Anti-pollution UAV for water area detection and control method thereof

Abstract

The invention discloses an anti-pollution UAV for water area detection and a control method thereof, comprising a UAV main body, an airbag module and a monitoring control module; the airbag module is arranged at the bottom of the UAV main body; the invention can float on the water surface, is easy to recover, and will not pollute the water area, especially the drinking water source; when the UAV falls accidentally during flight, the airbag main body is inflated and ejected, and the falling speed of the UAV can be slowed down under air resistance and the direction of the UAV can be automatically adjusted, so that the bottom of the UAV lands first and floats on the water surface; after landing, the UAV can rotate through two wind blades on one side, so that the UAV keeps a tilted state and gives the UAV power to sail forward.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and in particular to an anti-pollution unmanned aerial vehicle for water area detection and a control method thereof. Background Art

[0002] In recent years, rivers, lakes and reservoirs have been frequently polluted, and water quality needs to be tested in a timely manner. As people's requirements for drinking water quality continue to increase, the frequency of water quality testing also needs to be increased. Efficient and comprehensive acquisition of water quality information is a prerequisite for water pollution prevention and control, and water quality sampling is a key link in obtaining water quality information. The emerging drone operation has a wide coverage range and strong mobility, which can meet the needs of large-scale inspections.

[0003] However, the drone water quality sampling and testing equipment in the prior art often falls accidentally during the sampling process, and after the fall, the drone is immersed in the water and is not easy to find and recover, which will cause pollution to the water area, especially for the monitoring of drinking water sources. The batteries and electronic components of the drone fall into the water area, causing great pollution, seriously affecting the protection of drinking water sources. Summary of the invention

[0004] In order to overcome the deficiencies of the prior art, the present invention provides an anti-pollution UAV for water area detection and a control method thereof.

[0005] The technical solution adopted by the present invention to solve its technical problem is:

[0006] An anti-pollution drone for water area detection comprises a drone body, an airbag module and a monitoring and control module; the airbag module is arranged at the bottom of the drone body;

[0007] The airbag module includes four airbag bodies arranged in a circumferential array, and an inflating device connected to the airbag bodies. The airbag bodies are in an arc shape after being inflated. The arc is formed by extending upward from the bottom of the drone body. The upper part of the arc is larger than the lower part. The arc is respectively arranged between two adjacent wind blades of the drone body. The drone body is wrapped in a chamber surrounded by the four airbag bodies.

[0008] The monitoring and control module is arranged in the main body of the UAV and is electrically connected to the airbag module. The monitoring and control module is used to monitor the information parameters of the UAV in real time and control the airbag module.

[0009] Furthermore, the top of the arc-shaped body is shaped like a bow, and the top of the arc-shaped body is higher than the top of the drone body.

[0010] Furthermore, the airbag module also includes a foaming device, which is connected to the airbag body. The foaming device includes a filling device and an exhaust device. The filling device is used to fill the airbag body with a foaming agent, and the exhaust device is used to exhaust the airbag body.

[0011] Furthermore, a cylindrical battery cavity is provided at the bottom of the drone body, a water-stop convex ring is provided at the bottom of the battery cavity, a waterproof groove is provided on the outer side of the water-stop convex ring, a sealing gasket is provided in the waterproof groove, the battery cavity is detachably connected to a matching battery component through a threaded structure, and a power-connecting metal terminal is provided on the upper part of the battery component.

[0012] Furthermore, a solar panel is arranged on the top of the drone body, and the solar panel is electrically connected to the battery component.

[0013] A method for controlling an anti-pollution drone for water area detection comprises the following steps:

[0014] S1: The monitoring and control module obtains the current real-time information of the drone, which includes the drone operation parameter information and the airbag module information;

[0015] S2: Determine whether the drone's status is abnormal based on the drone's real-time information. If the drone's status is abnormal, activate the airbag module to land.

[0016] S3: after landing, determine whether the drone is landing head-on based on the current real-time information of the drone. If the drone is landing head-on, execute step S4; otherwise, start the flip command to control and start the reversal of any two adjacent normal wind blades, so that the drone flips right under the force of one side;

[0017] S4: starting the foaming device to fill the airbag body with a foaming agent;

[0018] S5: Based on the current real-time information of the UAV, by controlling and starting any two adjacent normal wind blades to rotate forward, the UAV can navigate normally in the water and return for recovery.

[0019] Furthermore, after S4, the method further comprises the following steps:

[0020] S40: Start the solar panel to charge the drone’s battery;

[0021] S41: Obtain the power information of the drone in real time through the monitoring control module and analyze whether the power of the drone is lower than the preset power according to the power information. If the power of the drone is lower than the preset power, execute S40; if the power of the drone is higher than the preset power, execute S5.

[0022] Furthermore, the return flight includes the following steps:

[0023] S50: obtaining remote control signal information through the monitoring control module and determining whether the drone is normally connected to the remote controller according to the remote control signal information. If the connection is normal, execute S51; if the connection is abnormal, execute S52;

[0024] S51: The user can select whether to return automatically in the remote control. If automatic return is selected, S52 will be executed. Otherwise, manual return mode will be executed.

[0025] S52: Based on the UAV flight trajectory information obtained by the monitoring control module, the flight direction and path of the UAV when returning are calculated according to the flight trajectory information;

[0026] S53: Guiding the UAV to return to the destination in the middle water according to the flight direction and path.

[0027] The beneficial effects of the present invention are:

[0028] 1. The present invention can float on the water surface, which is convenient for recycling and will not pollute water areas, especially drinking water sources. When the drone falls accidentally during flight, the airbag body is inflated and popped out, which can slow down the falling speed of the drone under air resistance and automatically adjust the direction of the drone, so that the bottom of the drone lands first and floats on the water surface. Moreover, after landing, the drone can rotate through the two wind blades on one side to keep the drone in a tilted state and give the drone power to sail forward.

[0029] 2. The present invention has good waterproof performance, the power supply part is not easy to get water in, and it needs to be installed in place before it can be connected to the power supply, so as to prevent the situation where the waterproof performance is reduced due to the failure to install in place.

[0030] 3. The solar panel of the present invention can charge the battery to prevent the situation where the aircraft cannot return due to low power. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0032] Figure 1 It is a schematic diagram of the structure of the present invention;

[0033] Figure 2 It is a schematic diagram of the structure of the present invention in a tilted state while sailing in water;

[0034] Figure 3 is a cross-sectional view of a power supply portion of the present invention;

[0035] Figure 4 is a flow chart of the control method of the present invention;

[0036] Figure 5 It is a flow chart of the return control method of the present invention.

[0037] Reference numerals: 1. drone body, 2. airbag body, 3. battery chamber, 4. water-stopping convex ring, 5. waterproof groove, 6. power metal terminal, 7. battery component DETAILED DESCRIPTION

[0038] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0039] Reference Figures 1 to 5 , an anti-pollution drone for water area detection, comprising a drone body 1, an airbag module and a monitoring and control module; the airbag module is arranged at the bottom of the drone body 1;

[0040] The airbag module includes four airbag bodies 2 arranged in a circumferential array, and an inflating device connected to the airbag bodies 2. The airbag bodies 2 are in an arc shape after being inflated. The arc is formed by extending upward from the bottom of the drone body 1. The upper part of the arc is larger than the lower part. The arc is respectively arranged between two adjacent wind blades of the drone body 1. The drone body 1 is wrapped in a chamber surrounded by the four airbag bodies 2.

[0041] The monitoring and control module is arranged in the drone body 1 and is electrically connected to the airbag module. The monitoring and control module is used to monitor the information parameters of the drone in real time and control the airbag module. The monitoring and control module includes an information receiving module, an information acquisition module, an information analysis module and a control module. The information receiving module is used to receive information, instructions or requests; the information acquisition module is used to obtain information, instructions or requests of a specified object; the information analysis module is used to process and analyze according to the specified information; the control module is used to control the specified object according to the signal. The monitoring and control module can monitor the real-time information of the drone (such as power, speed, altitude, flight status and other operating parameter information). The monitoring and control module can determine whether the drone has fallen based on the abnormal information detected and analyze it, and control the airbag body 2 to inflate and pop out.

[0042] This embodiment can float on the water surface, which is convenient for recycling and will not pollute water areas, especially drinking water sources. When the drone falls accidentally during flight, the airbag body 2 is inflated and popped out. Under air resistance, the falling speed of the drone can be slowed down and the direction of the drone can be automatically adjusted so that the bottom of the drone lands first and floats on the water surface. Moreover, after landing, the drone can rotate through two wind blades on one side to keep the drone in an inclined state and give the drone power to sail forward. In this embodiment, the angle of the inclined state ranges from 30 to 45 degrees, and the sailing direction can be adjusted by changing the rotation speed of one of the wind blades.

[0043] Furthermore, the top of the arc-shaped body is in the shape of a bow, and the top of the arc-shaped body is higher than the top of the drone body 1. This embodiment can better protect the drone, so that the drone can float on the water no matter which side it falls, and the bow-shaped design can better reduce the resistance of sailing in the water.

[0044] Furthermore, the airbag module further includes a foaming device, which is connected to the airbag body 2, and includes a filling device and an exhaust device, wherein the filling device is used to fill the airbag body 2 with a foaming agent, and the exhaust device is used to exhaust the airbag body 2. In this embodiment, the foaming agent uses a polyurethane foaming agent, and the foaming agent is filled into the airbag body 2 and the air is released at the same time, so that the foaming agent can better fill the airbag body 2, so that the airbag body 2 is not easily deformed, and the resistance of sailing in water is smaller.

[0045] Furthermore, a cylindrical battery cavity 3 is provided at the bottom of the drone body 1, and a water-stop convex ring 4 is provided at the bottom of the battery cavity 3. A waterproof groove 5 is provided on the outside of the water-stop convex ring 4, and a sealing gasket is provided in the waterproof groove 5. The battery cavity 3 is detachably connected to a matching battery component through a threaded structure, and a power-connecting metal terminal 6 is provided on the upper part of the battery component. This embodiment has good waterproof performance, the power supply part is not easy to get wet, and it needs to be installed in place before it can be connected to the power supply, so as to prevent the situation where the waterproof performance is reduced due to failure to install in place.

[0046] Furthermore, a solar panel is provided on the top of the drone body 1, and the solar panel is electrically connected to the battery. The solar panel in this embodiment can charge the battery to prevent the drone from being unable to return due to low power.

[0047] Reference Figures 1 to 5 , an anti-pollution UAV control method for water area detection, comprising the following steps:

[0048] S1: The monitoring and control module obtains the current real-time information of the drone, which includes the drone operation parameter information and the airbag module information;

[0049] The UAV operation parameter information includes parameter information such as power, speed, altitude, and flight status. The flight status includes the UAV horizontal, vertical, pitch, heading and other status information.

[0050] The airbag module information includes the current air pressure information and working status information of the airbag module. S2: Based on the real-time information of the drone, determine whether the state of the drone is abnormal. If the state of the drone is abnormal, activate the airbag module for landing; compare and analyze the real-time information with the information of the drone during normal flight to determine whether the state of the drone is abnormal, such as calculating the descent speed of the drone through the information of the drone's altitude change, and comparing and analyzing it with the preset maximum descent speed of the drone. If the descent speed is greater than the preset maximum descent speed, it can be determined that the state of the drone is abnormal.

[0051] S3: after landing, determine whether the drone is landing head-on based on the current real-time information of the drone. If the drone is landing head-on, execute step S4; otherwise, start the flip command to control and start the reversal of any two adjacent normal wind blades, so that the drone flips right under the force of one side;

[0052] The front landing refers to the bottom of the drone landing downwards;

[0053] The flip command is analyzed and judged by the detection control module to control the start of the reversal of any two adjacent normally working wind blades, generating an upward thrust to make the drone flip over under the force of one side. If it fails to flip over, the flip command is repeated until the drone flips over.

[0054] S4: Start the foaming device to fill the airbag body 2 with a foaming agent; filling the foaming agent can better maintain the shape of the airbag body 2 and reduce the resistance of the drone sailing in the water.

[0055] S5: Based on the current real-time information of the drone, the drone can be controlled to start the forward rotation of any two adjacent normal blades, so that the drone can sail normally in the water and return for recovery. When one of the blades of the drone fails, it can still return smoothly, avoiding the situation where the drone cannot return due to a problem with one blade.

[0056] Further, see Figure 4 After S4, the method further comprises the following steps:

[0057] S40: Start the solar panel to charge the drone’s battery;

[0058] S41: The power information of the drone is obtained in real time through the monitoring control module and the power information is analyzed to see whether the power of the drone is lower than the preset power. If the power of the drone is lower than the preset power, S40 is executed; if the power of the drone is higher than the preset power, S5 is executed. The solar panel in this embodiment can charge the battery to prevent the situation where the drone cannot return due to low power.

[0059] Further, see Figure 5 , the return flight comprises the following steps:

[0060] S50: obtaining remote control signal information through the monitoring control module and determining whether the drone is normally connected to the remote controller according to the remote control signal information. If the connection is normal, execute S51; if the connection is abnormal, execute S52;

[0061] S51: The user can select whether to return automatically in the remote control. If automatic return is selected, S52 will be executed. Otherwise, manual return mode will be executed.

[0062] S52: Based on the UAV flight trajectory information obtained by the monitoring control module, the flight direction and path of the UAV when returning are calculated according to the flight trajectory information; the flight trajectory information is the flight trajectory of the UAV from take-off to crash, and then the UAV return flight direction and the optimal path are recalculated.

[0063] S53: guiding the UAV to return in the middle water according to the flight direction and path. The return method is more intelligent, and prevents the situation where the UAV cannot return due to exceeding the range of the remote control signal.

[0064] The above implementation modes cannot limit the protection scope of the present invention. The equivalent modifications and changes made by those skilled in the art without departing from the overall concept of the present invention are still within the scope of the present invention.

Claims

1. An anti-pollution drone for water area inspection, characterized in that: It includes a drone body, an airbag module and a monitoring and control module; the airbag module is arranged at the bottom of the drone body; The airbag module includes four airbag bodies arranged in a circumferential array, and an inflating device connected to the airbag bodies. The airbag bodies are in an arc shape after being inflated. The arc is formed by extending upward from the bottom of the drone body. The upper part of the arc is larger than the lower part. The arc is respectively arranged between two adjacent wind blades of the drone body. The drone body is wrapped in a chamber surrounded by the four airbag bodies. The monitoring and control module is disposed in the drone body and is electrically connected to the airbag module, and the monitoring and control module is used to monitor the information parameters of the drone in real time and control the airbag module; The top of the arc-shaped body is in the shape of a bow, and the top of the arc-shaped body is higher than the top of the drone body; Wherein, the airbag module also includes a foaming device, which is connected to the airbag body. The foaming device includes a filling device and an exhaust device. The filling device is used to fill the airbag body with a foaming agent, and the exhaust device is used to exhaust the airbag body.

2. The anti-pollution drone for water area detection according to claim 1, characterized in that: A cylindrical battery cavity is provided at the bottom of the drone body, a water-stop convex ring is provided at the bottom of the battery cavity, a waterproof groove is provided on the outer side of the water-stop convex ring, a sealing gasket is provided in the waterproof groove, the battery cavity is detachably connected to a matching battery component through a threaded structure, and a power-connecting metal terminal is provided on the upper part of the battery component.

3. The anti-pollution drone for water area detection according to claim 2, characterized in that: A solar panel is arranged on the top of the drone body, and the solar panel is electrically connected to the battery component.

4. A pollution prevention drone control method for water area detection, characterized in that: The anti-pollution drone for water area detection as claimed in any one of claims 1 to 3 comprises the following steps: S1: The monitoring and control module obtains the current real-time information of the drone, which includes the drone operation parameter information and the airbag module information; S2: Determine whether the drone's status is abnormal based on the drone's real-time information. If the drone's status is abnormal, activate the airbag module to land. S3: after landing, determine whether the drone is landing head-on based on the current real-time information of the drone. If the drone is landing head-on, execute step S4; otherwise, start the flip command to control and start the reversal of any two adjacent normal wind blades, so that the drone flips right under the force of one side; S4: starting the foaming device to fill the airbag body with a foaming agent; S5: Based on the current real-time information of the UAV, by controlling and starting any two adjacent normal wind blades to rotate forward, the UAV can navigate normally in the water and return for recovery.

5. The anti-pollution UAV control method for water area detection according to claim 4 is characterized in that: After S4, the method further comprises the following steps: S40: Start the solar panel to charge the drone’s battery; S41: Obtain the power information of the drone in real time through the monitoring control module and analyze whether the power of the drone is lower than the preset power according to the power information. If the power of the drone is lower than the preset power, execute S40; if the power of the drone is higher than the preset power, execute S5.

6. The anti-pollution UAV control method for water area detection according to claim 5 is characterized in that: The return flight includes the following steps: S50: obtaining remote control signal information through the monitoring control module and determining whether the drone is normally connected to the remote controller according to the remote control signal information. If the connection is normal, execute S51; if the connection is abnormal, execute S52; S51: The user can select whether to return automatically in the remote control. If automatic return is selected, S52 will be executed. Otherwise, manual return mode will be executed. S52: Based on the UAV flight trajectory information obtained by the monitoring control module, the flight direction and path of the UAV when returning are calculated according to the flight trajectory information; S53: Guiding the UAV to return to the destination in the middle water according to the flight direction and path.

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