Unmanned aerial vehicle for monitoring land subsidence

Abstract

The utility model relates to the technical field of unmanned aerial vehicles, and provides an unmanned aerial vehicle for monitoring land subsidence. The monitoring mechanism is connected to the bottom of the unmanned aerial vehicle body, and the monitoring mechanism comprises a rolling body and a sensor; the rolling body is suitable for being in contact with the ground and can slide close to or away from the unmanned aerial vehicle body; and the sensor is used for monitoring the height change of the rolling body relative to the unmanned aerial vehicle body. By means of the arrangement, when traditional monitoring equipment is difficult to use normally due to weather interference, the unmanned aerial vehicle can fly at low altitude, the rolling bodies at the bottom of the unmanned aerial vehicle make contact with the ground, and when the ground fluctuates, the rolling bodies can slide close to or away from the unmanned aerial vehicle body; at the moment, the height change of the rolling body relative to the unmanned aerial vehicle body is measured through the sensor, the settlement condition of the ground can be measured, the problem that effective monitoring cannot be achieved due to interference of factors such as weather is effectively avoided, efficient and high-precision data acquisition is achieved, and the applicability is improved.

Description

Technical Field

[0001] This utility model relates to the field of unmanned aerial vehicle (UAV) technology, and in particular to a UAV for monitoring ground subsidence. Background Technology

[0002] Land subsidence is a phenomenon of ground elevation reduction caused by underground resource extraction, geological tectonic activity, or human activities. It poses a serious threat to urban infrastructure, the ecological environment, and the safety of people's lives. Monitoring land subsidence is a crucial means of preventing its hazards and reducing associated losses. Traditional methods for monitoring land subsidence, such as manual leveling, ground observation stations, and GNSS equipment, suffer from low efficiency, high cost, and limited coverage.

[0003] In recent years, due to the development of drone technology, drone-based LiDAR and photogrammetry technologies have gradually become important means of monitoring ground subsidence due to their advantages of flexibility, efficiency and low cost.

[0004] However, existing drones used for ground subsidence monitoring mostly rely on optical cameras and lidar for monitoring. When encountering rain or foggy weather, the optical cameras and lidar are affected, causing the monitoring data to deviate significantly and the monitored data cannot be used normally. Utility Model Content

[0005] This utility model provides a drone for monitoring ground subsidence, which solves the shortcomings of traditional monitoring equipment in the prior art, which is easily affected by weather and other factors, and whose data accuracy cannot be guaranteed. It can effectively avoid the problem of ineffective monitoring due to weather and other factors, and realize efficient and high-precision data acquisition, thereby improving applicability and monitoring convenience.

[0006] This utility model provides a drone for monitoring ground subsidence, comprising:

[0007] The drone itself;

[0008] A monitoring mechanism is attached to the bottom of the UAV body, and the monitoring mechanism includes a rolling element and sensors;

[0009] The rolling element is designed to contact the ground and slide close to or away from the drone body;

[0010] The sensor is used to monitor the height change of the rolling body relative to the drone body.

[0011] According to the UAV for ground subsidence monitoring provided by this utility model, the monitoring mechanism further includes:

[0012] A mounting bracket is attached to the bottom of the drone body;

[0013] The mounting part is slidably connected to the fixed frame, and the rolling element is slidably connected to the mounting part.

[0014] According to the present invention, a ground subsidence monitoring drone is provided, wherein the mounting part is a shell structure and one end of it is open away from the drone body;

[0015] The rolling element is a ball bearing, with a portion of the ball bearing embedded in the mounting portion and the other portion exposed through the opening.

[0016] According to the present invention, a ground subsidence monitoring drone is provided, wherein the fixed frame is provided with a sliding groove facing the drone body, and a movable block is fixedly connected to the mounting part, the movable block being slidably embedded in the sliding groove.

[0017] According to the present invention, a ground subsidence monitoring drone is provided, wherein the monitoring mechanism further includes an elastic reset structure disposed between the fixed frame and the mounting part;

[0018] The elastic reset structure is adapted to provide a preload force for the mounting part to move away from the UAV body.

[0019] According to the UAV for monitoring ground subsidence provided by this utility model, the elastic reset structure includes:

[0020] A guide rod is arranged along the extension direction of the sliding groove, and the movable block is slidably sleeved on the guide rod;

[0021] A return spring is sleeved on the guide rod, with one end of the return spring abutting against the movable block and the other end abutting against the end wall of the sliding groove.

[0022] According to the present invention, a ground subsidence monitoring drone is provided, wherein the monitoring mechanism is detachably connected to the drone body.

[0023] According to the present invention, a ground subsidence monitoring drone is provided, wherein a positioning frame is fixedly connected to the bottom of the drone body, and the positioning frame is provided with a positioning groove.

[0024] At least one end of the positioning groove is provided with an opening for the fixing frame to slide into the positioning groove; it also includes a positioning structure for positioning the positioning frame and the fixing frame.

[0025] According to the present invention, a ground subsidence monitoring drone includes a positioning structure comprising:

[0026] An insertion hole penetrates the wall of the positioning groove;

[0027] An insert block is disposed on the fixing frame and can correspond to the insertion hole as the fixing frame is inserted into the positioning groove; the insert block is slidably engaged with the fixing frame, so that the insert block can protrude or retract into the fixing frame toward the insertion hole;

[0028] A compression spring is used to provide a preload force to the insert block that protrudes toward the insertion hole;

[0029] The movable plate is fixedly connected to the insert block and slidably engaged with the fixed frame. A lever is fixedly connected to the movable plate.

[0030] According to the present invention, a ground subsidence monitoring drone has an insertion end at one end of the fixed frame facing its own insertion direction. In the insertion direction of the fixed frame, the side of the insert block facing the insertion end gradually tilts towards the fixed frame.

[0031] According to the present invention, a ground subsidence monitoring drone also includes landing gear;

[0032] The landing gear is connected to the bottom of the UAV body via a lifting mechanism, allowing the landing gear to move closer to or further away from the UAV body.

[0033] According to the present invention, a ground subsidence monitoring drone includes a lifting mechanism comprising:

[0034] A pair of scissor arms are provided on opposite sides of the landing gear; the scissor arms include two support rods hinged in the middle in an X shape, one end of the two support rods is slidably connected to the landing gear, and the other end is slidably connected to the UAV body;

[0035] A drive assembly for driving the ends of the two support rods at the same end to move closer or further apart.

[0036] According to the present invention, a ground subsidence monitoring drone is provided on the drone body, and a first slider is fixedly connected to the end of the support rod, the first slider being slidably embedded in the first groove.

[0037] According to the present invention, a ground subsidence monitoring drone is provided, wherein a second slide groove is provided on the landing gear, and a slide rod is arranged in the second slide groove;

[0038] A second slider is fixedly connected to the end of the support rod, and the second slider is slidably sleeved on the slider.

[0039] According to the present invention, a ground subsidence monitoring drone is provided, the drive component comprising:

[0040] A threaded rod is rotatably supported in the first groove, the first slider is threadedly connected to the threaded rod, and the threads of the two first sliders on the same scissor frame have opposite directions;

[0041] An electric motor is connected to the threaded rod and is used to drive the threaded rod to rotate.

[0042] According to the UAV for monitoring ground subsidence provided by this utility model, the drive assembly further includes:

[0043] The mounting shaft is rotatably supported on the UAV body and perpendicular to the threaded rod.

[0044] The active bevel gear is fixedly connected to the motor;

[0045] An auxiliary bevel gear is fixedly connected to the mounting shaft and meshes with the active bevel gear;

[0046] The fifth bevel tooth has two teeth, which are respectively connected to both ends of the mounting shaft;

[0047] The sixth bevel tooth is fixedly connected to the threaded rod and meshes with the fifth bevel tooth.

[0048] According to the present invention, a ground subsidence monitoring drone is provided on the drone body, and the connecting groove is perpendicular to the first sliding groove.

[0049] Positioning blocks are fixedly connected to both ends of the connecting groove, and the mounting shaft is rotatably supported between the two positioning blocks.

[0050] According to the present invention, a ground subsidence monitoring drone is provided, wherein the drone body is provided with a motor slot, and the motor is disposed in the motor slot.

[0051] According to the present invention, a ground subsidence monitoring drone is provided, the drone body including a fuselage;

[0052] The body is connected to a circuit compartment for accommodating circuit boards, and the wall of the circuit compartment is provided with air vents for air to pass through.

[0053] According to the present invention, a ground subsidence monitoring drone is provided, wherein the air vents are disposed on opposite sides of the circuit compartment along the flight direction of the drone body.

[0054] According to the present invention, a ground subsidence monitoring drone is provided, wherein the air vents are configured as a grid structure.

[0055] According to the present invention, a ground subsidence monitoring drone is provided, wherein a filter plate is provided in the circuit compartment;

[0056] The circuit compartment has a circuit board placement area, which is separated from the air vent by the filter plate.

[0057] According to the present invention, a UAV for monitoring ground subsidence is provided, wherein the circuit compartment is detachably connected to the fuselage.

[0058] According to the present invention, a ground subsidence monitoring drone is provided on the fuselage, and at least one end of the slot is provided with an opening for the circuit compartment to be slidably inserted; it also includes a limiting member for preventing the circuit compartment from disengaging from the slot.

[0059] According to the present invention, a ground settlement monitoring drone is provided, wherein the limiting member is connected to the fuselage and located at the opening of the slot;

[0060] The limiting member can extend to block the opening of the slot or retract.

[0061] According to the present invention, a ground subsidence monitoring drone is provided, wherein the limiting component includes a threaded pin that is threadedly connected to the fuselage.

[0062] According to the present invention, a ground subsidence monitoring drone is provided, the drone body comprising:

[0063] The body is disc-shaped and has circumferential storage slots on the outer perimeter;

[0064] The arm is hinged to the body at one end and extends out of the body at the other end; the arm is arc-shaped and has the same curvature as the storage slot, so that the arm can rotate around the hinge point and be embedded in the storage slot.

[0065] A propeller is attached to the arm;

[0066] A drive structure suitable for driving the arm to rotate around the hinge point.

[0067] According to the present invention, a ground subsidence monitoring drone is provided, wherein the boom is provided with multiple arms surrounding the fuselage;

[0068] The drive structure is suitable for driving multiple robotic arms to rotate synchronously around the hinge point.

[0069] According to the present invention, a ground subsidence monitoring drone is provided, wherein the arms are arranged in groups of two, and at least one group is provided, with the two arms in each group located on opposite sides of the fuselage radially; the drive structure includes:

[0070] Drive motor;

[0071] The drive motor is connected to the two arms in each group via the transmission component.

[0072] According to the present invention, a ground subsidence monitoring drone is provided, wherein the drive motor is configured as a dual-axis motor;

[0073] The two output shafts of the dual-axis motor are respectively connected to the two arms in each group via the transmission component.

[0074] According to the present invention, a ground subsidence monitoring drone is provided, wherein a first bevel gear is connected to the arm, and a second bevel gear is connected to the output end of the dual-axis motor; the transmission component includes:

[0075] The drive shaft has a third bevel tooth connected to one end, which meshes with the first bevel tooth, and a fourth bevel tooth connected to the other end, which meshes with the second bevel tooth.

[0076] According to the present invention, a ground subsidence monitoring drone is provided, wherein the drone has two sets of arms, and the two sets of arms are symmetrically arranged on both sides of the dual-axis motor.

[0077] The second bevel tooth on each output shaft of the dual-axis motor simultaneously meshes with the fourth bevel tooth on both output shafts.

[0078] According to the present invention, a ground subsidence monitoring drone is provided, wherein a working compartment is provided on the fuselage, and the drive structure is disposed in the working compartment.

[0079] According to the present invention, a ground subsidence monitoring drone also includes a battery compartment disposed on the end face of the working compartment for accommodating batteries.

[0080] Beneficial effects:

[0081] I. When weather conditions such as rain or fog prevent the normal operation of monitoring equipment like optical cameras and lidar, a drone can be flown at low altitude. A rolling element on the bottom of the drone contacts the ground. As the ground undulates, the rolling element moves closer to or further away from the drone. Sensors measure the change in the rolling element's height relative to the drone and provide real-time data feedback, thus determining ground subsidence. Compared to other technologies, this method effectively avoids the problem of ineffective monitoring due to weather and other factors, achieving efficient and high-precision data acquisition, and improving applicability and monitoring convenience.

[0082] Second, during parking, takeoff, and landing, the landing gear can move away from the drone body under the drive of the lifting mechanism to ensure that the drone can be parked smoothly on the ground and withstand the weight of the fuselage and impact loads. During operation, the landing gear can move closer to the drone body and be raised under the drive of the lifting mechanism to avoid interference with the monitoring agency and ensure the normal operation of the monitoring agency.

[0083] Third, during the flight of the drone, the high-speed airflow can directly enter the circuit compartment through the air vents to cool the circuit boards inside, preventing the circuit boards from overheating and causing the drone to crash, thus ensuring monitoring efficiency.

[0084] Fourth, by designing the fuselage as a disc shape and incorporating arc-shaped arms, the drone can retract into a disc-shaped object when stored, making storage more convenient. In addition, the arc-shaped arms, combined with the folding propellers, effectively conceal the arms and propellers when fully retracted, avoiding damage that could occur if the arms and propellers were extended, thus greatly improving the safety of drone use. Attached Figure Description

[0085] To more clearly illustrate the technical solutions in this utility model 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 some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0086] Figure 1 This is an overall view of the UAV for monitoring ground subsidence provided in this embodiment of the utility model.

[0087] Figure 2 This is one of the structural schematic diagrams of the monitoring mechanism provided in this embodiment of the utility model.

[0088] Figure 3 This is the second structural schematic diagram of the monitoring mechanism provided in this embodiment of the utility model.

[0089] Figure 4 This is the third structural schematic diagram of the monitoring mechanism provided in this embodiment of the utility model.

[0090] Figure 5 This is one of the structural schematic diagrams of the landing gear provided in the embodiments of this utility model.

[0091] Figure 6 This is the second schematic diagram of the landing gear provided in this embodiment of the utility model.

[0092] Figure 7 yes Figure 6 A magnified view of part A in the middle.

[0093] Figure 8 yes Figure 6 A magnified view of part B in the middle section.

[0094] Figure 9This is a schematic diagram of the circuit compartment provided in an embodiment of the present invention.

[0095] Figure 10 This is a schematic diagram of the fuselage provided in an embodiment of the present utility model.

[0096] Figure 11 This is a schematic diagram of the arm and body working together according to an embodiment of the present invention.

[0097] Figure 12 This is a schematic diagram of the driving structure provided in an embodiment of the present invention.

[0098] Figure label:

[0099] 10. UAV body; 100. First slide rail; 101. Connecting groove; 102. Motor groove; 103. Positioning block; 104. Slot; 11. Positioning frame; 110. Insertion hole; 12. Fuselage; 120. Base plate; 121. Mounting compartment; 122. Working compartment; 123. Battery compartment; 124. Handle; 13. Circuit compartment; 130. Vent; 131. Filter plate; 132. Circuit board placement area; 14. Limiting component; 140. Actuating wheel; 15. Arm; 150. Drive motor; 151. First bevel gear; 152. Second bevel gear; 153. Drive shaft; 154. Third bevel gear; 155. Fourth bevel gear; 156. 16. Fixed block; 20. Propeller; 21. Monitoring mechanism; 22. Rolling element; 23. Sensor; 24. Fixing frame; 25. Sliding groove; 26. Guide rod; 27. Return spring; 28. Fixing plate; 29. ​​Mounting part; 20. Movable block; 21. Insert block; 22. Compression spring; 23. Movable plate; 24. Push block; 35. Landing gear; 30. Second sliding groove; 31. Sliding rod; 32. Support rod; 33. First slider; 34. Second slider; 35. Threaded rod; 36. Sixth bevel gear; 37. Motor; 38. Active bevel gear; 39. Mounting shaft; 30. Auxiliary bevel gear; 31. Fifth bevel gear. Detailed Implementation

[0100] To make the objectives, technical solutions, and advantages of this utility model clearer, the technical solutions of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0101] The following is combined Figures 1 to 12 This invention describes a drone for monitoring ground subsidence.

[0102] Reference Figures 1 to 5A ground subsidence monitoring drone includes a drone body 10 and a monitoring mechanism 20; wherein, the monitoring mechanism 20 is connected to the bottom of the drone body 10 and includes a rolling element 21 and a sensor 22; the rolling element 21 is suitable for contacting the ground and sliding close to or away from the drone body 10; the sensor 22 is used to detect the height change of the rolling element 21 relative to the drone body 10.

[0103] In actual ground settlement measurement work, when weather conditions such as rain or fog make it difficult to use monitoring equipment such as optical cameras and lidar, the UAV 10 can be flown at low altitude. The rolling element 21 on the bottom of the UAV 10 contacts the ground. When encountering ground undulations, the rolling element 21 can slide closer to or further away from the UAV 10. At this time, the sensor 22 measures the change in height of the rolling element 21 relative to the UAV 10 and feeds back the data in real time, thus measuring the ground settlement. Compared with related technologies, this effectively avoids the problem of ineffective monitoring due to weather and other factors, achieves efficient and high-precision data acquisition, and improves applicability and monitoring convenience.

[0104] It should be noted that the above technical solution reduces the interference of weather and other factors on traditional monitoring equipment by setting up a contact monitoring mechanism 20, but does not exclude the application of traditional monitoring equipment such as optical cameras and lidar in this utility model. By combining traditional monitoring equipment with the contact monitoring mechanism 20, the UAV can be applied to different monitoring conditions, which greatly improves its applicability.

[0105] In one example of this invention, the monitoring mechanism 20 further includes a fixed frame 23 and a mounting part 24; wherein, the fixed frame 23 is connected to the bottom of the UAV body 10, the mounting part 24 is slidably connected to the fixed frame 23, and the rolling body 21 is slidably connected to the mounting part 24. With this configuration, when the ground in contact with the rolling body 21 is uneven, the mounting part 24 can slide closer to or further away from the UAV body 10 on the fixed frame 23, thereby realizing the movement of the rolling body 21.

[0106] Specifically, the mounting bracket 23 is provided with a sliding groove 230 extending toward the drone body 10, and a movable block 240 is fixedly connected to the mounting part 24. The movable block 240 is slidably embedded in the sliding groove 230, thus realizing the sliding connection of the mounting part 24 on the mounting bracket 23.

[0107] More specifically, the mounting bracket 23 includes a pair of mounting plates arranged opposite each other, each mounting plate having a sliding groove 230, and the sliding grooves 230 on the two mounting plates are positioned correspondingly; the mounting part 24 is located between the two mounting plates; the movable block 240 has a T-shaped cross-section and is connected to the opposite sides of the mounting part 24, and the movable blocks 240 on both sides of the mounting part 24 are slidably engaged with the sliding grooves 230 on the two mounting plates, thereby achieving a stable connection of the mounting part 24 on the mounting bracket 23.

[0108] To ensure stable resetting of the rolling element 21 during monitoring, in a further example of this invention, the monitoring mechanism 20 also includes an elastic resetting structure disposed between the fixing frame 23 and the mounting portion 24. This elastic resetting structure provides a preload force to the mounting portion 24 in a direction away from the UAV body 10. With this configuration, the elastic resetting structure provides elastic force to the mounting portion 24 to drive the rolling element 21 back to its original position, effectively reducing the problem of slippage and ensuring measurement accuracy.

[0109] Specifically, the elastic reset structure includes a guide rod 231 and a reset spring 232. The guide rod 231 is arranged along the extending direction of the sliding groove 230, and the movable block 240 is slidably sleeved on the guide rod 231. The reset spring 232 is sleeved on the guide rod 231, with one end abutting against the movable block 240 and the other end abutting against the end wall of the sliding groove 230. With this configuration, as the mounting part 24 moves the movable block 240 closer to the UAV body 10, the reset spring 232 is compressed, thereby providing a preload force for the mounting part 24 to reset.

[0110] In one example of this invention, the mounting portion 24 is configured as a shell structure with an open end facing away from the UAV body 10; the rolling element 21 is a ball bearing, with a portion of the ball bearing embedded in the mounting portion 24 and the other portion exposed through the open end. This configuration ensures that during ground settlement monitoring, the ball bearing in contact with the ground can roll in all directions, guaranteeing measurement accuracy.

[0111] In one example of this utility model, the sensor 22 is a height sensor 22. Based on different working principles, the height sensor 22 can be a different type of sensor such as a sliding resistor or a photoelectric sensor. No specific limitation is made in this embodiment of the utility model.

[0112] By employing the above-mentioned technical solution, the ball contact monitoring mechanism 20 is used to collect ground subsidence information through direct contact with the ground. This effectively reduces the interference of weather and other factors on traditional monitoring equipment, and improves applicability and monitoring accuracy.

[0113] To facilitate the storage of the drone, in one example of this utility model, the detection structure is detachably connected to the drone body 10.

[0114] In a further example of this utility model, a positioning frame 11 is fixedly connected to the bottom of the UAV body 10. The positioning frame 11 is provided with a positioning groove, and at least one end of the positioning groove is open for the fixed frame 23 to slide into the positioning groove. It also includes a positioning structure for positioning the positioning frame 11 and the fixed frame 23.

[0115] Specifically, the mounting bracket 23 also includes a fixing plate 233 for connecting the two mounting plates. The fixing plate 233 serves as the connection base for the two mounting plates, making the monitoring mechanism 20 a separate component independent of the UAV body 10. The positioning bracket 11 generally includes two L-shaped plates arranged opposite each other. The two L-shaped plates are fixedly connected to the bottom of the UAV body 10. A positioning groove is formed between the two L-shaped plates. The width of the positioning groove is adapted to the width of the fixing plate 233, so that the fixing plate 233 can slide into the positioning groove from the opening at one end of the positioning groove, thereby realizing the connection of the mounting bracket 23 on the positioning bracket 11.

[0116] In one example of this utility model, the positioning structure includes an insertion hole 110, an insertion block 25, a compression spring 26, and a movable plate 27; wherein, the insertion hole 110 penetrates the wall of the positioning groove; the insertion block 25 is disposed on the fixed frame 23 and can correspond to the position of the insertion hole 110 as the fixed frame 23 is inserted into the positioning groove, the insertion block 25 is slidably engaged with the fixed frame 23, so that the insertion block 25 can protrude or retract into the fixed frame 23 in the direction of the insertion hole 110; the compression spring 26 is used to provide a preload force for the insertion block 25 to protrude in the direction of the insertion hole 110; the movable plate 27 is fixedly connected to the insertion block 25 and slidably engaged with the fixed frame 23, and a lever 28 is fixedly connected to the movable plate 27.

[0117] With this configuration, when connecting the fixing frame 23 and the positioning frame 11, as the fixing frame 23 is inserted into the positioning groove, when the insertion block 25 corresponds to the insertion hole 110, under the action of the compression spring 26, the insertion block 25 protrudes towards the insertion hole 110 and thus embeds into the insertion hole 110, thereby achieving positioning between the fixing frame 23 and the positioning frame 11; when disassembling the fixing frame 23 and the positioning frame 11, the toggle block 28 is moved, and the movable plate 27 drives the insertion block 25 away from the insertion hole 110 and out of the insertion hole 110, and then the fixing frame 23 is pulled outward, the fixing frame 23 slides and finally disengages from the positioning groove, thereby achieving the disassembly of the fixing frame 23 and the positioning frame 11.

[0118] In one example of this utility model, there are two insertion holes 110, each located on the side wall of one of the two L-shaped plates; there are two insertion blocks 25, each located on both sides of the fixed plate 233, which are used to engage with the insertion holes 110 on both sides respectively; two movable plates 27 are correspondingly provided and fixedly connected to the two insertion blocks 25 respectively; the two ends of the compression spring 26 are connected to the two movable plates 27 respectively and are in a compressed state, thereby providing a preload force for the two movable plates 27 to move in opposite directions, keeping the two insertion blocks 25 protruding from the side of the fixed frame 23. The positions of the levers 28 on the two movable plates 27 are corresponding. When disassembling the fixed frame 23, the operator can press the two levers 28 with their thumb and forefinger to make the two levers 28 move towards each other. The levers 28 drive the movable plates 27 to move, causing the two insertion blocks 25 to retract into the fixed frame, which helps to improve the ease of disassembling the fixed frame 23.

[0119] In a further example of this utility model, the end of the fixing frame 23 facing its own insertion direction is the insertion end, and in the insertion direction, the side of the insert block 25 facing the insertion end gradually tilts towards the fixing frame 23. With this configuration, when connecting the fixing frame 23 and the positioning frame 11, as the fixing frame 23 is inserted into the positioning groove, the inclined surface of the insert block 25 first contacts the side wall of the positioning groove. At this time, the insert block 25 will be subjected to a component force along its own sliding direction, causing the insert block 25 to retract into the fixing frame 23. The compression spring 26 is compressed. As the fixing frame 23 continues to be inserted into the positioning groove, the insert block 25 corresponds to the insertion hole 110. Under the push of the compression spring 26, the insert block 25 protrudes and is embedded in the insertion hole 110, realizing the connection between the fixing frame 23 and the positioning frame 11, which is beneficial to further improve the convenience of connecting the fixing frame 23 and the positioning frame 11.

[0120] With the above technical solution, the monitoring mechanism 20 can be detached from the drone body 10 when storing the drone, which helps to reduce the size of the drone after storage and makes it easier to carry.

[0121] In one example of this utility model, refer to Figures 6 to 8 The drone also includes landing gear 30, which is connected to the bottom of the drone body 10 via a lifting mechanism, allowing the landing gear 30 to move closer to or further away from the drone body 10. This configuration ensures that during parking, takeoff, and landing, the landing gear 30 can move away from the drone body 10 under the drive of the lifting mechanism, guaranteeing a stable landing and the ability to withstand the weight and impact loads of the fuselage 12. During operation, the landing gear 30 can move closer to the drone body 10 and be raised under the drive of the lifting mechanism to avoid interference with the monitoring mechanism 20, ensuring its normal operation.

[0122] In one example of this utility model, the lifting mechanism includes a drive assembly and a pair of scissor frames; wherein, the pair of scissor frames are respectively disposed on opposite sides of the landing gear 30, and the scissor frames include two support rods 31 hinged in the middle in an X shape, one end of the two support rods 31 is slidably connected to the landing gear 30, and the other end is slidably connected to the UAV body 10; the drive assembly is used to drive the ends of the two support rods 31 at the same end to move closer or further apart from each other.

[0123] With this configuration, under the drive of the drive assembly, the same ends of the two support rods 31 in the scissor frame can move closer to or further away from each other. When the same ends of the two support rods 31 move closer to each other, the overall height of the scissor frame increases, thereby driving the landing gear 30 to move away from the main body of the UAV and land. When the same ends of the two support rods 31 move away from each other, the overall height of the scissor frame decreases, thereby driving the landing gear 30 to move closer to the main body of the UAV and lift up.

[0124] In a further example of this utility model, a first slide groove 100 is provided on the drone body 10, and a first slider 310 is fixedly connected to the end of the support rod 31. The first slider 310 is slidably embedded in the first slide groove 100.

[0125] With this configuration, the first sliding groove 100 and the first slider 310, which fit together, can achieve a sliding connection between the support rod 31 and the drone body 10. The first sliding groove 100 can provide constraint and guidance for the first slider 310, thereby improving the smoothness and stability of the sliding of the support rod 31 relative to the drone body 10.

[0126] Specifically, the first slide groove 100 can be configured as a T-shaped groove, and the cross-section of the first slider 310 is T-shaped and fits into the first slide groove 100.

[0127] In a further example of this utility model, a second slide groove 300 is provided on the landing gear 30, a slide rod 301 is arranged in the second slide groove 300, and a second slider 311 is fixedly connected to the end of the support rod 31. The second slider 311 is slidably sleeved on the slide rod 301.

[0128] With this configuration, the support rod 31 and the landing gear 30 can be slidably connected through the cooperating second slide groove 300, slide rod 301 and second slider 311. The second slide groove 300 and slide rod 301 can provide constraints and guidance for the second slider 311, improving the smoothness and stability of the sliding of the support rod 31 relative to the landing gear 30.

[0129] In a further example of this utility model, the drive assembly specifically includes a threaded rod 32 and a motor 33; wherein, the threaded rod 32 is rotatably supported in the first slide groove 100, the first slider 310 is threadedly connected to the threaded rod 32, and the threads of the two first sliders 310 on the same scissor frame have opposite directions. Thus, when the threaded rod 32 rotates, it can drive the two first sliders 310 to move closer or further away from each other, thereby causing the same end of the two support rods 31 in the scissor frame to move closer or further away from each other, thereby realizing the lifting and lowering of the scissor frame.

[0130] In a further example of this utility model, the drive assembly also includes a transmission structure, wherein two threaded rods 32 located on both sides of the UAV body 10 are connected to the motor 33 through the transmission structure.

[0131] Specifically, the transmission structure includes a mounting shaft 34, an active bevel gear 330, an auxiliary bevel gear 340, a fifth bevel gear 341, and a sixth bevel gear 320. The mounting shaft 34 is rotatably supported on the UAV body 10 and perpendicular to the threaded rod 32. The active bevel gear 330 is fixedly connected to the output shaft of the motor 33. The auxiliary bevel gear 340 is fixedly connected to the mounting shaft 34 and meshes with the active bevel gear 330. There are two fifth bevel gears 341, which are respectively connected to the two ends of the mounting shaft 34. The sixth bevel gear 320 is fixedly connected to the threaded rod 32 and meshes with the fifth bevel gear 341.

[0132] With this configuration, after the motor 33 starts, the active bevel gear 330 drives the auxiliary bevel gear 340 to rotate, the auxiliary bevel gear 340 drives the mounting shaft 34 to rotate, and the two fifth bevel gears 341 at both ends of the mounting shaft 34 drive the sixth bevel gears 320 on the threaded rods 32 on both sides to rotate, thereby achieving synchronous drive of the scissor frames on both sides, making the lifting and lowering of the landing gear 30 more stable.

[0133] In a further example of this utility model, the UAV body 10 is provided with a connecting groove 101, which is perpendicular to the first slide groove 100. Positioning blocks 103 are fixedly connected to both ends of the connecting groove 101, and the mounting shaft 34 is rotatably supported between the two positioning blocks 103.

[0134] In a further example of this utility model, a motor slot 102 is provided on the drone body 10, and the motor 33 is fixedly connected in the motor slot 102.

[0135] The drone body 10 in the embodiments of this utility model will now be described in detail with reference to the accompanying drawings.

[0136] from Figures 9 to 12 As can be seen from the image, the drone body 10 includes a fuselage 12, and a circuit compartment 13 for accommodating circuit boards is connected to the fuselage 12. The wall of the circuit compartment 13 is provided with air vents 130 for air passage, and the air vents 130 are located on opposite sides of the circuit compartment 13 along the flight direction of the drone body 10.

[0137] With this configuration, during the drone's flight, high-speed airflow can directly enter the circuit compartment 13 through the air vent 130 to cool the circuit boards inside the circuit compartment 13, preventing the circuit boards from overheating and causing the drone to crash, thus ensuring monitoring efficiency.

[0138] In a further example of this utility model, the vent 130 is configured as a grille structure to ensure heat dissipation while providing protection for the circuit board and reducing the entry of impurities into the circuit compartment 13.

[0139] In a further example of this utility model, a filter plate 131 is provided inside the circuit compartment 13; a circuit board placement area 132 for placing circuit boards is formed inside the circuit compartment 13, and the circuit board placement area 132 and the air vent 130 are separated by the filter plate 131.

[0140] With this configuration, during the flight of the drone, the high-speed airflow can directly enter the circuit compartment 13 through the air vents 130. The air vents 130 with their grid structure can intercept larger impurities, while the filter plate 131 can intercept smaller impurities, thereby reducing the erosion of the circuit board by impurities and ensuring the stability of the drone's operation.

[0141] In a further example of this utility model, the circuit compartment 13 is detachably connected to the main body 12. During maintenance, the circuit compartment 13 can be independently pulled out of the main body, avoiding the need for disassembly and improving maintenance convenience.

[0142] Specifically, the body 12 is provided with a slot 104, at least one end of the slot 104 is provided with an opening for the circuit compartment 13 to be slidably inserted; it also includes a limiting member 14 for preventing the circuit compartment 13 from disengaging from the slot 104.

[0143] With this configuration, when installing the circuit compartment 13, it is inserted into the slot 104 through the opening at the end of the slot 104. Then, the limiting member 14 is used to limit the circuit compartment 13, preventing it from detaching from the slot 104, thus achieving the connection of the circuit compartment 13. When removing the circuit compartment 13, the limiting member 14 is released, and then the circuit compartment 13 is pulled out from the opening at the end of the slot 104, allowing for easy removal of the circuit compartment 13.

[0144] In a further example of this utility model, the body 12 includes a base plate 120, a mounting compartment 121, and a working compartment 122. A positioning frame 11 for connecting the monitoring mechanism 20 is fixedly connected to one side of the base plate 120. The mounting compartment 121 is fixedly connected to the other side of the base plate 120, and two mounting compartments 121 are arranged opposite each other. The working compartment 122 is fixedly connected to the other end of the mounting compartment 121 relative to the base plate 120. The base plate 120, the mounting compartment, and the working compartment 122 together form the aforementioned slot 104. The outer contour of the circuit compartment 13 is adapted to the slot 104, allowing the circuit compartment 13 to slide into the slot 104 from its end opening. A limiting member 14 is connected to the body 12 and has a blocking end located at the opening of the slot 104. The blocking end of the limiting member 14 can extend out and block the opening of the slot 104 or retract into the body 12.

[0145] With this configuration, when installing the circuit compartment 13, the circuit compartment 13 is inserted into the slot 104 through the end opening of the slot 104, and then the blocking end of the limiting member 14 extends out and blocks the opening of the slot 104, preventing the circuit compartment 13 from disengaging from the slot 104. When removing the circuit compartment 13, the blocking end of the limiting member 14 is retracted into the body 12, and then the circuit compartment 13 is pulled out through the end opening of the slot 104, thus easily removing the circuit compartment 13.

[0146] In a further example of this utility model, the limiting member 14 can be a threaded pin, which is threadedly connected to the base plate 120.

[0147] In a further example of this utility model, a turntable 140 is fixedly connected to the other end of the threaded pin relative to the blocking end to facilitate the screwing of the threaded pin.

[0148] In one example of this utility model, the body 12 is generally disc-shaped, and the outer periphery of the body 12 is provided with a circumferential storage groove.

[0149] The drone body 10 also includes an arm 15, a propeller 16, and a drive structure. One end of the arm 15 is hinged to the fuselage 12, and the other end extends out of the fuselage 12 as a cantilever structure. The arm 15 is arc-shaped and has the same curvature as the storage slot, allowing the arm 15 to rotate around the hinge point and embed itself into the storage slot. The propeller 16 is connected to the end of the arm 15 that extends out of the fuselage 12 and is the power source for the drone's flight. The drive structure is located inside the work compartment 122 and is used to drive the arm 15 to rotate around the hinge point, thereby allowing the arm 15 to be stored in the storage slot or deployed.

[0150] This design, by setting the fuselage 12 as a disc shape and the arms 15 as an arc shape, allows the drone to retract into a disc-shaped object when stored, making storage more convenient. At the same time, the arc-shaped arms 15, together with the folding propellers 16, can effectively hide the arms 15 and propellers 16 when fully retracted, avoiding the possibility of damage when the arms 15 and propellers 16 are extended, and greatly improving the safety of the drone.

[0151] Specifically, the storage compartment is enclosed by the outer periphery of the base plate 120, the installation compartment 121, and the working compartment 122.

[0152] In a further example of this invention, multiple robotic arms 15 are arranged around the body 12, and the drive structure is adapted to drive multiple robotic arms 15 to rotate synchronously around the hinge point. This arrangement enables the synchronous retraction and deployment of multiple robotic arms 15.

[0153] In a further example of this utility model, the robotic arms 15 are arranged in groups of two, and at least one group is provided. The two robotic arms 15 in each group are located on both sides of the radial direction of the body 12. The drive structure includes a drive motor 150 and a transmission component. The drive motor 150 is suitable for providing driving force. The drive motor 150 is connected to the two robotic arms 15 in each group through the transmission component, thereby driving the two robotic arms 15 in each group to retract and extend synchronously.

[0154] In a further example of this utility model, the drive motor 150 is configured as a dual-axis motor, and the two output shafts of the dual-axis motor are respectively connected to the two robotic arms 15 in each group through transmission components. This configuration enables synchronous driving of the two robotic arms 15 in each group through the dual-axis motor, resulting in a simpler transmission component structure and a more compact overall structure.

[0155] In a further example of this utility model, a first bevel tooth 151 is connected to the hinge shaft of the arm 15, and a second bevel tooth 152 is connected to the output end of the dual-axis motor; the transmission component includes a transmission shaft 153, one end of which is connected to a third bevel tooth 154, which meshes with the first bevel tooth 151, and the other end is connected to a fourth bevel tooth 155, which meshes with the second bevel tooth 152.

[0156] In actual operation, the dual-axis motor drives the fourth bevel gear 155 to rotate through the second bevel gear 152. The fourth bevel gear 155 drives the first bevel gear 151 to rotate through the transmission shaft 153 and the third bevel gear 154, thereby causing the arm 15 to swing around the hinge point, realizing the retraction and extension of the arm 15.

[0157] In a further example of this utility model, the drive shaft 153 is rotatably supported in the working chamber 122 by a fixing block 156.

[0158] In a further example of this utility model, there are two sets of robotic arms 15, which are symmetrically arranged on both sides of the dual-axis motor. The second bevel tooth 152 on each output shaft of the dual-axis motor simultaneously meshes with the fourth bevel tooth 155 on the two transmission shafts 153, so that the dual-axis motor can simultaneously drive the four robotic arms 15 to retract and extend synchronously.

[0159] In a further example of this utility model, a battery compartment 123 for accommodating batteries is provided on the upper surface of the working compartment 122.

[0160] In a further example of this utility model, a handle 124 is provided on the upper surface of the work compartment 122 to facilitate the handling of the drone by staff.

[0161] It is understood that, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of the different embodiments or examples.

[0162] The UAV for monitoring ground subsidence provided in this embodiment of the invention has at least the following technical effects:

[0163] 1) When weather conditions such as rain or fog make it difficult for monitoring equipment like optical cameras and lidar to function properly, the drone can fly at low altitude. The rolling element 21 on the bottom of the drone body 10 contacts the ground. When encountering ground undulations, the rolling element 21 can slide closer to or further away from the drone body 10. At this time, the sensor 22 measures the change in height of the rolling element 21 relative to the drone body 10 and feeds back the data in real time, thus allowing the measurement of ground subsidence. Compared to related technologies, this effectively avoids the problem of ineffective monitoring due to weather and other factors, achieving efficient and high-precision data acquisition, and improving applicability and monitoring convenience.

[0164] 2) During parking, takeoff, and landing, the landing gear 30 can move away from the drone body 10 under the drive of the lifting mechanism to ensure that the drone can be parked stably on the ground and bear the weight of the fuselage 12 and impact loads. During operation, the landing gear 30 can move closer to the drone body 10 and be raised under the drive of the lifting mechanism to avoid interference with the monitoring mechanism 20 and ensure the normal use of the monitoring mechanism 20.

[0165] 3) During the flight of the drone, the high-speed airflow can directly enter the circuit compartment 13 through the air vent 130 to cool down the circuit board inside the circuit compartment 13, thus preventing the circuit board from overheating and causing the drone to crash, and ensuring monitoring efficiency.

[0166] 4) By setting the fuselage 12 as a disc shape and the arms 15 as an arc shape, the drone can retract into a disc-shaped object when stored, making storage more convenient. At the same time, the arc-shaped arms 15, together with the folding propellers 16, can effectively hide the arms 15 and propellers 16 when fully retracted, avoiding damage to the arms 15 and propellers 16 when they are extended, and greatly improving the safety of the drone.

[0167] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and not to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this utility model.

Claims

1. A drone for monitoring ground subsidence, characterized in that, include: The drone itself (10); A monitoring mechanism (20) is connected to the bottom of the UAV body (10), and the monitoring mechanism (20) includes a rolling element (21) and a sensor (22); The rolling element (21) is designed to contact the ground and slide close to or away from the UAV body (10); The sensor (22) is used to monitor the height change of the rolling body (21) relative to the UAV body (10).

2. The UAV for monitoring ground subsidence according to claim 1, characterized in that, The monitoring agency (20) also includes: A mounting bracket (23) is attached to the bottom of the UAV body (10); The mounting part (24) is slidably connected to the fixed frame (23), and the rolling element (21) is slidably connected to the mounting part (24).

3. The UAV for monitoring ground subsidence according to claim 2, characterized in that, The mounting part (24) is a shell structure with one end open away from the UAV body (10); The rolling element (21) is a ball bearing, with a portion of the ball bearing embedded in the mounting portion (24) and the other portion exposed in the opening.

4. The UAV for monitoring ground subsidence according to claim 2, characterized in that, It also includes an elastic reset structure disposed between the fixing frame (23) and the mounting part (24); The elastic reset structure is adapted to provide a preload force for the mounting part (24) to move away from the UAV body (10).

5. The UAV for monitoring ground subsidence according to claim 1, characterized in that, The monitoring mechanism (20) is detachably connected to the UAV body (10).

6. The UAV for monitoring ground subsidence according to any one of claims 1 to 5, characterized in that, It also includes landing gear (30); The landing gear (30) is connected to the bottom of the UAV body (10) via a lifting mechanism, allowing the landing gear (30) to move closer to or further away from the UAV body (10).

7. The UAV for monitoring ground subsidence according to claim 1, characterized in that, The unmanned aerial vehicle (UAV) body (10) includes a fuselage (12); The fuselage (12) is connected to a circuit compartment (13) for accommodating circuit boards. The wall of the circuit compartment (13) is provided with air vents (130) for air passage. The air vents (130) are located on opposite sides of the circuit compartment (13) along the flight direction of the UAV body (10).

8. The UAV for monitoring ground subsidence according to claim 7, characterized in that, A filter plate (131) is provided inside the circuit compartment (13); The circuit compartment (13) has a circuit board placement area (132) formed therein, and the circuit board placement area (132) and the air vent (130) are separated by the filter plate (131).

9. The UAV for monitoring ground subsidence according to claim 7, characterized in that, The circuit compartment (13) is detachably connected to the body (12).

10. The UAV for monitoring ground subsidence according to claim 1, characterized in that, The unmanned aerial vehicle (UAV) body (10) includes: The body (12) is disc-shaped and has a circumferential storage slot on its outer periphery; The arm (15) is hinged at one end to the body (12) and extends out of the body (12) at the other end; the arm (15) is arc-shaped and has the same curvature as the storage slot, so that the arm (15) can rotate around the hinge point and be embedded in the storage slot; A propeller (16) is attached to the arm (15); The drive structure is suitable for driving the arm (15) to rotate around the hinge point.

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