Multi-rotor unmanned aerial vehicle with self-adaptive patrol function

Abstract

The utility model relates to the technical field of unmanned aerial vehicle patrol, in particular to a multi-rotor unmanned aerial vehicle with a self-adaptive patrol function, which comprises an unmanned aerial vehicle body and propeller devices arranged at four corners of the top of the unmanned aerial vehicle body, and the top of the left side of the unmanned aerial vehicle body is connected with a camera through an angle adjusting mechanism. The bottom of the unmanned aerial vehicle body is connected with a rotating disc through a U-shaped frame, four sampling pipes used for collecting river water samples are arranged on the right side of the rotating disc in an annular array mode, and the left side of the rotating disc is connected with a regulation and control mechanism used for switching the sampling pipes. The problems that the water quality detection result is not accurate enough and part of hidden dangers exist in patrol work due to the fact that river channel multi-point collection cannot be achieved in the prior art are solved.

Description

Technical Field

[0001] The utility model relates to the technical field of unmanned aerial vehicle inspection, and in particular to a multi-rotor unmanned aerial vehicle with an adaptive inspection function. Background Art

[0002] With the rapid development of drone technology, existing technologies have made it possible to remotely control drones for daily river inspections, replacing traditional manual inspections.

[0003] The use of drones to patrol the river means patrolling along a certain route and frequency to check the integrity, cleanliness and hidden dangers of the main projects and ancillary facilities within the river management area, prevent the main projects and ancillary facilities from being stolen, destroyed, damaged, etc., promptly discover and report illegal and irregular incidents and emergencies that affect the environment and safety, and ensure the normal operation of the river.

[0004] The patent with publication number CN212386686U discloses a multi-rotor drone with adaptive patrol function, including a drone body, a sampling motor and a screw rod, wherein the drone body is provided with a sampling motor, the lower end of the sampling motor is provided with a screw rod, a lifting plate is threadedly connected to the screw rod, the left and right ends of the lifting plate are provided with clamping plates, a test tube is provided in the middle of the clamping plate, and clamping plates are provided on the left and right sides of the test tube, a rubber plug is provided on the upper side of the test tube, the upper end of the rubber plug is fixedly connected to the drone body, and a plurality of wing frames are provided on one end of the outer side of the drone body. When the utility model is used, when the drone body lands, the support leg drives the insertion rod to move upward in the sleeve rod, and squeezes the buffer spring under the action of the connecting rod, the collar and the cross bar, so as to play a buffering role on the drone body, protect the internal components of the drone body, and reduce damage.

[0005] During the actual river inspection process, patrol drones such as the above can only randomly collect water quality at a certain place in a section of the river, and cannot sample water quality at different locations in the river. As a result, the test results of river water quality are not accurate enough, which may easily lead to some hidden dangers in the inspection of the river environment. Utility Model Content

[0006] The purpose of the utility model is to provide a multi-rotor UAV with an adaptive patrol function, which overcomes the problem in the prior art that when patrolling a river channel by using a UAV, it is impossible to collect water quality data at multiple points in the river channel, resulting in inaccurate water quality detection results and easily leading to some hidden dangers in the patrol work.

[0007] In order to achieve the above-mentioned purpose, the technical solution adopted by the utility model to solve its technical problems is:

[0008] A multi-rotor drone with adaptive patrol function is designed. During the river patrol process, water quality sampling can be carried out at different locations such as the upper, middle and lower reaches of the river as needed, so as to achieve comprehensive testing of river water quality as much as possible, ensure the accuracy of river patrol reports, and effectively prevent the occurrence of hidden dangers in the river. The specific plan is as follows:

[0009] A multi-rotor drone with an adaptive patrol function comprises a drone body and propeller devices arranged at the four corners of the top of the drone body, wherein a camera is connected to the top of the left side of the drone body through an angle adjustment mechanism;

[0010] The bottom of the drone body is connected to a rotating disk through a U-shaped frame, and a circular array on the right side of the rotating disk has four sampling tubes for collecting river water samples;

[0011] A regulating mechanism for switching the sampling tube is connected to the left side of the rotating disk.

[0012] Preferably, the propeller device is connected to the four corners of the top of the drone body through a cantilever, the four corners of the bottom of the drone body are respectively connected to shock-absorbing legs, and a battery is arranged on the right side inside the drone body.

[0013] Preferably, the angle adjustment mechanism comprises a first motor, a first bevel gear, a second bevel gear and a connecting shaft, the first motor is arranged on the left side of the drone body, and the first bevel gear is connected to the output end of the first motor;

[0014] The connecting shaft is connected to the lower side of the first bevel gear through a fixing plate, and the second spur gear is connected to the upper end of the connecting shaft and meshes with the first bevel gear;

[0015] The camera is connected to the lower end of the connecting shaft and is arranged to be tilted inwards.

[0016] Preferably, the control mechanism comprises a second motor, a driving gear and a driven gear, and the second motor is arranged on the left side of the bottom of the drone body;

[0017] The active gear is connected to the output end of the second motor, the driven gear is connected to the left side of the U-shaped frame, and the driven gear is connected to the active gear;

[0018] The rotating disk is connected to the driven gear member via a rotating shaft.

[0019] Preferably, the active gear comprises a disc and a rotating block, and the disc is connected to the bottom of the rotating block;

[0020] A notch with an angle of 90 degrees is provided at the edge of the disc, and a conical shifting tooth corresponding to the notch is provided on one side of the rotating block;

[0021] The driven gear member comprises a rectangular bottom frame and a conical matching tooth, wherein the rectangular bottom frame is connected to the bottom of the conical matching tooth, and the four corners of the rectangular bottom frame are provided with rounded corners;

[0022] The conical matching teeth are intermittently matched with the conical shifting teeth, the outer sides of the rectangular bottom frame are intermittently abutted with the edge of the front surface of the disc, and the four rounded corners are intermittently matched with the notches respectively.

[0023] Preferably, the rotating disk is rotatably connected to the inner side of the U-shaped frame via a rotating rod, the rotating rod is connected to a first spur gear, and the rotating shaft is connected to a second spur gear located in the U-shaped frame and matched with the first spur gear.

[0024] Preferably, there are four mounting plates in a circular array at the edge of the rotating disk, the sampling tube is connected to the mounting plate, the opening of the sampling tube is blocked with a tube cover, the tube cover is connected to the rotating disk through a spring, and the bottom of the tube cover intermittently abuts against the top of the arc-shaped top plate connected to the right side of the U-shaped frame.

[0025] The beneficial effects of the utility model are:

[0026] 1. The utility model provides a plurality of sampling tubes at the bottom of the inspection drone, and the sampling tubes are arranged in a circular array on a rotating disk, so as to effectively collect water quality at different positions of the river, so as to detect the water samples in the river collected by the sampling tubes one by one, and then to know the water quality at different positions of the river, so as to have as detailed an understanding of the river situation as possible and avoid the occurrence of water quality hazards.

[0027] 2. The rotating disk in the utility model can be rotated at a ninety-degree angle through a regulating mechanism, so that the sampling tubes can be rotated one by one into the river water for sampling during the sampling process, so as to obtain river water samples at different positions in the river channel one by one, and ensure the collection of water samples at multiple points.

[0028] 3. In the utility model, when the sampling tube rotates to the lower side of the U-shaped frame during the rotation of the rotating disk, the tube cover at the opening of the sampling tube can be pushed open by the arc-shaped top plate to ensure that the river water can effectively enter the sampling tube. After the sampling tube rotates over the arc-shaped top plate, the tube cover will re-seal the sampling tube under the action of the spring recovery elastic force. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a structural schematic diagram of the utility model;

[0030] Figure 2 for Figure 1 Schematic diagram of the cross section at AA in the middle;

[0031] Figure 3 for Figure 1 A partial enlarged schematic diagram of point B in the middle;

[0032] Figure 4 for Figure 2 A partial enlarged schematic diagram of point C in the middle;

[0033] Figure 5 It is a structural schematic diagram of the active gear in the utility model;

[0034] Figure 6 It is a structural schematic diagram of the driven gear in the utility model.

[0035] In the picture: 1-UAV body; 11-cantilever; 12-battery; 2-propeller device; 3-camera; 4-angle adjustment mechanism; 41-first motor; 42-first bevel gear; 43-second bevel gear; 44-connecting shaft; 5-regulating mechanism; 51-second motor; 52-active gear; 521-disc; 5211-notch; 522-rotating block; 5221-conical shifting gear; 53-driven gear; 531-rectangular bottom frame; 5311-rounded corner; 532-conical matching gear; 533-rotating shaft; 6-rotating disk; 61-mounting plate; 62-baffle; 621-guide slide plate; 63-block; 631-fixing bolt; 64-spring; 7-U-shaped frame; 71-second spur gear; 72-first spur gear; 73-arc top plate; 8-sampling tube; 81-tube cover; 82-lifting rod; 9-shock-absorbing support leg. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical solutions and advantages of the utility model more clearly understood, the utility model is further described in detail below in conjunction with embodiments and drawings. The schematic implementation manner of the utility model and its description are only used to explain the utility model and are not intended to limit the utility model.

[0037] In the following description, a large number of specific details are set forth in order to provide a thorough understanding of the present invention. However, it is apparent to those skilled in the art that these specific details are not necessary to implement the present invention. In other embodiments, in order to avoid confusing the present invention, well-known structures, circuits, materials or methods are not specifically described.

[0038] Throughout the specification, references to "one embodiment," "an embodiment," "an example," or "an example" mean that a particular feature, structure, or characteristic described in conjunction with the embodiment or example is included in at least one embodiment of the present invention. Therefore, the phrases "one embodiment," "an embodiment," "an example," or "an example" appearing in various places throughout the specification do not necessarily all refer to the same embodiment or example. In addition, particular features, structures, or characteristics may be combined in one or more embodiments or examples in any suitable combination and / or sub-combination. In addition, it will be appreciated by those of ordinary skill in the art that the figures provided herein are for illustrative purposes and that the figures are not necessarily drawn to scale. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0039] In the description of the present invention, the terms "front", "rear", "left", "right", "up", "down", "vertical", "horizontal", "high", "low", "inside", "outside", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they should not be understood as limiting the scope of protection of the present invention.

[0040] like Figure 1-6 As shown, the utility model provides a multi-rotor UAV with an adaptive patrol function, including a UAV body 1, and propeller devices 2 arranged at the four corners of the top of the UAV body 1, which can drive the UAV body 1 to fly in the air. A camera 3 is connected to the top left side of the UAV body 1 through an angle adjustment mechanism 4. The shooting angle of the camera 3 can be adjusted through the adjustment mechanism 4, so that it can shoot a wider range. A rotating disk 6 is connected to the bottom of the UAV body 1 through a U-shaped frame 7. There are four sampling tubes 8 for collecting river water samples in a circular array on the right side of the rotating disk 6, which is convenient for collecting river water in the river channel. A regulating mechanism 5 for switching the sampling tube 8 is connected to the left side of the rotating disk 6. The regulating mechanism 5 can realize that the rotating disk 6 can rotate by the same angle each time it rotates, so as to switch to the next sampling tube 8 and sample the river water at a new location.

[0041] In the above scheme, the propeller device 2 is connected to the four corners of the top of the drone body 1 through the cantilever 11, the four corners of the bottom of the drone body 1 are respectively connected to shock-absorbing legs 9, and a battery 12 is arranged on the right side inside the drone body 1.

[0042] As an optimization technical solution of the utility model, the propeller device 2 is driven by a motor to rotate the propeller blades, thereby driving the UAV body 1 to fly, and the shock-absorbing legs 9 are supporting legs with shock-absorbing effect, which are equivalent to the shock-absorbing mechanism of a car, and play a buffering role when the UAV lands. The battery 12 is used to store electricity to provide power for the flight of the UAV and various electrical components in the UAV body 1.

[0043] In the above scheme, the angle adjustment mechanism 4 includes a first motor 41, a first bevel gear 42, a second bevel gear 43 and a connecting shaft 44. The first motor 41 is arranged on the left side of the drone body 1, the first bevel gear 42 is connected to the output end of the first motor 41, the connecting shaft 44 is connected to the lower side of the first bevel gear 42 through a fixing plate, the second bevel gear 43 is connected to the upper end of the connecting shaft 44 and meshes with the first bevel gear 42, and the camera 3 is connected to the lower end of the connecting shaft 44 and is tilted inward.

[0044] As an optimization technical solution of the utility model, the first motor 41 can rotate forward and backward, and the first motor 41 drives the first bevel gear 42 to rotate forward and backward, and then drives the second bevel gear 43 to rotate forward and backward, and then drives the camera 3 at the lower end to rotate back and forth through the connecting shaft 44, so as to adjust the angle of the camera in the horizontal direction, and the camera 3 is tilted inward, that is, the camera is set downward, so that the river and the shore environment can be captured more clearly and in a wider range.

[0045] In the above scheme, the control mechanism 5 includes a second motor 51, a driving gear 52 and a driven gear 53. The second motor 51 is arranged on the left side of the bottom of the drone body 1, the driving gear 52 is connected to the output end of the second motor 51, the driven gear 53 is connected to the left side of the U-shaped frame 7, the driven gear 53 is connected to the driving gear 52, and the rotating disk 6 is connected to the driven gear 53 through the rotating shaft 533.

[0046] As an optimization technical solution of the utility model, the second motor 51 drives the active gear 52 to rotate, and the active gear 52 intermittently drives the driven gear 53 to rotate ninety degrees, thereby driving the rotating disk 6 in the U-shaped frame 7 to rotate ninety degrees, thereby realizing position switching.

[0047] In the above scheme, the active gear member 52 includes a disc 521 and a rotating block 522, the disc 521 is connected to the bottom of the rotating block 522, a notch 5211 with an angle of ninety degrees is provided at the edge of the disc 521, and a conical shifting tooth 5221 corresponding to the notch 5211 is provided on one side of the rotating block 522, and the driven gear member 53 includes a rectangular bottom frame 531 and a conical matching tooth 532, the rectangular bottom frame 531 is connected to the bottom of the conical matching tooth 532, and rounded corners 5311 are provided at the four corners of the rectangular bottom frame 531, the conical matching tooth 532 is intermittently matched with the conical shifting tooth 5221, and the outer sides of the rectangular bottom frame 531 are intermittently abutted against the edge of the front surface of the disc 521, and the four rounded corners 5311 are intermittently matched with the notch 5211 respectively.

[0048] As an optimization technical solution of the utility model, after the circular disk 521 and the rotating block 522 rotate one circle, the conical shifting tooth 5221 can be used to shift the conical matching tooth 532 to rotate ninety degrees. During the rotation of the conical matching tooth 532, the rectangular bottom frame 531 will be driven to rotate ninety degrees. At this time, one of the rounded corners 5311 just rotates in and out of the notch 5211, so that the side of the rectangular bottom frame 531 that is against the circular disk 521 is converted into the next adjacent side. In this way, every time the circular disk 521 and the rotating block 522 rotate one circle, the conical shifting tooth 5221 and the conical matching tooth 532 can be used to make the conical matching tooth 532 and the rectangular bottom frame 531 rotate ninety degrees, and then the rotating disk 6 is driven to rotate ninety degrees through the rotating shaft 533.

[0049] In the above scheme, the rotating disk 6 is rotatably connected to the inner side of the U-shaped frame 7 through a rotating rod, the rotating rod is connected to a first spur gear 72, and the rotating shaft 533 is connected to a second spur gear 71 located in the U-shaped frame 7 and matched with the first spur gear 72.

[0050] As an optimized technical solution of the utility model, the cooperation relationship between the first spur gear 72 and the second spur gear 71 plays a transmission role, so as to provide the rotating disk 6 with enough rotation space in the U-shaped frame 7.

[0051] In the above scheme, there are four mounting plates 61 in a circular array at the edge of the rotating disk 6, the sampling tube 8 is connected to the mounting plate 61, and the opening of the sampling tube 8 is blocked with a tube cover 81. The tube cover 81 is connected to the rotating disk 6 through a spring 64, and the bottom of the tube cover 81 intermittently abuts against the top of the arc-shaped top plate 73 connected to the right side of the U-shaped frame 7.

[0052] As an optimized technical solution of the utility model, a clamping block 63 is provided in the middle of the mounting plate 61, and a clamping hole is provided in the clamping block 63. The sampling tube 8 can pass through the clamping hole and be fixed in the clamping hole by the fixing bolt 631 on the clamping block 63, so as to complete the installation of the sampling tube 8. Before the sampling tube 8 is fixed, the tube cover 81 needs to be inserted into the opening of the sampling tube 8, which can effectively prevent the sample in the sampling tube 8 from flowing out. A baffle plate 62 is provided on the rotating disk 6 at the corresponding position of the mounting plate 61, and guide slide plates 621 extending outward are provided on both sides of the baffle plate 62. The tube cover 81 is slidably connected between the guide slide plates 621, and a spring 64 is provided between the tube cover 81 and the baffle plate 62. A lifting rod 82 is rotatably connected to the front side of the tube cover 81. The lifting rod 82 is used to lift the tube cover 81 from the tube mouth of the sampling tube 8 after contacting the arc-shaped top plate 73 during the rotation of the rotating disk 6, so that the two are separated and the opening of the sampling tube 8 is opened, so as to facilitate the entry of the river water to be collected.

[0053] Specific implementation cases:

[0054] When the drone is actually patrolling the river, the propeller device can drive the drone body 1 to fly along the direction of the water flow of the river, and use the camera 3 to shoot the river and its shore environment. During the shooting process, the angle adjustment mechanism 4 can control the rotation angle of the camera 3 to expand the shooting range of the camera 3 and make the shooting clearer.

[0055] At the same time, during the inspection, if it is necessary to sample the water in a certain river section, the flight altitude of the drone can be controlled so that the shortest mounting plate 61 of the rotating disk 6 is immersed in the water, and the river water sample is collected through the sampling tube 8. After the collection is completed, the second motor 51 in the regulating mechanism 5 can drive the active gear 52 to rotate, and the active gear 52 intermittently drives the driven gear 53 to rotate ninety degrees, thereby driving the rotating disk 6 to rotate ninety degrees.

[0056] During the rotation process, since the lifting rod 82 on the tube cover 81 corresponding to the previous sampling tube 8 that has just collected samples slides down from the arc-shaped top plate 73 and is re-inserted into the tube mouth of the sampling tube 8 for sealing under the action of the spring 64, the lifting rod 82 on the tube cover 81 corresponding to the next sampling tube 8 slides along the arc-shaped top plate 73 to its top, so that the lifting rod 82 is lifted, and then the tube cover 81 is separated from the sampling tube 8 to facilitate the next sampling. Such rotation and switching can realize the collection of river water at different locations, ensure the accurate and effective management of the river channel, avoid the occurrence of hidden dangers, and allow the river channel to operate normally and safely.

[0057] The specific implementation methods described above further illustrate the purpose, technical solutions and beneficial effects of the utility model in detail. It should be understood that the above description is only the specific implementation method of the utility model and is not used to limit the protection scope of the utility model. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the utility model should be included in the protection scope of the utility model.

Claims

1. A multi-rotor drone with an adaptive patrol function, comprising a drone body (1), and propeller devices (2) arranged at the four corners of the top of the drone body (1), characterized in that: The top left side of the drone body (1) is connected to a camera (3) via an angle adjustment mechanism (4); The bottom of the drone body (1) is connected to a rotating disk (6) via a U-shaped frame (7), and a circular array on the right side of the rotating disk (6) has four sampling tubes (8) for collecting river water samples; The left side of the rotating disk (6) is connected to a regulating mechanism (5) for switching the sampling tube (8).

2. The multi-rotor UAV with adaptive patrol function according to claim 1, characterized in that: The propeller device (2) is connected to the four corners of the top of the drone body (1) via a cantilever (11); the four corners of the bottom of the drone body (1) are respectively connected to shock-absorbing legs (9); and a storage battery (12) is provided on the right side of the drone body (1).

3. The multi-rotor UAV with adaptive patrol function according to claim 1, characterized in that: The angle adjustment mechanism (4) comprises a first motor (41), a first bevel gear (42), a second bevel gear (43) and a connecting shaft (44); the first motor (41) is arranged on the left side of the drone body (1); and the first bevel gear (42) is connected to the output end of the first motor (41); The connecting shaft (44) is connected to the lower side of the first bevel gear (42) via a fixing plate, and the second bevel gear (43) is connected to the upper end of the connecting shaft (44) and meshes with the first bevel gear (42); The camera (3) is connected to the lower end of the connecting shaft (44) and is arranged to be tilted inwards.

4. The multi-rotor UAV with adaptive patrol function according to claim 1, characterized in that: The control mechanism (5) comprises a second motor (51), a driving gear (52) and a driven gear (53); the second motor (51) is arranged on the left side of the bottom of the drone body (1); The driving toothed member (52) is connected to the output end of the second motor (51), the driven toothed member (53) is connected to the left side of the U-shaped frame (7), and the driven toothed member (53) is connected to the driving toothed member (52); The rotating disk (6) is connected to the driven gear member (53) via a rotating shaft (533).

5. The multi-rotor UAV with adaptive patrol function according to claim 4, characterized in that: The active toothed member (52) comprises a disc (521) and a rotating block (522), wherein the disc (521) is connected to the bottom of the rotating block (522); A notch (5211) with an angle of ninety degrees is provided at the edge of the circular disk (521), and a conical shifting tooth (5221) corresponding to the notch (5211) is provided on one side of the rotating block (522); The driven tooth member (53) comprises a rectangular bottom frame (531) and a conical matching tooth (532); the rectangular bottom frame (531) is connected to the bottom of the conical matching tooth (532); and rounded corners (5311) are provided at the four corners of the rectangular bottom frame (531); The conical matching teeth (532) intermittently match with the conical shifting teeth (5221), the outer sides of the rectangular bottom frame (531) intermittently abut against the edges of the front surface of the disc (521), and the four rounded corners (5311) intermittently match with the notches (5211) respectively.

6. The multi-rotor UAV with adaptive patrol function according to claim 4, characterized in that: The rotating disk (6) is rotatably connected to the inner side of the U-shaped frame (7) via a rotating rod, the rotating rod is connected to a first spur gear (72), and the rotating shaft (533) is connected to a second spur gear (71) located in the U-shaped frame (7) and matched with the first spur gear (72).

7. The multi-rotor UAV with adaptive patrol function according to claim 4, characterized in that: The rotating disk (6) has four mounting plates (61) arranged in a circular array at the edge of the rotating disk (6). The sampling tube (8) is connected to the mounting plates (61). The opening of the sampling tube (8) is blocked with a tube cover (81). The tube cover (81) is connected to the rotating disk (6) via a spring (64). The bottom of the tube cover (81) intermittently abuts against the top of an arc-shaped top plate (73) connected to the right side of the inside of the U-shaped frame (7).

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