Floating type monitoring device carried by unmanned aerial vehicle

Abstract

The invention discloses a floating type monitoring device carried by an unmanned aerial vehicle, and relates to the technical field of water environments, an embedding groove is formed in the top of a control platform, and a mesopore small ball is movably embedded in the embedding groove; the balance ball is arranged in the supporting platform, the bottom of the balance ball is connected with a damping cone through a steel wire rope, and the damping cone is arranged below the supporting platform in a suspended mode. Flight motors are installed at the four corners of the four-rotor-wing body correspondingly, and blades are installed at the output ends of the flight motors correspondingly. The feedback ball is installed on the top of the supporting platform and electrically connected with the battery. The interior of the balance ring is connected with a supporting cavity of an inverted-cone-shaped structure through a plurality of floating connecting rods, the water inlet connecting pipe penetrates through the supporting cavity and the cavity cover, and a plurality of water inlet holes are formed in the position, located in the supporting cavity, of the lower end wall of the water inlet connecting pipe. Lots of manpower and material resources are not needed, and convenience is provided for monitoring work; a probe, a sensing device and the like are used, so that the monitoring efficiency is greatly improved; operation is not limited by positions, and the monitoring range can be expanded; and the depth is adjustable.

Description

Technical Field

[0001] The invention relates to the technical field of water environment, and in particular to a floating monitoring device carried by an unmanned aerial vehicle. Background Art

[0002] In the field of water conservancy, water conservancy project monitoring is an indispensable and important part of water conservancy project construction and operation. Water conservancy projects involve multiple fields and complex engineering environments. Traditional monitoring devices often find it difficult to adapt to various complex conditions. Under different geological environments and climatic conditions, traditional monitoring equipment may not be able to accurately measure and monitor, thus affecting the normal operation and safety of water conservancy projects. Traditional monitoring devices are usually only designed for specific measurement tasks and lack the ability to integrate with other systems and equipment. This makes it difficult to achieve comprehensive and systematic monitoring and management in water conservancy projects, thus affecting the safety and benefits of the projects.

[0003] In the field of water environment, factors such as the type, size, shape and distribution of particles in water will affect the measurement of turbidity. Traditional monitoring devices often require measurements to be performed under specific environmental conditions, such as constant temperature, pressure and light conditions. However, in actual applications, these conditions are often difficult to fully meet, which affects the accuracy of the measurement results. Some traditional monitoring devices require operators to have a high level of technical skills to ensure the accuracy of the measurement results. However, in actual applications, due to the different skills and experience levels of operators, fluctuations and uncertainties in the measurement results may occur.

[0004] In the field of aquaculture, traditional aquaculture monitoring devices generally adopt manual sampling or handheld equipment to collect data, which is difficult to operate, low in precision, and easily affected by human errors; the frequency of data collection is low, and it is impossible to monitor the changes in the aquaculture environment in real time, resulting in information lag and errors; the amount of data collected by traditional aquaculture monitoring devices is large, which is difficult to process, and the transmission is also limited by the incompatibility between the communication protocol and the software system between the devices, which limits the degree of data sharing and utilization; the data collection and processing of traditional aquaculture monitoring devices are based on offline, that is, they must be set up and operated on the device itself. Compared with modern Internet informatization, offline operation is more troublesome and not convenient for information sharing and rapid response.

[0005] In the field of marine engineering, traditional marine environment monitoring methods often rely on scientific research vessels, submersibles or fixed ocean observation stations, but these methods have problems such as high time cost, limited coverage, and low real-time performance.

[0006] Therefore, water conservancy project monitoring is an indispensable and important part of water conservancy project construction and operation. Traditional monitoring methods mainly rely on fixed equipment, such as water level meters, flow meters, etc. Although these methods can provide certain monitoring data, they have many limitations, such as high installation and maintenance costs, limited coverage, and lack of real-time performance. In addition, traditional methods are often difficult to adapt to complex and changing water conservancy environments. Summary of the invention

[0007] The purpose of the present invention is to provide a floating monitoring device carried by an unmanned aerial vehicle to effectively solve the defects and shortcomings of the prior art.

[0008] To achieve the above object, the present invention adopts the following technical solution: it comprises an upper structure and a lower structure; the upper structure comprises:

[0009] A control platform, wherein an embedding groove is provided on the top of the control platform, and a small ball with a middle hole is movably embedded in the embedding groove; a battery compartment is provided inside the control platform, and a battery is provided in the battery compartment;

[0010] A support frame, wherein the support frame is installed on the top of the control platform;

[0011] A supporting platform, wherein the peripheral wall of the supporting platform is mounted on a supporting frame by using a plurality of supporting arms;

[0012] A balancing ball, wherein the balancing ball is arranged inside the supporting platform, and a damping cone is connected to the bottom of the balancing ball by a steel wire rope, and the damping cone is suspended below the supporting platform;

[0013] An annular sleeve, which is sleeved on several cross bars of the support frame and connected to the balancing ball by an adjustment rope; a probe is installed on the annular sleeve, a camera and a positioning device are installed on the upper part of the probe, and the camera and the positioning device are both electrically connected to the battery;

[0014] A quadrotor body, wherein four corners of the quadrotor body are equipped with flight motors, and output ends of the flight motors are equipped with blades; the flight motors are electrically connected to a battery;

[0015] A feedback ball, which is mounted on the top of the support platform and is electrically connected to the battery;

[0016] The lower structure comprises:

[0017] A balance ring, wherein a support cavity with an inverted cone structure is connected inside the balance ring by several floating connecting rods, and a cavity cover is installed at the top opening of the support cavity; the four corners of the quadrotor body are installed on the balance ring by supporting rods;

[0018] A water inlet connecting pipe, which penetrates the support cavity and the cavity cover, and the lower end wall of the water inlet connecting pipe is located inside the support cavity, and is provided with a plurality of water inlet holes, and a ball valve is installed at the bottom end of the water inlet connecting pipe; the upper part of the water inlet connecting pipe is rotatably connected to the control platform by a bearing, and the upper end of the water inlet connecting pipe is a rounded opening, and is located between the control platform and the crossbar of the support frame;

[0019] The water retaining cover is of a conical structure and is installed in the middle of the water inlet connecting pipe and is located above the cavity cover; a plurality of drainage holes are provided on the pipe wall of the water inlet connecting pipe and located above the connection between the water retaining cover and the water inlet connecting pipe;

[0020] Drain pipes, the drain pipes are in multiple numbers and form an inverted "U"-shaped structure. One end of the drain pipes passes through the outer wall of the water inlet connecting pipe and is arranged inside the water inlet connecting pipe. The drain pipes are all connected to the hemispherical sealing plate. The hemispherical sealing plate is installed on the inner wall of the water inlet connecting pipe and is located below the water retaining cover. The other end of the drain pipe is arranged outside the support cavity.

[0021] Bidirectional power propellers, wherein the bidirectional power propellers are multiple and are respectively installed in multiple spiral flow channels opened in the support cavity;

[0022] The pumping slurry is installed inside the water inlet pipe and arranged below the hemispherical sealing plate. The pumping slurry is electrically connected to the battery using the wires in the power transmission pipe; the power transmission pipe is arranged in the water inlet pipe, and the ball valve is electrically connected to the battery through the wires inside the power transmission pipe.

[0023] Furthermore, a recovery rope is connected to the medium-hole ball.

[0024] Furthermore, there are two bearings, which are respectively located at the upper and lower ends of the control platform.

[0025] Furthermore, the support cavity and the cavity cover are installed and fixed by using a plurality of cavity bolts.

[0026] Furthermore, the camera and positioning device, the flight motor, the ball valve and the pumping slurry on the probe are all wirelessly controlled and connected to the external control terminal using a feedback ball.

[0027] Compared with the prior art, the beneficial effects of the present invention are as follows: the present invention provides a floating monitoring device carried by an unmanned aerial vehicle, which does not require a large amount of manpower and material resources, and provides convenience for monitoring work; the use of probes, sensing devices, etc. greatly improves the monitoring efficiency; the operation is not restricted by location, and the scope of monitoring can be expanded; and the depth is adjustable. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a structural schematic diagram of the present invention.

[0029] Figure 2 It is the front view of the present invention

[0030] Figure 3 It is a side view of the present invention.

[0031] Figure 4 yes Figure 2 AA section view.

[0032] Figure 5 yes Figure 2 Middle BB section view.

[0033] Description of reference numerals:

[0034] Probe 1, adjustment rope 2, annular sleeve 3, support arm 4, support frame 5, battery 6, damping cone 7, drain pipe 8, water retaining cover 9, support cavity 10, pumping slurry 11, power transmission pipe 12, water inlet hole 13, ball valve 14, hemispherical sealing plate 15, spiral flow channel 16, two-way power paddle 17, cavity bolt 18, floating connecting rod 19, balance ring 20, water inlet connecting pipe 21, bearing 22, embedded groove 23, medium-hole ball 24, support platform 25, balance ball 26, feedback ball 27, support rod 28, quadrotor body 29, flight motor 30, paddle 31, battery compartment 32, control platform 33, cavity cover 34. DETAILED DESCRIPTION

[0035] The technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. The preferred embodiments in the description are only used as examples, and all other embodiments obtained by those skilled in the art without making any creative work are within the scope of protection of the present invention.

[0036] like Figure 1-Figure 5 As shown, this specific implementation adopts the following technical solution: it includes an upper structure and a lower structure; the upper structure includes:

[0037] A control platform 33, wherein an embedding groove 23 is provided on the top of the control platform 33, and a small hole ball 24 is movably embedded in the embedding groove 23; a battery compartment 32 is provided inside the control platform 33, and a battery 6 is provided in the battery compartment 32;

[0038] A support frame 5, wherein the support frame 5 is installed on the top of the control platform 33;

[0039] A support platform 25, the peripheral wall of which is mounted on a support frame 5 by means of a plurality of support arms 4;

[0040] A balancing ball 26, which is arranged inside the supporting platform 25. The bottom of the balancing ball 26 is connected to a damping cone 7 by a steel wire rope. The damping cone 7 is suspended below the supporting platform 25 to provide a damping device to resist shaking and improve the stability of the device during operation;

[0041] The annular sleeve 3 is sleeved on several crossbars of the support frame 5 and connected to the balancing ball 26 by means of an adjusting rope 2; a probe 1 is installed on the annular sleeve 3, and the angle of the probe 1 installed on the annular sleeve 3 can be adjusted by pulling the adjusting rope 2 to increase the freedom of monitoring the surrounding environment. A camera and a positioning device are installed on the upper part of the probe 1, and both the camera and the positioning device are electrically connected to the battery 6;

[0042] A quadrotor body 29, wherein a flight motor 30 is installed at each of the four corners of the quadrotor body 29, and a blade 31 is installed at each output end of the flight motor 30; the flight motor 30 is electrically connected to a battery 6;

[0043] A feedback ball 27, which is mounted on the top of the support platform 25 and is electrically connected to the battery 6;

[0044] The lower structure comprises:

[0045] A balance ring 20, wherein a support cavity 10 having an inverted cone structure is connected to the balance ring 20 by means of a plurality of floating connecting rods 19, and a cavity cover 34 is installed at the top opening of the support cavity 10 by means of a plurality of cavity bolts 18; the four corners of the quadrotor body 29 are all installed on the balance ring 20 by means of support rods 28;

[0046] A water inlet connecting pipe 21, wherein the water inlet connecting pipe 21 passes through the support cavity 10 and the cavity cover 34, and the lower end wall of the water inlet connecting pipe 21 is located at the internal position of the support cavity 10, and is provided with a plurality of water inlet holes 13, so that water can enter and exit the support cavity 10 through the water inlet holes 13, so that the device can change its own buoyancy according to the operation requirements, and a ball valve 14 is installed at the bottom end of the water inlet connecting pipe 21; the upper part of the water inlet connecting pipe 21 is rotatably connected to the control platform 33 by two bearings 22, and the two are respectively located at the upper and lower ends of the control platform 33 (reducing the vibration of the water inlet connecting pipe 21 when the device is operating, and at the same time, the bearing 22 also cooperates with the middle hole ball 24 embedded in the inner periphery of the groove 23 to rotate, preventing the recovery rope fixed at one end to the inner hole of the middle hole ball 24 from being entangled, ensuring the stable operation of the device), and the upper end of the water inlet connecting pipe 21 is a rounded opening, and is located between the control platform 33 and the cross bar of the support frame 5;

[0047] The water retaining cover 9 is of a conical structure and is installed in the middle of the water inlet connecting pipe 21, slightly higher than the cavity cover 34; a plurality of drainage holes are provided on the wall of the water inlet connecting pipe 21 at a position above the connection between the water retaining cover 9 and the water inlet connecting pipe 21;

[0048] Drain pipes 8, which are several in number and form an inverted "U"-shaped structure, one end of which passes through the outer wall of the water inlet connecting pipe 21 and is arranged inside the water inlet connecting pipe 21, and are all connected to the hemispherical sealing plate 15, which is installed on the inner wall of the water inlet connecting pipe 21 and is located below the water retaining cover 9; the other end of the drain pipe 8 is arranged outside the support cavity 10; the water in the support cavity 10 is discharged to control the sinking and floating state of the device;

[0049] Bidirectional power paddles 17, wherein the bidirectional power paddles 17 are multiple and are respectively installed in multiple spiral flow channels 16 opened in the support cavity 10;

[0050] The pumping slurry 11 is installed inside the water inlet pipe 21 and is arranged below the hemispherical sealing plate 15. The pumping slurry 11 is electrically connected to the battery 6 via the wires in the power transmission pipe 12; the power transmission pipe 12 is arranged in the water inlet pipe 21, and the ball valve 14 is electrically connected to the battery 6 via the wires inside the power transmission pipe 12; the camera and positioning device on the probe 1, the flight motor 30, the ball valve 14 and the pumping slurry 11 are all wirelessly controlled and connected to the external control end via the feedback ball 27.

[0051] When using the present invention, the monitoring personnel starts the flight motor 30, the flight motor 30 drives the blade 31 to rotate, and the control device starts to move. When the flight reaches the monitoring point, the device as a whole uses the support cavity 10 and the balance ring 20 to float on the water surface and maintain overall balance. The battery 6 in the battery compartment 32 provides power for the ball valve 14. Through the opening of the ball valve 14, water flows along the water inlet 13 into the support cavity 10 (the opening degree of the ball valve 14 can be controlled to adjust the amount of water entering the support cavity 10, thereby controlling the sinking depth of the device), allowing the device to sink to the depth required for monitoring. At the same time, the bidirectional power paddle 17 controls the direction of the water flow in the spiral flow channel 16 to correct the position and direction of the device, and then monitors according to the required indicators; the damping cone 7 is connected to the balance ball 26 to generate a reverse force to keep the device when the device tilts. The balance ball 26 is connected to the annular sleeve 3 through the adjustment rope 2. When the device is in a moving state such as shaking, the balance ball 26 and the adjustment rope 2 can be used to pull and adjust, so that the probe 1 installed on the annular sleeve 3 can always monitor the environment around the device. At the same time, the battery 6 in the battery compartment 32 provides power for the feedback ball 27 (detection feedback device) of the device. The feedback ball 27 realizes the control of the device by the shore-based staff and the data feedback during the operation of the device; when the monitoring work is completed, the water inside the support cavity 10 is driven by the pumping paddle 11 in the water inlet pipe 21 to be discharged along the drain pipe 8, and then the flight motor 30 drives the blade 31, so that the four-rotor body 29 drives the device to return. If an unexpected situation occurs and the flight motor 30 cannot control the return, the device can also be recovered by the recovery rope connected to the small ball 24 in the middle hole.

[0052] Compared with the prior art, the present invention has the following beneficial effects:

[0053] 1. Using the bidirectional power propellers arranged in the spiral flow channel, any number of bidirectional power propellers in the spiral flow channel are combined and operated, and the movement direction of the device is changed by rotating the blades on the same side of the bidirectional power propellers.

[0054] 2. The cooperation between the bearing and the small ball embedded in the middle hole of the groove is used to prevent the recovery rope from being entangled during the operation of the device.

[0055] 3. Use the ball valve at the bottom of the water inlet pipe to allow water to enter the support cavity along the water inlet hole, increase the weight of the support cavity, and make the monitoring depth of the device adjustable.

[0056] 4. Use the pumping paddle in the water inlet pipe to discharge the water in the support cavity out of the support cavity along the drain pipe.

[0057] 5. The deflection of the balancing ball is adjusted by the deadweight of the damping cone, thereby driving the annular sleeve through the adjustment rope hung on the balancing ball to prevent the probe from excessively deflecting during monitoring.

[0058] For those skilled in the art, they can modify the technical solutions described in the aforementioned embodiments and make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A floating monitoring device carried by an unmanned aerial vehicle, characterized in that: It comprises an upper structure and a lower structure; the upper structure comprises: A control platform (33), wherein an embedding groove (23) is provided on the top of the control platform (33), and a small medium-hole ball (24) is movably embedded in the embedding groove (23); a battery compartment (32) is provided inside the control platform (33), and a battery (6) is provided in the battery compartment (32); A support frame (5), wherein the support frame (5) is installed on the top of the control platform (33); A supporting platform (25), the peripheral wall of the supporting platform (25) being mounted on a supporting frame (5) by means of a plurality of supporting arms (4); A balancing ball (26), wherein the balancing ball (26) is arranged inside the supporting platform (25), and the bottom of the balancing ball (26) is connected to a damping cone (7) by means of a steel wire rope, and the damping cone (7) is suspended below the supporting platform (25); An annular sleeve (3), the annular sleeve (3) is sleeved on a plurality of cross bars of a support frame (5), and is connected to a balancing ball (26) by means of an adjustment rope (2); a probe (1) is mounted on the annular sleeve (3), a camera and a positioning device are mounted on the upper part of the probe (1), and both the camera and the positioning device are electrically connected to a battery (6); A quadrotor body (29), wherein four corners of the quadrotor body (29) are each equipped with a flight motor (30), and output ends of the flight motor (30) are each equipped with a blade (31); the flight motor (30) is electrically connected to a battery (6); A feedback ball (27), the feedback ball (27) being mounted on the top of the support platform (25) and being electrically connected to the battery (6); The lower structure comprises: A balancing ring (20), wherein a supporting cavity (10) having an inverted cone structure is connected to the inside of the balancing ring (20) by means of a plurality of floating connecting rods (19), and a cavity cover (34) is installed at the top opening of the supporting cavity (10); the four corners of the quadrotor body (29) are installed on the balancing ring (20) by means of supporting rods (28); A water inlet connecting pipe (21), the water inlet connecting pipe (21) is arranged to penetrate the support cavity (10) and the cavity cover (34), and the lower end wall of the water inlet connecting pipe (21) is located inside the support cavity (10) and is provided with a plurality of water inlet holes (13), and a ball valve (14) is installed at the bottom end of the water inlet connecting pipe (21); the upper part of the water inlet connecting pipe (21) is rotatably connected to the control platform (33) by means of a bearing (22), and the upper end of the water inlet connecting pipe (21) is a rounded opening and is located between the control platform (33) and the crossbar of the support frame (5); A water retaining cover (9) having a conical structure and installed in the middle of the water inlet connecting pipe (21) and located above the cavity cover (34); a plurality of drainage holes are provided on the wall of the water inlet connecting pipe (21) and located above the connection between the water retaining cover (9) and the water inlet connecting pipe (21); Drain pipes (8), the drain pipes (8) being multiple in number and forming an inverted "U"-shaped structure, one end of which passes through the outer wall of the water inlet connecting pipe (21), is arranged inside the water inlet connecting pipe (21), and is connected to a hemispherical sealing plate (15) through the drain pipe (8). The hemispherical sealing plate (15) is installed on the inner wall of the water inlet connecting pipe (21) and is located below the water retaining cover (9); the other end of the drain pipe (8) is arranged outside the support cavity (10); Bidirectional power paddles (17), wherein the bidirectional power paddles (17) are in plurality and are respectively installed in a plurality of spiral flow channels (16) opened in the support cavity (10); A pumping slurry (11), the pumping slurry (11) is installed inside the water inlet connecting pipe (21) and is arranged below the hemispherical sealing plate (15), the pumping slurry (11) is electrically connected to the battery (6) using the wires in the power transmission pipe (12); the power transmission pipe (12) is arranged in the water inlet connecting pipe (21), and the ball valve (14) is electrically connected to the battery (6) through the wires in the power transmission pipe (12).

2. The floating monitoring device carried by an unmanned aerial vehicle according to claim 1, characterized in that: The small middle hole ball (24) is connected with a recovery rope.

3. The floating monitoring device carried by an unmanned aerial vehicle according to claim 2, characterized in that: There are two bearings (22), which are respectively located at the upper and lower ends of the control platform (33).

4. The floating monitoring device carried by an unmanned aerial vehicle according to claim 3, characterized in that: The support cavity (10) and the cavity cover (34) are installed and fixed by using a plurality of cavity bolts (18).

5. The floating monitoring device carried by an unmanned aerial vehicle according to claim 4, characterized in that: The camera and positioning device on the probe (1), the flight motor (30), the ball valve (14) and the pumping slurry (11) are all wirelessly controlled and connected to an external control terminal using a feedback ball (27).

6. The floating monitoring device carried by an unmanned aerial vehicle according to claim 5, characterized in that: The monitoring personnel starts the flight motor (30), and the flight motor (30) drives the blade (31) to rotate, and the control device starts to move. When the flight reaches the monitoring point, the device as a whole uses the support cavity (10) and the balance ring (20) to float on the water surface and maintain the overall balance. The battery 6 in the battery compartment 32 provides power for the ball valve (14). By opening the ball valve (14), water flows into the support cavity (10) along the water inlet hole (13), allowing the device to sink to the depth required for monitoring. At the same time, the bidirectional power paddle (17) controls the direction of the water flow in the spiral flow channel (16) to correct the position and direction of the device, and then monitor according to the required indicators; the damping cone (7) is connected to the balance ball (26) to generate a reverse force to keep the device balanced when the device tilts. The balance ball (26) is connected to the annular sleeve (3) through the adjustment rope (2). When the device is in a state of motion such as shaking, the balance ball (26) and the adjustment rope (2) can be used to pull and adjust, so that the probe (1) installed on the annular sleeve (3) can always monitor the environment around the device. At the same time, the battery (6) in the battery compartment (32) provides power for the feedback ball (27) of the device, and the feedback ball (27) enables the shore-based staff to control the device and feedback data during the operation of the device. When the monitoring work is completed, the water inside the support cavity (10) is driven by the pumping paddle (11) in the water inlet pipe (21) to be discharged along the drain pipe (8), and then the flight motor (30) drives the blade (31), so that the four-rotor body (29) drives the device to return. If an unexpected situation occurs and the flight motor (30) cannot control the return, the device can also be recovered by the recovery rope connected to the small ball (24) in the middle hole.

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