Unmanned aerial vehicle monitoring device based on intelligent control

Abstract

The invention relates to the technical field of environment monitoring, in particular to an unmanned aerial vehicle monitoring device based on intelligent control, which comprises an unmanned aerial vehicle body and a camera module, a sliding rod frame is arranged at the front end of the camera module, a cleaning brush is slidably connected to the sliding rod frame, and the camera module is rotatably provided with a rotating rod and a hollow column. A reciprocating cam groove is formed in the hollow column, and the upper end of the cleaning brush is connected with a cam push rod; one end of the rotating rod is connected with a first bevel gear, the upper end of the camera module is provided with a connecting plate, the lower end of the rotating shaft is fixedly connected with a second bevel gear, and the upper end of the rotating shaft is fixedly connected with a planet wheel; a fixing plate is arranged on the upper side of the camera module, the fixing plate and the camera mounting plate are relatively fixed, and a center wheel meshed with the planet wheel is fixedly connected to the fixing plate. The cleaning brush is arranged at the front end of the camera module, and after the camera is stained with stains, the cleaning brush is driven to slide back and forth along the sliding rod frame, so that the camera module is cleaned.

Description

Technical Field

[0001] The present invention relates to the technical field of environmental monitoring, and more specifically, to an unmanned aerial vehicle monitoring device based on intelligent control. Background Art

[0002] With the rapid development of UAV technology, UAVs have been widely used in environmental monitoring, agriculture, surveying and mapping, search and rescue, etc. Especially in environmental monitoring, UAVs can carry various sensors to collect aerial data, providing important information support for scientific research and decision-making.

[0003] However, in outdoor environments, the surface of drone cameras will inevitably be affected by various sources of contamination. For some application scenarios that require high-precision visual data, stains on the lens may seriously affect the completion of the task. In existing drone designs, the cleaning of the camera is often very limited. Some high-end models may be equipped with simple baffles or masks to reduce contamination, but these measures cannot completely solve the problem, especially after long-term flight or when operating in harsh environments.

[0004] The existing drone sampling devices have relatively simple functions and can usually only collect samples of a certain type of substance (such as air or water), lacking the ability of multi-functional integration. In addition, for air sampling, drones have a large disturbance effect on the air, and direct air sampling is likely to cause distortion of sample data.

[0005] Therefore, it is necessary to improve the prior art. Summary of the invention

[0006] In order to overcome the deficiencies in the prior art, a drone monitoring device based on intelligent control which can clean a camera is provided.

[0007] In order to solve the above technical problems, the technical solution adopted by the present invention is: A drone monitoring device based on intelligent control comprises a drone body and a camera module, wherein a camera mounting plate is rotatably arranged on the lower side of the drone body, a pitch control mechanism is arranged between the camera mounting plate and the drone body, a turntable is rotatably arranged on the upper end of the camera mounting plate, the camera module is fixedly arranged on the turntable, teeth are arranged on the outer side of the turntable, a first motor is fixedly arranged on the camera mounting plate, and a pinion gear meshing with the teeth is arranged on the output shaft of the first motor; A sliding rod frame is horizontally arranged at the front end of the camera module, a cleaning brush arranged vertically is slidably connected to the sliding rod frame, a rotating rod is rotatably arranged at the upper end of the camera module, a hollow column is coaxially fixedly arranged on the rotating rod, a reciprocating cam groove is arranged on the hollow column, and a cam push rod cooperating with the reciprocating cam groove is connected to the upper end of the cleaning brush through a connecting strip; One end of the rotating rod is connected to a first bevel gear, an upper end of the camera module is provided with a connecting plate, a rotating shaft is rotatably provided on the connecting plate, a second bevel gear meshing with the first bevel gear is fixedly connected to the lower end of the rotating shaft, and a planetary gear is fixedly connected to the upper end of the rotating shaft; A fixing plate is provided on the upper side of the camera module, the fixing plate is relatively fixed to the camera mounting plate, and a central wheel meshing with the planetary wheel is fixedly connected to the fixing plate; The drone body is also provided with an air sampling device and a water source sampling device.

[0008] Preferably, the air sampling device comprises a sampler, a sampling tube and a lifter, wherein the lifter is arranged at the upper end of the drone body, and the sampling tube is arranged on the lifter; The sampler comprises a sampling box, a first piston, a second piston and a driving mechanism, wherein the first piston and the second piston are both slidably arranged in the sampling box, the first piston is sealedly connected to the inner wall of the sampling box to form a sampling cavity, the second piston is sealedly connected to the sampling box and forms a debris removal cavity with the first piston and the sampler box, the first piston and the second piston are connected by a telescopic rod, the driving mechanism drives the second piston to move along the sampling box, and the telescopic stroke of the telescopic rod is smaller than the movement stroke of the second piston; The upper end of the sampling tube is an air inlet, and the lower end of the sampling tube is connected with the sampling cavity and the impurity removal cavity respectively through branch pipes.

[0009] Preferably, the lifter comprises a plurality of groups of scissor rods hinged in sequence, wherein a return spring is arranged between two support rods of one or more groups of scissor rods, a second motor and a drum are arranged at the upper end of the drone body, a motor shaft of the second motor is connected to the drum, a steel wire rope is wound on the drum, and one end of the steel wire rope is connected to the hinge shaft of one of the scissor rods.

[0010] Preferably, the water source sampling device includes a sampling tube and a water pipe. The sampling tube is fixedly arranged at the lower end of the drone body, and a gear ring is rotatably arranged at the upper end of the sampling tube. The water pipe is arranged on the gear ring and multiple water pipes are arranged along the circumference of the gear ring; the gear ring is connected to a rotary drive.

[0011] Preferably, a circular ring is provided at the lower end of the gear ring, a lifting controller is provided between the circular ring and the gear ring, and a guide ring is rotatably provided on the circular ring; A support rod I is rotatably arranged on the gear ring, a support rod II is rotatably arranged on the guide ring, and the water guide pipe is hinged to the support rod I and the support rod II respectively.

[0012] Preferably, a leg is connected to the lower end of the drone body, a shock absorbing rod is hinged on the outer side of the leg, a wheel is arranged at the lower end of the shock absorbing rod, and a spring damper is hinged between the shock absorbing rod and the leg.

[0013] Preferably, two of the rotating rods, the hollow column and the cleaning brush are provided, the two rotating rods are symmetrically arranged, and one end of the two rotating rods close to each other is provided with a first bevel gear meshing with the second bevel gear.

[0014] Preferably, it also includes a control module, a drive module and a communication module, the drive module and the communication module are both electrically connected to the control module, the drive module is electrically connected to the pitch control mechanism, the first motor, the air sampling device, and the water source sampling device, and the communication module is electrically connected to the server or terminal.

[0015] Preferably, the pitch control mechanism is a pitch control motor, and the drive mechanism is a linear motor.

[0016] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention is provided with a cleaning brush at the front end of the camera module. When the camera is stained with stains, the turntable and the camera module are driven to rotate by the first motor, and then the first bevel gear, the second spur gear, the planetary gear and the center wheel cooperate to realize the rotation of the hollow column, and then the reciprocating cam groove and the cam push rod drive the cleaning brush to slide back and forth along the slide rod frame to realize the cleaning of the camera module.

[0017] 2. The present invention arranges the air inlet end of the sampling tube on the lifter, so that the sampling range of the sampling tube can be far away from the drone body, reducing the disturbance of the drone body to the air and ensuring the accuracy of air sampling.

[0018] 3. The present invention performs air sampling through a sampler, and a de-mixing chamber is provided in the sampler to prevent the residual air in the sampling tube from mixing with the sampled air.

[0019] 4. The present invention uses a rotating water pipe to sample water sources, and sampling can be achieved without immersing the sampling tube in water, thereby improving the safety of the drone sampling process. The lower end height of the water pipe can be adjusted to prevent the water pipe from contacting the ground when the drone body lands. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The specific embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0021] Figure 1 It is a structural schematic diagram of one angle of the present invention; Figure 2 It is a structural schematic diagram of another angle of the present invention; Figure 3 This is a structural diagram of a camera module at one angle; Figure 4 This is a schematic diagram of the structure of the camera module from another angle; Figure 5 It is a structural schematic diagram of an air sampling device at one angle; Figure 6 It is a schematic diagram of the internal structure of the sampler; Figure 7 for Figure 1 A partial enlarged view of middle A.

[0022] In the figure: 1-UAV body, 11-camera mounting plate, 12-turntable, 13-first motor, 14-pinion, 15-connecting plate, 16-fixed plate, 17-center wheel, 2-camera module, 21-sliding rod rack, 22-cleaning brush, 23-turning rod, 24-hollow column, 25-reciprocating cam groove, 26-cam push rod, 27-first bevel gear, 28-second bevel gear, 29-planetary gear, 3-pitch control mechanism, 4-air sampling device, 41-sampler, 42-sampling tube, 43-lifter, 44-first piston, 45-second piston, 46-driving mechanism, 47-sampling chamber, 48-de-impurity chamber, 49-telescopic rod, 410-support rod, 411-return spring, 412-second motor, 413-reel, 414-wire rope, 415-hinge shaft, 5-water source sampling device, 51-sampling tube, 52-water guide pipe, 53-gear ring, 54-rotation driver, 55-ring, 56-lifting controller, 57-guide ring, 58-support rod I, 59-support rod II, 6-leg, 61-shock absorber rod, 62-spring damper, 7-control module. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only 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.

[0024] Example: like Figures 1 to 7 As shown, a UAV monitoring device based on intelligent control includes a UAV body 1 and a camera module 2. The UAV body 1 adopts an existing four-rotor UAV, and the camera module 2 is arranged on the UAV body 1.

[0025] Specifically, a camera mounting plate 11 is rotatably provided at the lower side of the drone body 1, and a pitch control mechanism 3 is provided between the camera mounting plate 11 and the drone body 1. The pitch control mechanism 3 can use an existing pitch control motor to drive the camera mounting plate 11 to perform pitch motion through the motor. A turntable 12 is rotatably provided at the upper end of the camera mounting plate 11, and the camera module 2 is fixedly provided on the turntable 12. The outer side of the turntable 12 is provided with teeth. A first motor 13 is fixedly provided on the camera mounting plate 11, and a pinion 14 meshing with the teeth is provided on the output shaft of the first motor 13. The pinion 14 is driven to rotate by the first motor 13, and then the toothed disc 12 and the camera module 2 on the toothed disc 12 are driven to rotate, so as to realize multi-angle shooting. Preferably, the camera module 2 adopts a visual recognition camera.

[0026] In order to prevent the camera module 2 from being stained after long-term outdoor work, a sliding rod frame 21 is horizontally arranged at the front end of the camera module 2, and a vertically arranged cleaning brush 22 is slidably connected to the sliding rod frame 21. The cleaning brush 22 reciprocates horizontally along the sliding rod frame 21 to clean the camera module 2.

[0027] In order to drive the cleaning brush 22 to reciprocate, a rotating rod 23 is rotatably provided at the upper end of the camera module 2, a hollow column 24 is coaxially fixedly provided on the rotating rod 23, a reciprocating cam groove 25 is provided on the hollow column 24, and a cam push rod 26 that cooperates with the reciprocating cam groove 25 is connected to the upper end of the cleaning brush 22 through a connecting bar. When the rotating rod 23 rotates, the hollow column 24 is driven to rotate, and then the cleaning brush 22 is driven to move along the slide bar frame 21 through the cooperation of the reciprocating cam groove 25 and the cam push rod 26.

[0028] One end of the rotating rod 23 is connected to the first bevel gear 27, and the upper end of the camera module 2 is provided with a connecting plate 15, on which a rotating shaft is rotatably provided, and the lower end of the rotating shaft is fixedly connected to the second bevel gear 28 meshing with the first bevel gear 27, and the upper end of the rotating shaft is fixedly connected to the planetary gear 29. A fixing plate 16 is provided on the upper side of the camera module 2, and the fixing plate 16 is relatively fixed to the camera mounting plate 11, and the fixing plate 16 is fixedly connected to the center wheel 17 meshing with the planetary gear 29. When the rotating disk 12 drives the camera module 2 to rotate, it drives the planetary gear 29 to revolve, and since the planetary gear 29 meshes with the center wheel 17, the planetary gear 29 rotates, and then drives the second bevel gear 28 to rotate, so that the first bevel gear 27, the rotating rod 23, and the hollow column 24 rotate.

[0029] Preferably, two rotating rods 23 , two hollow columns 24 and two cleaning brushes 22 are each provided, the two rotating rods 23 are symmetrically arranged, and one end of the two rotating rods 23 close to each other is provided with a first bevel gear 27 meshing with the second bevel gear 28 .

[0030] The drone body 1 is also provided with an air sampling device 4 and a water source sampling device 5. The air sampling device 4 is used to collect air samples, and the water source sampling device 5 is used to collect water source samples.

[0031] Specifically, the air sampling device 4 includes a sampler 41, a sampling tube 42 and a lifter 43. The lifter 43 is arranged at the upper end of the drone body 1, and the sampling tube 42 is arranged on the lifter 43. When sampling is required, the air inlet of the sampling tube 42 is lifted to a certain height by the lifter 43 to reduce the air disturbance caused by the rotor of the drone body to the sampling area, thereby ensuring the quality of air sampling.

[0032] The lifter 43 can be a scissor-type lifter made of lightweight materials, specifically, comprising a plurality of groups of scissor rods hinged in sequence, wherein a return spring 411 is arranged between two support rods 410 of one or more groups of scissor rods, and the elastic force of the return spring 411 keeps the scissor-type lifter in an extended state when not acted upon by external force.

[0033] The upper end of the drone body 1 is provided with a second motor 412 and a drum 413, the motor shaft of the second motor 412 is connected to the drum 413, a steel wire rope 414 is wound around the drum 413, and one end of the steel wire rope 414 is connected to a hinge shaft 415 of one of the scissor-fork rods. When the scissor-fork lifter needs to be retracted, the drum 413 is driven to rotate by the second motor 412, and the steel wire rope 414 is pulled to retract the scissor-fork lifter.

[0034] The sampler 41 includes a sampling box, a first piston 44, a second piston 45 and a driving mechanism 46. The first piston 44 and the second piston 45 are both slidably disposed in the sampling box. The first piston 44 is sealedly connected to the inner wall of the sampling box to form a sampling chamber 47, which is used to store the sampled air. The second piston 45 is sealedly connected to the sampling box. The second piston 45 cooperates with the first piston 44 and the sampler box to form a de-impurity chamber 48, which is used to suck out the air initially present in the sampling tube 42 to reduce interference with the sampled air.

[0035] Specifically, the first piston 44 and the second piston 45 are connected by a telescopic rod 49, and the driving mechanism 46 drives the second piston 45 to move along the sampling box. The telescopic stroke of the telescopic rod 49 is smaller than the movement stroke of the second piston 45. The upper end of the sampling tube 42 is an air inlet, and the lower end of the sampling tube 42 is connected to the sampling chamber 47 and the impurity removal chamber 48 through branch pipes.

[0036] The driving mechanism 46 first drives the second piston 45 to move, so that the volume of the impurity removal chamber 48 increases, and the air in the sampling tube 42 is sucked into the impurity removal chamber 48; when the telescopic rod 49 reaches the maximum telescopic stroke, it pulls the first piston 44 to move, so that the volume of the sampling chamber 47 increases, and the air in the sampling area is sucked into the sampling chamber 47 through the sampling tube 42, thereby realizing air sampling.

[0037] Preferably, the driving mechanism 46 is a linear motor.

[0038] In order to ensure the safety of the drone body 1 during flight, the drone should try to avoid contact with the water surface when sampling water sources. In this embodiment, the water source sampling device 5 includes a sampling tube 51 and a water pipe 52. The sampling tube 51 is fixedly arranged at the lower end of the drone body 1 for storing water samples. A gear ring 53 is rotatably arranged at the upper end of the sampling tube 51, and the water pipe 52 is arranged on the gear ring 53 and multiple gear rings 53 are arranged along the circumference of the gear ring 53; the gear ring 53 is connected to a rotary driver 54. When the gear ring 53 rotates, it drives the water pipe 52 to rotate, and then the water is introduced into the sampling tube 51 through the water pipe 52 to achieve sampling. In this way, only the lower end of the water pipe 52 needs to contact the water surface, reducing the interference of the water surface on the drone.

[0039] Preferably, a ring 55 is provided at the lower end of the gear ring 53, a lifting controller 56 is provided between the ring 55 and the gear ring 53, and a guide ring 57 is rotatably provided on the ring 55. A support rod I 58 is rotatably provided on the gear ring 53, and a support rod II 59 is rotatably provided on the guide ring 57. The water pipe 52 is hinged to the support rod I 58 and the support rod II 59 respectively. The distance between the ring 55 and the gear ring 53 is controlled by the lifting controller 56, and then the angle of the water pipe 52 is adjusted. When water source sampling is not required, the water pipe 52 can be rotated upward to avoid interference between the water pipe 52 and the ground when the drone body 1 lands.

[0040] Preferably, the lower end of the drone body 1 is connected to a support leg 6, a shock-absorbing rod 61 is hinged on the outer side of the support leg 6, a wheel is provided at the lower end of the shock-absorbing rod 61, and a spring damper 62 is hinged between the shock-absorbing rod 61 and the support leg 6. When the drone body 1 lands, the lower end of the shock-absorbing rod 61 contacts the ground and slides, and the impact is absorbed by the spring damper 62.

[0041] In order to control the unmanned aerial vehicle monitoring device, it also includes a control module 7, a drive module and a communication module. The drive module and the communication module are electrically connected to the control module 7. The drive module is electrically connected to the pitch control mechanism 3, the first motor 13, the air sampling device 1, and the water source sampling device 5. The communication module is electrically connected to the server or terminal. The control module 7, the drive module and the communication module are all existing modules.

[0042] Only the preferred embodiments of the present invention are described in detail above, but the present invention is not limited to the above embodiments. Various changes can be made within the knowledge scope of ordinary technicians in this field without departing from the purpose of the present invention, and various changes should be included in the protection scope of the present invention.

Claims

1. A drone monitoring device based on intelligent control, comprising a drone body (1) and a camera module (2), characterized in that: A camera mounting plate (11) is rotatably disposed on the lower side of the drone body (1), a pitch control mechanism (3) is disposed between the camera mounting plate (11) and the drone body (1), a turntable (12) is rotatably disposed on the upper end of the camera mounting plate (11), the camera module (2) is fixedly disposed on the turntable (12), teeth are disposed on the outer side surface of the turntable (12), a first motor (13) is fixedly disposed on the camera mounting plate (11), and a pinion (14) meshing with the teeth is disposed on the output shaft of the first motor (13); A sliding rod frame (21) is horizontally arranged at the front end of the camera module (2), a cleaning brush (22) arranged vertically is slidably connected to the sliding rod frame (21), a rotating rod (23) is rotatably arranged at the upper end of the camera module (2), a hollow column (24) is coaxially fixedly arranged on the rotating rod (23), a reciprocating cam groove (25) is arranged on the hollow column (24), and the upper end of the cleaning brush (22) is connected to a cam push rod (26) that cooperates with the reciprocating cam groove (25) via a connecting strip; One end of the rotating rod (23) is connected to a first bevel gear (27); a connecting plate (15) is provided at the upper end of the camera module (2); a rotating shaft is rotatably provided on the connecting plate (15); a second bevel gear (28) meshing with the first bevel gear (27) is fixedly connected to the lower end of the rotating shaft; and a planetary gear (29) is fixedly connected to the upper end of the rotating shaft; A fixing plate (16) is provided on the upper side of the camera module (2), the fixing plate (16) is fixed relative to the camera mounting plate (11), and a center wheel (17) meshing with the planetary wheel (29) is fixedly connected to the fixing plate (16); The drone body (1) is also provided with an air sampling device (4) and a water source sampling device (5).

2. The intelligent control-based drone monitoring device according to claim 1 is characterized in that: The air sampling device (4) comprises a sampler (41), a sampling tube (42) and a lifter (43); the lifter (43) is arranged at the upper end of the drone body (1), and the sampling tube (42) is arranged on the lifter (43); The sampler (41) comprises a sampling box, a first piston (44), a second piston (45) and a driving mechanism (46); the first piston (44) and the second piston (45) are both slidably arranged in the sampling box; the first piston (44) is sealedly connected to the inner wall of the sampling box to form a sampling cavity (47); the second piston (45) is sealedly connected to the sampling box and forms a de-impurity cavity (48) with the first piston (44) and the sampling box; the first piston (44) and the second piston (45) are connected via a telescopic rod (49); the driving mechanism (46) drives the second piston (45) to move along the sampling box; the telescopic stroke of the telescopic rod (49) is smaller than the movement stroke of the second piston (45); The upper end of the sampling tube (42) is an air inlet, and the lower end of the sampling tube (42) is connected to the sampling cavity (47) and the impurity removal cavity (48) through branch pipes.

3. The intelligent control-based drone monitoring device according to claim 2 is characterized in that: The lifter (43) comprises a plurality of groups of scissor rods hinged in sequence, wherein a return spring (411) is arranged between two supporting rods (410) of one or more groups of scissor rods, and a second motor (412) and a drum (413) are arranged at the upper end of the drone body (1), the motor shaft of the second motor (412) is connected to the drum (413), a steel wire rope (414) is wound around the drum (413), and one end of the steel wire rope (414) is connected to a hinge shaft (415) of one of the scissor rods.

4. The intelligent control-based drone monitoring device according to claim 1 is characterized in that: The water source sampling device (5) comprises a sampling tube (51) and a water conduit (52); the sampling tube (51) is fixedly arranged at the lower end of the drone body (1); a gear ring (53) is rotatably arranged at the upper end of the sampling tube (51); the water conduit (52) is arranged on the gear ring (53) and a plurality of gear rings (52) are arranged along the circumference of the gear ring (53); and the gear ring (53) is connected to a rotary driver (54).

5. The intelligent control-based drone monitoring device according to claim 4 is characterized in that: A circular ring (55) is disposed at the lower end of the gear ring (53), a lifting controller (56) is disposed between the circular ring (55) and the gear ring (53), and a guide ring (57) is rotatably disposed on the circular ring (55); A support rod I (58) is rotatably provided on the gear ring (53), a support rod II (59) is rotatably provided on the guide ring (57), and the water guide pipe (52) is hingedly connected to the support rod I (58) and the support rod II (59) respectively.

6. The intelligent control-based drone monitoring device according to claim 1 is characterized in that: The lower end of the drone body (1) is connected to a support leg (6), a shock absorbing rod (61) is hingedly connected to the outer side of the support leg (6), a wheel is arranged at the lower end of the shock absorbing rod (61), and a spring damper (62) is hingedly connected between the shock absorbing rod (61) and the support leg (6).

7. The intelligent control-based drone monitoring device according to claim 1 is characterized in that: The rotating rod (23), the hollow column (24), and the cleaning brush (22) are each provided with two rotating rods (23), the two rotating rods (23) being symmetrically arranged, and the ends of the two rotating rods (23) close to each other are each provided with a first bevel gear (27) meshing with a second bevel gear (28).

8. The intelligent control-based drone monitoring device according to claim 1 is characterized in that: It also includes a control module (7), a drive module and a communication module, wherein the drive module and the communication module are both electrically connected to the control module (7), the drive module is electrically connected to the pitch control mechanism (3), the first motor (13), the air sampling device (4), and the water source sampling device (5), and the communication module is electrically connected to a server or a terminal.

9. The intelligent control-based drone monitoring device according to claim 2 is characterized in that: The pitch control mechanism (3) is a pitch control motor, and the drive mechanism (46) is a linear motor.

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