A dual-habitat monitoring device

Abstract

This utility model discloses an amphibious monitoring device, relating to the technical field of amphibious monitoring. It includes a base with a land-moving mechanism at its bottom and air cushions on two opposite sides. An imaging device and a propeller mechanism for moving the monitoring device on the water surface are located on the top of the base. The base also includes the monitoring device, a control unit, and a power supply unit. The propeller mechanism and the imaging device are connected to the control unit. An automatic leveling mechanism, connected to the control unit, is installed between the base and the air cushions to maintain the base's balance in complex aquatic environments. This application utilizes an automatic leveling mechanism between the base and the air cushions, controlled by the control unit, to level the base in complex aquatic environments, ensuring the base remains balanced. This solves the technical problem of poor horizontal stability in existing amphibious monitoring devices in complex aquatic environments.

Description

Technical Field

[0001] This utility model relates to the technical field of amphibious monitoring, and in particular to an amphibious monitoring device. Background Technology

[0002] Chinese patent application CN117167588A discloses an amphibious small air cushion pipeline inspection device, including a hull, a cushioning system, a propulsion system, and an inspection system. The inspection system is installed inside the hull and includes a CCTV imaging device and a sonar detection device. The cushioning system consists of four sets of cushioning fans evenly distributed on the upper part of the hull. The cushioning fans rotate at high speed to generate cushioning airflow flowing into the bottom of the hull. The propulsion system includes a propulsion fan installed at the stern of the hull and a vertical rudder mechanism located behind the propulsion fan. The propulsion fan generates propulsion airflow along the longitudinal axis of the hull.

[0003] However, during actual use, it was found that the amphibious inspection vessel, as generated by the high-speed rotation of the lifting fan, forms an air cushion at the bottom of the hull. This air cushion is directly and fixedly connected to the bottom of the hull. In complex aquatic environments, the amphibious inspection vessel's ability to maintain horizontal stability is poor, which in turn affects the inspection results. How to ensure that the amphibious inspection vessel maintains horizontal stability in complex aquatic environments is a technical problem that needs to be solved. Summary of the Invention

[0004] To address the shortcomings in the aforementioned background technology, this utility model proposes an amphibious monitoring device, which solves the technical problem that existing amphibious monitoring devices have poor performance in maintaining horizontal stability in complex aquatic environments.

[0005] The technical solution of this utility model is implemented as follows: An amphibious monitoring device includes a base, a land-moving mechanism at the bottom of the base, air cushions for floating the monitoring device on the water surface on two opposite sides of the base, an imaging device and a propeller mechanism for moving the monitoring device on the water surface at the top of the base, a monitoring device, a control unit, and a power supply unit on the base, the propeller mechanism and the imaging device being connected to the control unit respectively, and an automatic leveling mechanism between the base and the air cushion to keep the base balanced in complex aquatic environments, the automatic leveling mechanism being connected to the control unit. This application sets an automatic leveling mechanism between the base and the air cushion, and uses the control unit to control the automatic leveling mechanism to level the base in complex aquatic environments, ensuring the base remains balanced at all times, thus solving the technical problem of poor performance of existing amphibious monitoring devices in maintaining horizontal stability in complex aquatic environments.

[0006] The control unit is an STM32F103C8T6 controller.

[0007] The propeller mechanism consists of a propeller and a propulsion motor. The propulsion motor is connected to a control unit, which controls the rotation of the propulsion motor, thereby driving the propeller to rotate and moving the amphibious monitoring device on the water surface. The propeller blades are biomimetic to eagle wings, with serrated outer rings for excellent noise reduction. The propeller blade model is 1154F (silent blade). The propulsion motor is a brushless motor.

[0008] The imaging equipment is used to transmit image data to the control unit during the movement process, enabling the amphibious monitoring device to avoid obstacles during movement. It also helps to determine whether the amphibious monitoring device is on the water or land. The imaging equipment is an existing device, and its specific structure will not be described in detail. It is sufficient to enable the amphibious monitoring device to avoid obstacles during movement.

[0009] Preferably, the two automatic leveling mechanisms are symmetrically arranged on the base, and both mechanisms are suspended on the base. This symmetrical arrangement of the two automatic leveling mechanisms facilitates adjustment of the opposite sides of the base, which helps ensure the force balance of the base in complex aquatic environments.

[0010] Preferably, the automatic leveling mechanism includes a connecting frame and two connecting rods. The connecting frame is suspended within the base. The base has two first connecting holes for the connecting rods to swing. The two first connecting holes are located at both ends of the connecting frame. The two connecting rods extend into the two first connecting holes and connect to both ends of the connecting frame. The ends of the connecting rods away from the connecting frame are connected to an air cushion. The base contains a level detection device, a first fixing strap, and a second fixing strap. The connecting frame is a hollow frame. A rotating motor and a fixed shaft are located inside the connecting frame. The output end of the rotating motor is connected to the fixed shaft. The level detection device is connected to a control unit. The control unit is connected to the rotating motor. The connecting frame has fixing holes. One end of the first fixing strap extends into the fixing hole, connects to the fixed shaft, and is wound around the fixed shaft. One end of the second fixing strap extends into the fixing hole, connects to the fixed shaft, and is wound around and fixed to the fixed shaft. The first and second fixing straps are wound in opposite directions. The end of the first fixing strap away from the fixed shaft is connected to the base above the connecting frame. The end of the second fixing strap away from the fixed shaft is connected to the base below the connecting frame. A rotating motor drives a fixed shaft to rotate. When the motor rotates the fixed shaft in the forward direction, the portion of the first fixing belt wrapped around the fixed shaft increases, while the portion of the second fixing belt wrapped around the fixed shaft decreases. This causes the connecting frame to move upward within the base, and the connecting rod and air cushion to move downward. When the motor rotates the fixed shaft in the reverse direction, the portion of the first fixing belt wrapped around the fixed shaft decreases, while the portion of the second fixing belt wrapped around the fixed shaft increases. This causes the connecting frame to move downward within the base, and the connecting rod and air cushion to move upward. By adjusting the position of the air cushion through the forward and reverse rotation of the motor, the base remains horizontally stable in complex aquatic environments.

[0011] Preferably, the substrate is equipped with a servo motor that can assist the connecting rod in dynamic adjustment. The servo motor's rudder is connected to the connecting rod, and the control unit is electrically connected to the servo motor. By adding the servo motor, further dynamic adjustment of the connecting rod is achieved, making the substrate more stable in complex aquatic environments. When the level detection device detects that the substrate is tilted or not level, the level detection device will transmit real-time data to the control unit. After processing by an algorithm, the control unit sends precise control signals to the rotating motor and the servo motor. The rotating motor starts and drives the fixed shaft to rotate, thereby adjusting the position of the connecting frame. At the same time, the servo motor adjusts the rotation angle and speed according to the signal command from the control unit. The servo motor's rudder drives the connecting rod to swing up and down with corresponding amplitude and frequency, thereby precisely adjusting the swing posture of the air cushion. The entire detection device forms an efficient closed-loop control system through continuous real-time monitoring, data processing, command transmission, and dynamic adjustment. This cyclical adjustment process can correct the tilt of the substrate in real time, ultimately achieving automatic leveling of the entire substrate. This ensures that the substrate remains horizontally stable in complex and ever-changing environments (such as waves and wind interference), greatly improving the stability and safety of the substrate's operation and providing a stable and reliable foundation for the operation of the testing equipment on the substrate.

[0012] The horizontal detection device is a tilt angle module, model GY-25. Its working principle involves using a gyroscope and an accelerometer, combined with a data fusion algorithm, to obtain direct angle data. This tilt angle module communicates with the host computer via serial TTL full-duplex mode. This product boasts high precision and stability. It can provide accurate angle output at any position with baud rates of 9600bps and 115200bps, and offers both continuous and interrogation output modes to adapt to different working environments.

[0013] Preferably, at least two servos are mounted on the connecting rod, and the at least two servos are symmetrically arranged on the connecting rod. Symmetrical arrangement of the servos on the connecting rod achieves structural symmetry, which facilitates rapid adjustment of the connecting rod by the servos. The servo disc of each servo is fixedly connected to the connecting rod, while the other end of the connecting rod is tightly fixed to the air cushion. When the servo is activated, the servo disc rotates at a preset speed. This rotation is transmitted to the connecting rod via a mechanical connection, causing the connecting rod to swing up and down. Since the connecting rod and the air cushion are fixed together, the up-and-down swing of the connecting rod causes the air cushion to swing synchronously.

[0014] Preferably, the end of the connecting rod furthest from the connecting frame is provided with a ball head, and the air cushion is provided with a connecting seat, with the ball head hinged to the connecting seat. Utilizing the ball head and connecting seat to achieve the hinged connection between the connecting rod and the air cushion increases the degree of freedom in adjusting the air cushion's position, further ensuring the stability of the substrate in complex aquatic environments.

[0015] Preferably, the end of the connecting rod furthest from the connecting frame is connected to an L-shaped connector, and the ball head is provided with a second connecting hole. The L-shaped connector is inserted into the second connecting hole. The insertion of the L-shaped connector into the second connecting hole enables a quick connection between the connecting rod and the ball head. Using an L-shaped connector to connect the connecting rod and the ball head has several significant advantages over a direct connection, as follows: I. Optimization of Mechanical Properties Stress Dispersion: L-shaped connectors can evenly distribute external forces over a larger area, avoiding localized stress concentration. In load-bearing structures where connecting rods and air cushions are connected, direct connections are prone to localized fatigue damage due to uneven stress distribution. L-shaped connectors, on the other hand, can effectively reduce the stress per unit area, enhance the overall strength and durability of the structure, and extend its service life.

[0016] II. Adapting to the needs of dynamic movement Compensation for displacement and angular deviation: Allows for axial, radial displacement or angular offset between connected components. In mechanical operation, if two shafts are difficult to align perfectly, a direct rigid connection will generate additional stress and accelerate wear. However, the L-shaped connection of the L-shaped connector can adapt to this deviation through its own deformation, ensuring normal operation of the equipment and improving transmission accuracy.

[0017] III. Facilitates assembly and maintenance Reduced assembly precision requirements: L-shaped connectors provide assembly guidance, simplifying component alignment and enabling smooth installation even with minor deviations. While ensuring connection stability, they also facilitate later disassembly and maintenance, adapting to complex and ever-changing equipment maintenance needs.

[0018] IV. Function Expansion and Optimization Guiding motion trajectory: L-shaped connectors can precisely guide and restrict the movement of connected components, ensuring smoothness and accuracy. For example, the special shape design of machine tool guideways can guarantee the movement accuracy of tools or workpieces, improving machining quality.

[0019] Preferably, the land-based movement mechanism includes a connecting plate fixed to the bottom of the base. Moving motors are symmetrically arranged on the connecting plate, and rotating wheels are connected to the output shafts of each moving motor. The moving motors are connected to a control unit. The moving motors and rotating wheels are designed to enable the amphibious monitoring device of this application to move on land. When the imaging device detects that the amphibious monitoring device is on the ground, the control unit controls the moving motors to start, thereby completing the movement of the amphibious monitoring device on land. The land-based movement mechanism includes four moving motors symmetrically arranged at the four corners of the connecting plate. The control unit can control the starting and stopping of the four moving motors at different times, or control the different speeds of the four moving motors to achieve the turning of the amphibious monitoring device. Such turning methods and structures are existing technologies and will not be described in detail here; the only requirement is to enable the amphibious monitoring device to move and turn on land.

[0020] It should be noted that when the amphibious monitoring device moves on land, the lowest point of the air cushion is still higher than the highest point of the rotating wheel, so as to ensure that the air cushion will not affect the normal movement of the amphibious monitoring device on land.

[0021] Preferably, the rotating wheel is a tracked wheel. Tracked wheels are chosen because they have a large support surface, low ground pressure, and are suitable for operation in soft or muddy terrain, providing better mobility and improving the adaptability of the amphibious monitoring device of this application.

[0022] Preferably, the monitoring equipment includes a multibeam sonar and a 3D laser scanner, both of which are respectively mounted on the substrate. The multibeam sonar can quickly acquire high-precision data of underwater terrain, forming a detailed 3D model to help understand the location and shape of underwater obstacles. The 3D laser scanner can quickly acquire terrain data of the detection area, accurately measuring information such as terrain features, building locations and shapes, etc., to assist in terrain analysis. Both the multibeam sonar and the 3D laser scanner have internal storage units. After the amphibious monitoring device completes its detection, the data can be retrieved by removing the storage units. Simultaneously, the multibeam sonar and the 3D laser scanner can be connected to an external data collection unit to achieve real-time transmission of the detection data.

[0023] The beneficial effects of this utility model are as follows: 1. This application sets an automatic leveling mechanism between the substrate and the air cushion, and uses the automatic leveling mechanism to level the state of the substrate in the complex aquatic environment, so that the substrate always remains in balance.

[0024] 2. This application utilizes a rotary motor to drive a fixed shaft to rotate. When the rotary motor drives the fixed shaft to rotate in the forward direction, the portion of the first fixing belt wrapped around the fixed shaft increases, while the portion of the second fixing belt wrapped around the fixed shaft decreases. The connecting frame moves upward within the base, while the connecting rod and air cushion move downward. When the rotary motor drives the fixed shaft to rotate in the reverse direction, the portion of the first fixing belt wrapped around the fixed shaft decreases, while the portion of the second fixing belt wrapped around the fixed shaft increases. The connecting frame moves downward within the base, while the connecting rod and air cushion move upward. By adjusting the position of the air cushion through the forward and reverse rotation of the rotary motor, the base remains horizontally stable in complex aquatic environments.

[0025] 3. This application incorporates a multibeam sonar and a 3D laser scanner into the substrate. The multibeam sonar can quickly acquire high-precision data of the underwater terrain, forming a detailed 3D model to help understand the location and shape of underwater obstacles. The 3D laser scanner can quickly acquire terrain data of the detection area, accurately measure information such as terrain features, building locations and shapes, and assist in terrain analysis. Attached Figure Description

[0026] To more clearly illustrate the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 This is a perspective view of the present invention.

[0028] Figure 2 This is the front view of the present invention.

[0029] Figure 3 This is a top view of the present invention.

[0030] Figure 4 This is a bottom view of the present invention.

[0031] Figure 5 This is a schematic diagram showing the connection between the automatic leveling mechanism of this utility model and the air cushion, the first fixing belt, and the second fixing belt.

[0032] Figure 6 This is a schematic diagram showing the connection between the automatic leveling mechanism of this utility model and the substrate.

[0033] Figure 7 This is a schematic diagram showing the connection of the first fixing belt, the second fixing belt, and the fixing shaft of this utility model.

[0034] Figure 8 This is a schematic diagram of the connection between the connecting rod and the ball head of this utility model.

[0035] Figure 9 This is a schematic diagram of the connection between the connecting rod and the L-shaped connector of this utility model.

[0036] Figure 10 This is a perspective view of the land-based mobile mechanism of this utility model.

[0037] In the diagram: 1. Base, 2. Air cushion, 3. Propeller mechanism, 4. Connecting frame, 5. First connecting hole, 6. Linkage, 7. Servo, 8. Ball head, 9. Connecting seat, 10. L-shaped connector, 11. Imaging equipment, 12. Second connecting hole, 13. First fixing belt, 14. Fixing hole, 15. Rotating motor, 16. Connecting plate, 17. Moving motor, 18. Rotating wheel, 19. Fixed shaft, 20. Multibeam sonar, 21. 3D laser scanner, 22. Second fixing belt. Detailed Implementation

[0038] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0039] Example 1, an amphibious monitoring device, such as Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, the device includes a base 1, with a land-moving mechanism at its bottom. Air cushions 2 for floating the monitoring device on the water surface are located on two opposite sides of the base 1. An imaging device 11 and a propeller mechanism 3 for moving the monitoring device on the water surface are located on the top of the base 1. The base 1 also includes the monitoring device, a control unit, and a power supply unit. The propeller mechanism 3 and the imaging device 11 are connected to the control unit. An automatic leveling mechanism, connected to the control unit, is provided between the base 1 and the air cushions 2 to maintain the base 1's balance in complex aquatic environments. This automatic leveling mechanism solves the technical problem of poor horizontal stability in existing amphibious detection devices in complex aquatic environments by using an automatic leveling mechanism between the base 1 and the air cushions 2, and controlling the automatic leveling mechanism with the control unit to level the base 1 in complex aquatic environments.

[0040] The control unit is an STM32F103C8T6 controller. The propeller mechanism consists of a propeller and a propulsion motor. The propulsion motor is connected to the control unit, which controls the rotation of the propulsion motor, thereby driving the propeller to rotate and moving the amphibious monitoring device on the water surface. The propeller blades are biomimetic to eagle wings, with serrated outer rings for excellent noise reduction. The propeller blade model is 1154F (silent blade). The propulsion motor is a brushless motor.

[0041] The imaging device 11 transmits image data during the movement to the control unit, enabling the amphibious monitoring device to avoid obstacles during movement. It also helps determine whether the amphibious monitoring device is on the water or land. The imaging device 11 is an existing device, and its specific structure will not be described in detail. It is sufficient to enable the amphibious monitoring device to avoid obstacles during movement.

[0042] The power supply unit provides energy to the entire amphibious monitoring device. The power supply unit can be a storage battery. It is connected to the monitoring equipment, control unit, propeller mechanism 3, imaging equipment 11, and automatic leveling mechanism. Specifically, the power supply unit powers the propulsion motor, and also powers the monitoring equipment, control unit, propeller mechanism 3, and imaging equipment 11.

[0043] Example 2, based on Example 1, provides an amphibious monitoring device, such as... Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 6 As shown, the two automatic leveling mechanisms are symmetrically arranged on the base 1, and both mechanisms are suspended on the base 1. The symmetrical arrangement of the two automatic leveling mechanisms on the base 1 facilitates adjustment of the opposite sides of the base 1, which helps ensure the force balance of the base 1 in complex aquatic environments.

[0044] Example 3, based on Example 2, provides an amphibious monitoring device, such as... Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 and Figure 7As shown, the automatic leveling mechanism includes a connecting frame 4 and two connecting rods 6. The connecting frame 4 is suspended within the base 1. The base 1 has two first connecting holes 5 for the connecting rods 6 to swing. The two first connecting holes 5 are located at both ends of the connecting frame 4. The two connecting rods 6 extend into the two first connecting holes 5 and are connected to both ends of the connecting frame 4. The end of the connecting rod 6 away from the connecting frame 4 is connected to the air cushion 2. The base 1 is equipped with a level detection device, a first fixing strap 13, and a second fixing strap 22. The connecting frame 4 is a hollow frame. The connecting frame 4 contains a rotating motor 15 and a fixed shaft 19. The output end of the rotating motor 15 is connected to the fixed shaft 19. A fixed shaft 19 is connected, the horizontal detection device is connected to the control unit, and the control unit is connected to the rotary motor 15. The connecting frame 4 has a fixing hole 14. One end of the first fixing strap 13 extends into the fixing hole 14, connects to the fixed shaft 19, and is wrapped around the fixed shaft 19. One end of the second fixing strap 22 extends into the fixing hole 14, connects to the fixed shaft 19, and is wrapped around and fixed to the fixed shaft 19. The first fixing strap 13 and the second fixing strap 22 are wrapped in opposite directions. The end of the first fixing strap 13 away from the fixed shaft 19 is connected to the base 1 above the connecting frame 4, and the end of the second fixing strap 22 away from the fixed shaft 19 is connected to the base 1 below the connecting frame 4. The rotary motor 15 drives the fixed shaft 19 to rotate. When the rotary motor 15 drives the fixed shaft 19 to rotate in the forward direction, the portion of the first fixing strap 13 wrapped around the fixed shaft 19 increases, and the portion of the second fixing strap 22 wrapped around the fixed shaft 19 decreases. The connecting frame 4 moves upward within the base 1, and the connecting rod 6 and the air cushion 2 move downward. When the rotating motor 15 drives the fixed shaft 19 to rotate in the opposite direction, the portion of the first fixing belt 13 wrapped around the fixed shaft 19 decreases, and the portion of the second fixing belt 22 wrapped around the fixed shaft 19 increases. The connecting frame 4 moves downward within the base 1, and the connecting rod 6 and the air cushion 2 move upward. The position of the air cushion 2 is adjusted by the forward and reverse rotation of the rotating motor 15, so that the base 1 remains horizontally stable in complex aquatic environments. The power supply unit is connected to the rotating motor 15, meaning that the power supply unit provides power for the rotation of the rotating motor 15. The rotating motor 15 is a common existing motor, sufficient to drive the fixed shaft 19 to rotate.

[0045] Example 4, based on Example 3, provides an amphibious monitoring device, such as... Figure 5As shown, the base 1 is equipped with a servo motor 7 that assists in the dynamic adjustment of the connecting rod 6. The servo motor 7's rudder is connected to the connecting rod 6, and the control unit is electrically connected to the servo motor 7. By adding the servo motor 7, further dynamic adjustment of the connecting rod 6 is achieved, making the base 1 more stable in complex aquatic environments. When the level detection device detects that the base 1 is tilted or not level, the level detection device will transmit real-time data to the control unit. After processing by the algorithm, the control unit sends precise control signals to the rotating motor 15 and the servo motor 7. The rotating motor 15 starts and drives the fixed shaft 19 to rotate, thereby adjusting the position of the connecting frame 4. At the same time, the servo motor 7 adjusts the rotation angle and speed according to the signal command from the control unit. The servo motor 7's rudder drives the connecting rod 6 to swing up and down with corresponding amplitude and frequency, thereby precisely adjusting the swing posture of the air cushion 2. The entire detection device forms an efficient closed-loop control system through continuous real-time monitoring, data processing, command transmission, and dynamic adjustment. This cyclical adjustment process can correct the tilt of the base 1 in real time, ultimately achieving automatic leveling of the entire base 1. This ensures that the base 1 maintains a stable horizontal state under complex and changing environments (such as waves and wind interference), greatly improving the stability and safety of the base 1's operation and providing a stable and reliable foundation for the operation of the detection equipment on the base 1. The power supply unit is electrically connected to the servo motor 7 and the level detection device, respectively. The power supply unit provides power for the rotation of the servo motor 7 and for the detection of the level detection device.

[0046] The horizontal detection device is a tilt angle module, model GY-25. Its working principle involves using a gyroscope and an accelerometer, combined with a data fusion algorithm, to obtain direct angle data. This tilt angle module communicates with the host computer via serial TTL full-duplex mode. This product boasts high precision and stability. It can provide accurate angle output at any position with baud rates of 9600bps and 115200bps, and offers both continuous and interrogation output modes to adapt to different working environments.

[0047] Example 5, based on Example 4, provides an amphibious monitoring device, such as... Figure 5 As shown, at least two servo motors 7 are mounted on the connecting rod 6, and these servo motors 7 are symmetrically arranged on the connecting rod 6. The symmetrical arrangement of the servo motors 7 on the connecting rod 6 achieves structural symmetry, which facilitates rapid adjustment of the connecting rod 6 by the servo motors 7. The servo disc of each servo motor 7 is fixedly connected to the connecting rod 6, while the other end of the connecting rod 6 is tightly fixed to the air cushion 2. When the servo motor 7 is activated, the servo disc of the servo motor 7 rotates at a preset speed. This rotation is transmitted to the connecting rod 6 through a mechanical connection, causing the connecting rod 6 to swing up and down. Since the connecting rod 6 and the air cushion 2 are fixed together, the up-and-down swing of the connecting rod causes the air cushion 2 to swing synchronously.

[0048] Example 6, based on Example 5, provides an amphibious monitoring device, such as... Figure 5 and Figure 8 As shown, the end of the connecting rod 6 away from the connecting frame 4 is provided with a ball head 8, and the air cushion 2 is provided with a connecting seat 9. The ball head 8 and the connecting seat 9 are hinged together. The hinge between the connecting rod 6 and the air cushion 2 is achieved by using the ball head 8 and the connecting seat 9, which increases the degree of freedom of the air cushion 2 in position adjustment and further ensures the stability of the base 1 in complex aquatic environments.

[0049] Example 7, based on Example 6, provides an amphibious monitoring device, such as... Figure 8 and Figure 9 As shown, an L-shaped connector 10 is connected to the end of the connecting rod 6 away from the connecting frame 4. A second connecting hole 12 is provided on the ball head 8, and the L-shaped connector 10 is inserted into the second connecting hole 12. The insertion and engagement of the L-shaped connector 10 with the second connecting hole 12 enables a quick connection between the connecting rod 6 and the ball head 8. Using the L-shaped connector 10 to connect the connecting rod 6 and the ball head 8 has several significant advantages over a direct connection, as follows: I. Optimization of Mechanical Properties Stress Dispersion: The L-shaped connector 10 can evenly distribute external forces over a larger area, avoiding localized stress concentration. In the load-bearing structure connecting the connecting rod 6 and the air cushion 2, direct connection is prone to localized fatigue damage due to uneven stress distribution. The L-shaped connector 10 can effectively reduce the stress per unit area, enhance the overall strength and durability of the structure, and extend its service life.

[0050] II. Adapting to the needs of dynamic movement Compensation for displacement and angular deviation: Allows for axial, radial displacement or angular offset between connected components. During mechanical operation, if the two shafts are difficult to align perfectly, a direct rigid connection will generate additional stress and accelerate wear. However, the L-shaped connection of the L-shaped connector 10 can adapt to this deviation through its own deformation, ensuring normal operation of the equipment and improving transmission accuracy.

[0051] III. Facilitates assembly and maintenance Reduced assembly precision requirements: The L-shaped connector 10 provides assembly guidance, reducing the difficulty of component alignment and ensuring smooth installation even with minor deviations. While maintaining connection stability, it also facilitates later disassembly and maintenance, adapting to complex and ever-changing equipment maintenance needs.

[0052] IV. Function Expansion and Optimization Guiding the motion trajectory: The L-shaped connector 10 can precisely guide and restrict the movement of the connected components, ensuring the smoothness and accuracy of the movement. For example, the special shape design of machine tool guideways can ensure the movement accuracy of the tool or workpiece and improve the machining quality.

[0053] Example 8, based on any one of Examples 1 to 7, provides an amphibious monitoring device, such as... Figure 2 , Figure 4 and Figure 10 As shown, the land movement mechanism includes a connecting plate 16, which is fixed to the bottom of the base 1. Moving motors 17 are symmetrically arranged on the connecting plate 16, and rotating wheels 18 are connected to the output shafts of each moving motor 17. The moving motors 17 are connected to the control unit. The moving motors 17 and rotating wheels 18 are configured to enable the amphibious monitoring device of this application to move on land. When the imaging device 11 detects that the amphibious monitoring device is on the ground, the control unit controls the moving motors 17 to start, thereby completing the movement of the amphibious monitoring device on land. The land movement mechanism includes four moving motors 17, which are symmetrically arranged at the four corners of the connecting plate 16. The control unit can control the starting and stopping of the four moving motors 17 at different times, or control the different speeds of the four moving motors 17 to achieve the turning of the amphibious monitoring device. Such turning methods and structures are existing technologies and will not be described in detail here; the only requirement is to achieve the movement and turning of the amphibious monitoring device on land. The power supply unit is electrically connected to the moving motors 17, that is, the power supply unit supplies power to the rotation of the moving motors 17.

[0054] It should be noted that when the amphibious monitoring device moves on land, the lowest point of the air cushion 2 is still higher than the highest point of the rotating wheel 18, so as to ensure that the air cushion 2 will not affect the normal movement of the amphibious monitoring device on land.

[0055] Example 9, based on Example 8, provides an amphibious monitoring device, such as... Figure 2 , Figure 4 and Figure 10 As shown, the rotating wheel 18 is a tracked wheel. The rotating wheel 18 is set as a tracked wheel because tracked wheels have a large support surface and low ground pressure, making them suitable for operation in soft or muddy terrain, and providing better mobility, thus improving the adaptability of the amphibious monitoring device of this application.

[0056] Example 10, based on Example 9, provides an amphibious monitoring device, such as... Figure 1 , Figure 2 , Figure 3 and Figure 4As shown, the monitoring equipment includes a multibeam sonar 20 and a 3D laser scanner 21, both of which are mounted on the base 1. The multibeam sonar 20 can quickly acquire high-precision data of underwater terrain, forming a detailed 3D model to help understand the location and shape of underwater obstacles. The 3D laser scanner 21 can quickly acquire terrain data of the detection area, accurately measuring information such as terrain features, building locations and shapes, etc., to assist in terrain analysis. Both the multibeam sonar 20 and the 3D laser scanner 21 have internal storage units. After the amphibious monitoring device completes its detection, the data can be retrieved by removing the storage units. Simultaneously, the multibeam sonar 20 and the 3D laser scanner 21 can be connected to an external data collection unit to achieve real-time transmission of the detection data. A power supply unit is electrically connected to both the multibeam sonar 20 and the 3D laser scanner 21, providing power for their detection.

[0057] In Example 10, taking the signal connection between the multibeam sonar 20 and the 3D laser scanner 21 and the external data collection unit as an example, when the amphibious monitoring device of this application is on land, the control unit moves to avoid obstacles based on the image data from the imaging device 23. That is, the control unit controls the start of the moving motor 17, which drives the rotating wheel 18 to move and turn. At this time, the 3D laser scanner 21 accurately measures information such as terrain features, building locations and shapes to assist in terrain analysis. The 3D laser scanner 21 transmits the detected data to the collection unit. When encountering water, the control unit controls the moving motor 17 to drive the rotating wheel 18 to move towards the water surface based on the image data from the imaging device 23. When the amphibious monitoring device enters the water surface, the control unit controls the moving motor 17 to drive the rotating wheel 18 to move towards the water surface. When the machine 17 stops rotating, the control unit starts the propeller mechanism 3, and the propulsion motor drives the propeller to rotate, fully entering the waterway. At this time, the control unit starts the rotating motor 15 and the servo motor 7 to precisely adjust the swinging attitude of the air cushion 2, so that the base 1 enters the waterway smoothly. Then, the control unit controls the multibeam sonar 20 and the three-dimensional laser scanner 21 to perform detection, and the multibeam sonar 20 and the three-dimensional laser scanner 21 transmit the detected data to the collection unit in real time. When the amphibious monitoring device encounters a complex aquatic environment, the control unit starts the rotating motor 15 and the servo motor 7 to precisely adjust the swinging attitude of the air cushion 2, so that the base 1 is stable on the waterway, thus providing a stable and reliable foundation for the operation of the multibeam sonar 20 and the three-dimensional laser scanner 21.

[0058] The control unit activates the rotating motor 15 and the servo motor 7 to precisely adjust the swaying posture of the air cushion 2. Specifically, when the rotating motor 15 drives the fixed shaft 19 to rotate forward, the portion of the first fixing strap 13 wrapped around the fixed shaft 19 increases, and the portion of the second fixing strap 22 wrapped around the fixed shaft 19 decreases. The connecting frame 4 moves upward within the base 1, and the connecting rod 6 and the air cushion 2 move downward. When the rotating motor 15 drives the fixed shaft 19 to rotate in the reverse direction, the portion of the first fixing strap 13 wrapped around the fixed shaft 19 decreases, and the portion of the second fixing strap 22 wrapped around the fixed shaft 19 increases. The connecting frame 4 moves downward within the base 1, and the connecting rod 6 and the air cushion 2 move upward. By adjusting the position of the air cushion 2 through the forward and reverse rotation of the rotating motor 15, the base 1 remains horizontally stable in complex aquatic environments.

[0059] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A dual habitat monitoring device comprising a base body (1), characterized in that, The base (1) is provided with a land movement mechanism at its bottom. Air cushions (2) for floating the monitoring device on the water surface are provided on both opposite sides of the base (1). The top of the base (1) is provided with an imaging device (11) and a propeller mechanism (3) for moving the monitoring device on the water surface. The base (1) is provided with a monitoring device, a control unit and a power supply unit. The propeller mechanism (3) and the imaging device (11) are respectively connected to the control unit. An automatic leveling mechanism is provided between the base (1) and the air cushion (2) to keep the base (1) balanced in complex aquatic environments. The automatic leveling mechanism is connected to the control unit.

2. The dual-habitat monitoring device of claim 1, wherein: The two automatic leveling mechanisms are symmetrically arranged on the base (1), and both automatic leveling mechanisms are suspended on the base (1).

3. The dual-habitat monitoring device of claim 2, wherein: The automatic leveling mechanism includes a connecting frame (4) and two connecting rods (6). The connecting frame (4) is suspended inside the base (1). The base (1) has two first connecting holes (5) for the connecting rods (6) to swing. The two first connecting holes (5) are located at both ends of the connecting frame (4). The two connecting rods (6) extend into the two first connecting holes (5) and are connected to both ends of the connecting frame (4). The end of the connecting rod (6) away from the connecting frame (4) is connected to the air cushion (2). The base (1) is equipped with a level detection device, a first fixing strap (13), and a second fixing strap (22). The connecting frame (4) is a hollow frame. The connecting frame (4) is equipped with a rotating motor (15) and a fixed shaft (19). The output end of the rotating motor (15) is connected to the fixed shaft (19). A shaft (19) is connected, a horizontal detection device is connected to a control unit, the control unit is connected to a rotating motor (15), a fixing hole (14) is provided on the connecting frame (4), one end of the first fixing belt (13) extends into the fixing hole (14) and connects to the fixing shaft (19) and is wrapped around the fixing shaft (19), one end of the second fixing belt (22) extends into the fixing hole (14) and connects to the fixing shaft (19) and is wrapped around the fixing shaft (19), the first fixing belt (13) and the second fixing belt (22) are wrapped in opposite directions, the end of the first fixing belt (13) away from the fixing shaft (19) is connected to the base (1) above the connecting frame (4), and the end of the second fixing belt (22) away from the fixing shaft (19) is connected to the base (1) below the connecting frame (4).

4. The dual-habitat monitoring device of claim 3, wherein: The base (1) is equipped with a servo motor (7) that can assist the connecting rod (6) in dynamic adjustment. The servo motor (7) has a rudder disk connected to the connecting rod (6), and the level detection device is electrically connected to the servo motor (7).

5. The amphibious monitoring device according to claim 4, characterized in that: At least two servo motors (7) are provided on the connecting rod (6), and the at least two servo motors (7) are symmetrically arranged on the connecting rod (6).

6. The dual-habitat monitoring device of claim 5, wherein: The connecting rod (6) has a ball head (8) at one end away from the connecting frame (4), and a connecting seat (9) is provided on the air cushion (2). The ball head (8) is hinged to the connecting seat (9).

7. The dual-habitat monitoring device of claim 6, wherein: The end of the connecting rod (6) away from the connecting frame (4) is connected to an L-shaped connector (10), and the ball head (8) is provided with a second connecting hole (12). The L-shaped connector (10) is inserted into the second connecting hole (12).

8. The dual monitoring device according to any one of claims 1 to 7, wherein: The land-based mobile mechanism includes a connecting plate (16), which is fixed to the bottom of the base (1). A mobile motor (17) is symmetrically arranged on the connecting plate (16). A rotating wheel (18) is connected to the output shaft of each mobile motor (17). The mobile motor (17) is connected to the control unit.

9. The dual-habitat monitoring device of claim 8, wherein: The rotating wheel (18) is a track wheel.

10. The dual-habit monitoring device of claim 9, wherein: The monitoring equipment includes a multibeam sonar (20) and a three-dimensional laser scanner (21), both of which are mounted on the substrate (1).

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