Unmanned aerial vehicle with water flow speed measuring device

Abstract

The utility model discloses an unmanned aerial vehicle with a water flow speed measuring device, and aims to solve the problem that a camera of an unmanned aerial vehicle in the prior art is inconvenient to observe a river area to be observed below the camera. The unmanned aerial vehicle comprises an unmanned aerial vehicle body, a positioning camera and a water flow speed measuring device, the lower side of the unmanned aerial vehicle body is connected with the water flow speed measuring device through a quick-release connector, the positioning camera is arranged in the middle of the lower side of the water flow speed measuring device, the upper end of a three-axis holder is connected with the bottom of the unmanned aerial vehicle body through a quick-release connector, and the lower end of the three-axis holder is connected with a V-shaped shell. A radar flow velocity meter is arranged on the lower front side of the V-shaped shell, a positioning camera is arranged on the lower middle side of the V-shaped shell, a radar range finder is arranged on the lower rear side of the V-shaped shell, the radar range finder and the radar flow velocity meter are connected with a receiving port and a sending port of the main control chip through a communication transceiving circuit, and the positioning camera is connected with the main control chip through an MIPI interface circuit. The technology can quickly select the measured area and adjust the measured area in real time according to the image.

Description

TECHNICAL FIELD

[0001] The utility model relates to unmanned plane application technical field, especially a kind of unmanned plane containing water flow speed measuring device. BACKGROUND

[0002] Unmanned plane, English abbreviation is "UAV", is using radio remote control equipment and self-provided program control device to manipulate the aircraft without people, or by vehicle-mounted computer completely or intermittently autonomously operates. With the application of flow velocity meter on unmanned plane to river flow velocity test, every year flood season needs to prevent flood disaster threat to local residents' property and personal safety. Relevant departments will use various measures to measure, analyze and judge the water regime data such as flow, water level, flow velocity of river, to make decisions to reduce losses.

[0003] At present, most of small and medium-sized rivers still need artificial on-site monitoring, and the traditional way is usually to carry equipment manually and drive a ship to the specified river basin to measure the river flow velocity. When the water flow speed is fast, the position of the ship will change, affecting the accuracy of the measurement work. Or use handheld millimeter wave radar monitoring equipment on the bridge or shore above the river to measure parameters at close range, and it is not easy to quickly and accurately obtain the data at a long distance. If the artificial cannot drive a ship to the specified area, the flow velocity difference is large under the bridge, on the shore and in the river center, or there are many debris or aquatic plants on the shore, it will be difficult for artificial to accurately measure the flow velocity of the specified area of the river.

[0004] Through retrieval, the utility model "a radar flow measuring instrument for unmanned plane" of application number 202221236931.8 is recorded: "

[0047] by reasonably installing water level meter assembly 31 and flow velocity meter assembly 32 in shell 10, radar flow measuring instrument can have two measurement functions of measuring water level and measuring flow velocity, and use efficiency is improved." However, in the real scene, such as some unmanned planes in DJI series do not have a downward-looking camera, or the mounting space below some models is tight, which is easy to cause collision between the mounted camera and the water flow speed measuring device. The field of view of the front camera of most models is designed to match the flight of unmanned plane, which is not convenient for observing some points and areas of river below unmanned plane, so that the operator must first observe the river area to be observed through the front camera, and then reach the specified point and area after opening a distance.

[0005] Therefore, it is necessary to design an unmanned plane with a downward-looking water flow speed measuring device, so that the operator can accurately obtain the precision and convenience of the observed area. UTILITY MODEL CONTENTS

[0006] The utility model discloses to the inconvenient problem of unmanned aerial vehicle camera observing the river region to be observed below in prior art, provide a kind of structure reasonable, high efficiency convenient unmanned aerial vehicle containing water flow speed measuring device.

[0007] The technical solution of the utility model is to provide an unmanned aerial vehicle containing a water flow speed measuring device with the following structure: the unmanned aerial vehicle, a positioning camera and the water flow speed measuring device, the water flow speed measuring device is connected to the bottom of the unmanned aerial vehicle through a quick-release connector, the middle part of the lower side of the water flow speed measuring device is provided with the positioning camera, the water flow speed measuring device contains a main control chip, a three-axis gimbal, a three-axis gimbal driving module, a V-shaped shell, a radar flowmeter, a radar range finder and a communication transceiver circuit, the upper end of the three-axis gimbal is connected to the bottom of the unmanned aerial vehicle through a quick-release connector, the lower end of the three-axis gimbal is connected to the V-shaped shell, the lower front side of the V-shaped shell is provided with the radar flowmeter, the lower middle side of the V-shaped shell is provided with the positioning camera, and the lower rear side of the V-shaped shell is provided with the radar range finder.

[0008] Preferably, the positioning camera is connected to the main control chip through a MIPI interface, wherein the main control chip is divided into three parts: a main control chip J1, a main control chip J2 and a main control chip J3, the pins 13-16 of the MIPI interface are sequentially connected to the pins B37-B40 of the main control chip J1; the pin 4 of the MIPI interface is connected to the pin A8 of the main control chip J2, the pin 19 of the MIPI interface is connected to the pin A4 of the main control chip J2, the pin 20 of the MIPI interface is connected to the pin B4 of the main control chip J2, and the pin 21 of the MIPI interface is connected to the pin A7 of the main control chip J2.

[0009] Preferably, the radar flowmeter is of the model LDSR08LP, which is connected to the pins 7 and 6 of the communication transceiver circuit through an RS485 bus, the chip of the communication transceiver circuit is of the model SP3485EN-L / TR, the pins 4 and 1 of the communication transceiver circuit are respectively connected to the UART0_TX and UART0_RX of the main control chip J3, and the main control chip is divided into three parts: the main control chip J1, the main control chip J2 and the main control chip J3.

[0010] Preferably, the radar range finder is of the model LDRR04M, which is connected to the pins 7 and 6 of the communication transceiver circuit through an RS485 bus, the chip of the communication transceiver circuit is of the model SP3485EN-L / TR, the pins 4 and 1 of the communication transceiver circuit are respectively connected to the UART0_TX and UART0_RX of the main control chip J3, and the main control chip is divided into three parts: the main control chip J1, the main control chip J2 and the main control chip J3.

[0011] Preferably, the master chip is divided into three parts of master chip J1, master chip J2 and master chip J3, wherein the UART4_TX and UART4_RX of the master chip J2 are connected with the three-axis holder driving module through a UART serial port, the three-axis holder driving module drives the three-axis holder to work and position, the three-axis holder contains a heading brushless motor, a heading swing arm, a roll brushless motor, a roll swing arm and a pitch brushless motor, the heading brushless motor is connected with a quick connector and an upper end of the heading swing arm, the roll brushless motor is connected with a lower end of the heading swing arm and a rear end of the roll swing arm, and the pitch brushless motor is connected with a front end of the roll swing arm and two sides of the middle part of the V-shaped shell, wherein the heading brushless motor, the roll brushless motor and the pitch brushless motor are connected with the pin B7 and the pin B11 of the master chip J2 through a UART serial port.

[0012] Preferably, the models of the heading brushless motor, the roll brushless motor and the pitch brushless motor are all PM1806, the rotation angle of the heading brushless motor is -60° to 60°, and the rotation angle of the pitch brushless motor is -90° to 30°.

[0013] Preferably, the model of the master chip is RV1126, and the master chip is divided into three parts of master chip J1, master chip J2 and master chip J3, wherein the UART5_TXD pin 21 and the UART5_RXD pin 22 of the master chip J2 are connected with the unmanned aerial vehicle control module through a UART interface, and the unmanned aerial vehicle is powered by a battery.

[0014] Preferably, the included angle of the lower bottom surface of the V-shaped shell is β, wherein 130°≤β≤150°.

[0015] Compared with the prior art, the unmanned aerial vehicle with the water flow speed measuring device has the following advantages:

[0016] 1. After the unmanned aerial vehicle is mounted with the water flow speed measuring device, the water flow speed is measured in a non-contact measurement mode, which is more flexible and convenient than the mode of directly placing the sensor in the water. It has strong adaptability to different water quality, water depth, water temperature and other factors.

[0017] 2. After the unmanned aerial vehicle is mounted with the water flow speed measuring device, it is convenient to measure at multiple places in the area, and the maneuverability is high. The measurement personnel do not need to reach the corresponding position, which greatly reduces the safety hazards of the operators and the influence of the water flow pushing the ship body on the measurement value, and improves the working efficiency of the measurement.

[0018] 3. The three-axis holder can realize good flexibility, levelness and stability of the V-shaped shell, ensure the accuracy of the radar current meter and radar range finder inside the V-shaped shell, and ensure the stability of the image observed by the positioning camera inside the V-shaped shell. The visual height of the unmanned aerial vehicle from the water surface and the video picture below the position of the unmanned aerial vehicle can be obtained more conveniently, and the overhead view is good.

[0019] 4. It allows operators to quickly select the area to be measured and make real-time adjustments to the area based on the image displayed on the drone remote controller. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0021] Figure 2 This is one of the overall structural schematic diagrams of the water flow velocity measuring device in this utility model;

[0022] Figure 3 This is the second schematic diagram of the water flow velocity measuring device in this utility model;

[0023] Figure 4 This is a top view of the water flow velocity measuring device in this utility model;

[0024] Figure 5 This is a utility model Figure 4 Schematic diagram of the structure of AA;

[0025] Figure 6 This is a side view of the water flow velocity measuring device in this utility model;

[0026] Figure 7 This is a utility model Figure 6 Schematic diagram of the structure of BB;

[0027] Figure 8 This is one of the circuit diagrams of the main control chip in this utility model;

[0028] Figure 9 This is the second circuit diagram of the main control chip in this utility model;

[0029] Figure 10 This is the third circuit diagram of the main control chip in this utility model;

[0030] Figure 11 This is the MIPI interface circuit diagram of the positioning camera in this utility model;

[0031] Figure 12 This is a schematic diagram of the communication transceiver circuit in this utility model.

[0032] In the attached diagram, number 1 represents the UAV, 2 represents the water flow velocity measuring device, 2-1 is the yaw brushless motor, 2-2 is the yaw swing arm, 2-3 is the roll brushless motor, 2-4 is the roll swing arm, 2-5 is the V-shaped housing, 2-6 is the pitch brushless motor, 2-7 is the radar rangefinder, 2-8 is the radar current meter, 2-9 is the quick-release connector, and 2-10 is the positioning camera. Detailed Implementation

[0033] In order for those skilled in the art to better understand the technical scheme of the present application, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor should belong to the scope of protection of the present application.

[0034] The unmanned aerial vehicle with the water flow speed measuring device of the present application will be further described below in conjunction with the drawings and specific embodiments: as shown in the figure, the present embodiment contains an unmanned aerial vehicle 1, a positioning camera 2-10 and a water flow speed measuring device 2, the lower side of the unmanned aerial vehicle 1 is connected to the water flow speed measuring device 2 through a quick release joint 2-9, the middle part of the lower side of the water flow speed measuring device 2 is provided with the positioning camera 2-10, the water flow speed measuring device 2 contains a main control chip, a three-axis gimbal, a three-axis gimbal driving module, a V-shaped shell 2-5, a radar flowmeter 2-8, a radar range finder 2-7 and a communication transceiver circuit, the upper end of the three-axis gimbal is connected to the bottom of the unmanned aerial vehicle 1 through the quick release joint 2-9, the lower end of the three-axis gimbal is connected to the V-shaped shell 2-5, the lower front side of the V-shaped shell 2-5 is provided with the radar flowmeter 2-8, the lower middle side of the V-shaped shell 2-5 is provided with the positioning camera 2-10, and the lower rear side of the V-shaped shell 2-5 is provided with the radar range finder 2-7, the included angle of the lower bottom surface of the V-shaped shell 2-5 is β, and 130°≤β≤150°. The radar range finder 2-7 and the radar flowmeter 2-8 are connected to the receiving port and the sending port of the main control chip through the communication transceiver circuit, and the positioning camera 2-10 is connected to the main control chip through the MIPI interface circuit.

[0035] When working, the operator operates the unmanned aerial vehicle 1 with the water flow speed measuring device 2 through the unmanned aerial vehicle remote controller, and through the positioning camera 2-10 arranged in the middle part of the lower side of the water flow speed measuring device 2, the visual height of the unmanned aerial vehicle 1 from the water surface and the video picture below the position of the unmanned aerial vehicle 1 can be obtained more conveniently, the image signal is transmitted to the unmanned aerial vehicle 1 in real time through the network interface, and can be directly viewed on the display screen of the unmanned aerial vehicle remote controller.

[0036] Then, after moving the unmanned aerial vehicle 1 to the upper side of the river to be detected, the radar range finder 2-7 is started to emit radar wave signals for height measurement, and the returned signals are directly output to the display screen of the unmanned aerial vehicle remote controller, so that the operator can directly read the measurement result of the height. Then, the unmanned aerial vehicle 1 is controlled to keep the height from the water surface to be detected in a stable state, the radar flowmeter 2-8 is started to emit radar wave signals for water flow speed measurement, and the returned signals are directly output to the display screen of the unmanned aerial vehicle remote controller, so that the operator can directly read the measurement result of the water flow speed.

[0037] The positioning camera 2-10 is connected to the main control chip through the MIPI interface, wherein the main control chip is divided into three parts, i.e., the main control chip J1, the main control chip J2 and the main control chip J3, the pins 13-16 of the MIPI interface are connected to the pins B37-B40 of the main control chip J1 in sequence, the pin 4 of the MIPI interface is connected to the pin A8 of the main control chip J2, the pin 19 of the MIPI interface is connected to the pin A4 of the main control chip J2, the pin 20 of the MIPI interface is connected to the pin B4 of the main control chip J2, and the pin 21 of the MIPI interface is connected to the pin A7 of the main control chip J2. In the whole process, the positioning camera 2-10 can obtain a good overhead view, so that the operator can quickly select the measurement area, and the measurement area can be adjusted in real time according to the image displayed on the remote controller of the unmanned aerial vehicle.

[0038] The radar current meter 2-8 is of the model LDSR08LP, and is connected to the pins 7 and 6 of the communication transceiver circuit through the RS485 bus. The chip of the communication transceiver circuit is of the model SP3485EN-L / TR, and the pins 4 and 1 thereof are connected to the UART0_TX and UART0_RX of the main control chip J3, respectively. The main control chip is divided into three parts, i.e., the main control chip J1, the main control chip J2 and the main control chip J3.

[0039] The radar current meter LDSR08LP is a radar sensor module integrating a microstrip antenna, a radio frequency circuit and a signal processing circuit, directly outputs the speed information of a target, and is used for measuring the flow rate of a river channel and an underground pipe network. The radar current meter has a front low-noise amplifier and ultrahigh sensitivity, and the frequency range is 24 GHz. The installation angle of the flow rate sensor module is 40-60 degrees. The installation angle refers to the included angle between the antenna plane of the flow rate sensor module and the vertical plane. The measurement height is 15 meters, and the measurement angle is about 55 degrees.

[0040] The radar range finder 2-7 is of the model LDRR04M, and is connected to the pins 7 and 6 of the communication transceiver circuit through the RS485 bus. The chip of the communication transceiver circuit is of the model SP3485EN-L / TR, and the pins 4 and 1 thereof are connected to the UART0_TX and UART0_RX of the main control chip J3, respectively. The main control chip is divided into three parts, i.e., the main control chip J1, the main control chip J2 and the main control chip J3.

[0041] The radar range finder LDRR04M is specially designed for hydrological detection. The radar module adopts FMCW mode, non-contact installation design, small size, compact structure, high precision, low power consumption, strong anti-interference ability, and is suitable for lake and river, mountain flood warning, water storage tank, sewage pipe network and other water level monitoring. The radar working frequency band is 80GHz, the maximum measurement range of the range finder is 40 meters, and it is compatible with ASCII\MODBUS two protocols. The radar current meter 2-8 and the radar range finder 2-7 both use existing measuring instruments, and the signal ends of the two instruments are electrically connected to the corresponding interfaces of the unmanned aerial vehicle 1 through signal cables.

[0042] The main control chip is divided into three parts: main control chip J1, main control chip J2 and main control chip J3. The UART4_TX and UART4_RX of the main control chip J2 are connected to the three-axis gimbal driving module through the UART serial port. The three-axis gimbal driving module drives the three-axis gimbal to work and position. The three-axis gimbal includes a heading brushless motor 2-1, a heading swing arm 2-2, a roll brushless motor 2-3, a roll swing arm 2-4 and a pitch brushless motor 2-6. The heading brushless motor 2-1 is connected to the upper end of the heading swing arm 2-2. The roll brushless motor 2-3 is connected to the lower end of the heading swing arm 2-2 and the rear end of the roll swing arm 2-4. The pitch brushless motor 2-6 is connected to the front end of the roll swing arm 2-4 and the middle part of the V-shaped shell 2-5 on both sides. The heading brushless motor 2-1, the roll brushless motor 2-3 and the pitch brushless motor 2-6 are connected to the pin B7 and the pin B11 of the main control chip J2 through the UART serial port.

[0043] When in use, the three-axis gimbal is fixedly installed on the lower side of the unmanned aerial vehicle 1 through the quick release connector 2-9. The driving end and the power supply end of the heading brushless motor 2-1, the roll brushless motor 2-3 and the pitch brushless motor 2-6 are connected to the control interface and the power interface on the unmanned aerial vehicle 1 through cables. The operator controls the unmanned aerial vehicle 1 to fly and stop on the specified river surface through the unmanned aerial vehicle remote controller. The unmanned aerial vehicle remote controller can adjust the heading angle, the pitch angle and maintain the levelness of the three-axis gimbal and the V-shaped shell 2-5 through the three-axis gimbal driving module, so as to adjust the working range of the radar current meter 2-8, the radar range finder 2-7 and the positioning camera 2-10, and ensure the accuracy and matching degree of the measurement field of view and angle. When adjusting and positioning, better stability can also be considered to reduce the interference factors caused by the fluctuation of the unmanned aerial vehicle 1 itself.

[0044] The driving module of the three-axis holder contains a heading brushless motor 2-1, a roll brushless motor 2-3 and a pitch brushless motor 2-6, and the rotation shafts of the heading brushless motor 2-1, the roll brushless motor 2-3 and the pitch brushless motor 2-6 are respectively provided with rotation angle acquisition chips MA730GQ, and the rotation angle information of the motor rotor is acquired and communicated through a standard SPI interface and the signal input end of the control chip in the brushless motor driving module.

[0045] The rotation angle acquisition chip and the magnetic ring end center of the motor rotor correspond, and the distance is within 1.5mm, the digital signal of the fixed position of the rotor is output by sensing the magnetic field change generated by the rotation of the magnetic ring, and 65535 encoding information is generated by the rotation angle acquisition chip when the motor rotor rotates one circle, and the magnetic encoding position information generated at different positions is unique, so that high-precision position measurement is achieved.

[0046] The models of the heading brushless motor 2-1, the roll brushless motor 2-3 and the pitch brushless motor 2-6 are all PM1806, wherein the rotation angle of the heading brushless motor 2-1 is -60° to 60°, and the rotation angle of the pitch brushless motor 2-6 is -90° to 30°. The roll brushless motor 2-3 keeps the V-shaped shell 2-5 horizontal in the horizontal plane, and the three motors realize the stability of the roll axes of the radar current meter 2-8, the radar range finder 2-7 and the positioning camera 2-10, the fine adjustment of the pitch axes and the heading axes in the verticality and the heading angle through the six-axis sensor ICM-20690 in the three-axis holder driving module.

[0047] The model of the main control chip is RV1126, and the main control chip is divided into three parts, namely the main control chip J1, the main control chip J2 and the main control chip J3, wherein the UART5_TXD pin 21 and the UART5_RXD pin 22 of the main control chip J2 are connected to the unmanned aerial vehicle 1 control module through the UART interface, and are powered by the battery of the unmanned aerial vehicle 1.

[0048] The above is only the preferred embodiment of the present application, and it should be pointed out that for ordinary skilled persons in the technical field, some improvements and refinements can be made without departing from the principle of the present application, and these improvements and refinements should also be regarded as the protection range of the present application.

Claims

1. A drone containing a water flow velocity measuring device, characterized in that: The device includes a drone, a positioning camera, and a water flow velocity measuring device. The water flow velocity measuring device is connected to the lower side of the drone via a quick-release connector. The positioning camera is located in the middle of the lower side of the water flow velocity measuring device. The water flow velocity measuring device includes a main control chip, a three-axis gimbal, a three-axis gimbal drive module, a V-shaped housing, a radar current meter, a radar rangefinder, and a communication transceiver circuit. The upper end of the three-axis gimbal is connected to the bottom of the drone via a quick-release connector, and the lower end of the three-axis gimbal is connected to the V-shaped housing. The radar current meter is located on the lower front side of the V-shaped housing, the positioning camera is located on the lower middle side of the V-shaped housing, and the radar rangefinder is located on the lower rear side of the V-shaped housing. The radar rangefinder and the radar current meter are connected to the receiving port and transmitting port of the main control chip via the communication transceiver circuit. The positioning camera is connected to the main control chip via a MIPI interface circuit.

2. The UAV containing a water flow velocity measuring device according to claim 1, characterized in that: The positioning camera is connected to the main control chip via a MIPI interface. The main control chip consists of three parts: main control chip J1, main control chip J2, and main control chip J3. Pins 13-16 of the MIPI interface are connected to pins B37-B40 of the main control chip J1 in sequence. Pin 4 of the MIPI interface is connected to pin A8 of the main control chip J2. Pin 19 of the MIPI interface is connected to pin A4 of the main control chip J2. Pin 20 of the MIPI interface is connected to pin B4 of the main control chip J2. Pin 21 of the MIPI interface is connected to pin A7 of the main control chip J2.

3. The UAV containing a water flow velocity measuring device according to claim 1, characterized in that: The radar current meter is model LDSR08LP. It is connected to pins 7 and 6 of the communication transceiver circuit via an RS485 bus. The chip model of the communication transceiver circuit is SP3485EN-L / TR. Its pins 4 and 1 are connected to UART0_TX and UART0_RX of the main control chip J3, respectively. The main control chip is divided into three parts: main control chip J1, main control chip J2 and main control chip J3.

4. The UAV containing a water flow velocity measuring device according to claim 1, characterized in that: The radar rangefinder is model LDRR04M. It is connected to pins 7 and 6 of the communication transceiver circuit via an RS485 bus. The chip model of the communication transceiver circuit is SP3485EN-L / TR. Its pins 4 and 1 are connected to UART0_TX and UART0_RX of the main control chip J3, respectively. The main control chip is divided into three parts: main control chip J1, main control chip J2 and main control chip J3.

5. The UAV containing a water flow velocity measuring device according to claim 1, characterized in that: The main control chip is divided into three parts: main control chip J1, main control chip J2, and main control chip J3. Among them, the UART4_TX and UART4_RX of the main control chip J2 are connected to the three-axis gimbal drive module through the UART serial port. The three-axis gimbal drive module drives the three-axis gimbal to work and position. The three-axis gimbal includes a yaw brushless motor, a yaw swing arm, a roll brushless motor, a roll swing arm, and a pitch brushless motor. The yaw brushless motor is connected to the quick connector and the upper end of the yaw swing arm. The roll brushless motor is connected to the lower end of the yaw swing arm and the rear end of the roll swing arm. The pitch brushless motor is connected to the front end of the roll swing arm and the two sides of the middle of the V-shaped housing. The yaw brushless motor, roll brushless motor, and pitch brushless motor are all connected to pins B7 and B11 of the transceiver terminal of the main control chip J2 through the UART serial port.

6. The UAV containing a water flow velocity measuring device according to claim 5, characterized in that: The yaw brushless motor, roll brushless motor, and pitch brushless motor are all model PM1806, with the yaw brushless motor having a rotation angle of -60° to 60° and the pitch brushless motor having a rotation angle of -90° to 30°.

7. The UAV containing a water flow velocity measuring device according to claim 1, characterized in that: The main control chip is model RV1126. The main control chip is divided into three parts: main control chip J1, main control chip J2 and main control chip J3. Among them, the UART5_TXD pin 21 and UART5_RXD pin 22 of the main control chip J2 are connected to the UAV control module through the UART interface and are powered by the UAV battery.

8. The UAV containing a water flow velocity measuring device according to claim 1, characterized in that: The included angle of the lower bottom surface of the V-shaped shell is β, where 130°≤β≤150°.

Images