CN110789714A - All-weather water quality monitoring encryption control system based on unmanned aerial vehicle - Google Patents
All-weather water quality monitoring encryption control system based on unmanned aerial vehicle Download PDFInfo
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- CN110789714A CN110789714A CN201911012540.0A CN201911012540A CN110789714A CN 110789714 A CN110789714 A CN 110789714A CN 201911012540 A CN201911012540 A CN 201911012540A CN 110789714 A CN110789714 A CN 110789714A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/32—Alighting gear characterised by elements which contact the ground or similar surface
- B64C25/58—Arrangements or adaptations of shock-absorbers or springs
- B64C25/62—Spring shock-absorbers; Springs
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/20—Rotors; Rotor supports
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
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- G01N33/18—Water
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
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Abstract
The invention relates to an all-weather water quality monitoring encryption control system based on an unmanned aerial vehicle, which comprises the unmanned aerial vehicle, a water quality detection device and a ground control device, wherein the water quality detection device is used for collecting water samples of a specified water layer of a target water area and generating first encryption data; the ground control device receives the first encrypted data, decrypts the data and displays the data through the display; the ground control device encrypts the water detection operation instruction to generate second encrypted data and sends the second encrypted data to the unmanned aerial vehicle; the unmanned aerial vehicle flies to a target water area according to a preset air route and hovers above the water surface by a preset height; unmanned aerial vehicle's charging panel is used for becoming the electric energy with solar energy, and when the electric quantity of battery was less than and predetermines first electric quantity, the battery was charged to the charging panel. The invention can realize all-weather water quality detection task, and has high data transmission safety, long system endurance time, high operation efficiency and strong system stability.
Description
Technical Field
The invention belongs to the technical field of water quality monitoring, and particularly relates to an all-weather water quality monitoring encryption control system based on an unmanned aerial vehicle.
Background
In prior art, the unmanned aerial vehicle operation platform can carry on different equipment, and the design of its operation platform centerpiece, operation platform horn, operation platform avionics system adopts the suitability scheme, can satisfy the requirement of carrying on of multiple equipment.
CN207007820U discloses a water quality detection device using an unmanned aerial vehicle as a carrier, which consists of the unmanned aerial vehicle, a lower bracket, a lower suspension, a console, an installation rack, a camera, a water quality detection box, a water suction pipe, a micro water pump, a power supply, a flight signal receiver, a detection data transmitter, an image transmitter, a data receiver, a computer terminal, a remote controller, a display and a connecting bracket; the unmanned aerial vehicle is provided with a flight signal receiver, a lower suspension is arranged below a body of the unmanned aerial vehicle, and a power supply, a water quality detection box and a control console are sequentially arranged on the lower suspension from right to left; the lower part of the console is connected with a mounting frame, and a camera is arranged on the mounting frame; the display is installed on the remote controller through the connecting support. This patent is frame structure unmanned aerial vehicle operation platform promptly, and the connecting piece structure is complicated, takes place vibrations easily and leads to the operation platform hidden danger to appear.
Water quality testing device among the prior art supplies power through unmanned aerial vehicle's battery, is difficult to realize long-time operation, and the operating efficiency is low. In addition, the water quality detection device in the prior art utilizes a simple signal transmitting and receiving device to transmit data, and the safety is low.
Accordingly, there is a need in the art for improvements.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, provides the all-weather water quality monitoring encryption control system based on the unmanned aerial vehicle, which has the advantages of data encryption and can operate for a long time, can realize all-weather water quality detection tasks, and has high system operation efficiency and strong stability.
In order to achieve the purpose, the all-weather water quality monitoring encryption control system based on the unmanned aerial vehicle comprises the unmanned aerial vehicle, a water quality detection device and a ground control device, wherein the unmanned aerial vehicle comprises a charging plate, a machine body installation platform, an avionic system, an airborne data terminal and a storage battery, the water quality detection device is suspended on the bottom surface of the machine body installation platform through a retraction device, the water quality detection device comprises a first encryption and decryption module, and the water quality detection device is used for collecting a water sample of a specified water layer of a target water area and generating first encryption data; the ground control device is communicated with the airborne data terminal through a ground data terminal to receive the first encrypted data, and comprises a second encryption and decryption module which is used for decrypting the first encrypted data and displaying the first encrypted data through a display; the ground control device is further used for acquiring a water detection operation instruction, the second encryption and decryption module encrypts the water detection operation instruction to generate second encrypted data, and then the second encrypted data is sent to the unmanned aerial vehicle; the unmanned aerial vehicle decrypts the second encrypted data through the first encryption and decryption module, flies to a target water area according to a preset airway and hovers above the water surface of the target water area by a preset height; the charging panel is detachably arranged on the top surface of the machine body mounting platform and is used for converting solar energy into electric energy, and when the electric quantity of the storage battery is lower than a preset first electric quantity, the charging panel charges the storage battery; when the electric quantity of the storage battery is higher than a second preset electric quantity, the charging plate stops charging the storage battery.
According to the all-weather water quality monitoring encryption control system based on the unmanned aerial vehicle, the unmanned aerial vehicle mounted water quality detection device is used for water detection operation, the system is high in degree of motorization and high in degree of intellectualization, data transmission is carried out on the system through the airborne data terminal and the ground data terminal, the encryption and decryption module is used for encrypting data, the safety of information transmission is improved, in addition, the charging plate is used for intermittently charging the storage battery of the unmanned aerial vehicle, long-endurance operation of the system can be achieved, all-weather water quality monitoring tasks are guaranteed to be completed, and the system is high in operation efficiency and high in stability.
According to one embodiment of the invention, the avionic system comprises a flight control and navigation system, the flight control and navigation system comprises a main controller, a plurality of airborne sensors and a task load control interface, wherein the airborne sensors comprise a plurality of obstacle avoidance mechanisms and ultrasonic height sensors, the obstacle avoidance mechanisms are used for detecting obstacles around the unmanned aerial vehicle so as to obtain obstacle detection information, and the ultrasonic height sensors are used for obtaining the real-time height from the bottom surface of the unmanned aerial vehicle to the water surface; the main controller comprises an Inertial Measurement Unit (IMU), a barometer, a GPS unit, a compass unit and a plurality of interfaces, and is electrically connected with the plurality of airborne sensors to acquire obstacle detection information and implement height and generate flight parameters so as to realize attitude control and accurate positioning of the unmanned aerial vehicle; the task load control interface is electrically connected with a task load, wherein the task load comprises a water quality detection device.
According to an embodiment of the invention, the water quality detection device further comprises a main control unit and a plurality of water quality detection sensors, wherein the main control unit is respectively connected with the first encryption and decryption module, the flight control and navigation system, the water quality detection sensors and the retraction device, when the main control unit detects that the water quality detection device reaches a specified water layer, a motor of the retraction device is controlled to stop working, the water quality detection sensors are controlled to start detecting to generate water quality parameters, the main control unit reads the water quality parameters detected by the water quality detection sensors through an RS485 interface and a Modbus protocol, and packages the water quality parameters to generate first detection data, and the main control unit also reads the flight parameters of the unmanned aerial vehicle through an RS235 interface; the first encryption and decryption module is used for performing packaging encryption processing on the first detection data and the flight parameters to generate first encrypted data.
According to an embodiment of the present invention, the first encryption/decryption module includes a data encryption/decryption module, a password resource management module, a password authentication module, and the like, the data encryption/decryption module is configured to implement a data encryption/decryption function sent by the main control unit using an SM1 encryption algorithm, the password resource management module is configured to store password resources and decrypt the password resources, and the password authentication module is configured to implement authentication on a password sent by the main control chip and return an authentication result.
According to one embodiment of the invention, the machine body mounting platform is of a double-layer frame type structure, the battery and the avionics system are mounted on the top layer, and the water quality detection device is mounted on the bottom layer.
According to one embodiment of the invention, the obstacle avoidance mechanism is arranged on the bottom surface of the motor mounting seat of the horn, and is used for detecting obstacles around the unmanned aerial vehicle flight operation platform to obtain obstacle detection information, and sending the obstacle detection information to the flight control and navigation system to calculate the distance between the unmanned aerial vehicle flight operation platform and the obstacles; and when the flight control and navigation system judges that the distance between the unmanned aerial vehicle operation platform and the obstacle is smaller than a second preset distance, switching into a position protection mode to control the unmanned aerial vehicle to hover, wherein the first preset distance is larger than the second preset distance.
According to one embodiment of the invention, the ultrasonic height sensor is arranged on the bottom surface of the fuselage mounting platform, and is used for acquiring the real-time height from the bottom surface of the unmanned aerial vehicle to the water surface and sending the real-time height to the flight control and navigation system, and when the flight control and navigation system judges that the real-time height is equal to the preset height H, the unmanned aerial vehicle is controlled to hover; when the flight control and navigation system judges that the real-time height is larger than a preset height, controlling the unmanned aerial vehicle to descend; and when the flight control and navigation system judges that the real-time height is less than the preset height H, controlling the unmanned aerial vehicle to ascend, thereby realizing the height maintenance of the unmanned aerial vehicle.
According to one embodiment of the invention, the all-weather water quality monitoring encryption control system based on the unmanned aerial vehicle further comprises a damping device, wherein the damping device is arranged between the machine body installation platform and the retraction device, the damping device comprises connecting columns, a supporting plate, springs and a central shaft, the supporting plate is arranged below the machine body installation platform at intervals in parallel, a plurality of connecting columns are fixedly arranged between the machine body installation platform and the supporting plate at intervals uniformly, the central shaft is arranged in the center of the supporting plate through a bearing and positioned below the supporting plate, a sleeve ring is coaxially sleeved and fixed on the central shaft, a plurality of inner ring springs are radially and uniformly connected between the sleeve ring and the supporting plate at intervals, the bottom end of the central shaft is connected with the retraction device, and a plurality of outer ring springs are radially and uniformly connected between the top surface of the.
According to one embodiment of the invention, the winding and unwinding device comprises an installation box, a motor, a speed reducing mechanism and a winding wheel, wherein the installation box is divided into two sections by a vertical partition plate, the motor, the speed reducing mechanism and an electric regulator are fixedly installed in the first section, the winding wheel is installed in the second section, an output shaft of the speed reducing mechanism penetrates through the partition plate to be connected with the winding wheel, a wire is wound on the winding wheel, and the wire penetrates through a limiting block and then is connected with a hook.
According to one embodiment of the invention, the all-weather water quality monitoring encryption control system based on the unmanned aerial vehicle further comprises a power supply distribution circuit board, wherein the power supply distribution circuit board divides a battery power supply into 8 paths of power supplies, 6 paths of power supplies are distributed in 6 paths of electronic speed regulators, 1 path of power supplies are distributed in a flight control and navigation system, and 1 path of power supplies is distributed in a voltage reduction system, the voltage reduction system converts a power supply DC 48V into a DC24V, the output end of the voltage reduction system is divided into 3 paths of DC24V, 1 path of data link power supply, 1 path of power supply is used for a water quality detection device, 1 path of butt-joint MP1584EN DC-DC module, and the DC24V is reduced to DC 0-5V through the MP1584EN DC-DC module and used.
According to one embodiment of the invention, the unmanned aerial vehicle further comprises a damping undercarriage and an undercarriage retracting mechanism, wherein the damping undercarriage comprises an undercarriage supporting rod, a connecting sleeve, a damping sleeve and a damping mechanism, the damping mechanism comprises a top plate, a rubber plug, a damping strut, a spring and a connecting rod, the damping strut is of a cylindrical structure with a thick upper part and a thin lower part, the upper end of the damping strut is connected with the rubber plug, and the lower end of the damping strut is adhered to the connecting rod; the undercarriage retracting and releasing mechanism is fixedly mounted at the top end of a supporting rod of the undercarriage, the undercarriage retracting and releasing mechanism comprises a steering engine, a fixing plate, a driving gear, a driven gear, a small rocker arm and a large rocker arm connected with the small rocker arm through a shaft, and the fixing plate is fixedly mounted on the bottom surface of a fuselage mounting platform of the unmanned aerial vehicle; the small rocker arm is fixedly arranged on the driven gear, and the small rocker arm and the driven gear rotate synchronously; the steering wheel with the driving gear links to each other to drive the driving gear and rotate, and then drive driven gear rotates.
Drawings
FIG. 1 is a schematic structural diagram of an all-weather water quality monitoring encryption control system based on an unmanned aerial vehicle according to an embodiment of the invention;
fig. 2 is a top view of a drone (hidden upper cover) according to an embodiment of the invention;
FIG. 3 is a block schematic diagram of an all-weather water quality monitoring encryption control system based on an unmanned aerial vehicle according to an embodiment of the invention;
FIG. 4 is a communication flow diagram of an all-weather water quality monitoring encryption control system based on an unmanned aerial vehicle according to an embodiment of the invention;
FIG. 5 is a schematic structural view of a shock-absorbing device according to an embodiment of the present invention;
FIG. 6 is a schematic structural diagram of a retraction device according to an embodiment of the present invention;
FIG. 7 is a plan view of a power distribution circuit board according to an embodiment of the present invention;
FIG. 8 is a schematic diagram of the structure of a shock absorbing landing gear according to an embodiment of the present invention;
FIG. 9 is an enlarged view of a shock absorbing mechanism of the shock absorbing landing gear according to an embodiment of the present invention;
FIG. 10 is a schematic structural view of a landing gear retraction and extension mechanism according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the following embodiments, which are illustrative only and not limiting, and the scope of the present invention is not limited thereby.
Fig. 1 is a schematic structural diagram of an all-weather water quality monitoring encryption control system based on an unmanned aerial vehicle according to an embodiment of the invention.
As shown in fig. 1 and 2, an all-weather water quality monitoring encryption control system 100 based on an unmanned aerial vehicle according to an embodiment of the present invention includes an unmanned aerial vehicle 1, a water quality detection device 2, and a ground control device 3, where the unmanned aerial vehicle includes a charging plate 10, a body mounting platform 20, an avionics system 30 (not shown), an onboard data terminal 40, and a storage battery 50, where the water quality detection device 2 is suspended on the bottom surface of the body mounting platform by a retraction device 4, the water quality detection device includes a first encryption/decryption module 202, and the water quality detection device is configured to collect a water sample of a specified water layer in a target water area to obtain water quality information and generate first encrypted data; the ground control device communicates with the airborne data terminal through a ground data terminal 301 (not shown) to receive the first encrypted data, and the ground control device comprises a second encryption and decryption module 302 (not shown) which is used for decrypting the first encrypted data and displaying the first encrypted data through a display; the ground control device is also used for acquiring a water detection operation instruction, the second encryption and decryption module encrypts the water detection operation instruction to generate second encrypted data, and then the second encrypted data are sent to the unmanned aerial vehicle; the unmanned aerial vehicle decrypts the second encrypted data through the first encryption and decryption module, flies to the target water area according to the preset airway, and hovers above the water surface of the target water area by the preset height.
In an embodiment of the present invention, as shown in fig. 3, the water quality detecting device 2 further includes a main control unit 201, a level meter 203, and a water quality detecting sensor unit 204, wherein the main control unit is respectively connected to the first encryption and decryption module, the flight control and navigation system 300, the water quality detecting sensor unit, the level meter, and the retraction device, when the main control unit detects that the water quality detecting device reaches a specified water layer, the main control unit controls a motor of the retraction device to stop working and controls the water quality detecting sensor to start detecting to generate water quality parameters, the main control unit reads the water quality parameters detected by the water quality detecting sensor through an RS485 interface and a Modbus protocol, and packages a plurality of water quality parameters to generate first detection data, and the main control unit further reads the flight parameters of the unmanned aerial vehicle through an RS235 interface; the first encryption and decryption module is used for carrying out packing encryption processing on the first detection data and the flight parameters to generate first encryption data. The first encryption and decryption module comprises a data encryption and decryption module, a password resource management module, a password authentication module and the like, the data encryption and decryption module is used for realizing the data encryption and decryption functions sent by the main control unit by using an SM1 encryption algorithm, the password resource management module is used for storing password resources and decrypting the password resources, and the password authentication module is used for realizing the authentication of the password sent by the main control unit and returning an authentication result.
Specifically, the water quality detection sensor unit comprises a plurality of sensors, the sensors can be replaced according to index parameters constrained by water detection operation instructions, and each sensor has an independent and unique ID number so as to identify different index parameters. It should be noted that the index parameters of the water detection operation instruction constraint may include: dissolved oxygen, pH value (PH), conductivity, turbidity, blue-green algae, residual chlorine, chlorophyll A, salinity, ammonia nitrogen, ORP, COD, liquid level and the like.
Specifically, as shown in fig. 4, an operator sets a water detection operation instruction through the ground control device, and when the ground control device actively sends instruction information, the instruction information is firstly sent to the second encryption and decryption module 32 for encryption, and the second encryption and decryption module 302 returns second encrypted data and sends the second encrypted data to the unmanned aerial vehicle through wireless communication; the unmanned aerial vehicle sends the received second encrypted data to the first encryption and decryption module 202 for decryption, and executes the decrypted control instruction.
Specifically, the first encryption and decryption module decrypts the instruction information and sends the decrypted instruction information to the main control unit, the main control unit judges whether the decrypted instruction information is a command for starting water quality detection, and if not, the main control unit directly sends decrypted data to a flight control and navigation system of the unmanned aerial vehicle; if the unmanned aerial vehicle is in the water quality detection state, the main control unit sends a notice for preparing water detection operation to the unmanned aerial vehicle, and controls a motor of the retraction device to rotate forward to discharge water to the water quality detection sensor unit. When the main control unit judges that the water quality detection sensor unit reaches the specified water layer, the water quality detection sensor unit is controlled to start water quality detection, water quality parameters detected by the water quality detection sensor and flight parameters of the unmanned aerial vehicle are read, and then the main control unit sends the water quality parameters and the flight parameters to the first encryption and decryption module for encryption processing to obtain first encrypted data. When the unmanned aerial vehicle initiatively reports information, the first encryption and decryption module returns first encrypted data, the first encrypted data are sent to the ground control device through the airborne data terminal through wireless communication, the ground control device sends the first encrypted data to the second encryption and decryption module for decryption, and the decrypted information is displayed through the displayer.
Specifically, the encryption scheme design adopted by the first encryption and decryption module and the second encryption and decryption module comprises an encryption algorithm, a hash operation and a password matching, password resources of the unmanned aerial vehicle and the ground control device are encrypted and stored in the encryption and decryption module, a correct password is needed for decryption before use, and the password resources are prevented from being illegally stolen.
Specifically, the encryption algorithm adopts SM1 algorithm, because the SM1 symmetric algorithm is used for encrypting data, a sender and a receiver need to use the same secret key for encryption and decryption, the hash operation adopts SM3 algorithm, the SM1 algorithm is a block symmetric cryptographic algorithm, the block mode adopts ECB mode, the block length is 128 bits, the secret key length is 128 bits, the security and security intensity of the algorithm and the realization performance of related software and hardware are equivalent to AES, the algorithm is not public, and only exists in the chip in the form of IP core, the algorithm is simple, the same key is used for encryption/decryption, the encryption/decryption speed is high, but the key management is complex, the hash operation adopts SM3 algorithm for verifying the identity information, the hash values of different data are different, and it is difficult to obtain the original data information by analyzing the hash value, and it is possible to prevent the data from being illegally altered, and thus it is used in password authentication.
Specifically, data terminal includes wireless communication, Socket interface and message queue, and wireless communication supports GPRS and short message binary channels transmission data, supports multicenter data communication, and wireless communication's mode can effectively handle water quality monitoring encryption control system's communication condition, and the communication requirement of system is mainly: data real-time nature is high so make transmission frequency higher, but the data bulk of transmission at every turn is less, probably between 10KB to 20KB, because unmanned aerial vehicle distribution range is wider to mostly need fly to the sampling point and gather data, gather serial ports equipment data, like serial ports instrument, collector, PLC etc. so the information and the data that the water quality equipment of very suitable use wireless communication's mode to transmit monitoring. The wireless information transmission system of the system is as follows: the water quality detection sensor obtains water quality information, the preprocessing circuit amplifies and processes the information, the A/D converter converts an analog signal of the sensor into a digital signal, and then data are coded and transmitted according to the national coding standard.
It should be noted that, the water quality monitoring encryption control system may include a plurality of monitoring terminals, each monitoring terminal device is provided with a preset IP address, an operator locates through a VPN, and then forwards monitored water quality information to different monitoring terminal devices according to a routing rule, the communication mode of the system is TCP communication, the TCP communication has an advantage of ensuring that a receiver of information sent by a sender can receive the information certainly, and a mainly used verification retransmission technology is mainly used, so that stable and effective transmission of the information is ensured, in order to realize the TCP communication, the system adopts Java socket to establish channels of both communication parties, the system is divided into a long connection and a short connection, in a long connection mode, both communication parties can perform dynamic information exchange in real time, and at this time, both communication parties are in a always connected state; in the short connection mode, only limited data communication can be carried out, the socket channel can be automatically closed when the specified times are exceeded, in order to ensure the effective utilization of the communication channel, the system sets the timeout time of the socket connection, when the specified time is exceeded, the unnecessary monitoring connection can be automatically closed, for the equipment which needs to be monitored all the time, the overtime can be prevented by setting a mode of automatically sending heartbeat before the timeout time, the message queue is used as a container for storing excessive information in the communication process of both communication parties, the queue not only ensures the accuracy and the effectiveness of information transmission, but also provides a routing function, ensures that correct equipment can be found, the transmission of the sent message cannot be influenced no matter which equipment is in fault to cause the interruption of communication, the sent message can be stored in the queue and can be repeatedly transmitted to an upper computer for processing before the timeout time, all information transmission of both communication sides needs to be carried out through queues, the queues are used for managing the information of both communication sides, the data loss situation is effectively avoided, and the information queues of the system adopt a first-in first-out access mode, so that the time for moving other element positions when head elements are deleted is reduced.
According to the all-weather water quality monitoring encryption control system based on the unmanned aerial vehicle, the unmanned aerial vehicle mounted water quality detection device is used for water detection, the system is high in degree of motorization and high in degree of intelligence, and safety of information transmission is improved through data encryption transmission.
In one embodiment of the invention, the unmanned aerial vehicle comprises a charging panel, the charging panel is detachably arranged on the top surface of the fuselage mounting platform, the charging panel is used for converting solar energy into electric energy, and when the electric quantity of the storage battery is lower than a preset first electric quantity, the charging panel charges the storage battery; when the electric quantity of the storage battery is higher than the second preset electric quantity, the charging plate stops charging the storage battery.
In an embodiment of the present invention, as shown in fig. 2, the avionics system 30 includes a flight control and navigation system 300 and a map transmission module 305, the flight control and navigation system includes a main controller, a plurality of airborne sensors and a task load control interface, wherein the plurality of airborne sensors includes a plurality of obstacle avoidance mechanisms 303 and an ultrasonic height sensor 304, the obstacle avoidance mechanisms are configured to detect obstacles around the unmanned aerial vehicle to obtain obstacle detection information, and the ultrasonic height sensor is configured to obtain a real-time height from the bottom surface of the unmanned aerial vehicle to the water surface; the main controller comprises an Inertial Measurement Unit (IMU), a barometer, a GPS unit, a compass unit and a plurality of interfaces, and is electrically connected with a plurality of airborne sensors to acquire obstacle detection information and implementation height and generate flight parameters so as to realize attitude control and accurate positioning of the unmanned aerial vehicle; the task load control interface is electrically connected with the task load, wherein the task load comprises a water quality detection device.
The method comprises the steps of respectively setting the longitude, the latitude and the altitude of a first to an Nth waypoint, wherein the longitude, the latitude and the altitude of the waypoint (α)1，δ1，H1) Longitude, latitude and altitude of the second waypoint (α)2，δ2，H2) … … longitude, latitude and altitude of Nth waypoint (α)N，δN，HN) (ii) a Respectively setting index numbers of the first to the Nth waypoints; and selecting a position corresponding to the Mth route point as a first target water area, generating a first route point linked list, and finishing the first preset route setting, wherein M is an integer which is more than 1 and less than N.
Specifically, the preset airway may be a flight plan set by the ground control device. Wherein the flight plan is composed of a waypoint link list. Each waypoint contains information such as latitude, longitude, altitude, and the index number of the next waypoint. The ground control device may store a number of waypoints, all of which make up one or more flight plans. Each flight plan is a self-closed route link, namely the index number of any next route point is the route point in the flight plan.
For example, the flight plan flies from the first waypoint 0 to the second waypoint 1, then to the third waypoint 2, then to the fourth waypoint 3, and finally back to the first waypoint 0, thereby forming a self-enclosed flight plan. Each flight plan also includes a flight altitude, and each time the autopilot of the ground control device switches waypoints, an altitude command is formed based on the altitude of the target waypoint.
When carrying out the operation instruction of examining water, can set for arbitrary waypoint in the flight plan as target waters coordinate, after setting up preset airway, flying height, unmanned aerial vehicle can fly to the target waters according to preset airway, when unmanned aerial vehicle descends to preset height, transfers water quality testing device, can show the quality of water condition of this department at ground controlling means's display. If a plurality of target waters are set, the unmanned aerial vehicle sequentially collects the plurality of target waters and sends data to the ground control device. After the water detection task is completed, the unmanned aerial vehicle autonomously returns to a recovery point according to a preset return route, and landing and propeller stalling are completed.
In an embodiment of the present invention, as shown in fig. 2, the obstacle avoidance mechanism may be disposed on a bottom surface of a motor mounting seat of the horn, and the obstacle avoidance mechanism is configured to detect an obstacle around the unmanned aerial vehicle operation platform to obtain obstacle detection information, and send the obstacle detection information to the flight control and navigation system to calculate a distance between the unmanned aerial vehicle operation platform and the obstacle, and when the flight control and navigation system determines that a distance between the unmanned aerial vehicle operation platform and the obstacle is smaller than a first preset distance, a speed protection mode is switched in to control the unmanned aerial vehicle to decelerate and send the obstacle information to the ground control device to indicate an operator; when the flight control and navigation system judges that the distance between the unmanned aerial vehicle operation platform and the obstacle is smaller than a second preset distance, a position protection mode is switched in to control the unmanned aerial vehicle to hover, and the first preset distance is larger than the second preset distance.
It should be noted that the first preset distance is greater than the second preset distance.
Specifically, keep away barrier mechanism and can be many meshes visual identification module, many meshes visual identification module recognizable distance unmanned aerial vehicle all around and about and the upper and lower barrier in 5 meters, at this moment, first distance of predetermineeing can be 5 meters, and the distance can be 1 meter for the second distance of predetermineeing. When the multi-view vision identification module identifies the obstacle, the multi-view vision identification module generates obstacle detection information, the flight control and navigation system receives the obstacle detection information and judges whether the distance between the unmanned flight operation platform and the obstacle is less than 5 m or not, and if not, the unmanned aerial vehicle is controlled to continuously fly according to a preset air route; if the unmanned aerial vehicle is in the cut-in speed protection mode, the unmanned aerial vehicle is controlled to timely decelerate to the preset safe flying speed, the obstacle detection information is sent to the ground control device, the voice prompt module of the ground control device sends out voice early warning information, and the image prompt module of the ground control device sends out image early warning information to signal an operator. When the operating personnel receives the early warning information, the unmanned aerial vehicle can be artificially controlled to avoid the obstacle. If the distance between the unmanned aerial vehicle operation platform and the obstacle is judged to be kept unchanged or gradually increased, the situation that the collision danger does not exist temporarily is shown, and the ground control device automatically removes the early warning; if the distance between the unmanned aerial vehicle operation platform and the obstacle is gradually reduced, the frequency of the voice early warning information is increased to strengthen early warning, and when the distance between the unmanned aerial vehicle operation platform and the obstacle is smaller than 1 meter, the flight control and navigation system controls the unmanned aerial vehicle to cut into a position protection mode, so that the unmanned aerial vehicle can hover in time.
In an embodiment of the invention, the ultrasonic height sensor may be disposed on the bottom surface of the fuselage mounting platform, and the ultrasonic height sensor is configured to acquire a real-time height H0 from the bottom surface of the unmanned aerial vehicle to the water surface, and send the real-time height H0 to the flight control and navigation system, and when the flight control and navigation system determines that the real-time height H0 is equal to the preset height H, the unmanned aerial vehicle is controlled to hover; when the flight control and navigation system judges that the real-time height H0 is greater than the preset height, controlling the unmanned aerial vehicle to descend; when flight control and navigation judge that real-time height H0 is less than preset height H, control unmanned aerial vehicle rises to realize unmanned aerial vehicle's height and maintain.
Specifically, an operator sets a preset height H through a ground control device and sends the preset height to a flight control and navigation system, the flight control and navigation system acquires a real-time height H0 of the bottom surface of the unmanned aerial vehicle from the water surface in real time and judges whether the real-time height H0 is equal to the preset height H or not, and when the flight control and navigation system judges that the real-time height is equal to the preset height H, the unmanned aerial vehicle is controlled to hover; when the flight control and navigation system judges that the real-time height H0 is greater than the preset height H, controlling the unmanned aerial vehicle to descend; when flight control and navigation judge that real-time height is less than preset high H, control unmanned aerial vehicle rises to realize unmanned aerial vehicle's height and maintain. Meanwhile, the flight control and navigation system sends the real-time height H0 to the ground control device, and displays the real-time height information through the display.
The preset height H is small, for example, less than 20 cm, as required for water quality inspection work.
In an embodiment of the invention, as shown in fig. 2, the all-weather water quality monitoring encryption control system based on the unmanned aerial vehicle further comprises a damping device 5, the damping device is arranged between the body installation platform and the retraction device, the damping device comprises connecting columns, supporting plates, springs and a central shaft, the supporting plates are arranged below the body installation platform at intervals in parallel, a plurality of connecting columns are fixedly arranged between the body installation platform and the supporting plates at intervals uniformly, the central shaft is arranged in the center of the supporting plates through a bearing and is positioned below the supporting plates, a sleeve ring is coaxially sleeved and fixed on the central shaft, a plurality of inner ring springs are radially and uniformly connected between the sleeve ring and the supporting plates at intervals, the bottom end of the central shaft is connected with the retraction device, and a plurality of outer ring springs are radially and uniformly connected between the.
Specifically, as shown in fig. 5, a damping platform 501 is arranged on the ground of a fuselage mounting platform of the unmanned aerial vehicle, a plurality of damping columns 502 are fixedly mounted on the top surface of the damping platform at uniform intervals, support plates 508 are arranged below the damping platform at parallel intervals, a plurality of connecting columns 507 are fixedly mounted between the damping platform and the support plates at uniform intervals, a central shaft 506 is mounted at the center of the support plate 508 through a spherical bearing 505, the central shaft is located below the support plates, and the central shaft can rotate around the spherical bearing. A collar 509 is coaxially fitted around the central shaft, and a plurality of inner coil springs 504 are connected between the collar and the support plate at radially uniform intervals. The bottom end of the central shaft is connected to a mission load 510, and a plurality of outer coil springs 503 are uniformly connected in the radial direction between the top surface of the mission load and the support plate. Wherein, the task load can be a retraction device. The inner ring springs can be four, the outer ring springs can be four, the springs can deform greatly and have elastic modulus, tensile stress can be effectively provided, and when violent movement occurs to task load, the springs weaken shaking through stretching and compressing, so that the shaking amplitude is reduced, and an obvious damping effect is achieved.
The all-weather water quality monitoring encryption control system for the unmanned aerial vehicle, provided by the embodiment of the invention, can more effectively reduce the task load shaking amplitude by adding spring shock absorption; and the central shaft is connected with the spherical bearing, and the task load can rotate around the bearing, so that the stress of the connecting column is reduced, and the stability of the rotor platform is improved.
According to an embodiment of the present invention, as shown in fig. 6, the winding and unwinding device 4 comprises a mounting box 40, a motor 41, a speed reducing mechanism 42 and a reel 43, wherein the mounting box is divided into two sections by a vertical partition plate, the motor, the speed reducing mechanism and an electric regulator are fixedly mounted in the first section, the reel is mounted in the second section, an output shaft of the speed reducing mechanism penetrates through the partition plate to be connected with the reel, a wire is wound on the reel, and the wire penetrates through a limiting block and then is connected with a hook.
Specifically, the rope is released and packed up in the motor rotation through winding and unwinding devices, the direction of rotation of motor is controlled through the singlechip, operating personnel passes through the long-range singlechip send signal of data transmission, singlechip received signal is to motor output signal, the motor is rotatory, the execution is packed up and the release function, simultaneously, the number of revolutions of motor passes through phase change and detects, once when detecting the positive and negative conversion of motor list transmission line electric current, then the rotatory round of motor to can calculate the length that the rope packed up or put down. Specifically, one of three current lines input into the motor is detected through the single chip microcomputer, and when a positive and negative change occurs in the current direction, the fact that the motor rotates for one circle is proved, and the length of the rope for one circle is released or retracted. Therefore, the rotary wing flying platform can be ensured to execute the water getting task under the condition of hovering at a certain height.
In an embodiment of the invention, as shown in fig. 7, the all-weather water quality monitoring encryption control system based on the unmanned aerial vehicle further includes a power distribution circuit board, the power distribution circuit board divides a battery power supply into 8 paths of power supplies, wherein 6 paths are distributed to 6 paths of electronic speed regulators, 1 path is distributed to a flight control and navigation system, and 1 path is distributed to a voltage reduction system, the voltage reduction system converts a power supply DC 48V into a DC24V, and the output end of the voltage reduction system is divided into 3 paths of DC24V, 1 path is used for data link power supply, 1 path is used for power supply of the water quality detection device, 1 path is butted with an MP1584EN DC-DC module, and the DC24V is reduced to DC 0 to ± 5V through an MP1584EN DC-DC module for starting the retraction device.
In one embodiment of the invention, the unmanned aerial vehicle body mounting platform is of a double-layer frame structure, the battery and the avionics system are mounted on the top layer, and the water quality detection device is mounted on the bottom layer.
Specifically, the power distribution circuit board divides the battery 48 vdc power into 8-way 48 vdc power. Wherein 6 routes of 48V DV power supplies are distributed to 6 routes of electronic speed regulators, and 1 route of 48V DC power supplies are distributed to a flight control system. Wherein a 48V DC power supply distributed to the flight control system supplies power to the flight control system on the one hand and detects the battery voltage on the other hand. The 1-way 48V DC power supply is distributed in a voltage reduction system. The input end of the voltage reduction system is 48V DC input, according to the use condition of electronic equipment in the flight process of the unmanned aerial vehicle, the voltage reduction system converts DC 48V into DC24V by using an LM2596HV DC-DC adjustable voltage reduction power supply module, the output end of the voltage reduction system is divided into 3 paths of DC24V, 1 path of DC24V is used for power supply of a data link, 1 path of DC24V is used for power supply of a water quality detection device, and 1 path of butt joint MP1584EN DC-DC module. And the DC24V is reduced to DC 0- +/-5V through an MP1584EN DC-DC module, and the device is used for starting the retraction equipment of the water quality detection device.
Specifically, the fuselage mounting platform is double-deck frame structure, installs battery and avionics system at the top layer, installs water quality testing device at the bottom. The battery is fixed through battery stop gear, and battery stop gear includes stopper, blotter, bandage, places the battery at the middle part of power distribution circuit board, sets up the stopper around the battery, and the battery passes through the bandage to be fixed, and the both ends of bandage are fixed with the stopper of battery both sides respectively. A cushion pad is installed between the bottom surface of the battery and the power distribution circuit board. Fuselage mounting platform passes through the strengthening rib increase intensity of vertically and horizontally staggered setting, and the strengthening rib is installed between top layer and bottom.
Specifically, the horn and the fuselage mounting platform are manufactured integrally in a smooth transition manner. Reduce vibrations in the assurance unmanned aerial vehicle operation process, ensure the normal clear of water quality testing task. An electronic speed regulator is arranged above the joint of the machine arm and the machine body mounting platform, and a waterproof and dustproof cover is covered outside the electronic speed regulator.
In an embodiment of the present invention, as shown in fig. 8-10, the unmanned aerial vehicle further includes a shock-absorbing undercarriage 6 and an undercarriage retraction mechanism 7, wherein the shock-absorbing undercarriage includes an undercarriage support rod 601, a connection sleeve 602, a shock-absorbing sleeve 603 and a shock-absorbing mechanism 604, the shock-absorbing mechanism includes a top plate 605, a rubber plug 606, a shock-absorbing strut 607, a spring 608 and a connection rod 609, the shock-absorbing strut is a cylindrical structure with a thick upper end and a thin lower end, the upper end of the shock-absorbing strut is connected with the rubber plug, the lower end of the shock-absorbing strut is adhered to the lower connection rod, and the lower end; the undercarriage retracting mechanism 7 is fixedly arranged at the top end of a support rod of the undercarriage, the undercarriage retracting mechanism comprises a steering engine 701, a fixing plate 702, a driving gear 703, a driven gear 704, a small rocker 705 and a large rocker 706 connected with the small rocker shaft, and the fixing plate is fixedly arranged on the bottom surface of a fuselage mounting platform of the unmanned aerial vehicle; the small rocker arm is fixedly arranged on the driven gear, and the small rocker arm and the driven gear rotate synchronously; the steering wheel is connected with the driving gear to drive the driving gear to rotate.
Specifically, when the unmanned aerial vehicle appears the heavy landing, shock strut compressed air upwards. The lower extreme and the lower connecting rod of shock strut bond together, and the rubber buffer is connected to the upper end, and wherein, for making the better compressed air of rubber buffer, the upper half of pole is thinner than the latter half on the shock strut to guarantee that the upper half can not laminate with the upper connecting rod is good, make it keep the space. This structure fully guarantees the abundant compressed air shock attenuation effect of rubber buffer. The lower end of the spring is connected with the lower connecting rod, and because the spring is pressed, the extension force can be generated, and the spring can also generate a damping effect in the heavy landing process.
Specifically, the undercarriage retracting mechanism is disposed on four support rods of the undercarriage. When the unmanned aerial vehicle is lifted, the steering engine drives the driving gear to rotate clockwise, the driving gear drives the driven gear to rotate anticlockwise, the small rocker arm and the driven gear rotate synchronously, and the large rocker arm is driven to rotate, so that the landing gear is controlled to retract; when unmanned aerial vehicle descends, steering wheel drive driving gear anticlockwise rotates, and driving gear drive driven gear clockwise rotates, and little rocking arm and driven gear synchronous rotation to drive big rocking arm and rotate, thereby control undercarriage packs up.
The damping undercarriage provided by the embodiment of the invention adopts a double-damping mode, so that the damage of heavy landing on an airplane can be effectively reduced, the undercarriage retraction mechanism adopts a gear transmission mode to control the retraction of the undercarriage, and the undercarriage retraction mechanism is provided with a two-stage labor-saving structure, has a simple structure, is convenient to maintain, and can effectively reduce the load requirement on a steering engine.
In conclusion, according to the all-weather water quality monitoring encryption control system based on the unmanned aerial vehicle, which is provided by the embodiment of the invention, the unmanned aerial vehicle is used for mounting the water quality detection device to carry out water detection operation, so that the system is high in degree of motorization and high in degree of intelligence; the system carries out data encryption and transmission through the airborne data terminal and the ground data terminal, so that the safety of information transmission is improved; the system intermittently charges the storage battery of the unmanned aerial vehicle by using the charging plate, can realize long-endurance operation of the system, ensures that all-weather water quality monitoring tasks are completed, and has high system operation efficiency; the system is provided with a damping device, so that the operation stability is high.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various changes and modifications can be made without departing from the inventive concept, and these changes and modifications are all within the scope of the present invention.
Claims (11)
1. An all-weather water quality monitoring encryption control system based on an unmanned aerial vehicle is characterized by comprising the unmanned aerial vehicle, a water quality detection device and a ground control device, wherein the unmanned aerial vehicle comprises a charging plate, a machine body mounting platform, an avionic system, an airborne data terminal and a storage battery,
the water quality detection device is suspended on the bottom surface of the machine body mounting platform through a retraction device and comprises a first encryption and decryption module, and the water quality detection device is used for collecting a water sample of a specified water layer of a target water area and generating first encrypted data;
the ground control device is communicated with the airborne data terminal through a ground data terminal to receive the first encrypted data, and comprises a second encryption and decryption module which is used for decrypting the first encrypted data and displaying the first encrypted data through a display; the ground control device is further used for acquiring a water detection operation instruction, the second encryption and decryption module encrypts the water detection operation instruction to generate second encrypted data, and then the second encrypted data is sent to the unmanned aerial vehicle;
the unmanned aerial vehicle decrypts the second encrypted data through the first encryption and decryption module, flies to a target water area according to a preset airway, and hovers above the water surface of the target water area by a preset height so that the water quality detection device can collect water samples;
the charging panel is detachably arranged on the top surface of the machine body mounting platform and is used for converting solar energy into electric energy, and when the electric quantity of the storage battery is lower than a preset first electric quantity, the charging panel charges the storage battery; when the electric quantity of the storage battery is higher than a second preset electric quantity, the charging plate stops charging the storage battery.
2. The all-weather water quality monitoring encryption control system based on the unmanned aerial vehicle as claimed in claim 1, wherein the avionics system comprises a flight control and navigation system and a map transmission module, the flight control and navigation system comprises a main controller, a plurality of airborne sensors and a mission load control interface, wherein,
the plurality of airborne sensors comprise a plurality of obstacle avoidance mechanisms and ultrasonic height sensors, wherein the obstacle avoidance mechanisms are used for detecting obstacles around the unmanned aerial vehicle so as to obtain obstacle detection information, and the ultrasonic height sensors are used for obtaining the real-time height from the bottom surface of the unmanned aerial vehicle to the water surface;
the main controller comprises an Inertial Measurement Unit (IMU), a barometer, a GPS unit, a compass unit and a plurality of interfaces, and is electrically connected with the plurality of airborne sensors to acquire obstacle detection information and implement height and generate flight parameters so as to realize attitude control and accurate positioning of the unmanned aerial vehicle;
the task load control interface is electrically connected with a task load, wherein the task load comprises a water quality detection device.
3. The all-weather water quality monitoring and encryption control system based on the unmanned aerial vehicle as claimed in claim 2, wherein the water quality detection device further comprises a main control unit and a water quality detection sensor unit, wherein,
the main control unit is respectively connected with the first encryption and decryption module, the flight control and navigation system, the water quality detection sensor unit and the retraction device, when the main control unit detects that the water quality detection device reaches a specified water layer, a motor of the retraction device is controlled to stop working, the water quality detection sensor unit is controlled to start detecting to generate water quality parameters, the main control unit reads the water quality parameters detected by the water quality detection sensor through an RS485 interface and a Modbus protocol, and packages a plurality of water quality parameters to generate first detection data, and the main control unit also reads the flight parameters of the unmanned aerial vehicle through an RS235 interface;
the first encryption and decryption module is used for performing packaging encryption processing on the first detection data and the flight parameters to generate first encrypted data.
4. The all-weather water quality monitoring encryption control system based on the unmanned aerial vehicle as claimed in claim 1, wherein the first encryption and decryption module comprises a data encryption and decryption module, a password resource management module, a password authentication module and the like, the data encryption and decryption module is used for realizing a data encryption and decryption function sent by the main control unit by using an SM1 encryption algorithm, the password resource management module is used for storing password resources and decrypting the password resources, and the password authentication module is used for realizing authentication of a password sent by the main control unit and returning an authentication result.
5. The all-weather water quality monitoring and encryption control system based on the unmanned aerial vehicle as claimed in claim 1, wherein the fuselage mounting platform is a double-layer frame structure, a battery and an avionics system are mounted on the top layer, and a water quality detection device is mounted on the bottom layer.
6. The all-weather water quality monitoring encryption control system based on the unmanned aerial vehicle as claimed in claim 2, it is characterized in that the obstacle avoidance mechanism is arranged on the bottom surface of a motor mounting seat of the machine arm and sends the obstacle detection information to the flight control and navigation system to calculate the distance between the unmanned aerial vehicle flight operation platform and the obstacle, when the flight control and navigation system judges that the distance between the unmanned flight operation platform and the barrier is smaller than a first preset distance, a speed protection mode is switched in, so as to control the unmanned aerial vehicle to decelerate and fly, and send the obstacle information to the ground control device, so as to indicate an operator when the flight control and navigation system judges that the distance between the unmanned aerial vehicle operation platform and the obstacle is less than a second preset distance, and switching into a position protection mode, controlling the unmanned aerial vehicle to hover, wherein the first preset distance is greater than the second preset distance.
7. The all-weather water quality monitoring and encryption control system based on the unmanned aerial vehicle as claimed in claim 2, wherein the ultrasonic height sensor is arranged on the bottom surface of the fuselage mounting platform and transmits a real-time height to the flight control and navigation system, and when the flight control and navigation system judges that the real-time height is equal to a preset height H, the unmanned aerial vehicle is controlled to hover; when the flight control and navigation system judges that the real-time height is larger than a preset height, controlling the unmanned aerial vehicle to descend; and when the flight control and navigation system judges that the real-time height is less than the preset height H, controlling the unmanned aerial vehicle to ascend, thereby realizing the height maintenance of the unmanned aerial vehicle.
8. The all-weather water quality monitoring encryption control system based on the unmanned aerial vehicle as claimed in claim 1, further comprising a damping device, wherein the damping device is arranged between the body mounting platform and the retraction device, the damping device comprises connecting columns, a support plate, springs and a central shaft, the support plate is arranged below the body mounting platform at parallel intervals, a plurality of connecting columns are fixedly arranged between the body mounting platform and the support plate at uniform intervals, the central shaft is mounted at the center of the support plate through a bearing, the central shaft is located below the support plate, a lantern ring is coaxially sleeved and fixed on the central shaft, a plurality of inner ring springs are radially and uniformly connected between the lantern ring and the support plate at intervals, the retraction device is connected to the bottom end of the central shaft, and a plurality of outer ring springs are radially and uniformly connected between the top surface of the retraction device and the support.
9. The all-weather water quality monitoring and encryption control system based on the unmanned aerial vehicle as claimed in claim 1 or 8, wherein the retraction device comprises an installation box, a motor, a speed reducing mechanism and a reel, wherein the installation box is divided into two sections by a vertical partition plate, the motor, the speed reducing mechanism and the electric controller are fixedly installed in the first section, the reel is installed in the second section, an output shaft of the speed reducing mechanism penetrates through the partition plate to be connected with the reel, a wire is wound on the reel, and the wire penetrates through a limiting block and then is connected with a hook.
10. The all-weather water quality monitoring and encryption control system based on the unmanned aerial vehicle as claimed in claim 1, further comprising a power distribution circuit board, wherein the power distribution circuit board divides a battery power supply into 8 paths of power supplies, 6 paths of power supplies are distributed to the 6 paths of electronic speed regulators, 1 path of power supplies are distributed to the flight control and navigation system, and 1 path of power supplies is distributed to the voltage reduction system, the voltage reduction system converts a power supply DC 48V into a DC24V, the power supply is divided into 3 paths of DC24V at an output end, 1 path of data link power supply, 1 path of power supply is used for supplying power to the water quality detection device, 1 path of butt-joint MP1584EN DC-DC module is used for reducing the DC24V into DC 0- ± 5V through the MP1584EN DC-DC module, and the.
11. The all-weather water quality monitoring encryption control system based on unmanned aerial vehicle as claimed in claim 1, wherein the unmanned aerial vehicle further comprises a shock absorption undercarriage and an undercarriage retraction mechanism, wherein,
the shock absorption undercarriage comprises an undercarriage supporting rod, a connecting sleeve, a shock absorption sleeve and a shock absorption mechanism, wherein the shock absorption mechanism comprises a top plate, a rubber plug, a shock absorption strut, a spring and a connecting rod, the shock absorption strut is of a cylindrical structure with a thick upper part and a thin lower part, the upper end of the shock absorption strut is connected with the rubber plug, the lower end of the shock absorption strut is adhered to the connecting rod, and the lower end of the spring is adhered to the lower connecting rod;
the undercarriage retracting and releasing mechanism is fixedly arranged at the top end of a supporting rod of the undercarriage and comprises a steering engine, a fixing plate, a driving gear, a driven gear, a small rocker arm and a large rocker arm connected with the small rocker arm through a shaft, and the fixing plate is fixedly arranged on the bottom surface of a fuselage mounting platform of the unmanned aerial vehicle; the small rocker arm is fixedly arranged on the driven gear, and the small rocker arm and the driven gear rotate synchronously; the steering wheel with the driving gear links to each other to drive the driving gear and rotate, and then drive driven gear rotates.
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| CN113419039A (en) * | 2021-06-01 | 2021-09-21 | 徐州工程学院 | Water quality monitoring device based on wireless communication |
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