Hyperspectral remote sensing unmanned aerial vehicle for water environment monitoring

Abstract

The utility model relates to the technical field of unmanned aerial vehicles, in particular to a hyperspectral remote sensing unmanned aerial vehicle for water environment monitoring, which comprises an unmanned aerial vehicle main body, damping blocks, a conduction part, a guide plate, a positioning part, a flexible rod, a foot stool, a holder and a hyperspectral camera, the unmanned aerial vehicle comprises an unmanned aerial vehicle main body, conduction parts are installed at all arm rods of the unmanned aerial vehicle main body, each conduction part comprises a rail frame arranged on the outer side of the corresponding arm rod of the unmanned aerial vehicle main body in a sleeving mode, the inner side of each rail frame is fixedly connected with a reset spring located on the upper side of the corresponding arm rod of the unmanned aerial vehicle main body, and the lower side of each rail frame is fixedly connected with a linkage rod. Through the arrangement of the unmanned aerial vehicle main body, the damping block, the conduction part, the flow guide plate, the flexible rod and other structures, when the hyperspectral remote sensing unmanned aerial vehicle for water environment monitoring encounters high-speed airflow, the wind resistance influence of the holder and the hyperspectral camera on the unmanned aerial vehicle can be effectively reduced, and the flight safety is ensured.

Description

TECHNICAL FIELD

[0001] The utility model relates to an unmanned plane technical field, concretely is a hyperspectral remote sensing unmanned plane of water environment monitoring. BACKGROUND

[0002] Water environment monitoring hyperspectral remote sensing unmanned plane is a kind of remote sensing system with unmanned plane as flight platform, it flies to target water space overhead by carrying hyperspectral camera, collects the hyperspectral image data of water body, these data are generated clear image after software analysis and pretreatment, and then can realize the detection of water quality parameter, the identification of aquatic plant and the monitoring of water pollution, specifically, in the aspect of water quality parameter detection, by establishing inversion model, the chlorophyll in water body, suspended solids, soluble organic matter (CDOM) and other key water quality parameters can be inverted.

[0003] When monitoring water environment, hyperspectral remote sensing unmanned plane needs to fly at a certain height to obtain clearer monitoring effect, especially in wide water area, it can need tens of meters height, however, high-altitude flight can meet high-speed airflow, and the gimbal and hyperspectral camera carried under unmanned plane can increase wind resistance, which can cause unmanned plane control difficult, even appear the risk of out of control or crash, therefore, according to the above problem, a kind of hyperspectral remote sensing unmanned plane of water environment monitoring is provided. UTILITY MODEL CONTENT

[0004] The utility model aims at providing a kind of hyperspectral remote sensing unmanned plane of water environment monitoring to solve the problem that the gimbal and hyperspectral camera carried under unmanned plane can increase wind resistance when existing hyperspectral remote sensing unmanned plane of water environment monitoring encounters high-speed airflow, which can cause unmanned plane control difficult, even appear out of control or crash.

[0005] To achieve the above object, the utility model provides the following technical scheme:

[0006] A kind of water environment monitoring hyperspectral remote sensing unmanned plane, including unmanned plane main body, damping block, conducting part, guide vane, positioning part and flexible rod, foot support, holder and hyperspectral camera, each arm of the unmanned plane main body The two sides are fixedly connected with damping block, conducting part is installed at each arm of the unmanned plane main body, the conducting part includes the rail frame that is set outside the arm of unmanned plane main body, the inside of rail frame is fixedly connected with the reset spring on the upper side of the arm of unmanned plane main body, the lower side of rail frame is fixedly connected with connecting rod, the outside of connecting rod is sleeved with push disc, the lower side of each arm of the unmanned plane main body is fixedly connected with guide vane, the lower side of connecting rod is fixedly connected with flexible rod, foot support is installed on the lower side of flexible rod, the foot support includes four foot rods fixedly connected with the lower end of flexible rod, the outside of foot rod is fixedly connected with connecting strip, a group of connecting strip is fixedly connected with base plate between, base plate is installed on the lower side of holder, holder is installed on the lower side of hyperspectral camera, the lower side of the unmanned plane main body is fixedly connected with positioning part, the positioning part includes base ring, the lower side of base ring is fixedly connected with four angle setting folding rods, the other end of folding rod is fixedly connected with positioning sleeve.

[0007] Preferably, the damping block is arranged in the inner side of the rail of the rail frame, the outer end face of the damping block is tightly combined with the inner wall of the rail of the rail frame, and the inner wall of the rail is combined with the outer end face of the arm of the unmanned plane main body.

[0008] Preferably, the guide vane is an arc-shaped plate structure, the guide vane is arranged on the upper side of the push disc, the push disc is a tapered disc structure with a wide upper side and a narrow lower side, and a spacing is left between the push disc and the positioning sleeve.

[0009] Preferably, the positioning sleeve is sleeved on the outer side of the connecting rod, the vertical rod of the foot rod and the flexible rod, the connecting rod, the flexible rod and the vertical rod of the foot rod have the same diameter, and the inner diameter of the positioning sleeve is the same as the diameter of the connecting rod.

[0010] Preferably, the length of the positioning sleeve is 1.3 times the length of the flexible rod, the inner sides of the upper and lower ends of the positioning sleeve are round, and the lowest point of the hyperspectral camera is higher than the foot block of the foot rod.

[0011] Compared with the prior art, the utility model has the advantages that:

[0012] The utility model discloses a flexible rod, a gimbal, a hyperspectral camera, a foot support, a damper block, a conducting part and a guide vane are arranged on the unmanned aerial vehicle body, the damper block can guide the displacement of the conducting part, and the conducting part can be kept in position by the reset spring, the guide vane can transport high-speed airflow to make the conducting part move downward, the flexible rod, the foot support, the gimbal and the hyperspectral camera move downward, the flexible rod is separated from the positioning sleeve, when the high-speed airflow blows through the gimbal and the hyperspectral camera, the foot support can be buffered by the bending of the flexible rod, the wind resistance influence of the gimbal and the hyperspectral camera on the unmanned aerial vehicle body is effectively reduced, the risk of the unmanned aerial vehicle body losing control in the high-speed airflow is reduced, flight safety is ensured, the hyperspectral remote sensing unmanned aerial vehicle for water environment monitoring can effectively reduce the wind resistance influence of the gimbal and the hyperspectral camera on the unmanned aerial vehicle when encountering high-speed airflow, flight safety is ensured, and the gimbal and the hyperspectral camera carried on the lower side of the unmanned aerial vehicle increase wind resistance when the existing hyperspectral remote sensing unmanned aerial vehicle for water environment monitoring encounters high-speed airflow, which can cause the unmanned aerial vehicle to be difficult to control, and even cause the unmanned aerial vehicle to lose control or crash. BRIEF DESCRIPTION OF DRAWINGS

[0013] Figure 1 It is the whole structure schematic diagram of the utility model;

[0014] Figure 2 It is the structure schematic diagram of the unmanned aerial vehicle body of the utility model;

[0015] Figure 3 It is the structure schematic diagram of the flexible rod of the utility model;

[0016] Figure 4 It is the structure schematic diagram of the conducting part of the utility model;

[0017] Figure 5 It is the structure schematic diagram of the foot support of the utility model.

[0018] In the drawing: 1, unmanned aerial vehicle body;2, damper block;3, conducting part;31, track frame;32, reset spring;33, linkage rod;34, push disc;4, guide vane;5, positioning part;51, base ring;52, folding rod;53, positioning sleeve;6, flexible rod;7, foot support;71, foot rod;72, connecting strip;73, base plate;8, gimbal;9, hyperspectral camera. DETAILED DESCRIPTION

[0019] The technical scheme in the embodiments of the utility model will be apparently and completely described below with the drawings in the embodiments of the utility model, and apparently, the described embodiments are only part of the embodiments of the utility model, not all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by the person skilled in the art without creative labor belong to the range of protection of the utility model.

[0020] It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments in accordance with the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and / or "comprising," when used in this specification, specify the presence of stated features, steps, operations, devices, components and / or combinations thereof, but do not preclude the presence or addition of one or more other features, steps, operations, devices, components and / or combinations thereof.

[0021] The relative arrangement of parts and steps, numerical expressions, and numerical values set forth in the examples are not intended to limit the scope of the application unless specifically so stated. It is to be understood that the drawings are not necessarily to scale of the various parts of the device shown therein. Techniques, methods, and devices known to those of ordinary skill in the relevant art can not be discussed in detail in order to avoid obscuring the present application. In each instance, the techniques, methods, and devices known to those of ordinary skill in the relevant art are deemed to be incorporated by reference. In all examples shown and discussed herein, any specific value is to be interpreted as illustrative only and not as a limitation. Thus, other examples of the example embodiments can have different values. It is noted that like references and designations can indicate like items in the drawings, and once an item is defined in one drawing, it need not be discussed further in subsequent drawings.

[0022] In the description of the present application, it is to be understood that the orientation or positional relationships indicated by orientation words such as "front, back, upper, lower, left, right", "horizontal, vertical, perpendicular, horizontal" and "top, bottom" are generally based on the orientation or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description. Without the opposite indication, these orientation words do not indicate and imply that the devices or elements referred to must have a particular orientation or be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the scope of protection of the present application. The orientation words "inner, outer" refer to the inner and outer relative to the contour of the parts themselves.

[0023] For purposes of the description hereinafter, spatially relative terms, such as "above", "below", "up", "down", "between", "within", "left", "right", "rear", "front", "upper", "lower", "horizontal", "vertical", "above", "below", "top", "bottom", "under", and the like, can be used for ease of description to describe one element's or feature's relationship to another element(s) or feature(s) as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientations depicted in the figures. For example, if a device in the figures is inverted, elements described as "above" or "up" other elements or features would then be oriented "below" or "down" the other elements or features. Thus, the exemplary term "above" can encompass both an orientation of above and below. The device can be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly. The terms "first", "second", "third", etc. can be used herein to describe various elements, components, regions and / or sections. These designations are merely used for the convenience of description and do not have special meaning unless otherwise stated. Thus, these designations should not be interpreted as limiting the scope of the present application.

[0024] In addition, it should be noted that the use of "first", "second", etc. words to define parts, only for the convenience of the corresponding parts, as there is no declaration, the above words have no special meaning, therefore can not be understood as limiting the scope of the present application.

[0025] Please refer to Figures 1-5 The utility model provides a technical scheme:

[0026] A kind of hyperspectral remote sensing unmanned plane of water environment monitoring, including unmanned plane main body 1, damping block 2, conducting portion 3, guide vane 4, positioning portion 5 and flexible rod 6, foot stool 7, holder 8 and hyperspectral camera 9, each arm of unmanned plane main body 1 Both sides are fixedly connected with damping block 2, conducting portion 3 is installed at each arm of unmanned plane main body 1, conducting portion 3 includes the track frame 31 of being set on the outside of the arm of unmanned plane main body 1, the inside of track frame 31 is fixedly connected with the reset spring 32 being at the upper side of the arm of unmanned plane main body 1, the lower side of track frame 31 is fixedly connected with connecting rod 33, connecting rod 33 outer sleeve has push disc 34, the lower side of each arm of unmanned plane main body 1 is fixedly connected with guide vane 4, the lower side of connecting rod 33 is fixedly connected with flexible rod 6, flexible rod 6 lower side is installed with foot stool 7, foot stool 7 includes four with flexible rod 6 lower end fixedly connected with foot bar 71, the outside of foot bar 71 is fixedly connected with connecting strip 72, a group of connecting strip 72 are fixedly connected with base plate 73, base plate 73 lower side is installed with holder 8, the lower side of holder 8 is installed with hyperspectral camera 9, the lower side of unmanned plane main body 1 is fixedly connected with positioning portion 5, positioning portion 5 includes base ring 51, the lower side of base ring 51 is fixedly connected with four equiangularly arranged folding rod 52, the other end of folding rod 52 is fixedly connected with positioning sleeve 53.

[0027] The damping blocks 2 are arranged on the inner side of the tracks of the track frames 31, and the outer end faces of the damping blocks 2 are tightly attached to the inner walls of the tracks of the track frames 31. This arrangement allows the damping blocks 2 to guide the displacement of the track frames 31 and apply damping to the track frames 31, so that the weak vibration generated by the flight of the unmanned aerial vehicle body 1 does not cause the track frames 31 to shake. The inner walls of the track frames 31 are attached to the outer end faces of the arms of the unmanned aerial vehicle body 1. This arrangement improves the stability of the track frames 31 on the arms of the unmanned aerial vehicle body 1. The flow guide plates 4 are arc-shaped plates, and the flow guide plates 4 are arranged on the upper side of the push discs 34. This arrangement allows the flow guide plates 4 to guide the high-speed airflow to the push discs 34. The push discs 34 are conical discs with a wide upper end and a narrow lower end. This arrangement makes the push discs 34 more susceptible to the influence of airflow. The push discs 34 are spaced apart from the positioning sleeves 53. This arrangement allows the push discs 34 to displace downward. The positioning sleeves 53 are arranged on the outer sides of the linkage rods 33, the vertical rods of the leg rods 71, and the flexible rods 6. The diameters of the linkage rods 33, the flexible rods 6, and the vertical rods of the leg rods 71 are the same. The inner diameter of the positioning sleeves 53 is the same as the diameter of the linkage rods 33. This arrangement allows the positioning sleeves 53 to position the linkage rods 33 and the leg rods 71 and limit the bending of the flexible rods 6. The length of the positioning sleeves 53 is 1.3 times the length of the flexible rods 6. This arrangement allows the positioning sleeves 53 to position only a small part of the linkage rods 33 and the leg rods 71. The inner sides of the upper and lower ends of the positioning sleeves 53 are rounded. This arrangement facilitates the resetting of the displaced flexible rods 6 in the positioning sleeves 53. The lowest point of the hyperspectral camera 9 is higher than the foot blocks of the leg rods 71. This arrangement prevents the hyperspectral camera 9 from contacting the ground after the unmanned aerial vehicle body 1 and the leg stand 7 land.

[0028] Workflow: in the process of water environment monitoring (monitoring operation see background art first paragraph), if the hyperspectral remote sensing unmanned aerial vehicle encounters high-speed airflow in the high-altitude environment, the coping mechanism is as follows: it is known that the damping block 2 can guide the displacement of the rail frame 31 on the one hand, and can exert damping on the rail frame 31, so that the rail frame 31 keeps its position through the elastic force of the reset spring 32 and the damping of the damping block 2, so that the weak vibration generated by the flight of the unmanned aerial vehicle body 1 will not cause the rail frame 31 to shake; after the high-speed airflow contacts the guide plate 4, it will displace along the guide plate 4, and then push the push disc 34 to move downward, the downward movement of the connecting rod 33 will drive the flexible rod 6, the foot stand 7, the holder 8 and the hyperspectral camera 9 to move downward as a whole, so that the flexible rod 6 is out of the limitation of the positioning sleeve 53, and the original function of the positioning sleeve 53 is to position the connecting rod 33 and the foot rod 71, and limit the bending of the flexible rod 6, when the positioning sleeve 53 no longer limits the flexible rod 6, the unmanned aerial vehicle body 1 and the foot stand 7 can be flexibly connected through the flexible rod 6, when the high-speed airflow blows through the holder 8 and the hyperspectral camera 9, the foot stand 7 can be buffered by the bending of the flexible rod 6, effectively reducing the wind resistance of the holder 8 and the hyperspectral camera 9 to the unmanned aerial vehicle body 1, thereby reducing the risk of losing control of the unmanned aerial vehicle body 1 in the high-speed airflow, ensuring flight safety, when the high-speed airflow disappears, the reset spring 32 will reset and expand, driving the rail frame 31, the connecting rod 33 and the push disc 34 to reset and move upward, and the upward movement of the connecting rod 33 will drive the flexible rod 6 and the foot rod 71 to reset and move upward, so that the positioning sleeve 53 repositions the connecting rod 33 and the foot rod 71, and limits the bending of the flexible rod 6, so that the holder 8 and the hyperspectral camera 9 with the foot stand 7 return to the original position, and the water environment monitoring can continue.

[0029] Although the embodiments of the present application have been shown and described, it can be understood by those skilled in the art that various changes, modifications, replacements and modifications can be made to the embodiments without departing from the principles and spirits of the present application, and the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. A hyperspectral remote sensing unmanned aerial vehicle for water environment monitoring, comprising an unmanned aerial vehicle main body (1), a damping block (2), a conduction part (3), a guide vane (4), a positioning part (5) and a flexible rod (6), a foot stand (7), a holder (8) and a hyperspectral camera (9), characterized in that: The unmanned aerial vehicle body (1) is provided with a damping block (2) on both sides of each arm rod, a conducting part (3) is installed on each arm rod of the unmanned aerial vehicle body (1), the conducting part (3) comprises a rail frame (31) sleeved on the outer side of the arm rod of the unmanned aerial vehicle body (1), the inner side of the rail frame (31) is fixedly connected with a return spring (32) on the upper side of the arm rod of the unmanned aerial vehicle body (1), the lower side of the rail frame (31) is fixedly connected with a connecting rod (33), the outer side of the connecting rod (33) is sleeved with a push disc (34), the lower side of each arm rod of the unmanned aerial vehicle body (1) is fixedly connected with a flow guide plate (4), the lower side of the connecting rod (33) is fixedly connected with a flexible rod (6), the lower side of the flexible rod (6) is provided with a foot support (7), the foot support (7) comprises four foot rods (71) fixedly connected with the lower end of the flexible rod (6), the outer side of the foot rod (71) is fixedly connected with a connecting strip (72), a group of the connecting strips (72) are fixedly connected with a base plate (73), the lower side of the base plate (73) is provided with a holder (8), the lower side of the holder (8) is provided with a hyperspectral camera (9), the lower side of the unmanned aerial vehicle body (1) is fixedly connected with a positioning part (5), the positioning part (5) comprises a base ring (51), the lower side of the base ring (51) is fixedly connected with four folding rods (52) arranged at equal angles, the other end of the folding rod (52) is fixedly connected with a positioning sleeve (53). 2.The water environment monitoring hyperspectral remote sensing unmanned vehicle according to claim 1, wherein: The damping block (2) is arranged on the inner side of the rail of the rail frame (31), the outer end face of the damping block (2) is tightly combined with the inner wall of the rail of the rail frame (31), and the inner wall of the rail frame (31) is combined with the outer end face of the arm rod of the unmanned aerial vehicle body (1). 3.The water environment monitoring hyperspectral remote sensing unmanned vehicle according to claim 1, characterized in that: The flow guide plate (4) is an arc-shaped plate structure, the flow guide plate (4) is arranged on the upper side of the push disc (34), the push disc (34) is a tapered disc structure with a wide upper side and a narrow lower side, and a spacing is left between the push disc (34) and the positioning sleeve (53).

4. The hyperspectral remote sensing unmanned vehicle for water environment monitoring according to claim 1, characterized in that: The positioning sleeve (53) is sleeved on the outer side of the connecting rod (33), the vertical rod of the foot rod (71) and the flexible rod (6), the diameters of the connecting rod (33), the flexible rod (6) and the vertical rod of the foot rod (71) are the same, and the inner diameter of the positioning sleeve (53) is the same as the diameter of the connecting rod (33).

5. The hyperspectral remote sensing unmanned vehicle for water environment monitoring according to claim 1, characterized in that: The length of the positioning sleeve (53) is 1.3 times the length of the flexible rod (6), the inner sides of the upper and lower ends of the positioning sleeve (53) are provided with round corners, and the lowest point of the hyperspectral camera (9) is higher than the foot block of the foot rod (71).

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