Unmanned aerial vehicle throwing type corner reflector and throwing installation method and positioning method thereof

Abstract

The invention discloses an unmanned aerial vehicle throwing type corner reflector and a throwing installation method and a positioning method thereof, and belongs to the technical field of deformation monitoring and positioning. The corner reflector comprises a base, a throwing hanger, a firing pin, at least five side plates and a corresponding number of connecting plates, the base, the connecting plates and the side plates jointly form an annular hemispherical shell propeller structure, reflectors are arranged on the upper end face of the base and the outer surface of each side plate, and all the reflectors are evenly distributed in a hemispherical surface mode in space. The distances from the center points of the reflectors to the center point of the corner reflector are equal, the lower end of the base is provided with a cutting part capable of penetrating into the ground when the corner reflector falls to the target ground, and the throwing hanging piece is connected with the upper end of the base. The corner reflector can meet the requirement for remote, rapid, stable and high-precision feature point arrangement in an emergency monitoring scene, and the key technical problems that in emergency monitoring, feature points are difficult to arrange, positioning is not accurate, and installation is not stable are solved.

Description

Technical Field

[0001] This application relates to the field of deformation monitoring and positioning technology, specifically to a corner reflector that can be deployed by drone for emergency monitoring scenarios such as landslides and collapses, and its supporting deployment and positioning methods. Background Technology

[0002] Three-dimensional laser scanning technology is widely used in geological disaster deformation monitoring due to its non-contact and high-efficiency characteristics. The core of this technology lies in obtaining deformation through accurate registration of multi-period point cloud data, and the accuracy of the registration is highly dependent on corner reflectors deployed in the monitoring area as feature reference points.

[0003] However, existing technologies have two major bottlenecks: First, in dangerous areas such as disaster sites where personnel cannot reach, traditional corner reflectors rely on manual installation, which is difficult to implement; Second, existing corner reflectors are either planar with single-sided reflection, which limits the observable angle, or three-dimensional with multi-sided reflection (such as spheres and cubes), which, although with a wide observable angle, make it difficult to accurately calculate their center coordinates because the strong reflection surfaces are different at different angles.

[0004] Therefore, there is an urgent need for a new type of corner reflector that integrates the advantages of remote automatic deployment, multi-angle high-precision positioning, compact structure and easy transportation, in order to solve practical problems in emergency monitoring. Summary of the Invention

[0005] To overcome the aforementioned technical deficiencies in the prior art, this application provides a novel and functionally integrated UAV-launched corner reflector, along with a scientific launching and installation method and a simplified positioning method, enabling remote, automatic, and rapid deployment of the corner reflector in areas inaccessible to personnel.

[0006] This application provides a drone-launched corner reflector, comprising a base, a launcher, at least five side plates, and connecting plates of the same number as the side plates.

[0007] The sidewall of the base is connected to the inner side of each connecting plate, and the outer side of each connecting plate is connected to each side plate in a corresponding manner. Each side plate is arranged at intervals around the base, and the inner surface of each side plate faces the base. The base, each connecting plate and each side plate together form an annular hemispherical propeller structure.

[0008] The upper surface of the base and the outer surface of each side plate are provided with reflective sheets. All reflective sheets are evenly distributed in a hemispherical shape in space, and the distance from the center point of each reflective sheet to the center point of the corner reflector is equal.

[0009] The lower end of the base is provided with a cutting part, which can penetrate into the ground surface when the corner reflector falls to the target ground surface, so as to fix the corner reflector on the target ground surface;

[0010] The throwing and hanging device is connected to the upper end of the base. The corner reflector can be mounted on the drone's launcher via the throwing and hanging device, and the throwing and hanging device can be released via the drone's launcher to launch the corner reflector.

[0011] Preferably, the insertion part is a hollow tube with a pointed end, the upper end of the hollow tube is fixedly connected to the lower end of the base, and the tube wall has multiple through holes.

[0012] The base has an internal cavity containing a coagulant packet. The inner cavity of the empty tube communicates with the cavity. A first striking pin is movably disposed within the empty tube. The lower end of the first striking pin has an inverted conical structure, which extends beyond the lower end of the empty tube.

[0013] When the upper end of the first firing pin moves into the accommodating cavity, the upper end of the first firing pin can puncture the coagulant package, so that the coagulant in the coagulant package can flow out from the lower end of the accommodating cavity into the empty tube, and flow out through the through hole on the tube wall of the empty tube.

[0014] Preferably, the insertion part is a second firing pin that is flat at the top and pointed at the bottom.

[0015] The base has an internal cavity, the lower end of which penetrates the lower end of the base. The cavity is wider at the top and narrower at the bottom. It is filled with a non-Newtonian fluid-type solidifying agent. The second firing pin is movably disposed within the cavity, and its lower end extends from top to bottom through the lower end of the base. The base and the second firing pin together form a piston structure.

[0016] When the upper end of the second firing pin is located at the lower end of the receiving cavity, the side wall of the upper end of the second firing pin is sealed to the inner wall of the lower end of the receiving cavity, so that the coagulant in the receiving cavity will not flow out from the lower end of the receiving cavity.

[0017] When the upper end of the second firing pin moves to the middle of the receiving cavity, there is a gap between the side wall of the upper end of the second firing pin and the inner wall of the receiving cavity, so that the coagulant in the receiving cavity can flow out of the base from the lower end of the receiving cavity.

[0018] Preferably, the base includes a base body and a cover plate, the accommodating cavity is disposed within the base body, and the upper end of the accommodating cavity penetrates through the upper end of the base body. The cover plate is sealed to the upper end of the base body to block the upper end of the accommodating cavity. The inner side of each connecting plate is connected to the side wall of the base body. The throwing and hoisting component is rotatably connected to the cover plate.

[0019] Preferably, the base body is in the shape of an inverted frustum.

[0020] Preferably, both the connecting plate and the side plate are trapezoidal, and the outer side of each connecting plate is fixedly connected to the left / right side of the corresponding side plate to form multiple L-shaped blades. The bending direction of each L-shaped blade is consistent in the circumferential direction, and each L-shaped blade is evenly distributed along the circumference of the base.

[0021] Preferably, the number of side plates and connecting plates is six, and the six connecting plates are connected to the six side plates to form six L-shaped blades, with any two adjacent side plates forming a 135° angle.

[0022] This application also provides a method for launching and installing a drone-launched corner reflector, the method comprising the following steps:

[0023] S1. Based on the surface properties of the target monitoring area, calculate the required target throwing height using a pre-built throwing height calculation model;

[0024] S2. The corner reflector is mounted on the launcher of the UAV via the launching device, and the UAV is made to fly to the target launching height above the target monitoring area and hover until the corner reflector is stable and does not shake.

[0025] S3. Activate the launcher to release the corner reflector;

[0026] S4. During the process of falling to the target monitoring area, the corner reflector's annular hemispherical propeller structure causes it to rotate around its own axis, converting part of the gravitational potential energy into rotational kinetic energy.

[0027] S5. After the lower tip of the hollow tube at the lower end of the base of the corner reflector contacts the target ground surface, it penetrates into the ground surface by means of kinetic energy.

[0028] S6. After the first striking pin of the corner reflector contacts the target ground surface, it moves upward in the accommodating cavity of the base and punctures the coagulant pack in the accommodating cavity, so that the coagulant inside the coagulant pack flows out into the empty tube and flows out through the through hole on the tube wall of the empty tube. After the coagulant solidifies, it firmly bonds the corner reflector to the target ground surface.

[0029] This application also provides a method for launching and installing a drone-launched corner reflector, the method comprising the following steps:

[0030] A1. Based on the surface properties parameters of the target monitoring area, calculate the required target throwing height using a pre-built throwing height calculation model;

[0031] A2. The corner reflector is mounted on the launcher of the UAV via the launching device, and the UAV is made to fly to the target launching height above the target monitoring area and hover until the corner reflector is stable and does not shake.

[0032] A3. Activate the launcher to release the corner reflector;

[0033] A4. During the process of falling to the target monitoring area, the corner reflector's annular hemispherical propeller structure causes it to rotate around its own axis, converting part of the gravitational potential energy into rotational kinetic energy.

[0034] A5. After the second striker of the corner reflector contacts the target surface, the impact force compresses the non-Newtonian fluid coagulant in the internal cavity of the base. Under high pressure, the non-Newtonian fluid coagulant exhibits a solid-like state. The piston structure is not activated yet, and the second striker penetrates the ground surface by relying on kinetic energy.

[0035] A6. After penetration, the pressure inside the accommodating cavity drops sharply, the non-Newtonian fluid coagulant returns to its fluid state, the piston structure is activated, and the base moves downward relative to the second firing pin, so that the upper end of the second firing pin moves to the middle of the accommodating cavity. The non-Newtonian fluid coagulant flows out from the gap between the side wall of the upper end of the second firing pin and the inner wall of the lower end of the accommodating cavity and wraps around the second firing pin. After the coagulant solidifies, it firmly bonds the corner reflector to the target surface.

[0036] This application also provides a method for locating a drone-launched corner reflector, the method comprising the following steps:

[0037] B1. Use a laser scanner to scan the corner reflector installed on the target surface from any observation angle and acquire point cloud data including at least three reflectors;

[0038] B2. Extract the center point coordinates of any three reflectors from the point cloud data of the at least three reflectors;

[0039] B3. Using the extracted center point coordinates of the three reflectors, and based on the geometric relationship between the center points of the three reflectors and the center point of the corner reflector, calculate the coordinates of the center point of the corner reflector.

[0040] The corner reflector described in this application can be automatically deployed in uninhabited areas via drone drop. Utilizing a propeller structure that rotates during descent to generate a gyroscopic effect, it ensures vertical penetration into the ground surface. A secondary anchoring agent is used for secondary fixation, ensuring reliable fixation under various soil conditions. The multi-angle reflector design solves the problem of calculating the coordinates of the three-dimensional corner reflector, and can be used with a multi-point distance-constrained three-dimensional spatial positioning algorithm to accurately calculate the center coordinates of the corner reflector from any angle. This application can meet the needs of remote, rapid, stable, and high-precision feature point deployment in emergency monitoring scenarios. Attached Figure Description

[0041] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0042] Figure 1 This is a three-dimensional structural diagram of the UAV-launched corner reflector in Embodiment 1 of this application;

[0043] Figure 2 This is a three-dimensional structural diagram of the UAV-launched corner reflector in Embodiment 1 of this application from another perspective;

[0044] Figure 3 This is a top view of the UAV-launched corner reflector in Embodiment 1 of this application;

[0045] Figure 4 This is a schematic diagram illustrating the principle of a drone-launched corner reflector penetrating the ground surface in Embodiment 1 of this application;

[0046] Figure 5 This is a schematic diagram showing the state of the UAV drop-type corner reflector mounted on the dropper in Embodiment 1 of this application;

[0047] Figure 6 This is a three-dimensional structural diagram of the UAV-launched corner reflector in Embodiment 2 of this application;

[0048] Figure 7 This is a schematic diagram illustrating the principle of a drone-launched corner reflector penetrating the ground surface in Embodiment 2 of this application;

[0049] Figure 8 This is a schematic flowchart of the method for launching and installing a UAV-launched corner reflector in Embodiment 3 of this application;

[0050] Figure 9 This is a schematic flowchart illustrating the method for launching and installing a UAV-launched corner reflector in Embodiment 4 of this application.

[0051] Figure 10 This is a flowchart illustrating the positioning method of the UAV-dropped corner reflector in Embodiment 5 of this application. Detailed Implementation

[0052] To enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0053] In the embodiments provided in this application, it should be understood that the disclosed methods and systems can be implemented in other ways. The system embodiments described below are merely illustrative. For example, the division of units and modules is only a logical functional division, and in actual implementation, there may be other division methods, such as: multiple units or modules can be combined, or integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the various components shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or modules, and can be electrical, mechanical, or other forms.

[0054] In addition, each functional unit in the various embodiments of this application can be integrated into a single processor, or each unit can be a separate device, or two or more units can be integrated into a single device; each functional unit in the various embodiments of this application can be implemented in hardware or in the form of hardware plus software functional units.

[0055] Those skilled in the art will understand that all or part of the steps of the following method embodiments can be implemented by program instructions and related hardware. The aforementioned program instructions can be stored in a computer-readable storage medium. When the program instructions are executed, they perform the steps of the following method embodiments. The aforementioned storage medium includes various media capable of storing program code, such as mobile storage devices, read-only memory (ROM), magnetic disks, or optical disks.

[0056] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "a plurality of" or "several" means two or more, unless otherwise explicitly specified.

[0057] Example 1:

[0058] like Figures 1-5 As shown, this application provides a drone-launched corner reflector, including a base 1, a launching and hanging component 2, at least five side plates 4, and connecting plates 5 in the same number as the side plates 4.

[0059] The sidewall of the base 1 is connected to the inner side of each connecting plate 5, and the outer side of each connecting plate 5 is connected to each side plate 4 in a corresponding manner. Each side plate 4 is spaced around the base 1, and the inner surface of each side plate 4 faces the base 1. The base 1, each connecting plate 5 and each side plate 4 together form an annular hemispherical propeller structure.

[0060] The upper surface of the base 1 and the outer surface of each side plate 4 are provided with reflectors 6. All reflectors 6 are evenly distributed in a hemispherical shape in space, and the distance from the center point of each reflector 6 to the center point of the corner reflector is equal.

[0061] The lower end of the base 1 is provided with a cutting part 3, which can penetrate into the ground surface when the corner reflector falls to the target ground surface, so as to fix the corner reflector on the target ground surface;

[0062] The throwing pendant 2 is connected to the upper end of the base 1. The corner reflector can be mounted on the drone's launcher through the throwing pendant 2, and the throwing pendant 2 can be released through the drone's launcher to launch the corner reflector.

[0063] In this embodiment, the drone-launched corner reflector uses a base 1 as its core support. Multiple connecting plates 5 connect to multiple side plates 4, forming an aerodynamic annular hemispherical propeller structure. This structure allows the corner reflector to convert some of its gravitational potential energy into kinetic energy during descent, ensuring stable rotation. The corner reflector's rotation, based on the gyroscopic effect and the fact that its axis of rotation remains stable, prevents the corner reflector from tilting due to lateral wind resistance during descent, thus ensuring the base 1 can properly insert into the ground. Simultaneously, this structure allows the base... 1. During insertion into the ground, the surface of the base 1 is sheared and peeled off by rotation, increasing the insertion depth of the base 1 and improving the stability of the corner reflector's connection with the ground. The reflective sheets 6 (at least six in total) are evenly distributed in a hemispherical pattern in space, ensuring that the 3D laser scanner can collect effective reflection signals from three sides of the corner reflector from different angles when acquiring data, thereby obtaining the coordinate information of the same position of the corner reflector. The insertion part 3 is used to penetrate the ground and fix the corner reflector on the ground. The throwing and hanging part 2 facilitates the UAV to grab the corner reflector and release it above the target monitoring area. This embodiment integrates multi-angle visibility and automatic deployment, fundamentally solving the problems of difficult deployment and observation of traditional corner reflectors in emergency scenarios.

[0064] Specifically, in this embodiment, each reflector 6 is arranged in a circle, and since the distance between the center of each reflector 6 and the center of the corner reflector is equal, it is easier to calculate the center position of the corner reflector in the subsequent process.

[0065] Furthermore, in this embodiment, the insertion part 3 is a hollow tube with a pointed tip at the bottom, the upper end of the hollow tube is fixedly connected to the lower end of the base 1, and multiple through holes are formed on the tube wall.

[0066] The base 1 has a cavity 7 inside, and a coagulant pack 8 is placed inside the cavity 7. The inner cavity of the empty tube is connected to the cavity 7. A first striking pin 9 is movably installed inside the empty tube. The lower end of the first striking pin 9 has an inverted conical structure, and the lower end of the inverted conical structure extends out of the lower end of the empty tube.

[0067] When the upper end of the first firing pin 9 moves into the accommodating cavity 7, the upper end of the first firing pin 9 can puncture the coagulant package 8, so that the coagulant in the coagulant package 8 can flow out from the lower end of the accommodating cavity 7 into the empty tube, and flow out through the through hole on the tube wall of the empty tube.

[0068] Specifically, in this embodiment, after the lower tip of the hollow tube at the lower end of the base 1 of the corner reflector contacts the target ground surface, it penetrates into the ground surface by relying on kinetic energy. After the first striking pin 9 of the corner reflector contacts the target ground surface, it moves upward in the accommodating cavity 7 of the base 1 and punctures the coagulant pack 8 in the accommodating cavity 7, so that the coagulant inside the coagulant pack 8 flows out into the hollow tube and flows out through the through hole on the tube wall of the hollow tube, and finally solidifies to form a strong secondary anchor.

[0069] This embodiment cleverly achieves secondary anchoring through the design of the first firing pin 9 and the coagulant package 8, which significantly improves the installation reliability and stability on soft or hard surfaces.

[0070] In this embodiment, the base 1 includes a base body 101 and a cover plate 102. The accommodating cavity 7 is disposed inside the base body 101, and the upper end of the accommodating cavity 7 penetrates through the upper end of the base body 101. The cover plate 102 is connected to the upper end of the base body 101 by a threaded sealing connection to seal the upper end of the accommodating cavity 7. The inner side of each connecting plate 5 is connected to the side wall of the base body 101. The throwing and hanging component 2 is rotatably connected to the cover plate 102.

[0071] By dividing the base 1 into two parts, the base body 101 and the cover plate 102, it is easier to assemble the first firing pin 9 and the coagulant package 8. The cover plate 102 seals the upper end of the receiving cavity 7 and also serves as the installation platform for the throwing hanger 2. The throwing hanger 2 is rotatably connected to the cover plate 102, and can naturally tilt after throwing due to inertia, thus avoiding obstruction of the top reflector 6.

[0072] The structural design of this embodiment improves the manufacturability and ease of maintenance of the product, while optimizing the user experience and ensuring that all reflectors 6 are unobstructed after installation, thereby improving the success rate of subsequent scanning.

[0073] In one embodiment, the base body 101 is an inverted frustum.

[0074] Specifically, in this embodiment, the base body 101 of the inverted truncated cone has the characteristics of low center of gravity, low aerodynamic drag and high structural strength, which is conducive to the stability of the falling posture and the ability to withstand impact loads.

[0075] This embodiment optimizes aerodynamic performance while ensuring structural strength, further improving the success rate of vertical penetration.

[0076] Specifically, in this embodiment, as Figure 4As shown, the corner reflector body is an inverted cone with a piston structure, as shown in (a). The base body 101, which is shaped like an inverted frustum, has a cavity 7 inside with openings at the top and bottom. The upper hole has threads. When the first firing pin 9 is inserted from the top of the base body 101, the first firing pin 9 will pass through the upper threaded hole and get stuck in the lower hole. The first firing pin 9 can move upward. The inside stores a coagulant bag 8, which is filled with coagulant 8. The upper part of the base body 101 is combined with the cover plate 102. This design allows soil to enter the hollow tube during use, causing the first firing pin 9 to move upward. The upper end of the first firing pin 9 causes the coagulant bag 8 inside the base body 101 to break. At the same time, the insertion part 3 penetrates by kinetic energy, as shown in (b). Afterwards, the coagulant flows out from the crack in the coagulant pack 8 and out from the through hole at the bottom of the empty pipe, bonding the empty pipe to the ground surface, as shown in (c), further stabilizing the corner reflector.

[0077] Example 2:

[0078] like Figures 6-7 As shown, this application provides a drone-launched corner reflector, including a base 1, a launching and hanging component 2, at least five side plates 4, and connecting plates 5 in the same number as the side plates 4.

[0079] The sidewall of the base 1 is connected to the inner side of each connecting plate 5, and the outer side of each connecting plate 5 is connected to each side plate 4 in a corresponding manner. Each side plate 4 is spaced around the base 1, and the inner surface of each side plate 4 faces the base 1. The base 1, each connecting plate 5 and each side plate 4 together form an annular hemispherical propeller structure.

[0080] The upper surface of the base 1 and the outer surface of each side plate 4 are provided with reflectors 6. All reflectors 6 are evenly distributed in a hemispherical shape in space, and the distance from the center point of each reflector 6 to the center point of the corner reflector is equal.

[0081] The lower end of the base 1 is provided with a cutting part 3, which can penetrate into the ground surface when the corner reflector falls to the target ground surface, so as to fix the corner reflector on the target ground surface;

[0082] The throwing pendant 2 is connected to the upper end of the base 1. The corner reflector can be mounted on the drone's launcher 100 through the throwing pendant 2, and the throwing pendant 2 can be released by the drone's launcher 100 to launch the corner reflector.

[0083] Specifically, in this embodiment, the insertion part 3 is a second firing pin with a flat upper end and a pointed lower end. The base 1 has a receiving cavity 7 inside, the lower end of which penetrates the lower end of the base 1. The receiving cavity 7 is wider at the top and narrower at the bottom. The receiving cavity 7 is filled with a non-Newtonian fluid-type coagulant 10. The second firing pin is movably disposed in the receiving cavity 7, and the lower end of the second firing pin extends from top to bottom through the lower end of the base 1. The base 1 and the second firing pin together form a piston structure.

[0084] When the upper end of the second firing pin is located at the lower end of the receiving cavity 7, the side wall of the upper end of the second firing pin is sealed with the inner wall of the lower end of the receiving cavity 7, so that the coagulant 10 in the receiving cavity 7 will not flow out from the lower end of the receiving cavity.

[0085] When the upper end of the second firing pin moves to the middle of the accommodating cavity 7, there is a gap between the side wall of the upper end of the second firing pin and the inner wall of the accommodating cavity 7, so that the coagulant 10 in the accommodating cavity 7 can flow out of the base 1 from the lower end of the accommodating cavity 7.

[0086] Specifically, in this embodiment, as Figure 7 As shown, the corner reflector body is an inverted cone with a piston structure, as shown in (a). The base body 101, shaped like an inverted frustum, has a cavity 7 inside with openings at the top and bottom. The upper opening has threads. When the second firing pin is inserted from the top of the base body 101, it passes through the upper threaded hole and gets stuck in the lower opening. The second firing pin can move upwards. The interior is filled with a non-Newtonian fluid-type solidifying agent 10. The upper part of the base body 101 is combined with the cover plate 102, forming a piston structure with the second firing pin. This design allows the solidifying agent 10 inside the base body 101 to be squeezed after the second firing pin contacts the ground during use. Since the solidifying agent 10 is a non-Newtonian fluid, it can be approximated as a solid during this process. The piston does not start, and the second firing pin smoothly inserts into the ground, as shown in (b). Subsequently, the coagulant 10 experiences a sudden drop in force and becomes fluid. The piston is activated, and the area outside the second striker of the corner reflector moves downward. The gap between the second striker and the lower hole of the base body 101 increases, and the coagulant 10 is released. It is guided by the second striker to contact the ground surface, bonding the second striker with the coagulant 10, as shown in (c), further stabilizing the corner reflector.

[0087] This embodiment ingeniously improves the reliability and stability of installation on soft or hard surfaces by using a non-Newtonian fluid coagulant and piston structure design.

[0088] In this embodiment, the end of the accommodating cavity 7 and the upper end of the second firing pin are both funnel-shaped, wider at the top and narrower at the bottom.

[0089] Specifically, in this embodiment, the end of the accommodating cavity 7 and the lower end of the second firing pin are both designed as a trumpet shape with a larger upper part and a smaller lower part, so that they can form a controllable annular gap when moving relative to each other, which facilitates the unidirectional movement of the second firing pin.

[0090] The structural design of this embodiment optimizes the flow path of the coagulant 10, ensuring an efficient and uniform anchoring process and enhancing the final bond strength.

[0091] In this embodiment, the lower end of the base 1 and the second firing pin are made of high-strength metal material.

[0092] The base 1 and the second firing pin, made of high-strength metal materials (such as stainless steel, high manganese steel or wear-resistant alloy steel), have high density and high hardness. This ensures that the center of gravity is located at the bottom when falling and can penetrate relatively hard soil or gravel layers, expanding the range of applicable surface types for corner reflectors and improving the deployment success rate under complex geological conditions.

[0093] In this embodiment, both the connecting plate 5 and the side plate 4 are trapezoidal. The outer side of each connecting plate 5 is fixedly connected to the left / right side of the corresponding side plate 4 to form multiple L-shaped blades. The bending direction of each L-shaped blade is consistent in the circumferential direction, and each L-shaped blade is evenly distributed along the circumference of the base 1.

[0094] Specifically, in this embodiment, the trapezoidal connecting plate 5 and the trapezoidal side plate 4 form an L-shaped blade, and all the L-shaped blades bend in the same direction to form a unified spiral lifting surface, which guides the corner reflector to rotate stably around the axis during the fall. The resulting gyro effect effectively resists lateral wind disturbance and ensures that the second impact pin always penetrates the ground perpendicularly, thus solving the technical problem that the UAV is easily tilted due to wind.

[0095] In one embodiment, there are six side plates 4 and six connecting plates 5. The six connecting plates 5 are connected to the six side plates 4 respectively to form six L-shaped blades, and any two adjacent side plates 4 form an angle of 135°.

[0096] Specifically, in this embodiment, six side plates 4 and six connecting plates 5 constitute six L-shaped blades. The design of a 135° included angle between adjacent side plates 4 better satisfies aerodynamic stability and provides a strict geometric premise for subsequent positioning methods while ensuring optimal rotation performance. It is the key structural foundation for achieving accurate high-precision coordinate calculation.

[0097] Example 3:

[0098] like Figure 8 As shown in the figure, this application provides a method for launching and installing a drone-launched corner reflector as shown in Embodiment 1. The method may include the following steps:

[0099] S1. Based on the surface properties of the target monitoring area, calculate the required target throwing height using a pre-built throwing height calculation model;

[0100] S2. Attach the corner reflector to the drone's launcher via the launcher attachment, and fly the drone to the target launch height above the target monitoring area, hovering until the corner reflector is stable and without shaking.

[0101] S3. Activate the launcher to release the corner reflector;

[0102] S4. During the process of falling to the target monitoring area, the corner reflector's annular hemispherical propeller structure causes it to rotate around its own axis, converting part of the gravitational potential energy into rotational kinetic energy.

[0103] S5. The lower tip of the hollow tube at the lower end of the base of the corner reflector penetrates into the ground surface by relying on kinetic energy after contacting the target ground surface.

[0104] S6. After the first striking pin of the corner reflector contacts the target surface, it moves upward in the accommodating cavity of the base and punctures the coagulant pack in the accommodating cavity, causing the coagulant inside the coagulant pack to flow out into the empty tube and out through the through hole on the tube wall. After the coagulant solidifies, it firmly bonds the corner reflector to the target surface.

[0105] Example 4:

[0106] like Figure 9 As shown in the figure, this application provides a method for launching and installing a drone-launched corner reflector as shown in Embodiment 2. The method may include the following steps:

[0107] A1. Based on the surface properties parameters of the target monitoring area, calculate the required target throwing height using a pre-built throwing height calculation model;

[0108] A2. Attach the corner reflector to the drone's launcher via the launcher attachment, and fly the drone to the target launch height above the target monitoring area, hovering until the corner reflector is stable and without shaking.

[0109] A3. Activate the launcher to release the corner reflector;

[0110] A4. During the process of falling to the target monitoring area, the corner reflector's annular hemispherical propeller structure causes it to rotate around its own axis, converting part of the gravitational potential energy into rotational kinetic energy.

[0111] A5. After the second striker of the corner reflector contacts the target surface, the impact force compresses the non-Newtonian fluid coagulant in the internal cavity of the base. Under high pressure, the non-Newtonian fluid coagulant exhibits a solid-like state. The piston structure is not activated yet, and the second striker penetrates into the ground surface by relying on kinetic energy.

[0112] A6. After penetration, the pressure inside the accommodating cavity drops sharply, the non-Newtonian fluid coagulant returns to its fluid state, the piston structure is activated, the base moves downward relative to the second firing pin, so that the upper end of the second firing pin moves to the middle of the accommodating cavity. The non-Newtonian fluid coagulant flows out from the gap between the side wall of the upper end of the second firing pin and the inner wall of the lower end of the accommodating cavity and wraps around the second firing pin. After the coagulant solidifies, it firmly bonds the corner reflector to the target surface.

[0113] The throwing and installation methods in Examples 3 and 4 are based on the principle of energy conservation. The target throwing height is calculated in advance using surface parameters to ensure that the falling kinetic energy is exactly equal to the work required for penetration. During the fall, the propeller structure guides the rotation; upon impact, the insert and the coagulant work together to complete the entire process from penetration to anchoring.

[0114] Examples 3 and 4 provide a standardized, predictable, and highly successful automated installation process, avoiding installation failures or equipment damage caused by experience-based approaches, and significantly improving operational efficiency and reliability.

[0115] The following section describes in detail the construction process of the model for calculating the throwing height:

[0116] At a given height, the corner reflector spins and falls, mainly going through the following two stages:

[0117] In the first stage, at the instant the corner reflector is released, only gravitational potential energy does work, and the acceleration during this stage is approximately equal to the acceleration due to gravity. Gravitational potential energy is mainly converted into falling kinetic energy, and gravity is:

[0118]

[0119] in, For gravity, For the quality of the corner reflector, This is the acceleration due to gravity.

[0120] The real-time speed for the first stage is:

[0121]

[0122] in, This refers to the real-time descent speed in the first stage. This refers to the real-time descent time in the first phase.

[0123] The first phase of real-time descent height is:

[0124]

[0125] in, This represents the real-time descent height for the first stage. Release height for corner reflectors (i.e., target throwing height).

[0126] The energy conversion process in the first stage is as follows:

[0127]

[0128] In the second stage, due to the blade structure design, the corner reflector generates aerodynamic drag during its descent. Affected by this drag, the corner reflector begins to rotate during descent, and its gravitational potential energy is mainly converted into descent kinetic energy and rotational kinetic energy. The aerodynamic drag is:

[0129]

[0130] in, For aerodynamic drag, The drag coefficient, air density, For the falling speed, Let be the windward surface area of ​​the corner reflector blade.

[0131] The real-time falling acceleration in the second stage is:

[0132]

[0133] in, For the second stage of real-time descent acceleration, This refers to the real-time descent speed in the second stage. The angle between the vertical surfaces of the side plates of the corner reflector blade.

[0134] The real-time descent speed in the second stage is:

[0135]

[0136] in, This refers to the real-time descent time in the second phase. It is the hyperbolic tangent function.

[0137] The real-time descent height in the second stage is:

[0138]

[0139] in, Second-stage real-time descent altitude, It is a hyperbolic cosine function.

[0140] The real-time rotational angular acceleration in the second stage is:

[0141]

[0142] in, For the second stage of real-time rotational angular acceleration, Let the moment of inertia of the corner reflector be... For torque, This is the distance from the point of application of aerodynamic drag to the axis of rotation.

[0143] The real-time rotational angular velocity in the second stage is:

[0144]

[0145] in, This refers to the real-time rotational angular velocity in the second stage.

[0146] The energy conversion in the second stage is as follows:

[0147]

[0148] in, This represents the energy loss in the second stage.

[0149] After obtaining the energy conversion formula for the corner reflector reaching the ground, the throwing height of the corner reflector is designed specifically according to the required penetration depth and the surface parameters of the installation location. This avoids situations where the corner reflector cannot be properly inserted into the ground due to a throwing height that is too low, or where the corner reflector bounces back upon landing due to excessive kinetic energy after being thrown into the ground due to a throwing height that is too high, resulting in installation failure.

[0150] Assume the corner reflector needs to penetrate to a depth of... Under these conditions, the penetration resistance is:

[0151]

[0152] in, Penetration depth of corner reflector The resistance encountered, For the resistance of the cutting part, This represents the lateral frictional resistance.

[0153] End resistance of the cutting part for:

[0154]

[0155] in, This represents the projected area of ​​the upper surface of the cutting. The diameter of the upper surface of the cutting portion. For surface compressive strength, This is the bearing capacity coefficient of the cutting part.

[0156] Side friction resistance for:

[0157]

[0158] in, The frictional resistance per unit depth. The adhesion coefficient, For effective confining pressure, The lateral pressure coefficient, The effective density at the ground surface.

[0159] Work needs to be done to overcome penetration resistance. for:

[0160]

[0161] in, Work done to overcome penetration resistance

[0162] The penetration depth of the corner reflector into the ground is only equal to the falling kinetic energy and the work done to overcome the penetration resistance. There is a formula:

[0163]

[0164] Since the first stage of the descent is extremely short, its height is negligible compared to the second stage. Therefore, while ensuring the penetration depth of the corner reflector is... Under certain conditions, and provided the corner reflector can be securely installed in the soil, the corner reflector can be lowered to the set height (i.e., the target throwing height). It should be:

[0165]

[0166] This formula is a model for calculating the throwing height. Based on this model, the throwing height can be designed specifically for different surface properties at different throwing points, ensuring that the corner reflector can be stably installed on different soil surfaces after throwing.

[0167] Example 5:

[0168] like Figure 10 As shown in the figure, this application provides a positioning method for a drone-dropped corner reflector, which may include the following steps:

[0169] B1. Use a laser scanner to scan the corner reflector installed on the target surface from any observation angle and acquire point cloud data including at least three reflectors;

[0170] B2. Extract the center coordinates of any three reflectors from the point cloud data of at least three reflectors;

[0171] B3. Using the extracted center point coordinates of the three reflectors, and based on the geometric relationship between the center points of the three reflectors and the center point of the corner reflector, calculate the coordinates of the center point of the corner reflector.

[0172] In this embodiment, multiple circular reflectors of the corner reflector receive laser pulse signals emitted by a 3D laser scanner. The acquisition instrument obtains the reflected signals of the corner reflector. Based on the characteristic that the reflectivity of the corner reflector to laser pulse signals is generally greater than that of other object surfaces, point cloud data of the three reflectors is obtained. The average coordinate of each reflector and the center coordinate of the reflective surface are calculated. Then, the coordinates of the center position of the corner reflector base (i.e., the coordinates of the center point of the corner reflector) are calculated using a formula.

[0173] Specifically, since the reflectors are evenly distributed in a hemispherical shape and are equidistant from the center point, the center point of the corner reflector is the geometric centroid of the three reflector centers. The center point of the corner reflector can be quickly and accurately calculated using a three-dimensional spatial positioning algorithm based on multi-point distance constraints (such as the three-point positioning method).

[0174] Specifically, in this embodiment, the three-point positioning method is used to calculate the coordinates of the center point of the corner reflector using the extracted center point coordinates of the three reflectors. The process is as follows:

[0175] If the coordinates of the center points of the three extracted reflectors are respectively Let the coordinates of the center point of the corner reflector be... The distances from points A, B, and C to the center point of the corner reflector are all... Then we have:

[0176]

[0177]

[0178]

[0179] By combining the above three equations, the coordinates of the center point of the corner reflector can be obtained. .

[0180] The positioning method in this embodiment completely abandons the complex model matching or iterative algorithms of traditional three-dimensional targets. The positioning process is extremely simple, fast and highly accurate, which greatly reduces the threshold for data processing and is suitable for real-time or near-real-time emergency monitoring scenarios.

[0181] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to the method section.

[0182] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of each example have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0183] The steps of the methods or algorithms described in conjunction with the embodiments disclosed in this embodiment can be implemented directly using hardware, a software module executed by a processor, or a combination of both. The software module can be located in random access memory (RAM), main memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art.

[0184] The above description of the disclosed embodiments enables those skilled in the art to make or use this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined in these embodiments may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A UAV-launched corner reflector, characterized in that, It includes a base, a throwing and hoisting device, at least five side plates, and a number of connecting plates equal to the number of side plates, wherein, The sidewall of the base is connected to the inner side of each connecting plate, and the outer side of each connecting plate is connected to each side plate in a corresponding manner. Each side plate is arranged at intervals around the base, and the inner surface of each side plate faces the base. The base, each connecting plate and each side plate together form an annular hemispherical propeller structure. The upper surface of the base and the outer surface of each side plate are provided with reflective sheets. All reflective sheets are evenly distributed in a hemispherical shape in space, and the distance from the center point of each reflective sheet to the center point of the corner reflector is equal. The lower end of the base is provided with a cutting part, which can penetrate into the ground surface when the corner reflector falls to the target ground surface, so as to fix the corner reflector on the target ground surface; The throwing and hanging device is connected to the upper end of the base. The corner reflector can be mounted on the drone's launcher via the throwing and hanging device, and the throwing and hanging device can be released via the drone's launcher to launch the corner reflector.

2. The UAV-launched corner reflector according to claim 1, characterized in that, The insertion part is a hollow tube with a pointed end. The upper end of the hollow tube is fixedly connected to the lower end of the base. Multiple through holes are formed in the wall of the hollow tube. The base has an internal cavity containing a coagulant packet. The inner cavity of the empty tube communicates with the cavity. A first striking pin is movably disposed within the empty tube. The lower end of the first striking pin has an inverted conical structure, which extends beyond the lower end of the empty tube. When the upper end of the first firing pin moves into the accommodating cavity, the upper end of the first firing pin can puncture the coagulant package, so that the coagulant in the coagulant package can flow out from the lower end of the accommodating cavity into the empty tube, and flow out through the through hole on the tube wall of the empty tube.

3. The UAV-launched corner reflector according to claim 1, characterized in that, The insertion part is a second firing pin that is flat at the top and pointed at the bottom. The base has an internal cavity, the lower end of which penetrates the lower end of the base. The cavity is wider at the top and narrower at the bottom. It is filled with a non-Newtonian fluid-type solidifying agent. The second firing pin is movably disposed within the cavity, and its lower end extends from top to bottom through the lower end of the base. The base and the second firing pin together form a piston structure. When the upper end of the second firing pin is located at the lower end of the receiving cavity, the side wall of the upper end of the second firing pin is sealed to the inner wall of the lower end of the receiving cavity, so that the coagulant in the receiving cavity will not flow out from the lower end of the receiving cavity. When the upper end of the second firing pin moves to the middle of the receiving cavity, there is a gap between the side wall of the upper end of the second firing pin and the inner wall of the receiving cavity, so that the coagulant in the receiving cavity can flow out of the base from the lower end of the receiving cavity.

4. The UAV-launched corner reflector according to claim 2 or 3, characterized in that, The base includes a base body and a cover plate. The accommodating cavity is disposed inside the base body, and the upper end of the accommodating cavity penetrates through the upper end of the base body. The cover plate is sealed to the upper end of the base body to block the upper end of the accommodating cavity. The inner side of each connecting plate is connected to the side wall of the base body. The throwing and hanging component is rotatably connected to the cover plate.

5. The UAV-launched corner reflector according to claim 4, characterized in that, The base body is in the shape of an inverted frustum.

6. The UAV-launched corner reflector according to claim 1, 2, 3 or 5, characterized in that, Both the connecting plate and the side plate are trapezoidal. The outer side of each connecting plate is fixedly connected to the left / right side of the corresponding side plate to form multiple L-shaped blades. The bending direction of each L-shaped blade is consistent in the circumferential direction, and each L-shaped blade is evenly distributed along the circumference of the base.

7. The UAV-launched corner reflector according to claim 6, characterized in that, The number of side plates and connecting plates is six. The six connecting plates are connected to the six side plates to form six L-shaped blades. Any two adjacent side plates are at a 135° angle to each other.

8. A method for launching and installing a UAV-launched corner reflector as described in claim 2, characterized in that, Includes the following steps: S1. Based on the surface properties of the target monitoring area, calculate the required target throwing height using a pre-built throwing height calculation model; S2. The corner reflector is mounted on the launcher of the UAV via the launching device, and the UAV is made to fly to the target launching height above the target monitoring area and hover until the corner reflector is stable and does not shake. S3. Activate the launcher to release the corner reflector; S4. During the process of falling to the target monitoring area, the corner reflector's annular hemispherical propeller structure causes it to rotate around its own axis, converting part of the gravitational potential energy into rotational kinetic energy. S5. After the lower tip of the hollow tube at the lower end of the base of the corner reflector contacts the target ground surface, it penetrates into the ground surface by means of kinetic energy. S6. After the first striking pin of the corner reflector contacts the target ground surface, it moves upward in the accommodating cavity of the base and punctures the coagulant pack in the accommodating cavity, so that the coagulant inside the coagulant pack flows out into the empty tube and flows out through the through hole on the tube wall of the empty tube. After the coagulant solidifies, it firmly bonds the corner reflector to the target ground surface.

9. A method for launching and installing a UAV-launched corner reflector as described in claim 3, characterized in that, Includes the following steps: A1. Based on the surface properties parameters of the target monitoring area, calculate the required target throwing height using a pre-built throwing height calculation model; A2. The corner reflector is mounted on the launcher of the UAV via the launching device, and the UAV is made to fly to the target launching height above the target monitoring area and hover until the corner reflector is stable and does not shake. A3. Activate the launcher to release the corner reflector; A4. During the process of falling to the target monitoring area, the corner reflector's annular hemispherical propeller structure causes it to rotate around its own axis, converting part of the gravitational potential energy into rotational kinetic energy. A5. After the second striker of the corner reflector contacts the target surface, the impact force compresses the non-Newtonian fluid coagulant in the internal cavity of the base. Under high pressure, the non-Newtonian fluid coagulant exhibits a solid-like state. The piston structure is not activated yet, and the second striker penetrates the ground surface by relying on kinetic energy. A6. After penetration, the pressure inside the accommodating cavity drops sharply, the non-Newtonian fluid coagulant returns to its fluid state, the piston structure is activated, and the base moves downward relative to the second firing pin, so that the upper end of the second firing pin moves to the middle of the accommodating cavity. The non-Newtonian fluid coagulant flows out from the gap between the side wall of the upper end of the second firing pin and the inner wall of the lower end of the accommodating cavity and wraps around the second firing pin. After the coagulant solidifies, it firmly bonds the corner reflector to the target surface.

10. A positioning method for a UAV-launched corner reflector according to any one of claims 1-7, characterized in that, Includes the following steps: B1. Use a laser scanner to scan the corner reflector installed on the target surface from any observation angle and acquire point cloud data including at least three reflectors; B2. Extract the center point coordinates of any three reflectors from the point cloud data of the at least three reflectors; B3. Using the extracted center point coordinates of the three reflectors, and based on the geometric relationship between the center points of the three reflectors and the center point of the corner reflector, calculate the coordinates of the center point of the corner reflector.

Images