Electronic pod, unmanned aerial vehicle and process method for electronic pod of unmanned aerial vehicle

Abstract

The invention discloses an electronic pod, an unmanned aerial vehicle and a process method for the electronic pod of the unmanned aerial vehicle, and relates to the technical field of unmanned aerial vehicle nacels.The electronic pod is applied to the unmanned aerial vehicle in the field of deep sea cage culture, the unmanned aerial vehicle comprises an unmanned aerial vehicle body and a wire winding mechanism, and the wire winding mechanism is arranged on the bottom side of the unmanned aerial vehicle body; the electronic pod comprises a pod body, a drawing unit, a water temperature profile monitoring unit and an underwater monitoring unit, and the pod body is configured to be connected with the wire coiling mechanism; the drawing unit is arranged above the pod body and is used for drawing a water body sample of the deep sea net cage; the water temperature profile monitoring unit is arranged on one side of the pod body and used for monitoring the water temperature of the deep sea net cage. The underwater monitoring unit is arranged on the pod body and used for monitoring underwater information of the deep sea net cage.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) pod technology, and particularly to an electronic pod, a UAV, and a process method for using an electronic pod for a UAV. Background Technology

[0002] In deep-sea cage aquaculture, accurate and effective environmental monitoring is crucial for ensuring the healthy growth of cultured organisms and improving aquaculture efficiency. However, existing environmental monitoring technologies for deep-sea cage aquaculture have many shortcomings.

[0003] Traditional monitoring methods rely heavily on manual, periodic sampling and testing. This approach is not only costly in terms of manpower, resources, and time, but also fails to provide real-time, continuous monitoring of the aquaculture environment. Due to the complexity and dynamism of the marine environment, water quality parameters (such as dissolved oxygen, temperature, salinity, and pH), water flow, and the submersion status of net cages can all change significantly within a short period. The lag in manual monitoring makes it difficult for aquaculture farmers to grasp these changes in a timely manner, thus hindering their ability to take appropriate measures to address potential aquaculture risks, such as oxygen deficiency, water quality deterioration, and escape of cultured organisms due to net cage damage. These issues severely impact the growth and survival rate of cultured organisms. Summary of the Invention

[0004] The main objective of this invention is to propose an electronic pod, a drone, and a process method for using an electronic pod for a drone, aiming to solve the technical problem of insufficient monitoring methods in related technologies.

[0005] To achieve the above objectives, the present invention proposes an electronic pod for use in deep-sea cage aquaculture. The drone includes a drone body and a cable reeling mechanism, the cable reeling mechanism being located on the bottom side of the drone body. The electronic pod includes: A pod body configured to connect to the cable reel mechanism; A suction unit is located above the pod body and is used to collect water samples from the deep-sea cage. A water temperature profile monitoring unit is located on one side of the pod body and is used to monitor the water temperature of the deep-sea cage. An underwater monitoring unit is located on the pod body and is used to monitor the underwater information of the deep-sea cage.

[0006] In one embodiment, the extraction unit includes a water storage component, a water inlet pipe, and a sampling component. The water storage component and the sampling component are spaced apart above the pod body, and the water inlet pipe connects the water storage component and the sampling component.

[0007] In one embodiment, the sampling assembly includes a sampling tube and a sampling pump. The sampling pump is located inside the pod body, and the sampling tube is located on the side of the pod body and connected to the sampling pump. The sampling pump is used to transport the collected water sample to the water storage container.

[0008] In one embodiment, the underwater monitoring unit includes a water quality sensor, a current sensor, an underwater camera, and an image sonar. The water quality sensor is installed through the pod body, the image sonar is located above the underwater camera, and the water quality sensor and the current sensor are flush.

[0009] In one embodiment, the water temperature profile monitoring unit includes a temperature sensor, a connector, and a depth gauge. The connector is located on one side of the pod body, the temperature sensor is located at one end of the connector, and the connector can rise or fall relative to the pod body. The depth gauge is located on one side of the temperature sensor and is communicatively connected to the temperature sensor.

[0010] In one embodiment, the electronic pod further includes a water immersion unit, which is located below the pod body and at the end of the extraction unit away from the pod body. The water immersion unit is communicatively connected to the water temperature profile monitoring unit and the underwater monitoring unit, respectively, and is used to determine the actual water immersion state of the pod body.

[0011] In one embodiment, the pod body includes two connecting frames and a fixing frame. Each connecting frame is triangularly arranged and located on opposite sides of the fixing frame. The fixing frame includes an upper frame and a lower frame. A housing is provided between the upper frame and the two connecting frames. The electronic pod also includes an underwater monitoring unit and a water immersion unit. The water immersion unit is housed within the inner cavity of the housing. The lower frame forms two connecting portions. The water immersion unit passes through the housing and is housed in one of the connecting portions. The underwater monitoring unit is housed in the other connecting portion.

[0012] The present invention also proposes an unmanned aerial vehicle (UAV), the UAV comprising: The drone body, which contains a control system; The cable winding mechanism includes a lifting component and a cable. The cable is sleeved on the lifting component, which is located on the bottom side of the UAV body and is communicatively connected to the control system. The lifting component can drive the cable to rise or fall. An underwater camera is mounted on the underside of the UAV body and located between the cable winding mechanism and the UAV body. As described above, the electronic pod is connected to the cable, the electronic pod includes a water immersion unit, and the control system is communicatively connected to the water immersion unit.

[0013] This invention also proposes a process method for an electronic pod used in unmanned aerial vehicles (UAVs), applied to the electronic pod described above, wherein the electronic pod is connected to the UAV body, and the process method includes the following steps: The electronic pod is moved horizontally to the target location by the drone body; If the target position is detected in the vertical direction, the electronic pod is moved downward in the vertical direction; When an immersion signal is detected, seawater monitoring is performed to obtain monitoring data, water samples are taken to obtain water body data, and underwater seawater monitoring is performed to obtain fish data. Temperature measurements were performed on different water layers in the vertical direction of the target location to obtain water temperature data. The process involves repeatedly moving the electronic pod horizontally towards the target location via the UAV body, thereby moving the electronic pod above the next target location until the monitoring tasks for a preset number of target locations are completed.

[0014] In one embodiment, the step of measuring the temperature of different water layers in the vertical direction of the target location to obtain water temperature data includes: Temperature measurements are taken of different water layers in the vertical direction of the target location at preset intervals to obtain water temperature data for different water layers.

[0015] The electronic pod provided by this invention, through its integrated design of the pod body, extraction unit, water temperature profile monitoring unit, and underwater monitoring unit, solves problems such as difficulty in water sample collection, incomplete water temperature monitoring, and untimely acquisition of underwater information in deep-sea cage aquaculture. Specifically, the pod body is configured with a connecting cable mechanism, allowing the electronic pod to be easily connected to drones or other lifting equipment for rapid lifting operations, improving monitoring efficiency. The extraction unit, located above the pod body, accurately extracts water samples from the deep-sea cages, providing accurate data for water quality analysis and effectively solving the problem of difficult water sample collection. The water temperature profile monitoring unit, located on one side of the pod body, monitors water temperature at different depths, forming a water temperature profile to help researchers comprehensively understand the water temperature distribution, addressing the problem of incomplete water temperature monitoring. The underwater monitoring unit, located on the pod body, monitors underwater information of the deep-sea cages in real time, such as underwater biological activity and cage structural integrity, promptly detecting anomalies and solving the problem of untimely acquisition of underwater information. This integrated design not only improves monitoring efficiency but also reduces the size and weight of the equipment, making it easier to operate and maintain, and has significant beneficial effects. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the structure of an embodiment of the UAV provided by the present invention; Figure 2 A first-view structural schematic diagram of the electronic pod provided by the present invention; Figure 3 This is a structural schematic diagram of the electronic pod from a second perspective provided by the present invention; Figure 4 A flowchart illustrating the process steps of the method for an electronic pod for an unmanned aerial vehicle (UAV) provided by the present invention; Figure 5 This invention provides a flowchart for measuring the temperature of different water layers using an electronic pod for unmanned aerial vehicles.

[0018] Explanation of icon numbers: 100. Electronic pod; 1. Pod body; 11. Connecting frame; 12. Fixing frame; 2. Suction unit; 21. Water storage component; 22. Water inlet pipe; 23. Sampling pipe; 24. Sampling pump; 3. Immersion unit; 4. Underwater monitoring unit; 41. Water quality sensor; 42. Underwater camera; 43. Image sonar; 5. Water temperature profile monitoring unit; 51. Temperature sensor; 52. Connector; 200. Unmanned aerial vehicle (UAV); 210. UAV body; 220. Cable winding mechanism; 221. Cable.

[0019] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0020] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0021] It should be noted that if the embodiments of the present invention involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.

[0022] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0023] This invention proposes an electronic pod 100.

[0024] Please see Figure 1 and Figure 2 In one embodiment of the present invention, the electronic pod 100 is applied to a drone in the field of deep-sea cage aquaculture. The drone includes a drone body 210 and a reeling mechanism 220. The reeling mechanism 220 is located on the bottom side of the drone body 210. The electronic pod 100 includes a pod body 1, a suction unit 2, a water temperature profile monitoring unit 5, and an underwater monitoring unit 4. The pod body 1 is configured to connect to the reeling mechanism 220. The suction unit 2 is located above the pod body 1 and is used to suction water samples from the deep-sea cage. The water temperature profile monitoring unit 5 is located on one side of the pod body 1 and is used to monitor the water temperature of the deep-sea cage. The underwater monitoring unit 4 is located on the pod body 1 and is used to monitor the underwater information of the deep-sea cage.

[0025] In this embodiment, the electronic pod 100 can be applied not only to drones in the field of deep-sea cage aquaculture but also to scenarios such as environmental monitoring. The following description uses its application in the field of deep-sea cage aquaculture as an example. The pod body 1 is the core frame of the entire electronic pod 100, and its connection with the cable winding mechanism 220 includes, but is not limited to, bolt and snap-fit ​​connections. The pod body 1 is a closed cuboid structure, made of corrosion-resistant and waterproof stainless steel alloy or engineering plastics (such as PPH plastic). The surface of the pod is equipped with waterproof sealing strips to ensure that the internal components are not corroded by seawater. The extraction unit 2 is used to collect water samples. It extracts water from the deep-sea cage aquaculture area into a sample container inside the pod body 1 through vacuum suction or pump suction. It is understood that the extraction unit 2 includes multiple rotatable water storage components 21, each capable of storing a water sample from one deep-sea cage area. In one embodiment, the suction unit 2 draws water samples via vacuum suction. The suction unit 2 includes a vacuum pump (or vacuum generator), a suction head, and a water storage container 21. The vacuum pump or vacuum generator generates negative pressure, lowering the air pressure inside the suction head below atmospheric pressure, thereby drawing water from the deep-sea cage. In another embodiment, the suction unit 2 includes a pump, connecting pipes, and a water storage container 21. The type of pump here includes, but is not limited to, a centrifugal pump or a diaphragm pump. Figure 2 It is understood that the extraction unit 2 can be fixed inside the pod body 1 by means of bolts, snap-fit ​​connections, welding, etc., and exposed above the pod body 1. The water temperature profile monitoring unit 5 includes a temperature sensor 51, which is a high-precision platinum resistance sensor or thermocouple sensor. The measurement range covers the common temperature range of deep-sea cage water and has good stability and accuracy. It is understood that the water temperature profile monitoring unit 5 is fixed to one side wall of the pod body 1 by a bracket. The bracket is adjustable in angle, which facilitates adjusting the orientation of the sensor according to monitoring needs, ensuring that the sensor can continuously contact the water body to obtain continuous and accurate temperature data. This position will not affect the normal operation of the extraction unit 2 and the submerged unit 3, realizing the coordinated operation of each functional structure. The underwater monitoring unit 4 is used to monitor underwater organisms and the environment. The underwater monitoring unit 4 includes sensors such as cameras and sonar. It acquires underwater images and sonar signals through optical imaging or sound wave reflection principles, thereby realizing the monitoring of underwater organisms and the environment.

[0026] The electronic pod 100 provided by this invention, through its integrated design of the pod body 1, the extraction unit 2, the water temperature profile monitoring unit 5, and the underwater monitoring unit 4, can solve the problems of difficult water sample collection, incomplete water temperature monitoring, and untimely underwater information acquisition in deep-sea cage aquaculture. Specifically, the pod body 1 is configured to connect to the cable reel mechanism 220, enabling the electronic pod 100 to be easily connected to drones or other lifting equipment, achieving rapid lifting operations and improving monitoring efficiency. The extraction unit 2 is located above the pod body 1, enabling precise extraction of water samples from deep-sea cages, providing an accurate data source for water quality analysis, thereby effectively solving the problem of difficult water sample collection. The water temperature profile monitoring unit 5 is located on one side of the pod body 1, which can monitor water temperature at different depths, forming a water temperature profile, helping researchers to comprehensively understand the water temperature distribution and solving the problem of incomplete water temperature monitoring. The underwater monitoring unit 4 is located on the pod body 1 and can monitor underwater information of the deep-sea cages in real time, such as underwater biological activity and the structural integrity of the cages, promptly detecting anomalies and solving the problem of untimely underwater information acquisition. This integrated design not only improves monitoring efficiency but also reduces the size and weight of the equipment, facilitating operation and maintenance, and has significant beneficial effects.

[0027] In one embodiment of the present invention, the extraction unit 2 includes a water storage component 21, a water inlet pipe 22 and a sampling component. The water storage component 21 and the sampling component are spaced apart above the pod body 1, and the water inlet pipe 22 connects the water storage component 21 and the sampling component.

[0028] In this embodiment, combined with Figure 2The water storage component 21 is used to store the collected water samples, and the inlet pipe 22 is used to connect the water storage component 21 and the sampling component, which is used to collect water samples. The connection between the inlet pipe 22 and the water storage component 21 includes, but is not limited to, threaded connections, plug-in connections, and flange connections. The type of sampling component includes, but is not limited to, mechanical pump-driven, vacuum pump-driven, and electric pump-driven methods, which will not be elaborated further here; please refer to the next embodiment. It is understood that the water storage component 21 includes a rotating part and a water storage part. The rotating part has a space to accommodate the water storage part, which includes multiple water storage bottles. The rotating part can rotate to connect one of the water storage parts to the inlet pipe 22. It is understood that the number of water storage parts in the water storage component 21 is consistent with the preset number of net cages, including but not limited to 5 or 10, which can be set according to specific needs. The water storage part is used to store water samples from different deep-sea net cages to avoid cross-contamination of samples. When the sampling unit 2 of the electronic pod 100 transports samples through the water inlet pipe 22, the rotating part can rotate under the drive of a driving component (such as a servo motor, cylinder, etc.) to rotate a designated water storage bottle to a position aligned with the water inlet pipe 22, so that the water inlet pipe 22 is connected to the water inlet of the water storage bottle, and the sample flows smoothly into the corresponding water storage bottle. After storing a single sample, the rotating part rotates again to switch to the next unused water storage bottle, and the above process is repeated until all samples are stored. In one embodiment, multiple receiving spaces are evenly provided in the central area or circumferential direction of the rotating part, and the bottom of the receiving space is provided with a groove. The shape of the groove is adapted to the shape of the water storage bottle of the water storage part, and its shape can be cylindrical or elongated column, etc. The inner wall of each receiving space is provided with an elastic buffer pad (such as a silicone pad), which can both fix the water storage bottle and prevent the water storage bottle from colliding and being damaged by the rotating part. In another embodiment, multiple accommodating spaces are evenly distributed in the central area or circumferential direction of the rotating part. The bottom of each accommodating space has a positioning protrusion that engages with a positioning groove on the bottom of the water storage bottle, ensuring that the water storage bottle does not shift relative to the rotating part after installation. Simultaneously, a water inlet notch is reserved on the side wall of each accommodating space to provide a channel for communication between the water inlet pipe 22 and the water storage bottle, preventing the rotating part from obstructing the water inlet pipe 22. The water storage bottle is made of transparent or semi-transparent material (such as high borosilicate glass or food-grade PET plastic) for easy observation of the sample's condition. The bottle body is cylindrical or square, with a sealing cap at the bottle mouth. The sealing cap has a water inlet hole adapted to the water inlet pipe 22, and a one-way valve is installed inside the water inlet hole to prevent backflow or leakage during sample storage.

[0029] In one embodiment of the present invention, the sampling assembly includes a sampling tube 23 and a sampling pump 24. The sampling pump 24 is located inside the pod body 1, and the sampling tube 23 is located on the side of the pod body 1 and connected to the sampling pump 24. The sampling pump 24 is used to transport the collected water sample to the water storage component 21.

[0030] In this embodiment, the sampling tube 23 adopts a hollow tubular structure and is made of food-grade stainless steel or fluorinated ethylene propylene copolymer (FEP). One end of the sampling tube 23 extends to the outside of the pod to form a sampling port. A filter screen can be added at the sampling port to filter large particulate impurities in the water. The other end is sealed to the inlet pipe of the sampling pump 24 inside the pod via a threaded joint or quick-connect joint to ensure the airtightness of the fluid passage and prevent air from entering and affecting the sampling accuracy. The sampling pump 24 achieves fluid transport through the pressure difference generated by its own operation. When the pump starts, a negative pressure is formed on the inlet side, drawing the water sample into the pump chamber through the sampling tube 23, and then the positive pressure thrust on the outlet side pushes the sample to the water storage container 21. In one embodiment, a centrifugal pump generates a pressure difference to draw water from the sampling tube 23 and transport it to the water storage container 21. In another embodiment, a diaphragm pump generates a pressure difference to draw water from the sampling tube 23 and transport it to the water storage container 21. In another embodiment, a pressure difference is generated by an electric pump to draw water from the sampling tube 23 and deliver it to the water storage unit 21.

[0031] In one embodiment of the present invention, the underwater monitoring unit 4 includes a water quality sensor 41, a current sensor, an underwater camera 42, and an image sonar 43. The water quality sensor 41 is installed through the pod body 1, and the image sonar 43 is located above the underwater camera 42. The water quality sensor 41 and the current sensor are flush.

[0032] In this embodiment, to further enhance real-time monitoring, the water quality in the deep-sea cages is monitored in real time using a water quality sensor 41, an underwater camera 42, an image sonar 43, and an ocean current sensor, providing timely and accurate data support for aquaculture management. The water quality sensor 41 is used to detect various chemical and physical parameters in the water, such as pH, dissolved oxygen, ammonia nitrogen, and temperature. The type of water quality sensor 41 includes, but is not limited to, pH sensors, dissolved oxygen sensors, ammonia nitrogen sensors, and turbidity sensors; it can be a single sensor or a combination of multiple sensors. The underwater camera 42 is used to capture images of the underwater environment, providing visual information. The image sonar 43 is used to capture environmental information in low-visibility or completely dark underwater environments, providing acoustic images. The type of underwater camera 42 includes, but is not limited to, underwater binocular cameras and underwater optical cameras; the type of image sonar 43 includes, but is not limited to, forward-looking sonar and side-scan sonar. The ocean current sensor is used to measure the flow velocity and direction of the water. By sensing the flow direction and velocity of the water in the aquaculture feeding area through the ocean current sensor, key hydrological information is provided to support feed feeding. The types of ocean current sensors include, but are not limited to, acoustic Doppler ocean current sensors or electromagnetic ocean current sensors suitable for marine environments. In one embodiment, a sensor mounting bracket is provided on the lower end face of the pod body 1. The bracket is a triangular support or cross support structure, made of stainless steel alloy or carbon fiber composite material, which has good resistance to water flow impact. The ocean current sensor is fixed to the center position of the bracket by bolts to ensure that the sensor is not easily shaken or shifted under the action of water flow. The signal cable of the ocean current sensor is introduced into the interior of the pod body 1 through a waterproof connector and connected to the data acquisition module to realize the real-time transmission and storage of data such as ocean current speed and direction. It can be understood that when the submerged unit 3 senses whether it is submerged underwater, it sends a signal to the underwater camera 42 and the image sonar 43. The underwater binocular camera and the image sonar 43 are used to monitor the size of fish, the behavior of fish schools, and the local fish biomass through the acoustic-optical fusion of the two types of sensors.

[0033] In one embodiment of the present invention, the water temperature profile monitoring unit 5 includes a temperature sensor 51, a connector 52, and a depth gauge. The connector 52 is located on one side of the pod body 1, the temperature sensor 51 is located at one end of the connector 52, the connector 52 can rise or fall relative to the pod body 1, and the depth gauge is located on one side of the temperature sensor 51 and is communicatively connected to the temperature sensor 51.

[0034] In this embodiment, combined with Figure 2The temperature sensor 51 is used to measure the water temperature. Through the connector 52, the temperature sensor 51 can descend to different depths in the surface seawater to measure seawater temperature in real time, providing real-time information support for aquaculture strategies. The temperature sensor 51 includes, but is not limited to, a platinum resistance temperature sensor 51, or a novel temperature sensor 51 (such as a porous TiO ceramic substrate modified with carbon nanotubes). The connector 52 serves as the connection carrier between the temperature sensor 51 and the pod body 1. It adopts a rod-shaped or tubular structure and is made of high-strength and lightweight carbon fiber composite material or stainless steel alloy. This provides sufficient support strength to fix the temperature sensor 51 without excessively increasing the overall weight of the electronic pod 100, thus avoiding affecting the drone's payload and flight stability. It is understood that the depth gauge type includes hydraulic depth gauges, Bourdon tube depth gauges, diaphragm depth gauges, etc., and the depth gauge communicates with the drone's control system. Through the depth gauge, the drone's control system can understand the descent depth of the temperature sensor 51 in the electronic pod 100, thereby better completing the monitoring task. Understandably, the end of the connector 52 furthest from the pod body 1 is equipped with a sensor mounting base. The mounting base is a snap-fit ​​or threaded structure. The temperature sensor 51 is fixed to the mounting base by snap-fit ​​or threaded tightening. A waterproof gasket is provided at the connection between the mounting base and the temperature sensor 51 to further enhance the sealing. The lifting drive method of the connector 52 includes, but is not limited to, electric drive or pneumatic drive, etc., which is not limited here. The depth gauge and the temperature sensor 51 can be integrated into the same module, sharing a control unit, and fixed to one side of the pod body 1 by the connector.

[0035] In one embodiment of the present invention, the electronic pod 100 further includes a water immersion unit 3, which is located below the pod body 1 and at the end of the extraction unit 2 away from the pod body 1. The water immersion unit 3 is communicatively connected to the water temperature profile monitoring unit 5 and the underwater monitoring unit 4, respectively. The water immersion unit 3 is used to determine the actual water immersion state of the pod body 1.

[0036] In this embodiment, the immersion unit 3 is used to monitor the actual immersion status of the pod body 1 in real time. The type of immersion unit 3 includes, but is not limited to, electrode-type immersion sensor, photoelectric immersion sensor, or water level sensor. The immersion unit 3 can be connected to the pod body 1 via a connector 52, with one end of the connector 52 connected to the immersion sensor and the other end of the connector 52 connected to the connector. The type of connector 52 includes, but is not limited to, connecting blocks or sealing joints, and is not limited here.

[0037] In one embodiment of the present invention, the pod body 1 includes two connecting frames 11 and a fixing frame 12. Each connecting frame 11 is triangularly arranged and located on opposite sides of the fixing frame 12. The fixing frame 12 includes an upper frame and a lower frame. A housing is provided between the upper frame and the two connecting frames 11. The electronic pod 100 also includes an underwater monitoring unit 4 and a water immersion unit 3. The absorbing unit 2 is housed in the inner cavity of the housing. The lower frame forms two connecting parts. The water immersion unit 3 passes through the housing and is housed in one connecting part. The underwater monitoring unit 4 is housed in the other connecting part.

[0038] In this embodiment, to ensure a more even distribution of stress across the entire pod body 1 under load, the connecting frame 11 is triangularly shaped. The connection methods between the connecting frame 11 and the fixing frame 12 include, but are not limited to, bolting, welding, snap-fitting, and can also be integrally formed. Each connecting frame 11 also has a circular hole at one end for connecting the UAV cable winding mechanism 220; the circular hole is used to connect the cable 221. Figure 2 and Figure 3 It should be noted that the upper and lower frames are connected by integral molding or welding. The upper frame can be understood as a plate-like structure, and the lower frame can be understood as a combination of multiple three-dimensional frames. The upper and lower frames together form a U-shaped structure. The shell is connected to the surface of the upper frame by welding. One of the two side walls of the shell is connected to the two connecting frames 11. This connection can be either abutment or welding, which is not limited here. It can be understood that the connecting part includes three connecting plates connected in sequence. The two connecting plates at the outermost ends of the three connecting plates are respectively connected to the two ends of the upper frame. The immersion unit 3 passes through the shell on the upper frame from top to bottom and is exposed in one of the connecting parts; the underwater detection component in the underwater monitoring unit 4 is housed in another connecting part and is connected to the connecting part by welding or bolts; the water quality sensor 41 in the underwater monitoring unit 4 also passes through the shell on the upper frame and is exposed in another connecting part.

[0039] This invention also proposes a drone, which includes an electronic pod 100 as described above. The specific structure of the electronic pod 100 is as described in the above embodiments. Since this drone adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be described in detail here. The drone also includes a drone body 210 and a cable reeling mechanism 220. The drone body 210 is equipped with a control system. The cable reeling mechanism 220 includes a lifting component and a cable 221. The cable 221 is sleeved on the lifting component, which is located on the bottom side of the drone body 210 and is communicatively connected to the control system. The lifting component can drive the cable 221 to rise or fall. An underwater camera is located on the bottom side of the drone body 210 and between the cable reeling mechanism 220 and the drone body 210. The electronic pod 100 is connected to the cable 221 and includes a water immersion sensor. The control system is communicatively connected to the water immersion sensor.

[0040] In this embodiment, it should be noted that the control system type includes, but is not limited to, PLC, Arduino, Raspberry Pi, etc. The control system also includes a power supply module, a communication module, and an edge computing module. The control system within the UAV body 210 communicates with the control center, which can be installed on a ground control station or an industrial computer on the mothership; this is not limited here. The lifting component typically consists of a drive motor, a reduction gear set, and a winding drum. The drive motor is a DC servo motor with forward and reverse rotation capabilities, capable of precisely controlling the speed. The reduction gear set reduces the motor speed and increases torque. The winding drum has a cylindrical structure, typically made of rust-resistant metal or high-strength plastic. The cable 221 is looped and wound around the outside of the winding drum. The lifting component is fixed to the bottom center or symmetrical position of the UAV body 210 by bolts or clips to ensure force balance. When the drive motor rotates forward, the winding drum rotates clockwise, and the cable 221... When released, the electronic pod 100 descends; when the drive motor reverses, the winding drum rotates counterclockwise, the cable 221 is retracted, and the electronic pod 100 rises. The lifting speed of the cable 221 can be adjusted by controlling the motor's speed to meet the vertical movement requirements of the electronic pod 100 in different monitoring scenarios. The cable 221 is made of high-strength, seawater-resistant synthetic fiber rope or steel wire rope, and its surface can be coated with a waterproof and wear-resistant coating to ensure it is not easily broken or damaged during long-term use. It also possesses a certain degree of flexibility for easy winding and storage. It is used to connect the electronic pod 100 and the lifting mechanism, ensuring the stable lifting and lowering of the electronic pod 100. A surface camera is an imaging device used to observe water surface conditions and the aquatic environment at a target location. It features a waterproof, sealed design, with the outer shell typically made of corrosion-resistant and impact-resistant engineering plastics (such as polycarbonate) or waterproof metal alloys (such as stainless steel). This effectively resists seawater erosion and minor impacts, preventing internal components from being damaged by water ingress or external force. The camera lens uses high-transmittance optical glass, and its surface is usually coated with an anti-reflection film and a waterproof and anti-fog coating to reduce light reflection loss and prevent fogging or water accumulation during shooting, which could affect image clarity. The camera integrates a high-definition image sensor (such as a CMOS sensor), an image processing module, and a data transmission module, supporting real-time capture of high-definition images or videos. It also features automatic exposure and white balance adjustment functions to adapt to different lighting conditions, enabling clear water surface images even in cloudy or bright light environments. Furthermore, surface cameras can be equipped with wide-angle lenses to expand the field of view, facilitating the coverage of a larger water surface area and accurately identifying water boundaries, surface debris, or special hydrological phenomena at the target location.The bottom of the drone body 210 typically features a dedicated mounting bracket or pedestal for installing an underwater camera. The bracket is made of a material compatible with the drone body 210, typically lightweight carbon fiber composite material or aluminum alloy. This ensures sufficient support strength without excessively increasing the overall weight of the drone, thus avoiding any impact on flight stability. The pedestal is designed with grooves or snap-fit ​​structures to fit the shape of the underwater camera. The underwater camera can be connected to the pedestal via bolts or quick-release snaps, facilitating camera disassembly, maintenance, or replacement. Positioning the underwater camera on the bottom of the drone body 210 allows the camera lens to face directly or diagonally downwards towards the water surface, preventing the drone body 210's structure from obstructing the lens's field of view. This ensures the camera can observe the water surface without obstruction. Furthermore, the bottom position allows the camera to be closer to the water surface, reducing the impact of airflow on imaging stability and improving the clarity and accuracy of the captured images.

[0041] It should be noted that, firstly, the drone begins flight under the control of the control system; secondly, upon reaching the target net cage aquaculture area, the surface camera activates, and the submersion unit 3 begins operation; next, remote control or path planning causes the drone to fly to the predetermined position and begin descent; then, after the submersion sensor in the submersion unit 3 detects the submersion signal, the underwater monitoring unit 4 and the suction unit 2 are activated; next, the coiling mechanism 220 begins operation and lowers the temperature sensor 51, measuring different water layers and uploading the data to the control system according to different preset descent distances; finally, the drone's control system senses... The center of gravity changes slowly, and the drone hovers automatically or remotely. Then, the underwater camera 42 and image sonar 43 in the underwater monitoring unit 4 perform edge calculations of the fish school status, and the relevant information is uploaded to the control system. Next, according to the preset time length, the sampling pump 24 in the suction unit 2 is turned off; the reel mechanism 220 is started in reverse to retrieve the water temperature profile monitoring unit 5 to the predetermined position. Then, according to the hovering time length, the suction unit 2, the immersion unit 3, and the underwater monitoring unit 4 are turned off. Finally, the drone flies to the aquaculture area of ​​the next target cage according to the path plan or remote control, and executes the above process until the task is completed.

[0042] This invention also proposes a process method for an electronic pod used in unmanned aerial vehicles (UAVs), applied to the electronic pod described above, wherein the electronic pod is connected to the UAV body, and the process method includes the following steps: The electronic pod is moved horizontally to the target location by the drone body; If the target position is detected in the vertical direction, the electronic pod is moved downward in the vertical direction; When an immersion signal is detected, seawater monitoring is performed to obtain monitoring data, water samples are taken to obtain water body data, and underwater seawater monitoring is performed to obtain fish data. Temperature measurements were performed on different water layers in the vertical direction of the target location to obtain water temperature data. The process involves repeatedly moving the electronic pod horizontally towards the target location via the UAV body, thereby moving the electronic pod above the next target location until the monitoring tasks for a preset number of target locations are completed.

[0043] In this embodiment, refer to Figure 4 This step includes S10-S50: Step S10: The UAV body moves the electronic pod horizontally towards the target location. It should be noted that the target location refers to a pre-defined specific area or point to be monitored, typically the water surface vertically above the location of the gravity-fed deep-sea cages within an aquaculture area. Moving the electronic pod horizontally towards the target location using the UAV involves utilizing the UAV's control system to fly horizontally in the air according to a pre-set path plan or remote control commands, until it reaches directly above the target location, i.e., above the water surface of the deep-sea cages. This is done because the UAV possesses high flexibility and maneuverability, enabling it to quickly and accurately reach the designated monitoring point in complex marine environments. This horizontal movement effectively avoids obstacles on the sea surface, reducing the risk of equipment damage during movement. Simultaneously, horizontal flight ensures the electronic pod remains stable upon reaching the target location, preparing it for subsequent vertical descent and monitoring tasks. This horizontal movement not only improves operational efficiency but also enhances system reliability and safety, ensuring the smooth execution of monitoring tasks. Understandably, a drone consists of the drone body, a control system, and a cable reeling mechanism. The electronic pod is located below the drone body and is operated by the control system to control the cable reeling mechanism, which in turn drives the electronic pod to move up and down.

[0044] Step S20: Upon detecting that the electronic pod is vertically aligned with the target location, it moves downwards along that vertical direction. It should be noted that the electronic pod is currently on the surface of the deep-sea cage. After the UAV flies directly above the target location, its control system precisely controls the electronic pod's downward movement vertically. Specifically, the UAV's control system determines whether the electronic pod is vertically aligned with the target location based on preset path and position information. Once confirmed, the control system sends a command to smoothly lower the electronic pod vertically. This ensures the electronic pod accurately enters the water and reaches the predetermined monitoring depth to begin its monitoring task. This vertical descent effectively avoids the electronic pod being affected by lateral currents or other obstacles during entry, reducing the risk of equipment damage and ensuring the accuracy and reliability of monitoring data. Furthermore, this precise vertical movement ensures the electronic pod can quickly and accurately reach the target location when rapidly switching between different monitoring points, improving the overall operational efficiency of the monitoring system. Understandably, when the drone body moves the electronic pod to the vertical direction of the deep-sea cage, the drone body is also equipped with a high-definition underwater camera. The high-definition underwater camera monitors the water surface status, allowing for aerial monitoring of the water surface activity during fish feeding and inspection of the safety of the gravity-type deep-sea cage's above-water structure.

[0045] Step S30: When a water immersion signal is detected, seawater monitoring is performed to obtain monitoring data, water samples are taken to obtain water body data, and underwater seawater monitoring is performed to obtain fish data. It should be noted that, firstly, when the water immersion unit detects a water immersion signal, it immediately feeds the signal back to the lower-level machine. This is because the water immersion unit can sense whether the electronic pod is submerged in water, and this signal feedback is a crucial step in triggering subsequent monitoring operations, ensuring the timely initiation of the monitoring process. Secondly, when the underwater monitoring unit receives the water immersion signal, it activates the multi-parameter water quality sensor, the underwater binocular camera, and the sampling pump. The purpose of this is to comprehensively activate the relevant equipment for seawater monitoring, water body sampling, and underwater fish status detection, thereby obtaining comprehensive monitoring data and providing rich information for subsequent analysis. The water quality sensor here is a multi-parameter sensor that can collect parameters such as turbidity, salinity, dissolved oxygen, chlorophyll a, pH value, and reduction potential in real time. This data will be transmitted to the shipboard industrial control computer for analysis and recording. The purpose of this is to quickly obtain the real-time water quality status of the aquaculture water, providing a scientific basis for aquaculture management. Its beneficial effect is that it can promptly detect water quality anomalies and take measures in advance to ensure the health of the aquaculture environment. Then, the underwater binocular camera and image sonar communicate with the edge computing module to perform edge computing on the fish school status. The relevant information is uploaded to the shipboard industrial control computer. This step is to monitor the size, behavior, and biomass of fish through acoustic-optical fusion technology, providing key data support for the intelligent feeding system, thereby achieving precise feeding and improving aquaculture efficiency and fish health. Next, the sampling pump will start, drawing water into the storage bottle through the inlet pipe and sampling pipe to complete the water sample collection. The purpose of this is to obtain actual water samples for more detailed laboratory analysis. Its beneficial effect is that it can more accurately detect microorganisms and pollutants in the water, further ensuring the quality of the aquaculture water. It should be noted that when the drone controls the electronic pod to fly towards different deep-sea cages, the number of water storage bottles remains consistent with the number of target deep-sea cages. Understandably, these monitoring devices are triggered to operate when the electronic pod's immersion sensors detect an immersion signal. Multi-parameter water quality sensors measure and record the water's chemical and physical parameters in real time, such as salinity, pH, and dissolved oxygen. Underwater binocular cameras and imaging sonar are used to observe and record the behavior and distribution of underwater organisms, as well as the size and biomass of fish schools. Current sensors provide data on water flow direction and speed, which is extremely useful for assessing the aquaculture environment and optimizing aquaculture strategies. All the data generated by these monitoring activities is collected and transmitted to the drone's control system, which then uploads it to a control center, such as a ground control station or an industrial control computer on an unmanned intelligent feeding vessel, for further analysis and processing. This monitoring data provides aquaculture managers with detailed information about the health of the aquaculture environment, helping them make more scientific aquaculture management decisions.

[0046] Step S40 involves measuring the temperature of different water layers vertically from the target location to obtain water temperature data. It's important to note that, firstly, the electronic pod is precisely positioned vertically above the target location using a drone. Accurate positioning ensures that subsequent temperature measurements are taken at the correct monitoring points, guaranteeing data accuracy and representativeness. Secondly, once the electronic pod reaches the designated position, the temperature sensor is slowly lowered vertically using a cable-laying mechanism on the bottom of the drone. By controlling the descent depth, the sensor can reach different water layers, allowing for precise measurement of temperature changes from the surface to deeper layers, providing data support for studying water temperature stratification. Then, the temperature sensor collects temperature data from each water layer in real time and uploads this data to the drone's control center via the drone's communication module. This process ensures timely transmission of the collected data to the control center for analysis and processing, guaranteeing data timeliness. Finally, after completing the water temperature measurement at one location, the drone retrieves the electronic pod and moves it to the next target location, repeating the above steps until the water temperature measurement at all preset locations is completed. This cyclical monitoring method can comprehensively cover the entire aquaculture area, providing more comprehensive and scientific water temperature data support for the formulation of aquaculture strategies, thereby optimizing the aquaculture environment and improving aquaculture efficiency. It is understood that the lowering depth of the electronic pod is generally around 6m-10m, meaning the target location is generally about 6-10m above the water surface. Multiple detection points are set along the vertical direction between the target location and the water surface; the number of detection points can be 20, 10, etc., and is not limited here. In one embodiment, the electronic pod performs temperature monitoring every 0.2m. In another embodiment, the electronic pod can also perform temperature monitoring every 0.5m.

[0047] It should be noted that after step S40 is completed, there is another step S40', where, upon detecting that the target position has been reached, temperature measurement is stopped, and the system moves upward along the vertical direction. It is understood that upon detecting that the electronic pod has reached the target position, the system first stops temperature measurement. This is because continuing temperature measurement after the electronic pod reaches the target position may lead to data duplication or inaccuracy; stopping measurement avoids resource waste and ensures data validity. Secondly, the system moves the electronic pod upward vertically. This operation is achieved by the UAV's control system controlling the reel mechanism, with the aim of recovering the electronic pod from the water into the air for further operations or return. This has two advantages: firstly, it protects the electronic pod and its sensors from damage caused by prolonged immersion in seawater, extending the equipment's lifespan; secondly, the recovered electronic pod can quickly respond to the next monitoring task or perform other operations, improving the overall system's operational efficiency and flexibility.

[0048] Step S50 involves repeatedly executing the step of horizontally moving the electronic pod towards the target location using the UAV body, moving the electronic pod above the next target location until the monitoring tasks for a preset number of target locations are completed. It should be noted that, firstly, the UAV, according to a preset path plan or remote control command, moves the electronic pod horizontally from the current completed monitoring location to directly above the next target cage. This is because the UAV has flexible flight capabilities and high positioning accuracy, enabling it to quickly and accurately reach the next monitoring point. This horizontal movement effectively avoids obstacles on the sea surface, reducing the risk of equipment damage, while improving operational efficiency and ensuring that the monitoring task can be started quickly. Then, when the electronic pod reaches directly above the next target location, the system determines whether it is in the correct position. Once confirmed, it moves the electronic pod vertically downwards, allowing it to enter the water and reach the predetermined monitoring depth. This process is precisely controlled by the UAV's control system to ensure the electronic pod accurately enters the water and reaches the predetermined monitoring depth, ensuring the accuracy and reliability of the monitoring data. Simultaneously, this vertical downward movement avoids unnecessary lateral impacts on the electronic pod during water entry, protecting the equipment's safety. Finally, after the electronic pod completes its monitoring task at the current target location, the drone will move it horizontally to the next target location, repeating the process until a preset number of target locations have been monitored. This cyclical operation mode enables comprehensive monitoring of multiple cage aquaculture areas, improving monitoring coverage and efficiency, and ensuring effective monitoring and assessment of the environment and fish status throughout the entire aquaculture area, thereby achieving cost reduction and efficiency improvement. It is understood that the preset number can be 10, 20, etc., and is not limited here; it can be set according to specific needs.

[0049] In one embodiment of the present invention, the step of measuring the temperature of different water layers in the vertical direction of the target location to obtain water temperature data includes: Temperature measurements are taken of different water layers in the vertical direction of the target location at preset intervals to obtain water temperature data for different water layers.

[0050] In this embodiment, combined with Figure 5 Step S50 includes S51: Step S51: Temperature measurements are performed on different water layers vertically to the target location at preset intervals to obtain water temperature data for each layer. It should be noted that, firstly, the temperature sensor's descent depth is controlled by a coil mechanism at preset intervals, enabling it to reach different water layers vertically to the target location. This ensures the temperature sensor can accurately measure water temperature at different depths, and the preset intervals can be adjusted according to actual needs to obtain more detailed water temperature distribution. These preset intervals include, but are not limited to, 0.2m, 0.5m, and 1m, and can be set as needed. Secondly, once the temperature sensor reaches the set depth, it begins measuring the temperature of that water layer and uploads the data to the drone's control center. This stratified measurement method provides more comprehensive water temperature data, helping to understand the temperature stratification of the water body, which is crucial for studying the thermodynamic properties of water and assessing the suitability of aquaculture environments. Finally, the sensor continues to descend at preset intervals until it reaches the target location; upon reaching the target location, the temperature sensor is retrieved. The temperature measurements of different water layers are repeated until all preset water layers have been measured. This cyclical measurement method ensures comprehensive monitoring of the temperature distribution throughout the water body, providing a more scientific basis for aquaculture strategy development. It also helps in the timely detection of abnormal water temperature changes, allowing for proactive measures to ensure a stable aquaculture environment. This process ensures the accuracy and reliability of temperature monitoring, providing crucial environmental parameter information for deep-sea cage aquaculture.

[0051] The above description is merely an exemplary embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformations made using the contents of the present invention's specification and drawings under the technical concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. An electronic pod for use in deep-sea cage aquaculture, the drone comprising a drone body and a cable reeling mechanism, the cable reeling mechanism being disposed on the bottom side of the drone body, characterized in that, The electronic pod includes: A pod body configured to connect to the cable reel mechanism; A collection unit is located above the pod body and is used to collect water samples from the deep-sea cage. A water temperature profile monitoring unit is located on one side of the pod body and is used to monitor the water temperature of the deep-sea cage. An underwater monitoring unit is located on the pod body and is used to monitor the underwater information of the deep-sea cage.

2. The electronic pod as described in claim 1, characterized in that, The extraction unit includes a water storage component, a water inlet pipe, and a sampling component. The water storage component and the sampling component are spaced apart above the pod body, and the water inlet pipe connects the water storage component and the sampling component.

3. The electronic pod as described in claim 2, characterized in that, The sampling assembly includes a sampling tube and a sampling pump. The sampling pump is located inside the pod body, and the sampling tube is located on the side of the pod body and connected to the sampling pump. The sampling pump is used to transport the collected water sample to the water storage container.

4. The electronic pod as described in claim 1, characterized in that, The underwater monitoring unit includes a water quality sensor, a current sensor, an underwater camera, and an image sonar. The water quality sensor is installed inside the pod body, the image sonar is located above the underwater camera, and the water quality sensor and the current sensor are flush.

5. The electronic pod as described in claim 1, characterized in that, The water temperature profile monitoring unit includes a temperature sensor, a connector, and a depth gauge. The connector is located on one side of the pod body, and the temperature sensor is located at one end of the connector. The connector can rise or fall relative to the pod body. The depth gauge is located on one side of the temperature sensor and is communicatively connected to the temperature sensor.

6. The electronic pod as described in any one of claims 1 to 5, characterized in that, The electronic pod also includes a water immersion unit, which is located below the pod body and at the end of the extraction unit away from the pod body. The water immersion unit is communicatively connected to the water temperature profile monitoring unit and the underwater monitoring unit, and is used to determine the actual water immersion status of the pod body.

7. The electronic pod as described in any one of claims 1 to 5, characterized in that, The pod body includes two connecting frames and a fixing frame. Each connecting frame is triangularly arranged and located on opposite sides of the fixing frame. The fixing frame includes an upper frame and a lower frame. A shell is provided between the upper frame and the two connecting frames. The electronic pod also includes an underwater monitoring unit and a water immersion unit. The water immersion unit is housed within the inner cavity of the shell. The lower frame forms two connecting parts. The water immersion unit passes through the shell and is housed in one of the connecting parts. The underwater monitoring unit is housed in the other connecting part.

8. A drone, characterized in that, The drone includes: The drone body, which contains a control system; The cable winding mechanism includes a lifting component and a cable. The cable is sleeved on the lifting component, which is located on the bottom side of the UAV body and is communicatively connected to the control system. The lifting component can drive the cable to rise or fall. An underwater camera is mounted on the underside of the UAV body and located between the cable winding mechanism and the UAV body. The electronic pod as described in any one of claims 1 to 7, wherein the electronic pod is connected to the cable, the electronic pod includes a water immersion unit, and the control system is communicatively connected to the water immersion unit.

9. A process method for an electronic pod for a drone, applied to an electronic pod as described in any one of claims 1 to 7, wherein the electronic pod is connected to the drone body, characterized in that, The process method includes the following steps: The electronic pod is moved horizontally to the target location by the drone body; If the target position is detected in the vertical direction, the electronic pod is moved downward in the vertical direction; When an immersion signal is detected, seawater monitoring is performed to obtain monitoring data, water samples are taken to obtain water body data, and underwater seawater monitoring is performed to obtain fish data. Temperature measurements were performed on different water layers in the vertical direction of the target location to obtain water temperature data. The process involves repeatedly moving the electronic pod horizontally towards the target location via the UAV body, thereby moving the electronic pod above the next target location until the monitoring tasks for a preset number of target locations are completed.

10. The process method for an unmanned aerial vehicle (UAV) electronic pod as described in claim 9, characterized in that, The step of measuring the temperature of different water layers in the vertical direction of the target location to obtain water temperature data includes: Temperature measurements are taken of different water layers in the vertical direction of the target location at preset intervals to obtain water temperature data for different water layers.

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