An unmanned aerial vehicle for river underwater topographic mapping

Abstract

The utility model discloses a kind of for river underwater topography surveying and mapping unmanned aerial vehicle, the utility model relates to water conservancy surveying and mapping technical field, including submersible body, rotating assembly is provided on the submersible body, rotating assembly is used to rotate grass cutting assembly;The grass cutting assembly includes motor box two and two transmission boxes, the inside of motor box two is provided with speed reducer motor two, and the output shaft of speed reducer motor two is connected with support shaft, and support shaft is rotatably connected with both sides transmission box through bearing, the upper and lower sides of both sides transmission box are rotatably connected with connecting shaft through bearing, the speed reducer motor in motor box two drives support shaft rotation, so that transmission assembly can drive connecting shaft rotation, and then make vertical cutting wheel one and transverse cutting wheel two all carry out high-speed rotation, and then when submersible body enters water grass area and carries out surveying and mapping, messy water grass can all be cut, avoid water grass winding and affect the submerging of submersible body.

Description

Technical Field

[0001] This utility model relates to the field of water conservancy surveying and mapping technology, specifically to a drone used for underwater topographic surveying of river channels. Background Technology

[0002] Underwater drones consist of surface equipment and underwater equipment. The submersible body moves underwater by a propulsion system and is equipped with mapping equipment such as cameras, lighting, and sonar systems, which can be used for underwater topographic mapping of rivers.

[0003] The patent document, authorized by announcement number CN216386821U, entitled "An Underwater Defect Observation Robot with a Laser Scale," includes a main frame with a float mounted on its upper part. An electrical compartment is located inside the main frame, housing a thruster, a laser scale, a camera unit, and a gimbal, all electrically connected to a controller. The laser scale consists of two sets of laser emitters mounted side-by-side at the front of the gimbal, electrically connected to the controller. The existing technology offers underwater observation, object measurement, and underwater object grasping capabilities, enabling tasks such as measuring cracks and damage in dams and culverts, conducting underwater environmental surveys, and transmitting images. It can achieve precise, multi-angle, and comprehensive underwater observation, meeting the needs of practical underwater environmental observation and has a wide range of applications. However, when navigating underwater in rivers, the inability to manage aquatic plants can lead to the thruster becoming entangled and jammed when entering weedy areas for mapping, thus affecting the submersible's movement. Utility Model Content

[0004] To address the shortcomings of existing technologies, this utility model provides an unmanned aerial vehicle (UAV) for underwater topographic mapping of river channels, which solves the problems existing in the prior art.

[0005] To achieve the above objectives, this utility model provides the following technical solution: A drone for underwater topographic mapping of rivers, comprising a submersible body, a rotating assembly on which a grass-cutting assembly is rotated; the grass-cutting assembly comprises a motor housing and two transmission housings, a reduction motor housing is provided in the motor housing housing, and the output shaft of the reduction motor housing is connected to a support shaft, and the support shaft is rotatably connected to both transmission housings via bearings; both upper and lower sides of both transmission housings are rotatably connected to connecting shafts via bearings; a first cutting wheel is evenly arranged on the support shaft, a second cutting wheel is arranged on the connecting shaft, and a transmission assembly is provided in both transmission housings; the support shaft is rotatably connected to the connecting shaft via the transmission assembly.

[0006] Preferably, the rotating assembly includes a motor housing detachably connected to the submersible body. The motor housing contains a geared motor, and the output shaft of the geared motor is connected to a fixed shaft. The fixed shaft has two connecting rods and a fixed rod. The fixed rod is fixedly connected to the motor housing and the two connecting rods are respectively connected to two transmission boxes.

[0007] Preferably, the transmission assembly includes a driving bevel gear disposed in a transmission box, with driven bevel gears meshing on both sides of the driving bevel gear, and the driven bevel gears are also located in the transmission box. The driving bevel gear is fixedly sleeved on the support shaft, and the driven bevel gear is fixedly sleeved on the connecting shaft.

[0008] Preferably, the transmission box is rotatably connected to a rotating shaft via a bearing, and a lever is provided at the bottom of the rotating shaft, which is also located below the bottom cutting wheel two.

[0009] Preferably, a drive gear is provided on the bottom connecting shaft, and a driven gear is meshed on the drive gear, the driven gear being fixedly sleeved on the rotating shaft.

[0010] Preferably, the driving gear is located below the bottom driven bevel gear, and both the driving gear and the driven gear are located inside the transmission box.

[0011] Preferably, the end of the lever is provided with an arc-shaped head, and the lever and the arc-shaped head are integrally formed.

[0012] Preferably, the submersible body is provided with a bearing housing, and the fixed shaft is rotatably connected to the bearing housing through a bearing.

[0013] This invention provides a drone for underwater topographic mapping of rivers. Compared with the prior art, it has the following advantages: 1. This UAV for underwater topographic mapping in river channels uses a geared motor 2 inside the motor housing 2 to drive the support shaft to rotate, which in turn drives the connecting shaft to rotate. This causes both the vertical cutting wheel 1 and the horizontal cutting wheel 2 to rotate at high speed. As a result, when the UAV enters a weedy area for mapping, it can cut off the messy weeds and prevent them from getting tangled and affecting the UAV's movement.

[0014] 2. This UAV for underwater topographic mapping in rivers has a geared motor in motor housing 1 that drives the fixed shaft to rotate. This allows the connecting rod and fixed rod to rotate motor housing 2 and transmission housing. Not only can the mowing components be moved away when not in use to avoid affecting the mapping, but the cutting wheels 1 and 2 can also swing back and forth during use to increase the mowing area, thus better clearing the aquatic plants in front of the submersible when it is submerged. When the cut aquatic plants fall, they can be pushed outward by the two automatically rotating levers below, thereby reducing the obstruction to the submersible's movement. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the overall structure of this utility model; Figure 2 This utility model Figure 1 Another perspective illustration; Figure 3 This is a schematic diagram of the lawn mowing component of this utility model; Figure 4 This is a schematic diagram of the driven gear, rotating shaft, and lever of this utility model.

[0016] In the diagram: 1. Submersible body; 2. Motor housing one; 3. Fixed shaft; 4. Connecting rod; 5. Fixed rod; 6. Motor housing two; 7. Transmission box; 8. Support shaft; 9. Cutting wheel one; 10. Connecting shaft; 11. Cutting wheel two; 12. Rotating shaft; 13. Lever; 14. Driving bevel gear; 15. Driven bevel gear; 16. Driving gear; 17. Driven gear; 18. Bearing housing. Detailed Implementation

[0017] 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.

[0018] See Figures 1-4 This utility model provides the following three technical solutions: First implementation: A drone for underwater topographic mapping of river channels includes a submersible body 1, a rotating component on the submersible body 1 for rotating a mowing component, and the submersible body 1 has at least a thruster, a buoyancy structure, a sonar system, a camera and a lighting lamp to map the underwater topography of the river channel. The mowing assembly includes a second motor housing 6 and two transmission housings 7. The second motor housing 6 houses a second geared motor, the output shaft of which is connected to a support shaft 8. The support shaft 8 is rotatably connected to both transmission housings 7 via bearings. Both sides of the transmission housings 7 are rotatably connected to connecting shafts 10 via bearings. Cutting wheels 9 are evenly arranged on the support shaft 8, and cutting wheels 11 are arranged on the connecting shafts 10. Cutting wheels 9 are vertically oriented, while cutting wheels 11 are horizontally oriented. Each transmission housing 7 contains a transmission assembly, and the support shaft 8 is connected to the connecting shafts 10 via the transmission assembly. The second geared motor in the second motor housing 6 drives the support shaft 8 to rotate, which in turn drives the connecting shafts 10 to rotate. This causes both the vertical cutting wheel 9 and the horizontal cutting wheel 11 to rotate at high speed. Therefore, when the submersible 1 enters a vegetation-covered area for mapping, it can cut through the tangled vegetation, preventing it from becoming entangled and hindering the submersible 1's movement.

[0019] The rotating assembly includes a motor housing 2 detachably connected to the submersible body 1. Motor housing 2 houses a geared motor, the output shaft of which is connected to a fixed shaft 3. Both geared motors are powered and controlled using existing technology, i.e., connected to surface equipment via cables. The fixed shaft 3 has two connecting rods 4 and a fixed rod 5, which is fixedly connected to motor housing 6. The two connecting rods 4 are respectively connected to two transmission boxes 7. The geared motor 1 in motor housing 2 drives the fixed shaft 3 to rotate, allowing the connecting rods 4 and fixed rod 5 to rotate motor housing 6 and transmission boxes 7. This not only allows the mowing assembly to be removed when not in use, but also enables the cutting wheels 9 and 11 to swing back and forth during use, increasing the mowing area and thus better clearing the aquatic plants in front of the submersible body 1 while it is submerged.

[0020] The transmission assembly includes a driving bevel gear 14 disposed in the transmission housing 7. Both sides of the driving bevel gear 14 are meshed with driven bevel gears 15, which are also located in the transmission housing 7. The driving bevel gear 14 is fixedly sleeved on the support shaft 8, and the driven bevel gear 15 is fixedly sleeved on the connecting shaft 10. When the support shaft 8 rotates, the driving bevel gear 14 drives the driven bevel gear 15 to rotate, which in turn drives the connecting shaft 10 to rotate, so that the first cutting wheel 9 and the second cutting wheel 11 can rotate synchronously.

[0021] The second implementation differs from the first in that: the transmission box 7 is rotatably connected to a rotating shaft 12 via bearings. A lever 13 is located at the bottom of the rotating shaft 12, below the bottom cutting wheel 11. The end of the lever 13 has an arc-shaped head, and the lever 13 and the arc-shaped head are integrally formed. The arc-shaped head reduces friction with the aquatic plants, thereby reducing wear and increasing service life. The rotation of the rotating shaft 12 drives the lever 13 to rotate below the bottom cutting wheel 11, so that when the cut aquatic plants fall from above, they can be pushed outward by the lever 13, reducing obstruction to the submersible body 1's movement.

[0022] A drive gear 16 is provided on the bottom connecting shaft 10, and a driven gear 17 is meshed on the drive gear 16. The driven gear 17 is fixedly sleeved on the rotating shaft 12. When the bottom connecting shaft 10 rotates, the drive gear 16 drives the driven gear 17 to rotate, which in turn automatically drives the rotating shaft 12 to rotate. Thus, when the cut water plants fall, they can be pushed outward by the two automatically rotating levers 13 below.

[0023] The driving gear 16 is located below the driven bevel gear 15 at the bottom. Both the driving gear 16 and the driven gear 17 are located inside the transmission box 7, so that the rotation of the driving gear 16 is not hindered by the outside.

[0024] The third implementation differs from the second in that a bearing housing 18 is provided on the submersible body 1, and the fixed shaft 3 is rotatably connected to the bearing housing 18 via a bearing, which improves the stability of the fixed shaft 3 during rotation. All bearings described herein are waterproof and sealed bearings to enhance stability in water. Motor housing 1 2 and motor housing 2 6 also employ a waterproof and sealed design to prevent water ingress.

[0025] Furthermore, all content not described in detail in this specification is existing technology known to those skilled in the art, and the model parameters of each electrical appliance are not specifically limited; conventional equipment can be used.

[0026] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0027] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A kind of unmanned plane for river underwater topography surveying and mapping, it is characterized by: Includes a submersible body (1), on which a rotating component is provided, the rotating component being used to rotate a mowing component; The mowing assembly includes a motor housing (6) and two transmission housings (7). The motor housing (6) contains a geared motor, and the output shaft of the geared motor is connected to a support shaft (8). The support shaft (8) is rotatably connected to both transmission housings (7) via bearings. Both sides of the transmission housings (7) are rotatably connected to a connecting shaft (10) via bearings. The support shaft (8) is evenly provided with a first cutting wheel (9), and the connecting shaft (10) is provided with a second cutting wheel (11). Both transmission housings (7) contain a transmission assembly. The support shaft (8) is connected to the connecting shaft (10) via the transmission assembly.

2. The unmanned aerial vehicle for river underwater topographic mapping of claim 1, wherein: The rotating assembly includes a motor housing (2) detachably connected to the submersible body (1). A geared motor is installed inside the motor housing (2), and the output shaft of the geared motor is connected to a fixed shaft (3). Two connecting rods (4) are installed on the fixed shaft (3), and a fixed rod (5) is also installed on the fixed shaft (3). The fixed rod (5) is fixedly connected to the motor housing (6), and the two connecting rods (4) are respectively connected to two transmission boxes (7).

3. The unmanned aerial vehicle for river underwater topographic mapping of claim 1, wherein: The transmission assembly includes a drive bevel gear (14) disposed in a transmission box (7). Both sides of the drive bevel gear (14) are meshed with driven bevel gears (15), and the driven bevel gears (15) are also located in the transmission box (7). The drive bevel gear (14) is fixedly sleeved on the support shaft (8), and the driven bevel gear (15) is fixedly sleeved on the connecting shaft (10).

4. The unmanned aerial vehicle for river underwater topographic mapping of claim 3, wherein: The transmission box (7) is rotatably connected to a rotating shaft (12) via a bearing. A lever (13) is provided at the bottom of the rotating shaft (12), and the lever (13) is also located below the bottom cutting wheel (11).

5. The unmanned aerial vehicle for river underwater topographic mapping of claim 4, wherein: A drive gear (16) is provided on the bottom connecting shaft (10), and a driven gear (17) is meshed on the drive gear (16). The driven gear (17) is fixedly sleeved on the rotating shaft (12).

6. The unmanned aerial vehicle for river underwater topographic mapping of claim 5, wherein: The driving gear (16) is located below the bottom driven bevel gear (15), and both the driving gear (16) and the driven gear (17) are located inside the transmission box (7).

7. The unmanned aerial vehicle for river underwater topographic mapping of claim 4, wherein: The end of the lever (13) is provided with an arc-shaped head, and the lever (13) and the arc-shaped head are integrally formed. 8.The unmanned aerial vehicle for river underwater topographic mapping of claim 2, wherein: The submersible body (1) is provided with a bearing seat (18), and the fixed shaft (3) is rotatably connected to the bearing seat (18) through a bearing.

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