Separated linkage type unmanned aerial vehicle-mounted unmanned ship system

Abstract

The utility model discloses a separation linkage type unmanned aerial vehicle-mounted unmanned ship system, which relates to the field of unmanned aerial vehicles and unmanned ships, and is characterized in that an unmanned aerial vehicle body and an unmanned ship body are respectively provided with a communication module, a main control module, a contact sensor and the like; and meanwhile, automatic switching of separation linkage of the unmanned aerial vehicle body and the unmanned ship body is achieved through electric signals of the bearing electromagnetic sheets. A first camera on the unmanned aerial vehicle body and a second camera on the unmanned ship body can monitor the linkage state of the unmanned aerial vehicle body and the unmanned ship body and the surrounding environment in real time and transmit data to a first attitude correction module and a second attitude correction module. Emergency obstacle avoidance or attitude adjustment of the whole system is realized when the unmanned aerial vehicle body and the unmanned ship body are linked. According to the utility model, the unmanned ship can take off and land by the unmanned aerial vehicle, the unmanned aerial vehicle-mounted unmanned ship can be remotely controlled to arrive at a designated area for inspection, the unmanned aerial vehicle can be automatically recovered, and effective technical support is provided for integrated, normalized, automatic and intelligent inspection on water and water.

Description

Technical Field

[0001] The utility model relates to the technical field of unmanned aerial vehicles and unmanned ships, in particular to a separated and linked unmanned aerial vehicle-carrying unmanned ship system. Background Art

[0002] The application scenarios of the drone and unmanned ship linkage technology are constantly expanding due to its high flexibility and good maneuverability, and it plays an important role in environmental surveys, patrol detection, emergency response and other operations. Among the existing drone and unmanned ship linkage technologies, the unmanned ship-mounted drone take-off and landing system technology is more common, but it still requires manual transportation of the unmanned ship to the measurement area, which consumes a lot of time and manpower. Utility Model Content

[0003] The purpose of the utility model is to provide a separated linkage type unmanned aerial vehicle carrying unmanned boat system to solve the problem that the existing unmanned aerial vehicle and unmanned boat linkage working technology still needs to manually transport the unmanned boat to the measurement area, which is time-consuming, inefficient and has high labor costs.

[0004] To achieve the above purpose, the utility model provides the following solutions:

[0005] The utility model provides a separation linkage type unmanned aerial vehicle-carrying unmanned ship system, comprising:

[0006] A drone body, wherein the drone body is provided with a first communication module, a first power module, a first positioning module, a first image transmission module, a first main control module and a first attitude correction module, wherein the first communication module, the first power module, the first positioning module, the first image transmission module and the first attitude correction module are all connected to the first main control module for communication, a landing gear is installed at the bottom of the drone, a load-bearing electromagnetic sheet is rotatably installed on the landing gear, and the load-bearing electromagnetic sheet is connected to the first main control module for communication;

[0007] An unmanned boat body is provided with a second communication module, a second power module, a second positioning module, a second image transmission module, a second main control module and a second attitude correction module. The second communication module, the second power module, the second positioning module, the second image transmission module and the second attitude correction module are all connected to the second main control module for communication. A signal detection port that can be plug-in-adapted to the landing gear is provided on the top of the unmanned boat body. A sliding cross cover is movably installed at the signal detection port. The sliding cross cover is connected to a driving mechanism. The driving mechanism is used to drive the sliding cross cover to slide so as to open or close. A signal detection port, a first contact sensor is also arranged on the sliding horizontal cover, for sensing whether the landing gear has reached the signal detection port and is accurately positioned; a signal transmitter is arranged in the unmanned boat body directly below the signal detection port, the signal transmitter can transmit a signal toward the signal detection port, and a signal receiver capable of receiving the signal transmitted by the signal transmitter is arranged at the bottom of the landing gear; the first contact sensor and the signal transmitter are both communicatively connected to the second main control module, the driving mechanism is communicatively connected to the second power module, and the signal receiver is communicatively connected to the first main control module;

[0008] A picture acquisition device, wherein the picture acquisition device is arranged on the unmanned aerial vehicle body or the unmanned boat body, and the picture acquisition device is used to detect the relative position of the unmanned aerial vehicle body and the unmanned boat body in real time.

[0009] Preferably, the image acquisition device is a first camera, which is communicatively connected to the first posture correction module and installed on the drone body through a rotating component. The rotating component is used to adjust the orientation of the first camera relative to the drone body, and the rotating component is communicatively connected to the first main control module.

[0010] Preferably, the rotating assembly includes a rotating motor, a robotic arm 1, a robotic arm 2, a liquid cylinder and a rotating chassis, the top of the robotic arm 1 is rotatably connected to the bottom plate of the drone body through the rotating chassis, the rotating motor is arranged in the drone body, and the output end of the rotating motor is connected to the rotating chassis; the middle part of the robotic arm 2 is hinged to the bottom of the robotic arm 1, the first end of the robotic arm 2 is connected to the top of the robotic arm 1 through the liquid cylinder, and the second end of the robotic arm 2 is installed with the first camera.

[0011] Preferably, the signal detection port is a strip-shaped port, and the sliding horizontal cover is slidably matched with a slide rail arranged at the bottom edge of the signal detection port;

[0012] The driving mechanism is a gear rack assembly, which is installed in the unmanned boat body. The driving mechanism includes a driving gear, a driving rack and a driving motor. The driving rack is connected to the sliding cross cover. The driving gear is rotatably installed on the inner wall of the unmanned boat body and meshes with the driving rack. The output end of the driving motor is connected to the driving gear for driving the driving gear to rotate.

[0013] Preferably, a water pressure sensor and a hydrological measuring instrument are also provided on the bottom of the unmanned boat body, and both the hydrological measuring instrument and the water pressure sensor are communicatively connected to the second main control module.

[0014] Preferably, the bow of the unmanned boat body is also provided with an antenna and a second camera.

[0015] Preferably, two sets of the landing gears are installed at intervals at the bottom of the drone body, and two signal detection ports are opened on the unmanned boat body to correspond one-to-one to the two sets of the landing gears, and each signal detection port is provided with the sliding horizontal cover.

[0016] Preferably, the landing gear includes a frame and a buffer device, the load-bearing electromagnetic plate is rotatably installed on the top of the frame bottom rod, the buffer device includes a bottom plate shock-absorbing pad, the bottom plate shock-absorbing pad is connected to the top of the frame bottom rod through a plurality of groups of springs, and the bottom surface of the bottom plate shock-absorbing pad extends out of the bottom of the frame bottom rod.

[0017] Preferably, a second contact sensor for contacting and cooperating with the first contact sensor is further provided at the bottom of the bottom plate shock-absorbing pad, and the second contact sensor is communicatively connected with the first main control module.

[0018] Preferably, a groove adapted to the concave-convex shape of the bottom plate shock-absorbing pad is provided on the top of the sliding horizontal cover, and the first contact sensor is arranged in the groove.

[0019] Compared with the prior art, the utility model has achieved the following technical effects:

[0020] The separated linkage type drone-mounted unmanned boat system proposed in the utility model can transmit the positioning data of the drone body relative to the unmanned boat body back to the first main control module through the setting of the first positioning module on the drone body and the setting of the picture acquisition device, so as to realize the landing of the drone body on the sliding cross cover of the unmanned boat body; at the same time, in conjunction with the setting of the contact sensor on the unmanned boat, it can accurately sense whether the drone body has accurately landed on the sliding cross cover, so as to control the sliding cross cover to open automatically, so that the landing gear can be inserted into the interior of the unmanned boat, and then the weight of the unmanned boat body can be dispersed to each load-bearing electromagnetic sheet by flipping the load-bearing electromagnetic sheet to absorb the unmanned boat body, so as to realize the lifting, landing and rotation of the unmanned boat body by the drone body. The unmanned boat body is moved to realize the linkage between the unmanned boat body and the unmanned boat body; when the unmanned boat body is transferred to the designated location by the unmanned boat body, and the water pressure signal detected by the water pressure sensor at the bottom of the unmanned boat body reaches the preset water pressure signal, the load-bearing electromagnetic sheet is flipped and closed, and the load-bearing electromagnetic sheet and the unmanned boat body are released from adsorption. At this time, the unmanned boat body can take off alone and move away from the unmanned boat body. In this process, the change in signal strength between the signal transmitter and the signal receiver can be used to determine whether the unmanned boat body has flown away from the unmanned boat body, and after the second main control module receives the signal that the unmanned boat body has flown away from the unmanned boat body, the sliding horizontal cover is controlled to move and the signal detection port is closed, thereby realizing the separation of the unmanned boat body from the unmanned boat body. The separation linkage type unmanned boat-carrying unmanned boat system proposed in the utility model realizes the automatic switching of the separation linkage between the unmanned boat body and the unmanned boat body by configuring the communication module, the main control module, the contact sensor, etc. on both the unmanned boat body and the unmanned boat body, and at the same time, the electrical signal of the load-bearing electromagnetic sheet is used to realize the automatic switching of the separation linkage between the unmanned boat body and the unmanned boat body. The first camera on the drone body and the second camera on the unmanned boat body can both be adjusted 360 degrees for multi-angle shooting, and can monitor the linkage status of the drone body and the unmanned boat body and the surrounding environment in real time, and transmit the data to the first and second attitude correction modules, which is beneficial for real-time and accurate control of the linkage status of the drone body and the unmanned boat body, and can realize emergency obstacle avoidance or attitude adjustment of the drone body and the unmanned boat body respectively, as well as emergency obstacle avoidance or attitude adjustment of the entire system when the drone body and the unmanned boat body are linked.

[0021] The separated and linked drone-mounted unmanned boat system proposed in the utility model realizes the fully automated and high-precision operation of the drone-mounted unmanned boat system, which can not only realize the take-off and landing of the unmanned boat by the drone, but also realize the remote control of the drone-mounted unmanned boat to reach the designated area for inspection and automatically recover the drone. There is no need to manually transport the unmanned boat to the survey area, which solves the problem of the existing need to manually transport the unmanned boat to the survey area, which is time-consuming, inefficient and has high labor costs. It provides effective technical support for integrated, normalized, automated and intelligent inspections above and below the water. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0023] Figure 1 The overall structural diagram of the separated linkage type unmanned aerial vehicle-mounted unmanned boat system disclosed in the embodiment of the utility model;

[0024] Figure 2 It is a structural schematic diagram of the buffer device on the landing gear disclosed in the embodiment of the utility model;

[0025] Figure 3 It is a structural schematic diagram of the rotating assembly disclosed in the embodiment of the utility model;

[0026] Figure 4 The figure is a schematic diagram of the structure inside the unmanned boat body disclosed in the embodiment of the utility model.

[0027] In the figure, the reference numerals are:

[0028] 100. Separate linkage type unmanned aerial vehicle carrying unmanned ship system;

[0029] 1. UAV body; 11. Landing gear; 12. Load-bearing electromagnetic sheet; 13. Frame bottom bar; 14. First camera; 15. Mechanical arm 1; 16. Mechanical arm 2; 17. Liquid cylinder; 18. Rotating chassis; 19. Bottom plate shock pad; 110. Spring;

[0030] 2. Unmanned boat body; 21. Signal detection port; 22. Sliding horizontal cover; 23. Signal transmitter; 24. Slide rail; 25. Driving gear; 26. Antenna; 27. Second camera; 28. Data line board 1; 29. ​​Data line board 2; 210. Data line board 3; 211. Second main control module. DETAILED DESCRIPTION

[0031] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0032] The purpose of the utility model is to provide a separated linkage type unmanned aerial vehicle carrying unmanned boat system to solve the problem that the existing unmanned aerial vehicle and unmanned boat linkage working technology still needs to manually transport the unmanned boat to the measurement area, which is time-consuming, inefficient and has high labor costs.

[0033] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0034] The present embodiment provides a separated linkage type unmanned aerial vehicle-mounted unmanned boat system 100, including an unmanned aerial vehicle body 1, an unmanned boat body 2 and a picture acquisition device. The unmanned aerial vehicle body 1 is configured with a first communication module, a first power module, a first positioning module, a first image transmission module, a first main control module and a first attitude correction module. The first communication module, the first power module, the first positioning module, the first image transmission module and the first attitude correction module are all connected to the first main control module for communication. The unmanned aerial vehicle body 1 has the basic structure and all flight functions of a traditional unmanned aerial vehicle. A starting module is provided at the bottom of the unmanned aerial vehicle body 1. The landing gear 11 is provided with a load-bearing electromagnetic sheet 12, which is rotatably connected to the landing gear 11 through a rotating shaft, wherein the rotating shaft is rotatably connected to the landing gear 11, and one side of the load-bearing electromagnetic sheet 12 is fixedly connected to the rotating shaft; the end of the rotating shaft is connected to a rotating drive motor, and the rotating drive motor is communicatively connected to the aforementioned first main control module, and the first main control module can control the opening and closing and rotation direction of the rotating drive motor, thereby controlling the rotation of the rotating shaft, and the rotating shaft drives the load-bearing electromagnetic sheet 12 to flip, and the rotating drive motor can drive the load-bearing electromagnetic sheet 12 to open or reset and fold. The load-bearing electromagnetic sheet 12 and the top plate of the unmanned ship body 2 are a matching mechanism, and after the load-bearing electromagnetic sheet 12 is opened under the drive of the rotating drive motor, it can be powered on and off under the control of the first main control module, and the energized load-bearing electromagnetic sheet 12 can absorb the top plate of the unmanned ship body 2 (at this time, the landing gear 11 is in an unfolded state and cannot pass through the signal detection port 21), thereby realizing the lifting of the unmanned ship body 2 by the unmanned aircraft body 1. On the contrary, when the UAV body 1 needs to move away from the unmanned boat body 2, the first main control module controls the load-bearing electromagnetic sheet 12 to cut off the power, and the load-bearing electromagnetic sheet 12 releases the adsorption of the top plate of the unmanned boat body 2, and then the first main control module controls the rotary drive motor to drive the load-bearing electromagnetic sheet 12 to reset and fold, and the UAV body 1 is lifted, so that the landing gear 11 passes through the signal detection port 21 and moves away from the signal detection port 21, and finally the UAV body 1 is separated from the unmanned boat body 2.

[0035] The unmanned boat body 2 is configured with a second communication module, a second power module, a second positioning module, a second image transmission module, a second main control module 211 and a second attitude correction module. The second communication module, the second power module, the second positioning module, the second image transmission module and the second attitude correction module are all communicatively connected with the second main control module 211. The unmanned boat body 2 has the basic structure and all navigation functions of a traditional unmanned boat. A signal detection port 21 which can be plugged and adapted to the landing gear 11 is provided on the top of the unmanned boat body 2. A sliding cross cover 22 is movably installed at the signal detection port 21. The sliding cross cover 22 is connected to a driving mechanism, and the driving mechanism is used to drive the sliding cross cover 22 to slide so as to open or close the signal detection port 21. A first contact sensor is also provided on the sliding cross cover 22 for sensing whether the landing gear 11 has reached the signal detection port 21 and positioned accurately. A signal transmitter 23 is provided in the unmanned boat body 2 just below the signal detection port 21, and the signal transmitter 23 can transmit a signal toward the signal detection port 21, and a signal receiver capable of receiving the signal transmitted by the signal transmitter 23 is provided at the bottom of the corresponding landing gear 11. The first contact sensor and the signal transmitter 23 are both communicatively connected to the second main control module 211, the driving mechanism is communicatively connected to the second power module, and the signal receiver is communicatively connected to the aforementioned first main control module. When the first contact sensor senses that the landing gear 11 has reached the signal detection port 21 and is accurately positioned, the second main control module 211 controls the driving mechanism to open the signal detection port 21. As the landing gear 11 is inserted downward into the signal detection port 21, the signal transmitter 23 received by the signal receiver has a stronger signal strength. When the signal strength received by the signal receiver reaches a preset strength, the landing gear 11 is lowered into position in the signal detection port 21. At this time, the load-bearing electromagnetic sheet 12 can be attracted to the unmanned ship body 2. After the first main control module receives the attraction signal of the load-bearing electromagnetic sheet 12, the unmanned ship body 2 can be lifted, lowered and transferred. In actual applications, the unmanned aircraft body 1 adjusts its landing height relative to the unmanned ship according to the signal strength received by the signal receiver until the frame bottom rod 13 of the landing gear 11 completely enters the unmanned ship body 2 through the signal detection port 21. The aforementioned image acquisition device is arranged on the drone body 1 or the unmanned boat body 2, and is used to detect the relative position of the drone body 1 and the unmanned boat body 2 in real time, so as to facilitate the rapid and accurate positioning of the landing gear 11 and the signal detection port 21.

[0036] In this embodiment, the image acquisition device is preferably a first camera 14, which is installed on the drone body 1 through a rotating assembly, and the rotating assembly is used to adjust the position of the first camera 14 relative to the drone in multiple directions, and the rotating assembly is connected to the first main control module, and the first main control module can control the operation of the rotating assembly. The first camera 14 can specifically be a 360-degree rotating panoramic camera, which is connected to the first posture correction module.

[0037] In this embodiment, the rotating assembly includes a rotating motor, a mechanical arm 15, a mechanical arm 2 16, a liquid cylinder 17 and a rotating chassis 18. The top of the mechanical arm 15 is rotatably connected to the bottom plate of the drone body 1 through the rotating chassis 18. The rotating motor is arranged in the drone body 1, and the output end of the rotating motor is connected to the rotating chassis 18, which is used to drive the mechanical arm 15 and the rotating chassis 18 to rotate synchronously; the middle part of the mechanical arm 2 16 is hinged to the bottom of the mechanical arm 15, and the first end of the mechanical arm 2 16 is connected to the top of the mechanical arm 15 through the liquid cylinder 17 (wherein the two ends of the liquid cylinder 17 are respectively hinged to the top of the mechanical arm 15 and the first end of the mechanical arm 2 16), and the second end of the mechanical arm 2 16 is installed with the aforementioned first camera 14. The rotating motor and the liquid cylinder 17 are both controlled by the first active module, wherein the rotating motor can drive the mechanical arm 15 to rotate 360 ​​degrees around its own axis, and the extension and contraction of the liquid cylinder 17 can control the mechanical arm 2 16 to swing up and down.

[0038] In this embodiment, the aforementioned signal detection port 21 is preferably a strip-shaped port, and the sliding transverse cover 22 is slidably matched with the slide rail 24 arranged at the bottom edge of the signal detection port 21. The driving mechanism is preferably a gear rack assembly, which is installed in the unmanned boat body 2, and specifically includes a driving gear 25, a driving rack and a driving motor. The driving rack is connected to the sliding transverse cover 22, and the driving gear 25 is rotatably installed on the inner wall of the unmanned boat body 2 and meshes with the driving rack. The output end of the driving motor is connected to the driving gear 25, which is used to drive the driving gear 25 to rotate, thereby driving the driving rack to move back and forth, so as to achieve the closing or opening of the signal detection port 21 by the sliding transverse cover 22.

[0039] In this embodiment, the bottom of the unmanned boat body 2 is also provided with a variety of hydrological measuring instruments and water pressure sensors, which are connected to the second main control module 211. When the unmanned boat body 1 transports the unmanned boat body 2 to the designated waters and lands downward, the water pressure sensor transmits the water pressure signal of the hull to the second main control module 211. When the water pressure meets the requirements, the second main control module 211 transmits instructions to the signal transmitter 23, and the signal transmitter 23 transmits the signal to the signal receiver. The first main control module controls the closing of the electromagnetic load-bearing sheet and controls the unmanned boat body 1 to fly away from the unmanned boat body 2. During the process of the unmanned boat body 1 flying away from the unmanned boat body 2, the signal strength between the signal transmitter 23 and the signal receiver will be transmitted to the second main control module 211. The second main control module 211 determines that the unmanned boat body 1 has flown away from the unmanned boat body 2 according to the signal strength, and controls the driving mechanism to drive the sliding horizontal cover 22 to move and close the signal detection port 21.

[0040] In this embodiment, the bow of the unmanned boat body 2 is also provided with an antenna 26 and a second camera 27, and the second camera 27 can specifically be a 360° rotating camera. The 360° rotating camera is an existing camera, and its specific structure and working principle are not repeated here. The second camera 27 is used to monitor the position of the unmanned boat body 2 in real time, which is beneficial for the unmanned boat body 2 to avoid obstacles or adjust its posture in an emergency when it is running on the water or being lifted and transported by a drone. The linkage status of the drone body 1 and the unmanned boat body 2 is monitored respectively by the aforementioned first camera 14 and the second camera 27, and the data is transmitted to the respective main control modules through their respective image transmission modules. The main control module can send instructions according to the environmental status, and use the rotating component to adjust the orientation of the first camera 14, which solves the problem of limited field of view in the linkage state, improves the flexibility of drone shooting and monitoring, and realizes real-time monitoring and camera emergency obstacle avoidance.

[0041] In this embodiment, two sets of landing gears 11 are preferably installed at intervals at the bottom of the drone body 1, and correspondingly, two signal detection ports 21 are provided on the unmanned boat body 2 to correspond to the two sets of landing gears 11. Each signal detection port 21 is provided with the above-mentioned sliding transverse cover 22, and the driving mechanisms of the two sets of sliding transverse covers 22 are the same, and preferably the driving mechanisms of the two sets of sliding transverse covers 22 operate synchronously.

[0042] In this embodiment, the landing gear 11 preferably includes a frame, a load-bearing electromagnetic sheet 12 rotatably mounted on the top of the frame bottom rod 13, and a buffer device arranged below the frame bottom rod 13. The buffer device includes a bottom plate shock-absorbing pad 19, which is connected to the top of the frame bottom rod 13 through a plurality of groups of springs 10. Under the elastic force of the springs 10, the bottom plate shock-absorbing pad 19 can float up and down relative to the frame bottom rod 13. Before the landing gear 11 contacts the unmanned ship, the bottom surface of the bottom plate shock-absorbing pad 19 extends out of the bottom of the frame bottom rod 13. When the landing gear 11 lands and contacts the signal detection port 21 or the sliding cross cover 22 of the unmanned ship, the bottom plate shock-absorbing pad 19 can float up and down relative to the frame bottom rod 13 under the action of the springs 10, playing a role in buffering the landing of the landing gear 11. The aforementioned signal receiver is arranged on the bottom surface of the bottom plate shock-absorbing pad 19.

[0043] Furthermore, in order to improve the accuracy of positioning the landing gear 11 and the unmanned vessel, a second contact sensor is further provided at the bottom of the bottom plate shock-absorbing pad 19 in this embodiment.

[0044] In this embodiment, the aforementioned first positioning module includes a GPS module and a compass module, and the drone body 1 can land on the sliding horizontal cover 22 according to the positioning data transmitted by the first positioning module.

[0045] Furthermore, in this embodiment, it is preferred that the tops of the two sets of sliding transverse covers 22 are both provided with grooves of a size corresponding to the bottom plate shock-absorbing pad 19, and the aforementioned first contact sensor is arranged in the groove. The bottom plate shock-absorbing pad 19 and the grooves of the sliding transverse cover 22 have the same volume and shape. When the drone body 1 is lowered onto the unmanned ship body 2 according to the positioning data, if the bottom plate shock-absorbing pad 19 of the drone body 1 does not completely match the grooves of the sliding transverse cover 22, that is, the second contact sensor of the bottom plate shock-absorbing pad 19 is not completely in contact with the first contact sensor at the sliding transverse cover 22, the first main control module of the drone body 1 sends instructions to the first attitude correction module, and the first attitude correction module adjusts the flight attitude of the drone body 1 until the bottom plate shock-absorbing pad 19 is completely embedded in the groove of the sliding transverse cover 22, at which time the contact connection signal of the first contact sensor and the second contact sensor will be transmitted to the first main control module and the second main control module 211.

[0046] In this embodiment, the second main control module 211 is connected to the drive mechanism and the first contact sensor through data line board 1 28 and data line board 3 210. When the second main control module 211 of the unmanned boat receives the signal of contact between the first contact sensor and the second contact sensor, it sends an instruction to let the drive mechanism drive the sliding cross cover 22 to slide and open the signal detection port 21.

[0047] The separated linkage type unmanned aerial vehicle-mounted unmanned boat system 100 proposed in the utility model can transmit the positioning data of the unmanned aerial vehicle body 1 relative to the unmanned boat body 2 back to the first main control module through the setting of the first positioning module on the unmanned aerial vehicle body 1 and the setting of the picture acquisition device, so as to realize the landing of the unmanned aerial vehicle body 1 on the sliding cross cover 22 of the unmanned boat body 2; at the same time, in conjunction with the setting of the first contact sensor on the sliding cross cover 22 of the unmanned boat and the second contact sensor on the landing gear 11, it can accurately sense whether the unmanned aerial vehicle body 1 has accurately landed on the sliding cross cover 22, so that the sliding cross cover 22 can be controlled to open automatically, so that the landing gear 11 can be inserted into the unmanned boat, and then the weight of the unmanned boat body 2 can be dispersed to each load-bearing electromagnetic sheet 12 by flipping the load-bearing electromagnetic sheet 12 to absorb the unmanned boat body 2, so as to realize the positioning of the unmanned aerial vehicle body 1 on the unmanned boat The lifting, landing and transfer of the drone body 2 can realize the linkage between the drone body 1 and the unmanned boat body 2; when the drone body 1 transfers the unmanned boat body 2 to the designated location, and the water pressure signal detected by the water pressure sensor at the bottom of the unmanned boat body 2 reaches the preset water pressure signal, the load-bearing electromagnetic sheet 12 is flipped, and the load-bearing electromagnetic sheet 12 and the unmanned boat body 2 are released from adsorption. At this time, the drone body 1 can take off alone and move away from the unmanned boat body 2. In this process, the change in signal strength between the signal transmitter 23 and the signal receiver can be used to determine whether the drone body 1 flies away from the unmanned boat body 2, and after the second main control module 211 receives the signal that the drone body 1 flies away from the unmanned boat body 2, the sliding horizontal cover 22 is controlled to move and the signal detection port 21 is closed, thereby realizing the separation of the drone body 1 and the unmanned boat body 2. Then, a position transfer of the drone body carrying the unmanned boat body is completed.

[0048] It can be seen that the separated linkage type unmanned aerial vehicle-mounted unmanned boat system proposed in the utility model realizes the automatic switching of the separation linkage of the unmanned aerial vehicle body and the unmanned boat body by configuring the communication module, the main control module, the contact sensor, etc. on both the unmanned aerial vehicle body and the unmanned boat body, and using the electrical signal of the load-bearing electromagnetic sheet 12. The first camera 14 on the unmanned aerial vehicle body and the second camera 27 on the unmanned boat body can both be adjusted 360 degrees for multi-angle shooting, and the linkage state and the surrounding environment of the unmanned aerial vehicle body and the unmanned boat body can be monitored in real time, and the data can be transmitted to the first and second attitude correction modules, which is conducive to real-time and accurate control of the linkage state of the unmanned aerial vehicle body and the unmanned boat body, and can realize emergency obstacle avoidance or attitude adjustment of the unmanned aerial vehicle body and the unmanned boat body respectively, and emergency obstacle avoidance or attitude adjustment of the entire system when the unmanned aerial vehicle body and the unmanned boat body are linked.

[0049] The separated and linked drone-mounted unmanned boat system proposed in the utility model realizes the fully automated and high-precision operation of the drone-mounted unmanned boat system, which can not only realize the take-off and landing of the unmanned boat by the drone, but also realize the remote control of the drone-mounted unmanned boat to reach the designated area for inspection and automatically recover the drone. There is no need to manually transport the unmanned boat to the survey area, which solves the problem of the existing need to manually transport the unmanned boat to the survey area, which is time-consuming, inefficient and has high labor costs. It provides effective technical support for integrated, normalized, automated and intelligent inspections above and below the water.

[0050] The present invention uses specific examples to illustrate the principle and implementation of the present invention. The above examples are only used to help understand the method and core idea of ​​the present invention. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A separated and linked unmanned aircraft-mounted unmanned ship system, characterized in that: include: A drone body, wherein the drone body is provided with a first communication module, a first power module, a first positioning module, a first image transmission module, a first main control module and a first attitude correction module, wherein the first communication module, the first power module, the first positioning module, the first image transmission module and the first attitude correction module are all connected to the first main control module for communication, a landing gear is installed at the bottom of the drone, a load-bearing electromagnetic sheet is rotatably installed on the landing gear, and the load-bearing electromagnetic sheet is connected to the first main control module for communication; An unmanned boat body is provided with a second communication module, a second power module, a second positioning module, a second image transmission module, a second main control module and a second attitude correction module. The second communication module, the second power module, the second positioning module, the second image transmission module and the second attitude correction module are all connected to the second main control module for communication. A signal detection port that can be plug-in-adapted to the landing gear is provided on the top of the unmanned boat body. A sliding cross cover is movably installed at the signal detection port. The sliding cross cover is connected to a driving mechanism. The driving mechanism is used to drive the sliding cross cover to slide so as to open or close. A signal detection port, a first contact sensor is also arranged on the sliding horizontal cover, for sensing whether the landing gear has reached the signal detection port and is accurately positioned; a signal transmitter is arranged in the unmanned boat body directly below the signal detection port, the signal transmitter can transmit a signal toward the signal detection port, and a signal receiver capable of receiving the signal transmitted by the signal transmitter is arranged at the bottom of the landing gear; the first contact sensor and the signal transmitter are both communicatively connected to the second main control module, the driving mechanism is communicatively connected to the second power module, and the signal receiver is communicatively connected to the first main control module; A picture acquisition device, wherein the picture acquisition device is arranged on the unmanned aerial vehicle body or the unmanned boat body, and the picture acquisition device is used to detect the relative position of the unmanned aerial vehicle body and the unmanned boat body in real time.

2. The separation-linkage type unmanned aerial vehicle-mounted unmanned ship system according to claim 1 is characterized in that: The image acquisition device is a first camera, which is communicatively connected to the first posture correction module and installed on the drone body through a rotating component. The rotating component is used to adjust the orientation of the first camera relative to the drone body, and the rotating component is communicatively connected to the first main control module.

3. The separation-linkage type unmanned aerial vehicle-mounted unmanned ship system according to claim 2 is characterized in that: The rotating assembly includes a rotating motor, a first robotic arm, a second robotic arm, a liquid cylinder and a rotating chassis. The top of the first robotic arm is rotatably connected to the bottom plate of the drone body through the rotating chassis. The rotating motor is arranged in the drone body, and the output end of the rotating motor is connected to the rotating chassis. The middle part of the second robotic arm is hinged to the bottom of the first robotic arm, the first end of the second robotic arm is connected to the top of the first robotic arm through the liquid cylinder, and the second end of the second robotic arm is installed with the first camera.

4. The separation-linkage type unmanned aerial vehicle-mounted unmanned ship system according to any one of claims 1 to 3, characterized in that: The signal detection port is a strip-shaped port, and the sliding horizontal cover is slidably matched with a slide rail arranged at the bottom edge of the signal detection port; The driving mechanism is a gear rack assembly, which is installed in the unmanned boat body. The driving mechanism includes a driving gear, a driving rack and a driving motor. The driving rack is connected to the sliding cross cover. The driving gear is rotatably installed on the inner wall of the unmanned boat body and meshes with the driving rack. The output end of the driving motor is connected to the driving gear for driving the driving gear to rotate.

5. The separation-linkage type unmanned aerial vehicle-mounted unmanned ship system according to any one of claims 1 to 3, characterized in that: The bottom of the unmanned boat body is also provided with a water pressure sensor and a hydrological measuring instrument, and both the hydrological measuring instrument and the water pressure sensor are communicatively connected with the second main control module.

6. The separation-linkage type unmanned aerial vehicle-mounted unmanned ship system according to any one of claims 1 to 3, characterized in that: The bow of the unmanned boat body is also provided with an antenna and a second camera.

7. The separation-linkage type unmanned aerial vehicle-mounted unmanned ship system according to claim 4 is characterized in that: Two groups of landing gears are installed at intervals at the bottom of the drone body, and two signal detection ports are opened on the unmanned boat body to correspond to the two groups of landing gears one by one, and each signal detection port is configured with a sliding horizontal cover.

8. The separation-linkage type unmanned aerial vehicle-mounted unmanned ship system according to any one of claims 1 to 3, characterized in that: The landing gear includes a frame and a buffer device, the load-bearing electromagnetic plate is rotatably installed on the top of the frame bottom rod, the buffer device includes a bottom plate shock-absorbing pad, the bottom plate shock-absorbing pad is connected to the top of the frame bottom rod through a plurality of groups of springs, and the bottom surface of the bottom plate shock-absorbing pad extends out of the bottom of the frame bottom rod.

9. The separation-linkage type unmanned aerial vehicle-mounted unmanned ship system according to claim 8 is characterized in that: A second contact sensor for contacting and cooperating with the first contact sensor is also arranged at the bottom of the bottom plate shock-absorbing pad, and the second contact sensor is communicatively connected with the first main control module.

10. The separation-linkage type unmanned aerial vehicle-mounted unmanned ship system according to claim 8, characterized in that: The top of the sliding horizontal cover is provided with a groove which is matched with the bottom plate shock-absorbing pad, and the first contact sensor is arranged in the groove.

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