CN115571356B

CN115571356B - Flow measurement radar carried by unmanned aerial vehicle cradle head

Info

Publication number: CN115571356B
Application number: CN202211401847.1A
Authority: CN
Inventors: 袁红泉; 王少波; 杨俊�; 李家煜
Original assignee: Jiangsu Yuneng Water Conservancy Engineering Co ltd
Current assignee: Jiangsu Yuneng Water Conservancy Engineering Co ltd
Priority date: 2022-11-10
Filing date: 2022-11-10
Publication date: 2023-04-07
Anticipated expiration: 2042-11-10
Also published as: CN115571356A

Abstract

The invention discloses a flow measuring radar carried by an unmanned aerial vehicle cradle head, which comprises a cradle head longitudinal axis regulator and a radar water surface flow velocity speed measuring host, wherein a longitudinal axis support arm is arranged at one end of the cradle head longitudinal axis regulator, a cradle head transverse axis regulator is arranged at the end part of the longitudinal axis support arm, and cradle head transverse axis regulating arms are arranged on two sides of the cradle head transverse axis regulator; according to the invention, the left end of the tripod head cross shaft adjusting arm is installed and adjusted through the radar inclination angle rotating assembly, meanwhile, the matching between the balance rotating connecting assembly and the tripod head connecting component is balanced, the right end of the tripod head cross shaft adjusting arm is automatically rotated and adjusted, and the right end of the tripod head cross shaft adjusting arm is installed and adjusted, so that the unmanned aerial vehicle tripod head and the flow measuring radar can be conveniently disassembled and assembled, the operation is simple, the screws in the traditional mode are not required to be disassembled through a special tool, the convenience is brought when the flow measuring radar breaks down and needs to be maintained and replaced, and the normal working efficiency of the outdoor flow measuring radar is improved.

Description

Flow measurement radar carried by unmanned aerial vehicle holder

Technical Field

The invention relates to the technical field of tripod head carried current measuring radar equipment, in particular to a current measuring radar carried by an unmanned aerial vehicle tripod head.

Background

The contradiction between industrial development and supply and demand of domestic water and water resources of residents is increased day by day, so that the riverway is dried up and cut off, and part of riverway drainage basins are polluted, thereby seriously affecting national lives. At present, a water quality monitoring unmanned aerial vehicle is taken as a professional-grade environment-friendly unmanned aerial vehicle. The automatic collection and sampling of any water source without blocking can be realized, the water taking place needs to be dynamically calibrated in real time in the water taking process, and the fixed-point water taking task within two kilometers is completed through the ground intelligent display control holder control and positioning device. In the water intaking in-process, in order to prevent because can not gather the water sample apart from the surface of water height is too high, or highly low the emergence that causes the circumstances such as self harm, need calculate the height of unmanned aerial vehicle and surface of water in real time to data through the feedback, control unmanned aerial vehicle descends the water intaking process. The unmanned aerial vehicle system is carried with a radar flow measurement system, and unscheduled full-automatic unmanned patrol measurement is carried out on the great river.

The current flow measurement radar is generally through the screw mounting on the unmanned aerial vehicle cloud platform, realizes the effect that the flow measurement radar surveyed rivers, but dismantles very troublesome between flow measurement radar and the unmanned aerial vehicle cloud platform, need utilize special instrument to carry out screw dismantlement one by one, need the reserve tool case operation when the flow measurement radar breaks down and need overhaul the change, produces certain influence to outdoor flow measurement radar normal work.

Disclosure of Invention

The invention aims to provide a flow measurement radar carried by an unmanned aerial vehicle holder, so as to solve the problems in the background technology.

In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides a current surveying radar that unmanned aerial vehicle cloud platform carried on, including cloud platform vertical axis regulator and radar surface of water velocity of flow host computer, the one end of cloud platform vertical axis regulator is provided with the axis of ordinates support arm, the tip of axis of ordinates support arm is provided with cloud platform horizontal axis regulator, cloud platform horizontal axis regulator's both sides all are provided with cloud platform horizontal axis regulating arm, the front side of radar surface of water velocity of flow host computer is provided with the preceding shooting face of receiving of radar, it has the camera to inlay in the preceding shooting face of radar, the left end of cloud platform horizontal axis regulating arm is provided with the radar inclination runner assembly of being convenient for the installation, the right-hand member of cloud platform horizontal axis regulating arm is provided with the balanced rotation coupling assembling of being convenient for adjust the installation, the right side of radar surface of water velocity of flow host computer is provided with cloud platform connecting elements.

Preferably, the radar inclination angle rotating assembly comprises a fixed cylinder, a sliding shaft is inserted into the front end of the fixed cylinder in a sliding mode, and a first spring is arranged between the sliding shaft and the fixed cylinder.

Preferably, a pulling block is arranged at the top of the sliding shaft, a sliding groove is formed in the top of the fixed cylinder, the top of the pulling block penetrates through the sliding groove, and a connecting ring groove is formed in the sliding shaft.

Preferably, the left side of the radar surface of water velocity of flow speed host computer is provided with the connecting seat, and circular slot has been seted up to the tip of connecting seat, matches each other between the tip of slide-axle and the circular slot.

Preferably, the holding tank has been seted up on the connecting seat, and it has the connecting rod to slide on the holding tank to peg graft, and the bottom of connecting rod is provided with the stopper, and the bottom of stopper is the arc surface structure, and with the connection ring groove laminating between the surface, is provided with the second spring on the connecting rod.

Preferably, the balance rotation connecting assembly comprises a driving box, a transmission shaft is arranged on the driving box, a first gear is arranged on the transmission shaft, a balance shaft is arranged on the driving box, a second gear is arranged on the balance shaft, and the first gear and the second gear are meshed with each other.

Preferably, the tip of balance shaft has seted up the recess, and it has the removal inserted block to slide on the recess to peg graft, and the removal inserted block is "T" type square column structure, removes to be provided with the third spring between inserted block and the recess, and the one end center department of removing the inserted block is provided with the pull rod, and the one end of pull rod runs through balance shaft and drive box and extends to the outside, removes the bottom of inserted block and has seted up the draw-in groove.

Preferably, a memory card for storing videos and photos is arranged on the holder connecting member, a connecting slot is formed in the end portion of the holder connecting member, and the end portion of the movable insertion block is matched with the connecting slot.

Preferably, the bottom of the holder connecting member is provided with a containing groove, a traction loop bar is inserted on the containing groove in a sliding manner, a clamping block is arranged at the end part of the traction loop bar, the clamping block is of a T-shaped structure, the end part of the clamping block is matched with the clamping groove, and a fourth spring is arranged on the traction loop bar.

Compared with the prior art, the invention has the beneficial effects that:

1. according to the invention, the left end of the tripod head cross shaft adjusting arm is installed and adjusted through the radar inclination angle rotating assembly, meanwhile, the matching between the balance rotating connection assembly and the tripod head connection member is balanced, the right end of the tripod head cross shaft adjusting arm is automatically rotated and adjusted, and the right end of the tripod head cross shaft adjusting arm is installed and adjusted, so that the unmanned aerial vehicle tripod head and the flow measuring radar can be conveniently disassembled and assembled, the operation is simple, the screws in the traditional mode are not required to be disassembled through a special tool, the convenience is brought when the flow measuring radar breaks down and needs to be maintained and replaced, and the normal working efficiency of the outdoor flow measuring radar is improved.

2. According to the invention, the radar inclination angle rotating assembly is arranged at the left end of the horizontal shaft adjusting arm of the tripod head, an elastic inserting structure is formed between a sliding shaft in the radar inclination angle rotating assembly and a first spring, and a rotation limiting structure is formed between a second spring and a limiting block and is matched with the connecting ring groove, so that the rotation adjustment between the horizontal shaft adjusting arm of the tripod head and the flow measuring radar is realized, and the installation between the horizontal shaft adjusting arm of the tripod head and the flow measuring radar is also realized.

3. According to the invention, the balance rotation connecting assembly is arranged at the right end of the horizontal shaft adjusting arm of the holder, the holder connecting component is arranged on the right side of the radar water surface flow velocity measurement host, the transmission shaft in the balance rotation connecting assembly is driven by the motor and meshed with the first gear and the second gear, the elastic insertion structure is formed between the third spring and the movable insertion block, the clamping structure is formed between the fourth spring and the clamping block and matched with the clamping groove, the limit connection between the balance shaft and the holder connecting component is realized, and the automatic adjustment of the inclination angle rotation of the flow measuring radar is facilitated.

Drawings

FIG. 1 is a schematic structural diagram of a flow measuring radar carried by a holder of the invention;

FIG. 2 is a schematic structural diagram of a radar front emitting and receiving surface and a camera according to the present invention;

FIG. 3 is a cross-sectional view of the left end of the horizontal axis adjustment arm of the pan/tilt head of the present invention;

FIG. 4 is an enlarged schematic view of FIG. 3 at A according to the present invention;

FIG. 5 is a schematic structural view of the interior of a driving box at the right end of a horizontal shaft adjusting arm of the holder according to the present invention;

FIG. 6 is an enlarged view of the structure of FIG. 5B according to the present invention.

Fig. 7 is a cross-sectional view of the connecting member of the head of the present invention.

FIG. 8 is an enlarged view of the structure of FIG. 7 at C.

Fig. 9 is a cross-sectional view of a balance shaft of the present invention.

In the figure: 1. a cradle head longitudinal axis adjuster; 2. a radar water surface flow velocity speed measurement host; 21. a radar front emitting and receiving surface; 22. a camera; 3. a longitudinal axis support arm; 4. a horizontal shaft adjuster of the holder; 5. a horizontal shaft adjusting arm of the holder; 6. a fixed cylinder; 61. a slide shaft; 62. a first spring; 63. a pulling block; 64. a connecting ring groove; 65. a connecting seat; 66. a circular slot; 67. a connecting rod; 68. a limiting block; 69. a second spring; 7. a drive cartridge; 71. a drive shaft; 72. a first gear; 73. a balance shaft; 74. a second gear; 75. moving the insert block; 76. a third spring; 77. a pull rod; 78. a card slot; 8. a cradle head connecting member; 81. a memory card; 82. connecting the slots; 83. pulling the loop bar; 84. a clamping block; 85. and a fourth spring.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1 to 9, the present invention provides a technical solution: the utility model provides a current surveying radar that unmanned aerial vehicle cloud platform carried on, including cloud platform longitudinal axis regulator 1 and radar surface of water velocity of flow speed host computer 2, axis of ordinates support arm 3 is installed to the one end of cloud platform longitudinal axis regulator 1, cloud platform longitudinal axis regulator 1 be with be connected between unmanned aerial vehicle's the bottom, horizontal axle regulator 4 of cloud platform is installed to the tip of axis of ordinates support arm 3, horizontal axle regulator 4 of cloud platform realizes that driftage angle adjusts between axis of ordinates support arm 3 and cloud platform longitudinal axis regulator 1 and the radar surface of water velocity of flow speed host computer 2, its concrete structure is no longer repeated for common structure among the prior art.

The cloud platform horizontal axis adjusting arm 5 is all installed to the both sides of cloud platform horizontal axis regulator 4, receive launching surface 21 before the radar is installed to the front side of radar surface of water velocity of flow speed host computer 2, receive launching surface 21 before the radar through set screw fix on the front side of radar surface of water velocity of flow speed host computer 2, receive launching surface 21 is embedded to have camera 22 before the radar, receive corresponding radar of size regulation and surface of water inclination according to the camera 22 picture in the launching surface 21 before the radar, reach the best angle of receiving and dispatching, make radar surface of water velocity of flow speed host computer 2 calculate accurate surface of water velocity of flow data.

The left end of cloud platform cross axle regulating arm 5 is provided with the radar inclination runner assembly convenient to installation, radar inclination runner assembly includes solid fixed cylinder 6, be integrated into one piece structure between solid fixed cylinder 6 and the cloud platform cross axle regulating arm 5, the front end of solid fixed cylinder 6 slides and pegs graft there is slide shaft 61, first spring 62 of fixedly connected with between slide shaft 61 and the solid fixed cylinder 6, the top of slide shaft 61 is provided with the tractive piece 63, the top of solid fixed cylinder 6 is provided with the spout, the spout setting is run through at the top of tractive piece 63, form the elasticity grafting structure between slide shaft 61 and the first spring 62, the setting of tractive piece 63 is convenient for press its tip make the tip of slide shaft 61 hold to solid fixed cylinder 6 in, so that the convenience of follow-up dismantlement.

Connection annular groove 64 has been seted up on the slide shaft 61, the left side welding of radar surface of water velocity of flow speed host computer 2 has connecting seat 65, circular slot 66 has been seted up to the tip of connecting seat 65, match each other between the tip of slide shaft 61 and the circular slot 66, the holding tank has been seted up on the connecting seat 65, it has connecting rod 67 to slide on the holding tank to peg graft, the bottom welding of connecting rod 67 has stopper 68, the bottom of stopper 68 is the arc surface structure, and with laminate between the connection annular groove 64 surface, the second spring 69 has been cup jointed on the connecting rod 67, form elasticity butt structure between second spring 69 and the stopper 68, and connect and cooperate between the annular groove 64, it is spacing to realize the rotation between slide shaft 61 and the connecting seat 65, guarantee the relative stability of installation between solid fixed cylinder 6 and the connecting seat 65.

The right-hand member of cloud platform cross axle regulating arm 5 is provided with the balanced rotation coupling assembling of being convenient for adjust the installation, balanced rotation coupling assembling includes drive box 7, be integrated into one piece structure between drive box 7 and the cloud platform cross axle regulating arm 5, the side of drive box 7 has the mounting panel through the fix with screw, be connected with transmission shaft 71 through the bearing rotation on the drive box 7, transmission shaft 71 passes through motor drive, the model of motor can be selected according to actual conditions, electric connection between motor and the unmanned aerial vehicle controller, it has first gear 72 to fix the cover on transmission shaft 71, it has balance shaft 73 to rotate through the bearing on the drive box 7, it has second gear 74 to fix the cover on balance shaft 73, intermeshing between first gear 72 and the second gear 74, first gear 72 is little gear structure, second gear 74 is big gear structure.

The tip of balance shaft 73 is seted up flutedly, it has removal inserted block 75 to slide to peg graft on the recess, it is "T" type square column structure to remove inserted block 75, remove fixedly connected with third spring 76 between inserted block 75 and the recess, the welding of one end center department of removing inserted block 75 has pull rod 77, the one end of pull rod 77 runs through balance shaft 73 and drive box 7 and extends to the outside, the setting up of pull rod 77 is convenient for spur its tip and makes the tip that removes inserted block 75 hold to the recess in, so that follow-up convenience of dismantling.

The bottom of the movable insert block 75 is provided with a clamping groove 78, the right side of the radar water surface flow velocity speed measurement host machine 2 is fixed with a pan-tilt connecting member 8, the pan-tilt connecting member 8 is provided with a memory card 81 for storing videos and photos, the end of the pan-tilt connecting member 8 is provided with a connecting slot 82, the end of the movable insert block 75 is matched with the connecting slot 82, an elastic inserting structure is formed between the third spring 76 and the movable insert block 75, and the elastic inserting structure is matched with the connecting slot 82 to realize the inserting connection between the movable insert block 75 and the pan-tilt connecting member 8.

The bottom of the holder connecting member 8 is provided with a containing groove, a traction loop bar 83 is inserted on the containing groove in a sliding mode, a clamping block 84 is welded at the end portion of the traction loop bar 83, the clamping block 84 is of a T-shaped structure, the end portion of the traction loop bar is matched with the clamping groove 78, a fourth spring 85 is sleeved on the traction loop bar 83, a clamping structure is formed between the fourth spring 85 and the clamping block 84 and is matched with the clamping groove 78, limiting and fixing between the movable insertion block 75 and the holder connecting member 8 are achieved, limiting and connecting between the balance shaft 73 and the holder connecting member 8 are achieved, stability of connection between the balance shaft 73 and the holder connecting member 8 is guaranteed, the balance shaft 71 is driven by a motor and is meshed with the first gear 72 and the second gear 74, and automatic adjustment of inclination angle rotation of the flow measuring radar is facilitated.

During the in-service use, at first when installing the left side of radar surface of water velocity of flow speed host computer 2, make the tip of slide-shaft 61 hold to the solid fixed cylinder 6 in through pulling piece 63, and upwards pull connecting rod 67, make the tip of stopper 68 hold to in the holding tank, correspond between slide-shaft 61 and the circular slot 66 again, loosen pulling piece 63, under the spring action of first spring 62, make the tip of slide-shaft 61 peg graft on circular slot 66, then loosen connecting rod 67, under the spring action of second spring 69, make the bottom butt of stopper 68 on connecting ring groove 64 surface, it is spacing to realize the rotation between slide-shaft 61 and the connecting seat 65, guarantee the relative stability of installation between solid fixed cylinder 6 and the connecting seat 65.

Secondly, when the right side of the radar water surface flow velocity measurement host machine 2 is installed, the pull rod 77 is pulled outwards to enable the end portion of the movable insertion block 75 to be accommodated in the groove, the pulling sleeve rod 83 is pulled downwards to enable the end portion of the fixture block 84 to be accommodated in the accommodating groove, then the movable insertion block 75 corresponds to the connecting groove 82, the pull rod 77 is loosened, the end portion of the movable insertion block 75 is inserted into the connecting groove 82 under the elastic force action of the third spring 76, then the pulling sleeve rod 83 is loosened, the end portion of the fixture block 84 is inserted into the clamping groove 78 under the elastic force action of the fourth spring 85, limiting and fixing between the balance shaft 73 and the pan-tilt head connecting member 8 are achieved, the transmission shaft 71 is driven by the motor to enable the output end of the transmission shaft to rotate, the first gear 72 is driven to rotate, the second gear 74 and the balance shaft 73 are driven to rotate, the balance shaft 73 is fixed with the pan-tilt head connecting member 8 in a limiting mode, the water surface radar flow velocity measurement host machine 2 is driven to rotate and adjust corresponding radar receiving and sending radar angle according to the size in the size of waves in the picture of the camera 22 in the radar water surface emission surface 21, and the pan-tilt head 2 are enabled to accurately calculate the water surface flow velocity measurement data.

When needs are dismantled and are overhauld, upwards stimulate connecting rod 67, make the tip of stopper 68 hold to the holding tank in and keep away from connection annular 64, and the pulling piece 63 makes the tip of slide-spindle 61 hold to the solid fixed cylinder 6 in, make dislocation between slide-spindle 61 and the circular slot 66, stimulate tractive loop bar 83 downwards simultaneously, make the tip of fixture block 84 hold to accomodating the inslot and keep away from draw-in groove 78, and outwards stimulate pull rod 77 and make the tip that removes inserted block 75 hold to the recess in, make the dislocation can realize the dismouting between unmanned aerial vehicle cloud platform and the current-measuring radar between removal inserted block 75 and the connection slot 82, need not to carry out the dismantlement of traditional mode screw through dedicated instrument, bring the convenience when the current-measuring radar breaks down and needs to overhaul the change, improve the efficiency of outdoor current-measuring radar normal work.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a current surveying radar that unmanned aerial vehicle cloud platform carried, includes cloud platform longitudinal axis regulator (1) and radar surface of water velocity of flow host computer (2) that tests the speed, its characterized in that: a longitudinal shaft supporting arm (3) is arranged at one end of the cradle head longitudinal shaft adjuster (1), a cradle head transverse shaft adjuster (4) is arranged at the end part of the longitudinal shaft supporting arm (3), cradle head transverse shaft adjusting arms (5) are arranged on two sides of the cradle head transverse shaft adjuster (4), a radar front receiving and emitting surface (21) is arranged on the front side of the radar water flow velocity speed measurement host (2), a camera (22) is embedded in the radar front receiving and emitting surface (21), a radar inclination angle rotating assembly convenient to install is arranged at the left end of the cradle head transverse shaft adjusting arms (5), the radar inclination angle rotating assembly comprises a fixed cylinder (6), a sliding shaft (61) is inserted at the front end of the fixed cylinder (6) in a sliding mode, a first spring (62) is arranged between the sliding shaft (61) and the fixed cylinder (6), a traction block (63) is arranged at the top of the sliding shaft (61), a sliding groove is arranged at the top of the fixed cylinder (6), a sliding groove is arranged through the sliding groove, a connecting ring groove (64) is arranged on the sliding shaft (61), a connecting seat (65) is arranged on the left side of the radar water flow velocity host (2), a connecting seat (65) is arranged at the end part of the connecting seat (66), a connecting rod (66) is arranged between the sliding groove (66) which is matched with a circular sliding groove (67) on the sliding shaft, and a circular slot (67) which is arranged, and is arranged on the connecting seat (61), the bottom of the connecting rod (67) is provided with a limiting block (68), the bottom of the limiting block (68) is of an arc surface structure and is attached to the surface of the connecting ring groove (64), a second spring (69) is arranged on the connecting rod (67), the right end of the tripod head cross shaft adjusting arm (5) is provided with a balance rotation connecting assembly convenient for adjustment and installation, the balance rotation connecting assembly comprises a driving box (7), a transmission shaft (71) is arranged on the driving box (7), a first gear (72) is arranged on the transmission shaft (71), a balance shaft (73) is arranged on the driving box (7), a second gear (74) is arranged on the balance shaft (73), the first gear (72) and the second gear (74) are mutually meshed, a groove is formed in the end part of the balance shaft (73), a moving insert block (75) is inserted in a sliding manner, a T-shaped square structure is arranged between the moving insert block (75) and the groove, a third spring (76) is arranged between the moving insert block (75) and the groove, a pull rod (77) is arranged in the center of one end of the moving insert block (75), one end of the pull rod (77) penetrates through the balance shaft (73) and the balance shaft (73), a radar main machine body (7), and a radar main machine body (8) is connected with a radar head component, and a radar head (8) which is arranged on the right side of the radar which is connected with a radar head, the holder connecting component is characterized in that a containing groove is formed in the bottom of the holder connecting component (8), a traction loop bar (83) is inserted on the containing groove in a sliding mode, a clamping block (84) is arranged at the end portion of the traction loop bar (83), the clamping block (84) is of a T-shaped structure, the end portion of the traction loop bar is matched with the clamping groove (78), and a fourth spring (85) is arranged on the traction loop bar (83).

2. The flow measurement radar carried by an unmanned aerial vehicle holder according to claim 1, wherein: the cloud platform connecting component (8) is provided with a memory card (81) for storing videos and photos, the end part of the cloud platform connecting component (8) is provided with a connecting slot (82), and the end part of the movable insertion block (75) is matched with the connecting slot (82).