame; 3. Anti-sinking cylinder; 31. Connecting member; 32. Pressurizing cylinder; 321. Air passage; 322. Push rod; 323. Spring; 324. Pressurizing plate; 33. Expansion diaphragm; 34. Gear. Detailed Implementation

[0034] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments.

[0035] like Figures 1-3 As shown, the present invention provides a vertical take-off fixed-wing UAV suitable for monitoring the environment in mining areas. The fixed-wing UAV consists of a fuselage 1 and wings 11 fixedly connected to both sides of the fuselage 1. A tail 14 is also fixedly connected to the tail end of the fuselage 1. The UAV can take off by airflow through the wings 11 and the tail 14.

[0036] Furthermore, a tail rotor 12 is connected to the tail end of the fuselage 1, and a reinforcing member 15 is connected between the wing 11 and the tail fin 14. Blades 13 are connected to the bottom surface of the reinforcing member 15. Through the blades 13 and the tail rotor 12, the vertical takeoff and landing (VTOL) UAV adopts a 4+1 layout. Therefore, the VTOL UAV does not require a runway for takeoff and landing, ensuring that it can perform takeoff and landing flight monitoring in mountainous and hilly terrains.

[0037] like Figures 3-6 As shown, landing gear 2 is fixedly connected to both sides of the fuselage 1. The landing gear 2 can support the UAV and prevent the propeller blades 13 from contacting the bottom surface. At the same time, a telescopic hole 25 is opened from the bottom surface of the landing gear 2, and a telescopic support frame 21 is also installed inside the telescopic hole 25.

[0038] Meanwhile, an electric push rod 22 is fixed on the top surface of the inner cavity of the telescopic hole 25. The power output end of the electric push rod 22 is provided with a telescopic rod 23. One end of the telescopic rod 23 is fixedly connected to the top of the support frame 21. Therefore, when the UAV needs to take off and land on uneven ground, the support frame 21 inside the four sets of landing gear 2 receives a signal through the controller inside the fuselage 1. The signal is then transmitted to the electric push rod 22, and the telescopic rod 23 of the electric push rod 22 makes a telescopic movement. At the same time, the telescopic rod 23 drives the support frame 21 to independently extend and retract, so that the UAV can take off and land in a relatively flat mode.

[0039] The drone has two landing modes:

[0040] In the first landing mode, the extension length of each support frame 21 is independently controlled by the electric push rod 22 to adapt to take-off and landing on uneven hard ground;

[0041] In the second landing mode, the support frame 21 is retracted by the electric push rod 22, and the anti-sinking mechanism is deployed in conjunction with it to adapt to take-off and landing on soft or muddy ground.

[0042] The anti-sinking mechanism is not limited to the anti-sinking cylinder. Any mechanism that can be expanded by retracting the support frame (21) to increase the grounding area, such as the anti-sinking plate and the floating plate, is within the scope of protection of this invention.

[0043] like Figures 6-8 As shown, a rack groove 24 is provided through the surface of the landing gear 2, and racks 211 are fixed on opposite sides of the outer surface of the support frame 21, which can be engaged in the area of ​​the rack groove 24.

[0044] It should be noted that the telescopic movement of the support frame 21 is entirely driven by the electric push rod 22, and its driving force is much greater than the resistance of the mechanism. The main functions of the rack 211 and rack groove 24 are: 1. Guiding function, ensuring that the support frame 21 moves vertically in a straight line and preventing deflection; 2. After the UAV lands, the meshing of the tooth surfaces provides strong compressive load-bearing capacity, preventing the support frame 21 from accidentally retracting when subjected to ground impact, thereby ensuring the stability of the landing attitude. When the UAV takes off or needs to switch landing modes, the flight control system instructs the electric push rod 22 to apply a reverse pulling force. This pulling force is sufficient to overcome the static friction between the tooth surfaces of the rack 211 and rack groove 24, thereby smoothly driving the support frame 21 to retract into the telescopic hole 25, preparing for the next adaptive landing. The length of the rack 211 is less than the depth of the rack groove 24, ensuring that the support frame 21 has sufficient telescopic stroke.

[0045] Furthermore, connecting frames 26 are fixed on both sides of the outer surface of the landing gear 2, parallel to the rack 211. At each end of the connecting frame 26 are a rotatable anti-sinking cylinder 3, allowing the two anti-sinking cylinders 3 to rotate and open / close synchronously. Connecting pieces 31, which connect to the ends of the connecting frames 26, are provided on both sides above the anti-sinking cylinders 3. These connecting pieces 31 are axially connected to the rotating shafts on the surface of the connecting frame 26, enabling the anti-sinking cylinders 3 to rotate. A gear 34 is also fixed above the anti-sinking cylinders 3, meshing with the rack 211. Therefore, when the UAV needs to land on soft or muddy surfaces in a mining area, the operation of the electric push rod 22 causes the telescopic rod 23 to retract the support frame 21 along the telescopic hole 25. Subsequently, the racks 211 on both sides of the outer surface of the support frame 21 drive the gears 34, closing the two anti-sinking cylinders 3, increasing the contact area for UAV landing and preventing the UAV from sinking. Furthermore, the anti-trap tube 3 can provide two different landing modes for the drone.

[0046] like Figures 9-11 As shown, an expansion membrane 33 that can expand is fixed on the bottom surface of the anti-sinking cylinder 3. At the same time, a pressure cylinder 32 is fixed on the concave inner arc surface of the anti-sinking cylinder 3. An air passage 321 is opened from the surface of the pressure cylinder 32 inward. One end of the air passage 321 is connected to the expansion membrane 33. Inside the air passage 321, a push rod 322 that can extend and retract is placed. A spring 323 is sleeved on the outer circumference of the push rod 322. A pressure plate 324 is fixed to one end of the push rod 322 inside the air passage 321. However, the two ends of the spring 323 are respectively connected to the pressure plate 324 and the end opening of the air passage 321. Therefore, when the drone is landing, the two anti-sinking cylinders 3 close. As the anti-sinking cylinders 3 close, the interaction force of the two push rods 322 causes the pressure plate 324 to move along the internal space of the air passage 321, which in turn compresses the gas inside the air passage 321 to the expansion membrane 33, allowing the expansion membrane 33 to expand and reduce the impact of the drone's landing.

[0047] A data processing method for vertical take-off and landing fixed-wing unmanned aerial vehicles:

[0048] S1. Through the internal sensors of the fuselage 1, including but not limited to multispectral cameras, lidar, gas sensors, barometers, etc., real-time data on surface deformation, vegetation cover, dust concentration and gas composition in the mining area are collected.

[0049] S2. Fuse lidar point clouds and multispectral images to construct a three-dimensional digital surface model (DSM) of the mining area;

[0050] S3. Use the time-series differential interferometry to process multiple flight data, identify the surface subsidence rate and range; correlate dust concentration and gas composition data, establish a pollution diffusion model and predict the affected area.

[0051] The working principle of a vertical take-off and landing fixed-wing UAV suitable for monitoring the environment in mining areas: When the UAV needs to take off and land on uneven ground, the support frames 21 inside the four sets of landing gear 2 can extend independently, so that the UAV can take off and land in a relatively flat mode.

[0052] This invention provides two switchable landing modes to adapt to different surface environments in mining areas:

[0053] First landing mode (suitable for uneven, hard ground): The flight control system controls the electric push rod 22 to drive the support frame 21 to extend independently until the bottom surface of each support frame 21 contacts the ground and the fuselage 1 is leveled. In this mode, the anti-sinking cylinder 3 is in its initial open state, that is, it flips upward and outward, and retracts to both sides of the landing gear 2. Its bottom surface is higher than the bottom end of the support frame 21, so it does not contact the ground and is supported by the support frame 21.

[0054] Second landing mode (suitable for soft or muddy ground): The flight control system controls the electric push rod 22 to operate, driving the telescopic rod 23 to retract the support frame 21 along the telescopic hole 25. During this process, the rack 211 fixed to the support frame 21 drives the gear 34 meshing with it to rotate. Since the gear 34 is fixed to the anti-sinking cylinder 3, and the anti-sinking cylinder 3 is hinged to the connecting frame 26 through the connector 31, the rotation of the gear 34 will drive the two anti-sinking cylinders 3 to rotate downward and inward around the hinge point until the bottom surfaces of the two anti-sinking cylinders 3 close to form a complete supporting plane. The area of ​​this plane is much larger than the cross-sectional area of ​​the support frame 21, which can effectively prevent the UAV from sinking.

[0055] When the drone is landing, the two anti-sinking cylinders 3 close. As the anti-sinking cylinders 3 close, the interaction force of the two push rods 322 causes the pressure plate 324 to move along the internal space of the air passage 321, which in turn compresses the gas inside the air passage 321 to the expansion membrane 33, allowing the expansion membrane 33 to expand and reduce the impact of the drone's landing.

[0056] It should be noted that the specific model and specifications of the electric actuator 22 need to be selected and determined according to the actual specifications of the device. The specific selection and calculation method adopts the existing technology in this field, so it will not be elaborated in detail.

[0057] The power supply and principle of the electric actuator 22 are clear to those skilled in the art and will not be described in detail here.

[0058] It is understood that the present invention has been described through some embodiments, and those skilled in the art will recognize that various changes or equivalent substitutions can be made to these features and embodiments without departing from the spirit and scope of the invention. Furthermore, under the teachings of the present invention, these features and embodiments can be modified to adapt to specific situations and materials without departing from the spirit and scope of the invention. Therefore, the present invention is not limited to the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application are within the protection scope of the present invention.

Claims

1. A vertical take-off fixed-wing unmanned aerial vehicle (UAV) suitable for environmental monitoring in mining areas, comprising a fuselage (1), characterized in that: Landing gears (2) are fixedly connected to both sides of the fuselage (1). At the same time, a telescopic hole (25) is opened from the bottom surface of the landing gear (2) upward. A telescopic support frame (21) is also provided inside the telescopic hole (25). An electric push rod (22) is fixed on the top surface of the inner cavity of the telescopic hole (25). A telescopic rod (23) is provided at the power output end of the electric push rod (22). One end of the telescopic rod (23) is fixedly connected to the top of the support frame (21). The UAV has two landing modes: the first landing mode, in which the extension length of each support frame (21) is independently controlled by the electric push rod (22) to adapt to take-off and landing on uneven hard ground; the second landing mode, in which the support frame (21) is driven to retract by the electric push rod (22) and the anti-sinking mechanism is deployed to adapt to take-off and landing on soft or muddy ground.

2. The vertical take-off fixed-wing UAV suitable for environmental monitoring in mining areas according to claim 1, characterized in that: The landing gear (2) has a rack groove (24) through it, and racks (211) are fixed on opposite sides of the outer surface of the support frame (21), which can be engaged in the rack groove (24) area.

3. The vertical take-off fixed-wing UAV suitable for environmental monitoring in mining areas according to claim 2, characterized in that: The landing gear (2) has connecting frames (26) fixed on both sides of its outer surface parallel to the rack (211). At both ends of the connecting frames (26), there are anti-sinking mechanisms that can be flipped. The anti-sinking mechanisms are anti-sinking cylinders (3).

4. The vertical take-off fixed-wing UAV suitable for environmental monitoring in mining areas according to claim 3, characterized in that: The upper sides of the anti-sinking cylinder (3) are respectively provided with connectors (31) that can be connected to the end of the connecting frame (26). A gear (34) is also fixed on the upper side of the anti-sinking cylinder (3), and the gear (34) and the rack (211) form a meshing connection.

5. The vertical take-off fixed-wing UAV suitable for environmental monitoring in mining areas according to claim 4, characterized in that: The bottom surface of the anti-sinking cylinder (3) is also fixed with an expansion membrane (33) that can expand. At the same time, a pressure cylinder (32) is fixed on the concave inner arc surface of the anti-sinking cylinder (3), and an air passage (321) is opened from the surface of the pressure cylinder (32) inward.

6. The vertical take-off fixed-wing UAV suitable for environmental monitoring in mining areas according to claim 5, characterized in that: One end of the air passage (321) is connected to the expansion membrane (33), and a push rod (322) capable of telescoping is placed inside the air passage (321).

7. The vertical take-off fixed-wing UAV suitable for environmental monitoring in mining areas according to claim 6, characterized in that: A spring (323) is sleeved on the outer periphery of the push rod (322), and a pressure plate (324) is fixed at one end of the push rod (322) inside the air passage (321).

8. The vertical take-off fixed-wing UAV suitable for environmental monitoring in mining areas according to claim 7, characterized in that: The two ends of the spring (323) are respectively connected to the pressure plate (324) and the end opening of the air passage (321).

9. The vertical take-off and landing fixed-wing UAV suitable for environmental monitoring in mining areas according to claim 8, characterized in that: The fuselage (1) is fixedly connected to the wings (11) on both sides, and a tail fin (14) is fixedly connected to the tail end of the fuselage (1). A tail rotor (12) is also connected to the tail end of the fuselage (1). A reinforcing member (15) is connected between the wings (11) and the tail fin (14). A blade (13) is connected to the bottom surface of the reinforcing member (15).

10. A data processing method for a vertical take-off and landing fixed-wing unmanned aerial vehicle (UAV), based on the vertical take-off and landing fixed-wing UAV suitable for monitoring the mining area as described in any one of claims 1-9, characterized in that: Includes the following steps: S1. Real-time data on surface deformation, vegetation cover, dust concentration and gas composition in the mining area are collected through the internal sensors of the fuselage (1); S2. Fuse lidar point cloud and multispectral imagery to construct a three-dimensional digital surface model (DSM) of the mining area. S3. The time-series differential interferometry method is used to process multiple flight data, identify the surface subsidence rate and range, correlate dust concentration and gas composition data, establish a pollution diffusion model and predict the affected area.

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