CN111152923B - Underwater terrain measuring device based on vertical take-off and landing fixed wing amphibious unmanned aerial vehicle - Google Patents
Underwater terrain measuring device based on vertical take-off and landing fixed wing amphibious unmanned aerial vehicle Download PDFInfo
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- CN111152923B CN111152923B CN202010011930.2A CN202010011930A CN111152923B CN 111152923 B CN111152923 B CN 111152923B CN 202010011930 A CN202010011930 A CN 202010011930A CN 111152923 B CN111152923 B CN 111152923B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C35/00—Flying-boats; Seaplanes
- B64C35/008—Amphibious sea planes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C35/00—Flying-boats; Seaplanes
- B64C35/001—Flying-boats; Seaplanes with means for increasing stability on the water
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C7/00—Tracing profiles
- G01C7/02—Tracing profiles of land surfaces
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/40—Correcting position, velocity or attitude
- G01S19/41—Differential correction, e.g. DGPS [differential GPS]
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
- B63G2008/005—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled
Abstract
The invention provides an underwater terrain measuring device based on a vertical take-off and landing fixed wing amphibious unmanned aerial vehicle, which comprises the amphibious unmanned aerial vehicle, a GPS (global positioning system) reference station, a main control device and a remote control device, wherein the remote control device, the main control device and the amphibious unmanned aerial vehicle are in wireless communication connection, and the remote control device and the main control device are used for carrying out control operation on the operation of the amphibious unmanned aerial vehicle on the shore of a measured water area; the amphibious unmanned aerial vehicle can take off and land vertically on land or on the water surface, and can sail on the water surface when underwater surveying and mapping is carried out; the depth finder is used for acquiring water depth data when the amphibious unmanned aerial vehicle sails on the water surface. The invention can efficiently go deep into dangerous and complex water areas and carry out operation, and can meet the requirements of underwater topography measurement of medium and small rivers and lakes and reservoirs.
Description
Technical Field
The invention relates to the technical field of underwater topography measuring equipment, in particular to an underwater topography measuring device based on a vertical take-off and landing fixed wing amphibious unmanned aerial vehicle, which is suitable for automatic underwater topography measurement under a steep bank situation.
Background
Underwater topography measurement is a process of determining three-dimensional coordinates of a water bottom point by using a measuring instrument, and is an important component of river, lake and reservoir and seabed measurement. The key link is water depth measurement and positioning, wherein the water depth measurement is to measure the height from a water bottom point to the water surface, and the depth of a depth point to be measured (called a sounding point) is measured at certain intervals along the direction of a sounding line; the positioning is to accurately determine the plane position of the depth point in the water depth measurement work.
With the progress of the surveying and mapping technology and the computer technology, a combined measuring mode that a GPS is adopted to obtain plane coordinates and a depth sounder is adopted to obtain depth data becomes an important technical means of modern underwater topography measurement, the labor intensity of measurement is greatly reduced, and the measuring automation degree and the working efficiency are improved. The manned ship is carried on a manned ship or an unmanned ship, which is a main working mode of underwater topography measurement at present, but the manned ship has the problems of inconvenient offshore shoal measurement, difficulty in obtaining a proper ship, hidden danger in personnel safety and the like in application; the unmanned survey ship system can perfectly solve the problem of shallow water survey, can also be applied to dangerous water area operation, ensures the safety of ships and personnel and other advantages, but when facing the water area survey such as no beach steep bank, channel slope steep wall slide and the like, the unmanned ship is seriously hindered in launching, not only influences the working efficiency, but also endangers the safety of equipment and personnel in serious cases, and at present, no effective solution is available.
Disclosure of Invention
The invention provides an underwater topography measuring device based on a vertical take-off and landing fixed wing amphibious overwater unmanned aerial vehicle, aiming at the problems mentioned in the technical background, the underwater topography measuring device not only can fully exert the advantages that the unmanned aerial vehicle is flexible and fast and is not limited by water areas and shoreside environments, but also has the advantages that an unmanned ship is stable and accurate, can conveniently and fast launch from a beach-free steep bank through a flight mode, easily and fast bypass large obstacles in water such as island beaches and the like from the air, and can stably advance on the water surface through a water surface navigation mode to carry out underwater topography measurement. The device can go deep into dangerous, complicated waters and develop the operation with high efficiency, can satisfy the needs of medium and small river, lake and reservoir underwater topography survey.
The invention solves the technical problems and adopts the following technical scheme:
an underwater terrain measuring device based on a vertical take-off and landing fixed wing amphibious unmanned aerial vehicle comprises the amphibious unmanned aerial vehicle, a GPS reference station, a main control device and a remote control device, wherein the remote control device and the main control device are in wireless communication connection with the amphibious unmanned aerial vehicle, and the remote control device and the main control device are used for carrying out control operation on the operation of the amphibious unmanned aerial vehicle on the shore of a measured water area; the amphibious unmanned aerial vehicle can take off and land vertically on land or on the water surface, and can sail on the water surface when underwater surveying and mapping is carried out; the depth finder is used for acquiring water depth data when the amphibious unmanned aerial vehicle sails on the water surface.
Further, amphibious unmanned aerial vehicle includes the unmanned aerial vehicle organism and installs control system, communication module, power module, camera device and the undercarriage of taking the cursory on the unmanned aerial vehicle organism, airborne GPS rover and depth finder install in the unmanned aerial vehicle organism.
Further, the unmanned aerial vehicle body comprises a body, wings and a power system, wherein the wings are connected with the body, the body comprises a shell and an inner cavity, the inner cavity is used for accommodating a power module, a control system, a communication module and a depth finder host, the wings comprise side wings and tail wings, and the tail wings comprise vertical tail wings and horizontal tail wings connected with the vertical tail wings; the power system comprises a front propeller arranged at the front part of the fuselage and four rotors arranged at two ends of a cantilever of each side wing; when the amphibious unmanned aerial vehicle takes off, the aircraft is lifted to a certain height or hovered by the lift force generated by the rotor wing on the cantilever; when the amphibious unmanned aerial vehicle descends, the stable descending of the body from a high position is realized through the resistance generated by the rotor 4; when the unmanned aerial vehicle stably navigates in the air or on the water surface, the front propeller generates horizontal thrust to control the horizontal propulsion speed.
Further, take cursory undercarriage to install in unmanned aerial vehicle fuselage below both sides, the cursory landing is used for descending at surface of water and land.
Furthermore, camera device passes through the remote control cloud platform and installs in fuselage front portion below for gather the peripheral image of unmanned aerial vehicle.
Further, set up in the centre of amphibious unmanned aerial vehicle fuselage middle section below undercarriage the depth finder, the depth finder includes telescopic bracket, depth finder probe, touches the water sensor, telescopic bracket installs in the fuselage bottom, with depth finder probe connection, through the flexible length of support joint control depth finder probe, touch the water sensor and be located telescopic bracket front end for judge whether the depth finder probe submerges the surface of water, the depth finder probe passes through the data line and is connected with the internal depth finder host computer of fuselage.
Further, control system includes unmanned aerial vehicle flight control module and control camera device, the sensor control module of depth finder, control system is connected with communication module, receives and responds remote control equipment's signal.
Furthermore, the GPS reference station is used for receiving GPS satellite signals at fixed points and sending differential correction data signals to the amphibious unmanned aerial vehicle in real time, when the amphibious unmanned aerial vehicle performs measurement at each measuring point, the correction data signals of the GPS reference station are received through the onboard GPS rover, and the plane coordinates of the amphibious unmanned aerial vehicle are positioned through the cooperation of the onboard GPS rover and the GPS reference station.
Furthermore, the GPS reference station comprises a reference station host, a GPS radio station, a GPS receiver and a hand book, the GPS reference station receives GPS signals of a GPS satellite for a fixed point, the hand book is used for setting GPS parameters, the GPS receiver is in communication connection with the GPS satellite through a data link to acquire the GPS signals, the GPS receiver is connected with the reference station host through a circuit, the reference station host is used for analyzing positioning information according to the acquired GPS signals, the GPS radio station is connected with the reference station host through a circuit, and the GPS radio station is responsible for being in radio communication with an onboard GPS mobile station.
Furthermore, the main control equipment comprises a display, a memory, a processor, a data communication radio station and a power supply, all the parts are connected with each other through data lines, the display is used for displaying the running data of the amphibious unmanned aerial vehicle and the data information in the measuring process, the data communication radio station is connected with a data communication radio station antenna through a wire, a leading line and a measuring section line of the amphibious unmanned aerial vehicle are arranged through the main control equipment through the data communication radio station, the measured water depth data and the GPS measured data sent back by the amphibious unmanned aerial vehicle are received, and the error in actual measurement is corrected.
The invention has the beneficial effects that:
compared with the prior art, the underwater terrain measuring device disclosed by the invention is an autonomous navigation, combines the advantages of an unmanned aerial vehicle and an unmanned ship, is slightly influenced by water surface and shoreside environment, can easily span steep bank landslides and regions which are difficult for the unmanned ship to pass through, such as beach islands and algae gathering areas in water, flexibly and efficiently carry out underwater terrain measuring work, saves manpower and reduces the risk of personnel and equipment damage through a vertical take-off, landing and flight mode; based on the water surface navigation mode, the single-beam depth measurement device with low price can be carried to complete the measurement task. The device has the advantages of flexible application, light weight, small volume and low cost, and provides an effective tool for underwater topography measurement of small and medium-sized lakes and rivers.
Drawings
FIG. 1 is a schematic structural diagram of an underwater terrain measuring device of a vertical take-off and landing fixed wing amphibious unmanned aerial vehicle;
FIG. 2 is a schematic structural diagram of an amphibious unmanned aerial vehicle according to the present invention;
FIG. 3 is a schematic structural diagram of the depth finder of the present invention;
FIG. 4 is a schematic view of measurement of a water area by the amphibious unmanned aerial vehicle;
in the figure: the system comprises a fuselage, a side wing, a cantilever, a rotor, a propeller, a vertical tail, a horizontal tail, a buoy, a landing gear, a depth finder, a GPS rover, a camera, an amphibious unmanned aerial vehicle, a remote control device, a main control device, a data communication radio, a GPS reference station receiver, a GPS satellite, a measured water bottom, a water surface, a measurement fault line, a measured water area, a telescopic support 101, a telescopic support 102, a water touch sensor 103, a depth probe 104, a depth probe 105, a depth probe data connecting line, a telescopic support base 106 and a water touch sensor data line 107.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, the underwater topography measuring device based on the vertical take-off and landing fixed wing amphibious unmanned aerial vehicle comprises an amphibious unmanned aerial vehicle 13, a GPS reference station 18 (a ground fixed observation station which continuously observes satellite navigation signals for a long time and transmits observation data to a data center in real time or at regular time through a communication facility), a main control device 15 and a remote control device 14, wherein all the parts are communicated through a radio communication link 19. The GPS reference station 18, the main control device 15 and the remote control device 14 perform control operation on the operation of the amphibious unmanned aerial vehicle 13 on the shore of the measured water area. The amphibious unmanned aerial vehicle 13 can take off and land vertically on land or on the water surface, and can sail on the water surface when traveling underwater surveying and mapping.
As shown in fig. 2, the amphibious unmanned aerial vehicle 13 mainly includes an unmanned aerial vehicle body, and a control system, a communication module, a power module, a camera 12 and an undercarriage 9 with a buoy 8 mounted on the unmanned aerial vehicle body, and the onboard GPS rover 11 and the depth finder 10 are mounted on the unmanned aerial vehicle body.
The unmanned aerial vehicle organism includes fuselage 1, the wing and the driving system who links to each other with fuselage 1. The machine body 1 is made of carbon fiber composite materials, a shell and an inner cavity are formed through injection molding, and the inner cavity is used for accommodating a battery, a power supply module, a control system, a communication module and a depth finder host. The wing comprises a side wing 2 and a tail wing, and the tail wing comprises a vertical tail wing 6 and a horizontal tail wing 7 connected with the vertical tail wing 6. The power system comprises a front propeller 5 mounted at the front of the fuselage and four rotors 4 mounted at the two ends of the cantilever 3 of each wing 2. When the amphibious unmanned aerial vehicle 13 takes off, the aircraft is lifted to a certain height or hovered by the lift force generated by the rotor 4 on the cantilever 3; when the amphibious unmanned aerial vehicle 13 descends, the stable descending of the body from a high position is realized through the resistance generated by the rotor 4; when the amphibious unmanned aerial vehicle 13 sails stably in the air or on the water surface, the front propeller 5 generates horizontal thrust to control the horizontal thrust speed. The motor of rotor 4 and leading screw 5 is brushless motor, and the screw adopts two-bladed oar.
The airborne GPS mobile station 11 is a GPS mobile station, is installed at the top of the body, is wrapped by waterproof materials, is used for acquiring the three-dimensional coordinate position of the unmanned aerial vehicle, and is used for navigation and measuring point positioning.
Take undercarriage 9 of cursory 8 to install in 1 below both sides of unmanned aerial vehicle fuselage, cursory 8 can adopt the foam material for descend on surface of water and land. The camera device 12 is installed below the front portion of the unmanned aerial vehicle body through a remote control holder and used for collecting peripheral images of the unmanned aerial vehicle and helping an operator to know a planned route and avoid obstacles.
Referring to fig. 3, a depth finder 10 is disposed in the middle of the undercarriage 9 below the middle section of the fuselage, the depth finder 10 is a depth sensor device with an automatic telescopic function, the depth finder 10 mainly includes a telescopic bracket 101, a depth finder probe 104, and a water contact sensor 103, the telescopic bracket 101 is mounted at the bottom of the fuselage, is connected with the single-beam depth finder probe 104, and controls the telescopic length of the depth finder probe 104 through a bracket joint 102. In a non-measuring state, the telescopic bracket 101 is in a contracted state, so that resistance can be reduced, the contact between the depth finder probe 104 and the ground or the water surface can be avoided, and in a measuring operation, the telescopic bracket 101 extends downwards to immerse the depth finder probe 104 into water. The water touch sensor 103 is located at the front end of the telescopic bracket 101 and used for judging whether the probe 104 of the depth finder is submerged in the water surface. The depth finder probe 104 is connected with the depth finder main body in the machine body through data lines (a water contact sensor data line 107 and a depth finder data connecting line 105).
The control system comprises an unmanned aerial vehicle flight control module, a camera device 12, a depth finder 10 and other sensor control modules. The unmanned aerial vehicle flight control module is also provided with a gyroscope and an attitude indicator, provides verified three-dimensional acceleration, angular velocity and geodetic magnetic field intensity, and ensures course. The control system is coupled to the communication module and receives and responds to signals from the remote control device 14.
The amphibious unmanned aerial vehicle 13 and the measuring equipment (the depth finder 10, the onboard GPS mobile station 11, the camera device 12 and the like) are powered by storage batteries, the battery pack and the power module are connected in parallel with the communication module, the depth finder 10, the onboard GPS mobile station 11, the control system and the power system through circuits, and the power module controls and distributes the storage batteries to supply power to the communication module, the depth finder 10, the onboard GPS mobile station 11, the control system and the power system.
The GPS reference station 18 comprises a reference station host, a GPS radio station, a GPS receiver 17 and a hand book, the GPS reference station 18 is used for receiving a GPS signal of a GPS satellite 20 at a fixed point, the hand book is used for setting GPS parameters, the GPS receiver 17 is in communication connection with the GPS satellite 20 through a data link to acquire the GPS signal, the GPS receiver 17 is connected with the reference station host through a line, the reference station host is used for analyzing positioning information according to the acquired GPS signal, the GPS radio station is connected with the reference station host through a line, and the GPS radio station is in charge of radio communication with a GPS mobile station. The GPS reference station 18 and the GPS mobile station 11 carried by the amphibious unmanned aerial vehicle 13 use the same GPS receiver, and the GPS reference station 18 is supported by a tripod and placed in a wide land on the shore to prevent signals and communication from being interfered. In the measurement process, the GPS reference station 18 is fixed, receives GPS satellite signals at a fixed point, and sends differential correction data signals to the amphibious unmanned aerial vehicle 13 in real time. When the amphibious unmanned aerial vehicle 13 carries out measurement to each measuring point, the airborne GPS rover station 11 receives the GPS signal of the GPS satellite 20, the radio station receives the correction information of the GPS reference station 18, and the plane coordinate of the amphibious unmanned aerial vehicle 13 can be accurately positioned by using the GPS-RTK technology.
The remote control equipment 14 and the main control equipment 15 can both realize remote control operation, and when the operation condition is complex and dangerous, the remote control equipment 14 is used for manual operation; under the condition of normal operation, a main control device 15 can be used for setting a route and a measuring point and implementing automatic operation.
The remote control equipment 14 is an operating device for manual control of the amphibious unmanned aerial vehicle 13, is designed for manual operation to be more convenient and faster, and is formed by improving a model airplane remote controller, and after control instructions are input through keys and rockers, the control instructions are sent to the amphibious unmanned aerial vehicle 13 through an antenna by a built-in communication module, and the start and stop, take-off, landing, hovering, navigation, course, navigational speed and the start and stop of the depth finder 19 of the amphibious unmanned aerial vehicle are controlled.
The main control equipment 15 comprises a display, a memory, a processor, a data communication radio station 16 and a power supply, all parts are connected with each other through data lines, the display is used for displaying the running data of the amphibious unmanned aerial vehicle 13 and the data information in the measuring process, the data communication radio station 16 is connected with a data communication radio station antenna through a wire, a leading line and a measuring section line of the amphibious unmanned aerial vehicle 13 are arranged through the main control equipment 15 through the data communication radio station 16, the measured water depth data and the GPS measured data sent back by the amphibious unmanned aerial vehicle 13 are received, and the error in actual measurement is corrected. The main control device 15 is provided with visual control software, and control parameter setting and data access can be implemented through a visual operation interface.
As shown in fig. 4, the GPS reference station 18, the main steering device 15, and the remote control device 14 perform control operations for the operation of the amphibious unmanned aerial vehicle 13 on the shore of the water area 24 to be measured. The amphibious unmanned aerial vehicle 13 can take off and land vertically on land or on the water surface, and can sail on the water surface when traveling underwater surveying and mapping. The whole device adopts a combined mode that a GPS is adopted to obtain plane coordinates and a depth finder 17 obtains depth data to carry out underwater topography measurement.
The above description is only an embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (7)
1. The utility model provides an underwater topography measuring device based on VTOL fixed wing amphibious unmanned aerial vehicle which characterized in that: the remote control device comprises an amphibious unmanned aerial vehicle (13), a GPS reference station (18), a main control device (15) and a remote control device (14), wherein the remote control device (14) and the main control device (15) are in wireless communication connection with the amphibious unmanned aerial vehicle (13), and the remote control device (14) and the main control device (15) are used for carrying out control operation on the operation of the amphibious unmanned aerial vehicle (13) on the shore of a measured water area; the amphibious unmanned aerial vehicle (13) can take off and land vertically on land or on the water surface, and can sail on the water surface when underwater surveying and mapping is carried out; the depth finder (10) and the airborne GPS rover station (11) are mounted on the amphibious unmanned aerial vehicle (13), wherein the airborne GPS rover station (11) is matched with the GPS reference station (18) to obtain plane coordinates, and the depth finder (10) is used for obtaining water depth data when the amphibious unmanned aerial vehicle (13) sails on the water surface; the amphibious unmanned aerial vehicle (13) comprises an unmanned aerial vehicle body, a control system, a communication module, a power supply module, a camera device (12) and an undercarriage (9) with a buoy (8), wherein the control system, the communication module, the power supply module, the camera device (12) and the undercarriage (9) are arranged on the unmanned aerial vehicle body, and the airborne GPS rover (11) and the depth finder (10) are arranged on the unmanned aerial vehicle body; the unmanned aerial vehicle body comprises a body, wings and a power system, wherein the wings and the power system are connected with the body, the body comprises a shell and an inner cavity, the inner cavity is used for accommodating a power supply module, a control system, a communication module and a depth finder host, the wings comprise side wings (2) and tail wings, and the tail wings comprise vertical tail wings (6) and horizontal tail wings (7) connected with the vertical tail wings (6); the power system comprises a front propeller (5) arranged at the front part of the body and four rotor wings (4) arranged at two ends of a cantilever (3) of each side wing (2); when the amphibious unmanned aerial vehicle takes off, the aircraft is lifted to a certain height or hovered by generating lift force through the rotor (4) on the cantilever (3); when the amphibious unmanned aerial vehicle descends, the stable descending of the body from a high position is realized through the resistance generated by the rotor wing (4); when the unmanned aerial vehicle stably navigates in the air or on the water surface, the front propeller (5) generates horizontal thrust to control the horizontal thrust speed; set up in the centre of amphibious unmanned aerial vehicle (13) fuselage middle section below undercarriage sounding appearance (10), sounding appearance (10) include telescopic bracket (101), sounding appearance probe (104), touch water sensor (103), telescopic bracket (101) are installed in the fuselage bottom, are connected with sounding appearance probe (104), through the flexible length of support joint (102) control sounding appearance probe (104), touch water sensor (103) and be located telescopic bracket (101) front end for judge sounding appearance probe (104) and whether do not sink into the surface of water, sounding appearance probe (104) are connected with the internal sounding appearance host computer of fuselage through the data line.
2. An underwater topography survey device based on VTOL fixed wing amphibious unmanned aerial vehicle as claimed in claim 1, wherein: take undercarriage (9) of cursory (8) to install in unmanned aerial vehicle fuselage below both sides, cursory (8) are used for descending at surface of water and land.
3. An underwater topography survey device based on VTOL fixed wing amphibious unmanned aerial vehicle as claimed in claim 1, wherein: the camera device (12) is installed below the front portion of the unmanned aerial vehicle body through a remote control holder and used for collecting peripheral images of the unmanned aerial vehicle.
4. An underwater topography survey device based on VTOL fixed wing amphibious unmanned aerial vehicle as claimed in claim 1, wherein: the control system comprises an unmanned aerial vehicle flight control module, a sensor control module for controlling the camera device (12) and the depth finder (10), and is connected with the communication module and used for receiving and responding to signals of the remote control equipment (14).
5. An underwater topography survey device based on VTOL fixed wing amphibious unmanned aerial vehicle as claimed in claim 1, wherein: the GPS reference station (18) is used for receiving GPS satellite signals at fixed points and sending differential correction data signals to the amphibious unmanned aerial vehicle (13) in real time, when the amphibious unmanned aerial vehicle (13) performs measurement at each measuring point, correction data signals of the GPS reference station (18) are received through the onboard GPS rover station (11), and plane coordinates of the amphibious unmanned aerial vehicle (13) are located through cooperation of the onboard GPS rover station (11) and the GPS reference station (18).
6. An underwater topography survey device based on VTOL fixed wing amphibious unmanned aerial vehicle as claimed in claim 1, wherein: the GPS reference station (18) comprises a reference station host, a GPS radio station, a GPS receiver (17) and a hand book, the GPS reference station (18) receives a GPS signal of a GPS satellite (20) for a fixed point, the hand book is used for setting GPS parameters, the GPS receiver (17) is in communication connection with the GPS satellite (20) through a data link to acquire the GPS signal, the GPS receiver (17) is connected with the reference station host through a circuit, the reference station host is used for analyzing positioning information according to the acquired GPS signal, the GPS radio station is connected with the reference station host through a circuit, and the GPS radio station is responsible for radio communication with the onboard GPS mobile station (11).
7. An underwater topography survey device based on VTOL fixed wing amphibious unmanned aerial vehicle as claimed in claim 1, wherein: the main control equipment (15) comprises a display, a memory, a processor, a data communication radio station (16) and a power supply, all parts are connected with each other through data lines, the display is used for displaying the running data of the amphibious unmanned aerial vehicle (13) and the data information in the measuring process, the data communication radio station (16) is connected with a data communication radio station antenna through a wire, a navigation line and a measuring section line of the amphibious unmanned aerial vehicle (13) are arranged through the main control equipment (15) through the data communication radio station (16), the measured water depth data and the GPS measured data sent back by the amphibious unmanned aerial vehicle (13) are received, and the error occurring in actual measurement is corrected.
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| CN112013995A (en) * | 2020-08-21 | 2020-12-01 | 中国科学院声学研究所 | Seawater temperature profile rapid measurement system and method based on unmanned aerial vehicle |
| CN112172425A (en) * | 2020-08-31 | 2021-01-05 | 南京航空航天大学 | Sea-air amphibious unmanned aerial vehicle for underwater multi-degree-of-freedom navigation and control method thereof |
| KR102238711B1 (en) * | 2020-09-25 | 2021-04-09 | 서광항업 주식회사 | Geodetic surveying device for measuring gps data |
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