A small ex-situ radiation irradiance measuring device for unmanned aerial vehicle water quality remote sensing monitoring

Abstract

The application provides a small ectopic radiation illumination measuring device for unmanned aerial vehicle water quality remote sensing monitoring, which comprises a device shell, mounting bolts are threadedly connected to the middle parts of the left and right sides of the device shell, a rack is arranged in the middle part of the inside of the device shell, a mass wheel motor is boltedly connected to the middle part of the lower part of the rack, and a floating disc is screw-connected to the upper surface of the device shell. The application adopts horizontal and vertical light inlet to realize solar downward radiation illumination measurement, adopts mass wheel motor horizontal rotation mode to realize solar diffuse reflection radiation measurement, and forms stable rotation inertia of the system at the same time; a V-shaped refraction shell is used as a refraction channel, and a black base color is used in the initial section to reduce the influence of the first diffuse reflection after direct sunlight during diffuse reflection measurement; an optional mechanism of a detachable counterweight assembly is used to guarantee the rotational inertia of the device and the vertical pointing to the earth center of the horizontal and vertical light inlet assemblies.

Description

Technical Field

[0001] This invention belongs to the field of water quality remote sensing monitoring technology, and particularly relates to a small ex-situ irradiance measurement device for water quality remote sensing monitoring by unmanned aerial vehicles. Background Technology

[0002] Accurate and comprehensive water quality monitoring is one of the important tasks in water environment protection. Remote sensing technology, especially UAV remote sensing, is increasingly used in water quality monitoring due to its advantages such as wide monitoring area, high data accuracy, strong mobility, and low cost.

[0003] The main principle of water quality remote sensing monitoring is to estimate the content of water quality parameters based on the water's ability to reflect sunlight, i.e., reflectivity. Therefore, in UAV water quality remote sensing monitoring, it is necessary to place a target with known reflectivity in the open area of ​​the monitoring area in advance, and to estimate the solar irradiance by obtaining the radiance signal of the target from the sensor carried by the UAV.

[0004] However, due to factors such as cloud cover and solar altitude angle, the lateral solar irradiance will vary throughout the drone's flight. Therefore, it is necessary to dynamically place targets during the drone's flight to calculate the lateral solar irradiance at different times. The same target cannot adequately account for both direct and diffuse sunlight, leading to calculation results being affected by varying sunlight conditions.

[0005] Existing radiometric calibration boards are still based on the most basic flexible fabric or rigid board structures, which cannot support mobile deployment. Furthermore, due to the large monitoring range of UAVs, some areas are difficult for vehicles to access, making full-fledged radiometric calibration impossible. When UAVs fly at higher altitudes, the required ground target area increases proportionally, making proper calibration impossible. The lack of radiometric calibration means that UAV remote sensing water quality inversion results are severely affected by varying lighting conditions and cloud cover at different times, significantly interfering with the quality of remote sensing reflectance data.

[0006] However, how to reproduce the conditions of direct sunlight and outdoor diffuse reflection of sunlight through miniaturized devices, and realize the radiometric calibration work for the corresponding flight period, that is, the measurement of solar irradiance, has an important impact on the accuracy of remote sensing inversion results.

[0007] In response to the above problems, a small ex-situ irradiance measurement device for water quality remote sensing monitoring by unmanned aerial vehicles (UAVs) has been invented. Summary of the Invention

[0008] To address the aforementioned technical problems, this invention provides a small-scale ex-situ irradiance measurement device for unmanned aerial vehicle (UAV) water quality remote sensing monitoring, wherein this invention is achieved through the following technical solution: A small ex-situ irradiance measuring device for water quality remote sensing monitoring by unmanned aerial vehicles includes a device shell, with mounting bolts threaded to the middle of both the left and right sides of the device shell, a frame installed in the middle of the inner part of the device shell, a mass wheel motor bolted to the middle of the lower part of the frame, a floating plate screwed to the upper surface of the device shell, a light-gathering component installed on the upper part of the floating plate, and a detachable counterweight component connected to the bottom of the device shell.

[0009] Preferably, a positioning antenna is provided on the upper left side of the light-gathering component, and positioning chips are screwed to the upper left and right walls inside the device housing.

[0010] Preferably, the device housing and the frame are connected by mounting bolts.

[0011] Preferably, a buffer body is screwed to the lower side of the inner shell of the device, and a deep groove ball bearing is embedded in the middle part of the inner shell of the floating plate, and a rotating shaft is provided with an interference fit in the inner ring of the deep groove ball bearing.

[0012] Preferably, the buffer body is made of water, colloid, magnetic beads, or left empty.

[0013] Preferably, the lower end of the rotating shaft is connected to the upper end of the output shaft of the mass wheel motor.

[0014] Preferably, the detachable counterweight assembly includes a counterweight block, a sealing ring is provided on the upper surface of the counterweight block, a through hole is provided in the middle part of the counterweight block and a mounting screw is inserted therein, and a protective pad and a detachable nut are sleeved on the outer wall of the mounting screw.

[0015] Preferably, the counterweight is a cylindrical lead block or an aluminum alloy block, and is installed at the bottom of the device housing by a sealing ring, which is a rubber ring.

[0016] Preferably, the protective pad is a stainless steel spring pad and is disposed between the counterweight and the removable nut.

[0017] Preferably, the mounting screw and the detachable nut are threaded together, and the upper end of the mounting screw is threaded to the middle part of the bottom of the inner side of the device housing.

[0018] Preferably, the light-inlet component includes a refractive housing, with an a light inlet at the upper part of the refractive housing, a b light inlet at one end of the refractive housing, a multispectral single-pixel photosensitive chip at the other end of the refractive housing, and a filter at the inlet of each a light inlet and b light inlet.

[0019] Preferably, the initial section of the refractive shell is a V-shaped PVC plastic shell or a V-shaped aluminum alloy shell with a black background, and the lower left side of the refractive shell is bolted to the upper end of the rotating shaft.

[0020] Preferably, the filters are arranged in a horizontally staggered arrangement.

[0021] Preferably, a positioning antenna is bolted to the middle of the upper left side of the refractive shell.

[0022] Compared with existing technologies, the advantages of the small ex-situ irradiance measurement device for UAV water quality remote sensing monitoring provided by the present invention are as follows: 1. This invention uses horizontal and vertical light entry to achieve downward solar radiation illuminance measurement, and uses a motor to rotate horizontally to achieve diffuse reflection measurement of sunlight.

[0023] 2. This invention uses a V-shaped refractive shell as the refractive channel, and the initial section uses a black background to ensure that the influence of diffuse reflection after direct sunlight is reduced during diffuse reflection measurement.

[0024] 3. The present invention employs an optional mechanism with detachable counterweight components to ensure the rotational inertia of the device and to ensure that the horizontal and vertical light-gathering components are vertically aligned with the Earth's center.

[0025] 4. The present invention can incorporate a buffer body, which can reduce the turbulence during the operation of ships / vehicles and the resulting optical axis misalignment by releasing water, releasing colloid, releasing magnetic beads, or leaving it empty.

[0026] 5. This invention addresses reflection correction for different wavelength bands by using a series of sensors in conjunction with filters and an array of multispectral single-pixel photosensitive chips, thereby reducing equipment costs.

[0027] 6. This invention has a built-in positioning chip device, which can collect data and record time and latitude and longitude at the same time, realize dynamic matching with UAV imagery, and adapt to mobile registration.

[0028] 7. The counterweight of this invention includes a mass wheel and a low center of gravity vertical stabilization system, which can be installed in different environments such as vehicles, ships, water surfaces, and land surfaces by simply replacing the accessories. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the working state of the small ex-situ irradiance measuring device for water quality remote sensing monitoring by unmanned aerial vehicles provided by the present invention under the condition of water discharge or other buffer medium.

[0030] Figure 2 This is a schematic diagram of the working state of the small ex-situ irradiance measuring device for water quality remote sensing monitoring by unmanned aerial vehicles provided by the present invention, without water discharge.

[0031] Figure 3 This is provided by the present invention. Figure 2 A schematic diagram of the structure in which stable support feet are installed on the guide rails of vehicles and ships.

[0032] Figure 4 This is provided by the present invention. Figure 2 A schematic diagram of the small ex-situ irradiance measurement device for UAV water quality remote sensing monitoring after the counterweight is installed at the bottom.

[0033] Figure 5 This is provided by the present invention. Figure 4 A schematic diagram of the anchoring counterweight block of the stabilizing rudder plate in its working state on the water surface.

[0034] Figure 6 This is provided by the present invention. Figure 4 A schematic diagram of the installation location of the stabilizing rudder plate.

[0035] Figure 7 This is provided by the present invention. Figure 5 The diagram shows the detachable structure of the supporting hemispherical base in the working state without ground buffer medium.

[0036] Figure 8 This is provided by the present invention. Figure 1 A schematic diagram of the front and rear view structures of the light-gathering component.

[0037] Figure 9 This is provided by the present invention. Figure 1 A top view of the light-gathering component.

[0038] Figure 10 This is provided by the present invention. Figure 1 A schematic diagram of the left-side structure of the light-gathering component.

[0039] Figure 11 This is provided by the present invention. Figure 10 A schematic diagram of the filter arrangement in the image.

[0040] In the picture: 1. Device housing; 2. Mounting bolts; 3. Frame; 4. Mass wheel motor; 5. Floating disc; 6. Light intake assembly; 7. Removable counterweight assembly; 8. Buffer body; 9. Deep groove ball bearing; 10. Rotating shaft; 11. Counterweight block; 12. Sealing ring; 13. Mounting screw; 14. Protective pad; 15. Removable nut; 16. a. Light intake port; 17. b. Light intake port; 18. Multispectral single-pixel photosensitive chip; 19. Filter; 20. Refraction housing; 21. Positioning antenna; 22. Positioning chip; 23. Stabilizing rudder plate; 24. Buffer medium storage bowl; 25. Stabilizing support foot; 26. Bowl body fixing frame; 27. Counterweight traction rope; 28. Supporting hemispherical base; 29. ​​Fixing anchor block. Detailed Implementation

[0041] The present invention will now be described in detail with reference to the accompanying drawings, as shown below. Figure 1 To be continued Figure 7 As shown, a small ex-situ irradiance measurement device for water quality remote sensing monitoring by unmanned aerial vehicles includes a device shell 1. Mounting bolts 2 are threadedly connected to the middle of both sides of the device shell 1. A frame 3 is installed inside the middle of the device shell 1. The device shell 1 and the frame 3 are connected by mounting bolts 2. A mass wheel motor 4 is bolted to the lower middle of the frame 3. It uses horizontal and vertical light intake to achieve downward solar irradiance measurement, and uses the horizontal rotation of the mass wheel motor 4 to achieve diffuse reflection measurement. A floating disk 5 is screwed to the upper surface of the device shell 1, and a light intake component 6 is installed on the floating disk 5. A detachable counterweight component 7 is connected to the bottom of the device shell 1. The optional detachable counterweight component 7 ensures the rotational inertia of the device and ensures that the horizontal and vertical light intake components 6 are vertically aligned with the Earth's center. The rotation of the mass wheel motor 4 generates rotational inertia, forming a vertical axis restoring force, ensuring that the horizontal drive is perpendicular to the vertical direction. The light-gathering component 6 is provided with a positioning antenna 21 on the upper left side, and the upper left and right walls inside the device housing 1 are screwed with positioning chips 22. The positioning chip 22 is a GPS positioning chip, which can collect data and record time and latitude and longitude at the same time, realize dynamic matching with UAV imagery, and adapt to mobile registration. The device housing 1 has a buffer body 8 screwed to its lower side. The buffer body 8 reduces the turbulence during ship / vehicle operation and the resulting optical axis misalignment by releasing water, colloid, magnetic beads, or leaving it empty. The float 5 has a deep groove ball bearing 9 embedded in its middle part, and a rotating shaft 10 is provided with an interference fit in the inner ring of the deep groove ball bearing 9. The buffer body 8 is provided with one of the following methods: releasing water, colloid, or magnetic beads. The lower end of the rotating shaft 10 is connected to the upper end of the output shaft of the mass wheel motor 4.

[0042] In this implementation plan, in conjunction with the appendix Figure 6As shown, the detachable counterweight assembly 7 includes a counterweight block 11, a sealing ring 12 on the upper surface of the counterweight block 11, a through hole in the middle of the counterweight block 11 into which a mounting screw 13 is inserted, and a protective pad 14 and a detachable nut 15 are sleeved on the outer wall of the mounting screw 13. The counterweight block 11 is a cylindrical lead block or aluminum alloy block, and is set at the bottom of the device housing 1 by the sealing ring 12, which is a rubber ring. The protective pad 14 is a stainless steel spring pad and is set between the counterweight block 11 and the detachable nut 15. The mounting screw 13 and the detachable nut 15 are threadedly connected, and the upper end of the mounting screw 13 is threadedly connected to the middle of the bottom of the inner side of the device housing 1.

[0043] In this implementation plan, in conjunction with the appendix Figure 8 As shown and attached Figure 11 As shown, the light-gathering component 6 includes a refractive housing 20. An a light-inlet 16 is located on the upper part of the refractive housing 20, and a b light-inlet 17 is located at one end of the refractive housing 20. A multispectral single-pixel photosensitive chip 18 is located at the other end of the refractive housing 20. A filter 19 is provided at the inlet of each a light-inlet 16 and b light-inlet 17. The initial section of the refractive housing 20 is a V-shaped PVC plastic shell or a V-shaped aluminum alloy shell with a black background. The V-shaped refractive housing 20 serves as the refractive channel, and the initial section is black to reduce the influence of primary diffuse reflection after direct sunlight during diffuse reflection measurement. The lower left side of the refractive housing 20 is bolted to the upper end of the rotating shaft 10. The filters 19 are arranged in a horizontally staggered arrangement. A positioning antenna 21 is bolted to the upper left side of the refractive housing 20 for reflection correction of different wavelengths. By using a series of sensors in conjunction with filters 19 and an array of multispectral single-pixel photosensitive chips 18, the equipment cost is reduced.

[0044] In this implementation plan, in conjunction with the appendix Figure 3 As shown, the buffer storage bowl 24, together with the stabilizing rudder plate 23, is fixed to the upper part of the roof rack by installing hooks.

[0045] In this implementation plan, in conjunction with the appendix Figure 5 As shown, the bottom of the detachable counterweight component 7 is the supporting hemispherical base 28, and the inside of the detachable counterweight component 7 is a cavity, which is not connected to the outer shell 1 of the device. It can form a bowl-shaped cavity on its own and provide buoyancy. The water depth and stability of the device can be adjusted by adding water. The inside of the detachable counterweight component 7 is a cavity, and the counterweight traction rope 27 is fixed on the counterweight block 11 and inside the detachable counterweight component 7. The counterweight traction rope 27 can be inserted into the detachable counterweight component 7 normally.

[0046] In this implementation plan, in conjunction with the appendix Figure 6 To be continued Figure 11As shown, the positioning antenna 21 and the rotating shaft 10 are coaxial, and there is also a light sensor in the triangular area in the center of the light-gathering component 6.

[0047] In this implementation plan, in conjunction with the appendix Figure 1 To be continued Figure 5 As shown, the counterweight block 11 is bolted to the front and rear sides with a cross-shaped rudder plate 23. Outside the rudder plate 23, a buffer storage bowl 24 is bolted to the floating plate 5. The four corners of the lower outer side of the buffer storage bowl 24 are bolted with stable support feet 25. The bottom of the buffer storage bowl 24 is bolted with a bowl body fixing frame 26. The lower end of the mounting screw 13 can be connected to a counterweight traction rope 27. The lower end of the counterweight traction rope 27 is tied with a fixing anchor block 29.

[0048] The working process of this invention is as follows: This invention uses horizontal and vertical light intake to achieve solar irradiance measurement, and employs a mass wheel motor 4 to achieve diffuse reflection measurement; this invention uses a V-shaped refractive shell 20 as the refraction channel, and the initial section uses a black background to reduce the influence of diffuse reflection after direct sunlight during diffuse reflection measurement; this invention uses a detachable counterweight component 7 as an optional mounting mechanism to ensure the rotational inertia of this device, and to ensure that the horizontal and vertical light intake components 6 are vertically aligned with the Earth's center, ensuring that the mass wheel motor 4 drives horizontally in both vertical and vertical directions; this invention... The invention incorporates a buffer body 8, which reduces the turbulence during ship / vehicle operation and the resulting optical axis misalignment by releasing water, colloid, magnetic beads, or leaving it empty. The invention provides reflection correction for different wavelengths through a combination of an array of sensors, a filter 19, and an array of multispectral single-pixel photosensitive chips 18, reducing equipment costs. The invention includes a built-in positioning chip 22, which can collect data while recording time and latitude / longitude, enabling dynamic matching with UAV imagery and adapting to mobile registration. The invention is miniaturized and can be used with a buffer device or installed on the ground for fixed use.

[0049] Implementation Plan 1: For bumpy road sections, wavy waterways, and high-speed navigation, the system's shock absorption and cushioning capabilities need to be strengthened. The following methods are employed: Figure 1 As shown in the installation method, two sets of cross-shaped stabilizing rudder plates 23 are installed at the bottom of the detachable counterweight assembly 7. A high-damping buffer system, such as granular magnetic beads, is placed in the buffer storage bowl 24. The friction between the magnetic beads reduces the shaking of the core components of the device, namely, light inlet 16 (a) and light inlet 17 (b).

[0050] In this implementation plan, in conjunction with the appendix Figure 3 As shown, it is fixed to the upper part of the roof rack of the vehicle or to the guide rail in an open area of ​​the ship by installing hooks.

[0051] Turn on mass wheel motor 4 to read radiation intensity and equipment location in real time, providing data for remote sensing monitoring.

[0052] Implementation Plan Two: For smooth sections of road, calm waters, and low-speed navigation, the following methods shall be adopted: Figure 1 As shown in the installation method, two sets of cross-shaped stabilizing rudder plates 23 are installed at the bottom of the detachable counterweight assembly 7. A damping buffer system, such as a colloid or liquid, is placed in the buffer storage bowl 24 to reduce the shaking of the core components a. light inlet 16 and b. light inlet 17 of the device.

[0053] In this implementation plan, in conjunction with the appendix Figure 3 As shown, it is fixed to the upper part of the roof rack of the vehicle or to the guide rail in an open area of ​​the ship by installing hooks.

[0054] Turn on mass wheel motor 4 to read radiation intensity and equipment location in real time, providing data for remote sensing monitoring.

[0055] Implementation Plan 3: For stable, stationary ground, a dynamic stabilization scheme can be selected. See attached diagram. Figure 1 As shown in the installation method, two sets of cross-shaped stabilizing rudder plates 23 are installed at the bottom of the detachable counterweight assembly 7. Clean water is placed in the buffer storage bowl 24, and buoyancy is used to ensure the pointing and stability of the core components a (light inlet 16) and b (light inlet 17) of the device.

[0056] In this implementation plan, in conjunction with the appendix Figure 1 As shown, place it directly in an open area on the ground.

[0057] Rotate light inlet a (6) and light inlet b (17) to appropriate positions, and read the radiation intensity and equipment position to provide data for remote sensing monitoring.

[0058] Implementation Plan Four: For stable, stationary ground, a dynamic stabilization scheme can be selected. See attached diagram. Figure 2 As shown in the installation method, a supporting hemispherical base 28 is installed at the bottom of the detachable counterweight component (7).

[0059] In this implementation plan, in conjunction with the appendix Figure 1 As shown, place it directly in an open area on the ground.

[0060] Turn on the mass wheel motor 4 to ensure the stable rotation of the core components of the device, a) light inlet 16 and b) light inlet 17, and keep their axes aligned with the ground. Read the radiation intensity and equipment position in real time to provide data for remote sensing monitoring.

[0061] Implementation Plan Five: For stable nearshore water conditions, the following method shall be adopted. Figure 2The installation method is shown. A set of stabilizing rudder plates 23 are installed at the bottom of the detachable counterweight assembly 7. A counterweight traction rope 27 can be connected to the bottom of the detachable counterweight assembly 7 and the screw at the lower end of the mounting screw 13, and a fixing anchor block 29 is attached to the lower end of the counterweight traction rope 27.

[0062] In this implementation plan, in conjunction with the appendix Figure 5 As shown, the entire equipment is placed in water. Due to the buoyancy of the detachable counterweight component 7, the entire equipment floats in the water. Subsequently, the counterweight traction rope 27 and the fixed anchor block 29 attached to its lower end are thrown into the water. The fixed anchor block 29 sits on the bottom, ensuring that the equipment is anchored in the water.

[0063] Turn on mass wheel motor 4 to read radiation intensity and equipment location in real time, providing data for remote sensing monitoring.

[0064] Any technical solution that achieves the above-mentioned technical effects by utilizing the technical solutions described in this invention, or by designing similar technical solutions by those skilled in the art under the inspiration of the technical solutions described in this invention, falls within the protection scope of this invention.

Claims

1. A small ex-situ irradiance measurement device for remote sensing monitoring of water quality by unmanned aerial vehicles, comprising a device housing (1), characterized in that, The device housing (1) has screws (2) threaded to the middle of both sides of the outer shell (1). A frame (3) is set in the middle of the inner part of the device housing (1). A mass wheel motor (4) is bolted to the middle of the lower part of the frame (3). A float (5) is screwed to the upper surface of the device housing (1). A light-gathering component (6) is set on the upper part of the float (5). A detachable counterweight component (7) is connected to the bottom of the device housing (1). The detachable counterweight component (7) has a cavity and is not connected to the device housing (1) to form a bowl-shaped cavity and provide buoyancy. The draft and stability of the measuring device are adjusted by injecting water. A positioning antenna (21) is set on the upper left side of the light-gathering component (6). A positioning chip (22) is screwed to the upper left and right walls of the inner side of the device housing (1). The mass wheel motor is used to realize the measurement of diffuse reflection of sunlight by horizontal rotation. It is also used to generate rotational inertia by rotation and generate a rotational axis restoring force pointing in the vertical direction to ensure that the horizontal drive is perpendicular to the vertical direction. The light-inlet component (6) includes a refractive housing (20), an a light inlet (16) is provided on the upper part of the refractive housing (20), and a b light inlet (17) is provided at one end of the side of the refractive housing (20). The a light inlet and the b light inlet are used for vertical light inlet and horizontal light inlet, respectively. A multispectral single-pixel photosensitive chip (18) is provided at the other end of the side of the refractive housing (20), and a filter (19) is provided at the inlet of both the a light inlet (16) and the b light inlet (17). The initial section of the refractive shell (20) is a V-shaped PVC plastic shell or a V-shaped aluminum alloy shell with a black background.

2. The small ex-situ irradiance measurement device for UAV water quality remote sensing monitoring as described in claim 1, characterized in that, The device housing (1) and the frame (3) are connected by mounting bolts (2). The device housing (1) is screwed to the lower side and a buffer body (8) is connected. A deep groove ball bearing (9) is embedded in the middle part of the floating plate (5). A rotating shaft (10) is provided with an interference fit in the inner ring of the deep groove ball bearing (9). The lower end of the rotating shaft (10) is connected to the upper end of the output shaft of the mass wheel motor (4) for transmission.

3. The small ex-situ irradiance measurement device for UAV water quality remote sensing monitoring as described in claim 2, characterized in that, The buffer body (8) is made of water, colloid or magnetic beads, or the interior of the buffer body (8) is empty.

4. The small ex-situ irradiance measurement device for UAV water quality remote sensing monitoring as described in claim 1, characterized in that, The detachable counterweight assembly (7) includes a counterweight block (11), a sealing ring (12) is provided on the upper surface of the counterweight block (11), a through hole is provided in the middle part of the counterweight block (11) and a mounting screw (13) is inserted therein, and a protective pad (14) and a detachable nut (15) are sleeved on the outer wall of the mounting screw (13).

5. The small ex-situ irradiance measurement device for UAV water quality remote sensing monitoring as described in claim 4, characterized in that, The counterweight (11) is a cylindrical lead block or aluminum alloy block, and is set at the bottom of the device housing (1) by a sealing ring (12), and the sealing ring (12) is a rubber ring.

6. The small ex-situ irradiance measurement device for UAV water quality remote sensing monitoring as described in claim 4, characterized in that, The protective pad (14) is made of stainless steel spring pad and is placed between the counterweight (11) and the removable nut (15).

7. The small ex-situ irradiance measurement device for UAV water quality remote sensing monitoring as described in claim 4, characterized in that, The mounting screw (13) and the detachable nut (15) are threaded together, and the upper end of the mounting screw (13) is threaded to the middle part of the bottom inside the device housing (1).

8. The small ex-situ irradiance measurement device for UAV water quality remote sensing monitoring as described in claim 2, characterized in that, The lower left side of the refractive shell (20) is bolted to the upper end of the rotating shaft (10).

9. The small ex-situ irradiance measurement device for UAV water quality remote sensing monitoring as described in claim 1, characterized in that, The refractive shell (20) is bolted to the middle of the upper left side with a positioning antenna (21).

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