CN115465414B - Measuring device adopting unmanned aerial vehicle and unmanned ship networking cluster and using method thereof - Google Patents
Measuring device adopting unmanned aerial vehicle and unmanned ship networking cluster and using method thereof Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B35/50—Vessels or floating structures for aircraft
- B63B35/52—Nets, slipways or the like, for recovering aircraft from the water
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B43/00—Improving safety of vessels, e.g. damage control, not otherwise provided for
- B63B43/02—Improving safety of vessels, e.g. damage control, not otherwise provided for reducing risk of capsizing or sinking
- B63B43/10—Improving safety of vessels, e.g. damage control, not otherwise provided for reducing risk of capsizing or sinking by improving buoyancy
- B63B43/14—Improving safety of vessels, e.g. damage control, not otherwise provided for reducing risk of capsizing or sinking by improving buoyancy using outboard floating members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H1/00—Propulsive elements directly acting on water
- B63H1/02—Propulsive elements directly acting on water of rotary type
- B63H1/12—Propulsive elements directly acting on water of rotary type with rotation axis substantially in propulsive direction
- B63H1/14—Propellers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/12—Use of propulsion power plant or units on vessels the vessels being motor-driven
- B63H21/17—Use of propulsion power plant or units on vessels the vessels being motor-driven by electric motor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
- B64C27/10—Helicopters with two or more rotors arranged coaxially
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/12—Ground or aircraft-carrier-deck installations for anchoring aircraft
- B64F1/125—Mooring or ground handling devices for helicopters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B43/00—Improving safety of vessels, e.g. damage control, not otherwise provided for
- B63B43/02—Improving safety of vessels, e.g. damage control, not otherwise provided for reducing risk of capsizing or sinking
- B63B43/10—Improving safety of vessels, e.g. damage control, not otherwise provided for reducing risk of capsizing or sinking by improving buoyancy
- B63B43/14—Improving safety of vessels, e.g. damage control, not otherwise provided for reducing risk of capsizing or sinking by improving buoyancy using outboard floating members
- B63B2043/145—Improving safety of vessels, e.g. damage control, not otherwise provided for reducing risk of capsizing or sinking by improving buoyancy using outboard floating members pneumatic, e.g. inflatable on demand
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Abstract
A measuring device adopting unmanned aerial vehicles and unmanned ships to form a network cluster and a using method thereof. Comprises a damping mechanism arranged on two ship bodies and a twist-shaped propeller arranged on two sides of the ship bodies; the method is characterized in that: the boat body is hollow, the front end part and the rear end part of the boat body are respectively provided with a rolling shaft, the tail ends of the two ends of the rolling shaft are respectively fixed with a swinging part, and a rolling disc is arranged at the position close to the swinging part on one side; the rolling shaft is bound by the hoop; the hoop piece is provided with a rolling shaft; a notch is formed in the middle of the hoop piece, a limiting rod is arranged in the notch, and one end of the limiting rod is screwed on the rolling shaft; the invention adopts the structure that the steel sheathing plate is arranged on the ship body; a single damping mechanism is fixed on the steel shroud plate; the two single damping mechanisms are spliced in a mirror image mode to form a damping mechanism structure, so that the two single ship bodies form a set of unmanned aerial vehicle platform through a set of damping mechanisms; the starting and stopping of the unmanned aerial vehicle group are facilitated.
Description
Technical Field
The invention relates to a measuring device adopting an unmanned aerial vehicle and an unmanned ship networking cluster and a using method thereof.
Background
With the development of intelligent unmanned systems such as unmanned aerial vehicles and ships and the popularization of unmanned aerial vehicle aerial photography technology and unmanned ship measurement technology, unmanned autonomous platforms represented by unmanned aerial vehicles (UAVUAAV) and unmanned boats (USVUV) have the characteristics of intelligence, flexibility and rapid maneuvering, are the leading development directions of measurement technologies, and are developed at high speed in recent years. In water conservancy and hydropower engineering surveying and mapping, an unmanned aerial vehicle aerial photogrammetry technology and an unmanned ship underwater topography measurement technology are widely applied, so that the time of manual field operation is reduced, and the aerial survey workload is increased by improving the efficiency. However, the types and the quantity of the sensors carried by the platforms are limited at present, and aiming at abundant geographic information resources and a large amount of engineering demand information in China, a single unmanned aerial vehicle and a single unmanned ship are used for work, so that the problems of insignificant efficiency improvement amount, high cost and complex operation still exist, and the requirements of water conservancy and electric surveying and mapping, intelligent construction and the like on multi-source data products are difficult to meet. In addition, although the technologies of unmanned aerial vehicles and unmanned ships have advanced after decades of development, the data, performance and work efficiency of single operation are limited, and the single operation is greatly influenced by the restrictions of weather, environment and the like.
The unmanned ship can replace manpower to complete tasks with long time consumption, large range and high risk in the water area. The traditional unmanned platform design adopts a method of separately designing an unmanned ship platform and a measuring sensor, which may cause the unmanned platform to generate bubbles during navigation, and the measuring sensor cannot work due to the large influence of the bubbles on sound attenuation and scattering; and because the installation structure design is unreasonable, the rigidity is insufficient or the installation of the measuring transducer is not firm, the transducer is influenced by wind, wave and flow impact during navigation, and the transducer and the measuring platform generate high-frequency resonance, the real attitude of the sounding transducer is inconsistent with the data measured by the attitude sensor, and the system deviation is generated.
Disclosure of Invention
The invention aims to provide a measuring device adopting an unmanned aerial vehicle and an unmanned ship networking cluster and a using method thereof, so that the problem that water waves and bubbles are easily generated by the driving of a traditional measuring ship is solved; the problem that unmanned aerial vehicles and unmanned ships cannot cluster is solved.
The invention adopts the following technical scheme for solving the technical problems: a measuring device adopting an unmanned aerial vehicle and an unmanned ship to form a network cluster comprises damping mechanisms erected on two ship bodies and twist propellers arranged on two sides of the ship bodies; the method is characterized in that: the boat body is hollow, the front end part and the rear end part of the boat body are respectively provided with a rolling shaft, the tail ends of the two ends of the rolling shaft are respectively fixed with a swinging part, and a rolling disc is arranged at the position close to the swinging part on one side; the rolling shaft is bound by the hoop; balls are arranged on the circumferential surface of the hoop piece, which is in contact with the rolling shaft; a notch is formed in the middle of the hoop piece, a limiting rod is arranged in the notch, and one end of the limiting rod is screwed on the rolling shaft;
a hollow pipe is sleeved outside a rotating shaft of the first brushless motor, the hollow pipe and the roller are connected through a hollow connecting plate in a pulling mode, the hollow connecting plate is movably connected with the roller, the roller is hollow, and a square notch which is convenient for a universal flexible shaft to penetrate into and move in a limiting range is formed in one side surface of the roller;
the hull is provided with a steel shroud plate; a single damping mechanism is fixed on the steel shroud plate; the two single damping mechanisms are spliced in a mirror image mode to form the damping mechanism, and a hoop is adopted to lock the splicing position of the two single damping mechanisms;
the top body of the coaxial multi-rotor aircraft is provided with a second hinge, the second hinge is hinged with the first hinge, and the hinged moving direction of the second hinge is vertical; the fan blades are hinged outside the first hinge, and the hinged moving direction is horizontal.
Furthermore, the blocking ball is penetrated by the paddle rod, and a bearing is arranged between the paddle rod and the blocking ball; the tail end of the paddle rod is fixed with a twist-shaped propeller.
Furthermore, a second brushless motor is fixed on the other side of the center position in the ship body, the second brushless motor is transmitted to the air pump fixed on the second brushless motor through a gear, and a rotor of the air pump is transmitted to a second mechanical air pump which is arranged in mirror symmetry with the rotor of the air pump through a coupling.
Furthermore, a hull side groove is formed in the side face of the bottom of the hull, a cavity is formed in the position corresponding to the hull side groove, and an air bag containing mechanism is fixed in the cavity; the airbag housing mechanism comprises: a reel motor is arranged in the cylinder, an air bag is wound on a roller of the reel motor, an air pipe of the air bag is communicated with an air pump or a second mechanical air pump, and a steel wire mesh is fastened on the outer surface layer of the air bag; the air bag penetrates through the side wall opening of the cylinder and then penetrates into the side groove of the ship body.
Further, the single damping mechanism is composed of: the first damping frame forms a closed loop structure through a straight connecting plate, and an O-shaped component is welded at the extending end of the first damping frame; the top end of the second damping frame in the opening direction is movably hinged with a triangular yoke plate, the lower end of the opening direction is movably hinged with an anchor ear hinge piece, the back of the anchor ear hinge piece is hinged with one end of an air column, and the other end of the air column is movably hinged with the other end of the triangular yoke plate; the air column is positioned inside the direct connection plate.
Furthermore, an equipment clamping mechanism is arranged at the bottom of the coaxial multi-rotor machine, and a magnetic hook is fixed on the side surface of the coaxial multi-rotor machine; the magnetic hook is matched with the electromagnetic plate; equipment fixture and coaxial many gyroplanes body between still be equipped with the vibration damping disk, the vibration damping disk constitute: the components of the device are divided into a hanging disc and a four-corner bracket; the included angles of the four end corners of the four-corner support frame are connected with the suspension disc through air columns, and the top surfaces of the four end corners of the four-corner support frame are provided with damping balls; the four-corner bracket is fastened with the equipment clamping mechanism, and the suspension disc is fastened with the coaxial multi-rotor aircraft body;
further, the hull side open and to have the hole groove, the embedding has stifled ball in the hole groove, oar pole one end insert in the goods of furniture for display rather than for use in the back be connected with universal flexible axle, universal flexible axle wear out by the goods of furniture for display rather than for use, be connected with the pivot of first brushless motor behind hollow connecting plate, the hollow tube.
Furthermore, a first cloth net pipe and a second cloth net pipe are respectively arranged at the top of the single damping mechanism; the two damping mechanisms respectively form two pairs of first and second cloth net pipes; a square grid is tied between the two pairs of the first and second mesh distribution pipes, and an electromagnetic plate is fixed at the bottom of the square grid; the magnetic generating area of the electromagnetic plate is divided into a plurality of grid areas, the single grid area is controllable in magnet, and the grid position of the single grid area is the same as that of the grid; and an independent electric lifting platform is arranged at the bottom of each grid area of the electromagnetic plate.
Furthermore, a stepping motor is arranged at the center position in the ship body, and the stepping motor is synchronously connected to the front rolling disc and the rear rolling disc through a belt; a first electronic module is arranged in the ship body; and a second electronic module is arranged in the coaxial multi-rotor aircraft.
A use method of a measuring device adopting an unmanned aerial vehicle and unmanned ship networking cluster comprises the following steps:
s1, inserting one end of a paddle rod with a twist-shaped propeller into a swing part, and ensuring that the paddle rod is connected and fastened with a universal flexible shaft; starting a stepping motor to perform forward or reverse rotation detection to ensure that the swing amplitude of the four twist propellers outside the ship body is normal; obviously, the swing amplitude is determined by the length of the notch of the limiting rod on the hoop;
s2, the four twist propellers are immersed under water through the control of a stepping motor; then, a first brushless motor is started, and the propeller shaft is driven by a universal flexible shaft to enable the twist-shaped propeller to start working; because the ship body is driven by the four twist propellers, the rotating speed of the ship body can be slower than that of a single propeller under the condition of meeting the requirement of the designed navigational speed, and the same thrust can be generated. In addition, the twist propeller is particularly obliquely moved, and the blades are twisted to form a twist structure, so that water splash generated by the twist propeller is small, and bubbles are not easy to generate;
s3, the ship body sails to meet the requirements of partial measurement; when the ship body is needed to be used as a floating body of equipment; it turns off the first brushless motor; then the stepping motor is started again to enable the twist-shaped propeller to be separated from the water surface and suspended; then starting a second brushless motor to enable the air pump and the mechanical air pump to work synchronously; meanwhile, the reel motor starts to rotate reversely, so that the air bag wound in the reel motor is discharged through the hull side groove; because the air pump and the mechanical air pump work synchronously to inject air into the air bags, flat blanket-shaped air bag floating bodies are formed on two sides of the ship body; as a deflation recovery step of the balloon: then the air pump and the mechanical air pump are started again to work synchronously, so that the air pump pumps air in the air bag reversely, and the reel motor winds the air bag reversely; here, it should be noted that: the purpose of the steel wire mesh covered on the air bag is to improve the flatness of the unfolded state and certain rigidity requirement;
s4, working of a damping mechanism: because the air column is arranged between the first shock absorption frame and the second shock absorption frame, when the second shock absorption frame is fixed on the steel shroud plate of the ship body and the first shock absorption frame is used as a supporting piece of the square grid platform, the effect of stabilizing the square grid platform can be achieved, and the influence of sea waves is greatly reduced;
s5, taking off and recycling of the coaxial multi-rotor aircraft: due to the design characteristics of the coaxial multi-rotor aircraft, the flabellum which is laid down can work horizontally due to centrifugal force when taking off; therefore, when the coaxial multi-rotor aircraft flies into the designated grid of the square grid, the coaxial multi-rotor aircraft shuts down the motor, the motor can fall below the grid of the square grid, the lower end of the square grid is provided with the electromagnetic plate, and the electromagnetism generated by the electromagnetic plate which starts to work is magnetically attracted with the magnetic attraction hook of the electromagnetic plate, so that the coaxial multi-rotor aircraft is fixed; after the coaxial multi-gyroplane is fixed, an electric lifting platform at the position corresponding to an electromagnetic plate of the coaxial multi-gyroplane begins to fall to realize recovery; otherwise, the electric lifting platform is required to be lifted to cut off the magnetic field of the area where the electromagnetic plate is located so as to take off.
The invention has the beneficial effects that: one adopts a ship body on which a steel shroud plate is arranged; a single damping mechanism is fixed on the steel shroud plate; the two single damping mechanisms are spliced in a mirror image mode to form a damping mechanism structure, so that two single ship bodies form a set of unmanned aerial vehicle platform through a set of damping mechanisms; the start and stop of the unmanned aerial vehicle group are facilitated; secondly, a ship body side groove is formed in the side face of the bottom of the ship body, and the air bag penetrates through the ship body side groove after penetrating out of the opening in the side wall of the cylinder, so that the function that floating bodies can freely appear or disappear on two sides of the ship body is realized, and a stable platform is provided for the unmanned aerial vehicle starting and stopping platform borne on the ship body; thirdly, an electromagnetic plate is fixed at the bottom of the square grid; the magnetic generating area of the electromagnetic plate is divided into a plurality of grid areas, the single grid area is controllable in magnet, and the grid position of the single grid area is the same as that of the grid; and every square district bottom of electromagnetism board still is equipped with the technical scheme of solitary electronic elevating platform, realizes that coaxial many gyroplanes can be a plurality of opening in proper order at the same time and stop on the platform to the mode through magnetism is inhaled can fasten the coaxial many gyroplanes of retrieving in the platform.
Drawings
Fig. 1 is an overall assembly structure diagram of a measuring device adopting a networking cluster of an unmanned aerial vehicle and an unmanned ship.
Fig. 2 is a structural diagram of a single damping mechanism of a measuring device adopting an unmanned aerial vehicle and an unmanned ship networking cluster.
Fig. 3 is an exploded view of a single damping mechanism of a measuring device using a cluster of unmanned aerial vehicles and unmanned ships according to the invention.
Fig. 4 is a schematic view of the damping principle of a single damping mechanism of a measuring device adopting an unmanned aerial vehicle and an unmanned ship networking cluster.
Fig. 5 is a schematic diagram of a square grid arrangement structure of a measuring device adopting a networking cluster of an unmanned aerial vehicle and an unmanned ship.
Fig. 6 is a schematic structural diagram of a square grid and an electromagnetic plate of a measuring device adopting an unmanned aerial vehicle and an unmanned ship networking cluster.
Fig. 7 is a view of the internal structure of a unmanned ship unit of the measuring device using the unmanned aerial vehicle and unmanned ship networking cluster of the invention.
Fig. 8 is a view of the bottom structure of an unmanned ship unit of a measuring device using an unmanned aerial vehicle and an unmanned ship networking cluster according to the present invention.
Fig. 9 is a schematic structural diagram of an airbag and an airbag storage device of a measuring device adopting an unmanned aerial vehicle and an unmanned ship networking cluster.
Fig. 10 is a schematic structural diagram of a power system of an unmanned ship of the measuring device adopting the unmanned plane and the unmanned ship networking cluster.
Fig. 11 is a main view of a coaxial multi-rotor measuring device using a cluster formed by networking unmanned planes and unmanned ships according to the present invention.
Fig. 12 is a structure diagram of a coaxial multi-rotor aircraft of a measuring device using a cluster formed by networking unmanned planes and unmanned ships according to the invention.
Fig. 13 is an enlarged view of the structure at a in fig. 12.
Fig. 14 is a schematic view of a roller structure of a measuring device adopting a cluster formed by networking unmanned aerial vehicles and unmanned ships according to the invention.
Fig. 15 is a structural diagram of a shock-absorbing disk and an equipment clamping mechanism of a measuring device clustered by unmanned aerial vehicles and unmanned ships according to the invention.
Fig. 16 is a structural diagram of a shock-absorbing disc of a measuring device adopting a networking cluster of unmanned aerial vehicles and unmanned ships.
Fig. 17 is a data transmission principle system diagram of a measuring device using a cluster of unmanned planes and unmanned ships according to the present invention.
Fig. 18 is a diagram of an unmanned aerial vehicle and unmanned ship operating system employing a measurement device of an unmanned aerial vehicle and unmanned ship networking cluster according to the present invention.
In the figure, 1-twist propeller, 2-paddle rod, 3-block ball, 4-rocker, 5-rolling disc, 6-hooping piece, 7-rolling shaft, 71-limiting rod, 72-square notch, 8-first brushless motor, 9-hollow tube, 10-universal flexible shaft, 11-hollow connecting plate, 12-hull, 121-hull side groove, 13-second brushless motor, 14-air pump, 15-stepping motor, 16-air bag containing mechanism, 161-scroll motor, 162-air bag, 1621-steel wire mesh, 17-coaxial multi-rotor wing machine, 171-magnetic hook, 172-first hinge, 173-second hinge, 18-suspension disc, 19-support frame, 191-damping ball, 20-air column, 21-equipment clamping mechanism, 22-first damping frame, 221-first cloth net pipe, 222-second cloth net pipe, 23-second damping frame, 24-triangular connecting plate, 25-air column, 26-straight connecting plate, 27-O component, 28-square grid, 28-29-square hinge plate and 30-electromagnetic hoop are arranged in a triangular connecting plate.
Detailed Description
A detailed description of embodiments of the present invention is provided below in conjunction with fig. 1-17.
The embodiment is as follows: as shown in fig. 2, the first shock absorbing frame 22 and the second shock absorbing frame 23 are connected to form a single shock absorbing mechanism, the shock absorbing mechanism is mainly buffered through the air column 25, and the anchor ear hinge 28 hinged on the O-shaped member 27 in the structure plays a role in limiting, so that the first shock absorbing frame 22 and the second shock absorbing frame 23 do not exceed an extra control range in the process of mutual movement;
as shown in the attached drawing 1, the two sets of single damping structures are locked by a hoop to form a set of complete damping mechanism; and can be erected and installed on the two ship bodies 12 through a set of finished damping mechanisms; as can be seen in fig. 5, the two complete sets of damping mechanisms may be arranged with a square grid 29; as can be seen from fig. 6, the electromagnetic plate 30 mounted at the lower end of the square grid 29 can provide a plurality of platforms for taking off and recovering the coaxial multi-rotor aircraft 17; the specific working process is as follows: firstly, the designed structure is as follows: the magnetic generating area of the electromagnetic plate 30 is divided into a plurality of grid areas, the single grid area is controllable in magnet, and the grid position of the single grid area is the same as that of the grid 29; and an independent electric lifting platform is arranged at the bottom of each grid area of the electromagnetic plate 30; therefore, when the coaxial multi-rotor aircraft 17 cruises for a return trip, it determines the specific position of the square grid 29 after exchanging the data information between the unmanned ship and the coaxial multi-rotor aircraft 17, at this time, the lifting platform below the grid of the square grid 29 with the determined position is lifted, and the electromagnetic plate is started; when the coaxial multi-rotor aircraft 17 stops at the preset grid, the coaxial multi-rotor aircraft 17 is shut down; the magnetic attraction hook 171 arranged at the bottom of the coaxial multi-gyroplane 17 can carry out magnetic attraction with the electromagnetic plate 30; then the lifting platform at the corresponding position descends; the recovery of the coaxial multi-gyroplane 17 is completed; conversely, when it is desired to take off the coaxial multi-rotor aircraft 17, the above-described steps are reversed.
The configuration of the unmanned ship is described in fig. 7 and fig. 10: the designed structure abandons the traditional propeller mode, and adopts a driving system which rotates by adopting the structure of the twist propellers 1 at the two sides of the unmanned ship body; the working principle of the universal flexible shaft type propeller is that a first brushless motor 8 drives a universal flexible shaft 10, and the other end of the universal flexible shaft 10 is directly connected with the top of a propeller rod 2; it should be noted that the universal flexible shaft 10 is the prior art, and the most applications of the structure are that the universal flexible shaft is used for a turnable screwdriver head or used for dredging underground pipelines at present; the structure is also the vibrating head connected with a vibrating pump in the building engineering; it is not a trivial matter to describe the principle structure as it is prior art. Wherein, the stepping motor 15 arranged in the middle of the hull 12 is connected by a bidirectional belt, and can synchronously drive the rolling disc 5; thereby realizing the purposes that the twist propeller 1 is immersed in the sea and suspended.
As the floating body structure of the unmanned ship is described in fig. 8 and fig. 9, the floating body structure of the unmanned ship has a structure in which airbag receiving mechanisms 16 are respectively arranged on both sides of the bottom of a ship body 12; the core of the airbag receiving mechanism 16 is a reel motor 161, and since the reel motor 161 is a stick-shaped component in structure, when the airbag 162 needs to be received, the airbag 162 is received in a cylinder 163 in a wrapped manner only by rotating the reel motor 161 in the forward direction; otherwise, when the air bag 162 needs to be released, the reel motor 161 needs to be rotated reversely, and the air pump 14 and the mechanical air pump are matched for inflation; it should be noted that the airbag 162 is covered with a steel wire net 1621, and the steel wire net 1621 has other functions besides the invention mentioned that the airbag 162 in the deployed state needs a certain rigidity as the floating body: since the airbag 162 has a certain rigidity when the airbag 162 is reversely released, there is no problem that the flexible airbag 162 blocks the opening of the cylindrical side wall, causing failure in deploying the airbag 162.
As depicted in fig. 11 and fig. 12 and 13, the coaxial multi-rotor aircraft 17 structure is generally divided into a propeller portion, and a base portion; the structure of the propeller fan blade is as follows: the top of the first hinge is provided with a first hinge, the first hinge is hinged with the first hinge, and the hinge moving direction is vertical; the fan blades are hinged outside the first hinge, and the hinged moving direction is horizontal. Through the hinge structure of one set of level, two vertical directions, can realize when the flabellum stops rotating, it can be natural drooping down get off, retrieve in the net of convenient square grid net 29 to reduce and retrieve produced occupation space. When the aircraft needs to take off, the fan blades which are laid down can be thrown to be in a working state due to the effect of centrifugal force generated by the rotation of the fan blades.
As shown in fig. 15 and fig. 16, the damper design of the measurement electronic device mounted on the coaxial multi-rotor aircraft 17 is mainly characterized in that the suspension disk 18 and the four-corner bracket 19 collide with each other and are mutually pulled, specifically, the pulling part is that the suspension disk and the four-corner bracket 19 are mutually pulled through the air columns 20 at the four sides, and the damping ball 191 arranged at the top of the four-corner bracket 19 collides with the bottom of the coaxial multi-rotor aircraft 17 to generate elastic force; the stable shock absorber is formed by the abutting elastic force in one direction and the pulling force in one direction. It should be noted that the equipment clamping mechanism 21 is the prior art, and is called a pan-tilt in a professional term, and is currently used for video monitoring and the like; the structural principle of the prior art is not described in the present application.
The structure to be supplemented is a roller 7; as can be seen from fig. 14, the inside of the roller 7 is hollow, and the front end and the rear end of the roller are both provided with square notches 72, and obviously, the opening radian of each square notch 72 is consistent with that of the hoop 6; the rolling shaft 7 plays two roles, one of which is used as a transmission shaft to provide swing within the amplitude for the fixed swing parts 4 at the tail ends of the two ends; the second one provides a passage space for the universal flexible shaft 10 to penetrate.
With reference to fig. 17 and 18, a first electronic module is mounted in the hull 12; the application of the second electronic module is installed in the coaxial multi-rotor aircraft 17. The application protection content of the scheme relates to a hardware part of a measuring device of an unmanned aerial vehicle and an unmanned ship networking cluster, an electronic control module of the hardware part is applied for other cases, and the main reasons are that the electronic module and a communication mode have high expansibility and the iterative upgrade is fast; therefore, in the embodiments of the present disclosure, the description of the electrical control and electronic principle part is only used as an example of the adaptation of the hardware part;
through first electronic module, second electronic module: the mounting control of the visible light sensor is realized, and the visible light sensor can be a camera and other shooting electronic products generally; the hardware of the product is arranged on the equipment clamping mechanism 21; the high-precision take-off and landing of the coaxial multi-gyroplane 17 can be realized through mutual information data exchange of the two electronic modules; the unmanned aerial vehicle or the unmanned ship can be remotely controlled, the communication method of the control is usually 4G/5G, and the control is realized by a microwave data link communication protocol;
an intelligent base nest formed by taking the grid 29 and the electromagnetic plate 30 as frameworks can realize the functions of autonomous charging and the like through an additional module; an automatic obstacle avoidance algorithm module and a navigation positioning module are integrated in the first electronic module, so that the navigation of the unmanned ship is guaranteed. Also integrated in the first electronic module of the hull 12 is a multi-beam device.
In the scheme, a platform formed by frameworks such as a square grid 29 and an electromagnetic plate 30 can be clustered with a plurality of coaxial multi-gyroplanes 17;
the integration of the various devices through the second electronic module makes it possible to obtain, in a functional manner, a plurality of coordinated coaxial multi-rotorcraft 17: aerial photography, point cloud scanning and other operations; through the above operations, useful data and electronic models such as photographs, videos, orthoimages, point clouds, and three-dimensional live-action models can be generated. And then, the image abnormal feature recognition is obtained through an automatic recognition and extraction system in the second electronic module.
Similarly, the unmanned ship can be coordinated in a plurality of ways through the integration of the devices of the first electronic module; the realization is as follows: operations such as hydrological test, topographic survey and the like can be used for generating photos, videos, hydrological data and underwater point clouds; and obtaining a terrain result, a DEM (digital elevation model), a DOM (document object model), a three-dimensional point cloud, a three-dimensional live-action model and a hydrological result through data analysis and processing.
The foregoing shows and describes the general principles, essential 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, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (8)
1. The utility model provides an adopt measuring device of unmanned aerial vehicle, unmanned ship network deployment cluster, its structure has: comprises a damping mechanism arranged on two ship bodies (12) and a twist-shaped propeller (1) arranged on two sides of the ship bodies (12); the method is characterized in that: the boat body (12) is hollow, the front end part and the rear end part of the boat body (12) are provided with rolling shafts (7), the tail ends of the two ends of each rolling shaft (7) are respectively fixed with a swing part (4), and a rolling disc (5) is arranged at a position close to the swing part (4) on one side; the rolling shaft (7) is tied by the hoop piece (6); balls are arranged on the circumferential surface of the hoop piece (6) contacted with the rolling shaft (7); a notch is formed in the middle position of the hoop piece (6), a limiting rod (71) is arranged in the notch, and the tail end of one end of the limiting rod (71) is screwed on the rolling shaft (7);
the side surface of the ship body (12) is provided with a hole groove, a blocking ball (3) is embedded in the hole groove, one end of a paddle rod (2) is inserted into the swing part (4) and then is connected with a universal flexible shaft (10), the universal flexible shaft (10) penetrates out of the swing part (4) and is connected with a rotating shaft of a first brushless motor (8) after passing through a hollow connecting plate (11) and a hollow pipe (9);
a hollow pipe (9) is sleeved outside a rotating shaft of the first brushless motor (8), the hollow pipe (9) and the roller (7) are connected in a pulling mode through a hollow connecting plate (11), the hollow connecting plate (11) is movably connected with the roller (7), the roller (7) is hollow, and a square notch (72) which is convenient for a universal flexible shaft (10) to penetrate through and move within a limiting range is formed in one side face of the roller (7);
the hull (12) is provided with a steel shroud plate; a single damping mechanism is fixed on the steel shroud plate; the two single damping mechanisms are spliced in a mirror image mode to form the damping mechanism, and a hoop is adopted to lock the splicing position of the two single damping mechanisms;
the unmanned aerial vehicle is a coaxial multi-rotor aircraft (17), a body at the top of the coaxial multi-rotor aircraft (17) is provided with a second hinge (173), the second hinge (173) is hinged with the first hinge (172), and the hinged moving direction is vertical; the fan blades are hinged outside the first hinge (172), and the hinged moving direction is horizontal.
2. The measuring device adopting the unmanned aerial vehicle and unmanned ship networking cluster according to claim 1, wherein the blocking ball (3) is penetrated by the paddle rod (2), and a bearing is arranged between the paddle rod (2) and the blocking ball (3); the tail end of the propeller rod (2) is fixed with a twist-shaped propeller (1).
3. The measuring device adopting the networking cluster of the unmanned aerial vehicle and the unmanned ship as claimed in claim 1, wherein a second brushless motor (13) is fixed to the other side of the center position in the ship body (12), the second brushless motor (13) is driven by an air pump (14) fixed to the second brushless motor through a gear, and a rotor of the air pump (14) is driven by a second mechanical air pump arranged in mirror symmetry with the rotor through a coupling.
4. The measuring device adopting the networking cluster of the unmanned aerial vehicle and the unmanned ship as claimed in claim 1, wherein a ship body side groove (121) is formed in the side surface of the bottom of the ship body (12), a cavity is formed in the position corresponding to the ship body side groove (121), and an air bag containing mechanism (16) is fixed in the cavity; the airbag housing mechanism (16) is configured to: a reel motor (161) is arranged in the cylinder (163), an air bag (162) is wound on a roller of the reel motor (161), an air pipe of the air bag (162) is communicated with the air pump (14) or the second mechanical air pump, and a steel wire mesh (1621) is fastened on the outer surface layer of the air bag (162); the air bag (162) penetrates out of the side wall opening of the cylinder (163) and then penetrates into the ship body side groove (121).
5. The measurement device adopting the networking cluster of the unmanned aerial vehicle and the unmanned ship as claimed in claim 1, wherein the single damping mechanism comprises: the first shock absorption frame (22) forms a closed loop structure through a straight connecting plate (26), and an O-shaped component (27) is welded at the extending end of the first shock absorption frame (22); the top end of the opening direction of the second shock absorption frame (23) is movably hinged with a triangular connecting plate (24), the lower end of the opening direction is movably hinged with an anchor ear hinge piece (28), the back of the anchor ear hinge piece (28) is hinged with one end of an air column (25), and the other end of the air column (25) is movably hinged with the other end of the triangular connecting plate (24); the air column (25) is positioned inside the straight connecting plate (26).
6. The measuring device adopting the unmanned aerial vehicle and unmanned ship networking cluster as claimed in claim 1, wherein the bottom of the coaxial multi-rotor aircraft (17) is provided with an equipment clamping mechanism (21), and a magnetic hook (171) is fixed on the side surface; the magnetic attraction hook (171) is matched with the electromagnetic plate (30); equipment fixture (21) and coaxial many gyroplanes (17) body between still be equipped with the vibration damping disk, the vibration damping disk constitute: the components of the device are a hanging disc (18) and a four-corner bracket (19); the included angle positions of the four end angles of the four-angle bracket (19) are connected with the suspension disc (18) through air columns (20), and the top surfaces of the four end angles of the four-angle bracket (19) are provided with damping balls (191); the four-corner bracket (19) is fastened with an equipment clamping mechanism (21), and the suspension disc (18) is fastened with the coaxial multi-rotor aircraft (17) body.
7. The measurement device adopting the networking cluster of the unmanned aerial vehicle and the unmanned ship as claimed in claim 1, wherein the top of the single damping mechanism is respectively provided with a first network distribution pipe (221) and a second network distribution pipe (222); the two damping mechanisms respectively form two pairs of first mesh distribution pipes (221) and second mesh distribution pipes (222); a square grid (29) is tied between the two pairs of the first mesh distribution pipe (221) and the second mesh distribution pipe (222), and an electromagnetic plate (30) is fixed at the bottom of the square grid (29); the magnetic generating area of the electromagnetic plate (30) is divided into a plurality of grid areas, the single grid area is controllable in magnet, and the grid position of the single grid area is the same as that of the grid (29); and a separate electric lifting platform is arranged at the bottom of each grid area of the electromagnetic plate (30).
8. The measuring device adopting the unmanned aerial vehicle and unmanned ship networking cluster as claimed in claim 1, wherein a stepping motor (15) is arranged at a central position in the ship body (12), and the stepping motor (15) is synchronously connected with the front and the rear rolling discs (5) through a belt; a first electronic module is arranged in the ship body (12); and a second electronic module is arranged in the coaxial multi-rotor aircraft (17).
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