Environmental monitoring hydrofoil diving unmanned aerial vehicle

Abstract

The utility model discloses an environment monitoring hydrofoil diving unmanned aerial vehicle which comprises a rack, the rack comprises a hydrofoil support and a tail frame, the hydrofoil support and the tail frame are connected through a storage bin and a waterproof bin, the lower portion of the hydrofoil support is provided with a propelling motor structure used for propelling cruise, and the lower portion of the hydrofoil support is provided with a water inlet and a water outlet. Lifting motor structures used for submerging underwater for lifting adjustment are arranged corresponding to the storage bin and the waterproof bin, a camera and / or a battery assembly are / is arranged in the waterproof bin, and a mechanical arm structure used for clamping underwater objects into the storage bin and a water sample collector used for collecting water samples are arranged on the rack. All the operations can be independently completed without depending on a mother ship, the maneuverability is good, the device can dive underwater to collect data and has the remote control capability, and the collection and monitoring work can be completed by a single person; the device is especially suitable for environment monitoring of small shallow water bodies.

Description

Technical Field

[0001] This utility model relates to the field of environmental monitoring equipment technology, and in particular to an environmental monitoring hydrofoil diving drone. Background Technology

[0002] Water covers approximately 71% of the Earth's surface, with 96.5% of that existing in oceans and seas. Water plays a vital role in terrestrial life and the Earth's environment, providing water resources, minerals, oil, fisheries resources, and regulating temperature. Biological research is particularly important within such a large component of the Earth, with key research areas including marine biology, water quality analysis, underwater sampling, and marine pollution tracking. As the importance of water research increases, more detailed and diverse sub-studies are needed to achieve comprehensive and in-depth research.

[0003] However, such diverse research often requires long-term, cross-regional investigations and typically necessitates substantial human resources. These time and personnel requirements constitute one of the major obstacles in aquatic research. Unmanned underwater vehicles (UUVs), equipped with various sensors, are commonly used for environmental surveys and protection, hydraulic engineering maintenance, and underwater resource collection. These devices are suitable for such work due to their minimal environmental impact, low reliance on human labor, and strong remote control capabilities. Hydrofoils offer the advantage of lifting payloads above the water surface, allowing them to move in the less dense air, thus reducing drag and increasing speed. Utilizing the fact that air has less resistance than water, payloads can move much faster after leaving the water surface.

[0004] However, existing underwater vehicles and hydrofoils all have certain shortcomings:

[0005] 1. Unmanned underwater vehicle

[0006] Numerous mature unmanned underwater vehicle (UUV) models have been developed and researched, typically capable of diving to depths exceeding 200 meters, greatly expanding the scope of research. These devices are usually equipped with various sensors and mechanical structures, enabling them to perform a wide range of tasks.

[0007] However, these models generally suffer from insufficient mobility, unable to move quickly from one location to another without the assistance of a mother ship. Their hydrodynamic shape cannot overcome water resistance for rapid maneuverability, leading to reduced research efficiency. The mother ship must recover these underwater vehicles before redeploying them to a new location, a process that is extremely time-consuming and severely impacts research efficiency.

[0008] Furthermore, while such designs are suitable for long-term operations in the deep sea far from land, they are not suitable for small bodies of water such as ports or rivers because the mother ship is large and not convenient for shallow water operations. For example, Chinese patent CN119469255A discloses an environmental multi-parameter monitoring base station that can be used for long-term underwater operations. The monitoring base station is deployed to the seabed via a mother ship using a cable method; it conducts long-term in-situ monitoring of the seabed environment through general and special instruments and equipment, receives instructions from shore-based units to adjust the monitoring strategy, and transmits monitoring data back to the shore-based laboratory in real time; however, it requires the assistance of a mother ship during use and has relatively poor mobility.

[0009] 2. Hydrofoil

[0010] Most existing models capable of high-speed movement on water are hydrofoils. These vessels reduce drag by lifting most of their hull above the water, thus achieving rapid movement. Since hydrofoils only generate lift at sufficient speeds, most hydrofoils are equipped with high-powered motors to provide adequate speed. Hydrofoils are highly maneuverable in water, consume relatively little energy, and can achieve speeds that conventional vessels cannot reach with relatively low energy consumption.

[0011] However, most existing hydrofoils lack diving and data acquisition capabilities. When attempting to dive, the lift generated by the hydrofoil can actually prevent them from sinking. To solve this problem, a mechanical structure to eliminate the hydrofoil's lift is needed, which significantly increases cost and reduces system reliability. Furthermore, most hydrofoils use open-source flight control systems, making them difficult to scale for specific missions. For example, Chinese patent CN114761315A discloses a hydrofoil system for a watercraft, which includes: a controller; a hydrofoil for engaging with the watercraft, the hydrofoil including multiple adjustable components operable to change the lift characteristics of the watercraft; a propeller; an engine and gearbox located near the hydrofoil and operable / mechanically associated with the propeller; and multiple sensors electrically communicating with the controller, each sensor configured to monitor the watercraft's navigation parameters and generate measured navigation parameter data. This hydrofoil system lacks diving and underwater data acquisition capabilities. Utility Model Content

[0012] To address the shortcomings of existing technologies, this utility model provides an environmental monitoring hydrofoil diving drone, which has good maneuverability and can dive underwater to collect data.

[0013] To solve the above-mentioned technical problems, the technical solution adopted by this utility model is as follows:

[0014] This environmental monitoring hydrofoil diving drone includes a frame, which comprises a hydrofoil support and a tail section. The hydrofoil support and tail section are connected by a storage compartment and a waterproof chamber. The lower part of the hydrofoil support is equipped with a propulsion motor structure for propulsion and cruising. Correspondingly, the storage compartment and the waterproof chamber are equipped with lift motor structures for underwater elevation adjustment. The waterproof chamber contains a camera and / or battery assembly. The frame is equipped with a robotic arm structure for gripping underwater items into the storage compartment and a water sample collector for collecting water samples.

[0015] Further or preferred:

[0016] The hydrofoil support has a propulsion motor installed on each of its two bottom sides. The propulsion motor is a horizontally arranged ducted motor.

[0017] The waterproof compartment is equipped with a fixed frame, and lifting motors are installed on both sides of the fixed frame and at the rear of the storage compartment. The lifting motors are vertically installed duct motors.

[0018] The bottom of the hydrofoil support is equipped with a hydrofoil plate for increasing lift and reducing drag.

[0019] The robotic arm structure is mounted on the waterproof chamber via a mounting bracket. The robotic arm structure includes a first joint and a second joint of the robotic arm that are hinged together. The mounting bracket is equipped with a lower waterproof servo motor for driving the first joint of the robotic arm, and the first joint of the robotic arm is equipped with an upper waterproof servo motor for driving the second joint of the robotic arm. The end of the second joint of the robotic arm is equipped with a gripper structure.

[0020] The frame is equipped with a controller, a gyroscope, and a water pressure sensor. The gyroscope, water pressure sensor, and each motor are all connected to the controller.

[0021] The waterproof chamber is a sealed cylindrical structure with a transparent front cover at the front end.

[0022] The duct motor includes a brushless motor, a hydrodynamic propeller, and a hydrodynamic duct, with the brushless motor integrated inside the hydrodynamic duct.

[0023] It also includes a transmission module and a remote controller, the transmission module being connected to a buoy antenna module for floating on the water surface.

[0024] Both the hydrofoil support and the mounting bracket are fixedly mounted on the circular tube of the waterproof chamber via retaining rings.

[0025] Compared with the prior art, this utility model has the following advantages:

[0026] This environmental monitoring hydrofoil diving drone is rationally designed, combining the advantages of underwater vehicles and hydrofoils. It can complete all operations independently without relying on a mother ship. It has good maneuverability, can dive underwater to collect data, and has remote control capabilities, allowing a single person to complete the data collection and monitoring work. It is particularly suitable for environmental monitoring in small, shallow water bodies. Attached Figure Description

[0027] The following is a brief explanation of the contents of each of the accompanying drawings and the markings in the drawings:

[0028] Figure 1 This is a schematic diagram of the structure of the hydrofoil underwater drone of this utility model. Figure 1 .

[0029] Figure 2 This is a schematic diagram of the structure of the hydrofoil underwater drone of this utility model. Figure 2 .

[0030] Figure 3 This is a side view of the hydrofoil-driven underwater drone of this utility model.

[0031] Figure 4 This is a schematic diagram of the fixing frame and robotic arm of this utility model.

[0032] Figure 5 This is a schematic diagram of the robotic arm structure of this utility model.

[0033] Figure 6 This is a schematic diagram of the lifting duct motor of this utility model.

[0034] In the picture:

[0035] 1. Hydrofoil support frame, 2. Propulsion motor I, 3. Propulsion motor II, 4. Mounting frame, 5. Lift motor I, 6. Lift motor II, 7. Robotic arm, 701. Lower waterproof servo, 702. First joint of robotic arm, 703. Upper waterproof servo, 704. Second joint of robotic arm, 8. Tail frame, 9. Storage compartment, 10. Lift motor III, 11. Waterproof compartment, 12. Transparent front cover. Detailed Implementation

[0036] The specific embodiments of this utility model will be further described in detail below with reference to the accompanying drawings and through the description of the examples.

[0037] like Figures 1 to 6 As shown, this environmental monitoring hydrofoil diving drone provides a solution for environmental research in small, shallow water bodies. The solution design combines the advantages of unmanned underwater vehicles and hydrofoils, and can complete all operations independently without relying on a mother ship. Its usage includes two working states: surface cruising and underwater diving.

[0038] This environmental monitoring hydrofoil diving drone includes a frame, which includes a hydrofoil support 1 and a tail frame 8. The frame can also be designed as an integral frame structure.

[0039] The hydrofoil support 1 and the tail section 8 are connected by a storage compartment 9 and a waterproof compartment 11. The lower part of the hydrofoil support is equipped with a propulsion motor structure for underwater propulsion and navigation. The corresponding storage compartment and waterproof compartment are equipped with a lift motor structure for underwater elevation adjustment. The lift motor structure is used to adjust the underwater position.

[0040] The waterproof compartment 11 is a sealed compartment. Inside the waterproof compartment are cameras and battery components. The frame is equipped with a robotic arm structure for gripping underwater items into the storage compartment and a water sample collector for collecting water samples.

[0041] The frame houses a controller, gyroscope, and water pressure sensor. The gyroscope, water pressure sensor, and all motors are connected to the controller. Furthermore, the controller can be housed in a waterproof compartment. The gyroscope, a microelectromechanical system (MEMS) sensor integrating a three-axis gyroscope and a linear accelerometer, detects the surface vehicle's attitude, overload, and velocity changes. Combined with a PID control algorithm, it helps the prototype maintain stable position and attitude underwater, while providing real-time status feedback to the operator. The water pressure sensor detects the prototype's depth and position in the water and feeds the data back to the controller. This sensor, in conjunction with the PID algorithm, enables underwater hovering. To prevent data distortion when surrounding water flow affects sensor measurements, a protective enclosure is specially designed to prevent direct water impact while maintaining stable water flow, ensuring data accuracy.

[0042] This environmental monitoring hydrofoil underwater drone also includes a transmission module and a remote controller. The transmission module is connected to a buoy antenna module for floating on the water surface. Image transmission modules are widely used in drones and robots, offering long transmission distances, low latency, and strong anti-interference capabilities. However, the antenna in this module only functions normally in air; water obstruction significantly reduces image quality or even completely blocks the signal. Therefore, a buoy is designed to keep the antenna and transmitter on the water surface to ensure clear and stable image transmission. The remote controller achieves effective underwater control via long-wave signals, and the received data is displayed in real-time on an LCD screen. The remote controller has 10-14 configurable operating channels, enabling 10 degrees of freedom control through programming. It is battery-powered, making it easy to replace and recharge.

[0043] This utility model of environmental monitoring hydrofoil diving drone is reasonably designed, combining the advantages of underwater vehicles and hydrofoils. It can complete all operations independently without relying on a mother ship. It has good maneuverability, can dive underwater to collect data, and has remote control capabilities, allowing a single person to complete the data collection and monitoring work. It is particularly suitable for environmental monitoring in small, shallow water bodies.

[0044] Propulsion motors are installed on both sides of the bottom of the hydrofoil support. The propulsion motors are horizontally arranged ducted motors, with one propulsion motor on each side. A fixed frame 4 is installed on the waterproof tank. Lift motors are installed on both sides of the fixed frame and at the rear of the storage compartment. The lift motors are vertically arranged ducted motors. A total of three lift motors are installed to ensure stable underwater position adjustment.

[0045] Preferably, the ducted motor includes a brushless motor, a hydrodynamic propeller, and a hydrodynamic duct. The brushless motor is integrated within the hydrodynamic duct, resulting in a compact structure. The duct design optimizes water flow, reduces eddy current losses, and improves propulsion efficiency. Compared to ordinary propellers, it is more compact, occupies less space, and is less susceptible to interference from foreign objects. The ducted motor has a built-in electronic speed controller that converts analog signals into different motor speeds. Due to the waterproof design of the brushless motor, its cooling capacity is limited, but its performance in water is stable and reliable.

[0046] The waterproof chamber 11 is a sealed cylindrical structure with a transparent front cover 12 at its front end. Preferably, the waterproof chamber is made of acrylic cylindrical tubing with flanges at both ends, forming a good seal through sealing rings and screws. The front cover is a transparent hemispherical shape, allowing the camera to obtain a wider field of view; the rear cover has six wire holes for easy cable routing. After encapsulation, the wire holes are sealed with epoxy resin to ensure waterproofing; the rear is fixed with screws, and the remaining parts are clamped for fixation.

[0047] Both the hydrofoil support 1 and the mounting bracket 4 are fixedly mounted on the circular tube of the waterproof chamber via retaining rings, forming an integrated and compact structure. The storage compartment is used for collecting samples, and its outer edge is designed with a slope to facilitate the storage of items. It also features a limiting groove to prevent the robotic arm from swinging freely during storage.

[0048] The hydrofoil support is a vertically arranged assembly frame structure. The fixing ring at the top of the hydrofoil support is a two-part structure, which is fixed by screws for easy maintenance and replacement. Propulsion motor I2 and propulsion motor II3 are symmetrically fixed on both sides of the bottom of the hydrofoil support. The bottom of the hydrofoil support is equipped with hydrofoil plates to enhance lift and reduce drag. The hydrofoil plates adopt a hollow reinforcing rib design to reduce weight while providing a certain amount of lift underwater.

[0049] The mounting frame is a two-part bracket structure, which is fastened with screws. Mounting surfaces are provided on both sides of the mounting frame. Lift motor I5 and lift motor II6 are fixed on the mounting surfaces on the corresponding sides, and lift motor III10 is installed on the rear end face of the storage compartment 9.

[0050] The robotic arm 7 structure is mounted on the waterproof chamber via a mounting bracket; preferably, the robotic arm structure includes a first joint 702 and a second joint 704 of the robotic arm that are hinged together, the bottom of the mounting bracket is provided with a lower waterproof servo motor 701 for driving the first joint of the robotic arm, and the bottom of the mounting bracket is reinforced to prevent stress concentration; the first joint of the robotic arm is provided with an upper waterproof servo motor 703 for driving the second joint of the robotic arm, and the end of the second joint of the robotic arm is provided with a gripper structure.

[0051] A waterproof servo is a servo motor with a waterproof design, commonly used in extreme environments such as underwater drones and boats. Internally, it consists of a brushless motor, a reduction gear set, and an electronic speed controller. It can precisely control the angle by receiving PWM signals and maintain a specific angle unaffected by external forces when powered on; waterproof servos provide power to the joints of robotic arms.

[0052] The robotic arm is designed with two joints, allowing it to be stored away when not in use without affecting the operation of the entire machine. The first joint of the robotic arm has an opening corresponding to the transparent front cover at the front of the machine. Preferably, the main structure of the first joint of the robotic arm is a ring, which will not obstruct the view of the camera inside the waterproof compartment. This allows the camera to observe directly through the opening, and the robotic arm can be deployed for operation when needed, without affecting the camera's view when stored away.

[0053] The gripper structure and water sample collector can utilize existing conventional designs. The mechanical gripper can grasp objects smaller than 65mm in diameter, such as oysters and marine debris. Made of acrylic material, the gripper features a non-slip structure, providing strong grip while remaining lightweight for easy replacement and maintenance. The water sample collector consists of a peristaltic pump and two syringes, connected by rubber tubing. It can collect water samples from different areas independently and includes a pre-installed solenoid valve mounting location for future expansion to include zoned sampling capabilities.

[0054] The program communicates via a two-way data link; sensor data is sent from the prototype to the controller, and control signals are sent from the controller to the prototype. Image transmission and data transmission are separated to avoid signal interference. Cruise and stealth modes are switched using the right joystick on the remote control.

[0055] When traveling at high speed on the water surface, the robotic arm is in a retracted state, using only two propulsion motors to reduce energy consumption. When operating underwater, five motors and servo motors work together to ensure the stability of attitude and sampling operations. The controller achieves multi-degree-of-freedom switching through a small number of channels, and the lift motor enters unmanned mode when the robotic arm is operating.

[0056] Data transmission test: The signal quality of the image transmission module was tested at different antenna positions; details are shown in the table below:

[0057]

[0058] Through testing, it was found that image transmission requires the antenna to remain above the water surface, a problem that can be solved by using a buoy.

[0059] This utility model of an environmental monitoring hydrofoil diving drone has sufficient mobility to quickly reach the target water area, improving research efficiency and response speed; it requires only one operator for remote control, eliminating the need for a mother ship and supporting personnel, thus significantly improving work efficiency; it provides an effective and economical solution for low-cost environmental research in shallow or small water bodies, enabling research institutions to complete various environmental survey tasks more efficiently and at lower cost.

[0060] The above description is only a preferred embodiment of the present utility model. The above technical features can be arbitrarily combined to form multiple embodiments of the present utility model.

[0061] The present invention has been described above with reference to the accompanying drawings. Obviously, the specific implementation of the present invention is not limited to the above-described manner. Any non-substantial improvements made using the concept and technical solution of the present invention, or the direct application of the concept and technical solution of the present invention to other occasions without modification, are all within the protection scope of the present invention.

Claims

1. An environmental monitoring hydrofoil diving drone, comprising a frame, characterized in that: The frame includes a hydrofoil support and a tail section, which are connected by a storage compartment and a waterproof chamber. The lower part of the hydrofoil support is equipped with a propulsion motor structure for propelling cruise. The storage compartment and the waterproof chamber are equipped with lift motor structures for underwater elevation adjustment. The waterproof chamber contains a camera and / or battery assembly. The frame is equipped with a robotic arm structure for gripping underwater items into the storage compartment and a water sample collector for collecting water samples.

2. The environmental monitoring hydrofoil submersible drone as described in claim 1, characterized in that: The hydrofoil support has a propulsion motor installed on each of its two bottom sides. The propulsion motor is a horizontally arranged ducted motor.

3. The environmental monitoring hydrofoil submersible drone as described in claim 1, characterized in that: The waterproof compartment is equipped with a fixed frame, and lifting motors are installed on both sides of the fixed frame and at the rear of the storage compartment. The lifting motors are vertically installed duct motors.

4. The environmental monitoring hydrofoil submersible drone as described in claim 1, characterized in that: The bottom of the hydrofoil support is equipped with a hydrofoil plate for increasing lift and reducing drag.

5. The environmental monitoring hydrofoil submersible drone as described in claim 1, characterized in that: The robotic arm structure is mounted on the waterproof chamber via a mounting bracket. The robotic arm structure includes a first joint and a second joint of the robotic arm that are hinged together. The mounting bracket is equipped with a lower waterproof servo motor for driving the first joint of the robotic arm, and the first joint of the robotic arm is equipped with an upper waterproof servo motor for driving the second joint of the robotic arm. The end of the second joint of the robotic arm is equipped with a gripper structure.

6. The environmental monitoring hydrofoil submersible drone as described in claim 1, characterized in that: The frame is equipped with a controller, a gyroscope, and a water pressure sensor. The gyroscope, water pressure sensor, and each motor are all connected to the controller.

7. The environmental monitoring hydrofoil submersible drone as described in claim 3, characterized in that: The waterproof chamber is a sealed cylindrical structure with a transparent front cover at the front end.

8. The environmental monitoring hydrofoil submersible drone as described in claim 2 or 3, characterized in that: The duct motor includes a brushless motor, a hydrodynamic propeller, and a hydrodynamic duct, with the brushless motor integrated inside the hydrodynamic duct.

9. The environmental monitoring hydrofoil submersible drone as described in claim 6, characterized in that: It also includes a transmission module and a remote controller, the transmission module being connected to a buoy antenna module for floating on the water surface.

10. The environmental monitoring hydrofoil submersible drone as described in claim 7, characterized in that: Both the hydrofoil support and the mounting bracket are fixedly mounted on the circular tube of the waterproof chamber via retaining rings.

Images