CN113602496B - Satellite navigation positioning unmanned aerial vehicle loads miniature monitoring facilities - Google Patents
Satellite navigation positioning unmanned aerial vehicle loads miniature monitoring facilities Download PDFInfo
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- CN113602496B CN113602496B CN202111038050.5A CN202111038050A CN113602496B CN 113602496 B CN113602496 B CN 113602496B CN 202111038050 A CN202111038050 A CN 202111038050A CN 113602496 B CN113602496 B CN 113602496B
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 132
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 131
- 238000012806 monitoring device Methods 0.000 claims abstract description 9
- 238000000034 method Methods 0.000 claims description 15
- 238000009423 ventilation Methods 0.000 claims description 12
- 230000005484 gravity Effects 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 18
- 238000005070 sampling Methods 0.000 description 12
- 239000013049 sediment Substances 0.000 description 9
- 238000012876 topography Methods 0.000 description 4
- 230000003749 cleanliness Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 239000007788 liquid Substances 0.000 description 3
- 239000004033 plastic Substances 0.000 description 3
- 238000004804 winding Methods 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 238000007790 scraping Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000009414 blockwork Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C13/00—Surveying specially adapted to open water, e.g. sea, lake, river or canal
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/30—Assessment of water resources
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Hydrology & Water Resources (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Testing Or Calibration Of Command Recording Devices (AREA)
Abstract
The invention relates to the technical field of river channel monitoring, in particular to a satellite navigation positioning unmanned aerial vehicle loading miniature monitoring device; comprises an unmanned plane, a monitor, a connecting wire, a lifting device and a controller; the monitor comprises a monitor rod and a floating plate; a detector is arranged in the monitoring rod; a cavity is formed in the monitoring rod; a first magnet ring and an electric push rod are arranged in the cavity; according to the invention, the first magnet ring is pushed to move by the electric push rod, the second magnet ring moves together under the action of magnetic force common to the second magnet ring, and then the first magnet ring is matched with the thrust of the suspended garbage wound on the monitoring rod when the second magnet ring moves, so that the purpose that the suspended garbage in water flow can not be contacted with the monitoring instrument when the monitoring instrument monitors is achieved, the action force of the suspended garbage on the monitoring instrument caused by the water flow is prevented from being increased, the unmanned aerial vehicle flies unstably for a long time and has the risk of falling, and the use effect of the invention is improved.
Description
Technical Field
The invention relates to the technical field of river channel monitoring, in particular to a satellite navigation positioning unmanned aerial vehicle loading miniature monitoring device.
Background
The traditional method for manually monitoring the river channel mainly comprises the steps of driving a monitoring ship and the like into the monitoring river channel, and detecting and monitoring the flow velocity of water flow in the river channel through a detector on the river bed of the river channel; however, the traditional monitoring method has low monitoring efficiency, and meanwhile, the monitoring can not be performed under the condition of the turbulence of the water flow in the river channel so as to avoid danger; at present, unmanned aerial vehicle monitoring is generated to solve the defects of the traditional monitoring method; the unmanned aerial vehicle monitors the river course in two modes, one is that the unmanned aerial vehicle carries the radar detector to monitor the flow velocity of the river course water flow, another is that the unmanned aerial vehicle throws the buoy type measuring instrument into the river course to monitor the topography and the flow velocity of the river course; in-process that unmanned aerial vehicle used buoy type measuring apparatu to monitor among the prior art, although the surface of the river course of choosing does not have rubbish, but often suspend suspended rubbish and debris under the surface of water, suspended rubbish and debris in the rivers of river course twine on buoy type measuring apparatu when unmanned aerial vehicle surveys the river course to make buoy type measuring apparatu receive the effort increase in the rivers of river course, unmanned aerial vehicle's flight is unstable, and unmanned aerial vehicle has the risk that drops after rocking for a long time.
A chinese patent with application number CN201621309372.3 discloses a sampling unmanned aerial vehicle, including an unmanned aerial vehicle; the lifting device is detachably fixed at the lower part of the unmanned aerial vehicle body; the water body sampling equipment is connected with the lifting device and moves up and down under the pulling of the lifting device; the lifting device includes: the base is detachably fixed on the lower part of the unmanned aerial vehicle body; the connecting pipe is cylindrical and used for winding the traction rope, and two ends of the connecting pipe are fixedly connected with rope disc baffles respectively; the brake device is fixedly connected with the wire coil baffle plate through a shaft sleeve, and a mounting plate which is positioned at the outer side of the wire coil baffle plate and is fixedly connected with the unmanned aerial vehicle is arranged on the connecting pipe; the driving motor is used for rotating the connecting pipe, and an output shaft of the driving motor is connected with the connecting pipe through a clutch; but this technical scheme does not solve the problem of unmanned aerial vehicle with the suspension rubbish winding of sampling equipment in the aquatic after putting into the aquatic to make unmanned aerial vehicle rock in the sky and have the risk that drops after the sampling equipment is twined, and then cause the limitation of this scheme.
In view of the above, the present invention provides a satellite navigation positioning unmanned aerial vehicle loading micro-monitoring device, which solves the above technical problems.
Disclosure of Invention
In order to make up for the defects of the prior art, the invention provides the miniature monitoring equipment for loading the satellite navigation positioning unmanned aerial vehicle, which is characterized in that the first magnet ring is pushed to move by the electric push rod, the second magnet ring moves together under the action of the common magnetic force of the first magnet ring and then is matched with the thrust of the suspended garbage wound on the monitoring rod when the second magnet ring moves, so that the aim that the suspended garbage in water flow can not be contacted with the monitoring instrument when the monitoring instrument monitors is achieved, the action force of the suspended garbage on the monitoring instrument caused by the water flow is prevented from being increased, the unmanned aerial vehicle flies unstably for a long time and has the falling risk, the application place of the miniature monitoring equipment is increased, and the use effect of the miniature monitoring equipment is improved.
The technical scheme adopted for solving the technical problems is as follows: the invention relates to a satellite navigation positioning unmanned aerial vehicle loading miniature monitoring device, which comprises an unmanned aerial vehicle, a monitor, a connecting rope, a lifting device and a controller, wherein the connecting rope is connected with the unmanned aerial vehicle; the monitor comprises a monitor rod and a floating plate, and the overall density of the monitor is less than that of water; a detector is arranged in the monitoring rod; a cavity is formed in the monitoring rod; a first magnet ring and an electric push rod are arranged in the cavity; the electric push rod is fixedly connected to the end face, away from the detector, in the cavity; an output shaft of the electric push rod is fixedly connected with the first magnet ring; a second magnet ring corresponding to the first magnet ring is sleeved at one end of the monitoring rod, which is close to the detector; the gravity center of the detector is deviated to one side of the monitoring rod, on which the detector is arranged; the first magnet ring and the second magnet ring are magnetically attracted; the lifting device comprises a motor and a wheel disc; an output shaft of the motor is fixedly connected with the wheel disc; the connecting rope is wound on the wheel disc; the controller controls the lifting of the monitor by controlling the motor to drive the wheel disc to loosen the connecting rope and wind the connecting rope;
when in work; in the prior art, in the process of monitoring by using the buoy type measuring instrument, although the surface of a selected river channel is free of garbage, suspended garbage and sundries are suspended under the water surface, and the suspended garbage and sundries in the water flow of the river channel are wound on the buoy type measuring instrument when the unmanned aerial vehicle detects the river channel, so that the acting force of the buoy type measuring instrument in the water flow of the river channel is increased, the unmanned aerial vehicle flies unstably, and the unmanned aerial vehicle has the risk of falling after shaking for a long time;
when the river monitoring system is used, a worker selects a river to be monitored through the controller, so that the controller controls the unmanned aerial vehicle to fly and to find the river to be monitored through satellite navigation and positioning, when the unmanned aerial vehicle reaches the upper part of the river, the controller controls the unmanned aerial vehicle to hover, and then controls the lifting device to loosen the connecting rope, so that the monitor is placed into the river, after the monitor falls into the river, the unmanned aerial vehicle pulls the monitor through the connecting rope, one end of the monitoring rod provided with the detector is sunk into the water surface, and one end of the floating plate and the monitoring rod, which are not provided with the detector, are positioned on the water surface, and the detector detects the topography and the water flow rate of the river; when suspended garbage in water flow, such as a plastic bag, is wound at one end of the monitoring rod, where the detector is provided with the detector, the acting force of the water flow is increased, so that the force is transmitted to the unmanned aerial vehicle by the monitor through the connecting rope, at the moment, the unmanned aerial vehicle flies unstably, so that the controller controls the electric push rod to push the first magnet ring, the second magnet ring and the first magnet ring move together towards the direction close to the detector under the action of magnetic force between the second magnet ring and the first magnet ring, and in the moving process of the second magnet ring, the second magnet ring pushes the suspended garbage wound on the monitoring rod away from the monitoring rod, so that the unmanned aerial vehicle hovers stably; the second magnet ring pushes suspended garbage wound on the monitoring rod away from the monitoring rod, and the controller controls the electric push rod to pull the first magnet ring back to the original position, so that the second magnet ring also returns to the original position together, and the controller controls the second magnet ring to move back and forth on the monitoring rod; after the monitor finishes monitoring the river channel, the controller controls the lifting device to wind the connecting rope, so that the monitor is pulled up and retracted onto the unmanned aerial vehicle, and then the unmanned aerial vehicle returns to the position of a worker under the guidance of satellite navigation positioning;
according to the invention, the first magnet ring is pushed to move by the electric push rod, the second magnet ring moves together under the action of magnetic force common to the second magnet ring, and then the first magnet ring is matched with the thrust of the suspended garbage wound on the monitoring rod when the second magnet ring moves, so that the aim that the suspended garbage in water flow can not be contacted with the monitoring instrument when the monitoring instrument monitors is achieved, the action force of the suspended garbage on the monitoring instrument is prevented from being increased, the unmanned aerial vehicle flies unstably for a long time and has the risk of falling, the application place of the unmanned aerial vehicle in use is increased, and the use effect of the unmanned aerial vehicle is improved.
Preferably, a sliding groove is arranged on the outer side surface of the monitoring rod; the number of the sliding grooves is two, the two sliding grooves are symmetrically distributed about the cavity, the two sliding grooves are connected with the second magnet ring in a sliding mode, and the length of each sliding groove is equal to the moving distance of the second magnet ring; an annular groove is formed in the end face, close to the detector, of the floating plate; the shape of the annular groove is the same as that of the second magnet ring, and the second magnet ring is positioned in the annular groove in an initial state;
when the device works, the second magnet ring slides relative to the sliding groove under the action of magnetic force common to the first magnet ring, so that the second magnet ring slides out of the annular groove to push away suspended garbage wound on the monitoring rod, and then the second magnet ring slides in the opposite direction until the second magnet ring reenters the annular groove; after the monitor finishes monitoring, the controller moves the second magnet ring through the electric push rod again, and scrapes off sediment in river water attached to the monitor rod;
according to the invention, the second magnet ring slides in the sliding groove, so that when the second magnet ring moves to one end of the monitoring rod far away from the floating plate, the second magnet ring is rushed down from the monitoring rod by water flow turbulence in a river channel, and the stability of the invention in use cannot be ensured; meanwhile, the second magnet ring is put into the annular groove, so that the outer side surface and the upper end surface of the second magnet block cannot be contacted with river water when the monitor is in the river water; therefore, sediment in river water cannot be attached to the second magnet ring, and then the second magnet ring is matched with sediment on the monitoring rod by scraping away the second magnet block, so that the cleanliness of the monitoring instrument is guaranteed.
Preferably, the monitoring rod is provided with a through hole; the number of the through holes is two, the two through holes are symmetrically distributed relative to the cavity, and the through holes are communicated with the annular groove and the cavity; one end of the monitoring rod, which is far away from the detector, is provided with a ventilation port; the ventilation opening is communicated with the cavity;
when the device works, the second magnet slides out of the annular groove, so that river water in the river channel enters the cavity through the through hole, and air in the cavity is discharged from the ventilation hole; river water enters the cavity and then contacts with the first magnet ring, and then enters the lower part of the first magnet ring through the inner wall of the first magnet ring; when the first magnet ring moves upwards, river water above the first magnet ring enters the lower part of the first magnet ring through the inner wall of the first magnet ring until the liquid level of water flow in the cavity is level with the through holes, and when the first magnet ring and the second magnet ring return to the original positions, both ends of the two through holes are blocked; after the unmanned aerial vehicle flies back to the place where the staff is located, the staff controls the first magnet ring and the second magnet ring to move downwards through the controller, so that the through hole is exposed, and at the moment, the staff inclines the monitor, so that river water in the cavity is poured out and collected, and river water sampling is completed;
according to the invention, river water enters the cavity from the through hole, air in the cavity is discharged from the ventilation hole and then is matched with the first magnet ring and the second magnet ring to block the two ends of the through hole after the river water is collected, so that the purpose of sampling the river water is achieved, and the use effect of the river water sampling device is improved.
Preferably, the end face of the second magnet ring, which is close to the detector, is fixedly connected with a rubber ring; the cross section shape of the rubber ring is the same as that of the second magnet ring; in the axial direction of the monitoring rod, the length of the rubber ring plus the length of the second magnet ring is equal to the length of the first magnet ring plus the length of the detector, and the length of the annular groove is equal to the length of the second magnet ring plus the length of the rubber ring;
when the monitoring rod is in operation, the second magnet ring moves downwards, so that the second magnet ring moves together with the rubber ring, when the rubber ring reaches the top end of the monitoring rod, the end face of the rubber ring, which is far away from the floating plate, is flush with the end face of the monitoring rod, which is far away from the floating plate, so that the second magnet ring and the rubber ring can clean suspended garbage wound on the whole monitoring rod, and meanwhile, the suspended garbage is prevented from being wound on the detector after being pushed away, the condition of influencing the detection of the detector occurs, the using effect of the monitoring rod is guaranteed, and the stability of the monitoring rod in the implementation process is further improved.
Preferably, the outer side surface of the monitoring rod is provided with a water outlet; the water outlet is close to the bottom of the cavity, the water outlet is communicated with the cavity, and a water outlet plug is plugged in the water outlet; the water outlet plug can be pulled out;
when the unmanned aerial vehicle is in work, a worker controls the electric push rod to move through the controller after the unmanned aerial vehicle flies back, so that the first magnet ring and the second magnet ring move, and the two through holes are exposed; the staff pulls out the water outlet plug from the water outlet, so that the river water in the cavity flows out from the water outlet, the staff collects the river water, and the condition that the staff cannot collect the river water completely when the staff inclines the monitor is prevented; when the river water flows out of the water outlet, air enters the cavity through the two through holes, so that the condition that the air pressure in the cavity is reduced during the process of flowing out of the cavity and the river water cannot continuously flow out is prevented, and the use effect of the invention is further ensured.
Preferably, the output shaft of the electric push rod is fixedly connected with the inner side surface of the first magnet ring, a cylindrical groove is formed in the end surface, close to the detector, of the output shaft of the electric push rod, and through holes are uniformly formed in the outer side surface of the output shaft of the electric push rod; the through hole is communicated with the cylindrical groove;
when the electric push rod works, the output shaft of the electric push rod pushes the middle part of the first magnet ring, so that the situation that after the electric push rod pushes one side of the first magnet ring and the monitoring rod generate friction, the stress of the first magnet ring is uneven and finally the first magnet ring is clamped is avoided, meanwhile, river water in a river channel enters a cylindrical groove through a through hole after entering the cavity, and then enters the lower part of the first magnet ring from the cylindrical groove, so that the actual use effect of the electric push rod is ensured.
The beneficial effects of the invention are as follows:
1. according to the invention, the first magnet ring is pushed to move by the electric push rod, the second magnet ring moves together under the action of magnetic force common to the second magnet ring, and then the first magnet ring is matched with the thrust of the suspended garbage wound on the monitoring rod when the second magnet ring moves, so that the aim that the suspended garbage in water flow can not be contacted with the monitoring instrument when the monitoring instrument monitors is achieved, the action force of the suspended garbage on the monitoring instrument is prevented from being increased, the unmanned aerial vehicle flies unstably for a long time and has the risk of falling, the application place of the unmanned aerial vehicle in use is increased, and the use effect of the unmanned aerial vehicle is improved.
2. According to the invention, the second magnet ring slides in the sliding groove, so that when the second magnet ring moves to one end of the monitoring rod far away from the floating plate, the second magnet ring is rushed down from the monitoring rod by water flow turbulence in a river channel, and the stability of the invention in use cannot be ensured; meanwhile, the second magnet ring is put into the annular groove, so that the outer side surface and the upper end surface of the second magnet block cannot be contacted with river water when the monitor is in the river water; therefore, sediment in river water cannot be attached to the second magnet ring, and then the second magnet ring is matched with sediment on the monitoring rod by scraping away the second magnet block, so that the cleanliness of the monitoring instrument is guaranteed.
3. According to the invention, river water enters the cavity from the through hole, air in the cavity is discharged from the ventilation hole and then is matched with the first magnet ring and the second magnet ring to block the two ends of the through hole after the river water is collected, so that the purpose of sampling the river water is achieved, and the use effect of the river water sampling device is improved.
Drawings
The invention is further described below with reference to the accompanying drawings.
FIG. 1 is a perspective view of the present invention;
FIG. 2 is a perspective cross-sectional view of the monitor of the present invention;
FIG. 3 is a cross-sectional view of the monitor of the present invention;
fig. 4 is an enlarged view at a in fig. 3;
in the figure: 1. unmanned plane; 11. a monitoring rod; 12. a floating plate; 13. a detector; 14. a cavity; 15. a first magnet ring; 16. an electric push rod; 17. a second magnet ring; 18. a sliding groove; 19. an annular groove; 2. a monitor; 21. a through port; 22. a water outlet; 23. a water plug; 24. a cylindrical groove; 25. a through hole; 26. a ventilation port; 3. a connecting rope; 4. a lifting device; 5. a rubber ring.
Detailed Description
The invention is further described in connection with the following detailed description in order to make the technical means, the creation characteristics, the achievement of the purpose and the effect of the invention easy to understand.
As shown in fig. 1 to 4, the satellite navigation positioning unmanned aerial vehicle loading miniature monitoring device comprises an unmanned aerial vehicle 1, a monitor 2, a connecting rope 3, a lifting device 4 and a controller; the monitor 2 comprises a monitor rod 11 and a floating plate 12, and the density of the whole monitor 2 is less than that of water; a detector 13 is arranged in the monitoring rod 11; a cavity 14 is arranged in the monitoring rod 11; a first magnet ring 15 and an electric push rod 16 are arranged in the cavity 14; the electric push rod 16 is fixedly connected to the end surface, away from the detector 13, of the cavity 14; the output shaft of the electric push rod 16 is fixedly connected with a first magnet ring 15; a second magnet ring 17 corresponding to the first magnet ring 15 is sleeved at one end of the monitoring rod 11 close to the detector 13; the gravity center of the detector is deviated to one side of the monitoring rod 11 provided with the detector 13; the first magnet ring 15 and the second magnet ring 17 are magnetically attracted; the lifting device 4 comprises a motor and a wheel disc; an output shaft of the motor is fixedly connected with the wheel disc; the connecting rope 3 is wound on the wheel disc; the controller controls the lifting of the monitor 2 by controlling the motor to drive the wheel disc to loosen the connecting rope 3 and winding the connecting rope 3;
when in work; in the prior art, in the process of monitoring by using the buoy type measuring instrument, although the surface of a selected river channel is free of garbage, suspended garbage and sundries are suspended under the water surface, and the suspended garbage and sundries in the water flow of the river channel are wound on the buoy type measuring instrument when the unmanned aerial vehicle 1 detects the river channel, so that the acting force of the buoy type measuring instrument in the water flow of the river channel is increased, the unmanned aerial vehicle 1 flies unstably, and the unmanned aerial vehicle 1 has the risk of falling after shaking for a long time;
when the river monitoring system is used, a worker selects a river to be monitored through the controller, so that the controller controls the unmanned aerial vehicle 1 to fly and find the river to be monitored through satellite navigation and positioning, when the unmanned aerial vehicle 1 reaches the upper part of the river, the controller controls the unmanned aerial vehicle 1 to hover, then controls the lifting device 4 to loosen the connecting rope 3, so that the monitor 2 is placed in the river, after the monitor 2 falls into the river, the unmanned aerial vehicle 1 pulls the monitor 2 through the connecting rope 3, one end of the monitoring rod 11 provided with the detector 13 sinks into the water surface, one ends of the floating plate 12 and the monitoring rod 11, which are not provided with the detector 13, are positioned on the water surface, and the detector 13 detects the topography and the flow velocity of the water flow of the river; when suspended garbage such as a plastic bag in water flow is wound at one end of the monitoring rod 11 provided with the detector 13, the acting force of the water flow is increased by the monitor 2, so that the force is transmitted to the unmanned aerial vehicle 1 by the monitor 2 through the connecting rope 3, the unmanned aerial vehicle 1 flies unstably at the moment, the controller controls the electric push rod 16 to push the first magnet ring 15, so that the second magnet ring 17 moves along with the first magnet ring 15 towards the direction close to the detector 13 under the action of magnetic force between the second magnet ring 15, and in the moving process of the second magnet ring 17, the second magnet ring 17 pushes the suspended garbage wound on the monitoring rod 11 away from the monitoring rod 11, so that the unmanned aerial vehicle 1 hovers stably; the second magnet ring 17 pushes the suspended garbage wound on the monitoring rod 11 away from the monitoring rod 11, and then the controller controls the electric push rod 16 to pull the first magnet ring 15 back to the original position, so that the second magnet ring 17 is also returned to the original position, and the controller controls the second magnet ring 17 to move back and forth on the monitoring rod 11; after the monitor 2 finishes monitoring the river channel, the controller controls the lifting device 4 to wind the connecting rope 3, so that the monitor 2 is pulled up and retracted onto the unmanned aerial vehicle 1, and then the unmanned aerial vehicle 1 returns to the position of a worker under the guidance of satellite navigation positioning;
according to the invention, the first magnet ring 15 is pushed to move by the electric push rod 16, the first magnet ring 15 moves together with the second magnet ring 17 under the action of the common magnetic force of the first magnet ring 17, and then the second magnet ring 17 is matched with the thrust of the suspended garbage wound on the monitoring rod 11 when moving, so that the aim that the suspended garbage in the water flow can not be contacted with the monitoring instrument 2 when the monitoring instrument 2 monitors is achieved, the action force of the water flow on the monitoring instrument 2 caused by the suspended garbage is prevented from being increased, the risk that the unmanned aerial vehicle 1 is unstable in long-time flight and falls is increased, the application place of the unmanned aerial vehicle is increased, and the use effect of the unmanned aerial vehicle is improved.
As an embodiment of the present invention, a sliding groove 18 is provided on the outer side surface of the monitor rod 11; the number of the sliding grooves 18 is two, the two sliding grooves 18 are symmetrically distributed relative to the cavity 14, the two sliding grooves 18 are connected with the second magnet ring 17 in a sliding mode, and the length of the sliding grooves 18 is equal to the moving distance of the second magnet ring 17; an annular groove 19 is formed in the end face, close to the detector 13, of the floating plate 12; the shape of the annular groove 19 is the same as that of the second magnet ring 17, and the second magnet ring 17 is positioned in the annular groove 19 in an initial state;
when the device works, the second magnet ring 17 slides relatively to the sliding groove 18 under the action of magnetic force common to the first magnet ring 15, so that the second magnet ring 17 slides out of the annular groove 19 to push away suspended garbage wound on the monitoring rod 11, and then the second magnet ring 17 slides in the opposite direction until the second magnet ring 17 reenters the annular groove 19; after the monitor 2 finishes monitoring, the controller moves the second magnet ring 17 through the electric push rod 16 again, and scrapes off sediment in river water attached on the monitor rod 11;
according to the invention, the second magnet ring 17 slides in the sliding groove 18, so that when the second magnet ring 17 moves to one end of the monitoring rod 11 far away from the floating plate 12, the second magnet ring 17 is flushed down from the monitoring rod 11 due to turbulence of water flow in a river channel, and the stability of the invention in use cannot be ensured; meanwhile, the second magnet ring 17 is received in the annular groove 19, so that the outer side surface and the upper end surface of the second magnet block cannot be contacted with river water when the monitor 2 is in the river water; so that the second magnet ring 17 can not be attached with sediment in river water, and then is matched with the second magnet block to scrape sediment on the monitoring rod 11, thereby ensuring the cleanliness of the monitor 2.
As an embodiment of the present invention, the monitoring rod 11 is provided with a through hole 21; the number of the through holes 21 is two, the two through holes 21 are symmetrically distributed about the cavity 14, and the through holes 21 are communicated with the annular groove 19 and the cavity 14; an air vent 26 is formed in one end of the monitoring rod 11, which is far away from the detector 13; the ventilation opening 26 is communicated with the cavity 14;
when the second magnet block works, the second magnet block slides out of the annular groove 19, so that river water in a river channel enters the cavity 14 through the through hole 21, and air in the cavity 14 is discharged from the ventilation hole 26; river water enters the cavity 14 and then contacts the first magnet ring 15, and then enters the lower part of the first magnet ring 15 through the inner wall of the first magnet ring 15; when the first magnet ring 15 moves upwards, river water above the first magnet ring 15 enters the lower part of the first magnet ring 15 through the inner wall of the first magnet ring 15 until the liquid level of water flow in the cavity 14 is level with the through holes 21, and both ends of the two through holes 21 are blocked when the first magnet ring 15 and the second magnet ring 17 return to the original positions; after the unmanned aerial vehicle 1 flies back to the place where the staff is located, the staff controls the first magnet ring 15 and the second magnet ring 17 to move downwards through the controller, so that the through hole 21 is exposed, and at the moment, the staff tilts the monitor 2, so that the river water in the cavity 14 is poured out and collected, and the river water sampling is completed;
according to the invention, river water enters the cavity 14 from the through hole 21, air in the cavity 14 is discharged from the ventilation hole 26 and then is matched with the first magnet ring 15 and the second magnet ring 17 to block the two ends of the through hole 21 after the river water is collected, so that the purpose of sampling the river water is achieved, and the using effect of the invention is increased.
As an implementation mode of the invention, the end face of the second magnet ring 17, which is close to the detector 13, is fixedly connected with a rubber ring 5; the cross section shape of the rubber ring 5 is the same as that of the magnet ring No. 17; in the axial direction of the monitoring rod 11, the length of the rubber ring 5 plus the length of the second magnet ring 17 is equal to the length of the first magnet ring 15 plus the length of the detector 13, and the length of the annular groove 19 is equal to the length of the second magnet ring 17 plus the length of the rubber ring 5;
when the monitoring rod is in operation, the second magnet ring 17 moves downwards, so that the second magnet ring 17 moves together with the rubber ring 5, when the rubber ring 5 reaches the top end of the monitoring rod 11, the end face of the rubber ring 5, which is far away from the floating plate 12, is flush with the end face of the monitoring rod 11, which is far away from the floating plate 12, so that the second magnet ring 17 and the rubber ring 5 can clean suspended garbage wound on the whole monitoring rod 11, and meanwhile, the suspended garbage is prevented from being wound on the detector 13 after being pushed away, the condition that the detection of the detector 13 is influenced occurs, the use effect of the monitoring rod is guaranteed, and the stability of the monitoring rod is further improved when the monitoring rod is implemented.
As an embodiment of the present invention, the outer side surface of the monitoring rod 11 is provided with a water outlet 22; the water outlet 22 is close to the bottom of the cavity 14, the water outlet 22 is communicated with the cavity 14, and a water outlet plug 23 is plugged in the water outlet 22; the water outlet plug 23 can be pulled out;
when the unmanned aerial vehicle is in operation, a worker controls the electric push rod 16 to move through the controller after the unmanned aerial vehicle 1 flies back, so that the first magnet ring 15 and the second magnet ring 17 move, and the two through holes 21 are exposed; the staff pulls out the water outlet plug 23 from the water outlet 22, so that the river water in the cavity 14 flows out from the water outlet 22, the staff collects the river water, and the condition that the staff cannot collect the river water completely when the staff inclines the monitor 2 is prevented; when the river water flows out of the water outlet 22, air enters the cavity 14 through the two through holes 21, so that the condition that the air pressure in the cavity 14 is reduced during the process of flowing out of the cavity 14 and the river water cannot flow out continuously is prevented, and the use effect of the invention is further ensured.
As an embodiment of the present invention, the output shaft of the electric push rod 16 is fixedly connected with the inner side surface of the first magnet ring 15, a cylindrical groove 24 is arranged on the end surface of the output shaft of the electric push rod 16, which is close to the detector 13, and through holes 25 are uniformly arranged on the outer side surface of the output shaft of the electric push rod 16; the through hole 25 is communicated with the cylindrical groove 24;
when the electric push rod works, the output shaft of the electric push rod 16 pushes the middle part of the first magnet ring 15, so that the situation that after the electric push rod 16 pushes one side of the first magnet ring 15 and the monitoring rod 11 generate friction, the stress of the first magnet ring 15 is uneven and finally the first magnet ring 15 is clamped is avoided, meanwhile, river water in a river channel enters the cavity 14 and then enters the cylindrical groove 24 through the through hole 25, and then enters the lower part of the first magnet ring 15 from the cylindrical groove 24, so that the actual use effect of the electric push rod is ensured.
The specific working procedure is as follows:
when the river monitoring system is used, a worker selects a river to be monitored through the controller, so that the controller controls the unmanned aerial vehicle 1 to fly and find the river to be monitored through satellite navigation and positioning, when the unmanned aerial vehicle 1 reaches the upper part of the river, the controller controls the unmanned aerial vehicle 1 to hover, then controls the lifting device 4 to loosen the connecting rope 3, so that the monitor 2 is placed in the river, after the monitor 2 falls into the river, the unmanned aerial vehicle 1 pulls the monitor 2 through the connecting rope 3, one end of the monitoring rod 11 provided with the detector 13 sinks into the water surface, one ends of the floating plate 12 and the monitoring rod 11, which are not provided with the detector 13, are positioned on the water surface, and the detector 13 detects the topography and the flow velocity of the water flow of the river; when suspended garbage such as a plastic bag in water flow is wound at one end of the monitoring rod 11 provided with the detector 13, the acting force of the water flow is increased by the monitor 2, so that the force is transmitted to the unmanned aerial vehicle 1 by the monitor 2 through the connecting rope 3, the unmanned aerial vehicle 1 flies unstably at the moment, the controller controls the electric push rod 16 to push the first magnet ring 15, so that the second magnet ring 17 moves along with the first magnet ring 15 towards the direction close to the detector 13 under the action of magnetic force between the second magnet ring 15, and in the moving process of the second magnet ring 17, the second magnet ring 17 pushes the suspended garbage wound on the monitoring rod 11 away from the monitoring rod 11, so that the unmanned aerial vehicle 1 hovers stably; the second magnet ring 17 pushes the suspended garbage wound on the monitoring rod 11 away from the monitoring rod 11, and then the controller controls the electric push rod 16 to pull the first magnet ring 15 back to the original position, so that the second magnet ring 17 is also returned to the original position, and the controller controls the second magnet ring 17 to move back and forth on the monitoring rod 11; after the monitor 2 finishes monitoring the river channel, the controller controls the lifting device 4 to wind the connecting rope 3, so that the monitor 2 is pulled up and retracted onto the unmanned aerial vehicle 1, and then the unmanned aerial vehicle 1 returns to the position of a worker under the guidance of satellite navigation positioning; the second magnet ring 17 slides relatively to the sliding groove 18 under the action of magnetic force common to the first magnet ring 15, so that the second magnet ring 17 slides out of the annular groove 19 to push away suspended garbage wound on the monitoring rod 11, and then the second magnet ring 17 slides in the opposite direction until the second magnet ring 17 reenters the annular groove 19; after the monitor 2 finishes monitoring, the controller moves the second magnet ring 17 through the electric push rod 16 again, and scrapes off sediment in river water attached on the monitor rod 11; the second magnet block slides out of the annular groove 19, so that river water in the river channel enters the cavity 14 through the through hole 21, and air in the cavity 14 is discharged from the ventilation hole 26; river water enters the cavity 14 and then contacts the first magnet ring 15, and then enters the lower part of the first magnet ring 15 through the inner wall of the first magnet ring 15; when the first magnet ring 15 moves upwards, river water above the first magnet ring 15 enters the lower part of the first magnet ring 15 through the inner wall of the first magnet ring 15 until the liquid level of water flow in the cavity 14 is level with the through holes 21, and both ends of the two through holes 21 are blocked when the first magnet ring 15 and the second magnet ring 17 return to the original positions; after the unmanned aerial vehicle 1 flies back to the place where the staff is located, the staff controls the first magnet ring 15 and the second magnet ring 17 to move downwards through the controller, so that the through hole 21 is exposed, and at the moment, the staff tilts the monitor 2, so that the river water in the cavity 14 is poured out and collected, and the river water sampling is completed; the second magnet ring 17 moves downwards, so that the second magnet ring 17 moves together with the rubber ring 5, when the rubber ring 5 reaches the top end of the monitoring rod 11, the end surface of the rubber ring 5, which is far away from the floating plate 12, is flush with the end surface of the monitoring rod 11, which is far away from the floating plate 12, so that the second magnet ring 17 and the rubber ring 5 can clean suspended garbage wound on the whole monitoring rod 11, and meanwhile, the suspended garbage is prevented from being wound on the detector 13 after being pushed away, the condition that the detection of the detector 13 is influenced occurs, the use effect of the invention is ensured, and the stability of the invention in implementation is further improved; after the unmanned aerial vehicle 1 flies back, the worker controls the electric push rod 16 to move through the controller, so that the first magnet ring 15 and the second magnet ring 17 move, and the two through holes 21 are exposed; the staff pulls out the water outlet plug 23 from the water outlet 22, so that the river water in the cavity 14 flows out from the water outlet 22, the staff collects the river water, and the condition that the staff cannot collect the river water completely when the staff inclines the monitor 2 is prevented; when the river water flows out of the water outlet 22, air enters the cavity 14 through the two through holes 21, so that the condition that the air pressure in the cavity 14 is reduced during the process of flowing out of the cavity 14 and the river water cannot flow out continuously is prevented, and the use effect of the invention is further ensured; the output shaft of the electric push rod 16 pushes the middle part of the first magnet ring 15, so that the situation that the first magnet ring 15 is stressed unevenly and finally the first magnet ring 15 is clamped after the electric push rod 16 pushes one side of the first magnet ring 15 and the monitoring rod 11 are rubbed is prevented, meanwhile, river water in a river channel enters the cavity 14 and then enters the cylindrical groove 24 through the through hole 25, and then enters the lower part of the first magnet ring 15 from the cylindrical groove 24, and the actual use effect of the invention is ensured.
The foregoing has shown and described the basic principles, principal features and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (4)
1. A satellite navigation positioning unmanned aerial vehicle loading miniature monitoring device comprises an unmanned aerial vehicle (1), a monitor (2), a connecting rope (3), a lifting device (4) and a controller; the monitor (2) comprises a monitor rod (11) and a floating plate (12), and the density of the whole monitor (2) is smaller than that of water; a detector (13) is arranged in the monitoring rod (11); the method is characterized in that: a cavity (14) is formed in the monitoring rod (11); a first magnet ring (15) and an electric push rod (16) are arranged in the cavity (14); the electric push rod (16) is fixedly connected to the end face, away from the detector (13), in the cavity (14); an output shaft of the electric push rod (16) is fixedly connected with a first magnet ring (15); a second magnet ring (17) corresponding to the first magnet ring (15) is sleeved at one end of the monitoring rod (11) close to the detector (13); the gravity center of the monitor (2) is deviated to one side of the monitor rod (11) provided with the detector (13); the first magnet ring (15) and the second magnet ring (17) are magnetically attracted;
a sliding groove (18) is formed in the outer side face of the monitoring rod (11) on the side, close to the detector (13), of the floating plate (12); the number of the sliding grooves (18) is two, the two sliding grooves (18) are symmetrically distributed about the cavity (14), a second magnet ring (17) is connected in the two sliding grooves (18) in a sliding manner, and the length of the sliding grooves (18) is equal to the moving distance of the second magnet ring (17); an annular groove (19) is formed in the end face, close to the detector (13), of the floating plate (12); the shape of the annular groove (19) is the same as that of the second magnet ring (17), and the second magnet ring (17) is positioned in the annular groove (19) in an initial state;
the monitoring rod (11) is provided with a through hole (21); the number of the through holes (21) is two, the two through holes (21) are symmetrically distributed about the cavity (14), and the through holes (21) are communicated with the annular groove (19) and the cavity (14);
a water outlet (22) is arranged on the outer side surface of the monitoring rod (11); the water outlet (22) is close to the bottom of the cavity (14), the water outlet (22) is communicated with the cavity (14), and a water outlet plug (23) is plugged in the water outlet (22); the water outlet plug (23) can be pulled out.
2. The satellite navigation positioning unmanned aerial vehicle loading micro-monitoring device according to claim 1, wherein: one end of the monitoring rod (11) far away from the detector (13) is provided with a ventilation port (26); the ventilation opening (26) is communicated with the cavity (14).
3. The satellite navigation positioning unmanned aerial vehicle loading micro-monitoring device according to claim 2, wherein: the end face, close to the detector (13), of the second magnet ring (17) is fixedly connected with a rubber ring (5); the cross section shape of the rubber ring (5) is the same as that of the second magnet ring (17); on the axial direction of the monitoring rod (11), the length of the rubber ring (5) plus the length of the second magnet ring (17) is equal to the length of the first magnet ring (15) plus the length of the detector (13), and the length of the annular groove (19) is equal to the length of the second magnet ring (17) plus the length of the rubber ring (5).
4. The satellite navigation positioning unmanned aerial vehicle loading micro-monitoring device according to claim 1, wherein: an output shaft of the electric push rod (16) is fixedly connected with the inner side surface of the first magnet ring (15), a cylindrical groove (24) is formed in the end surface, close to the detector (13), of the output shaft of the electric push rod (16), and through holes (25) are uniformly formed in the outer side surface of the output shaft of the electric push rod (16); the through hole (25) is communicated with the cylindrical groove (24).
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