A sensor monitoring device and method based on unmanned aerial vehicle casting

Abstract

The application relates to a sensor monitoring device and method based on unmanned aerial vehicle throwing, and belongs to the technical field of geological monitoring. The throwing device comprises an unmanned aerial vehicle, a throwing controller, a throwing barrel and a connecting piece arranged on the unmanned aerial vehicle, a sensor, a landing tail wing and a mounting seat. The landing tail wing is arranged on the sensor and accommodated in the throwing barrel. The connecting piece is arranged on the throwing controller and connected with the sensor. The sensor is arranged on the mounting seat and connected with the landing tail wing. The throwing controller is used for disconnecting the connection between the connecting piece during throwing. The application has the effect of improving the sensor laying efficiency.

Description

Technical Field

[0001] This application relates to the technical field of geological monitoring, and in particular to a sensor monitoring device and method based on drone-dropped sensors. Background Technology

[0002] During emergency rescue operations following geological disasters such as landslides and mudslides, it is often necessary to prevent secondary disasters to ensure the safety of rescue personnel and related rescue equipment. Therefore, it is necessary to deploy sensors in the surrounding unstable rock and soil to monitor the situation in real time.

[0003] Currently, when setting up monitoring sensors, it is often necessary for professionals to accompany rescue personnel into the disaster area to monitor the surrounding unstable soil and rock by digging pits, pouring concrete, installing supports, and deploying sensors.

[0004] However, this method of sensor deployment takes a long time and is inefficient. This means that before the monitoring sensors are fully deployed, the surrounding geology cannot be effectively monitored, and the safety of rescue personnel cannot be guaranteed in a short period of time. Summary of the Invention

[0005] In order to improve the efficiency of sensor deployment in disaster-stricken areas, firstly, this application provides a sensor monitoring device based on drone-dropped sensors.

[0006] The sensor monitoring device based on drone-dropped delivery provided in this application adopts the following technical solution: The device includes a drone and a drop controller, drop tube, and connector mounted on the drone. It also includes a sensor, a landing tail fin, and a mounting base. The landing tail fin is mounted on the sensor and housed in the drop tube. The connector is mounted on the drop controller and connected to the sensor. The sensor is mounted on the mounting base and connected to the landing tail fin. The drop controller is used to disconnect from the connector during drop.

[0007] By adopting the above technical solution, after a geological disaster occurs, the sensor can be transported to the target area by operating a drone. Then, the launcher is disconnected by the launcher controller, causing the mounting base to fall. During the fall, the landing tail fin is pulled out from the launch tube and randomly unfolds under the action of airflow, controlling the falling attitude of the mounting base so that the sensor can fall to the target area, which is more efficient.

[0008] Optionally, a spike bar is provided on the side of the mounting base away from the sensor.

[0009] By adopting the above technical solution, a spike is set on the mounting base, so that the spike can be inserted into the ground after the mounting base is placed on the ground, thereby fixing the position of the mounting base on the ground, thus fixing the position of the sensor and reducing the probability of the sensor shifting due to external factors after it is placed on the ground.

[0010] Optionally, the spike includes an insertion part, a connecting part, and a spring. The connecting part is fixedly mounted on the mounting base and sleeved on the insertion part. The spring is disposed inside the connecting part and connected to the end of the insertion part.

[0011] By adopting the above technical solution, when the insertion part comes into contact with the ground, the spring can buffer the insertion part, thereby reducing the impact force when the insertion part is inserted into the ground, and playing a buffering and protective role for the sensor.

[0012] Optionally, the mounting base is provided with an auxiliary positioning component, which includes at least two positioning units. Each positioning unit includes a connecting rod and an auxiliary insertion rod. The connecting rod is hinged to the mounting base, with one end of the connecting rod hinged to the insertion part and the other end of the connecting rod hinged to the auxiliary insertion rod. The auxiliary insertion rod is mounted on the mounting base and can slide along its own length direction on the mounting base under the drive of the connecting rod.

[0013] By adopting the above technical solution, when the inserting part encounters a relatively hard ground and cannot penetrate, the inserting part slides along the axis of the mounting part, causing the spring to be compressed. Under the drive of the inserting part, the connecting rod swings relative to the mounting seat. The end of the connecting rod that is hinged to the auxiliary insert rod drives the auxiliary insert rod to extend out of the mounting seat and then insert into the ground to achieve a secondary fixation of the mounting seat.

[0014] Optionally, the mounting base is provided with a mounting groove parallel to the axis of the spike rod, the auxiliary insertion rod is slidably disposed in the mounting groove, the auxiliary insertion rod is provided with a waist-shaped groove whose extension direction is consistent with its own length direction, and an anti-detachment block is provided in the mounting groove, the anti-detachment block passing through the waist-shaped groove.

[0015] By adopting the above technical solution, the mounting base is provided with a mounting groove to guide the sliding of the auxiliary rod, and the auxiliary rod is provided with a waist-shaped groove, which reduces the weight of the auxiliary rod itself, thereby reducing the load that the UAV needs to bear during flight. At the same time, the waist-shaped groove also limits the extension stroke of the auxiliary rod.

[0016] Optionally, the auxiliary insertion rod is provided with a guide vane, which is located on the outer side of the peripheral wall of the mounting base. The guide vane is used to make the mounting base tend to rotate around its own axis.

[0017] By adopting the above technical solution, a guide vane is provided on the auxiliary insertion rod, so that during the descent of the mounting base, the airflow drives the mounting base to rotate through the guide vane, thereby causing the insertion part to rotate together. This allows the insertion part to obtain a greater piercing force compared to the direct insertion method.

[0018] Optionally, the mounting base includes a mounting part and a rotating part. The rotating part is mounted on the mounting part by means of a ball joint. The sensor is mounted on the mounting part. The connecting part, connecting rod, and auxiliary plug rod are all mounted on the rotating part.

[0019] By adopting the above technical solution, the mounting base includes a mounting part and a rotating part connected by a ball joint, and the connecting part, connecting rod, and auxiliary insertion rod are set on the rotating part. This allows the rotating part to rotate relative to the mounting part under the action of the guide vane during descent, so that the landing tail fin will not easily lose its normal state due to the rotation of the rotating part, reducing the probability of a large deviation in the sensor's landing position. At the same time, the ball joint connection also leaves a gap between the mounting part and the rotating part. When the insertion part lands on a slope, if it encounters a position that the insertion part cannot penetrate, the insertion part can swing relative to the mounting part to a certain extent and insert into the adjacent ground, and the position of the sensor will not change significantly.

[0020] Optionally, a buffer pad is provided on the side of the mounting part near the rotating part, and a gap is left between the rotating part and the buffer pad to allow the rotating part to swing relative to the mounting part.

[0021] By adopting the above technical solution, the oscillating impact between the rotating part and the mounting part is buffered, reducing the risk that the sensor may fall off the mounting part or even be damaged due to the impact.

[0022] Optionally, a buffer is provided between the mounting part and the sensor, with one end of the buffer connected to the mounting base and the other end connected to the sensor.

[0023] By adopting the above technical solution, the buffer also plays a buffering role for the sensor, further reducing the possibility of sensor failure due to impact when the insertion part contacts the ground, thus protecting the sensor.

[0024] Secondly, this application also provides a method for launching a monitoring sensor based on a drone, which employs the aforementioned sensor monitoring device based on drone launching, and includes the following steps: S100: Select the target area within the drone's flight radius; S200: Control the drone to fly over the target area and disconnect the connector from the sensor by dropping the controller; S300: Monitors the dynamics of soil and rock masses in the target area using sensors.

[0025] In summary, this application includes at least the following beneficial technical effects: 1. After a geological disaster occurs, a drone can be used to transport the sensor to the target area. Then, the release controller is used to release the sensor, causing the mounting base to fall. During the fall, the landing tail fin is pulled out from the release tube and randomly unfolds under the action of airflow, controlling the falling attitude of the mounting base so that the sensor can fall into the target area. The whole process is shorter and more efficient than the method of digging pits, pouring concrete and setting up supports. It greatly reduces the window period during the rescue process when the geology is not monitored, and improves the safety of rescue personnel during the rescue. 2. By installing a spike bar under the mounting base, the spike bar can be inserted into the ground after the mounting base is placed on the ground, thus ensuring that the position of the mounting base will not easily change after it is placed on the ground. This reduces the possibility of the sensor position shifting from the target location and achieves the effect of improving monitoring reliability. Attached Figure Description

[0026] Figure 1 This is a three-dimensional schematic diagram of a sensor monitoring device based on drone-dropped data in Embodiment 1 of this application; Figure 2 yes Figure 1 The main view; Figure 3 yes Figure 1 A three-dimensional structural diagram of the mounting base; Figure 4 yes Figure 3 A three-dimensional diagram from another perspective; Figure 5 yes Figure 2 A cross-sectional view of the mounting base after it has been cut open.

[0027] Figure 6 This is a flowchart of a sensor monitoring device launching method based on UAV launching, according to Embodiment 2 of this application.

[0028] Explanation of reference numerals in the attached drawings: 1. Unmanned aerial vehicle (UAV); 2. Drop controller; 3. Drop tube; 4. Connector; 5. Sensor; 6. Landing tail fin; 7. Mounting base; 8. Spike; 9. Insertion part; 10. Connecting part; 11. Spring; 12. Auxiliary positioning component; 13. Positioning unit; 14. Connecting rod; 15. Auxiliary insertion rod; 16. Mounting groove; 17. Waist-shaped groove; 18. Anti-detachment block; 19. Guide vane; 20. Mounting part; 21. Rotating part; 22. Buffer; 23. Buffer pad. Detailed Implementation

[0029] The following is in conjunction with the appendix Figure 1-6 This application will be described in further detail.

[0030] Example 1 Embodiment 1 of this application discloses a sensor monitoring device based on drone-dropped data, referring to... Figure 1 and Figure 2 The system includes a drone 1, a throwing controller 2, a throwing tube 3, and a connector 4 mounted on the drone 1. The connector 4 is a pull rope. In addition, it includes a sensor 5, a mounting base 7, and a landing tail fin 6. The sensor 5 is mounted on the mounting base 7 and has its own power supply. The landing tail fin 6 is mounted on the sensor 5 and is stored in the throwing tube 3 when the sensor 5 is not thrown. One end of the connector 4 is mounted on the throwing controller 2, and the other end is connected to the sensor 5. This allows the drone 1 to lift the sensor 5 and transport it to the designated location when it takes off.

[0031] Reference Figure 3 , Figure 4 and Figure 5 A spike rod 8 is provided below the mounting base 7. The spike rod 8 includes an insertion part 9, a connecting part 10, and a spring 11. The connecting part 10 is coaxially fixed at the bottom of the mounting base 7, which is cylindrical. The connecting part 10 is sleeved on the insertion part 9, and the spring 11 is located inside the connecting part 10. The end of the spring 11 is connected to the insertion part 9. When the spring 11 is at its initial length, the insertion part 9 extends from the connecting part 10 to insert into the soft ground to fix the position of the mounting base 7 on the ground. At the same time, due to the elasticity of the spring 11, when the insertion part 9 contacts the ground, the spring 11 can also buffer the mounting base 7 to reduce the probability of damage to the sensor 5 due to impact.

[0032] Reference Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5An auxiliary positioning assembly 12 is provided on the mounting base 7. The auxiliary positioning assembly 12 includes at least two positioning units 13 symmetrically arranged about the axis of the insertion part 9. The positioning unit 13 includes a connecting rod 14 and an auxiliary insertion rod 15. The connecting rod 14 is hinged to the mounting base 7 at its middle position. One end of the connecting rod 14 is hinged to the insertion part 9, and the other end of the connecting rod 14 is hinged to the auxiliary insertion rod 15. The mounting base 7 is also provided with a mounting groove 16 for the auxiliary insertion rod 15 to slide. An anti-dislodgement block 18 is provided in the mounting groove 16. The auxiliary insertion rod 15 has an extension direction and an auxiliary... The insertion rod 15 has a waist-shaped groove 17 with the same length direction, and the anti-detachment block 18 is inserted into the waist-shaped groove 17. This means that when the insertion part 9 contacts the ground, if it cannot reach a hard ground and cannot be inserted into the ground, the impact force of the landing will drive the insertion part 9 to retract into the connecting part 10 along the axis of the connecting part 10. At this time, the spring 11 is compressed, and the movement of the insertion part 9 causes the connecting rod 14 to swing relative to the mounting base 7, thereby driving the auxiliary insertion rod 15 to extend from the mounting base 7 and insert into the ground around the contact position of the insertion part 9, further improving the positional stability of the mounting base 7 after landing.

[0033] It should be noted that oblong holes are provided at the hinge position between the connecting rod 14 and the mounting base 7, and at the position between the connecting rod 14 and the auxiliary insertion rod 15, to ensure that the connecting rod 14 can swing normally under the drive of the insertion part 9.

[0034] It is worth mentioning that the mounting groove 16 has an opening at the position of the peripheral wall of the mounting base 7, and a guide plate 19 is provided on the auxiliary insertion rod 15. The guide plate 19 protrudes from the peripheral wall of the mounting base 7 through the opening on the mounting groove 16. This allows the mounting base 7 to rotate about the axis of the connecting part 10 as a rotation axis during the descent. During this process, the insertion part 9 also rotates together, thereby increasing the piercing force when the insertion part 9 contacts the ground, thus achieving the effect of improving the piercing ability of the insertion part 9.

[0035] To reduce the risk of the landing tail fin 6 failing to maintain its normal position during the rotation of the mounting base 7, which could cause deviations in the landing position of the mounting base 7, the mounting base 7 includes a mounting part 20 and a rotating part 21. The mounting part 20 is used to connect to the sensor 5, while the rotating part 21 has a connecting rod 14, an auxiliary insert rod 15, and a connecting part 10 all mounted on it. The rotating part 21 is located below the mounting part 20 via a ball joint. This allows the mounting part 20 to remain stationary relative to the rotating part 21 when the guide vane 19 rotates under the action of airflow, thereby maintaining the stability of the landing tail fin 6 during descent and improving the landing accuracy of the sensor 5.

[0036] The ball joint connecting the mounting part 20 and the rotating part 21 not only allows the rotating part 21 to rotate relative to the mounting part 20, but also leaves a certain gap between them. This allows the rotating part 21 to swing up and down relative to the mounting part 20. When the piercing part 9 lands on the slope and encounters a position where it cannot be pierced, the piercing position of the piercing part 9 can be shifted to a certain extent while keeping the posture of the mounting part 20 as unchanged as possible. This further increases the probability of the piercing part 9 penetrating the ground and the accuracy of the sensor 5's position when it lands.

[0037] Furthermore, a buffer pad 23 is fixedly provided on the side of the mounting part 20 near the rotating part 21. The buffer pad 23 can be a rubber pad, or in other embodiments, a rubber pad or a sponge pad, etc. A certain gap is left between the buffer pad 23 and the upper surface of the rotating part 21. This can buffer the swing impact between the rotating part 21 and the mounting part 20 without interfering with the rotation of the rotating part 21, thereby reducing the risk that the sensor 5 will fall off the mounting part 20 or even be damaged due to the impact.

[0038] Furthermore, a buffer 22 is provided between the mounting part 20 and the sensor 5. The buffer 22 can be a rubber cylinder or a spring 11. One end of the buffer 22 is connected to the sensor 5, and the other end of the buffer is vertically mounted on the mounting part 20. This creates a certain distance between the mounting part 20 and the sensor 5. As a result, when the sensor 5 lands, there will be a certain distance between the sensor 5 and the ground due to the presence of the buffer 22. This prevents the sensor 5 from easily coming into contact with water on the ground when there is water accumulation, reducing the possibility of the sensor 5 malfunctioning due to long-term water immersion. At the same time, the buffer 22 also acts as a buffer for the sensor 5, further reducing the possibility of the sensor 5 malfunctioning due to impact when the insertion part 9 comes into contact with the ground, thus protecting the sensor 5.

[0039] The implementation principle of Embodiment 1 of this application is as follows: First, the drone 1 is used to transport the sensor 5 to the target area. Then, the connection between the sensor 5 and the connecting part 4 is disconnected by the throwing controller 2. The sensor 5 and the mounting base 7 fall under their own gravity. The landing tail fin 6 exits from the throwing tube 3 and unfolds during the fall to adjust the air attitude of the mounting base 7 and the sensor 5. Due to the action of the guide plate 19, the rotating part 21 on the mounting base 7 rotates relative to the mounting part 20 when it falls, thereby driving the insertion part 9 to rotate together until the insertion part 9 is inserted into the ground. At this time, the auxiliary insertion rod 15 can also be inserted into the ground as the insertion part 9 goes deeper, or it can abut against the ground as a support foot.

[0040] When the spike rod 8 fails to penetrate the ground, the insertion part 9 retracts on the connecting part 10, the spring 11 inside the connecting part 10 is compressed, and then the auxiliary insertion rod 15 is driven to extend from the rotating part 21 through the connecting rod 14, thereby inserting it into the ground around the spike rod 8 to fix the sensor 5 in the target area.

[0041] Example 2 Reference Figure 6 Embodiment 2 of this application also provides a method for launching a monitoring sensor based on a drone, applied to a drone-launched monitoring sensor launching device mentioned in Embodiment 1 above, comprising the following steps: S100: Select the target area within the flight radius of UAV 1; S200: Maneuver the UAV 1 to fly over the target area and disconnect it from the connector 4 via the drop controller 2; S300: Monitors the dynamics of the soil and rock mass in the target area using sensor 5.

[0042] Therefore, the monitoring sensor deployment method based on UAV deployment provided in Embodiment 2 of this application can effectively improve the efficiency of deploying monitoring sensors at disaster sites, thereby improving the safety of rescue personnel during disaster relief.

[0043] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A sensor monitoring device based on UAV-based throwing, comprising a UAV (1) and a throwing controller (2), a throwing tube (3), and a connector (4) mounted on the UAV (1), characterized in that: It also includes a sensor (5), a landing tail fin (6), and a mounting base (7). The landing tail fin (6) is mounted on the sensor (5) and housed in the throwing tube (3). The connector (4) is mounted on the throwing controller (2) and connected to the sensor (5). The sensor (5) is mounted on the mounting base (7) and connected to the landing tail fin (6). The throwing controller (2) is used to disconnect the connection with the connector (4) during throwing.

2. The sensor monitoring device based on UAV deployment according to claim 1, characterized in that: The mounting base (7) is provided with a spike (8) on the side away from the sensor (5).

3. The sensor monitoring device based on UAV deployment according to claim 2, characterized in that: The piercing rod (8) includes an insertion part (9), a connecting part (10), and a spring (11). The connecting part (10) is fixedly disposed on the mounting base (7) and sleeved on the insertion part (9). The spring (11) is disposed in the connecting part (10) and connected to the end of the insertion part (9).

4. The sensor monitoring device based on UAV deployment according to claim 3, characterized in that: An auxiliary positioning component (12) is provided on the mounting base (7). The auxiliary positioning component (12) includes at least two positioning units (13). The positioning unit (13) includes a connecting rod (14) and an auxiliary insertion rod (15). The connecting rod (14) is hinged to the mounting base (7). One end of the connecting rod (14) is hinged to the insertion part (9), and the other end of the connecting rod (14) is hinged to the auxiliary insertion rod (15). The auxiliary insertion rod (15) is provided on the mounting base (7). When the insertion part (9) retracts on the connecting part (10), the connecting rod (14) drives the auxiliary insertion rod (15) to extend from the mounting base (7).

5. The sensor monitoring device based on UAV deployment according to claim 4, characterized in that: The mounting base (7) is provided with a mounting groove (16) parallel to the axis of the spike rod (8). The auxiliary insertion rod (15) is slidably disposed in the mounting groove (16). The auxiliary insertion rod (15) is provided with a waist-shaped groove (17) whose extension direction is consistent with its own length direction. An anti-detachment block (18) is provided in the mounting groove (16). The anti-detachment block (18) passes through the waist-shaped groove (17).

6. The sensor monitoring device based on UAV deployment according to claim 5, characterized in that: The auxiliary insert (15) is provided with a guide plate (19), which is located on the outer side of the peripheral wall of the mounting base (7). The guide plate (19) is used to make the mounting base (7) have a tendency to rotate around its own axis.

7. A sensor monitoring device based on UAV deployment according to claim 6, characterized in that: The mounting base (7) includes a mounting part (20) and a rotating part (21). The rotating part (21) is mounted on the mounting part (20) via a ball joint structure. The sensor (5) is mounted on the mounting part (20). The connecting part (10), the connecting rod (14), and the auxiliary insertion rod (15) are all mounted on the rotating part (21).

8. The sensor monitoring device based on UAV deployment according to claim 7, characterized in that: A buffer pad (23) is provided on the side of the mounting part (20) near the rotating part (21), and there is a gap between the rotating part (21) and the buffer pad (23) for the rotating part (21) to swing relative to the mounting part (20).

9. A sensor monitoring device based on UAV deployment according to claim 7, characterized in that: A buffer (22) is provided between the mounting part (20) and the sensor (5). One end of the buffer (22) is connected to the mounting base (7), and the other end of the buffer (22) is connected to the sensor (5).

10. A method for launching a monitoring sensor based on drone deployment, applied to a sensor monitoring device based on drone deployment as described in any one of claims 1-9, characterized in that, Includes the following steps: S100: Select the target area within the flight radius of the UAV (1); S200: Maneuver the drone (1) to fly over the target area and disconnect the connection between the connector (4) and the sensor (5) through the drop controller (2); S300: The dynamics of the soil and rock mass in the target area are monitored through the sensor (5).

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