Unmanned aerial vehicle underwater topographic survey device and use method thereof

Abstract

The invention relates to the technical field of unmanned aerial vehicle equipment, in particular to an unmanned aerial vehicle underwater topographic measurement device which comprises an unmanned aerial vehicle body, a measurement instrument fixed to the lower surface of the unmanned aerial vehicle body, a front propeller installed on the front portion of a fuselage of the unmanned aerial vehicle body and floating assemblies arranged on the two sides below wings of the unmanned aerial vehicle body. In the using process of the unmanned aerial vehicle, the unmanned aerial vehicle body can take off on the smooth ground by driving the front propellers, for the ground with the complex terrain, the unmanned aerial vehicle body is pulled up to a certain height to take off by directly driving the vertical lifting propellers to generate lift force, and when the unmanned aerial vehicle body needs to take off on the water surface, the unmanned aerial vehicle body can take off on the water surface. The unmanned aerial vehicle can directly drive the front propeller to generate horizontal thrust to complete takeoff in a full-power mode, can also directly drive the vertical lifting propeller to generate lift force to pull the unmanned aerial vehicle body to a certain height to complete takeoff, can be suitable for all working environments, meanwhile has the function of sailing on the water surface, and can accurately measure the underwater terrain.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicle equipment, and in particular to an unmanned aerial vehicle underwater topography measuring device and a use method thereof. Background Art

[0002] Underwater topography measurement is the process of using surveying instruments to determine the three-dimensional coordinates of underwater points. It is an important part of river, lake and seabed measurement. With the advancement of surveying and mapping technology and computer technology, the combined measurement mode of using GPS to obtain plane coordinates and depth sounder to obtain depth data has become an important technical means of modern underwater topography measurement. It greatly reduces the labor intensity of measurement and improves the degree of measurement automation and work efficiency. Among them, carrying it on drones is the main working method of underwater topography measurement.

[0003] In the prior art, drones have done a relatively good job in flight stability, but when landing, drones can generally only land on relatively flat ground, and cannot land on complex terrain, bumpy and uneven ground or water surface. Therefore, they are not suitable for all working environments. When working in relatively complex terrain, the drone cannot land smoothly, which can easily cause the drone body to tilt. When the drone descends too fast, it is also easy to cause the drone body to touch the ground, causing the fuselage to break and the equipment to be damaged. At the same time, most of the existing drones can only land on the ground. In emergency or special circumstances, they cannot land on the water surface. They can only fly low over the water surface for measurement. They do not have the function of sailing on the water surface, and cannot accurately measure the underwater terrain. Summary of the invention

[0004] In view of the above-mentioned shortcomings of the prior art, the present invention provides an unmanned aerial vehicle underwater topography measurement device and a method of using the same, which can effectively solve the problem that the unmanned aerial vehicle underwater topography measurement device in the prior art cannot be started and stopped in more complex terrains and cannot be applied to all working environments.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solutions: The present invention provides an unmanned aerial vehicle underwater topography measuring device, comprising an unmanned aerial vehicle body, a measuring instrument fixed on the lower surface of the unmanned aerial vehicle body, and a front propeller installed on the front part of the fuselage of the unmanned aerial vehicle body, and also comprising floating components arranged on both sides below the wings of the unmanned aerial vehicle body, the floating components comprising a floating cylinder fixedly connected to the below the wings, two groups of front and rear sides of the surface of the floating cylinder being symmetrically screwed with a helicopter motor, an output end of the helicopter motor being fixed with a helicopter propeller, two groups of air receiving cylinders being symmetrically arranged on both sides of the floating cylinder, a sealing cover being hinged on the surface of the air receiving cylinder through a rotating shaft, and an electric telescopic rod 1 being hinged between the sealing cover and the air receiving cylinder, a floating airbag being fixed inside the floating cylinder, and a corrugated air inlet pipe being connected between the floating airbag and the air receiving cylinder, a lateral movement component being arranged at a position on the surface of the floating cylinder corresponding to the air receiving cylinder, and an opening and closing component being arranged on the side of the floating cylinder; Among them, the transverse movement assembly includes a movable seat welded to the side of the floating tube at a position corresponding to the air cylinder, the interior of the movable seat is rotatably connected to a movable screw rod, the surface of the movable screw rod is threadedly connected to a threaded block, the threaded block is slidably connected to the interior of the movable seat, and the surface of the threaded block is fixedly connected to the lower surface of the air cylinder.

[0006] Furthermore, the floating assembly also includes an air pump screwed to both sides of the surface of the floating tube, and a corrugated exhaust pipe is fixed at the output end of the air pump corresponding to the position of the two sets of sealing covers, and the other end of the corrugated exhaust pipe is fixedly connected to the sealing cover.

[0007] Furthermore, a filter screen is welded to the inner top of the air receiving cylinder, and a wind collecting cover is arranged below the filter screen, and the wind collecting cover is fixed between the air receiving cylinder and the corrugated air inlet pipe.

[0008] Furthermore, a plurality of groups of equidistantly arranged pressure hoops are provided below the floating airbag, tension springs are symmetrically hung on both sides of the pressure hoops, and a tension sensor is fixed between the top of the tension spring and the float tube.

[0009] Furthermore, the transverse movement assembly also includes a bevel gear transmission fixed to the through-end of the moving screw rod, a transmission shaft is fixed to the other end of the bevel gear transmission, the transmission shaft is rotatably connected to the outside of the moving seat through a bearing frame, and a gear transmission is fixed to the other end of the transmission shaft, the top of the gear transmission is meshed and connected with a driven rack, a push frame is fixed to the surface of the driven rack, pulleys are rotatably connected at the four corners of the push frame, the side screws of the float cylinder are connected to the slide rail, and the pulley is slidably connected to the inside of the slide rail, and an active rack is fixed to the top of the side surface of the push frame.

[0010] Furthermore, the bevel gear transmission member is composed of two meshing bevel gears of different sizes, and the gear transmission member is composed of two meshing gears of different sizes, and the larger gear located at the upper part is meshed and connected with the driven rack.

[0011] Furthermore, a driving gear is fixed at the end of the rotating shaft, and the driving gear is meshedly connected with the driving rack.

[0012] Furthermore, the opening and closing assembly includes a sealing plate arranged on the lower surface of the float tube, movable wheels are installed on both sides of the lower surface of the sealing plate, a flip frame is welded on the side surface of the sealing plate, a flip shaft is fixed at the end of the flip frame, a fixing frame is welded on the side of the float tube surface close to the flip shaft, and the flip shaft is hinged to the fixing frame, a flip gear is fixed at the end of the flip shaft, and a support frame is welded on the side of the float tube surface close to the flip gear, a flip rack is slidably connected inside the support frame, and the flip rack is meshed with the flip gear, an electric telescopic rod 2 is fixed on the top of the support frame, and the output end of the electric telescopic rod 2 is fixedly connected to the top of the flip rack.

[0013] Furthermore, a plurality of drainage holes are provided on the surface of the blocking plate.

[0014] The present invention also provides an unmanned aerial vehicle underwater topography measuring device and a method for using the same, comprising the following steps: S1. When the drone is started on a flat road, it takes off by driving the front propeller. When it flies above the water area to be measured, the drone is hovered at a certain height, and the water area to be measured is first observed by using a measuring instrument, and the observation data is transmitted to the ground base station of the data center in real time or at a fixed time. S2. After the ground base station receives the observation data, the electric telescopic rod is turned on to open the sealing cover, and the airflow generated by the helicopter propeller can be blown into the interior of the floating airbag, so that the deflated floating airbag can be rapidly expanded and bulged, and then the drone body is controlled to descend. The buoyancy of the floating airbag makes the drone body float on the water surface, and the measuring instrument will be submerged in the water, so as to accurately obtain underwater terrain image measurement information; S3. During the process of flipping and opening the sealing cover, the rotating shaft and the driving gear rotate accordingly, thereby driving the driving rack to move, thereby driving the driven rack to move synchronously, and driving the moving screw to rotate inside the moving seat, so that the air receiving tube moves toward the bottom of the helicopter propeller to receive better airflow; S4. When the drone is started on a road with complex terrain or potholes, the helicopter motor is directly started to drive the helicopter propeller to generate lift to pull the drone to a certain height, and then the front propeller is driven to make the drone fly above the water area to be measured. After the observation operation, the helicopter motor and helicopter propeller can be controlled again to make the drone slowly and steadily descend from a high altitude, and the measuring instrument can be controlled to complete the underwater terrain measurement operation; S5. When the drone body rises vertically on the water surface, the front propeller can be driven directly at full power to generate horizontal thrust to complete takeoff, or the helicopter propeller can be driven first to generate lift to pull the drone body to a certain height, and then the front propeller can be driven to complete takeoff; S6. After the drone body completes takeoff, the control system turns on the vacuum pump and the electric telescopic rod 2. The vacuum pump can connect to the air cylinder and the gas inside the floating airbag to extract the gas, so that the floating airbag is in a deflated state again. The electric telescopic rod 2 can drive the blocking plate to flip over and adjust the moving wheels to be parallel to the ground, preparing for the subsequent landing and gliding.

[0015] Compared with the known prior art, the technical solution provided by the present invention: 1. When the electric telescopic rod is in operation, it can drive the sealing cover to flip and open along the surface of the floating tube. At this time, the airflow generated by the rotation of the helicopter propeller will be transported to the inside of the floating airbag through the air receiving tube, and the deflated floating airbag can be quickly inflated. By controlling the drone body to descend, the buoyancy of the floating airbag can be used to make the drone body float on the water surface. At this time, the measuring instrument will also be submerged in the water, and the underwater terrain image measurement information can be accurately obtained, so that the drone body can land on the water surface. It can not only fly low along the water surface for measurement, but also sail on the water surface, so as to accurately measure the underwater terrain; 2. When the sealing cover is flipped open, it can drive the rotating shaft and the driving gear to rotate synchronously, and then drive the moving screw to rotate inside the moving seat, which can drive the air receiving tube to move directly below the helicopter propeller, so as to better receive the airflow, so that the wind receiving area of ​​the air receiving tube to receive the airflow of the helicopter propeller is increased, and a larger amount of air is blown into it, so as to better transport it into the interior of the floating airbag to make it expand and bulge; 3. During the return flight of the drone, the vacuum pump and the second electric telescopic rod are turned on, and the vacuum pump is used to extract the gas inside the air cylinder and the floating airbag through the corrugated air extraction pipe, so that the floating airbag is in a deflated state again. Then, the second electric telescopic rod drives the blocking plate to drive the moving wheel to flip toward the lower surface of the floating tube, so that the deflated floating airbag can be blocked inside the floating tube, and the moving wheel is adjusted to be parallel to the ground, so as to prepare for the subsequent landing and gliding; 4. By driving the front propeller, the drone body can take off on a relatively flat ground. For complex terrain, potholes and uneven ground, the helicopter motor on the float tube is directly started to drive the helicopter propeller to generate lift to pull the drone body to a certain height, and then the front propeller is driven to make the drone body take off. When the drone body needs to take off on the water surface, it can directly drive the front propeller at full power to generate horizontal thrust to complete the take-off, or it can first drive the helicopter propeller to generate lift to pull the drone body to a certain height, and then drive the front propeller to make the drone body take off. It can be applied to all working environments, ensuring that the drone body can land smoothly when working in complex terrain to avoid fuselage rupture and equipment damage. At the same time, it has the function of sailing on the water surface and can accurately measure underwater terrain. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0017] Figure 1 The complete structure of the present invention is shown in FIG. Figure 1 ; Figure 2 The complete structure of the present invention is shown in FIG. Figure 2 ; Figure 3 It is a partial cross-sectional structural schematic diagram of the present invention; Figure 4 It is a schematic cross-sectional structural diagram of the floating assembly of the present invention; Figure 5 It is a partial cross-sectional structural schematic diagram of the floating tube and the floating air bag of the present invention; Figure 6 It is a partial structural schematic diagram of the floating assembly and the transverse movement assembly of the present invention; Figure 7 It is a structural schematic diagram of the transverse shift assembly of the present invention; Figure 8 It is a partial structural schematic diagram of the transverse shift assembly of the present invention; Fig. 9 It is a schematic diagram of the structure of the drone body and the opening and closing components of the present invention; Fig.10 It is a partial structural schematic diagram of the opening and closing assembly of the present invention; Fig.11 It is a partial cross-sectional structural schematic diagram of the floating tube and the opening and closing assembly of the present invention.

[0018] The numbers in the figure represent: 1. UAV body; 11. Front propeller; 2. Measuring instrument; 3. Floating assembly; 31. Floating tube; 32. Helicopter motor; 33. Helicopter propeller; 34. Air receiving tube; 35. Sealing cover; 36. Corrugated exhaust pipe; 37. Air pump; 38. Electric telescopic rod 1; 39. Rotating shaft; 310. Driving gear; 311. Filter; 312. Wind gathering cover; 313. Corrugated air inlet pipe; 314. Floating airbag; 315. Pressure hoop; 316. Tension sensor; 317. Tension spring; 4. Transverse shift assembly; 41. Moving seat; 42. Moving screw rod; 43. Threaded block; 44. Bevel gear transmission member; 45. Transmission shaft; 46. Gear transmission member; 47. Driven rack; 48. Push frame; 49. Pulley; 410. Slide rail; 411. Active rack; 5. Opening and closing assembly; 51. Sealing plate; 52. Moving wheel; 53. Fixed frame; 54. Flip shaft; 55. Flip frame; 56. Flip gear; 57. Flip rack; 58. Support frame; 59. Electric telescopic rod II; 510. Drain hole. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0020] The present invention will be further described below in conjunction with the embodiments.

[0021] Example: Refer to Figures 1 to 11 , an unmanned aerial vehicle underwater topographic measuring device, comprising an unmanned aerial vehicle body 1, a measuring instrument 2 fixed on the lower surface of the unmanned aerial vehicle body 1, and a front propeller 11 installed on the front part of the fuselage of the unmanned aerial vehicle body 1, and also comprising a floating assembly 3 arranged on both sides of the lower part of the wing of the unmanned aerial vehicle body 1, the floating assembly 3 comprising a floating cylinder 31 fixedly connected to the lower part of the wing, two groups of floating cylinders 31 on the front and rear sides of the surface of the floating cylinder 31 are symmetrically screwed with a helicopter motor 32, and a helicopter propeller 33 is fixed to the output end of the helicopter motor 32, two groups of air receiving cylinders 34 are symmetrically arranged on both sides of the floating cylinder 31, a sealing cover 35 is hinged on the surface of the air receiving cylinder 34 through a rotating shaft 39, and an electric telescopic rod 38 is hinged between the sealing cover 35 and the air receiving cylinder 34, a floating airbag 314 is fixed inside the floating cylinder 31, and a corrugated air inlet pipe 313 is connected between the floating airbag 314 and the air receiving cylinder 34, a lateral movement assembly 4 is arranged at the position of the surface of the floating cylinder 31 corresponding to the air receiving cylinder 34, and an opening and closing assembly 5 is arranged on the side of the floating cylinder 31; Among them, the transverse movement assembly 4 includes a movable seat 41 welded to the side of the float tube 31 at a position corresponding to the air cylinder 34, the interior of the movable seat 41 is rotatably connected to a movable screw rod 42, the surface of the movable screw rod 42 is threadedly connected to a threaded block 43, the threaded block 43 is slidably connected to the interior of the movable seat 41, and the surface of the threaded block 43 is fixedly connected to the lower surface of the air cylinder 34.

[0022] Reference Figures 3 to 5 The floating assembly 3 also includes an air pump 37 screwed to both sides of the surface of the floating tube 31, and a corrugated exhaust pipe 36 is fixed at the output end of the air pump 37 corresponding to the position of the two sets of sealing covers 35. The other end of the corrugated exhaust pipe 36 is fixedly connected to the sealing cover 35. A filter screen 311 is welded to the top end of the inner part of the air receiving tube 34, and a wind collecting cover 312 is arranged under the filter screen 311. The wind collecting cover 312 is fixed between the air receiving tube 34 and the corrugated air inlet pipe 313.

[0023] When it is necessary to measure the underwater terrain, if the drone body 1 is placed on a flat road surface and started, the drone body 1 takes off by driving the front propeller 11. When the drone body 1 flies above the water area to be measured, the remote control module first sends a signal to the control system, so that it sends a control signal to the front motor, the helicopter motor 32 and the electric telescopic rod 38 inside the drone body 1, and then controls and turns off the front motor inside the drone body 1, and at the same time controls and turns on the helicopter motor 32 to drive the helicopter propeller 33 to rotate, and uses the lift generated by the helicopter propeller 33 to hover the drone body 1 at a certain height. At the same time, the water area to be measured is observed by the measuring instrument 2, and the observation data is transmitted to the ground base station of the data center in real time or at a fixed time; Furthermore, when the ground base station receives the observation data transmitted by the drone body 1, it controls and starts the electric telescopic rod 38 to operate. By starting the electric telescopic rod 38, the sealing cover 35 can be driven to flip and open along the surface of the floating tube 31. At this time, the airflow generated by the rotation of the helicopter propeller 33 will be blown to the inside of the air receiving tube 34, and then transported to the inside of the floating airbag 314 by the wind collecting cover 312 through the corrugated air inlet pipe 313, so that the floating airbag 314 in a deflated state can be rapidly expanded. It is worth noting that the filter 311 arranged inside the air receiving tube 34 can filter the airflow entering the floating airbag 314, thereby effectively preventing hard debris such as leaves and branches from entering the floating airbag 314. The internal puncture damage occurs, and then the drone body 1 is controlled to descend. The lift generated by the helicopter propeller 33 is gradually reduced to achieve a slow and stable descent of the drone body 1 from a high place. When the floating airbag 314 contacts the water surface, the drone body 1 can float on the water surface as a whole through its own buoyancy. At this time, the measuring instrument 2 will also be submerged in the water. It is worth noting that the periphery of the measuring instrument 2 is wrapped with a waterproof acrylic cover to ensure waterproofness while clearly and accurately obtaining underwater terrain image measurement information. Then, by driving the horizontal thrust generated by the front propeller 11, the drone body 1 can be driven to drive the measuring instrument 2 to glide stably on the water surface, thereby measuring the underwater terrain at different positions and improving the measurement effect.

[0024] It is worth noting that the drone body 1 is equipped with a control system, a communication module, a power module and a remote control module. The fuselage of the drone body 1 can be made of carbon fiber composite materials to ensure strength while reducing the overall weight. If the drone body 1 is insufficient in power during the measurement process and cannot take off and return, it can land on the water and use the horizontal thrust generated by driving the front propeller 11 to glide back to the shore on the water with minimal energy consumption. After arriving at the shore, it sends a positioning signal to the ground base through the internal communication module and waits for staff to come and handle it.

[0025] Reference Figure 5 A plurality of groups of pressure hoops 315 are arranged equidistantly below the floating airbag 314. Tension springs 317 are symmetrically hung on both sides of the pressure hoops 315. A tension sensor 316 is fixed between the top of the tension spring 317 and the floating tube 31. Furthermore, as the floating airbag 314 expands and swells, when the surface of the floating airbag 314 contacts the pressure hoop 315, it will squeeze the pressure hoop 315, causing it to pull the tension spring 317 to deform and generate elastic force, thereby forcing the tension sensor 316 to generate an electrical signal. When the electrical signal generated by the tension sensor 316 reaches a set threshold, it means that the floating airbag 314 has expanded to its maximum state and has been fully inflated. The electrical signal is then immediately transmitted to the control system and converted into a control signal. The control system then controls and closes the electric telescopic rod 38, thereby driving the sealing cover 35 to flip and close along the surface of the float tube 31, so that the floating airbag 314 remains in an expanded and bulged state.

[0026] It is worth noting that when the drone body 1 can only take off on a ground with complex terrain or bumpy and uneven ground, the helicopter motor 32 on the float tube 31 is directly started to drive the helicopter propeller 33 to generate lift to pull the drone body 1 to a certain height, and then drive the front propeller 11 to make the drone body 1 fly above the water area to be measured, and then repeat the above observation operation, the helicopter motor 32 and the helicopter propeller 33 can be controlled again to make the drone body 1 slowly and steadily descend from a high place, and the surveying instrument 2 can be controlled to complete the underwater terrain measurement operation.

[0027] Reference Figures 6 to 8 The transverse movement assembly 4 also includes a bevel gear transmission member 44 fixed to the through end of the moving screw rod 42, and a transmission shaft 45 is fixed to the other end of the bevel gear transmission member 44. The transmission shaft 45 is rotatably connected to the outer side of the moving seat 41 through a bearing frame, and a gear transmission member 46 is fixed to the other end of the transmission shaft 45. The top of the gear transmission member 46 is meshed and connected with a driven rack 47, and a push frame 48 is fixed to the surface of the driven rack 47. The four corners of the push frame 48 are rotatably connected with pulleys 49, the side screws of the float tube 31 are connected to the slide rail 410, and the pulley 49 is slidably connected to the inside of the slide rail 410, and an active rack 411 is fixed to the top of the side surface of the push frame 48.

[0028] When the sealing cover 35 is flipped open along the surface of the float tube 31, it can drive the rotating shaft 39 and the driving gear 310 to rotate synchronously. With the rotation of the driving gear 310, the driving rack 411 can be driven to move, and then the push frame 48 is driven to slide inside the slide rail 410 through the pulley 49, which can drive the driven rack 47 to move synchronously. The movement of the driven rack 47 can drive the upper gear of the gear transmission member 46 to rotate on the surface of the float tube 31, and then drive the lower gear meshing with it to rotate. Then, with the cooperation of the transmission shaft 45 and the bevel gear transmission member 44, It can drive the movable screw rod 42 to rotate inside the movable seat 41, and then drive the threaded block 43 to slide inside the movable seat 41, and drive the air receiving tube 34 to move toward the bottom of the helicopter propeller 33. When the sealing cover 35 is completely flipped open on the surface of the floating tube 31, the position of the air receiving tube 34 is also moved to the bottom of the helicopter propeller 33, so as to better receive the airflow, so that the wind receiving area of ​​the air receiving tube 34 that receives the airflow of the helicopter propeller 33 is increased, and a larger amount of air is blown into it, so as to be better transported into the interior of the floating airbag 314 to make it expand and bulge.

[0029] It is worth noting that the funnel-shaped wind gathering cover 312 can guide the airflow generated by the rotation of the helicopter propeller 33, so that the airflow can be transported more efficiently, and the blowing effect of the helicopter propeller 33 is effectively improved.

[0030] Reference Figure 8 The bevel gear transmission member 44 is composed of two meshing bevel gears of different sizes, the gear transmission member 46 is composed of two meshing gears of different sizes, and the larger gear located at the upper part is meshed and connected with the driven rack 47, and a driving gear 310 is fixed at the end of the rotating shaft 39, and the driving gear 310 is meshed and connected with the driving rack 411.

[0031] Reference Figures 9 to 11 The opening and closing assembly 5 includes a sealing plate 51 arranged on the lower surface of the float tube 31, and moving wheels 52 are installed on both sides of the lower surface of the sealing plate 51. A flip frame 55 is welded to the side surface of the sealing plate 51, and a flip shaft 54 ​​is fixed at the end of the flip frame 55. A fixing frame 53 is welded on the side of the surface of the float tube 31 close to the flip shaft 54, and the flip shaft 54 ​​is hinged to the fixing frame 53, and a flip gear 56 is fixed at the end of the flip shaft 54, and a supporting frame 58 is welded on the side of the surface of the float tube 31 close to the flip gear 56, and a flip rack 57 is slidably connected inside the supporting frame 58, and the flip rack 57 is meshed with the flip gear 56, and an electric telescopic rod 59 is fixed to the top of the supporting frame 58, and the output end of the electric telescopic rod 59 is fixedly connected to the top of the flip rack 57.

[0032] When the drone body 1 needs to rise vertically above the water surface after completing the underwater topographic survey, on the premise that the remaining power is sufficient to support the drone body 1 to return to the ground base, the front propeller 11 can be directly driven at full power to generate horizontal thrust to complete takeoff, or the helicopter propeller 33 can be driven first to generate lift to pull the drone body 1 to a certain height, and then the front propeller 11 can be driven to make the drone body 1 fly to the ground base.

[0033] Furthermore, after the above work is completed, during the return flight of the drone body 1, the control system will automatically start the vacuum pump 37 and the electric telescopic rod 59, and the vacuum pump 37 will connect the air tube 34 and the floating air bag 314 through the corrugated exhaust pipe 36 to extract the gas inside, so that the floating air bag 314 is in a deflated state again, and then the electric telescopic rod 59 will drive the sealing plate 51 to drive the moving wheel 52 to flip toward the lower surface of the floating tube 31, so that the deflated floating air bag 314 can be sealed inside the floating tube 31, and the moving wheel 52 can be adjusted to be parallel to the ground, so as to prepare for the subsequent ground landing glide.

[0034] Reference Fig.10 A plurality of drainage holes 510 are formed on the surface of the blocking plate 51 .

[0035] It is worth noting that by opening a drainage hole 510 on the surface of the sealing plate 51, the water attached to the float tube 31 and the floating airbag 314 when floating on the water surface can be discharged, thereby reducing the weight of the drone body 1 while keeping itself dry and avoiding erosion caused by being in a wet state for a long time.

[0036] The present invention also provides an unmanned aerial vehicle underwater topography measuring device and a method for using the same, comprising the following steps: S1. When the drone body 1 is started on a flat road, it takes off by driving the front propeller 11. When it flies above the water area to be measured, the drone body 1 is hovered at a certain height, and the water area to be measured is first observed by using the measuring instrument 2, and the observation data is transmitted to the ground base station of the data center in real time or at a fixed time; S2. After the ground base station receives the observation data, the sealing cover 35 is opened by turning on the electric telescopic rod 38, so that the airflow generated by the helicopter propeller 33 can be blown into the interior of the floating airbag 314, so that the floating airbag 314 in a deflated state can be rapidly expanded and bulged, and then the drone body 1 is controlled to descend, and the buoyancy of the floating airbag 314 makes the drone body 1 float on the water surface, and the measuring instrument 2 will be submerged in the water, so as to achieve accurate acquisition of underwater terrain image measurement information; S3. When the sealing cover 35 is turned over and opened, the rotating shaft 39 and the driving gear 310 rotate accordingly, thereby driving the driving rack 411 to move, thereby driving the driven rack 47 to move synchronously, and driving the moving screw rod 42 to rotate inside the moving seat 41, so that the air receiving tube 34 moves toward the bottom of the helicopter propeller 33, so as to better receive airflow; S4, when the drone body 1 is started on a road with complex terrain or potholes, the helicopter motor 32 is directly started to drive the helicopter propeller 33 to generate lift to pull the drone body 1 to a certain height, and then the front propeller 11 is driven to make the drone body 1 fly above the water area to be measured. After the observation operation is performed, the helicopter motor 32 and the helicopter propeller 33 can be controlled again to make the drone body 1 slowly and steadily descend from a high altitude, so that the measuring instrument 2 can be controlled to complete the underwater terrain measurement operation; S5. When the drone body 1 rises vertically on the water surface, the front propeller 11 can be directly driven at full power to generate horizontal thrust to complete takeoff, or the helicopter propeller 33 can be driven first to generate lift to pull the drone body 1 to a certain height, and then the front propeller 11 can be driven to complete takeoff of the drone body 1; S6. After the drone body 1 completes takeoff, the control system turns on the vacuum pump 37 and the electric telescopic rod 59. The vacuum pump 37 can connect to the air cylinder 34 and the floating airbag 314 to extract the gas, so that the floating airbag 314 is in a deflated state again. The electric telescopic rod 59 can drive the blocking plate 51 to flip over, and adjust the moving wheel 52 to a state parallel to the ground, so as to prepare for the subsequent landing and gliding.

[0037] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements will not cause the essence of the corresponding technical solutions to deviate from the protection scope of the technical solutions of the embodiments of the present invention.

Claims

1. An unmanned aerial vehicle underwater topographic measurement device, comprising an unmanned aerial vehicle body (1), a measuring instrument (2) fixed to the lower surface of the unmanned aerial vehicle body (1), and a front propeller (11) installed at the front part of the fuselage of the unmanned aerial vehicle body (1), characterized in that: Also includes: A floating assembly (3) is provided on both sides of the lower wing of the drone body (1), the floating assembly (3) comprising a floating cylinder (31) fixedly connected to the lower wing, two groups of front and rear sides of the surface of the floating cylinder (31) are symmetrically screwed to a helicopter motor (32), an output end of the helicopter motor (32) is fixed to a helicopter propeller (33), two groups of air receiving cylinders (34) are symmetrically provided on both sides of the floating cylinder (31), and the surface of the air receiving cylinder (34) is connected to the surface of the floating cylinder (31) by a rotating shaft (39). A sealing cover (35) is hingedly connected, and an electric telescopic rod (38) is hingedly connected between the sealing cover (35) and the air receiving cylinder (34); a floating air bag (314) is fixed inside the floating cylinder (31), and a corrugated air inlet pipe (313) is connected between the floating air bag (314) and the air receiving cylinder (34); a transverse movement component (4) is provided on the surface of the floating cylinder (31) at a position corresponding to the air receiving cylinder (34), and an opening and closing component (5) is provided on the side of the floating cylinder (31); The transverse movement assembly (4) comprises a movable seat (41) welded to the side of the floating cylinder (31) at a position corresponding to the air receiving tube (34); the movable seat (41) is rotatably connected to a movable screw rod (42) inside; the surface of the movable screw rod (42) is threadedly connected to a threaded block (43); the threaded block (43) is slidably connected to the inside of the movable seat (41); and the surface of the threaded block (43) is fixedly connected to the lower surface of the air receiving tube (34).

2. The drone underwater topography measuring device according to claim 1, characterized in that: The floating assembly (3) further comprises an air pump (37) screwed to both sides of the surface of the floating cylinder (31); a corrugated air exhaust pipe (36) is fixed at the output end of the air pump (37) at positions corresponding to the two sets of sealing covers (35); and the other end of the corrugated air exhaust pipe (36) is fixedly connected to the sealing cover (35).

3. The drone underwater topography measuring device according to claim 1, characterized in that: A filter screen (311) is welded to the inner top end of the air receiving cylinder (34), and an air collecting cover (312) is arranged below the filter screen (311). The air collecting cover (312) is fixed between the air receiving cylinder (34) and the corrugated air inlet pipe (313).

4. The drone underwater topography measuring device according to claim 1, characterized in that: A plurality of groups of equidistantly arranged pressure hoops (315) are provided below the floating airbag (314), tension springs (317) are symmetrically hung on both sides of the pressure hoops (315), and a tension sensor (316) is fixed between the top of the tension spring (317) and the floating tube (31).

5. The drone underwater topography measuring device according to claim 4, characterized in that: The transverse movement assembly (4) further comprises a bevel gear transmission member (44) fixed to the through end of the movable screw rod (42); a transmission shaft (45) is fixed to the other end of the bevel gear transmission member (44); the transmission shaft (45) is rotatably connected to the outside of the movable seat (41) through a bearing frame; a gear transmission member (46) is fixed to the other end of the transmission shaft (45); a driven rack (47) is meshedly connected to the top of the gear transmission member (46); a push frame (48) is fixed to the surface of the driven rack (47); pulleys (49) are rotatably connected to the four corners of the push frame (48); a slide rail (410) is screwed to the side of the float cylinder (31); the pulley (49) is slidably connected to the inside of the slide rail (410); and an active rack (411) is fixed to the top of the side surface of the push frame (48).

6. The unmanned aerial vehicle underwater topographic measurement device according to claim 5, characterized in that: The bevel gear transmission member (44) is composed of two meshing bevel gears of different sizes, and the gear transmission member (46) is composed of two meshing gears of different sizes, and the larger gear located at the top is meshingly connected to the driven rack (47).

7. The drone underwater topography measuring device according to claim 5, characterized in that: A driving gear (310) is fixed at the end of the rotating shaft (39), and the driving gear (310) is meshingly connected with a driving rack (411).

8. The drone underwater topography measuring device according to claim 1, characterized in that: The opening and closing assembly (5) comprises a blocking plate (51) arranged on the lower surface of the floating cylinder (31), movable wheels (52) are installed on both sides of the lower surface of the blocking plate (51), a turning frame (55) is welded to the side surface of the blocking plate (51), a turning shaft (54) is fixed at the end of the turning frame (55), a fixing frame (53) is welded on the side of the surface of the floating cylinder (31) close to the turning shaft (54), and the turning shaft (54) is hinged to the fixing frame (53), and the turning frame (55) is welded to the side surface of the floating cylinder (31) close to the turning shaft (54). A flip gear (56) is fixed at the end of the shaft (54), and a support frame (58) is welded to a side of the surface of the float tube (31) close to the flip gear (56). A flip rack (57) is slidably connected inside the support frame (58), and the flip rack (57) is meshingly connected to the flip gear (56). An electric telescopic rod 2 (59) is fixed to the top of the support frame (58), and the output end of the electric telescopic rod 2 (59) is fixedly connected to the top of the flip rack (57).

9. The unmanned aerial vehicle underwater topographic measurement device according to claim 8, characterized in that: A plurality of groups of drainage holes (510) are provided on the surface of the blocking plate (51).

10. A method for using the unmanned aerial vehicle underwater topographic surveying device according to any one of claims 1 to 9, characterized in that: The following steps are involved: S1. When the drone body (1) is started on a flat road, the drone body (1) is driven to take off by driving the front propeller (11). When the drone body (1) is above the water area to be measured, the drone body (1) is hovered at a certain height, and the water area to be measured is first observed using a measuring instrument (2), and the observation data is transmitted in real time or at a fixed time to a ground base station of a data center; S2. After the ground base station receives the observation data, the sealing cover (35) is opened by opening the electric telescopic rod (38), so that the airflow generated by the helicopter propeller (33) can be blown into the interior of the floating airbag (314), so that the floating airbag (314) in a deflated state can be rapidly expanded and bulged, and then the drone body (1) is controlled to descend, and the buoyancy of the floating airbag (314) makes the drone body (1) float on the water surface, and the measuring instrument (2) is submerged in the water, so that the underwater terrain image measurement information can be accurately obtained; S3. During the process of flipping and opening the sealing cover (35), the rotating shaft (39) and the driving gear (310) rotate accordingly, thereby driving the driving rack (411) to move, thereby driving the driven rack (47) to move synchronously, thereby driving the moving screw rod (42) to rotate inside the moving seat (41), so that the air receiving tube (34) moves toward the bottom of the helicopter propeller (33), thereby receiving better airflow; S4. When the drone body (1) is started on a road with complex terrain or potholes, the helicopter motor (32) is directly started to drive the helicopter propeller (33) to generate lift to pull the drone body (1) to a certain height, and then the front propeller (11) is driven to make the drone body (1) fly above the water area to be measured. After the observation operation is performed, the helicopter motor (32) and the helicopter propeller (33) can be controlled again to make the drone body (1) slowly and steadily descend from a high altitude, so that the measuring instrument (2) can be controlled to complete the underwater terrain measurement operation; S5. When the drone body (1) rises vertically on the water surface, the front propeller (11) can be directly driven at full power to generate horizontal thrust to complete take-off, or the helicopter propeller (33) can be first driven to generate lift to pull the drone body (1) to a certain height, and then the front propeller (11) can be driven to enable the drone body (1) to complete take-off; S6. After the drone body (1) completes takeoff, the control system turns on the air pump (37) and the second electric telescopic rod (59). The air pump (37) can connect to the air cylinder (34) and the floating airbag (314) to extract the gas inside, so that the floating airbag (314) is in a deflated state again. The second electric telescopic rod (59) can drive the blocking plate (51) to flip over, and adjust the moving wheel (52) to a state parallel to the ground, so as to prepare for the subsequent landing and gliding.

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