CN110118812B

CN110118812B - Aquatic oxygen volume and water turbidity data acquisition transmission device

Info

Publication number: CN110118812B
Application number: CN201910460735.5A
Authority: CN
Inventors: 申海洋; 陈初侠; 史淑仙; 王德喜
Original assignee: Chaohu University
Current assignee: Chaohu University
Priority date: 2019-05-30
Filing date: 2019-05-30
Publication date: 2021-03-30
Anticipated expiration: 2039-05-30
Also published as: CN110118812A

Abstract

The utility model provides an aquatic oxygen volume and water turbidity data acquisition transmission device, including the unmanned aerial vehicle platform body, check out test set, motor reduction gears, adjustable output direct current changes DC power supply module, permanent magnet, the tongue tube, the GPRS module, wireless transmitting circuit has still, wireless receiving circuit, level probe, a control circuit, check out test set installs in the shell of unmanned aerial vehicle platform body, the split type detecting head of check out test set is located the lower extreme outside of unmanned aerial vehicle platform body, level probe has the same two sets ofly, two sets of level probe install in the hose outside, adjustable output direct current changes DC power supply module, wireless receiving circuit, the GPRS module, a control circuit installs on this internal circuit board of unmanned aerial vehicle platform, and with motor reduction gears, the tongue tube, level probe, check out test set connects through the wire. The invention can realize that the probe is always positioned in water, can transmit data to the mobile phone of a detector in real time, and the detector can acquire the oxygen content and turbidity data of the water in time, thereby achieving good detection effect.

Description

Aquatic oxygen volume and water turbidity data acquisition transmission device

Technical Field

The invention relates to the field of data acquisition equipment, in particular to a data acquisition and transmission device for oxygen content and water turbidity in water.

Background

In the field of culture, the oxygen content of water in a fishpond is an essential factor for ensuring the healthy growth of fishes; therefore, in order to prevent the oxygen deficiency of the fish pond, a farmer needs to patrol and collect the oxygen content in the fish pond within a certain period of time, and timely replenish water for the fish pond after the oxygen deficiency occurs (although the fish pond is generally provided with the oxygen-increasing machines, the fish pond is affected by the size of the fish pond, the number and distribution of the oxygen-increasing machines, weather and other factors, the oxygen-increasing machines are only used as auxiliary equipment, and the oxygen-increasing machines cannot effectively ensure that the oxygen in the fish pond is at a proper concentration), so that accidents such as fish death caused by the oxygen deficiency can be prevented.

Due to the large area of the fishpond, in an actual situation, no flowing water enters the fishpond for a long time, the fishpond is in a dead water state, and the oxygen content data in water at the edge of the fishpond and the oxygen content in water in the middle of the fishpond are different. The existing method for acquiring the oxygen content data in water of the fishpond generally comprises the steps that an acquirer puts a detecting head of an oxygen data acquisition device into the fishpond to acquire the oxygen content data on the bank side of the fishpond, so that the accuracy of acquired data cannot be effectively guaranteed, when the acquired oxygen content data in water on the side of the fishpond is qualified, the actual oxygen content data in the center of the fishpond cannot meet the requirement, and the hidden danger that fish die due to oxygen deficiency possibly occurs subsequently. If the underwater oxygen content data in different directions in the fishpond need to be acquired, the acquisition can be carried out only by auxiliary equipment such as a boat and the like (an acquirer takes the boat to any position in the center of the fishpond to acquire the underwater oxygen content), and the operation mode is too troublesome, so that great inconvenience is brought to the acquirer. If the immobilized water oxygen amount acquisition equipment is installed in the center of the fishpond, because the acquisition equipment is fixedly installed, only central water oxygen amount data of a fixed area can be acquired, and because the acquired oxygen amount data cannot effectively reflect the conditions of oxygen amount data contained in a plurality of areas in the fishpond, potential hazards are caused to the safety of subsequent fishes. When the environmental protection department detects the sewage turbidity of a sewage pool or the water turbidity of a river, in order to obtain effective detection data, a water turbidity detection probe needs to be placed in the center of the sewage pool or the river for detection, so that operations such as riding a boat are needed, and great inconvenience is brought to detection personnel.

Based on the above, it is especially necessary to provide a device which is convenient for detection personnel to detect oxygen and turbidity in any direction of water on the bank.

Disclosure of Invention

In order to overcome the defects of the existing fishpond, sewage pool, river and the like for detecting the oxygen content and the turbidity in water, the invention provides the unmanned aerial vehicle platform application, after an unmanned aerial vehicle operator (detector) controls an unmanned aerial vehicle to reach the upper space of a detection area, the hovering height of an unmanned aerial vehicle platform body above the detection area can be kept unchanged only by one-key operation, the detector does not need to frequently control a remote switch of the unmanned aerial vehicle platform body to keep the flying state of the unmanned aerial vehicle platform body, the defect that the unmanned aerial vehicle falls into the water due to misoperation in actual operation is avoided by preventing the unmanned aerial vehicle platform body from hovering (the oxygen or water turbidity probe is required to be operated and controlled to be always positioned in the water), the oxygen or water turbidity probe can be effectively and automatically controlled to be always positioned in the water during detection, and the probe can be conveniently arranged at the depth in the water (in order to achieve good detection effect, the detection needs a certain time, needs a period of time in the probe be located the certain degree of depth of aquatic always), and can be in real time with data transmission to the cell-phone of detection person after detecting, the detection person can in time obtain water oxygen content and water turbidity valid data through cell-phone APP, reaches good detection effect from this, operates more convenient aquatic oxygen volume and water turbidity data acquisition transmission device.

The technical scheme adopted by the invention for solving the technical problems is as follows:

a water oxygen amount and water turbidity data acquisition and transmission device comprises an unmanned aerial vehicle platform body, a detection device, a motor reducing mechanism, an adjustable output direct current-to-direct current power supply module, a permanent magnet, a reed pipe and a GPRS module, wherein the detection device comprises a water turbidity detection device, a water oxygen amount detection device and a wire sleeve connected with a split type detecting head of the water turbidity detection device and the water oxygen amount detection device, the wire sleeve is arranged in a hose, the device is characterized by also comprising a wireless transmitting circuit, a wireless receiving circuit, a water level probe and a control circuit, the detection device is arranged in a shell of the unmanned aerial vehicle platform body, the split type detecting head of the detection device is positioned at the outer side of the lower end of the unmanned aerial vehicle platform body, the water level probes are in two same groups, each group of water level probes is composed of two copper sheets which are arranged on a plastic plate in parallel and are insulated, another group of water level probes are arranged outside the middle part of the hose, the adjustable output direct current-to-direct current power supply module, a wireless receiving circuit, a GPRS module, a control circuit is arranged on a circuit board in an unmanned aerial vehicle platform body, a sleeve is arranged at the lower end of a power output shaft of the motor speed reducing mechanism, a magnet fixing pipe is arranged at the front end of the sleeve, a permanent magnet is sleeved in the magnet fixing pipe, the upper end of an adjusting handle of the direct current-to-direct current power supply module is sleeved in the sleeve, a plurality of fixing screw rods are arranged at intervals on the lower part of a shell of the motor speed reducing mechanism, the lower ends of the fixing screw rods are arranged on the circuit board, the lower ends of two reed pipes are arranged at the middle part and the right side of the adjusting handle on the upper end of the shell of the direct current-to-direct current power supply module, the, Two ends of the power input of the two sets of control circuits, the GPRS module, the water turbidity detection device, the water oxygen content detection device and the direct current-to-direct current power module are connected through leads, the positive power output end of the direct current-to-direct current power module and the positive electrode of a storage battery in the unmanned aerial vehicle platform body are respectively connected with two control power input ends of a wireless receiving circuit through leads, the control power output end of the wireless receiving circuit and the negative electrode of the storage battery in the unmanned aerial vehicle platform body are respectively connected with the positive and negative pole power input ends of a main control circuit board in the unmanned aerial vehicle platform body through leads, one ends of two sets of water level probes are respectively connected with the positive electrode of the storage battery in the unmanned aerial vehicle platform body, the other ends of the two sets of water level probes are respectively connected with two signal input ends of the two sets of control circuits through leads, the two, two ends of the power output of the second set of control circuit are respectively connected with the negative and positive pole power input ends of the motor speed reducing mechanism through leads, two wiring ends of the first reed switch are connected in series between the positive power output end of the first set of control circuit and the positive power input end of the motor speed reducing mechanism, two wiring ends of the second reed switch are connected in series between the positive power output end of the second set of control circuit and the negative power input end of the motor speed reducing mechanism, and the RS485 data output ports of the water turbidity detection device and the water oxygen content detection device are connected with the two RS485 data input ports of the GPRS module through RS485 data lines.

When the adjusting handle of the direct current-to-direct current power supply module rotates rightwards to a stop point, the bar-shaped permanent magnet is positioned at the upper end of the second reed pipe, the movable contact and the fixed contact inside the second reed pipe are in an open circuit state, when the adjusting handle of the direct current-to-direct current power supply module rotates leftwards to a certain distance, the bar-shaped permanent magnet is just positioned at the upper end of the first reed pipe, and the movable contact and the fixed contact inside the first reed pipe are in an open circuit state.

The motor reducing mechanism is a motor gear reducer.

Two contacts in the reed switch are in a normally closed structure.

The wireless transmitting circuit power input end and the storage battery power supply in the unmanned aerial vehicle platform body remote control switch are connected through the wires respectively.

The wireless receiving circuit is also matched with a resistor, an NPN triode and a relay, the resistor, the NPN triode and the relay are connected through a circuit board in a wiring mode, a pin 1 of a positive power supply input end of the wireless receiving circuit is connected with a positive power supply input end of the relay, a pin 4 of a first path output end of the wireless receiving circuit is connected with one end of the resistor, the other end of the resistor is connected with a base electrode of the NPN triode, a collector electrode of the NPN triode is connected with a negative power supply input end of the relay, and a.

The two sets of control circuits are consistent in structure, each set of control circuits comprises a resistor, an NPN triode and a relay, the resistors, the NPN triode and the relay are connected through circuit board wiring, the positive power input end of the relay is connected with the positive control power input end, one end of the resistor is connected with the base electrode of the NPN triode, the collector electrode of the NPN triode is connected with the negative power output end of the relay, and the emitter electrode of the NPN triode is connected with the negative control power.

The GPRS module model is USR-GPRS 232-730.

The invention has the beneficial effects that: before the device is used, the positions of the two groups of water level probes above and below the outer side end of the rubber hose are respectively adjusted according to the requirements of a detected water area, so that in subsequent work, the split type detecting heads of the water turbidity detection device and the water oxygen content detection device can be positioned at different depth positions in water for detection, and the required detection effect is achieved. The invention is based on the application of the unmanned aerial vehicle platform, the unmanned aerial vehicle platform body is flexible to use, the oxygen content and the water turbidity can be detected in each required area in water, and the subsequent detection effect is more effective due to more detection directions. The rest operation processes of the unmanned aerial vehicle platform are completely consistent with those of the existing unmanned aerial vehicle platform. In the invention, when an unmanned aerial vehicle operator (inspector) controls an unmanned aerial vehicle platform body to reach the upper space of a detection area, the unmanned aerial vehicle platform body can be controlled to enter an automatic hovering height control mode through a wireless receiving circuit, a wireless transmitting circuit and the like, under the action of two groups of water level probes, two sets of control circuits and the like, the power supply voltage output to a main control circuit board by a storage battery in the unmanned aerial vehicle platform body can be automatically changed, when the height of the unmanned aerial vehicle platform body is too low, the voltage of the power supply input end of a plurality of lifting motors output to the unmanned aerial vehicle platform body by a direct current-to-direct current power supply module can be increased, the lifting force of the unmanned aerial vehicle platform body is increased in height, when the height of the unmanned aerial vehicle platform body is too high, the voltage of the power supply input end, only need a key formula operation, just can realize that the hovering height of unmanned aerial vehicle platform body above detection zone is kept unchangeable, can effectively guarantee that water turbidity check out test set and water oxygen content check out test set's split type detecting head is located the different degree of depth in aqueous and detects, the person of examining does not need the remote switch of frequent control unmanned aerial vehicle platform body, keep the flight state of unmanned aerial vehicle platform body, prevent to hover (still need operation control oxygen or water turbidity probe to be located the aqueous always) in order to keep unmanned aerial vehicle platform body, frequently operate unmanned aerial vehicle remote switch, misoperation probably leads to the shortcoming that unmanned aerial vehicle fell into aqueous in the actual operation (under the actual conditions, when gathering the aquatic oxygen volume and the turbidity data of pond or river middle part distal end, when unmanned aerial vehicle platform body spaced operator is too far away, because the sight is not good, current operation mode is probably to lead to misoperation, Unmanned aerial vehicle falls into the water). During the detection, water turbidity check out test set and water oxygen content check out test set can be in real time with data transmission to the person's that detects cell-phone through the GPRS module after detecting, and the person that detects is through current ripe software technique, and the cell-phone is installed and is obtained aquatic oxygen content, water turbidity valid data in time at data reception and demonstration APP, can reach good detection effect, and it is more convenient to operate. Based on the above, the invention has good application prospect.

Drawings

The invention is further illustrated below with reference to the figures and examples.

FIG. 1 is a schematic diagram of the present invention.

Fig. 2 is a schematic structural diagram of the motor reducing mechanism, the adjustable output direct current-to-direct current power supply module, the permanent magnet and the reed pipe.

Fig. 3 is a circuit diagram of the present invention.

Detailed Description

As shown in fig. 1 and 2, a device for acquiring and transmitting oxygen content and water turbidity data in water comprises an unmanned aerial vehicle platform body 1,

detection devices

21 and 22, a motor reduction mechanism 3, an adjustable output direct current-to-direct current power supply module 4, a permanent magnet 5, reed pipes 61 and 62, and a GPRS module 7, wherein the detection devices comprise a water turbidity detection device 21 and a water oxygen content detection device 22, the water turbidity detection device 21 and the water oxygen content detection device 22 are respectively provided with split

type detecting heads

23 and 24 connected through wires, the wires connected with the split

type detecting heads

23 and 24 of the water turbidity detection device and the water oxygen content detection device are sleeved in a rubber hose 25, the device is further provided with a wireless transmitting circuit 8, a wireless receiving circuit 9, a water level probe 10 and a control circuit 11, the

detection devices

21 and 22 are installed at the lower end of the middle part in a shell of the unmanned aerial vehicle platform body 1 through screw nuts, the detection device split

type detecting heads

23 and 24 are positioned on the outer side of the lower end of the unmanned aerial vehicle platform body 1, the water level probes 10 are provided with two groups, each group of water level probes 10 is composed of two copper sheets 102 which are parallelly installed on a plastic plate 101 and are mutually insulated and spaced for a certain distance, the upper ends of the two groups of water level probes 10 are respectively provided with two connecting wires, one group of water level probes 10 are installed on the outer side of the lower end of a rubber hose 25 in a winding way through an adhesive tape, the other group of water level probes 10 are installed on the outer side of the lower position of the middle part of the rubber hose 25 in a winding way through the adhesive tape, the adjustable output direct current-to-direct current power supply module 4, the wireless receiving circuit 9, the GPRS module 7 and the control circuit 11 are installed on a circuit board in the unmanned aerial vehicle platform body 1, the lower end of a power output shaft of, bar permanent magnet 5 is by preceding lower part of cover in the fixed pipe 32 of rectangle magnet to the back, the adjustment handle upper end that DC changes DC power supply module 4 is the rectangle structure, the adjustment handle upper end cover that DC changes DC power supply module 4 is in the sleeve pipe 31 of motor reduction mechanism's power output shaft lower extreme, there are three clamping screw at the casing lower part interval equidistance of ring motor reduction mechanism 3, three clamping screw's lower extreme passes through the nut and installs on the circuit board, two tongue tubes 61 and 62 lower extremes are vertically glued and are located adjustment handle middle part and right side position at the casing upper end that DC changes DC power supply module 4, wireless transmitting circuit 8 installs in unmanned aerial vehicle platform body remote switch's shell.

As shown in fig. 1 and 2, the moving contacts of the two reed switches 61 and 62 are located at the upper end of the casing (plastic casing) of the dc-dc power supply module 4, when the adjusting handle of the DC-DC power supply module 4 rotates rightwards to a dead point, the bar-shaped permanent magnet 5 is just positioned at the upper part (the vertical distance is 2mm) of the second reed pipe 62 at the upper end of the shell of the DC-DC power supply module 4, the magnetic acting force of the bar-shaped permanent magnet 5 acts on the second reed pipe 62, the movable contact and the static contact inside the second reed pipe 62 are in an open circuit state, when the adjusting handle of the dc-dc power supply module 4 rotates to a half left, the bar-shaped permanent magnet 5 is just positioned at the upper end of the first reed pipe 61 in the middle of the upper part of the shell of the dc-dc power supply module 4, the magnetic acting force of the bar-shaped permanent magnet 5 acts on the first reed pipe 61, and the movable contact and the static contact inside the first reed pipe 61 are in an open circuit state.

As shown in fig. 3, the moving contacts of two reed switches GH1 and GH2 are positioned at the upper end of the shell of the direct current-to-direct current power supply module a1, when the adjusting handle of the DC-DC power supply module A1 is rotated rightwards to a dead point, the bar-shaped permanent magnet CT is just positioned at the upper part (the distance between the upper part and the lower part is 2mm) of the second reed pipe GH2 at the upper end of the shell of the DC-DC power supply module A1, the magnetic force of the bar-shaped permanent magnet CT is acted on the second reed pipe GH2, the movable contact and the static contact inside the second reed pipe GH2 are in an open circuit state, when the adjusting handle of the DC-DC power supply module A1 rotates to half left, the bar-shaped permanent magnet CT is just positioned at the upper end of the first reed switch GH1 in the middle of the shell of the DC-DC power supply module A1, the magnetic acting force of the bar-shaped permanent magnet CT acts on the first reed switch GH1, and the movable contact and the fixed contact inside the first reed switch GH1 are in an open circuit state. The water turbidity detecting device A3 is a finished product of a water turbidity detecting instrument with the brand POSFENG, model BF-ZD400, and is provided with a split type input probe TC1 connected through a lead and an RS485 data output port. The water oxygen content detection device A4 is an online water oxygen dissolving monitor finished product of brand Dentec and brand D3200-02, and is provided with a split type input probe TC2 and an RS485 data output port. The motor reducing mechanism M is a finished product of a small motor gear reducer with the brand-positive department, the working voltage of 12V and the power of 5W, the lower end of a shell is provided with a multi-stage gear reducing mechanism, and when the motor in the motor reducing mechanism works, the power output by a motor rotating shaft is reduced by the multi-stage gear to increase the torque and then is output from a power output shaft. The adjustable output DC-DC power supply module A1 is an adjustable DC-DC power supply module finished product of brand SKDZ, the input power supply is DC 8-55V, the output is between 1.2V-12V, and the power is 300W. The reed switches GH1 and GH2 are plastic shell reed switches of a model GPS-14B, and two contacts in the reed switches are of a normally closed structure. Wireless transmitting circuit A5 is the wireless transmitting circuit finished product of model SF1500, and battery G1 power both ends in its power input end and the unmanned aerial vehicle platform body remote switch are connected through the wire respectively, and four key switch SK of wireless transmitting circuit finished product A5 are located unmanned aerial vehicle platform body remote switch's casing upper end outside respectively. The wireless receiving circuit A2 is a finished product of a wireless receiving circuit of type SF1500, and is further provided with a resistor R3, an NPN triode Q3 and a relay J2 which are connected through circuit board wiring, wherein a pin 1 (VCC) of a positive power supply input end of the finished product A2 of the wireless receiving circuit is connected with a positive power supply input end of the relay J2, a pin 4 of a first output end of the finished product A2 of the wireless receiving circuit is connected with one end of the resistor R3, the other end of the resistor R3 is connected with a base of the NPN triode Q3, a collector of the NPN triode Q3 is connected with a negative power supply input end of the relay J2, and a pin 3 (GND) of a negative power supply input end of the finished product. The two copper sheets of each group of water level probes T1 and T2 are spaced by 5 mm. The first set of control circuit comprises a resistor R1, an NPN triode Q1 and a relay J, wherein the resistor R1, the NPN triode Q1 and the relay J are connected through circuit board wiring, the positive power supply input end and the positive control power supply input end of the relay J are connected, one end of the resistor R1 is connected with the base electrode of the NPN triode Q1, the collector electrode of the NPN triode Q1 is connected with the negative power supply output end of the relay J, and the emitter electrode of the NPN triode Q1 is connected. The second set of control circuit comprises a resistor R2, an NPN triode Q2 and a relay J1 which are connected through circuit board wiring, wherein the positive power supply input end of the relay J1 is connected with the positive control power supply input end, one end of the resistor R2 is connected with the base electrode of the NPN triode Q2, the collector electrode of the NPN triode Q2 is connected with the negative power supply output end of the relay J1, and the emitter electrode of the NPN triode Q2 is connected with the negative control power supply input end of the relay J2. The GPRS module A6 is a GPRS module finished product of model USR-GPRS232-730, and is provided with a USB data input port, the GPRS module can process a plurality of paths of input data signals and then sends the data signals out through a wireless mobile network, and for convenience of connection, the GPRS module is provided with two groups of RS485 sockets which are connected in parallel.

As shown in fig. 3, the positive and negative poles of the storage battery G in the platform body of the unmanned aerial vehicle are respectively connected with pins 1 and 2 (VCC and GND) of the wireless receiving circuit finished product a2 at the two ends of the power input of the wireless receiving circuit, two sets of control circuit power input ends, namely, the relay J and the JI positive power input end, and the emitter of the NPN triode Q1 and Q2, the two

ends

1 and 2 of the power input of the GPRS module a6, the two

ends

1 and 2 of the power input of the water turbidity detection device A3, the two

ends

1 and 2 of the power input of the water oxygen content detection device a4, and the two

ends

1 and 2 of the power input of the dc-to-dc power module a1 are respectively. The 3 feet of the positive power output end of the direct-current to direct-current power supply module A1 and the positive pole of the storage battery G in the unmanned aerial vehicle platform body are respectively connected with the normally open contact end and the normally closed contact end of the two control power supply input end relays J2 of the wireless receiving circuit through wires. The control power supply output end of the wireless receiving circuit is connected with the control power supply input end of a relay J2, the cathode of a storage battery G in the unmanned aerial vehicle platform body is respectively connected with the positive and negative power supply input ends of a main control circuit board A in the unmanned aerial vehicle platform body through leads. One ends of the two groups of water level probes T1 and T2 are respectively connected with the positive electrode of a storage battery G in the unmanned aerial vehicle platform body. The other ends of the two groups of water level probes T1 and T2 are respectively connected with the other ends of two signal input end resistors R1 and R2 of the two groups of control circuits through leads. Two normally closed contact ends of a relay J at the two ends of the power output of the first set of control circuit are respectively connected with the positive and negative pole power input ends of the motor reducing mechanism M through leads. Two normally open contact ends of a relay J at the two ends of the power output of the second set of control circuit are respectively connected with the power input ends of the negative pole and the positive pole of the motor reducing mechanism M through leads. Two terminals of a first reed switch GH1 are connected in series between one normally closed contact end of a relay J at the positive power output end of the first set of control circuit and the positive power input end of the motor speed reducing mechanism M. The first reed switch GH1 is located in the middle of the adjusting handle at the upper end of the shell of the direct current-to-direct current power supply module A1. Two terminals of a second reed switch GH2 are connected in series between one normally open contact end of the second set of control circuit positive power supply output end relay J1 and the negative power supply input end of the motor speed reducing mechanism M. And the second reed switch GH2 is positioned on the right side of the adjusting handle at the upper end of the shell of the direct current-to-direct current power supply module A1. The RS485 data output ports of the water turbidity detection device A3 and the water oxygen content detection device A4 are respectively connected with the two RS485 data input ports of the GPRS module A6 through RS485 data lines.

As shown in fig. 3, after the power switch S of the unmanned aerial vehicle platform body is turned on, the power output by the storage battery G in the unmanned aerial vehicle platform body enters the two power input ends of the wireless receiving circuit, the two sets of control circuits, the water turbidity detection device A3, the water oxygen content detection device a4, the dc-to-dc power module a1, and the GPRS module a6, so that the wireless receiving circuit, the two sets of control circuits, the water turbidity detection device A3, the water oxygen content detection device a4, the dc-to-dc power module a1, and the GPRS module a6 are synchronously in a power-on working state; meanwhile, the power supply anode output by the storage battery G in the unmanned aerial vehicle platform body enters the power supply input end anode of the main control circuit board A in the unmanned aerial vehicle platform body through the relay J2 normally closed contact end and the control power supply input end of the wireless receiving circuit, the power supply cathode output by the storage battery G in the unmanned aerial vehicle platform body directly enters the power supply input end cathode of the main control circuit board A in the unmanned aerial vehicle platform body, and the main control circuit board A in the unmanned aerial vehicle platform body is in a normal power-on state; with current unmanned aerial vehicle operation process complete unanimity, the flight gesture of operator control unmanned aerial vehicle platform body through the wireless remote switch of unmanned aerial vehicle platform body. Before the device is used, two groups of water level probes T1 and T2 are adjusted to be positioned at the upper and lower positions outside the rubber hose according to the requirements of a detected water area, so that in subsequent work, the water turbidity detection device A3 and the split type detecting heads TC1 and TC2 of the water oxygen content detection device A4 can be positioned at different depths in water for detection, and the required detection effect is achieved (in the adjustment, when one group of water level probes T1 is positioned at the upper position of the rubber hose, the subsequent water turbidity detection device A3 and the split type detecting heads TC1 and TC2 of the water oxygen content detection device A4 enter the water with relatively deep depth, the lower ends of two copper sheets of one group of water level probes T1 can be in contact with the water surface, when one group of water level probes 1 is positioned at the lower position of the rubber hose, the subsequent water turbidity detection device A3 and the split type detecting heads TC1 and TC2 of the water oxygen content detection device A4 enter the water, the lower ends of two copper sheets of one group of water level probes T1 are contacted with the water surface), after actual adjustment, the distance between the upper end of one group of water level probes T1 and the lower end of the other group of water level probes T2 is kept about 20cm, the length of the rubber hose is about 4.5m, and after adjustment, the two groups of water level probes T1 and T2 are wound on the outer side of the rubber hose by using adhesive tapes.

As shown in fig. 3, after the power output by the battery G enters the two

terminals

1 and 2 of the power input of the dc-dc power module a1, under the action of the internal circuit of the dc-dc power module a1, the power will enter the normally open contact terminal of the relay J2 of the wireless receiving circuit through the 3-pin output positive power of the dc-dc power module a1 (the negative power output by the 4-pin output of the dc-dc power module a1 is communicated with the negative electrode of the battery G). The unmanned aerial vehicle is not used for automatically controlling the unmanned aerial vehicle to hover at ordinary times, when the detection heads of the water turbidity detection device A3 and the water oxygen content detection device A4 have the automatic water entering function, the automatic water entering function is completely consistent with the operation process of the existing unmanned aerial vehicle, and an operator controls the flight attitude of the unmanned aerial vehicle platform body through the wireless remote control switch of the unmanned aerial vehicle platform body. After an operator controls the unmanned aerial vehicle platform body to reach the position above the water surface of the acquisition area within a range of about 5 meters through the wireless remote control switch of the unmanned aerial vehicle platform body, the next detection procedure can be carried out (any operation is not carried out on the wireless remote control switch related parts of the unmanned aerial vehicle platform body in the follow-up process).

As shown in fig. 3, when the unmanned aerial vehicle platform body reaches the range of about 5 meters above the water surface of the acquisition area, the unmanned aerial vehicle needs to be automatically controlled to hover by using the unmanned aerial vehicle hovering device, and ensures that when the detection heads TC1 and TC2 of the water turbidity detection equipment A3 and the water oxygen content detection equipment A4 automatically enter water, after the operator presses the first transmitting key switch SK of the wireless transmitting circuit a5, the wireless transmitting circuit a5 transmits a first wireless close signal, the wireless receiving circuit a2 receives the first wireless close signal, the 4 pins of the relay can output high level to enter one end of a resistor R3, the high level is subjected to voltage reduction and current limitation by a resistor R3 and then enters the base electrode of an NPN triode Q3, the NPN triode Q3 is conducted, the collector of the NPN triode Q3 is output low level to enter the negative power supply input end of the relay J2, and then the relay J2 is electrified to pull in the control power supply input end and the normally open contact end to be closed and the control power supply input end and the normally closed contact end to. Because the 3 pins of the direct current-to-direct current power supply module A1 are connected with the normally open contact end of the relay J2, the positive electrode of the storage battery G is connected with the normally closed contact end of the relay J2, the control power input end of the relay J2 is connected with the positive power input end VCC of the main control circuit board A in the unmanned aerial vehicle platform body, (the negative power input end GND of the main control circuit board A in the unmanned aerial vehicle platform body is connected with the negative electrode of the storage battery G), at the moment, the power output by the storage battery G cannot enter the power input ends of the main control circuit board A, and the power output by the 3 pins and the 4 pins of the direct current-to-direct current power supply module A1; at this moment, the operator need keep the flight gesture through the wireless remote switch control unmanned aerial vehicle platform body of unmanned aerial vehicle platform body, then no longer operate in follow-up a period (in relay J2 carries out the power conversion, because the lift motor MN of unmanned aerial vehicle platform body has inertia when rotating, there is a certain interval at the unmanned aerial vehicle platform body interval surface of water, so in the conversion, the lift motor MN of unmanned aerial vehicle platform body temporarily loses the electricity and can not descend fast, operating personnel can have sufficient time to keep the flight gesture through the wireless remote switch control unmanned aerial vehicle platform body of unmanned aerial vehicle platform body). When a group of water level probes T1 positioned at the lower end of the rubber hose is not in contact with water (the water turbidity detection device A3 and the detection heads TC1 and TC2 of the water oxygen content detection device A4 also do not enter the water), the base electrode of an NPN triode Q1 of the first set of control circuit is in a cut-off state without proper bias current, the relay J is in a power-off state without attracting two control power supply input ends and two normally closed contact ends thereof respectively, because the two control power supply input ends of the relay J are respectively connected with the positive pole and the negative pole of the storage battery G, the two normally closed contact ends of the relay J are respectively connected with the positive pole and the negative pole power supply input ends of the motor reducing mechanism M, at the moment, the motor reducing mechanism M can be electrified to work, the power output shaft of the motor reducing mechanism M drives the adjusting handle at the upper end of the shell of the direct current-to-direct current power supply module A389, the power of its 3 and 4 foot outputs gets into main control circuit board A's power input both ends back voltage can slowly step-down, because, this internal main control circuit board A's of unmanned aerial vehicle platform power input end voltage step-down, like this, main control circuit board A exports the voltage of many lift motors MN of unmanned platform body and can reduce, and then many lift motors MN reduces because of input voltage reduces lift, the organism slowly falls to the surface of water, the unmanned aerial vehicle platform body is slowly close to the surface of water. When an adjusting handle of the direct current-to-direct current power supply module A1 is driven by a power output shaft of the motor speed reducing mechanism M to rotate to the left by half, the bar-shaped permanent magnet CT is just positioned at the upper end of a first reed switch GH1 in the middle of the upper portion of a shell of the direct current-to-direct current power supply module A1, the magnetic acting force of the bar-shaped permanent magnet CT acts on the first reed switch GH1, and the movable contact and the static contact inside the first reed switch GH1 are in an open circuit state; because two wiring ends of tongue tube GH1 are established ties at one of them normally closed contact end of relay J, between motor reduction mechanism M's the positive power input end, so this moment, motor reduction mechanism M can stall, it is too much to have prevented that motor reduction mechanism from driving the adjustment handle of direct current commentaries on classics DC power supply module A1 to rotate left, 3 and 4 feet input to master control circuit board A voltage of direct current commentaries on classics DC power supply module A1 are low excessively, the many lift motors MN lift of unmanned aerial vehicle platform body is low, the unmanned aerial vehicle body falls into aquatic fast (3 and 4 feet of direct current commentaries on classics DC power supply module A1 are minimum output voltage 7V, unmanned aerial vehicle platform body slow decline has been guaranteed). When the platform of the unmanned aerial vehicle body descends and a group of water level probes T1 positioned at the lower end of the rubber hose contacts with the water surface (at the moment, the detecting heads of the water turbidity detection device A3 and the water oxygen content detection device A4 already enter the water, the depth is determined by the upper and lower heights of one group of water level probes T1 positioned at the outer side of the rubber hose which is adjusted by a user in advance), the water submerges two copper sheets of one group of water level probes T1, at the moment, the positive electrode of the power supply output by the storage battery G enters the base electrode of the NPN triode Q1 through the water, the two copper sheets of one group of water level probes T1 and the resistor R1, then the base electrode of the NPN triode Q1 obtains proper bias current to conduct the collector electrode thereof to output low level to enter the negative electrode power supply input end of the relay J, and the relay J is electrified to attract the two control power supply input ends and the two normally, therefore, at the moment, the motor reducing mechanism M stops rotating, so that the situation that the motor reducing mechanism drives the adjusting handle of the direct current-to-direct current power supply module A1 to rotate leftwards too much and the voltage input into the main control circuit board A from the pins 3 and 4 of the direct current-to-direct current power supply module A1 is too low is prevented, and the voltage output to the unmanned platform body by the main control circuit board A of the plurality of lift motors MN is kept at the lowest voltage state; and automatically controlling the probes TC1 and TC2 of the water turbidity detection equipment A3 and the water oxygen content detection equipment A4 to enter water and reach a certain detection depth. In practical situations, when the main control circuit board a inputs the voltage of the multiple lift motors MN to the unmanned platform body to be kept at the lowest voltage state, the unmanned platform body will slowly descend, after the voltage descends to a certain extent, the group of water level probes T2 located at the middle part of the rubber hose and close to the lower end will contact the water surface, the water submerges the two copper sheets of the other group of water level probes T2, at this time, the positive electrode of the power output by the storage battery G will enter the base electrode of the NPN triode Q2 through the water, the two copper sheets of the other group of water level probes T2 and the resistor R2, so that the base electrode of the NPN triode Q2 obtains a proper bias current to conduct the collector electrode thereof to output a low level to enter the negative electrode power input end of the relay J1, and further, the relay J1 is powered to close the two control power input ends and the two normally open contact ends thereof respectively, because the two control power input ends, two normally open contact ends of the relay J1 are respectively connected with the negative and positive power supply input ends of the motor reducing mechanism M, therefore, at this moment, the motor reducing mechanism M can be powered on to work, and the power output shaft thereof drives the adjusting handle at the upper end of the shell of the dc-to-dc power supply module a1 to slowly rotate rightwards, so that under the action of the internal circuit of the dc-to-dc power supply module a1, the voltage will gradually increase after the power output by the pins 3 and 4 enters the two ends of the power input of the main control circuit board A, because the voltage of the power supply input end of the main control circuit board A of the unmanned aerial vehicle platform body is increased, the voltage of the plurality of lift motors MN output by the main control circuit board A to the unmanned aerial vehicle platform body is increased, furthermore, many lift motors MN because of input voltage uprises, lift increase, organism slowly rise, and the unmanned aerial vehicle platform body slowly pulls open the interval with the surface of water, has prevented that the organism from slowly falling down and falling into the aquatic always. When an adjusting handle of the direct current-to-direct current power supply module A1 is driven by a power output shaft of the motor speed reducing mechanism M to rotate rightwards to a stop point, the bar-shaped permanent magnet CT is just positioned at the upper part of a second reed switch GH2 at the upper end of a shell of the direct current-to-direct current power supply module, the magnetic acting force of the bar-shaped permanent magnet CT acts on a second reed switch GH2, and a movable contact and a static contact inside the second reed switch GH2 are in an open circuit state; because two terminals of the reed switch GH2 are connected in series between one of the normally open contact ends of the relay J1 and the negative power input end of the motor speed reducing mechanism M, the motor speed reducing mechanism M stops rotating at the moment, and the condition that the adjusting handle of the direct current-to-direct current power supply module A1 driven by the motor speed reducing mechanism rotates rightwards too much to be damaged is prevented (the maximum output of 12V power is provided by 3 and 4 pins of the direct current-to-direct current power supply module A1). In practical situations, when the platform of the unmanned aerial vehicle body rises and the two copper sheets of the group of water level probes T2 located at the middle part of the rubber hose close to the lower end are not in contact with the water surface again, since the positive electrode of the power output by the storage battery G does not enter the base of the NPN triode Q2 through water, the two copper sheets of the other group of water level probes T2 and the resistor R2, and the NPN triode Q2 is cut off, the relay J1 loses power and does not attract the two control power input ends and the two normally open contact ends thereof to be open, the motor speed reducing mechanism M stops working, the power output shaft thereof does not drive the adjustment handle at the upper end of the housing of the dc-to-dc power module a1 to rotate rightwards through the sleeve, and the voltage of the power output by the pins 3 and 4 of the dc-to-dc power module a1 enters the two power input ends of the main control, Two copper sheets of the water level probe T2 are not contacted with water, and the detection heads TC1 and TC2 of the water turbidity detection device A3 and the water oxygen content detection device A4 are positioned in the water for detection. When the unmanned aerial vehicle body platform rises more, when two copper sheets located in the first group of water level probe T1 at the lower end of the rubber hose are not contacted with the water surface again, then, the relay J loses electricity and does not attract two control power supply input ends and two normally closed contact ends of the relay J to be closed, the motor speed reducing mechanism M can be electrified to work, a power output shaft of the motor speed reducing mechanism M drives a shell upper end adjusting handle of the direct current-to-direct current power supply module A1 to rotate slowly leftwards again through a sleeve, a power supply output by 3 pins and 4 pins of the direct current-to-direct current power supply module A1 enters two power supply input ends of the main control circuit board A, then, a plurality of lift motors MN are reduced due to input voltage, a lift force reducing machine body slowly falls downwards, the unmanned aerial vehicle platform body is slowly close to the water surface, and two copper sheets. Through the above, the invention can keep the hovering height of the unmanned aerial vehicle platform body above the detection area unchanged, can effectively ensure that the split type detecting heads of the water turbidity detection device A3 and the water oxygen content detection device A4 are positioned in different depths in water for detection, and an inspector does not need to frequently control the remote switch of the unmanned aerial vehicle platform body and maintain the flying state of the unmanned aerial vehicle platform body, so as to prevent the unmanned aerial vehicle platform body from hovering (and also need to operate and control the oxygen or water turbidity probe to be always positioned in water), and frequently operate the remote switch of the unmanned aerial vehicle Unmanned aerial vehicle falls into the water).

As shown in fig. 3, after the water turbidity detecting device A3 and the water oxygen content detecting device a4 work, when the probing heads TC1 and TC2 are located under the water surface, the water oxygen content detecting device A3 and the water oxygen content detecting device a4 respectively detect the water oxygen content and the water turbidity in the water under the action of the probing heads TC1 and TC2, the detected data respectively enter the RS485 data input port of the GPRS module A6 through the RS485 data output ports of the water turbidity detecting device A3 and the water oxygen content detecting device a4, the GPRS module A6 then sends the input water oxygen content data and water turbidity data out through the wireless mobile network, and after the data is received by the mobile phone of the inspector connected with the GPRS module A6, the inspector can obtain the effective data of the water oxygen content and turbidity through the existing mature software technology, and the mobile phone is installed in the data receiving and displaying APP. The invention collects the oxygen content and turbidity data of water in one direction in a fishpond or river, before the unmanned aerial vehicle platform body returns to the side of a detector or arrives at another area for detection, an operator presses the first transmission key switch SK of the wireless transmission circuit A5 again, the wireless transmission circuit A5 can transmit a first path of open-circuit signal, the wireless receiving circuit A2 can stop outputting high level to enter one end of a resistor R3 after receiving the first path of wireless open-circuit signal, then, an NPN triode Q3 is cut off, a relay J2 is de-energized and does not attract the control power supply input end and the normally open contact end to be open, the control power supply input end and the normally closed contact end to be closed, because the positive pole of a storage battery G in the unmanned aerial vehicle platform body is connected with the relay J2 contact end, the relay J2 controls the power supply input end to be connected with the main control circuit board A positive power supply input end in the unmanned aerial vehicle, (the negative pole power input end of the main control circuit board A in the unmanned aerial vehicle platform body is connected with the negative pole of the storage battery G), therefore, at the moment, the power output by the storage battery G can enter the two ends of the power input end of the main control circuit board A, thus, the unmanned aerial vehicle can be automatically controlled to hover by using the invention, the automatic water inlet functions of the detecting heads of the water turbidity detection device A3 and the water oxygen content detection device A4 can not work any more, the unmanned aerial vehicle platform body can fly to the back of the operator or over another detection area (in the process of power conversion of the relay J2, because the lift motor MN of the unmanned aerial vehicle platform body has inertia when rotating, the unmanned aerial vehicle platform body has a certain distance from the water surface, therefore, in the process of power conversion, the lift motor MN of the unmanned aerial vehicle platform body can not drop rapidly when temporarily losing power, the operator can have sufficient time to control the unmanned aerial vehicle platform body to keep the flight attitude through the wireless remote control switch of the unmanned aerial vehicle platform body); under the actual conditions, two sets of water level probes T1, T2 leaves the surface of water, although motor reduction gears M can drive the adjustment handle of direct current commentaries on classics DC power supply module A1 to the rotation left middle part, the voltage of direct current commentaries on classics DC power supply module A1 output is very low, but because relay J2 loses the electricity, so, the power of direct current commentaries on classics DC power supply module A1 output can not get into this internal master control circuit board A's of unmanned aerial vehicle platform power input end, can not cause any influence to the wireless remote control on-off control unmanned aerial vehicle platform body flight gesture of operator through the unmanned aerial vehicle platform body. Before the device is used, two groups of water level probes T1 and T2 are adjusted to be positioned at the upper and lower positions outside the rubber hose according to the requirements of a detected water area, so that in subsequent work, the split type detecting heads of the water turbidity detection device A3 and the water oxygen content detection device A4 can be positioned at different depths in water for detection, and the required detection effect is achieved. The invention is based on the application of the unmanned aerial vehicle platform, the unmanned aerial vehicle platform body is flexible to use, the oxygen content and the water turbidity can be detected in each required area in water, and the subsequent detection effect is more effective due to more detection directions; according to the invention, the hovering height of the unmanned aerial vehicle platform body above the detection area can be kept unchanged only by one-key operation, the detection of the split type detecting heads of the water turbidity detection device A3 and the water oxygen content detection device A4 in different depths in water can be effectively ensured, a detector does not need to frequently control the operation remote control switch of the unmanned aerial vehicle platform body and keep the flying state of the unmanned aerial vehicle platform body, and the defect that the unmanned aerial vehicle can possibly fall into the water due to misoperation in actual operation because the unmanned aerial vehicle platform body is hovered and the unmanned aerial vehicle remote control switch is frequently operated is avoided; during the detection, water turbidity check out test set and water oxygen content check out test set can be in real time with data transmission to the person's of detection cell-phone after detecting through the GPRS module, and the person of detection can in time acquire aquatic oxygen content, turbidity valid data through cell-phone APP, can reach good detection, the more convenient effect of operation.

As shown in fig. 3, the resistances R1, R2, R3 are 20K, 1K, respectively; the model numbers of NPN triodes Q1, Q2 and Q3 are 9013; the relays J1, J2, J3 are DC12V relays of the brand song, having two control power supply input terminals, two normally open contact terminals, two normally closed contact terminals, two power supply input terminals.

While there have been shown and described what are at present considered the fundamental principles and essential features of the invention and its advantages, it will be apparent to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, but is capable of other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims

1. A water oxygen amount and water turbidity data acquisition and transmission device comprises an unmanned aerial vehicle platform body, a detection device, a motor reducing mechanism, an adjustable output direct current-to-direct current power supply module, a permanent magnet, a reed pipe and a GPRS module, wherein the detection device comprises a water turbidity detection device, a water oxygen amount detection device and a wire sleeve connected with a split type detecting head of the water turbidity detection device and the water oxygen amount detection device, the wire sleeve is arranged in a hose, the device is characterized by also comprising a wireless transmitting circuit, a wireless receiving circuit, a water level probe and a control circuit, the detection device is arranged in a shell of the unmanned aerial vehicle platform body, the split type detecting head of the detection device is positioned at the outer side of the lower end of the unmanned aerial vehicle platform body, the water level probes are in two same groups, each group of water level probes is composed of two copper sheets which are arranged on a plastic plate in parallel and are insulated, another group of water level probes are arranged outside the middle part of the hose, the adjustable output direct current-to-direct current power supply module, a wireless receiving circuit, a GPRS module and a control circuit are arranged on a main control circuit board in an unmanned aerial vehicle platform body, a sleeve is arranged at the lower end of a power output shaft of the motor speed reducing mechanism, a magnet fixing pipe is arranged at the front end of the sleeve, a permanent magnet is sleeved in the magnet fixing pipe, the upper end of an adjusting handle of the adjustable output direct current-to-direct current power supply module is sleeved in the sleeve, a plurality of fixing screw rods are arranged at intervals on the lower part of a shell of the motor speed reducing mechanism, the lower ends of the plurality of fixing screw rods are arranged on the main control circuit board, the lower ends of two reed pipes are arranged at the upper end of the shell of the adjustable output direct current-to-direct current power supply module and are positioned in the middle part and the right side of, Two ends of power input of two sets of control circuits, a GPRS module, a water turbidity detection device, a water oxygen content detection device and an adjustable output direct current-to-direct current power supply module are connected through leads, a positive power supply output end of the adjustable output direct current-to-direct current power supply module and a positive electrode of a storage battery in an unmanned aerial vehicle platform body are respectively connected with two control power supply input ends of a wireless receiving circuit through leads, a control power supply output end of the wireless receiving circuit and a negative electrode of the storage battery in the unmanned aerial vehicle platform body are respectively connected with positive and negative electrode power supply input ends of a main control circuit board in the unmanned aerial vehicle platform body through leads, one ends of two sets of water level probes are respectively connected with the positive electrode of the storage battery in the unmanned aerial vehicle platform body, the other ends of the two sets of water level probes are respectively connected with two signal input ends of the two sets of control circuits through leads, two ends of the power output of the second set of control circuit are respectively connected with the negative and positive pole power input ends of the motor speed reducing mechanism through leads, two wiring ends of the first reed switch are connected in series between the positive power output end of the first set of control circuit and the positive power input end of the motor speed reducing mechanism, two wiring ends of the second reed switch are connected in series between the positive power output end of the second set of control circuit and the negative power input end of the motor speed reducing mechanism, and the RS485 data output ports of the water turbidity detection device and the water oxygen content detection device are connected with the two RS485 data input ports of the GPRS module through RS485 data lines.

2. The device for acquiring and transmitting the oxygen content and the water turbidity data in water according to claim 1, wherein when the adjusting handle of the adjustable output DC-to-DC power supply module is rotated rightwards to a dead point, the bar-shaped permanent magnet is positioned at the upper end of the second reed pipe, the movable contact and the fixed contact in the second reed pipe are in an open circuit state, when the adjusting handle of the adjustable output DC-to-DC power supply module is rotated leftwards to a certain distance, the bar-shaped permanent magnet is just positioned at the upper end of the first reed pipe, and the movable contact and the fixed contact in the first reed pipe are in an open circuit state.

3. The apparatus for collecting and transmitting the amount of oxygen in water and the turbidity of water as claimed in claim 1, wherein said motor reduction mechanism is a motor gear reducer.

4. The device for acquiring and transmitting the data of the oxygen content and the water turbidity in the water as claimed in claim 1, wherein two contacts inside the reed switch are in a normally closed structure.

5. The device for acquiring and transmitting the oxygen content and the turbidity of the water as claimed in claim 1, wherein the power input end of the wireless transmitting circuit is connected with the two ends of the power supply of the storage battery in the remote switch of the unmanned aerial vehicle platform body through wires.

6. The device for collecting and transmitting the data of the amount of oxygen in water and the turbidity of water as claimed in claim 1, wherein the wireless receiving circuit is further provided with a resistor, an NPN transistor and a relay, which are connected through a circuit board by wiring, wherein the pin 1 at the positive power input end of the wireless receiving circuit is connected with the positive power input end of the relay, the pin 4 at the first output end of the wireless receiving circuit is connected with one end of the resistor, the other end of the resistor is connected with the base of the NPN transistor, the collector of the NPN transistor is connected with the negative power input end of the relay, and the negative power input end of the wireless receiving circuit is connected with.

7. The device for collecting and transmitting the data of the amount of oxygen in the water and the turbidity of the water as claimed in claim 1, wherein the two sets of control circuits are identical in structure, each set comprises a resistor, an NPN triode and a relay, the resistors, the NPN triode and the relay are connected through a circuit board in a wiring mode, a positive power input end and a positive control power input end of the relay are connected, one end of the resistor is connected with a base electrode of the NPN triode, a collector electrode of the NPN triode is connected with a negative power output end of the relay, and an emitting electrode of the NPN triode.

8. The apparatus of claim 1, wherein the GPRS module is USR-GPRS 232-730.