A bionic dragonfly water area detection aircraft and a point water sampling electrochemical detection method thereof

Abstract

The application discloses a bionic dragonfly water area detection aircraft and a water sampling electrochemical detection method thereof, and belongs to the technical fields of bionic machines and sampling and detection, and comprises a body, a four-wing flapping mechanism, a tail water sampling mechanism, an on-board micro-electrochemical workstation rapid detection device and an instantaneous take-off, emergency stop and hovering water sampling integrated control device. The four wings are flexible composite wings with adjustable phase; the sampling mechanism collects trace water samples in a tail water sampling mode through a tail needle type sampling tube, and sends the water samples to a micro-fluidic chip through a one-way flow path to detect pH, dissolved oxygen, conductivity, nitrite / ammonium ions and heavy metals. Elastic energy storage members are preloaded and released, and super capacitors provide instantaneous high power, which cooperates with a gravity center sliding block and a tail spoiler to realize take-off, emergency stop, hovering and short-time water sampling actions. The application integrates low-disturbance flapping flight, water sampling, electrochemical detection and real-time data return, and is suitable for emergency inspection and ecological monitoring in complex water areas such as shallow water and wetlands.

Description

Technical Field

[0001] This invention belongs to the field of biomimetic machinery and sampling and detection technology, and more specifically relates to a biomimetic dragonfly water area detection aircraft and its electrochemical detection method for water sampling. Background Technology

[0002] Miniature flapping-wing aircraft generate lift, thrust, and attitude control torque simultaneously under low Reynolds number conditions through flexible wings, making them suitable for close-range inspections in narrow waterways, wetlands, riverbanks, mine subsidence areas, disaster-prone waterlogged areas, and shallow water areas difficult for humans to access. Compared to fixed-wing and rotor platforms, insect-inspired flapping-wing platforms have the potential for low-wash, small size, and rich maneuverability in low-speed, near-water-surface, and complex boundary environments. However, their engineering is limited by size, weight, power, load, fluid-structure interaction, drive efficiency, and micro-sensing and communication capabilities.

[0003] Dragonflies possess a four-winged structure with independent components. The 204 phase of the fore and hind wings, wing surface flexibility, wing vein stiffness gradient, wingtip stigma structure, and tail attitude adjustment can all affect hovering, low-speed maneuvering, emergency stops, and directional control. Existing dragonfly-inspired or micro-flapping wing solutions mainly focus on the flapping mechanism, airfoil, phase difference, or attitude control itself. While these solutions demonstrate that four-wing flapping and flexible wings contribute to aerodynamic efficiency or maneuverability, they still lack an engineered structural chain for water-based detection scenarios. In other words, they fail to integrate instantaneous takeoff, emergency stops, hovering, tail splashing, micro-sampling, microstructure electrochemical detection, real-time data transmission, image stabilization, live image streaming, and quiet, low-disturbance flight into a single product structure.

[0004] Existing multi-rotor UAV environmental monitoring solutions can carry water quality sensors or samplers, but the rotor downwash can easily disturb the water surface and sampling area. Platform noise, size, and close-range safety at the water surface also limit their application in close-range sampling at shallow water boundaries, vegetation-covered water surfaces, or disaster sites. Especially in micro-sampling of water surfaces, traditional UAVs often rely on long sampling tubes, pods, or landing water-collecting structures, making it difficult to simulate the short-duration, low-disturbance, micro-contact sampling action of a dragonfly dipping its tail in water.

[0005] In the field of electrochemical water quality detection, microfluidic chips, screen-printed electrodes, multi-electrode arrays, and small potentiostats have enabled rapid detection of multiple indicators with low sample volume. However, existing portable electrochemical water quality analyzers are usually used as standalone handheld devices, shipborne devices, or ground devices. They lack sufficient coupling with dragonfly flapping-wing-inspired aircraft in terms of payload, power supply, water vapor resistance, pollution prevention, water-touch attitude control, and quiet, low-disturbance flight. As a result, integrated products that can "fly to the water surface, lightly touch to collect samples, conduct in-situ detection, and transmit data back in a timely manner" are still immature.

[0006] While existing technologies include individual or partial technologies such as dragonfly flapping wing mechanisms, flexible wings, micro flight control, environmental samplers, water quality monitoring for multi-rotor UAVs, electrochemical sensor chips, and microfluidic detection, they have not yet formed the following exclusive combination: taking a four-wing phase-adjustable dragonfly flapping wing platform as the main body, using manufacturable shape and size, modular connection, and silent structure as the productization basis, using elastic energy storage and release, center of gravity slider, and tail spoiler as the core of instantaneous takeoff / emergency stop / hovering / water splashing action control, using tail needle-type micro-water splashing sampling and airborne electrochemical microstructure multi-index detection as mission payloads, and integrating real-time data transmission, image stabilization, live image streaming, edge discrimination, and detection alarms into the same lightweight airframe.

[0007] Therefore, there is a need for a biomimetic dragonfly-inspired water area detection drone that is feasible, scientific, easily moldable, and commercially viable for authorized water area patrols, emergency water pollution screening, wetland ecological monitoring, and disaster water accumulation investigation. Summary of the Invention

[0008] Given that existing biomimetic flapping-wing aircraft focus primarily on flight mechanisms while lacking water sampling and online detection capabilities, and that existing UAV water detection platforms rely heavily on rotors or large payloads, making it difficult to achieve low-disturbance water sampling, this invention provides a biomimetic dragonfly-inspired water detection aircraft and its water sampling electrochemical detection method. Under limited size, weight, and power conditions, the aircraft combines silent, low-disturbance flight, instantaneous takeoff, emergency stop, hovering, dragonfly-style micro-water sampling, rapid detection via an airborne micro-electrochemical workstation, real-time data transmission, image stabilization, live image streaming, and the ability to perform preliminary screening of more than five water pollution indicators.

[0009] To achieve the above objectives, the present invention adopts the following technical solution: A biomimetic dragonfly-inspired water area detection drone includes: The body is slender and dragonfly-like, with an oval head chamber, a thorax support chamber, and a slender tail chamber arranged from front to back. The four-wing flapping mechanism is installed on the chest support chamber and includes four wings: left front wing, right front wing, left rear wing, and right rear wing, as well as wing root drive and connection structures for driving the four wings. The four wings are flexible composite wings. A sampling mechanism, located within the elongated tail section, is used to collect water samples via a tail-point water collection method. It includes a tail needle-type sampling tube and a unidirectional flow path for introducing the water sample. One end of the tail needle-type sampling tube passes through the elongated tail section, while the other end extends outwards and has a hydrophilic inlet at the end. The unidirectional flow path, located within the elongated tail section, passes through the tail needle-type sampling tube and connects to the hydrophilic inlet at one end. An airborne micro-electrochemical workstation rapid detection device is installed in the airborne micro-electrochemical rapid detection chamber of the chest bearing chamber and is connected to the unidirectional flow path of the sampling mechanism for detecting multiple electrochemical indicators of the collected water samples. The instantaneous takeoff, emergency stop, hovering, and water-splashing integrated control device includes a supercapacitor and peak power release module, a center of gravity slider, a tail spoiler, an elastic energy storage component, a controllable release latch, and a flight and water-splashing action control unit. The elastic energy storage component is preloaded and locked by the controllable release latch. It is released during takeoff and works with the supercapacitor to provide instantaneous high power. The center of gravity slider and tail spoiler work together during water splashing to assist the aircraft's movement. The flight and water-splashing action control unit is electrically connected to the wing root drive and connection structure, the center of gravity slider drive assembly, the tail spoiler drive assembly, the preload execution assembly, and the controllable release latch. It is used to control the flapping of the four wings and adjust the phase simultaneously to achieve takeoff, emergency stop, hovering, and water-splashing actions. And a rechargeable energy management component, which is located in the energy storage compartment of the chest support chamber.

[0010] Furthermore, the flexible composite wing includes a wing root connector, a wing-like vein skeleton, a wing membrane, a transverse secondary beam, a wingtip wing-like stigma counterweight energy storage unit, and a wing edge compliant covering layer. The wing membrane is stacked from top to bottom with a hydrophobic and stain-resistant protective layer, a flexible solar thin film layer, a PVDF piezoelectric strain / energy harvesting layer, a wing membrane layer, and a carbon fiber / aramid fiber reinforcement layer. One end of the wing root connector is connected to the wing root drive and connection structure, and the other end is connected to multiple sets of wing-like vein skeletons. Transverse secondary beams connect the multiple sets of wing-like vein skeletons. The wing edge compliant covering layer covers the outer edge of the wing membrane. The wingtip wing-like stigma counterweight energy storage unit is fixed to the wingtip end of the wing-like vein skeleton to adjust the wing surface inertia, passive torsion, and flutter resistance characteristics.

[0011] Furthermore, the wing root drive and connection structure of the quad-wing flapping mechanism includes a front wing root transmission assembly, a rear wing root transmission assembly, a left driver, a right driver, a left front wing phase adjustment unit, and a right front wing phase adjustment unit. The front wing root transmission assembly and the rear wing root transmission assembly are used to drive the wing root connection parts of the four wings to rotate relative to the chest support chamber to form a wing flapping action. The front and rear ends of the left and right drivers are respectively connected to the front and rear ends of the front wing root transmission assembly and the rear wing root transmission assembly. The left and right drivers are symmetrically arranged, and the phase of the front wing relative to the rear wing is changed through the left and right front wing phase adjustment units to achieve in-phase, out-of-phase, and asymmetrical phase switching.

[0012] Furthermore, the elastic energy storage component includes a left elastic energy storage component and a right elastic energy storage component symmetrically arranged on the left and right sides of the chest load-bearing compartment. Its fixed end is connected to the chest load-bearing compartment body, and its movable end is connected to the preloaded crossbeam and the wing root drive and connection structure. The controllable release lock locks the preloaded crossbeam and releases the lock at the moment of takeoff, so that the elastic energy storage component releases mechanical energy to drive the wing root rocker arm to generate the initial flapping motion. The center of gravity slider is used to move along the longitudinal direction of the fuselage to change the pitch balance.

[0013] Furthermore, the sampling mechanism also includes a retractable tail needle sleeve and a flexible buffer section; the tail needle sampling tube is connected to the retractable tail needle sleeve through the flexible buffer section; the unidirectional flow path includes a capillary microtube, a one-way valve, a segmented liquid storage chamber, and a micro pump valve arranged sequentially; one end of the capillary microtube passes through the tail needle sampling tube and the flexible buffer section and extends into the retractable tail needle sleeve, and the other end is connected to the hydrophilic inlet; the micro pump valve is connected to the microfluidic main channel of the rapid detection device of the airborne micro-electrochemical workstation through a pipeline; the sampling mechanism also includes a sampling control unit, which is electrically connected to the micro pump valve and a sleeve drive assembly for driving the retractable tail needle sleeve.

[0014] Furthermore, an integrated circuit board is installed on the central vibration isolation layer inside the chest support chamber. The integrated circuit board is electrically connected to the flight and water-spraying action control unit and the sampling control unit.

[0015] Furthermore, the airborne microelectrochemical workstation rapid detection device includes a chip substrate, a microfluidic main channel, a drain / waste liquid chamber, and pH / ORP electrode units, dissolved oxygen electrode units, conductivity electrode units, nitrite / ammonium ion electrode units, and heavy metal electrode units arranged sequentially along the flow direction of the microfluidic main channel. The chip substrate is inserted into a quick-change electrode holder located at the upper end of the airborne microelectrochemical rapid detection chamber. The microfluidic main channel is located on the upper surface of the chip substrate and is sealed by a transparent cover, with one end connected to the unidirectional flow path of the sampling mechanism and the other end connected to the drain / waste liquid chamber. It also includes a potentiostat, a multiplexer, and a temperature compensation and calibration unit. Each electrode unit is sequentially electrically connected to the temperature compensation and calibration unit, the potentiostat, the multiplexer, and the data fusion and contamination discrimination unit.

[0016] Furthermore, it also includes a real-time data transmission, image stabilization, and live image streaming module; the real-time data transmission, image stabilization, and live image streaming module includes a miniature camera installed in the head elliptical cabin, a vision / optical flow sensing unit, a wing strain / flapping phase acquisition unit, an attitude estimation and stabilization unit, a real-time transmission and live streaming encoding unit, a low-latency image encoder, a live streaming cache unit, a dual-link switch, an authorized access and encryption unit, an image stabilization synchronization trigger unit, and a bitrate / frame rate adaptive control unit, as well as a live streaming display and archiving unit set on the ground end or relay end, or a remote monitoring terminal; the miniature camera, vision / optical flow sensing unit, and wing strain / flapping phase acquisition unit are respectively connected to the attitude estimation and stabilization unit and the image stabilization synchronization trigger unit via FPC flexible flat cables or shielded micro-wires, and the attitude estimation and... The image stabilization unit's image output is connected to the low-latency image encoder, and the low-latency image encoder's bitstream output is connected to the live streaming buffer unit and the dual-link switch. The bitrate / frame rate adaptive control unit is connected to the low-latency image encoder, the live streaming buffer unit, and the dual-link switch, respectively. The dual-link switch communicates with the ground end or relay end via the authorized access and encryption unit and the communication antenna. The detection data priority backhaul channel, the keyframe backhaul channel, and the real-time video live streaming channel are three types of logical communication channels established by the real-time backhaul and live streaming encoding unit and multiplexed by the dual-link switch. When bandwidth, power, or signal quality is insufficient, the bitrate / frame rate adaptive control unit reduces the frame rate, bitrate, or resolution of the real-time video live streaming channel and allocates bandwidth in the order of the detection data priority backhaul channel, the keyframe backhaul channel, and the real-time video live streaming channel.

[0017] An electrochemical detection method for spot water sampling using the aforementioned biomimetic dragonfly-inspired water area detection drone includes the following steps: S1: Initialize and calibrate wing strain, inertial, optical flow, camera, and electrochemical sensors; select cruise, hover, perch, or snorkeling mode based on water surface distance and wind disturbance; S2: Above the target water area, the front wing phase adjustment unit, rear wing phase adjustment unit, center of gravity slider and tail spoiler are jointly controlled to make the end of the tail needle sampling tube of the sampling mechanism contact the water surface to be tested for the collection of trace water samples. S3: The collected water sample is introduced into the onboard micro-electrochemical workstation rapid detection device through a one-way flow path to perform preliminary screening tests on the water sample for more than five items, including pH, dissolved oxygen, conductivity, nitrite / ammonium ions and heavy metal ions. S4: The detection results, sampling location, timestamp, and image stabilized images are transmitted back to the ground or relay terminal in real time through the real-time data transmission, image stabilization, and live image broadcasting modules. S5: After completing the inspection, execute the return flight or proceed to the next location inspection.

[0018] The beneficial effects of this invention are as follows: This system integrates dragonfly-inspired four-wing flapping flight, instantaneous takeoff and emergency stop hovering water sampling control, tail-mounted water sampling, and airborne micro-electrochemical rapid multi-index detection into one unit. It solves the problems of existing biomimetic flapping-wing platforms lacking water sampling and online detection capabilities, as well as multi-rotor platforms having large downwash flows and difficulty in achieving low-disturbance water sampling. It truly achieves a seamless connection of "flying to the water surface - lightly touching the sample - in-situ detection - timely data transmission".

[0019] By combining a four-wing phase-adjustable flapping wing mechanism, elastic energy storage pre-load release, and instantaneous high-power drive from a supercapacitor, along with a center-of-gravity slider and a tail spoiler, the aircraft is equipped with the ability to take off instantly, stop suddenly, hover, and perform precise short-term water-touch maneuvers. The water-touch contact time can be controlled within 0.05s to 1.5s, significantly reducing disturbance to the water surface. It is particularly suitable for complex environments such as shallow water, vegetated water areas, and disaster-prone waterlogged areas.

[0020] The flexible composite wing integrates a wing-like vein skeleton, a hydrophobic and fouling-resistant protective layer, a flexible solar film, a PVDF piezoelectric strain / energy harvesting layer, and a wingtip wing-like vein counterweight energy storage unit. It not only improves the aerodynamic efficiency of flapping wings and passive torsional flutter resistance, but also harvests light and vibration energy during flight, extending the flight range. At the same time, it forms a multi-level vibration isolation and noise reduction chain from the wing surface to the fuselage, achieving quiet and low-disturbance flight.

[0021] The tail needle-type sampling tube, combined with a flexible buffer section, hydrophilic inlet, and unidirectional flow path, completes the collection of trace water samples (20μL~500μL) in a dragonfly-dipping manner at the tail. The small single sampling volume avoids the risk of sudden weight changes and immersion caused by large water collection, and reduces the contact time with the water surface and the mass of additional water droplets. The flexible buffer effectively isolates the impact of water droplets, and the sampling tube is retractable for protection. The structure is simple and reliable.

[0022] The airborne microelectrochemical workstation rapid detection device adopts a replaceable chip substrate and a microfluidic main channel, integrating multiple electrode units such as pH / ORP, dissolved oxygen, conductivity, nitrite / ammonium ions, and heavy metals. It can quickly screen more than five water quality indicators in trace water samples, with short detection time. With the help of temperature compensation and calibration units, the data is accurate, and the electrode chips can be quickly replaced, making maintenance convenient.

[0023] The real-time data transmission, image stabilization, and live video streaming modules utilize flapping wing phase synchronization triggering, multi-sensor fusion image stabilization, and adaptive bitrate control to output stable images and live videos even under flapping wing vibration conditions. They also employ a communication strategy that prioritizes the transmission of detection data, followed by key frames, and then adaptively transmits the video stream. This ensures that critical information about water pollution is not lost when bandwidth or power is limited, and authorized access and encryption guarantee data security.

[0024] The entire unit adopts a modular, slender, dragonfly-like structure with an elliptical head compartment, a thoracic load-bearing compartment, and a slender tail compartment. The internal functional compartments and quick-change interfaces are designed to facilitate manufacturing, assembly, and maintenance. It takes into account lightweight, waterproof sealing, and flexible configuration of mission load. The basic and enhanced configurations can meet different application needs from routine inspections to remote real-time analysis.

[0025] The point sampling electrochemical detection method has a clear process and a high degree of automation. It can autonomously complete sensor calibration, mode selection, hovering point sampling, multi-index in-situ detection, and real-time data and stable image transmission. It can also identify pollution and issue anomaly alarms based on the detection results, which greatly improves the efficiency and intelligence level of water emergency monitoring and daily inspection. Attached Figure Description

[0026] 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 embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0027] Figure 1 This is a schematic diagram of the overall structure of the aircraft of the present invention.

[0028] Figure 2 This is a schematic diagram of the flexible composite wing of the present invention.

[0029] Figure 3 This is a schematic diagram of the layered structure of the wing membrane of the present invention.

[0030] Figure 4 This is a schematic diagram of the front internal structure of the chest support chamber of the present invention.

[0031] Figure 5 This is a schematic diagram of the left-side internal structure of the chest support chamber of the present invention.

[0032] Figure 6 This is a top view of the chest support chamber of the present invention.

[0033] Figure 7 This is a schematic diagram of the sampling mechanism of the present invention.

[0034] Figure 8 This is a schematic diagram of the sampling flow path of the present invention.

[0035] Figure 9 This is a schematic diagram of the structure of the airborne micro-electrochemical workstation rapid detection device of the present invention.

[0036] Figure 10 This is a diagram showing the transmission path of water sample detection data according to the present invention.

[0037] Figure 11 This is a flowchart of the detection method of the present invention.

[0038] In the figure: 1-Airframe; 2-Left forewing; 3-Right forewing; 4-Left rear wing; 5-Right rear wing; 6-Real-time data transmission, image stabilization, and live image streaming module; 7-Edge control compartment; 8-Sampling mechanism; 9-Left landing / charging foot; 10-Right landing / charging foot; 11-Communication antenna; 12-Tail stabilizing shell; 13-Forewing root drive assembly; 14-Rear wing root drive assembly; 15-Airborne micro-electrochemical rapid detection compartment; 16-Energy storage compartment; 17-Left forewing phase 18-Right front wing phase adjustment unit; 19-Left actuator; 20-Right actuator; 21-Supercapacitor and peak power release module; 22-Center of gravity slider; 23-Tail spoiler; 24-Left elastic energy storage component; 25-Right elastic energy storage component; 26-Integrated circuit board; 27-Wing root connection; 28-Wing-like vein skeleton; 29-Hydrophobic and stain-resistant protective layer; 30-Flexible solar thin film layer; 31-PVDF piezoelectric strain / energy harvesting layer; 32- 33-Wing membrane layer; 34-Reinforcement layer; 35-Transverse secondary spars; 36-Wingtip wing-like stigma counterweight energy storage unit; 37-Wing rim flexible cladding layer; 38-Tail shell; 39-Retractable tail needle sleeve; 40-Flexible buffer section; 41-Tail needle sampling tube; 42-Liquid surface to be measured; 43-Capillary tube; 44-Segmented liquid storage chamber; 45-Micro pump valve; 46-One-way valve; 47-Hydrophilic inlet; 48-Chip substrate; 49-pH / ORP electrode unit; 40-Dissolved oxygen Electrode unit; 50-Conductivity electrode unit; 51-Nitrite / ammonium ion electrode unit; 52-Heavy metal electrode unit; 53-Microfluidic main channel; 54-Potentialometer; 55-Multi-channel selector switch; 56-Temperature compensation and calibration unit; 57-Drainage / waste liquid chamber; 58-Quick-change electrode holder; 59-Flight and water dispensing action control unit; 60-Sampling control unit; 61-Data fusion and contamination discrimination unit; 62-Rectification, voltage regulation and energy management unit. Detailed Implementation

[0039] 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 some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0040] Please see the appendix Figure 1-11This invention provides a biomimetic dragonfly-inspired water area detection aircraft. The aircraft is available in two types: a basic type and an enhanced type. The enhanced type adds a real-time data transmission, image stabilization, and live image streaming module to the basic type. Without changing the slender body and four-wing overall configuration of the dragonfly, only the head sensing cabin, the thorax edge control cabin, the communication antenna installation area, the energy storage cabin, and the payload cabin are partially enlarged.

[0041] The real-time data transmission, image stabilization, and live image streaming module 6 is used to output stable images, live video streams, detection data, and alarm information in real time during sampling, detection, and patrol processes.

[0042] The basic aircraft includes a fuselage 1, a four-wing flapping mechanism, an integrated control device for instant takeoff, emergency stop, hovering, and water spraying, a sampling mechanism, an airborne micro-electrochemical workstation for rapid detection, real-time data transmission, and a rechargeable energy management component.

[0043] The body 1 has a dragonfly-like structure with an elliptical head, a thickened thorax, and a slender tail. From front to back, it is arranged with an elliptical head chamber, a thorax support chamber, and a slender tail chamber. The thorax support chamber is equipped with a four-wing flapping mechanism for mounting four wings: a left front wing 2, a right front wing 3, a left rear wing 4, and a right rear wing 5. The thorax support chamber is equipped with a detachable airborne micro-electrochemical rapid detection chamber 15, an energy storage chamber 16, and a payload chamber. Edge control chambers 7 are arranged on both sides. A tail stabilizing shell 12 is arranged at the rear end of the thorax support chamber. A sampling mechanism 8 is installed in the slender tail chamber for dragonfly-like water sampling.

[0044] The airborne microelectrochemical workstation rapid detection device is installed inside the airborne microelectrochemical rapid detection cabin 15. The sampling mechanism is connected to the microfluidic main channel 53 of the airborne microelectrochemical workstation rapid detection device to complete water sample collection and online detection when the aircraft hovers, pauses briefly, or dips into the water at the tail.

[0045] The overall lightweight design of the body 1 preferably uses a carbon fiber composite skeleton and an outer shell made of nylon 12, polycarbonate, PEEK, PPS, magnesium-aluminum alloy thin parts or lightweight 3D printing resin.

[0046] The head elliptical compartment, chest support compartment, and tail elongated compartment are connected to each other using modular interfaces. They can be positioned using tenons and mortises, M1.0 to M2.0 micro screws, clips, or combinations thereof, with epoxy adhesive or O-rings for easy manufacturing, assembly, maintenance, replacement, and waterproof sealing.

[0047] The four-wing flapping mechanism includes four wings: a left front wing 2, a right front wing 3, a left rear wing 4, and a right rear wing 5, as well as wing root drive and connection structures for connecting and driving the four wings.

[0048] The left front wing 2, right front wing 3, left rear wing 4, and right rear wing 5 are all configured as flexible composite wings, adopting a triangular fan shape, long elliptical fan shape, or dragonfly wing vein fan shape structure with a wide root and gradually narrowing wing tip.

[0049] The flexible composite wing includes a wing root connector 27, a wing vein-like skeleton 28, a wing membrane, a transverse secondary beam 34, a wingtip wing vein-like counterweight energy storage unit 35, and a wing edge flexible covering layer 36.

[0050] The wing membrane is sequentially arranged from the windward upper surface to the leeward lower surface of the flexible composite wing, consisting of a hydrophobic and stain-resistant protective layer 29, a flexible solar thin film layer 30, a PVDF piezoelectric strain / energy harvesting layer 31, a wing membrane layer of polyimide or polyester 32, and a reinforcing layer of carbon fiber / aramid fiber 33. The layers of the wing membrane are stacked by means of hot-pressing adhesive film, epoxy structural adhesive, micro rivets or clamping pressure plates to avoid interlayer delamination when the flapping wing is bent and twisted.

[0051] A hydrophobic and stain-resistant protective layer 29 covers the light-receiving surface of the flexible solar thin film layer 30 and leaves an insulating encapsulation boundary in the electrode lead-out area. A PVDF piezoelectric strain / energy harvesting layer 31 is locally laid in the high strain area of ​​the wing root and the main beam. A carbon fiber / aramid fiber reinforcement layer 33 is locally set according to the wing vein pattern.

[0052] The wing root connection 27 is located near the fuselage end of the flexible composite wing, with one end connected to the wing root drive and connection structure and the other end connected to multiple sets of wing-like vein skeletons 28. The wing-like vein skeletons 28 serve as main beams and are arranged along the wingspan direction on the lower surface of the wing membrane layer 32 or embedded between the wing membrane layer 32 and the carbon fiber / aramid fiber reinforcement layer 33. Transverse secondary beams 34 are connected between the multiple sets of wing-like vein skeletons 28 and extend along the wing chord direction. They are bonded to the wing membrane layer 32 by hot-pressing adhesive film or applying adhesive, thereby forming a main beam-secondary beam-wing membrane load transfer network similar to the veins of a dragonfly's wings.

[0053] The wing-edge compliant covering layer 36 covers the outer edge of the wing membrane and is heat-pressed or adhesively bonded to the wing membrane to reduce flapping tangential pulsation noise.

[0054] The wingtip-like wing vein counterweight energy storage unit 35 is fixedly installed at the wingtip end of the wing vein skeleton 28 to adjust the wing surface inertia, passive torsion and anti-flutter characteristics.

[0055] The wingtip wing-like fin-like weight energy storage unit 35 includes a tungsten alloy or copper alloy micro-weight, a magnetic powder elastomer or elastic polymer covering the micro-weight, and a limiting coating film. The wingtip wing-like fin-like weight energy storage unit 35 forms a mechanical coupling with the drive structure by changing the wingtip inertia and bending-torsional response. During the flapping commutation process, it temporarily stores energy in the form of wingtip inertial kinetic energy and elastic coating deformation energy, and releases it in the initial stage of the second half of the flapping stroke to adjust the passive torsional phase of the wing surface and suppress flutter.

[0056] The wing-like vein skeleton 28 can be made of carbon fiber rods with a diameter of 0.2 mm to 0.8 mm or laser-cut carbon fiber sheets, the thickness of the wing membrane layer 32 is preferably 8 μm to 50 μm, and the thickness of the PVDF piezoelectric strain / energy harvesting layer 31 is preferably 20 μm to 60 μm.

[0057] The basic aircraft has a wingspan of 70mm to 150mm, a root chord length of 18mm to 65mm, a wingtip chord length of 5mm to 30mm, and a wing membrane thickness of 8μm to 50μm.

[0058] The wing root drive and connection structure is located in the chest load-bearing compartment area of ​​the fuselage 1, including the forewing root drive assembly 13, the rearwing root drive assembly 14, the left drive unit 19, and the right drive unit 20.

[0059] The left drive unit 19 and the right drive unit 20 are respectively connected at their front and rear ends to the front and rear ends of the forewing root drive assembly 13 and the rearwing root drive assembly 14. The left drive unit 19 and the right drive unit 20 are respectively disposed in the chest support compartment, symmetrically arranged with respect to the fuselage 1, and are used to drive the four wings (left forewing 2, right forewing 3, left rearwing 4, and right rearwing 5) to switch between in-phase, out-of-phase, and asymmetrical phase modes. The forewing root drive assembly 13 and the rearwing root drive assembly 14 are respectively disposed at the roots of the forewing and rearwing, and are used to convert the power of the left drive unit 19 and the right drive unit 20 into the motion of the four wings.

[0060] The output of the left driver 19 is connected to the left front wing drive branch and the left rear wing drive branch, respectively. On the left front wing drive branch, the left front wing output of the left driver 19 is connected to the left input of the front wing root drive assembly 13 via the left front wing phase adjustment unit 17; on the left rear wing drive branch, the left rear wing output of the left driver 19 is connected to the left input of the rear wing root drive assembly 14 via the left front wing phase adjustment unit 17.

[0061] The output of the right driver 20 is connected to the right front wing drive branch and the right rear wing drive branch, respectively. On the left front wing drive branch, the right front wing output of the right driver 20 is connected to the right input of the front wing root drive assembly 13 via the right front wing phase adjustment unit 18; on the right rear wing drive branch, the right rear wing output of the right driver 20 is connected to the right input of the rear wing root drive assembly 14 via the right front wing phase adjustment unit 18.

[0062] The left front wing phase adjustment unit 17 and the right front wing phase adjustment unit 18 change the phase of the front wing relative to the rear wing on the same side through micro gears, eccentric wheels, adjustable connecting rods or electronic phase delay structures.

[0063] The left driver 19 and the right driver 20 have the same structure and include at least one of the following: a brushless coreless motor, a micro DC motor, a piezoelectric bicrystalline driver, an electromagnetic resonant driver, and a shape memory alloy driver.

[0064] The front wing root drive assembly 13 and the rear wing root drive assembly 14 have the same structure, including an eccentric crank, a crank connecting rod, and a wing root rocker arm; the eccentric end of the eccentric crank is rotatably connected to one end of the crank connecting rod, and the other end of the crank connecting rod is rotatably connected to the wing root rocker arm; the other end of the wing root rocker arm is fixedly connected to the wing root connecting part 27.

[0065] The crank connecting rod is configured as a thin rod, a plate connecting rod, or a miniature connecting rod with a ball joint end, used to transmit reciprocating push and pull forces.

[0066] The wing root connection 27 is rotatably connected to the fixed seat of the chest load-bearing chamber via a flexible connector; the flexible connector is configured as a flexible hinge, torsion spring or composite spring to form a resonant flapping wing and reduce peak power and mechanical impact.

[0067] When the flexible connector is configured as a flexible hinge, the flexible hinge is configured as a thinned polyimide, TPU, silicone rubber or metal spring segment, with one end fixedly connected to the chest bearing chamber and the other end connected to the wing root connection 27, for limiting the flapping wing pivot and allowing elastic swing.

[0068] When the flexible connector is configured as a torsion spring, both ends of the torsion spring abut against the chest support chamber and the wing root connection 27, respectively; or it is a composite spring sheet, with both ends connected to the chest support chamber and the wing root connection 27, so as to form a resonant energy storage structure with the wing root inertia.

[0069] The forewing root drive assembly 13 and the rearwing root drive assembly 14 are used to drive the wing root connection 27 to rotate relative to the chest support chamber to form a wing swing action.

[0070] In one embodiment of the present invention, the single-sided mounting length of the front wing root drive assembly 13 and the rear wing root drive assembly 14 is 8 mm to 35 mm, the diameter of the crank connecting rod is 0.2 mm to 1.5 mm, and the thickness of the thinned section of the flexible hinge is 0.05 mm to 0.6 mm.

[0071] The instantaneous takeoff, emergency stop, hovering, and water-splashing integrated control device includes a supercapacitor and peak power release module 21, a center of gravity slider 22, a tail spoiler 23, a left elastic energy storage component 24, a right elastic energy storage component 25, a controllable release latch, and a flight and water-splashing action control unit 59.

[0072] The supercapacitor and peak power release module 21 are located inside the energy storage compartment 16 and are electrically connected to the power supply inside the energy storage compartment 16. The left actuator 19, right actuator 20, controllable release latch and each actuator are all electrically connected to the supercapacitor and peak power release module 21, providing a large current during short-term phases such as takeoff, emergency stop recovery and water-based operations that require rapid changes in flapping wing state, thus suppressing battery voltage drop.

[0073] The left and right elastic energy storage components 24 and 25 are symmetrically arranged on the left and right sides of the chest-bearing chamber. Their fixed ends are connected to the chest-bearing chamber body, and their movable ends are connected to both the preloaded crossbeam and the wing root rocker arm. A preload actuation assembly is provided between the preloaded crossbeam and the chest-bearing chamber. The preload actuation assembly is used to drive the left and right elastic energy storage components 24 and 25 to bend or stretch synchronously. The left and right elastic energy storage components 24 and 25 can be made of phosphor bronze, spring steel, carbon fiber leaf springs, or elastic polymer composite leaf springs.

[0074] The center of gravity slider 22 is mounted on a slide rail extending longitudinally along the center line of the chest support chamber, located between the left elastic energy storage member 24 and the right elastic energy storage member 25, and connected to the output end of the center of gravity slider drive assembly disposed on the chest support chamber. The center of gravity slider 22 is driven by the center of gravity slider drive assembly to move longitudinally along the fuselage to change the pitch balance.

[0075] The latch of the controllable release latch spans the lock seat on the chest-bearing cabin and the preload crossbeam, used to lock the left elastic energy storage unit 24 and the right elastic energy storage unit 25 during preload and to release the lock when the takeoff command arrives. The controllable release latch can be a miniature electromagnetic lock, a shape memory alloy latch, or a micro servo latch.

[0076] The tail spoiler 23 is connected to the tail stabilizing shell 12 via a flexible hinge and is driven to deploy or close by a tail spoiler drive assembly. When deployed, the tail spoiler 23 generates a short-term braking torque or tail downforce to assist in emergency stops, hovering, and water jetting. The tail spoiler drive assembly can be a micro servo cable, shape memory alloy wire, or a micro electromagnetic actuator.

[0077] The flight and water-splashing action control unit 59 has a built-in water-splashing attitude control program and is electrically connected to the left front wing phase adjustment unit 17, the right front wing phase adjustment unit 18, the left driver 19, the right driver 20, the center of gravity slider drive assembly, the tail spoiler drive assembly, the preload execution assembly, and the controllable release latch.

[0078] Before takeoff, the flight and water-spraying action control unit 59 controls the preload execution component to make the left elastic energy storage component 24 and the right elastic energy storage component 25 bend or stretch synchronously, and controls the locking tongue of the controllable release lock to insert into the lock seat of the fuselage 1 and the preload crossbeam, thereby locking the preload crossbeam and the left elastic energy storage component 24 and the right elastic energy storage component 25 connected thereto; at the same time, it controls the supercapacitor and the peak power release module 21 to charge.

[0079] At the moment of takeoff, the locking tongue of the controllable release latch disengages, releasing the constraint on the preloaded crossbeam, causing the left elastic energy storage component 24 and the right elastic energy storage component 25 to release mechanical energy and drive the wing root rocker arm to generate the initial flapping. The supercapacitor and the peak power release module 21 synchronously release peak power to the left driver 19 and the right driver 20, and the four wings enter the high lift phase, flapping under the high lift phase.

[0080] During emergency stop, hovering, and water spraying, in the emergency stop phase, the front and rear wing phase adjustment units 17 and 18 switch to the braking phase, the tail spoiler 23 deploys, and the center of gravity slider 22 moves to counteract the braking pitching moment; in the hovering phase, the amplitudes of the left and right flapping wings remain symmetrical, the phase difference between the front and rear wings is finely adjusted in a closed loop around the hovering calibration value, the center of gravity slider 22 remains within the allowable range of the combined aerodynamic center, and the tail spoiler 23 retracts and is trimmed at a small angle; in the water spraying phase, the center of gravity slider 22 moves backward and the tail spoiler 23 generates a tail downward trimming moment, the average lift of the front wing relative to the rear wing increases briefly, causing the sampling mechanism to contact the liquid surface 41 to be measured from 0.05s to 1.5s. After sampling is completed, the above-mentioned actuators return to the hovering state in the reverse order.

[0081] The sampling mechanism is located behind the tail stabilizing shell 12 and includes a tail shell 37, a retractable tail needle sleeve 38, a flexible buffer section 39, a tail needle sampling tube 40, a capillary tube 42, a segmented liquid storage chamber 43, a micro pump valve 44, a one-way valve 45, and a hydrophilic inlet 46.

[0082] The front end of the tail housing 37 is coaxially connected to the tail stabilizing housing 12 via a tail quick-release sampling interface.

[0083] The retractable tail needle sleeve 38 is installed in the rear guide hole of the tail housing 37 and extends and retracts along the longitudinal axis of the body 1. The retractable tail needle sleeve 38 is driven to extend and retract by a sleeve drive assembly. One end of the tail needle sampling tube 40 passes through the retractable tail needle sleeve 38, and the other end extends out of the tail housing 37. The sleeve drive assembly can drive the tail needle sampling tube 40 to extend for point water sampling.

[0084] The flexible buffer section 39 is connected at both ends to the retractable tail needle sleeve 38 and the tail needle sampling tube 40, respectively, and is used to absorb water impact and isolate the impact from propagating to the tail stabilizing shell 12, the front wing root drive assembly 13 and the rear wing root drive assembly 14.

[0085] The hydrophilic inlet 46 is located at the very end of the tail needle sampling tube 40.

[0086] One end of the capillary tube 42 passes through the tail needle sampling tube 40 and the flexible buffer section 39 and extends into the retractable tail needle sleeve 38, while the other end is connected to the hydrophilic inlet 46. The liquid outlet end of the capillary tube 42 is connected to the segmented liquid storage chamber 43 in the retractable tail needle sleeve 38 through a one-way valve 45. The segmented liquid storage chamber 43 is connected to the microfluidic main channel 53 through a pipe. A micro pump valve 44 is provided between the segmented liquid storage chamber 43 and the microfluidic main channel 53. The micro pump valve 44 is located at the front end of the tail housing 37 near the tail quick-release sampling interface, or at the liquid inlet side of the airborne micro-electrochemical rapid detection chamber 15. The segmented liquid storage chamber 43 transmits the collected sample into the onboard micro-electrochemical workstation rapid detection device through a pipeline, forming a unidirectional flow path of "hydrophilic inlet 46 - capillary microtube 42 - one-way valve 45 - segmented liquid storage chamber 43 - micro-pump valve 44 - microfluidic main channel 53". When water is applied, the end of the needle-type sampling tube 40 contacts the surface of the liquid to be tested 41, and the hydrophilic inlet 46 draws in a trace amount of water sample; the one-way valve 45 prevents backflow.

[0087] The sampling mechanism 8 also includes a sampling control unit 60, which is electrically connected to the micro pump valve 44 and the sleeve drive assembly.

[0088] The tail needle sampling tube 40 is configured as a conical needle, oblique needle, slotted capillary needle or flexible hydrophilic needle, and can be made of nickel-titanium alloy, stainless steel, PEEK, PTFE or FEP. The hydrophilic inlet 46 can be formed by plasma-treated polyamide, porous polypropylene or hydrophilic coating. The hydrophobic outer wall is used to reduce water droplet adhesion and added mass. The micro-water collection is completed by the short-term light touch of the tail to the water surface, so as to reduce water surface disturbance and the risk of immersion of the whole machine.

[0089] The outer diameter of the tail needle sampling tube 40 is 0.3mm to 1.5mm, the telescopic stroke is 5mm to 45mm, and the single sampling volume is 20μL to 500μL. The tail housing 37 is connected to the body 1 through a tail quick-release sampling interface, an O-ring, a buckle, and a flexible buffer section. The flexible buffer section 39 is formed of silicone rubber, TPU, FEP, or PTFE tubing to reduce the instantaneous impact of water and sampling noise.

[0090] An integrated circuit board 26 is installed on the central vibration isolation layer within the chest-bearing chamber. This integrated circuit board 26 is electrically connected to the flight and water-spraying action control unit 59 and the sampling control unit 60. The integrated circuit board 26 is equipped with a rectification, voltage regulation, and energy management unit 62. The positive and negative electrodes of the PVDF piezoelectric strain / energy harvesting layer 31 in the four wings are led out along FPC wires laid on the wing-like vein skeleton 28 and wing root connection 27, and connected to the rectification, voltage regulation, and energy management unit 62 via flexible wires. The micro-energy harvested by the PVDF piezoelectric strain / energy harvesting layer 31 is fed into a low-power bus via the rectification, voltage regulation, and energy management unit 62 for sensing, standby, buffering, or emergency communication.

[0091] The airborne microelectrochemical workstation rapid detection device includes a chip substrate 47, a pH / ORP electrode unit 48, a dissolved oxygen electrode unit 49, a conductivity electrode unit 50, a nitrite / ammonium ion electrode unit 51, a heavy metal electrode unit 52, a microfluidic main channel 53, a potentiostat 54, a multiplexer 55, a temperature compensation and calibration unit 56, and a drain / waste liquid chamber 57.

[0092] The chip substrate 47 is inserted longitudinally or laterally into the quick-change electrode holder 58 located at the upper end of the airborne micro-electrochemical rapid detection chamber 15, and is fixed by positioning posts and sealing frames; each electrode foot of the quick-change electrode holder 58 is connected to the integrated circuit board 26 through a multiplexer 55; the microfluidic main channel 53 is located on the upper surface of the chip substrate 47 and is closed by a transparent cover, with one end connected to the sampling mechanism 8 and the other end connected to the drain / waste liquid chamber 57.

[0093] The pH / ORP electrode unit 48, dissolved oxygen electrode unit 49, conductivity electrode unit 50, nitrite / ammonium ion electrode unit 51, and heavy metal electrode unit 52 are sequentially arranged at nodes within the microfluidic main channel 53 along the flow direction of the microfluidic main channel 53, or separately arranged in parallel detection branches branched from the microfluidic main channel 53. The sensitive area of ​​each electrode unit is exposed in the water sample, and the pad area is located outside the channel sealing boundary. Each pad area is connected to the spring contact of the quick-change electrode holder 58, and connected to the integrated circuit board 26 through the quick-change electrode holder 58. The common output terminal of the integrated circuit board 26 is electrically connected to the front end of the potentiostat 54, and the rear end of the potentiostat 54 is electrically connected to the data fusion and contamination discrimination unit 61, outputting various measurement signals.

[0094] The temperature compensation and calibration unit 56 is located near the front end of the potentiostat 54, the temperature sensing end is arranged close to the microfluidic main channel 53, and the data end is connected to the potentiostat 54 and the data fusion and contamination discrimination unit 61 respectively, and is used to correct temperature, zero point and sensitivity drift.

[0095] The drain / waste liquid chamber 57 is located downstream of the chip substrate 47 and at the bottom of the airborne microelectrochemical rapid detection chamber 15. A trap valve is also provided between the drain / waste liquid chamber 57 and the microfluidic main channel 53 to collect waste liquid and prevent backflow after detection.

[0096] The chip substrate 47 is preferably injection molded from COC or PMMA. The microfluidic main channel 53 has a width of 100 μm to 1200 μm and a depth of 50 μm to 800 μm, and the electrode spacing is 50 μm to 500 μm. The working electrode can be made of screen-printed carbon, graphene, carbon nanotubes, gold film, bismuth film, enzyme-modified layer, or Prussian blue-modified layer. The reference electrode is silver / silver chloride, and the counter electrode is platinum or carbon. This device can rapidly screen five or more indicators among pH, redox potential, dissolved oxygen, conductivity, nitrite / ammonium ions, and heavy metal ions, and preferably completes onboard detection and result transmission within seconds to minutes after sampling.

[0097] It also includes a silent flight assembly, which includes silicone rubber or PTFE bushings and vibration damping pads, wing root vibration damping seats and elastic seals.

[0098] The bushings and vibration damping pads are fitted around the outer periphery of the drive shaft, micro-bearings, and driver mounting base, and sandwiched between the driver housing and the chest load-bearing chamber, thereby reducing radiated noise during equipment operation. The wing root vibration damping seat is located between the front wing root drive assembly 13 and the rear wing root drive assembly 14 and the fuselage 1, maintaining the axial position through positioning pins and blocking high-frequency vibrations through an elastic layer. Elastic seals are installed at the hatch cover, quick-change electrode holder 58, tail quick-release sampling interface, and wiring harness entry point, and are secured by sealing screws or clips. Thus, the vibration transmission path passes through various levels of vibration damping attenuation, and the load chamber vibration is further isolated by the enclosed housing and elastic seals.

[0099] During cruise, the flight and water-splashing maneuver control unit 59 adjusts the phase difference between the fore and aft wings to maintain it between 60° and 120° based on wing strain, current, and attitude signals to reduce periodic vibrations of the aircraft's center of gravity. When approaching the water surface, a silent mode is activated to limit the rate of change of flapping wing frequency and the maximum flapping angle, and to extend the stabilization time before water splashing. Spatially, the various structures form a multi-stage vibration isolation chain from the outer edge of the wing surface towards the center of the fuselage, consisting of a flexible wing flange, wing root vibration isolation, low-clearance transmission, and a closed load bay. At the same time, aerodynamic pulse sources are reduced through phase smoothing control.

[0100] The enhanced aircraft's real-time data transmission, image stabilization, and live image streaming module 6 is installed on the head elliptical cabin. It includes a miniature camera, a visual / optical flow sensing unit, a wing strain / flapping phase acquisition unit, an attitude estimation and image stabilization unit, a real-time transmission and live streaming encoding unit, a low-latency image encoder, a live streaming cache unit, a dual-link switch, a detection data priority transmission channel, a keyframe transmission channel, a real-time video live streaming channel, an authorized access and encryption unit, an image stabilization synchronization trigger unit, a bitrate / frame rate adaptive control unit, and a live streaming display and archiving unit located on the ground end, relay end, or remote monitoring terminal.

[0101] The miniature camera is a CMOS camera or a compound eye-like multi-field miniature camera component, which is set behind the transparent acquisition window of the head elliptical chamber. The transparent acquisition window can be made of PC, PMMA or sapphire sheet, and is connected to the head elliptical chamber by a silicone rubber sealing ring, screw plate or snap ring.

[0102] The visual / optical flow sensing unit and the wing strain / flapping phase acquisition unit are connected to the attitude estimation and stabilization unit and the image stabilization synchronization trigger unit via FPC flexible cables or shielded microwires, respectively. The attitude estimation and stabilization unit receives data from the optical flow sensor, the MEMS inertial measurement unit, and the wing strain synchronization trigger unit. It uses flapping phase, wing strain, airframe angular velocity, and image optical flow as common compensation quantities to perform rolling shutter compensation, distortion correction, inter-frame registration, timestamp alignment, cropping stabilization, and keyframe filtering on captured images and live videos, enabling the aircraft to output stable images during cruise, hovering, emergency stops, and tail skimming sampling.

[0103] The output of the miniature camera is connected to the live streaming buffer unit and the dual-link switch via a low-latency image encoder; the low-latency image encoder compresses the stabilized image data into keyframes, low-resolution preview streams, or real-time video streams. The bitrate / frame rate adaptive control unit is connected to the low-latency image encoder, the live streaming buffer unit, and the dual-link switch, respectively. The live streaming buffer unit indexes the data by sampling time, sampling location, water sample number, flight status, and detection results, and saves video clips, on-site photos, and detection data within a preset time period before and after sampling. When the communication link quality deteriorates or the power is insufficient, the dual-link switch automatically reduces the live video frame rate, bitrate, or resolution, and prioritizes the transmission of water quality detection values, pollution alarms, sampling coordinates, timestamps, attitude status, and keyframe images.

[0104] The dual-link switcher is connected to the ground or relay end via the authorized access and encryption unit and the communication antenna 11.

[0105] The detection data priority return channel, keyframe return channel, and real-time video live streaming channel are three types of logical communication channels established by the real-time return and live streaming encoding unit and multiplexed by a dual-link switch. The detection data priority return channel is used to upload the preliminary screening results of water pollution indicators such as pH, redox potential, dissolved oxygen, conductivity, nitrite or ammonium ions, and heavy metal ions. The real-time video live streaming channel is used to output water surface environment, water sampling actions, sampling status, and abnormal alarm images to authorized ground terminals, relay terminals, or remote monitoring terminals. The keyframe return channel is used to transmit clear image frames after image stabilization when bandwidth is limited.

[0106] When bandwidth, power, or signal quality is insufficient, the bitrate / frame rate adaptive control unit reduces the frame rate, bitrate, or resolution of the real-time video live streaming channel and allocates bandwidth in the order of detection data priority transmission channel, key frame transmission channel, and real-time video live streaming channel.

[0107] The authorized access and encryption unit performs identity authentication, link encryption, instruction verification, and log recording for remote viewing, live image streaming, data download, and control commands; unauthorized terminals cannot receive live images, download detection data, or send control commands.

[0108] The real-time data transmission, image stabilization, and live image streaming modules have three operating modes: First, a live streaming mode, used for continuous output of on-site images, flight status, and detection data during cruising, hovering, and water sampling; second, a keyframe stabilization mode, used to prioritize the output of clear image frames, detection results, and alarm information when the link is weak or power consumption is limited; third, a data priority mode, used to prioritize the transmission of pollution indicators, sampling time, relative position, flight status, and alarm level when water quality detection is abnormal, attitude is abnormal, power is insufficient, or during the return phase. The three modes are automatically switched based on link quality, remaining power, detection results, and mission commands, and can also be manually selected by an authorized ground terminal.

[0109] The rechargeable energy management components are housed in the energy storage compartment and include lithium polymer batteries, solid-state thin-film batteries or lithium-ion micro-batteries, supercapacitors, flexible solar thin films, PVDF wing surface energy harvesting circuits, and a tiered power supply program. The aircraft's continuous flapping-wing flight is primarily supported by batteries and supercapacitors; flexible solar and PVDF energy harvesting is preferentially used for recharging during stopovers, standby detection, sensor maintenance, data buffering, and emergency communication.

[0110] When equipped with a live image streaming module, the enhanced aircraft increases the total effective wing area of ​​the canard and aft wings by 10% to 35% compared to the basic model, and increases the battery compartment or energy storage compartment capacity by 15% to 40%. Its single-wing span is 90mm to 190mm; the wing root chord is 18mm to 65mm; the wingtip chord is 5mm to 30mm; and the wing membrane thickness is 8μm to 50μm.

[0111] The basic aircraft is used for routine water area patrol and micro-point water sampling. The overall length of the aircraft is 120mm to 200mm, the maximum wingspan of the four wings is 180mm to 300mm, the maximum width of the fuselage is 18mm to 42mm, the maximum height of the fuselage is 18mm to 45mm, the single wing span is 70mm to 150mm, and the payload bay length is 20mm to 60mm.

[0112] The enhanced aircraft is used for water area detection missions requiring live image streaming, stabilized image capture, and remote real-time analysis. Its overall length is 150mm to 260mm, with a maximum wingspan of 240mm to 420mm when the four wings are deployed. The maximum width is 25mm to 55mm, and the maximum height is 24mm to 60mm. The live streaming detection module mounting compartment is 20mm to 65mm long, 12mm to 38mm wide, and 6mm to 25mm high. The tail length or tail trim travel is increased by 5mm to 30mm. The flight and water-spraying control unit 59, through front and rear wing phase difference adjustment, passive wing surface twisting, center of gravity slider position adjustment, low-power image encoding, and priority transmission of detection data, ensures that the added payload does not change the basic capabilities of instantaneous takeoff, emergency stop, hovering, water-spraying sampling, and quiet, low-disturbance flight.

[0113] The aircraft of this invention also includes a control system, which is configured as an integrated control system for flight—water sampling—micro-electrochemical detection—image stabilization and live streaming—data transmission, comprising an airborne sensing layer, an airborne control and processing layer, and an airborne execution and communication layer. The airborne sensing layer is electrically connected to the real-time data transmission, image stabilization, and live image streaming modules, as well as the airborne micro-electrochemical workstation rapid detection device. The airborne control and processing layer is electrically connected to the flight and water sampling control unit 59 and the sampling control unit 60. The airborne execution and communication layer is electrically connected to the communication antenna 11. The airborne sensing layer controls the water sampling and transmits the collected images and data to the airborne control and processing layer and the airborne execution and communication layer, respectively. The airborne control and processing layer controls the aircraft's flight, and the airborne execution and communication layer transmits the data to the ground or a relay station using the communication antenna 11.

[0114] The present invention also provides an electrochemical detection method for point water sampling using the aforementioned aircraft, comprising the following steps: S1: Initialize and calibrate wing strain, inertial, optical flow, camera, and electrochemical sensors; select cruise, hover, perch, or snorkeling mode based on water surface distance and wind disturbance; S2: Above the target water area, the front wing phase adjustment unit, rear wing phase adjustment unit, center of gravity slider and tail spoiler are jointly controlled to make the end of the tail needle sampling tube of the sampling mechanism contact the water surface to be tested for the collection of trace water samples. S3: The collected water sample is introduced into the onboard micro-electrochemical workstation rapid detection device through a one-way flow path to perform preliminary screening tests on the water sample for more than five items, including pH, dissolved oxygen, conductivity, nitrite / ammonium ions and heavy metal ions. S4: The detection results, sampling location, timestamp, image stabilization keyframes, and live video stream are transmitted back to the ground end or relay end in the following order: detection data first, keyframes second, and real-time video, according to the link adaptive sequence. S5: After completing the inspection, perform a safe return, stop to replenish energy, or conduct an inspection at the next location.

[0115] Choose between the basic or enhanced live-stream detection type based on the task. The basic type is used for routine patrols, point water sampling, and initial screening of five or more water pollution indicators. The enhanced live-stream detection type is used for tasks that require live image streaming, stabilized image capture, anomaly alarms, and priority data transmission.

[0116] The sampling and detection method workflow is as follows: mission initialization - takeoff and cruise - target water area identification - hovering or perching - tail-diving sampling - micro-sample introduction - detection of more than five micro-electrochemical indicators - image stabilization - keyframe screening and live image streaming - real-time data transmission - live display and pollution detection - safe return to base or perching for recharging - ground-based display / archiving. If wind speed, remaining battery power, or attitude error exceeds the threshold, the system will interrupt the diving action and return to base or perch.

[0117] In one detection embodiment, after the aircraft approaches the suspected contaminated water area, its altitude is first estimated using optical flow, inertial data, and water surface reflection images. When the altitude stabilizes within a preset water level range, the tail-needle sampling tube is controlled to descend and touch the water surface to be tested. Once the sampling volume reaches a threshold, the tube immediately rises. The water sample enters the microfluidic main channel through a capillary tube, and a potentiostat sequentially performs open-circuit potential, amperometric, voltammetric, or impedance tests on each electrode unit. The control system then correlates the detection results with image, time, and location data and transmits the results back.

[0118] In another emergency inspection embodiment, the aircraft can cruise at low speed along the river and perform short-term water sampling at set intervals. If abnormalities in heavy metal ions, nitrite, ammonium ions, conductivity, or pH are detected, secondary sampling is performed at the corresponding location, and surrounding images are taken. When an anomaly alarm is received on the ground, personnel or shipborne equipment can be dispatched for retesting.

[0119] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to the method section.

[0120] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A biomimetic dragonfly-inspired water area detection drone, characterized in that, include: The body (1) has a slender structure resembling a dragonfly, with an elliptical head chamber, a thorax support chamber, and a slender tail chamber arranged sequentially from front to back. The four-wing flapping mechanism is installed on the chest support chamber and includes four wings: left front wing (2), right front wing (3), left rear wing (4), and right rear wing (5), as well as the wing root drive and connection structure for driving the four wings. The four wings are flexible composite wings. The sampling mechanism (8) is set inside the tail-end elongated chamber for collecting water samples by tail-end water collection. It includes a tail needle sampling tube (40) and a unidirectional flow path for introducing water samples. One end of the tail needle sampling tube (40) is inserted into the tail-end elongated chamber, and the other end extends out, with a hydrophilic inlet (46) at the end. The unidirectional flow path is set inside the tail-end elongated chamber, with one end passing through the tail needle sampling tube (40) and connecting to the hydrophilic inlet (46). The airborne micro-electrochemical workstation rapid detection device is installed in the airborne micro-electrochemical rapid detection chamber (15) of the chest bearing chamber and is connected to the unidirectional flow path of the sampling mechanism (8) for detecting multiple electrochemical indicators of the collected water sample. The instantaneous takeoff, emergency stop, hovering, and water-splashing integrated control device includes a supercapacitor and peak power release module (21), a center of gravity slider (22), a tail spoiler (23), an elastic energy storage component, a controllable release latch, and a flight and water-splashing action control unit (59). The elastic energy storage component is preloaded and locked by the controllable release latch. It is released during takeoff and works with the supercapacitor to provide instantaneous high power. The center of gravity slider (22) and the tail spoiler (23) work together during water splashing to assist the aircraft's movement. The flight and water-splashing action control unit (59) is electrically connected to the wing root drive and connection structure, the center of gravity slider drive assembly, the tail spoiler drive assembly, the preload execution assembly, and the controllable release latch. It is used to control the flapping of the four wings and adjust the phase simultaneously to achieve takeoff, emergency stop, hovering, and water-splashing actions. And a rechargeable energy management component, which is located in the energy storage compartment of the chest support chamber.

2. The biomimetic dragonfly-shaped water area detection aircraft according to claim 1, characterized in that, The flexible composite wing includes a wing root connector (27), a wing vein skeleton (28), a wing membrane, a transverse sub-beam (34), a wingtip wing vein counterweight energy storage unit (35), and a wing edge compliant covering layer (36). The wing membrane is stacked from top to bottom with a hydrophobic and stain-resistant protective layer (29), a flexible solar thin film layer (30), a PVDF piezoelectric strain / energy harvesting layer (31), a wing membrane layer (32), and a carbon fiber / aramid fiber reinforcement layer (33). One end of the wing root connector (27) is connected to the wing root drive and connection structure, and the other end is connected to multiple sets of wing vein skeletons (28). Transverse sub-beams (34) are connected between the multiple sets of wing vein skeletons (28). The wing edge compliant covering layer (36) covers the outer edge of the wing membrane. The wingtip wing vein counterweight energy storage unit (35) is fixed to the wingtip end of the wing vein skeleton to adjust the wing surface inertia, passive torsion, and anti-flutter characteristics.

3. The biomimetic dragonfly-shaped water area detection aircraft according to claim 1, characterized in that, The wing root drive and connection structure of the quad-wing flapping mechanism includes a front wing root drive assembly (13), a rear wing root drive assembly (14), a left driver (19), a right driver (20), a left front wing phase adjustment unit (17), and a right front wing phase adjustment unit (18). The front wing root drive assembly (13) and the rear wing root drive assembly (14) are used to drive the wing root connection part (27) of the quad wings to rotate relative to the chest support chamber to form a wing flapping action. The front and rear ends of the left driver (19) and the right driver (20) are respectively connected to the front and rear ends of the front wing root drive assembly (13) and the rear wing root drive assembly (14). The left driver (19) and the right driver (20) are symmetrically arranged, and the phase of the front wing relative to the rear wing is changed by the left front wing phase adjustment unit (17) and the right front wing phase adjustment unit (18) to realize the switching of in-phase, out-of-phase, and asymmetrical phase.

4. The biomimetic dragonfly-shaped water area detection aircraft according to claim 1, characterized in that, The elastic energy storage component includes a left elastic energy storage component (24) and a right elastic energy storage component (25) symmetrically arranged on the left and right sides of the chest support cabin. The fixed end of the elastic energy storage component is connected to the chest support cabin body, and the movable end is connected to the preloaded crossbeam and the wing root drive and connection structure. The controllable release lock locks the preloaded crossbeam and releases the lock at the moment of takeoff, so that the elastic energy storage component releases mechanical energy to drive the wing root rocker arm to generate the initial flapping motion. The center of gravity slider (22) is used to move along the longitudinal direction of the fuselage to change the pitch balance.

5. The biomimetic dragonfly-shaped water area detection aircraft according to claim 1, characterized in that, The sampling mechanism also includes a retractable tail needle sleeve (38) and a flexible buffer section (39); the tail needle sampling tube (40) is connected to the retractable tail needle sleeve (38) through the flexible buffer section (39); the unidirectional flow path includes a capillary microtube (42), a one-way valve (45), a segmented liquid storage chamber (43), and a micro pump valve (44) arranged in sequence; one end of the capillary microtube (42) passes through the tail needle sampling tube (40) and the flexible buffer section (39) and extends into the retractable tail needle sleeve (38), and the other end is connected to the hydrophilic inlet (46); the micro pump valve (44) is connected to the microfluidic main channel (53) of the rapid detection device of the airborne micro-electrochemical workstation through a pipeline; the sampling mechanism (8) also includes a sampling control unit (60), which is electrically connected to the micro pump valve (44) and a sleeve drive assembly for driving the retractable tail needle sleeve (38).

6. The biomimetic dragonfly-shaped water area detection aircraft according to claim 5, characterized in that, An integrated circuit board (26) is installed on the central vibration isolation layer inside the chest load-bearing chamber. The integrated circuit board (26) is electrically connected to the flight and water-spraying action control unit (59) and the sampling control unit (60).

7. The biomimetic dragonfly-shaped water area detection aircraft according to claim 1, characterized in that, The airborne microelectrochemical workstation rapid detection device includes a chip substrate (47), a microfluidic main channel (53), a drain / waste liquid chamber (57), and pH / ORP electrode units (48), dissolved oxygen electrode units (49), conductivity electrode units (50), nitrite / ammonium ion electrode units (51), and heavy metal electrode units (52) arranged sequentially along the flow direction of the microfluidic main channel; the chip substrate (47) is inserted into the quick-change electrode holder (58) provided at the upper end of the airborne microelectrochemical rapid detection chamber (15), and the... The microfluidic main channel (53) is disposed on the upper surface of the chip substrate (47) and sealed by a transparent cover. One end is connected to the unidirectional flow path of the sampling mechanism (8), and the other end is connected to the drain / waste liquid chamber (57). It also includes a potentiostat (54), a multiplexer (55), and a temperature compensation and calibration unit (56). Each electrode unit is connected to the potentiostat (54) via the multiplexer (55), and the temperature compensation and calibration unit (56) is electrically connected to the potentiostat (54) and the data fusion and contamination discrimination unit (61), respectively.

8. The biomimetic dragonfly-shaped water area detection aircraft according to claim 1, characterized in that, It also includes a real-time data transmission, image stabilization and live image streaming module (6); the real-time data transmission, image stabilization and live image streaming module (6) includes a miniature camera installed in the head elliptical cabin, a vision / optical flow sensing unit, a wing strain / flapping phase acquisition unit, an attitude estimation and image stabilization unit, a real-time transmission and live streaming encoding unit, a low-latency image encoder, a live streaming cache unit, a dual-link switch, an authorized access and encryption unit, an image anti-shake synchronization triggering unit and a bit rate / frame rate adaptive control unit, as well as a live streaming display and archiving unit set on the ground end or relay end, or a remote monitoring terminal; The miniature camera, visual / optical flow sensing unit, and wing strain / flapping phase acquisition unit are connected to the attitude estimation and stabilization unit and the image stabilization synchronization trigger unit via FPC flexible flat cables or shielded micro-wires, respectively. The stabilized image output terminal of the attitude estimation and stabilization unit is connected to the low-latency image encoder. The bitstream output terminal of the low-latency image encoder is connected to the live streaming buffer unit and the dual-link switch. The bitrate / frame rate adaptive control unit is connected to the low-latency image encoder, the live streaming buffer unit, and the dual-link switch, respectively. The dual-link switch is connected to the ground end or relay end via an authorized access and encryption unit and a communication antenna. The detection data priority backhaul channel, key frame backhaul channel, and real-time video live streaming channel are three types of logical communication channels established by the real-time backhaul and live streaming encoding units and multiplexed by the dual-link switch. When bandwidth, power, or signal quality is insufficient, the bitrate / frame rate adaptive control unit reduces the frame rate, bitrate, or resolution of the real-time video live streaming channel and allocates bandwidth in the order of detection data priority backhaul channel, key frame backhaul channel, and real-time video live streaming channel.

9. An electrochemical detection method for spot water sampling using the biomimetic dragonfly-shaped water area detection drone according to any one of claims 1 to 8, characterized in that, Includes the following steps: S1: Initialize and calibrate wing strain, inertial, optical flow, camera, and electrochemical sensors; select cruise, hover, perch, or snorkeling mode based on water surface distance and wind disturbance; S2: Above the target water area, the front wing phase adjustment unit, rear wing phase adjustment unit, center of gravity slider and tail spoiler are jointly controlled to make the end of the tail needle sampling tube of the sampling mechanism contact the water surface to be tested for the collection of trace water samples. S3: The collected water sample is introduced into the onboard micro-electrochemical workstation rapid detection device through a one-way flow path to perform preliminary screening tests on the water sample for more than five items, including pH, dissolved oxygen, conductivity, nitrite / ammonium ions and heavy metal ions. S4: The detection results, sampling location, timestamp, and image stabilized images are transmitted back to the ground or relay terminal in real time through the real-time data transmission, image stabilization, and live image broadcasting modules. S5: After completing the inspection, perform the return trip, recharge, or proceed to the next location inspection.

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