CN211468772U - Amphibious unmanned aerial vehicle for underwater topography measurement - Google Patents
Amphibious unmanned aerial vehicle for underwater topography measurement Download PDFInfo
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- CN211468772U CN211468772U CN202020021293.2U CN202020021293U CN211468772U CN 211468772 U CN211468772 U CN 211468772U CN 202020021293 U CN202020021293 U CN 202020021293U CN 211468772 U CN211468772 U CN 211468772U
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Abstract
The utility model provides an amphibious unmanned aerial vehicle for underwater topography measurement, including the unmanned aerial vehicle organism and installing the airborne GPS rover, depth finder, camera device and taking the undercarriage that floats on the unmanned aerial vehicle organism, wherein the airborne GPS rover cooperates with the GPS reference station and is used for obtaining the plane coordinate, and the depth finder is used for the amphibious unmanned aerial vehicle to obtain the water depth data when navigating on the surface of water; the depth finder comprises a telescopic support, a depth finder probe and a touch sensor, wherein the telescopic support is installed at the bottom of the machine body and connected with the depth finder probe, the telescopic length of the depth finder probe is controlled through a support joint, the touch sensor is located at the front end of the telescopic support and used for judging whether the depth finder probe is submerged into the water surface or not, and the depth finder probe is connected with a depth finder host in the machine body through a data line. The utility model discloses can go deep into danger, complicated waters and develop the operation by the high efficiency, can satisfy well river, lake storehouse underwater topography measuring's needs.
Description
Technical Field
The utility model relates to an underwater topography measuring equipment technical field specifically is an amphibious unmanned aerial vehicle for underwater topography measuring, is applicable to the underwater topography automatic measure under the abrupt bank situation, and it uses the amphibious aircraft of VTOL fixed wing to be the waterborne propulsion carrier, uses GPS system and single beam depth sounding system to survey middle-size and small-size river, lake storehouse topography under water.
Background
Underwater topography measurement is a process of determining three-dimensional coordinates of a water bottom point by using a measuring instrument, and is an important component of river, lake and reservoir and seabed measurement. The key link is water depth measurement and positioning, wherein the water depth measurement is to measure the height from a water bottom point to the water surface, and the depth of a depth point to be measured (called a sounding point) is measured at certain intervals along the direction of a sounding line; the positioning is to accurately determine the plane position of the depth point in the water depth measurement work.
With the progress of the surveying and mapping technology and the computer technology, a combined measuring mode that a GPS is adopted to obtain plane coordinates and a depth sounder is adopted to obtain depth data becomes an important technical means of modern underwater topography measurement, the labor intensity of measurement is greatly reduced, and the measuring automation degree and the working efficiency are improved. The manned ship is carried on a manned ship or an unmanned ship, which is a main working mode of underwater topography measurement at present, but the manned ship has the problems of inconvenient offshore shoal measurement, difficulty in obtaining a proper ship, hidden danger in personnel safety and the like in application; the unmanned survey ship system can perfectly solve the problem of shallow water survey, can also be applied to dangerous water area operation, ensures the safety of ships and personnel and other advantages, but when facing the water area survey such as no beach steep bank, channel slope steep wall slide and the like, the unmanned ship is seriously hindered in launching, not only influences the working efficiency, but also endangers the safety of equipment and personnel in serious cases, and at present, no effective solution is available.
SUMMERY OF THE UTILITY MODEL
The utility model discloses to the problem mentioned in the technical background, the utility model provides an underwater topography measuring device based on amphibious unmanned aerial vehicle on water of VTOL fixed wing, can the full play unmanned aerial vehicle nimble, do not receive the waters fast, the advantage of bank environment restriction has unmanned ship stability again concurrently, accurate advantage, can launch from no beach abrupt bank through flight mode convenient and fast, wind the great barrier in aquatic such as island yu tai from aerial fast easily, it carries out underwater topography survey to walk steadily at the surface of water through surface of water navigation mode simultaneously. The device can go deep into dangerous, complicated waters and develop the operation with high efficiency, can satisfy the needs of medium and small river, lake and reservoir underwater topography survey.
The utility model provides a solve the technical scheme that above-mentioned technical problem adopted:
an amphibious unmanned aerial vehicle for underwater topography measurement comprises an unmanned aerial vehicle body, and an airborne GPS (global positioning system) rover, a depth finder, a camera device and an undercarriage with a buoy which are arranged on the unmanned aerial vehicle body, wherein the airborne GPS rover is matched with a GPS reference station and used for acquiring plane coordinates, and the depth finder is used for acquiring water depth data when the amphibious unmanned aerial vehicle sails on the water surface; the depth finder comprises a telescopic support, a depth finder probe and a touch sensor, wherein the telescopic support is installed at the bottom of the machine body and connected with the depth finder probe, the telescopic length of the depth finder probe is controlled through a support joint, the touch sensor is located at the front end of the telescopic support and used for judging whether the depth finder probe is submerged into the water surface or not, and the depth finder probe is connected with a depth finder host in the machine body through a data line.
Furthermore, the device also comprises a control system, a communication module and a power module, wherein the communication module and the power module are connected with the control system.
Further, control system includes unmanned aerial vehicle flight control module and control camera device, depth finder's sensor accuse control module.
Further, the unmanned aerial vehicle body comprises a body, wings and a power system, wherein the wings are connected with the body, the body comprises a shell and an inner cavity, the inner cavity is used for accommodating a power module, a control system, a communication module and a depth finder host, the wings comprise side wings and tail wings, and the tail wings comprise vertical tail wings and horizontal tail wings connected with the vertical tail wings; the power system comprises a front propeller arranged at the front part of the fuselage and four rotors arranged at two ends of a cantilever of each side wing; when the amphibious unmanned aerial vehicle takes off, the aircraft is lifted to a certain height or hovered by the lift force generated by the rotor wing on the cantilever; when the amphibious unmanned aerial vehicle descends, the stable descending of the body from a high position is realized through the resistance generated by the rotor 4; when the unmanned aerial vehicle stably navigates in the air or on the water surface, the front propeller generates horizontal thrust to control the horizontal propulsion speed.
Further, take cursory undercarriage to install in unmanned aerial vehicle fuselage below both sides, the cursory landing is used for descending at surface of water and land.
Furthermore, camera device passes through the remote control cloud platform and installs in fuselage front portion below for gather the peripheral image of unmanned aerial vehicle.
The utility model has the advantages that:
compared with the prior art, the utility model relates to an autonomous navigation combines unmanned aerial vehicle and unmanned ship's advantage separately, receives the water face and bank environment influence little underwater topography measuring device, through vertical take-off and landing and flight mode, can easily stride across steep bank landslide, and unmanned ship such as shoal island, alga gathering area in the waters are difficult to pass through the region, and the flexible high efficiency carries out underwater topography measuring work, uses manpower sparingly, reduces personnel's equipment damaged risk; based on the water surface navigation mode, the single-beam depth measurement device with low price can be carried to complete the measurement task. The device has the advantages of flexible application, light weight, small volume and low cost, and provides an effective tool for underwater topography measurement of small and medium-sized lakes and rivers.
Drawings
Fig. 1 is a schematic structural view of the amphibious unmanned aerial vehicle of the present invention;
FIG. 2 is a schematic structural view of the present invention during measurement;
fig. 3 is a schematic structural view of the depth finder of the present invention;
FIG. 4 is a schematic view of the amphibious unmanned aerial vehicle for measuring the water area;
in the figure: the system comprises a fuselage, a side wing, a cantilever, a rotor, a propeller, a vertical tail, a horizontal tail, a buoy, a landing gear, a depth finder, a GPS rover, a camera, an amphibious unmanned aerial vehicle, a remote control device, a main control device, a data communication radio, a GPS reference station receiver, a GPS satellite, a measured water bottom, a water surface, a measurement fault line, a measured water area, a telescopic support 101, a telescopic support 102, a water touch sensor 103, a depth probe 104, a depth probe 105, a depth probe data connecting line, a telescopic support base 106 and a water touch sensor data line 107.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the drawings of the present invention will be combined to clearly and completely describe the technical solutions in the embodiments of the present invention. It is to be understood that the embodiments described are only some of the embodiments of the present invention, and not all of them. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
As shown in fig. 1, an amphibious unmanned aerial vehicle 13 for underwater topography measurement comprises an unmanned aerial vehicle body, and an onboard GPS rover 11 and a depth finder 10, a control system, a communication module, a power module, a camera 12 and an undercarriage 9 with a buoy 8, which are mounted on the unmanned aerial vehicle body.
The unmanned aerial vehicle organism includes fuselage 1, the wing and the driving system who links to each other with fuselage 1. The machine body 1 is made of carbon fiber composite materials, a shell and an inner cavity are formed through injection molding, and the inner cavity is used for accommodating a battery, a power supply module, a control system, a communication module and a depth finder host. The wing comprises a side wing 2 and a tail wing, and the tail wing comprises a vertical tail wing 6 and a horizontal tail wing 7 connected with the vertical tail wing 6. The power system comprises a front propeller 5 mounted at the front of the fuselage and four rotors 4 mounted at the two ends of the cantilever 3 of each wing 2. When the amphibious unmanned aerial vehicle 13 takes off, the aircraft is lifted to a certain height or hovered by the lift force generated by the rotor 4 on the cantilever 3; when the amphibious unmanned aerial vehicle 13 descends, the stable descending of the body from a high position is realized through the resistance generated by the rotor 4; when the amphibious unmanned aerial vehicle 13 sails stably in the air or on the water surface, the front propeller 5 generates horizontal thrust to control the horizontal thrust speed. The motor of rotor 4 and leading screw 5 is brushless motor, and the screw adopts two-bladed oar.
The airborne GPS mobile station 11 is a GPS mobile station, is installed at the top of the body, is wrapped by waterproof materials, is used for acquiring the three-dimensional coordinate position of the unmanned aerial vehicle, and is used for navigation and measuring point positioning.
Take undercarriage 9 of cursory 8 to install in 1 below both sides of unmanned aerial vehicle fuselage, cursory 8 can adopt the foam material for descend on surface of water and land. The camera device 12 is installed below the front portion of the unmanned aerial vehicle body through a remote control holder and used for collecting peripheral images of the unmanned aerial vehicle and helping an operator to know a planned route and avoid obstacles.
Referring to fig. 3, a depth finder 10 is disposed in the middle of the undercarriage 9 below the middle section of the fuselage, the depth finder 10 is a depth sensor device with an automatic telescopic function, the depth finder 10 mainly includes a telescopic bracket 101, a depth finder probe 104, and a water contact sensor 103, the telescopic bracket 101 is mounted at the bottom of the fuselage, is connected with the single-beam depth finder probe 104, and controls the telescopic length of the depth finder probe 104 through a bracket joint 102. In a non-measuring state, the telescopic bracket 101 is in a contracted state, so that resistance can be reduced, the contact between the depth finder probe 104 and the ground or the water surface can be avoided, and in a measuring operation, the telescopic bracket 101 extends downwards to immerse the depth finder probe 104 into water. The water touch sensor 103 is located at the front end of the telescopic bracket 101 and used for judging whether the probe 104 of the depth finder is submerged in the water surface. The depth finder probe 104 is connected with the depth finder main body in the machine body through data lines (a water contact sensor data line 107 and a depth finder data connecting line 105).
The control system comprises an unmanned aerial vehicle flight control module, a camera device 12, a depth finder 10 and other sensor control modules. The unmanned aerial vehicle flight control module is also provided with a gyroscope and an attitude indicator, provides verified three-dimensional acceleration, angular velocity and geodetic magnetic field intensity, and ensures course. The control system is coupled to the communication module and receives and responds to signals from the remote control device 14.
The amphibious unmanned aerial vehicle 13 and the measuring equipment (the depth finder 10, the onboard GPS mobile station 11, the camera device 12 and the like) are powered by storage batteries, the battery pack and the power module are connected in parallel with the communication module, the depth finder 10, the onboard GPS mobile station 11, the control system and the power system through circuits, and the power module controls and distributes the storage batteries to supply power to the communication module, the depth finder 10, the onboard GPS mobile station 11, the control system and the power system.
As shown in fig. 2, the present invention is used in cooperation with a GPS reference station 18 (which continuously observes satellite navigation signals for a long time and transmits observation data to a ground fixed observation station of a data center in real time or at regular time by a communication facility), a main control device 15 and a remote control device 14, and each part is communicated with each other through a radio communication link 19. The GPS reference station 18, the main control device 15 and the remote control device 14 perform control operation on the operation of the amphibious unmanned aerial vehicle 13 on the shore of the measured water area. The amphibious unmanned aerial vehicle 13 can take off and land vertically on land or on the water surface, and can sail on the water surface when traveling underwater surveying and mapping.
The GPS reference station 18 comprises a reference station host, a GPS radio station, a GPS receiver 17 and a hand book, the GPS reference station 18 is used for receiving a GPS signal of a GPS satellite 20 at a fixed point, the hand book is used for setting GPS parameters, the GPS receiver 17 is in communication connection with the GPS satellite 20 through a data link to acquire the GPS signal, the GPS receiver 17 is connected with the reference station host through a line, the reference station host is used for analyzing positioning information according to the acquired GPS signal, the GPS radio station is connected with the reference station host through a line, and the GPS radio station is in charge of radio communication with a GPS mobile station. The GPS reference station 18 and the GPS mobile station 11 carried by the amphibious unmanned aerial vehicle 13 use the same GPS receiver, and the GPS reference station 18 is supported by a tripod and placed in a wide land on the shore to prevent signals and communication from being interfered. In the measurement process, the GPS reference station 18 is fixed, receives GPS satellite signals at a fixed point, and sends differential correction data signals to the amphibious unmanned aerial vehicle 13 in real time. When the amphibious unmanned aerial vehicle 13 carries out measurement to each measuring point, the airborne GPS rover station 11 receives the GPS signal of the GPS satellite 20, the radio station receives the correction information of the GPS reference station 18, and the plane coordinate of the amphibious unmanned aerial vehicle 13 can be accurately positioned by using the GPS-RTK technology.
The remote control equipment 14 and the main control equipment 15 can both realize remote control operation, and when the operation condition is complex and dangerous, the remote control equipment 14 is used for manual operation; under the condition of normal operation, a main control device 15 can be used for setting a route and a measuring point and implementing automatic operation.
The remote control equipment 14 is an operating device for manual control of the amphibious unmanned aerial vehicle 13, is designed for manual operation to be more convenient and faster, and is formed by improving a model airplane remote controller, and after control instructions are input through keys and rockers, the control instructions are sent to the amphibious unmanned aerial vehicle 13 through an antenna by a built-in communication module, and the start and stop, take-off, landing, hovering, navigation, course, navigational speed and the start and stop of the depth finder 19 of the amphibious unmanned aerial vehicle are controlled.
The main control equipment 15 comprises a display, a memory, a processor, a data communication radio station 16 and a power supply, all parts are connected with each other through data lines, the display is used for displaying the running data of the amphibious unmanned aerial vehicle 13 and the data information in the measuring process, the data communication radio station 16 is connected with a data communication radio station antenna through a wire, a leading line and a measuring section line of the amphibious unmanned aerial vehicle 13 are arranged through the main control equipment 15 through the data communication radio station 16, the measured water depth data and the GPS measured data sent back by the amphibious unmanned aerial vehicle 13 are received, and the error in actual measurement is corrected. The main control device 15 is provided with visual control software, and control parameter setting and data access can be implemented through a visual operation interface.
As shown in fig. 4, the GPS reference station 18, the main steering device 15, and the remote control device 14 perform control operations for the operation of the amphibious unmanned aerial vehicle 13 on the shore of the water area 24 to be measured. The amphibious unmanned aerial vehicle 13 can take off and land vertically on land or on the water surface, and can sail on the water surface when traveling underwater surveying and mapping. The whole device adopts a combined mode that a GPS is adopted to obtain plane coordinates and a depth finder 17 obtains depth data to carry out underwater topography measurement.
The above description is only the specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are all covered by the protection scope of the present invention.
Claims (6)
1. An amphibious unmanned aerial vehicle for underwater topography measurement, characterized in that: the unmanned aerial vehicle comprises an unmanned aerial vehicle body, and an onboard GPS mobile station (11), a depth finder (10), a camera device (12) and an undercarriage (9) with a buoy (8) which are arranged on the unmanned aerial vehicle body, wherein the onboard GPS mobile station (11) is matched with a GPS reference station (18) to obtain plane coordinates, and the depth finder (10) is used for obtaining water depth data when the amphibious unmanned aerial vehicle (13) sails on the water surface; the depth finder (10) comprises a telescopic support (101), a depth finder probe (104) and a touch sensor (103), wherein the telescopic support (101) is installed at the bottom of the machine body and connected with the depth finder probe (104), the telescopic length of the depth finder probe (104) is controlled through a support joint (102), the touch sensor (103) is located at the front end of the telescopic support (101) and used for judging whether the depth finder probe (104) is submerged into the water surface or not, and the depth finder probe (104) is connected with a depth finder host machine in the machine body through a data line.
2. An amphibious drone for underwater topography measurement according to claim 1, characterised in that: the intelligent control system also comprises a control system, a communication module and a power module, wherein the communication module and the power module are connected with the control system.
3. An amphibious drone for underwater topography measurement according to claim 2, characterised in that: the control system comprises an unmanned aerial vehicle flight control module, a sensor control module for controlling the camera device (12) and the depth finder (10).
4. An amphibious drone for underwater topography measurement according to any one of claims 1 to 3, characterised in that: the unmanned aerial vehicle body comprises a body, wings and a power system, wherein the wings and the power system are connected with the body, the body comprises a shell and an inner cavity, the inner cavity is used for accommodating a power supply module, a control system, a communication module and a depth finder host, the wings comprise side wings (2) and tail wings, and the tail wings comprise vertical tail wings (6) and horizontal tail wings (7) connected with the vertical tail wings (6); the power system comprises a front propeller (5) arranged at the front part of the body and four rotor wings (4) arranged at two ends of a cantilever (3) of each side wing (2); when the amphibious unmanned aerial vehicle takes off, the aircraft is lifted to a certain height or hovered by generating lift force through the rotor (4) on the cantilever (3); when the amphibious unmanned aerial vehicle descends, the stable descending of the body from a high position is realized through the resistance generated by the rotor wing (4); when the unmanned aerial vehicle stably navigates in the air or on the water surface, the front propeller (5) generates horizontal thrust to control the horizontal propulsion speed.
5. An amphibious drone for underwater topography measurement according to claim 1, characterised in that: take undercarriage (9) of cursory (8) to install in unmanned aerial vehicle fuselage below both sides, cursory (8) are used for descending at surface of water and land.
6. An amphibious drone for underwater topography measurement according to claim 1, characterised in that: the camera device (12) is installed below the front portion of the unmanned aerial vehicle body through a remote control holder and used for collecting peripheral images of the unmanned aerial vehicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020021293.2U CN211468772U (en) | 2020-01-07 | 2020-01-07 | Amphibious unmanned aerial vehicle for underwater topography measurement |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020021293.2U CN211468772U (en) | 2020-01-07 | 2020-01-07 | Amphibious unmanned aerial vehicle for underwater topography measurement |
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| CN211468772U true CN211468772U (en) | 2020-09-11 |
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| CN202020021293.2U Active CN211468772U (en) | 2020-01-07 | 2020-01-07 | Amphibious unmanned aerial vehicle for underwater topography measurement |
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