A hydrological monitoring system and method for air-water cooperation

Abstract

The application provides a hydrological monitoring system and method for water-air cooperative operation, comprising an unmanned ship, an unmanned aerial vehicle, a pulling mechanism and a control console; the unmanned aerial vehicle and the unmanned ship are drivingly connected through the pulling mechanism, the pulling mechanism is automatically carried or separated through control adjustment; the unmanned aerial vehicle, the unmanned ship, the pulling mechanism and the control console are in wireless communication transmission; the hydrological monitoring system and method can realize cooperative operation of the unmanned ship and the unmanned aerial vehicle, and can also realize single operation, can realize remote control transmission, improve work efficiency and safety, enhance flood impact resistance, realize water-air-land multi-element synchronous monitoring and other functions, meet various application scenarios and improve operation flexibility.

Description

A hydrological monitoring system and method for water-air collaborative operation Technical Field

[0001] This invention relates to the field of hydrological monitoring, and more specifically, to a hydrological monitoring system and method for coordinated water-air operations. Background Technology

[0002] Hydrological monitoring is a core foundation for water resource management, disaster prevention and mitigation, and ecological protection. Traditional monitoring relies on manual equipment deployment, which suffers from low efficiency, high risk, and limited coverage. With the development of unmanned technology, drones and unmanned vessels have become important tools for hydrological monitoring: drones, with their advantages of maneuverability and wide field of view, can quickly complete image acquisition and meteorological parameter measurement of large areas of water; unmanned vessels can get close to the water surface and accurately collect core hydrological parameters such as water temperature, pH value, flow velocity, and water depth. However, current combinations of drones and unmanned vessels mostly involve mounting drones on unmanned vessels and using drones to drive the unmanned vessels to fly, meeting only some monitoring needs. The application scenarios are limited, and the flexibility is poor, so improvements are needed.

[0003] Hydrological monitoring is a core foundation for water resource management, disaster prevention and mitigation, and ecological protection. Traditional hydrological monitoring relies on manual labor or single equipment or platforms. These unmanned platforms are limited to aerial or underwater operations and have many application limitations. For example, unmanned surface vessels (USVs) are affected by the water surface, and their communication and control range is generally around 1 km, which cannot meet the needs of long-distance or cross-sectional monitoring. Furthermore, USVs have limited water surface observation capabilities and are not easily detected by passing vessels, making them unable to quickly avoid obstacles in emergencies. Unmanned aerial vehicles (UAVs) face high risks when operating on water. Their propellers are easily damaged by water splashes when rotating at high speeds, and they cannot be directly integrated with underwater detection equipment, requiring supplementary equipment such as USVs. USVs need to be transported by a mother ship or manually carried to the work area, making it impossible to traverse complex terrain, resulting in low deployment efficiency and poor maneuverability. Manual carrying of USVs in slippery or dangerous situations on the shore carries the risk of falling into the water or being injured, and they cannot quickly respond to emergencies.

[0004] Of course, there are currently ways to combine the two, which are limited to installing drones on unmanned boats and using them as a whole, with the drones driving the unmanned boats to fly, in order to meet some monitoring needs; however, there are still problems with weak versatility, limited application scenarios, and poor flexibility, so improvements are needed. Summary of the Invention

[0005] In order to overcome the shortcomings of the existing technology, the technical problem to be solved by the present invention is to propose a hydrological monitoring system and method for water-air collaborative operation, which can realize the collaborative operation of unmanned vessels and drones, or each can operate independently. It can realize functions such as long-distance control and transmission, improve work efficiency and safety, enhance the ability to resist flood impact, and synchronous monitoring of multiple elements on land, water and air, meet various application scenarios and improve operational flexibility.

[0006] To achieve this objective, the present invention adopts the following technical solution:

[0007] This invention provides a hydrological monitoring system for water-air collaborative operation, including an unmanned vessel, an unmanned aerial vehicle (UAV), a traction mechanism, and a control console; the UAV and the UAV are connected by a traction mechanism, which is automatically mounted or detached through control and adjustment; and wireless communication is transmitted between the UAV, the UAV, the traction mechanism, and the control console.

[0008] In a preferred embodiment of the present invention, the pulling mechanism includes a winch and a docking device; the winch is mounted on the drone, and a clamping head assembly is installed at the end of the pulling rope on the winch; the docking device is mounted on the unmanned vessel for docking with and locking the clamping head assembly, and the locking device can be released from the clamping head assembly by adjustment.

[0009] In a preferred embodiment of the present invention, the traction head assembly includes a tension sensor for monitoring the tension of the traction rope; the traction rope integrates a power supply cable and a communication cable, and the tension sensor is electrically connected to the UAV via the traction rope.

[0010] In a preferred embodiment of the present invention, a relay station is mounted on the drone, and the relay station is communicatively connected to the unmanned vessel, the unmanned vessel and the control console.

[0011] In a preferred embodiment of the present invention, the control console is configured with at least the following operating modes: Power-assisted mode: controlling the UAV to provide additional navigation power and heading adjustment assistance to the unmanned vessel via a tow rope; Deployment and recovery mode: controlling the UAV to hoist the unmanned vessel from the monitoring section to the land or from the land to the monitoring section via a tow rope; Communication relay mode: controlling the UAV to climb to a predetermined altitude to relay the data from the unmanned vessel, enhancing the data transmission and operational control of various monitoring data of the unmanned vessel; Independent operation mode: controlling the towing mechanism to separate, enabling the UAV and the unmanned vessel to perform tasks independently.

[0012] This invention also provides a method for using a hydrological monitoring system for coordinated water-air operations, comprising the following steps:

[0013] S1, Task initialization: Create a task project and plan the global trajectory via the console;

[0014] S2, based on the initial environmental parameters, control the drone and the unmanned vessel to complete the docking through the traction mechanism, and release the traction rope to a preset length;

[0015] S3, depending on the drainage point, choose between ordinary transport or hoisting for drainage;

[0016] S4, based on the real-time environment, the control console can select the required working mode; start the hydrological monitoring operation, and display and record the parameters of each monitoring device in real time during the monitoring process;

[0017] S5, after the mission is completed, return to port; and choose to transport or hoist back to shore based on the actual return landing point;

[0018] S6, data playback check and download / save; equipment is dismantled and then shipped back.

[0019] The beneficial effects of this invention are as follows:

[0020] This invention provides a hydrological monitoring system and method for coordinated water-air operations, comprising an unmanned surface vessel (USV), a drone, a towing mechanism, and a control console. The USV and USV are connected via a towing mechanism, which can be automatically mounted or detached through control and adjustment. When the USV and USV are connected and coordinated via the towing mechanism, the USV can provide additional power and heading assistance to the USV, expanding the USV's operational range and survivability under harsh hydrological conditions. In this coordination, the USV can also be hoisted by the USV, enabling automatic deployment and retrieval of the USV, reducing dependence on the operating environment and manpower, improving operational efficiency, and reducing the safety hazards of manually towing the vessel into the water. This system is suitable for emergency monitoring and harsh environments. Furthermore, the towing mechanism can automatically detach, allowing the USV and USV to operate independently, further expanding the operational application range and increasing flexibility. It can also achieve emergency detachment, reducing damage and losses. Attached Figure Description

[0021] Figure 1 is a three-dimensional structural diagram of the cooperation between the UAV and the unmanned vessel provided in a specific embodiment of the present invention;

[0022] Figure 2 is a three-dimensional unfolding structure diagram of the central carrier and traction mechanism of the unmanned vessel provided in a specific embodiment of the present invention;

[0023] Figure 3 is a three-dimensional structural diagram of the central carrier of the unmanned vessel provided in a specific embodiment of the present invention;

[0024] Figure 4 is a cross-sectional view of the central carrier of the unmanned vessel provided in a specific embodiment of the present invention;

[0025] Figure 5 is a three-dimensional structural diagram of the card head assembly provided in a specific embodiment of the present invention;

[0026] Figure 6 is a three-dimensional structural diagram of the guide provided in a specific embodiment of the present invention.

[0027] In the picture:

[0028] 100. Unmanned boat; 110. First groove; 120. Second groove; 130. Slot; 140. Receiving cavity; 150. Slide; 160. Bayonet; 170. Third groove; 180. First perforation;

[0029] 200. Unmanned aerial vehicle (UAV); 300. Pulling mechanism; 310. Winch; 311. Pull rope; 400. Card head assembly; 410. Tension sensor; 420. Card head component; 421. Protruding post; 422. Ball head; 423. Magnetic block; 430. Pull head;

[0030] 500, guiding structure; 510, guiding element; 511, fourth groove; 520, first magnet block; 530, lead screw; 540, slide block; 550, motor; 600, locking structure. Detailed Implementation

[0031] The technical solution of the present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0032] As shown in Figure 1, a specific embodiment of the present invention discloses a hydrological monitoring system for water-air collaborative operation, including an unmanned vessel 100, an unmanned aerial vehicle (UAV) 200, a traction mechanism 300, and a control console; the UAV 200 and the unmanned vessel 100 are connected by the traction mechanism 300 through transmission, and the traction mechanism can be automatically mounted or detached through control and adjustment; wireless communication transmission is carried out between the UAV, the unmanned vessel, the traction mechanism, and the control console.

[0033] The aforementioned hydrological monitoring system for combined water and air operations, when the UAV and unmanned surface vessel (USV) are connected via a towing mechanism, allows the UAV to provide additional power assistance to the USV, expanding its operational range and survivability under harsh hydrological conditions. In this configuration, the UAV can also lift the USV, enabling automatic deployment and retrieval, reducing reliance on the working environment and manpower, improving operational efficiency, and minimizing the safety hazards of manually towing the USV into the water. This system is suitable for emergency monitoring and harsh environments. Furthermore, the towing mechanism can automatically detach, allowing the USV and UAV to operate independently, further expanding the operational scope and increasing flexibility. Emergency detachment is also possible, reducing damage and losses. It should be noted that the control console integrates the control modules and systems for both the USV and UAV, and includes a display screen. Such control structures are readily available on the market or custom-made and are common control devices; further details are omitted.

[0034] Further, as shown in Figure 2, the traction mechanism 300 includes a winch 310 and a docking device. The winch 310 is mounted on the UAV 200, and a clamping assembly 400 is installed at the end of the traction rope 311 on the winch 310. The docking device is mounted on the unmanned vessel and is used to dock the clamping assembly and lock it. The docking device can be adjusted to release the lock on the clamping assembly. The structure of the winch allows for the extension and retraction adjustment of the traction rope, which can better coordinate and meet different operational needs. For example, different hoisting lengths can be selected according to different shore points. In some narrow working environments, the flight altitude of the UAV can be increased to carry out the required signal transmission. In case of emergency avoidance, a certain length of traction rope can be released to achieve a buffering effect.

[0035] Furthermore, the chuck assembly includes a tension sensor for monitoring the tension of the tow rope. The tow rope integrates power and communication cables, and the tension sensor is electrically connected to the UAV via the tow rope. The tension sensor monitors the tension of the tow rope in real time, ensuring coordinated operation between the UAV and the unmanned surface vessel. Different pulling forces will produce different pulling effects, especially noticeable in assisted navigation speeds. When the chuck assembly is being mounted or unlocked, monitoring the tension can determine whether the tow rope is slack and whether the required mounting or unlocking conditions have been met.

[0036] It should be noted that the drone-mounted winch is an existing structural device. It can transmit electricity and electrical signals by adding conductive slip rings. It can be purchased on the market or customized according to the lifting load requirements. Details will not be elaborated here.

[0037] Further, as shown in Figure 5, the clamping head assembly 400 includes a tension sensor 410, a clamping head component 420, and a pull head 430. The clamping head component 420 and the pull head 430 are respectively installed at both ends of the tension sensor 410. The clamping head component is used to cooperate with the docking device. The free end of the pull rope 311 is tied and fixed to the pull head 430, so that the clamping head assembly and the pull rope are stably connected. The power supply cable and communication cable inside the pull rope pass through to the outside and are connected to the electrical connector. The electrical connector is connected to the tension sensor to realize power supply and signal transmission. The tension sensor can monitor the force on the pull rope in real time to enable better coordinated operation.

[0038] The locking head 420 includes a protrusion 421, the bottom end of which is fixedly connected to a ball head 422; as shown in Figures 2 to 6, the docking device includes a guiding structure 500 and a locking structure 600. A first groove 110 is provided in the center of the top surface of the central carrier of the unmanned vessel 100, and a second groove 120 is provided at the front end. A locking groove 130 is provided at the bottom center of the second groove 120, and a receiving cavity 140 is provided at the bottom of the locking groove 130. The end of the receiving cavity away from the bow extends to communicate with the first groove; a sliding groove 150 is provided on the wall surface of the second groove 120 away from the first groove 110. The end of the sliding groove 150 is a spherical concave surface adapted to the shape of the ball head 422, and the end of the locking groove away from the first groove extends to the end of the sliding groove; the top of the sliding groove 150 is provided with... The bayonet 160 has a width greater than the diameter of the protrusion but less than the diameter of the ball head. The bayonet 160 has a flared end away from the first groove, and the diameter of the flared end is less than the diameter of the ball head. The guide structure 500 is installed in the receiving cavity 140. The guide member 510 of the guide structure 500 slides along the slot 130. The first magnet block 520 is fixedly installed on the guide member 510. The bottom of the ball head 422 is fixedly embedded with a magnetic block 423. The outer wall of the magnetic block is adapted to the bottom outer wall of the ball head so that the ball head maintains a spherical outline. The top surface of the first magnet block is concave and is adapted to the bottom shape of the ball head. The magnetic block can be magnetically attracted to the first magnet block so that the card head in the relaxed and pulled state can move with the guide member. The card head moves along the slide and the bayonet to the end of the slide.

[0039] The outer wall of the carrier is provided with a third groove 170 on both sides of the end of the slide groove away from the second groove. The third groove 170 and the slide groove 150 are connected by a first through hole 180. The locking structure 600 is installed at the third groove 170. The locking tongue of the locking structure extends and retracts into and out of the slide groove through the first through hole to block and lock the ball head, so that the ball head rotates and is locked at the end of the slide groove.

[0040] Furthermore, the guiding structure 500 includes a guide 510, a motor 550, and a lead screw 530. The lead screw is rotatably mounted in the accommodating cavity via bearings. One end of the lead screw is connected to the output shaft of the motor via a coupling. The motor is fixedly mounted on the cavity wall of the accommodating cavity via bolts. A slide 540 is sleeved on the lead screw 530. The guide 510 is fixedly mounted on the slide 540 via screws. The shape of the guide 510 is adapted to the shape of the slot. The guide 510 slides along the slot 130. The motor drives the lead screw to rotate, thereby driving the slide and the guide 510 to move back and forth. This can move the locking head to the end of the slot or detach the locking head from the end, realizing the required loading and unloading actions. It should be noted that the motor needs to be waterproof and connected to the circuit system of the unmanned vessel to achieve power connection and control coordination.

[0041] Furthermore, the top surface of the guide 510 is provided with a fourth groove 511, which has an arc-shaped structure and is adapted to the top shape of the first magnet block 520; the bottom sides of the second groove 120 slope downward towards the slot 130, and the card head piece entering the second groove can move along the slope to the guide, and its bottom enters the fourth groove. The magnetic block will also magnetically connect to the first magnet block to achieve connection and cooperation, so that the card head piece can move with the guide;

[0042] The locking structure consists of two parts, symmetrically installed at the two third grooves. Each locking structure includes a support frame with two vertically arranged magnetic push rods mounted on it. A matching first through hole is provided on each third groove. The locking tongue of the magnetic push rod extends into the slide groove through the first through hole. The protruding locking tongue occupies space inside the slide groove, preventing the ball head at the end of the slide groove from disengaging, thus achieving an effective locking effect. It should be noted that, to ensure the buoyancy of the carrier, a hollow clamping cavity is provided inside. A second through hole communicating with the clamping cavity is provided on the third groove. Both the second and third grooves also have holes communicating with the clamping cavity for wiring. This is a conventional structural design and will not be elaborated upon further.

[0043] Furthermore, the drone is equipped with a repeater station, which communicates with the unmanned vessel, the unmanned vessel, and the control console. The repeater station can expand the signal transmission range and overcome the problem of limited signal transmission distance due to the influence of the water surface.

[0044] Furthermore, the console must be configured with at least the following operating modes:

[0045] Power-assisted mode: Controls the drone to provide additional propulsion and heading assistance to the unmanned vessel via a tow rope;

[0046] Deployment and recovery mode: The drone is controlled to lift the unmanned vessel from the monitoring section to the land or from the land to the monitoring section by means of a tow rope;

[0047] Communication relay mode: Control the UAV to climb to a predetermined altitude, relay the data of the unmanned vessel, and enhance the data transmission and operation control of various monitoring data of the unmanned vessel;

[0048] Independent operation mode: The control and pulling mechanism is separated, enabling the drone and unmanned vessel to perform tasks independently;

[0049] Additionally, the following are also provided:

[0050] The traction mechanism is mounted as follows: the winch is controlled to release the required length of traction rope, the drone is controlled to hover at a preset height, so that the chuck assembly can be loosely placed in the second groove, and the chuck assembly is moved inward to the required position by the guide structure;

[0051] Pulling mechanism detachment mode: Control the drone to hover at the corresponding height position, so that the chuck assembly is in a relaxed state, and the guide structure drives the chuck assembly to move outward to the required position, and then the drone takes the chuck assembly away from the unmanned vessel.

[0052] This invention also discloses a method for a hydrological monitoring system using a combined water and air operation, comprising the following steps:

[0053] S1, Task initialization: Create a task project and plan the global trajectory via the console;

[0054] S2, based on the initial environmental parameters, control the drone and the unmanned vessel to complete the docking through the traction mechanism, and release the traction rope to a preset length;

[0055] S3, depending on the drainage point, choose between ordinary transport or hoisting for drainage;

[0056] S4, based on the real-time environment, the control console can select the required working mode; start the hydrological monitoring operation, and display and record the parameters of each monitoring device in real time during the monitoring process;

[0057] S5, after the mission is completed, return to port; and choose to transport or hoist back to shore based on the actual return landing point;

[0058] S6, data playback check and download / save; equipment is dismantled and then shipped back.

[0059] It should be noted that when using drones to launch or return unmanned surface vessels (USVs) to shore, external tools are required for assistance. For example, during launch, a rope can be tied to the stern of the USV. When the drone lifts the USV to the launch point, it hovers, and the operator applies force to the stern of the USV by pulling the rope, causing the bottom of the USV to tilt in the direction of the pull. This is done in conjunction with the drone gradually lowering the USV, making it as tilted or level as possible to prepare it for launch. Preferably, a remote-controlled release device can be installed at the stern of the USV. A pull ring is fixed to the end of the rope and connected to the remote-controlled release device. After the USV is launched, the remote-controlled release device is used to unlock and release the rope, preventing interference with the normal operation of the USV.

[0060] When returning to shore, support structures for soft landing, such as inflatable airbags or movable support frames, can be set up on the shore to provide conditions for soft landing of the upright unmanned boat; or, the unmanned boat can be tilted or placed horizontally by pulling ropes in coordination with the drone, so that it can descend and land.

[0061] Furthermore, the drone is equipped with, but is not limited to, the following instruments: a high-definition or multispectral camera for identifying floating debris, pollution sources, dam seepage points, etc.; an integrated anemometer, temperature and humidity sensor, GNSS RTK satellite positioning system, and airborne lidar rangefinder to collect aerial environmental parameters to assist in collaborative control; and lighting, warning lights, and a loudspeaker for nighttime operations, providing illumination for unmanned vessels below and also issuing warnings to others.

[0062] The unmanned surface vessel (USV) carries, but is not limited to, the following instruments: a multi-parameter water quality meter for monitoring parameters such as pH, turbidity, and dissolved oxygen; an ADCP-current meter for real-time feedback of flow velocity, water depth, and other factors; and equipment such as echo sounders and sonar for collecting underwater hydrological and topographic data. It should be noted that the instruments carried by the drones and USVs mentioned above are all relatively common and can be purchased and used on the market, so they will not be elaborated on in detail.

[0063] This invention has been described through preferred embodiments. Those skilled in the art will understand that various changes or equivalent substitutions can be made to these features and embodiments without departing from the spirit and scope of the invention. This invention is not limited to the specific embodiments disclosed herein; other embodiments falling within the scope of the claims are also within the protection scope of this invention.

Claims

1. A hydrological monitoring system for coordinated water-air operations, characterized in that: The system includes an unmanned surface vessel (USV), a drone, a traction mechanism, and a control console. The USV and USV are connected via a traction mechanism, which can be automatically mounted or detached through control and adjustment. Wireless communication is maintained between the USV, USV, traction mechanism, and control console. The traction mechanism includes a winch and a docking device. The winch is mounted on the USV, and a locking assembly is installed at the end of the traction rope on the winch. The docking device is mounted on the USV and is used to dock and lock the locking assembly; the locking device can be adjusted to release the locking assembly. The locking assembly includes a tension sensor, a locking member, and a pull head, which are respectively mounted on... At both ends of the tension sensor, locking components are used to cooperate with the docking device; the free end of the pull rope is tied and fixed to the pull head; the locking component includes a protrusion, the bottom end of which is fixedly connected to a ball head; the docking device includes a guiding structure and a locking structure; a first groove is provided in the center of the top surface of the central carrier of the unmanned vessel, and a second groove is provided at the front end; a locking groove is provided at the bottom center of the second groove, and a receiving cavity is provided at the bottom of the locking groove; the end of the receiving cavity away from the bow extends to communicate with the first groove; a sliding groove is provided on the wall surface of the second groove away from the first groove, the end of the sliding groove is a spherical concave surface adapted to the shape of the ball head, and the locking groove is away from the first groove. The end extends to the end of the chute; the top of the chute is provided with a notch, the width of which is greater than the diameter of the protrusion but less than the diameter of the ball head; the end of the notch away from the first groove is provided with a flared opening, the diameter of which is less than the diameter of the ball head; a guide structure is installed in the receiving cavity, the guide of the guide structure slides along the notch, a first magnet is fixedly installed on the guide, and a magnetic block is fixedly embedded in the bottom of the ball head, the magnetic block can be magnetically attracted to the first magnet, so that the notch in the relaxed tension state moves with the guide, and the notch moves along the chute and the notch to the end of the chute; the outer wall of the carrier is provided with two sides corresponding to the end of the chute away from the second groove. The third groove is connected to the slide groove through the first through hole. The locking structure is installed in the third groove. The locking tongue of the locking structure extends and retracts into and out of the slide groove through the first through hole to block and lock the ball head, so that the ball head rotates and is locked at the end of the slide groove. The guiding structure includes a guide, a motor, and a lead screw. The lead screw is rotatably installed in the accommodating cavity through a bearing. One end of the lead screw is connected to the output shaft of the motor through a coupling. The motor is fixedly installed on the cavity wall of the accommodating cavity by bolts. A slide is sleeved on the lead screw. The guide is fixedly installed on the slide by screws. The shape of the guide is adapted to the shape of the slot. The guide slides along the slot.

2. The hydrological monitoring system for water-air collaborative operation according to claim 1, characterized in that: The tension sensor is used to monitor the tension of the traction rope; the traction rope integrates power supply cables and communication cables, and the tension sensor is electrically connected to the drone via the traction rope.

3. The hydrological monitoring system for water-air collaborative operation according to claim 2, characterized in that: The drone is equipped with a relay station, which communicates with the unmanned ship, the unmanned ship and the control console.

4. A hydrological monitoring system for coordinated water-air operations according to claim 3, characterized in that: The control console is configured with at least the following operating modes: Power-assisted mode: controls the UAV to provide additional navigation power and heading adjustment assistance to the unmanned surface vessel via a tow rope; Deployment and recovery mode: controls the UAV to hoist the unmanned surface vessel from the monitoring section to the land or from the land to the monitoring section via a tow rope; Communication relay mode: controls the UAV to climb to a predetermined altitude to relay the data from the unmanned surface vessel, enhancing the data transmission and operational control of various monitoring data of the unmanned surface vessel; Independent operation mode: controls the towing mechanism to separate, allowing the UAV and the unmanned surface vessel to perform tasks independently.

5. A method for using a water-air collaborative hydrological monitoring system as described in any one of claims 1-4, characterized in that: Includes the following steps: S1. Task initialization: Create a task project and plan the global trajectory via the console. S2. Based on initial environmental parameters, control the UAV and unmanned surface vessel to dock via a towing mechanism, releasing the towing rope to a preset length. S3. Select either normal transport or hoisting launch based on the launch point. S4. Adjust the required working mode via the console based on the real-time environment; begin hydrological monitoring operations, displaying and recording parameters of each monitoring device in real time. S5. After mission completion, return to shore; select either transport or hoisting back to shore based on the actual return landing point. S6. Data playback, check, download, and save; dismantle and transport the equipment back.

Images