Quick measuring device for rock stratum occurrence in hard area

Abstract

The utility model discloses a quick measuring device for rock stratum attitude in a hard area, which belongs to the technical field of instruments and meters and comprises an unmanned aerial vehicle body and a remote controller with a screen, a loading system is mounted at the bottom of the unmanned aerial vehicle body and comprises a driving mechanism and a measuring mechanism, the measuring mechanism comprises a shell, and an optical camera is mounted at the center of the front of the shell. A first laser radar, a second laser radar, a third laser radar and a fourth laser radar are respectively arranged at four corners in front of the shell, and an electronic compass is arranged at the bottom of the shell. According to the rapid measuring device for the rock stratum attitude in the hard area, the unmanned aerial vehicle technology is used for replacing a traditional mode that a geological compass is used for measuring the attitude manually; rapid and automatic measurement of rock masses in hard, high-risk and high-steep areas is achieved, people do not need to climb to a measurement area, personal safety is guaranteed, and working efficiency is improved; the unmanned aerial vehicle technology and the high-precision sensor are utilized, errors caused by manual attitude measurement are reduced, and the data accuracy is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of instruments and meters, in particular to a device for rapidly measuring the attitude of rock strata in difficult and dangerous areas. Background Art

[0002] With the continuous development and construction of mountain highways and railways, geological exploration, as the vanguard of project construction, is particularly important. The attitude of rock strata is important information for geological exploration. The traditional method of measuring the attitude of rock strata with a handheld geological compass is limited by conditions and cannot measure the attitude of high-position rock masses or difficult and dangerous areas (areas inaccessible to people). Therefore, it is very necessary to study a device suitable for measuring the attitude of rock strata in difficult and dangerous areas for mountain exploration.

[0003] With the rapid development of unmanned aerial vehicle (UAV) technology, due to its advantages such as high efficiency, low cost, safety, flexibility and high mobility, it has been widely used in the following industries: 1) Environmental monitoring. UAVs can perform tasks such as air quality monitoring, pollutant detection, and water quality monitoring in areas that are not easily accessible. For example, aerial photography and sensors can detect pollution sources in rivers or lakes, helping environmental protection departments take timely measures. 2) Disaster rescue. In the event of disasters (such as earthquakes, floods, etc.), UAVs can quickly enter the disaster area, conduct search and rescue, image acquisition, and provide real-time data, helping rescue personnel understand the on-site situation and improve rescue efficiency. 3) Surveying and mapping and geographic information system (GIS). UAVs can be used for topographic surveying, map making, three-dimensional modeling, etc. Its efficient and accurate aerial photography technology is applied in industries such as construction and urban planning.

[0004] In the application field of surveying and mapping and geographic information system, UAVs have shown absolute advantages compared with traditional methods. The existing UAV technology for measuring attitudes is to take a large number of optical pictures of rock masses for three-dimensional modeling and then measure on the established three-dimensional model, with low efficiency, and the accuracy of the three-dimensional model restricts the accuracy of measurement. Summary of the Invention

[0005] The purpose of the utility model is to provide a device for rapidly measuring the attitude of rock strata in difficult and dangerous areas, which uses UAV technology to replace the traditional manual measurement of attitudes with a geological compass; realizes the rapid and automatic measurement of rock masses in difficult, dangerous, high-risk and high-steep areas, without the need for people to climb to the measurement area, ensuring personal safety and improving work efficiency; uses UAV technology and high-precision sensors to reduce the error of manual attitude measurement and improve the accuracy of data.

[0006] To achieve the above object, the utility model provides a device for quickly measuring the attitude of rock strata in difficult and dangerous areas, which comprises a UAV body and a remote controller with a screen. A load system is installed at the bottom of the UAV body. The load system includes a driving mechanism and a measuring mechanism. The measuring mechanism includes a housing. An optical camera is installed at the center of the front of the housing. A first lidar, a second lidar, a third lidar and a fourth lidar are respectively installed at the four corners of the front of the housing. An electronic compass is installed at the bottom of the housing.

[0007] Preferably, the driving mechanism includes a load interface. The bottom of the load interface is welded and fixed to a load bearing platform. A pitching and rotating assembly is installed at the bottom of the load bearing platform. The pitching and rotating assembly is connected to a measuring mechanism bearing platform. A horizontal rotating assembly is installed on the measuring mechanism bearing platform. The horizontal rotating assembly is connected to the measuring mechanism.

[0008] Preferably, the pitching and rotating assembly includes two driving long shaft fixing plates. The two driving long shaft fixing plates are welded and fixed to the bottom of the load bearing platform, and the two driving long shaft fixing plates are symmetrically arranged. The two driving long shaft fixing plates are connected to a driving long shaft through bearings. The driving long shaft is directly connected to a pitching motor. The pitching motor is fixed to a pitching motor fixing plate by bolts. The top of the pitching motor fixing plate is welded and fixed to the bottom of the load bearing platform.

[0009] Preferably, the driving long shaft on the inner sides of the two driving long shaft fixing plates is connected to the measuring mechanism bearing platform. A horizontal rotating motor is welded and fixed on the measuring mechanism bearing platform. The horizontal rotating motor is directly connected to a driving short shaft. The driving short shaft is fixedly connected to the housing.

[0010] Preferably, the formula for calculating the rotation angle of the horizontal rotating motor is as follows:

[0011] ;

[0012] where is the distance between the first lidar and the measuring surface, is the distance between the second lidar and the measuring surface, is the distance between the first lidar and the second lidar;

[0013] The formula for calculating the rotation angle of the pitching motor is as follows:

[0014] ;

[0015] where is the distance between the fourth lidar and the measuring surface, is the distance between the second lidar and the fourth lidar.

[0016] Therefore, the present utility model adopts the above-mentioned rapid measurement device for the attitude of rock strata in dangerous areas, using drone technology to replace the traditional manual measurement of the attitude with a geological compass; it realizes the rapid and automatic measurement of rock masses in dangerous, high-risk, and high-steep areas, without the need for people to climb to the measurement area, ensuring personal safety and improving work efficiency; by using drone technology and high-precision sensors, the error of manual measurement of the attitude is reduced, and the accuracy of data is improved.

[0017] The technical solution of the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. Description of the Drawings

[0018] Figure 1 It is a schematic structural diagram of the drone body and the load system of the rapid measurement device for the attitude of rock strata in dangerous areas of the present utility model;

[0019] Figure 2 It is a schematic structural diagram of the screen-equipped remote controller of the rapid measurement device for the attitude of rock strata in dangerous areas of the present utility model;

[0020] Figure 3 It is a schematic structural diagram of the load system of the rapid measurement device for the attitude of rock strata in dangerous areas of the present utility model;

[0021] Figure 4 It is a schematic structural diagram of the measurement mechanism of the rapid measurement device for the attitude of rock strata in dangerous areas of the present utility model;

[0022] Figure 5 It is a schematic diagram of the rock mass to be measured of the rapid measurement device for the attitude of rock strata in dangerous areas of the present utility model.

[0023] Reference Signs

[0024] 1. Screen-equipped remote controller; 2. Drone body; 3. Load system; 4. Rock mass to be measured; 5. Driving mechanism; 501. Load interface; 502. Load bearing platform; 503. Driving long shaft; 504. Driving long shaft fixing plate; 505. Measurement mechanism bearing platform; 506. Horizontal rotation motor; 507. Pitching motor; 508. Pitching motor fixing plate; 509. Driving short shaft; 6. Measurement mechanism; 601. First lidar; 602. Second lidar; 603. Third lidar; 604. Fourth lidar; 605. Electronic compass; 606. Optical camera. Detailed Embodiments

[0025] The technical solution of the present utility model will be further described below with reference to the accompanying drawings and embodiments.

[0026] Unless otherwise defined, the technical terms or scientific terms used in this utility model shall have the ordinary meanings understood by those with ordinary skills in the field to which this utility model belongs. The "first", "second" and similar words used in this utility model do not denote any order, quantity or importance, but are only used to distinguish different components. Words such as "comprising" or "including" mean that the elements or objects appearing before this word cover the elements or objects listed after this word and their equivalents, without excluding other elements or objects. Words such as "connected" or "linked" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Upper", "lower", "left", "right", etc. are only used to represent relative position relationships. When the absolute position of the object being described changes, the relative position relationship may also change accordingly.

[0027] Embodiment 1

[0028] As Figures 1 to 5 shown, this utility model provides a device for quickly measuring the occurrence of rock strata in dangerous and difficult areas, including a drone body 2 and a remote controller 1 with a screen. The remote controller 1 with a screen is used to control the flight attitude of the drone and plan the flight route, and at the same time, it can display the image information transmitted back by the drone in real time. A load system 3 is installed at the bottom of the drone body 2, and the drone can carry the load system 3 to perform measurement tasks. The load system 3 includes a driving mechanism 5 and a measuring mechanism 6. The driving mechanism 5 can drive the measuring mechanism 6 to rotate and adjust the position relationship between the plane where the measuring mechanism 6 is located and the measuring plane. The measuring mechanism 6 includes a housing, and the housing provides an installation space for an optical camera 606, a first lidar 601, a second lidar 602, a third lidar 603, a fourth lidar 604 and an electronic compass 605. The optical camera 606 is installed at the center of the front of the housing. The optical camera 606 acquires the image information of the target area, provides intuitive image data, and assists in visual analysis and judgment, playing an important role in tasks such as surveying and mapping and inspection.

[0029] The first lidar 601, the second lidar 602, the third lidar 603 and the fourth lidar 604 are respectively installed at the four corners of the front of the housing. By emitting laser light and receiving the reflected light, the distance, position and other information of the target object are measured, and three-dimensional space modeling, topographic surveying and mapping, and obstacle detection are carried out to achieve high-precision distance measurement and acquisition of spatial information, making up for the deficiencies of the optical camera 606 in distance measurement and other aspects, and improving the accuracy and reliability of the measurement. An electronic compass 605 is installed at the bottom of the housing to measure the heading information of the drone, provide an azimuth reference for the measurement data, make the measurement results have an accurate azimuth attribute, and ensure the correctness of the data spatial azimuth in applications such as geographical surveying and mapping and navigation.

[0030] The drive mechanism 5 includes a load interface 501. The bottom of the load interface 501 is fixedly welded to the load bearing platform 502. The load interface 501 is used to connect the UAV body 2 and the load system 3 to achieve a stable connection, ensuring a reliable connection between the load system 3 and the UAV body 2 and providing a stable installation foundation for subsequent components. A pitching rotation assembly is installed at the bottom of the load bearing platform 502, and the load bearing platform 502 provides an installation space for the pitching rotation assembly. The pitching rotation assembly is connected to the measurement mechanism bearing platform 505, and the pitching rotation assembly can drive the measurement mechanism bearing platform 505 to rotate. A horizontal rotation assembly is installed on the measurement mechanism bearing platform 505, and the measurement mechanism bearing platform 505 provides an installation space for the horizontal rotation assembly. The horizontal rotation assembly is connected to the measurement mechanism 6, and the horizontal rotation assembly drives the measurement mechanism 6 to rotate.

[0031] The pitching rotation assembly includes two drive long shaft fixing plates 504. The two drive long shaft fixing plates 504 are fixedly welded to the bottom of the load bearing platform 502, and the two drive long shaft fixing plates 504 are symmetrically arranged. The two drive long shaft fixing plates 504 are connected to the drive long shaft 503 through bearings, and the two drive long shaft fixing plates 504 support the drive long shaft 503. The drive long shaft 503 is directly connected to the pitching motor 507, and the pitching motor 507 can drive the drive long shaft 503 to rotate. The pitching motor 507 is fixed to the pitching motor fixing plate 508 by bolts. The top of the pitching motor fixing plate 508 is fixedly welded to the bottom of the load bearing platform 502, and the pitching motor 507 is installed at the bottom of the load bearing platform 502 through the pitching motor fixing plate 508.

[0032] The drive long shaft 503 on the inner sides of the two drive long shaft fixing plates 504 is connected to the measurement mechanism bearing platform 505. The rotation of the drive long shaft 503 can drive the measurement mechanism bearing platform 505 to rotate. A horizontal rotation motor 506 is fixedly welded to the measurement mechanism bearing platform 505, and the measurement mechanism bearing platform 505 provides an installation space for the horizontal rotation motor 506. The horizontal rotation motor 506 is directly connected to the drive short shaft 509, and the drive short shaft 509 is fixedly connected to the housing. The horizontal rotation motor 506 can drive the housing to rotate through the drive short shaft 509.

[0033] The calculation formula for the rotation angle of the horizontal rotation motor 506 is as follows:

[0034] ;

[0035] where is the distance between the first lidar 601 and the measurement surface, is the distance between the second lidar 602 and the measurement surface, is the distance between the first lidar 601 and the second lidar 602;

[0036] The calculation formula for the rotation angle of the pitch motor 507 is as follows:

[0037] ;

[0038] Wherein, is the distance between the fourth lidar 604 and the measurement surface, is the distance between the second lidar 602 and the fourth lidar 604.

[0039] The third lidar 603 is a spare lidar. If one of the first lidar 601, the second lidar 602 and the fourth lidar 604 fails, the third lidar 603 can replace its function and measure the in the calculation formula for the rotation angle of the horizontal rotation motor 506 and the in the calculation formula for the rotation angle of the pitch motor 507, without affecting subsequent use. For example, when the second lidar 602 is damaged, the in the calculation formula for the rotation angle of the horizontal rotation motor 506 can be obtained by measuring the distance between the third lidar 603 and the fourth lidar 604; the in the calculation formula for the rotation angle of the pitch motor 507 can be obtained by measuring the distance between the third lidar 603 and the first lidar 601.

[0040] When using a rapid measurement device for rock formation attitude in dangerous and difficult areas provided by the present utility model, the drone body 2 is flown to the rock mass 4 to be measured through the screen remote controller 1, and the driving mechanism 5 and the measuring mechanism 6 are controlled through the screen remote controller 1 to measure the rock formation attitude at steep and steep embankment mountain bodies. The rotation angle of the horizontal rotation motor 506 and the rotation angle of the pitch motor 507 are calculated based on the radar distance data output by the first lidar 601, the second lidar 602, the third lidar 603 and the fourth lidar 604, and the driving mechanism 5 is controlled through the screen remote controller 1 to adjust the measuring mechanism 6 to make the optical camera 606 parallel to the measurement surface. At this time, the drone body 2 is in a horizontal state, so the bottom line of the optical camera 606 is also in a horizontal state, and the value of the electronic compass 605 is the strike of the rock formation to be measured. The dip is perpendicular to the strike, and thus the rock formation attitude is measured.

[0041] Therefore, by adopting the above-mentioned rapid measurement device for rock formation attitude in dangerous and difficult areas, the present utility model uses drone technology to replace the traditional manual measurement of formation attitude with a geological compass; realizes the rapid and automatic measurement of rock masses in dangerous, high-risk and high-steep areas, without the need for people to climb to the measurement area, ensuring personal safety and improving work efficiency; uses drone technology and high-precision sensors to reduce the error of manual formation measurement and improve the accuracy of data.

[0042] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that they can still modify or equivalently replace the technical solutions of the present invention, and these modifications or equivalent replacements cannot make the modified technical solutions deviate from the spirit and scope of the technical solutions of the present invention.

Claims

1. A rapid measurement device for the attitude of rock strata in difficult and dangerous areas, characterized in that: It includes a drone body and a remote controller with a screen. A load system is installed at the bottom of the drone body. The load system includes a driving mechanism and a measuring mechanism. The measuring mechanism includes a housing. An optical camera is installed at the center of the front of the housing. A first lidar, a second lidar, a third lidar, and a fourth lidar are respectively installed at the four corners of the front of the housing. An electronic compass is installed at the bottom of the housing.

2. The rapid measurement device for the occurrence of rock strata in difficult and dangerous areas according to claim 1, wherein: The driving mechanism includes a load interface. The bottom of the load interface is welded and fixed to the load bearing platform. A pitching and rotating assembly is installed at the bottom of the load bearing platform. The pitching and rotating assembly is connected to the measuring mechanism bearing platform. A horizontal rotating assembly is installed on the measuring mechanism bearing platform. The horizontal rotating assembly is connected to the measuring mechanism.

3. The rapid measurement device for rock stratum occurrence in difficult and dangerous areas according to claim 2, characterized in that: The pitching and rotating assembly includes two driving long shaft fixing plates. The two driving long shaft fixing plates are welded and fixed to the bottom of the load bearing platform, and the two driving long shaft fixing plates are symmetrically arranged. The two driving long shaft fixing plates are connected to the driving long shaft through bearings. The driving long shaft is directly connected to the pitching motor. The pitching motor is fixed to the pitching motor fixing plate by bolts. The top of the pitching motor fixing plate is welded and fixed to the bottom of the load bearing platform.

4. The rapid measurement device for the attitude of rock strata in difficult and dangerous areas according to claim 3, characterized in that: The driving long shaft on the inner sides of the two driving long shaft fixing plates is connected to the measuring mechanism bearing platform. A horizontal rotating motor is welded and fixed on the measuring mechanism bearing platform. The horizontal rotating motor is directly connected to the driving short shaft. The driving short shaft is fixedly connected to the housing.

5. The rapid measurement device for the attitude of rock strata in difficult and dangerous areas according to claim 4, wherein: The formula for calculating the rotation angle of the horizontal rotating motor is as follows: ； Among them, is the distance between the first lidar and the measurement surface, is the distance between the second lidar and the measurement surface, is the distance between the first lidar and the second lidar; The formula for calculating the rotation angle of the pitching motor is as follows: ； wherein, is the distance between the fourth lidar and the measurement surface, is the distance between the second lidar and the fourth lidar.

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