An unmanned in-situ vane shear test device and method

Abstract

The application discloses an unmanned in-situ cross plate shearing test device and method, and relates to the technical field of geotechnical engineering investigation and in-situ test. The device comprises a flight unit, a leveling frame body unit rigidly connected to the bottom of the flight unit, a shearing test unit, a control and acquisition transmission unit and a control and acquisition transmission unit connected to the control and acquisition transmission unit. The leveling frame body unit is installed with the shearing test unit. The leveling frame body unit comprises at least three leveling legs for adjusting the included angle between the shearing test unit and the ground and a posture sensor for sensing the posture of the shearing test unit. The control and acquisition transmission unit is connected to the flight unit. The control and acquisition transmission unit is used for sensor signals and outputs control signals to drive the leveling frame body unit and the shearing test unit. The application can automatically level to ensure the accuracy of the test reference. The programmed constant speed penetration and shearing reduce the human operation error.

Description

Technical Field

[0001] This invention relates to the field of geotechnical engineering exploration and in-situ testing technology, specifically to an unmanned in-situ vane shear test device and method. Background Technology

[0002] The vane shear test is a core in-situ testing method for obtaining key parameters such as the undrained shear strength and sensitivity of saturated soft cohesive soils. It is widely used in the investigation and evaluation of projects such as embankments, roadbeds, and tidal flats. The vane shear test can preserve natural stress to the maximum extent, solving the sampling problem of soft soils. Compared with load tests and pressuremeter tests, it has a very high cost-effectiveness and is the standard for soft soil investigation. Traditional vane shear tests mainly rely on manual labor or vehicle-mounted equipment, which has the following significant drawbacks: poor mobility and low efficiency: traditional equipment is bulky and difficult to access in areas with poor transportation such as roads, tidal flats, and swamps. Transporting and installing it is time-consuming and labor-intensive, severely limiting the density of test points and the efficiency of investigation. Low automation and data quality affected by human factors: penetration depth control, shear rate control, and data recording are highly dependent on the operator's experience, easily introducing human error, making it difficult to guarantee the reliability and consistency of test results. There are potential safety hazards in the operation: there are certain safety risks in carrying out manual operations on steep slopes, shallow waters with unknown depths or in environmentally sensitive areas; it is difficult to complete the testing task in wide river and beach areas that are inaccessible to personnel. Summary of the Invention

[0003] The purpose of this invention is to provide an unmanned in-situ vane shear test device and method. Through the automated cooperation between the drone, processor and shear test unit, the entire process of vane shear test is unmanned and automated remote control operation, which significantly improves the survey efficiency and safety in complex terrain.

[0004] To achieve the above objectives, the present invention is implemented using the following technical solution.

[0005] On the one hand, the present invention provides an unmanned in-situ vane shearing test device, including a flight unit, a leveling frame unit, a shearing test unit, a control and data acquisition and transmission unit, and a control and processing unit;

[0006] The leveling frame unit is disposed on the flight unit, the shear test unit and the control and acquisition transmission unit are disposed on the leveling frame unit, and the leveling frame unit is used to level the shear test unit before the shear test.

[0007] The control and data acquisition and transmission unit is communicatively connected to the manipulation and processing unit, the leveling frame unit, the shearing test unit, and the flight unit for information exchange.

[0008] Optionally, the shear test unit includes a drive and transmission assembly and a test execution assembly;

[0009] The drive and transmission components include a ball screw, a penetration drive motor, and a rotary drive motor.

[0010] The spindle of the drive motor is connected to the input end of the ball screw, and the actuating end of the ball screw is connected to the test execution component to drive the test execution component to move linearly.

[0011] The main shaft of the rotary drive motor is connected to the input end of the electromagnetic clutch, and the output end of the electromagnetic clutch is connected to the actuating end of the ball screw, which drives the actuating end of the ball screw to rotate, thereby causing the test execution component to rotate along the axis.

[0012] Optionally, the test execution component includes a probe, a crosshead, and a mounting base;

[0013] The mounting base has a first chamber and a second chamber at its two ends, respectively. The actuating end of the ball screw is rotatably disposed in the first chamber, and the probe is rotatably disposed in the second chamber. One end of the probe is fixedly connected to the actuating end of the ball screw inside the mounting base, and the other end extends to the outside of the mounting base and is fixedly connected to the crosshead.

[0014] Optionally, the ball screw includes a spline sleeve, a ball screw pair, and a nut. The ball screw pair is threadedly connected to the nut, and one end is connected to the main shaft of the drive motor as an input end. The spline sleeve is fixed to the side of the nut away from the spline sleeve and is connected to the output end of the test execution component and the electromagnetic clutch as an execution end.

[0015] Optionally, the rotary drive motor is connected to the input end of the electromagnetic clutch via a reduction gear set.

[0016] Optionally, the test execution mechanism further includes a torque sensor encapsulated at the connection between the crosshead and the probe. The torque sensor is communicatively connected to the control and acquisition transmission unit for uploading torque data.

[0017] Optionally, the test execution mechanism further includes an angle encoder for measuring the rotation angle of the crosshead. The angle encoder is located at the output end of the reduction gear set or the input end of the electromagnetic clutch. The angle encoder is communicatively connected to the control and acquisition transmission unit for uploading rotation angle data.

[0018] Optionally, the leveling frame unit includes at least three leveling legs for adjusting the attitude of the shear test unit and an attitude sensor for sensing the attitude of the shear test unit.

[0019] The leveling outriggers are located at the bottom of the flight unit, and the attitude sensor is located in the adjacent area of ​​the shear test unit.

[0020] Optionally, the control and data acquisition and transmission unit includes a main controller and a power supply device for powering the leveling frame unit and the shear test unit;

[0021] The main controller is used to receive sensor signals and output control signals to coordinate the control of the leveling frame unit and the shear test unit.

[0022] Secondly, the present invention provides an unmanned in-situ vane shear test method, comprising:

[0023] Based on the preset measurement point coordinates output by the control processing unit, the flight unit flies to the area above the preset measurement point coordinates and then descends vertically to the ground.

[0024] The attitude of the shear test unit is detected by an attitude sensor, and the attitude of the shear test unit is adjusted by a control and data acquisition and transmission unit.

[0025] When the posture of the shear test unit meets the preset test requirements, the shear test unit is driven to perform a vane shear test through the control and data acquisition and transmission unit, and the vane shear test data is transmitted to the control and processing unit through the control and data acquisition and transmission unit.

[0026] In response to the control processing unit receiving data from the vane shear test meeting the termination conditions, the control and data acquisition and transmission unit controls the shear test unit to reset. According to the output command of the control processing unit, the flight unit flies to the next measurement point or returns to the base.

[0027] Compared with the prior art, the beneficial effects achieved by the present invention are as follows:

[0028] This invention improves the mobility and accessibility of the vane shear test through its flight unit, thereby expanding the applicable scenarios for the vane shear test. The control and data acquisition unit drives the flight unit, leveling frame unit, and shear test unit to automatically perform the vane shear test based on the preset measurement point information output by the control processing unit, ensuring the consistency and reliability of the test results. This invention achieves unmanned reconnaissance, completely avoiding the risks of personnel operating in hazardous environments.

[0029] This invention ensures stability during movement by rigidly connecting the leveling frame unit to the bottom of the flight unit. The flight unit's adaptability to complex terrain expands the scope of the vane shear test. Furthermore, the invention ensures the accuracy of the test benchmark by automatically leveling the sensor signals received by the control and data acquisition transmission unit. By coordinating the leveling frame unit and the shear test unit through output control signals, the invention automates the vane shear test, improving exploration efficiency.

[0030] This invention ensures the accuracy of the acquired posture of the shearing test unit by placing the posture sensor in the vicinity of the shearing test unit; and by using the torque sensor and angle encoder of the shearing test unit, it realizes the automated acquisition of the vane shearing test results, thereby improving the accuracy of the vane shearing test results. Attached Figure Description

[0031] Figure 1 The figure shown is a side view of the overall structure of the unmanned vane shearing test device of the present invention.

[0032] Figure 2 The diagram shown is a schematic diagram of the shear test unit structure of the present invention;

[0033] Figure 3 The diagram shown is a schematic of the control and data acquisition transmission unit structure of the present invention;

[0034] Figure 4 The diagram shown is a schematic representation of the leveling support leg of this invention.

[0035] Figure 5 The diagram shown is a schematic representation of the workflow of this invention.

[0036] In the attached diagram: Flight unit 1, Leveling frame unit 2, Shear test unit 3, Control and data acquisition and transmission unit 4, Control and processing unit 5, Micro motor 201, Attitude sensor 202, Push rod or lead screw 203, Penetration drive motor 301, Rotation drive motor 302, Reduction gear set 303, Electromagnetic clutch 304, Spline sleeve 305, Probe rod 306, Mounting base 307, Cross head 308, Torque sensor 309, Ball screw pair 310, Nut 311, External spline 312, Main controller 401, Data storage unit 402, Wireless transmission device 403, and Power supply device 404. Detailed Implementation

[0037] The technical solution of the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the embodiments of the present invention and the specific features in the embodiments are detailed descriptions of the technical solution of the present invention, rather than limitations thereof. In the absence of conflict, the embodiments of the present invention and the technical features in the embodiments can be combined with each other.

[0038] The term "and / or" simply describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. Additionally, the character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0039] Example 1

[0040] This embodiment describes an unmanned in-situ vane shear test device, such as... Figure 1 As shown, it specifically includes flight unit 1, leveling frame unit 2, shear test unit 3, control and data acquisition and transmission unit 4, and control processing unit 5;

[0041] The leveling frame unit 2 is disposed on the flight unit 1, the shear test unit 3 and the control and acquisition transmission unit 4 are disposed on the leveling frame unit 2, and the leveling frame unit 2 is used to level the shear test unit 3 before the shear test; preferably, the leveling frame unit 2 is rigidly connected to the bottom of the flight unit 1 to ensure the stability of the flight process, and can also be disposed on the side of the flight unit 1; preferably, the shear test unit 3 is embedded in the middle position of the bottom of the leveling frame unit 2 to avoid the center of gravity shift, and the position of the shear test unit 3 can also be adjusted by adding counterweights.

[0042] The control and data acquisition and transmission unit 4 is communicatively connected to the manipulation and processing unit 5, the leveling frame unit 2, the shearing test unit 3, and the flight unit 2, respectively, for information exchange. This structure achieves a high degree of integration of the vane shearing test device. The integrated design avoids complex on-site assembly, resulting in high device reliability and ease of portability and rapid field deployment.

[0043] The leveling frame unit 2 is used to automatically level the attitude of the shear test unit after landing, ensuring the stability of the vane shear test device during testing.

[0044] The control and processing unit is used for remotely planning test tasks. It issues commands such as waypoints, landing, leveling, penetration depth, and shear parameters to the control and data acquisition unit. Simultaneously, it receives and interprets UAV status information, leveling data, and complete test process data transmitted back from the control and data acquisition unit in real time. The control and processing unit can process, analyze, and visualize the received data in real time, generating torque-rotation curves, calculating soil shear strength, and ultimately producing a standardized test report, thus completing a closed-loop process from remote control and data reception to intelligent analysis.

[0045] This embodiment ensures the accuracy of the test benchmark by receiving sensor signals through the control and data acquisition transmission unit and automatically leveling the frame unit 2. Furthermore, the control and data acquisition transmission unit coordinates the control of the leveling frame unit and the shear test unit, automating the vane shear test and improving survey efficiency. This achieves unmanned surveying and completely avoids the risks of personnel operating in hazardous environments. The flight unit improves the mobility and accessibility of the vane shear test, thereby increasing the applicable scenarios. The control and data acquisition transmission unit drives the flight unit, leveling frame unit, and shear test unit to complete the vane shear test based on the control signals output by the control processing unit, improving the accuracy of the test results.

[0046] Example 2

[0047] Based on the same inventive concept as Embodiment 1, this embodiment introduces an unmanned in-situ vane shearing test device, specifically including: a flight unit 1, a leveling frame unit 2, a shearing test unit 3, a control and data acquisition and transmission unit 4, and a control processing unit 5;

[0048] The flight unit 1 uses a drone as its flight platform, providing flight power, precise positioning, and autonomous flight control capabilities. A medium-sized, industrial-grade quadcopter drone is preferred to balance cost, weight, and payload capacity. Using drones, complex terrain areas that are difficult for vehicles and personnel to access can be easily reached, greatly expanding the scope of reconnaissance operations.

[0049] like Figure 4 As shown, the leveling frame unit 2 is rigidly connected to the fuselage or landing gear load-bearing structure of the UAV. The frame of the leveling frame unit 2 is made of lightweight, high-strength material, preferably carbon fiber composite material, and its core function is to provide a stable reference plane for testing. An automatic leveling device is provided at the bottom of the frame. The leveling frame unit 2 includes at least three independently electrically controllable telescopic leveling legs and an attitude sensor 202 for real-time sensing of the attitude of the shear test unit. The attitude sensor 202 is mounted on the main frame structure of the leveling frame unit 2. Preferably, there are two attitude sensors 202, arranged redundantly near the shear test unit, for data verification and improved reliability. The leveling legs can be driven by a micro motor 201 to drive a lead screw or push rod 203, or they can be driven by a cylinder.

[0050] like Figure 2 As shown, all components of the shear test unit 3 are mounted on the leveling frame unit 2, and it is the core for performing the soil shearing function. The shear test unit 3 includes a drive and transmission assembly and a test execution assembly; the test execution assembly includes a probe 306, a vane head 308, and a mounting base 307.

[0051] The drive and transmission assembly includes a ball screw, a penetration drive motor 301, and a rotary drive motor 302.

[0052] The spindle of the penetration drive motor 301 is connected to the input end of the ball screw, and the actuating end of the ball screw is connected to the test execution component for driving the test execution component to move linearly.

[0053] The main shaft of the rotary drive motor 302 is connected to the input end of the electromagnetic clutch, and the output end of the electromagnetic clutch 304 is connected to the actuating end of the ball screw, which drives the actuating end of the ball screw to rotate, thereby driving the test execution component to rotate along the axis. The rotary drive motor (302) is connected to the input end of the electromagnetic clutch (304) through a reduction gear set (303).

[0054] The mounting base has a first chamber and a second chamber at its two ends, respectively. The actuating end of the ball screw is rotatably disposed in the first chamber, and the probe is rotatably disposed in the second chamber. One end of the probe is fixedly connected to the actuating end of the ball screw inside the mounting base, and the other end extends to the outside of the mounting base and is fixedly connected to the crosshead.

[0055] The ball screw includes a ball screw assembly 310, a spline sleeve 305, and an external spline 312. The ball screw assembly 310 is threadedly connected to a nut 311, and one end is connected to the main shaft of the drive motor 301 as an input end. The spline sleeve 305 is fixed to the nut 311 on the side away from the spline sleeve 305, and is connected to the output end of the test execution component and the electromagnetic clutch as an execution end.

[0056] More specifically, the penetration drive motor 301 is connected to the probe rod 306 via a ball screw pair 310 to drive the probe rod 306 to move longitudinally, and the spline sleeve 305 is fixedly connected to the nut 311 of the ball screw pair 310; the probe rod 306 is connected to the spline sleeve 305 via an external spline 312 so that the probe rod 306 can slide along the axial direction of the spline sleeve 305, and is fixedly connected to the spline sleeve 305 in the circumferential direction to transmit torque;

[0057] The rotary drive motor 302 is connected to the input end of the electromagnetic clutch 304 via a reduction gear set 303, and the output end of the electromagnetic clutch 304 is connected to the spline sleeve 305 for transmission. Specifically, the output shaft of the drive motor 301 is coaxially connected to the lead screw of the ball screw pair 310 via a coupling. The rotary drive section includes a rotary drive motor 302, a reduction gear set 303, and an electromagnetic clutch 304. The rotary drive motor 302 is connected to the input end of the electromagnetic clutch 304 via the reduction gear set 303. The spline sleeve 305 is fixedly connected to the nut 311 of the ball screw pair 310, and has an internal spline. The upper part of the probe 306 has an external spline 312 that mates with the spline sleeve 305, allowing the probe 306 to slide axially relative to the spline sleeve 305, but to be fixedly connected to it circumferentially to transmit torque. The output end of the electromagnetic clutch 304 is connected to the spline sleeve 305 for selectively transmitting rotational power to the spline sleeve 305. A support and guide component is provided: a mounting base 307 with a rotary release bearing or linear bearing is used to support the optical axis portion of the probe 306, ensuring its motion accuracy. The shearing test unit uses a single motor in conjunction with a clutch shifting mechanism to provide the vertical penetration power and rotational shearing power of the probe in a time-sharing manner.

[0058] The shear test unit 3 also includes a torque sensor 309 encapsulated at the connection between the crosshead 308 and the probe 306, preferably directly encapsulated at the connection between the crosshead 308 and the probe 306 to minimize measurement interference; the shear test unit 3 also includes an angle encoder for measuring the rotation angle, preferably set at the output end of the reduction gear set 303 or the input end of the electromagnetic clutch 304; the penetration depth can be calculated by the number of encoder pulses of the penetration drive motor 301.

[0059] like Figure 3 As shown, the control and data acquisition transmission unit 4 is disposed in the leveling frame unit 2. The control and data acquisition transmission unit 4 includes a main controller 401, a data storage unit 402, a wireless transmission device 403, and a power supply device 404. The power supply device 404 is used to supply power to the leveling frame unit 2 and the shear test unit 3. The control and data acquisition transmission unit 4 is integrated and fixed below the UAV. The main controller is electrically connected to the attitude sensor, the shear test unit, and the micro motor. It is used to receive sensor signals, control the actions of the automatic leveling device and the shear test unit, store the data collected by the shear test unit in the data storage unit, transmit it externally through the wireless transmission device, and provide power to the test system through the power supply device.

[0060] The main controller receives sensor signals and outputs control signals to coordinate the control of the leveling frame unit 2 and the shear test unit 3. The main controller is encapsulated in a sealed housing and is responsible for receiving all sensor signals and coordinating the control of all actuators. This embodiment achieves a high degree of integration of the vane shear test device. The integrated design avoids complex on-site assembly, resulting in high device reliability and ease of portability and rapid field deployment.

[0061] The data storage device 402 is integrated on the internal circuit board of the main controller 401 and is used to store test data in real time. Preferably, a card slot for a removable memory card is provided on the side of the housing.

[0062] The wireless transmission device 403, consisting of a circuit board inside the housing and an antenna extending outside the housing, is used for command interaction and data transmission with the ground station.

[0063] The power supply unit 404 is a high-density battery pack, which is independently packaged and installed on the leveling frame unit 2 to provide power to the entire shear test unit.

[0064] The control processing unit 5 establishes a bidirectional data link with the main controller 401 integrated on the UAV platform through the wireless transmission device 403 in the control and acquisition transmission unit 4.

[0065] During operation, the control processing unit 5 is used to remotely plan test tasks and issue commands such as flight waypoints, landing, leveling, penetration depth, and shear parameters to the main controller 401. Simultaneously, it receives and interprets in real-time the UAV status information, leveling data, and complete test process data collected by the torque sensor 309 and angle encoder from the main controller 401. The control processing unit 5 processes, analyzes, and visualizes the received data in real-time, generating torque-angle curves, calculating soil shear strength, and ultimately producing a standardized test report, thus completing a closed-loop process from remote control and data reception to intelligent analysis.

[0066] This embodiment unit achieves unmanned surveying by using a programmed cross-plate shearing test through communication between the control and processing unit and the control and data acquisition transmission unit, thus completely avoiding the risks of personnel working in dangerous environments.

[0067] Example 3

[0068] Based on the same inventive concept as other embodiments, this embodiment introduces an unmanned in-situ vane shear test method, such as... Figure 5 As shown, it specifically includes:

[0069] S1: Flight and Landing: The flight unit flies to the preset measurement point coordinates and lands vertically on the ground. The flight unit is an unmanned aerial vehicle (UAV). The UAV is equipped with integrated equipment and flies autonomously to the preset measurement point coordinates. It lands vertically on the ground through precise positioning, so that the leveling legs touch the ground.

[0070] S2: Automatic leveling and stabilization: After landing and touching the ground, the attitude sensor detects the tilt of the frame, and the controller controls the extension and retraction of each leveling leg to quickly adjust the load-bearing frame (i.e., the test reference surface) of the leveling frame unit to a horizontal state.

[0071] S3: Penetration: After leveling, the drive and transmission components work to control the probe and crosshead to penetrate the soil vertically at a constant speed to the predetermined test depth.

[0072] S4: Shearing and Data Acquisition: After penetration, the drive and transmission components switch to rotation mode, rotating the crosshead at a preset constant low speed. The measurement system synchronously acquires torque, rotation angle, and time data in real time until the soil is sheared and damaged. The data is stored in real time in the data memory of the control and acquisition transmission unit and can be transmitted to the control processing unit via a wireless transmission device. After data processing, it is displayed on the terminal device.

[0073] S5: Recovery and Reset: After the shear test is completed, rotate the crosshead in the opposite direction to the initial angle, and lift the probe to retract the crosshead into the leveling frame unit.

[0074] S6: Takeoff and Transfer: After all components are reset, the outriggers are leveled and retracted, the UAV flight platform takes off, and autonomously travels to the next measurement point or returns to the base.

[0075] Step S2 specifically involves the attitude sensor 202 measuring the roll and pitch angles of the frame in real time after landing. Based on the measurement data, the main controller 401 calculates the compensation extension / retraction amount of each leveling outrigger using a built-in closed-loop control algorithm, and drives the micro-motors within them to operate until the frame attitude reaches a horizontal threshold and locks in place, establishing a stable benchmark for the test. The preferred horizontal threshold is ±0.5°. Automatic leveling ensures the accuracy of the test benchmark; programmed constant-speed penetration and shearing reduce human error.

[0076] In step S3, the main controller 401 starts the penetration drive motor 301. The motor drives the nut 311 of the ball screw pair 310 to move linearly, which in turn drives the spline sleeve 305 fixed thereto to move together, thereby pushing the probe 306 and the crosshead 308, which are engaged with the spline sleeve 305 through the spline, to penetrate the soil vertically to the predetermined depth at a constant speed. During this process, the electromagnetic clutch 304 is in the disengaged state.

[0077] After the penetration stops in step S4, the main controller 401 first engages the electromagnetic clutch 304, and then starts the rotary drive motor 302. Power is transmitted to the spline sleeve 305 via the reduction gear set 303 and the electromagnetic clutch 304, driving the spline sleeve 305 to rotate. Due to the spline engagement, the rotation of the spline sleeve 305 drives the probe rod 306 and the crosshead 308 to rotate at a constant low speed. The torque sensor 309 and the angle encoder synchronously collect data, which is stored in real-time in the data storage 402 and transmitted via the wireless transmission device 403. When the main controller 401 detects that the torque value has reached its peak and is decreasing, it determines that the soil has undergone shear failure and immediately stops the rotary drive motor 302. The main controller 401 can set a maximum allowable torque threshold. If the torque approaches this threshold, it indicates that the soil is too hard, exceeding the design testing range for soft soil, and the system will automatically terminate the test and issue an alarm to protect the equipment. This clarifies the applicable boundaries of the invention.

[0078] After the test is completed in step S5, the main controller 401 controls the rotary drive motor 302 to reverse so that the crosshead 308 is reset to the initial angle, and then the electromagnetic clutch 304 is disengaged. Subsequently, the drive motor 301 is controlled to reverse, and the probe 306 and the crosshead 308 are completely lifted and retracted through the ball screw pair 310 and the spline sleeve 305.

[0079] In summary, the present invention improves the level of automation, not only avoiding human error and ensuring the accuracy of test results, but also enhancing the safety of vane shear tests. Automated vane shear testing expands the operational scope and improves exploration efficiency. The present invention automates the entire process from landing, leveling, testing to recovery and takeoff, with short single-point testing cycles, enabling rapid acquisition of large-scale, high-density soil strength data, thus improving exploration efficiency by more than an order of magnitude.

[0080] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0081] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0082] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0083] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0084] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims. All of these forms are within the protection scope of the present invention.

Claims

1. An unmanned in-situ vane shear test device, characterized in that, It includes a flight unit (1), a leveling frame unit (2), a shear test unit (3), a control and data acquisition and transmission unit (4), and a control processing unit (5). The leveling frame unit (2) is disposed on the flight unit (1), the shear test unit (3) and the control and acquisition transmission unit (4) are disposed on the leveling frame unit (2), and the leveling frame unit (2) is used to level the shear test unit (3) before the shear test. The control and acquisition transmission unit (4) is connected to the manipulation processing unit (5), the leveling frame unit (2), the shearing test unit (3), and the flight unit (2) for information exchange.

2. The unmanned in-situ vane shear test device according to claim 1, characterized in that, The shear test unit includes a drive and transmission assembly and a test execution assembly; The drive and transmission assembly includes a ball screw, a drive motor (301), and a rotary drive motor (302). The spindle of the penetration drive motor (301) is connected to the input end of the ball screw, and the actuating end of the ball screw is connected to the test execution component for driving the test execution component to move linearly. The spindle of the rotary drive motor (302) is connected to the input end of the electromagnetic clutch, and the output end of the electromagnetic clutch is connected to the actuating end of the ball screw, which is used to drive the actuating end of the ball screw to rotate, thereby driving the test execution component to rotate along the axis.

3. The unmanned in-situ vane shear test device according to claim 2, characterized in that, The test execution components include a probe (306), a crosshead (308), and a mounting base (307). The mounting base has a first chamber and a second chamber at its two ends, respectively. The actuating end of the ball screw is rotatably disposed in the first chamber, and the probe is rotatably disposed in the second chamber. One end of the probe is fixedly connected to the actuating end of the ball screw inside the mounting base, and the other end extends to the outside of the mounting base and is fixedly connected to the crosshead.

4. The unmanned in-situ vane shear test device according to claim 2, characterized in that, The ball screw includes a spline sleeve (305), a ball screw assembly (310), and a nut (311). The ball screw assembly (310) is threadedly connected to the nut (311), and one end is connected to the main shaft of the drive motor (301) as an input end. The spline sleeve (305) is fixed to the side of the nut (311) away from the spline sleeve (305) and is connected to the output end of the test execution component and the electromagnetic clutch as an execution end.

5. The unmanned in-situ vane shear test device according to claim 2, characterized in that, The rotary drive motor (302) is connected to the input end of the electromagnetic clutch (304) via a reduction gear set (303).

6. The unmanned in-situ vane shear test device according to claim 3, characterized in that, The test execution mechanism also includes a torque sensor (309) encapsulated at the connection between the crosshead (308) and the probe (306). The torque sensor is communicatively connected to the control and acquisition transmission unit (4) for uploading torque data.

7. The unmanned in-situ vane shear test device according to claim 4, characterized in that, The test execution mechanism also includes an angle encoder for measuring the rotation angle of the crosshead (308). The angle encoder is set at the output end of the reduction gear set (303) or the input end of the electromagnetic clutch (304). The angle encoder is communicatively connected to the control and acquisition transmission unit (4) for uploading rotation angle data.

8. The unmanned in-situ vane shear test device according to claim 1, characterized in that, The leveling frame unit (2) includes at least three leveling legs for adjusting the posture of the shear test unit (3) and a posture sensor (202) for sensing the posture of the shear test unit (3). The leveling outriggers are located at the bottom of the flight unit (1), and the attitude sensor (202) is located in the adjacent area of ​​the shear test unit (3).

9. The unmanned in-situ vane shear test device according to claim 1, characterized in that, The control and acquisition transmission unit (4) includes a main controller (401) and a power supply device (404) for supplying power to the leveling frame unit (2) and the shear test unit (3). The main controller is used to receive sensor signals and output control signals to coordinate the control of the leveling frame unit (2) and the shear test unit (3).

10. A method for unmanned in-situ vane shear test, characterized in that, Performing a vane shear test using the unmanned in-situ vane shear test apparatus according to any one of claims 1 to 9 includes: Based on the preset measurement point coordinates output by the control processing unit, the flight unit flies to the area above the preset measurement point coordinates and then descends vertically to the ground. The attitude of the shear test unit is detected by an attitude sensor, and the attitude of the shear test unit is adjusted by a control and data acquisition and transmission unit. When the posture of the shear test unit meets the preset test requirements, the shear test unit is driven to perform a vane shear test through the control and data acquisition and transmission unit, and the vane shear test data is transmitted to the control and processing unit through the control and data acquisition and transmission unit. In response to the control processing unit receiving data from the vane shear test meeting the termination conditions, the control and data acquisition and transmission unit controls the shear test unit to reset. According to the output command of the control processing unit, the flight unit flies to the next measurement point or returns to the base.

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