CN214824131U

CN214824131U - River and lake inspection intelligent image acquisition system based on unmanned aerial vehicle

Info

Publication number: CN214824131U
Application number: CN202120757117.XU
Authority: CN
Inventors: 钱拥军
Original assignee: Nanjing Weize Technology Information Co ltd
Current assignee: Nanjing Weize Technology Information Co ltd
Priority date: 2021-04-14
Filing date: 2021-04-14
Publication date: 2021-11-23
Anticipated expiration: 2031-04-14

Abstract

The utility model discloses an intelligent image acquisition system for river and lake inspection based on an unmanned aerial vehicle, which comprises an inspection unmanned aerial vehicle and each stop base station; the stay base station comprises a support mechanism, a stop platform box, a lifting support mechanism and a main charging module; patrol and examine unmanned aerial vehicle and include flight mechanism, control storehouse, hang mechanism, camera and time module of charging. The river and lake inspection intelligent image acquisition system based on the unmanned aerial vehicle is arranged at intervals along rivers and lakes to be inspected by utilizing the stop base stations, so that electric energy can be supplemented to the inspection unmanned aerial vehicle in the midway of inspection, and the long-line inspection requirement of the inspection unmanned aerial vehicle is met; utilize terminal bluetooth module and basic station bluetooth module to pair the communication to communicate when patrolling and examining that unmanned aerial vehicle is close to the stop basic station, thereby stay the support to patrolling and examining unmanned aerial vehicle by lift supporting mechanism.

Description

River and lake inspection intelligent image acquisition system based on unmanned aerial vehicle

Technical Field

The utility model relates to an image acquisition system, especially an intelligent image acquisition system is patrolled and examined in river lake based on unmanned aerial vehicle.

Background

In recent years, smart city construction is in the rise all over, which drives the reform, promotion and improvement of city production mode and life mode, while water conservancy project is an indispensable important ring in city life, and "smart water conservancy" also becomes a key node for smart city construction.

In recent years, with the rapid development of domestic unmanned aerial vehicle enterprises and the rapid rise of rotor unmanned aerial vehicle technology, domestic consumption-level unmanned aerial vehicle enterprises begin to receive global wide attention and occupy a large share in the global consumption-level unmanned aerial vehicle market. With the increase of the application of the multi-rotor unmanned aerial vehicle in the professional market, the multi-rotor unmanned aerial vehicle becomes the mainstream model of the civil unmanned aerial vehicle, and is widely applied to various industries such as aerial survey, agriculture, water conservancy, environment, logistics, disaster prevention and reduction, movie and television production and the like.

The unmanned aerial vehicle technology has begun exploratory applications in various fields of the water conservancy industry, such as unmanned aerial vehicle aerial survey data acquisition and processing, mountain torrent disaster investigation and evaluation, water and soil conservation detection and evaluation, river monitoring and supervision, flood control, drought resistance and disaster reduction, and the like. In the future, by combining the application requirements of the water conservancy industry and the development of professional technologies, the unmanned aerial vehicle technology can further widen the application range, and has a great application prospect.

But unmanned aerial vehicle has the general problem just the duration is not enough, is difficult to carry out the long line to rivers and lakes and patrols and examines.

SUMMERY OF THE UTILITY MODEL

Utility model purpose: the utility model provides a river lake patrols and examines intelligent image acquisition system based on unmanned aerial vehicle, can realize that unmanned aerial vehicle patrols and examines to the long line in river lake.

The technical scheme is as follows: the utility model discloses an unmanned aerial vehicle-based river and lake inspection intelligent image acquisition system, which comprises an inspection unmanned aerial vehicle and each stop base station; each staying base station is arranged at intervals along the river and lake to be inspected;

the stay base station comprises a support mechanism, a stop platform box, a lifting support mechanism and a main charging module; the bracket mechanism is fixedly arranged at the center of the lower side surface of the shutdown platform box; a top depression is arranged at the center of the upper side surface of the shutdown platform box; the main charging module comprises a main charging sealing shell and a main charging coil arranged in the main charging sealing shell; the main charging sealing shell is arranged in the top recess; a sealing control box is arranged in the shutdown platform box, and a base station controller, an electric control switch, a base station memory and a base station Bluetooth module are arranged in the sealing control box; the base station controller is respectively electrically connected with the electric control switch, the base station memory and the base station Bluetooth module; the electric control switch is connected in series with a power supply circuit of the main charging coil; the lifting support mechanism is arranged on the shutdown platform box and is driven and controlled by the base station controller;

the inspection unmanned aerial vehicle comprises a flight mechanism, a control cabin, a suspension mechanism, a camera and a secondary charging module; the secondary charging module comprises a secondary charging sealing shell and a secondary charging coil arranged in the secondary charging sealing shell; the control cabin is fixedly arranged in the middle of the flight mechanism, and a circuit board and a rechargeable battery are arranged in the control cabin; a terminal Bluetooth module, a terminal controller, a GPS module and a terminal memory are arranged on the circuit board; the suspension mechanism is arranged below the control bin, and the camera and the secondary charging sealing shell are fixedly arranged on the suspension mechanism; the terminal controller is respectively electrically connected with the camera, the terminal Bluetooth module, the GPS module and the terminal memory; the secondary charging coil is electrically connected with the charging battery; the flying mechanism is driven and controlled by a terminal controller; the rechargeable battery respectively supplies power to the terminal controller, the camera, the terminal Bluetooth module, the GPS module and the terminal memory;

patrol and examine unmanned aerial vehicle and when being close to and stop the basic station, terminal bluetooth module pairs the communication with basic station bluetooth module to patrol and examine unmanned aerial vehicle by lift supporting mechanism and stop the support, and patrol and examine that time charging coil presses close to with main charging coil when unmanned aerial vehicle stops the support.

Further, a WiFi module, a gyroscope and a voltage detection circuit which are electrically connected with the terminal controller are arranged on the circuit board; the voltage detection circuit is electrically connected with the rechargeable battery.

Further, the flight mechanism comprises four branch units; each branch unit comprises a branch supporting rod, a duct and a rotor motor; a rotor motor driving circuit electrically connected with the terminal controller is arranged on the circuit board; the four branch supporting rods are all fixedly arranged on the side edge of the control cabin and are distributed in a cross shape; the rotor motor is fixedly arranged on the end part of the branch supporting rod, and the rotor motor driving circuit is electrically connected with the rotor motor; the duct is fixedly arranged on the end part of the branch supporting rod, and the rotor motor is positioned at the center of the duct; the rechargeable battery supplies power for the rotor motor driving circuit.

Further, the support mechanism comprises an adjusting sleeve, an adjusting rod, a positioning bolt and an installation bottom plate; the lower end of the adjusting sleeve is vertically and fixedly installed at the center of the upper side face of the installation bottom plate; the lower end of the adjusting rod is inserted into the upper end pipe orifice of the adjusting sleeve, and a sealing ring is arranged at the upper end pipe orifice of the adjusting sleeve; the lower side surface of the mounting bottom plate is provided with ground thorns; the positioning bolt is screwed on the pipe wall at the upper end of the adjusting sleeve, and the end part of the screw rod of the positioning bolt presses on the rod wall of the adjusting rod; the upper end of the adjusting rod is fixed at the center of the lower side surface of the shutdown platform box.

Furthermore, a rotating sleeve is rotatably arranged on the adjusting rod; a diversion swing rod and a wind driven generator are arranged on the rotary sleeve, and the diversion swing rod and the wind driven generator are positioned on the same axis; a flow guide wing plate is arranged on the suspended end part of the flow guide swing rod; a base station storage battery is arranged in the sealed control box; the wind driven generator charges a base station storage battery; the base station storage battery supplies power for the base station controller, the base station memory and the base station Bluetooth module respectively, and the electric control switch is connected in series on a power supply line between the base station storage battery and the main charging coil.

Furthermore, a lower rectangular back plate is hinged to the peripheral edges of the lower side surface of the shutdown platform box; solar panels are fixedly arranged on the four rectangular back plates at the lower sides; the solar cell panel charges a base station storage battery; a positioning sliding sleeve is sleeved on the adjusting rod, a locking bolt is screwed on the positioning sliding sleeve in a threaded manner, and the end part of a screw rod of the locking bolt is pressed on the adjusting rod; a backboard inclined stay bar is hinged and installed at the center of the back of each of the four lower rectangular backboard in a swinging manner; the lower ends of the four back plate diagonal braces are hinged on the positioning sliding sleeve in a swinging mode.

Furthermore, the lifting support mechanism comprises an opening and closing drive motor, an opening and closing drive shaft, a lifting drive shaft, a support ring, two lifting sleeves and two lifting drive rods; the opening and closing driving shaft is transversely and rotatably arranged in the shutdown platform box through the rotating shaft support, and transversely penetrates through the sealing control box; the opening and closing driving motor is fixedly arranged in the sealing control box, and the end part of an output shaft of the opening and closing driving motor is fixedly provided with a driving bevel gear; the middle part of the opening and closing driving shaft is provided with driven bevel gears meshed with the driving bevel gears; a lifting driving worm is coaxially and fixedly arranged on the opening and closing driving shaft; the lifting driving shaft is longitudinally and rotatably arranged in the shutdown platform box, and a lifting driving worm wheel meshed with the lifting driving worm is fixedly arranged on the lifting driving shaft; two lifting drive rods are respectively inserted on the two lifting sleeves in a sliding manner, and lifting drive racks are vertically arranged on the side walls of the two lifting drive rods; two lifting driving gears are arranged on the lifting driving shaft, and the two lifting driving gears are respectively and locally embedded into the two lifting sleeves to be meshed with the two lifting driving racks; the supporting circular ring is horizontally and fixedly arranged on the upper end parts of the two lifting driving rods; an opening and closing motor driving circuit electrically connected with the base station controller is arranged in the sealed control box and electrically connected with the opening and closing driving motor.

Furthermore, the left part and the right part of the opening and closing driving shaft are provided with external threads with opposite thread turning directions, and the external threads of the left part and the right part are both provided with an opening and closing driving block in a threaded manner; two strip-shaped guide holes are transversely formed in the lower side wall of the shutdown platform box, and the lower side edges of the two opening and closing driving blocks are respectively embedded into the two strip-shaped guide holes in a sliding manner; an opening and closing driving connecting rod is hinged on each of the two opening and closing driving blocks in a swinging mode; a top cover plate is hinged and mounted at the left side and the right side of the upper side of the shutdown platform box in a swinging mode, and a solar panel is arranged on the outer side plate surface of the top cover plate; the solar cell panel charges a base station storage battery; an annular groove for facilitating the entering of the supporting ring is formed in the upper side face of the shutdown platform box; still transversely be provided with two top bar holes on the last side of shutting down the platform case, articulated installation is on the inboard face of top apron behind two top bar holes are run through respectively to the upper end of two drive connecting rods that open and shut.

Further, the suspension mechanism comprises a horizontal angle adjusting shaft, a rotating motor, a U-shaped suspension plate, a pitching adjusting pipe shaft and an electrical installation box; the horizontal angle adjusting shaft is vertically and rotatably arranged at the center of the lower side surface of the control bin, and a horizontal angle adjusting worm wheel is fixedly arranged at the upper end of the horizontal angle adjusting shaft; the rotating motor is arranged in the control bin, and a horizontal angle adjusting worm is installed on an output shaft of the rotating motor in a butt joint mode; the horizontal angle adjusting worm is meshed with the horizontal angle adjusting worm wheel; the upper side surface of the middle side plate of the U-shaped hanging support plate is fixedly arranged on the lower end part of the horizontal angle adjusting shaft; the middle part of the pitching adjusting tubular shaft is rotatably arranged on the electrical installation box, and two ends of the pitching adjusting tubular shaft are fixedly arranged on the left side plate and the right side plate of the U-shaped mounting plate; a pitching motor is arranged in the electric installation box, and a pitching driving worm is arranged at the end part of an output shaft of the pitching motor in a butt joint manner; a pitching driving worm wheel meshed with the pitching driving worm is fixedly arranged on the pitching adjusting pipe shaft; the camera and the secondary charging sealing shell are respectively and fixedly arranged on the upper side surface and the lower side surface of the electric mounting box; a rotating motor driving circuit and a pitching motor driving circuit which are electrically connected with the terminal controller are arranged on the circuit board, the rotating motor driving circuit is electrically connected with the rotating motor, and the pitching motor driving circuit is electrically connected with the pitching motor; the rechargeable battery is electrically connected with the rotating motor driving circuit and the pitching motor driving circuit respectively.

Further, an air bag concave groove is formed in the lower side face of the middle side plate of the U-shaped hanging support plate; an elastic air bag is embedded and installed in the air bag concave groove; the elastic air bag is fixedly provided with a wiping block, and the lower side surface of the wiping block protrudes out of the air bag concave groove; a wiping cotton layer is arranged on the lower side surface of the wiping block, and when the camera rotates to the upper side, the mirror surface of the wiping camera is in contact with the wiping cotton layer; a cable hole is formed in the pitching adjusting pipe shaft in the electric installation box, and a threading hole communicated with the end part of the pitching adjusting pipe shaft is formed in the U-shaped hanging plate; the electric connection cable of the secondary charging coil, the camera and the pitching motor enters the pitching adjusting pipe shaft through the cable hole, penetrates through the threading hole and then penetrates through the horizontal angle adjusting shaft to enter the control bin.

Compared with the prior art, the utility model, its beneficial effect is: the stay base stations are arranged at intervals along rivers and lakes to be inspected, so that electric energy can be supplemented to the inspection unmanned aerial vehicle in the midway of inspection, and the long-line inspection requirement of the inspection unmanned aerial vehicle is met; the terminal Bluetooth module is in paired communication with the base station Bluetooth module, so that the inspection unmanned aerial vehicle is in communication when approaching a staying base station, and the inspection unmanned aerial vehicle is stayed and supported by the lifting support mechanism; the lifting support mechanism can enhance the relative position control of the secondary charging coil and the primary charging coil, and ensure the wireless charging performance; utilize the GPS module can realize patrolling and examining unmanned aerial vehicle and patrolling and examining according to the coordinate information in river lake.

Drawings

Fig. 1 is a schematic structural view of the inspection unmanned aerial vehicle when parked on a stop base station;

fig. 2 is a schematic view of the shutdown platform box of the present invention in a partially cut-away structure after being unfolded;

fig. 3 is a schematic view of the shutdown platform box of the present invention in a partially cut-away structure after being closed;

fig. 4 is a schematic view of a partial sectional structure of the inspection unmanned aerial vehicle of the utility model;

fig. 5 is a schematic diagram of the circuit system structure of the present invention.

Detailed Description

The technical solution of the present invention will be described in detail with reference to the accompanying drawings, but the scope of the present invention is not limited to the embodiments.

Example 1:

as shown in fig. 1-5, the utility model discloses an intelligent image acquisition system is patrolled and examined in river lake based on unmanned aerial vehicle includes: patrolling the unmanned aerial vehicle and each staying base station; each staying base station is arranged at intervals along the river and lake to be inspected;

the stay base station comprises a support mechanism, a shutdown platform box 1, a lifting support mechanism and a main charging module; the bracket mechanism is fixedly arranged at the center of the lower side surface of the shutdown platform box 1; a top recess 19 is arranged at the center of the upper side surface of the shutdown platform box 1; the main charging module comprises a main charging sealing shell 20 and a main charging coil arranged in the main charging sealing shell 20; the main charging enclosure 20 is mounted within the top recess 19; a sealing control box 28 is arranged in the shutdown platform box 1, and a base station controller, an electric control switch, a base station memory and a base station Bluetooth module are arranged in the sealing control box 28; the base station controller is respectively electrically connected with the electric control switch, the base station memory and the base station Bluetooth module; the electric control switch is connected in series with a power supply circuit of the main charging coil; the lifting support mechanism is arranged on the shutdown platform box 1 and is driven and controlled by the base station controller;

the inspection unmanned aerial vehicle comprises a flight mechanism, a control cabin 39, a suspension mechanism, a camera 61 and a secondary charging module; the secondary charging module includes a secondary charging sealing case 56 and a secondary charging coil disposed inside the secondary charging sealing case 56; the control cabin 39 is fixedly arranged in the middle of the flight mechanism, and a circuit board 43 and a rechargeable battery are arranged in the control cabin 39; a terminal Bluetooth module, a terminal controller, a GPS module and a terminal memory are arranged on the circuit board 43; the suspension mechanism is arranged below the control cabin 39, and the camera 61 and the secondary charging sealing shell 56 are fixedly arranged on the suspension mechanism; the terminal controller is respectively electrically connected with the camera 61, the terminal Bluetooth module, the GPS module and the terminal memory; the secondary charging coil is electrically connected with the charging battery; the flying mechanism is driven and controlled by a terminal controller; the rechargeable battery respectively supplies power to the terminal controller, the camera 61, the terminal Bluetooth module, the GPS module and the terminal memory;

The stay base stations are arranged at intervals along rivers and lakes to be inspected, so that electric energy can be supplemented to the inspection unmanned aerial vehicle in the midway of inspection, and the long-line inspection requirement of the inspection unmanned aerial vehicle is met; the terminal Bluetooth module is in paired communication with the base station Bluetooth module, so that the inspection unmanned aerial vehicle is in communication when approaching a staying base station, and the inspection unmanned aerial vehicle is stayed and supported by the lifting support mechanism; the lifting support mechanism can enhance the relative position control of the secondary charging coil and the primary charging coil, and ensure the wireless charging performance; utilize the GPS module can realize patrolling and examining unmanned aerial vehicle and patrolling and examining according to the coordinate information in river lake.

Further, a WiFi module, a gyroscope and a voltage detection circuit electrically connected with the terminal controller are arranged on the circuit board 43; the voltage detection circuit is electrically connected with the rechargeable battery. The WiFi module can be used for communicating with the upper computer after the inspection is finished, and the data obtained by the inspection are uploaded to the upper computer; the gyroscope is utilized to facilitate the flight stability control of the inspection unmanned aerial vehicle; the voltage detection circuit can be used for detecting the voltage of the rechargeable battery, so that the rechargeable battery can be charged to the nearest staying base station when the voltage is lower than the threshold value.

Further, the flight mechanism comprises four branch units; each branch unit comprises a branch supporting rod 44, a duct 46 and a rotor motor 45; a rotor motor driving circuit electrically connected with the terminal controller is arranged on the circuit board 43; the four branch supporting rods 44 are all fixedly arranged on the side edge of the control cabin 39, and the four branch supporting rods 44 are distributed in a cross shape; the rotor motor 45 is fixedly arranged on the end part of the branch supporting rod 44, and a rotor motor driving circuit is electrically connected with the rotor motor 45; the duct 46 is fixedly installed on the end of the branch supporting rod 44, and the rotor motor 45 is located at the center of the duct 46; the rechargeable battery supplies power for the rotor motor driving circuit. The stability of flight can be enhanced by the use of the ducts 46.

Further, the support mechanism comprises an adjusting sleeve 3, an adjusting rod 2, a positioning bolt 7 and an installation bottom plate 4; the lower end of the adjusting sleeve 3 is vertically and fixedly arranged at the center of the upper side surface of the mounting bottom plate 4; the lower end of the adjusting rod 2 is inserted into the upper end pipe orifice of the adjusting sleeve 3, and a sealing ring 6 is arranged at the upper end pipe orifice of the adjusting sleeve 3; a ground thorn 5 is arranged on the lower side surface of the mounting bottom plate 4; the positioning bolt 7 is screwed on the pipe wall at the upper end of the adjusting sleeve 3, and the end part of the screw rod of the positioning bolt 7 is pressed on the rod wall of the adjusting rod 2; the upper end of the adjusting rod 2 is fixed at the center of the lower side surface of the shutdown platform box 1. The overall supporting height of the support mechanism can be adjusted by matching the adjusting sleeve 3, the adjusting rod 2 and the positioning bolt 7, so that the field installation requirement is met; the stability of the installation base plate 4 can be enhanced by using the burs 5.

Further, a rotating sleeve 8 is rotatably mounted on the adjusting rod 2; a diversion swing rod 9 and a wind driven generator 11 are arranged on the rotary sleeve 8, and the diversion swing rod 9 and the wind driven generator 11 are positioned on the same axis; a flow guide wing plate 10 is arranged on the suspended end part of the flow guide swing rod 9; a base station storage battery is arranged in the sealing control box 28; the wind driven generator 11 charges a base station storage battery; the base station storage battery supplies power for the base station controller, the base station memory and the base station Bluetooth module respectively, and the electric control switch is connected in series on a power supply line between the base station storage battery and the main charging coil. The rotating sleeve 8 can be driven to rotate by the guide vane 10, so that the wind driven generator 11 is positioned in the airflow direction, and the power generation performance is ensured.

Furthermore, a lower rectangular back plate 15 is hinged at the peripheral edge of the lower side surface of the shutdown platform box 1; the four lower rectangular back plates 15 are all fixedly provided with solar panels 16; the solar cell panel 16 charges a base station storage battery; a positioning sliding sleeve 12 is sleeved on the adjusting rod 2, a locking bolt 13 is screwed on the positioning sliding sleeve 12, and the end part of a screw rod of the locking bolt 13 is pressed on the adjusting rod 2; a backboard inclined strut 14 is hinged and installed at the center of the back of each of the four lower rectangular backboard 15 in a swinging manner; the lower ends of the four back plate inclined supporting rods 14 are hinged on the positioning sliding sleeve 12 in a swinging mode. The base station storage battery can be charged by the solar panel 16; by the cooperation of the positioning sliding sleeve 12, the locking bolt 13 and the back plate diagonal brace 14, the orientation angle of the solar cell panel 16 can be adjusted according to the installation position, and the power generation performance of the solar cell panel 16 is ensured.

Further, the lifting support mechanism comprises an opening and closing drive motor 23, an opening and closing drive shaft 34, a lifting drive shaft 24, a support ring 22, two lifting sleeves 31 and two lifting drive rods 32; the opening and closing driving shaft 34 is transversely and rotatably installed in the shutdown platform box 1 through the rotating shaft support 30, and the opening and closing driving shaft 34 transversely penetrates through the sealing control box 28; the opening and closing driving motor 23 is fixedly arranged in the sealing control box 28, and the end part of an output shaft of the opening and closing driving motor 23 is fixedly provided with a driving bevel gear 38; a driven bevel gear 37 engaged with the driving bevel gear 38 is arranged in the middle of the opening and closing driving shaft 34; a lifting driving worm 29 is coaxially and fixedly arranged on the opening and closing driving shaft 34; the lifting driving shaft 24 is longitudinally and rotatably arranged in the shutdown platform box 1, and a lifting driving worm wheel 25 meshed with the lifting driving worm 29 is fixedly arranged on the lifting driving shaft 24; two lifting drive rods 32 are respectively inserted on the two lifting sleeves 31 in a sliding manner, and lifting drive racks 33 are vertically arranged on the side walls of the two lifting drive rods 32; two lifting driving gears are arranged on the lifting driving shaft 24, and the two lifting driving gears are respectively and partially embedded into the two lifting sleeves 31 to be meshed with the two lifting driving racks 33; the supporting ring 22 is horizontally and fixedly arranged on the upper end parts of the two lifting driving rods 32; an opening and closing motor driving circuit electrically connected with the base station controller is arranged in the sealed control box 28, and the opening and closing motor driving circuit is electrically connected with the opening and closing driving motor 23.

By utilizing the cooperation of the components such as the lifting driving worm 29, the lifting driving worm wheel 25, the lifting driving shaft 24, the two lifting sleeves 31, the lifting driving rack 33, the two lifting driving rods 32 and the like, the lifting motion of the supporting ring 22 can be realized, so that when the inspection unmanned aerial vehicle stays, the height of the inspection unmanned aerial vehicle can be adjusted, a space is reserved before charging so as to facilitate the rotation of the electrical installation box 60, the secondary charging sealing shell 56 is turned to the lower part to be opposite to the main charging sealing shell 20, and then the secondary charging sealing shell 56 is descended to be close to the main charging sealing shell 20, so that the reliable operation of wireless charging is ensured; utilize the figure recognition location that supports ring 22 and can be convenient for camera 61 to make the mechanism that hangs run through support ring 22, four branch bracing pieces 44 support on supporting ring 22, realize patrolling and examining unmanned aerial vehicle's outrigger.

Furthermore, the left part and the right part of the opening and closing driving shaft 34 are provided with external threads 35 with opposite thread turning directions, and the external threads 35 of the left part and the right part are both provided with an opening and closing driving block 36 in a threaded manner; two strip-shaped guide holes 27 are transversely formed in the lower side wall of the shutdown platform box 1, and the lower side edges of the two opening and closing driving blocks 36 are respectively embedded into the two strip-shaped guide holes 27 in a sliding mode; an opening and closing driving connecting rod 18 is hinged on each of the two opening and closing driving blocks 36 in a swinging mode; a top cover plate 17 is hinged and installed at the left side and the right side of the upper side of the shutdown platform box 1 in a swinging mode, and a solar cell panel 16 is arranged on the outer side plate surface of the top cover plate 17; the solar cell panel 16 charges a base station storage battery; an annular groove 21 for facilitating the entry of a supporting ring 22 is arranged on the upper side surface of the shutdown platform box 1; still transversely be provided with two top bar holes 26 on the last side of shutting down platform case 1, two top bar holes 26 back articulated installation are run through respectively on the inboard face of top apron 17 to the upper end of opening and shutting drive connecting rod 18.

By means of the matching of the opening and closing driving block 36, the opening and closing driving connecting rod 18 and the top cover plate 17, solar power generation can be performed in the space above the shutdown platform box 1 when the inspection unmanned aerial vehicle does not stay, and side wind can be blocked when the inspection unmanned aerial vehicle stays and expands, so that the inspection unmanned aerial vehicle is prevented from being blown by wind and falling; the external thread 35 arranged on the opening and closing driving shaft 34 is used for driving the opening and closing driving block 36, so that the top cover plate 17 is opened while the supporting ring 22 is lifted, and the lifting of the supporting ring 22 is facilitated; the strip-shaped guide holes 27 can be used for conveniently and stably limiting the sliding of the opening and closing driving block 36, and simultaneously can be used for conveniently discharging rainwater out of the shutdown platform box 1; the use of the annular groove 21 facilitates the insertion of the support ring 22 when the top cover 17 is closed.

Further, the suspension mechanism comprises a horizontal angle adjusting shaft 41, a rotating motor 47, a U-shaped suspension plate 40, a pitching adjusting pipe shaft 54 and an electrical installation box 60; the horizontal angle adjusting shaft 41 is vertically and rotatably arranged at the center of the lower side surface of the control cabin 39, and a horizontal angle adjusting worm gear 42 is fixedly arranged at the upper end of the horizontal angle adjusting shaft 41; the rotating motor 47 is arranged in the control cabin 39, and a horizontal angle adjusting worm 48 is installed on an output shaft of the rotating motor 47 in a butt joint mode; the horizontal angle adjusting worm 48 is meshed with the horizontal angle adjusting worm wheel 42; the upper side surface of the middle side plate of the U-shaped hanging and carrying plate 40 is fixedly arranged on the lower end part of the horizontal angle adjusting shaft 41; the middle part of the pitching adjusting pipe shaft 54 is rotatably arranged on the electric installation box 60, and two ends of the pitching adjusting pipe shaft 54 are fixedly arranged on the left side plate and the right side plate of the U-shaped hanging support plate 40; a pitch motor 59 is installed in the electric installation box 60, and a pitch driving worm 58 is installed at the end part of an output shaft of the pitch motor 59 in a butt joint mode; a pitch driving worm gear 57 meshed with the pitch driving worm 58 is fixedly arranged on the pitch adjusting pipe shaft 54; the camera 61 and the sub charging sealing shell 56 are respectively and fixedly installed on the upper side and the lower side of the electrical installation box 60; a rotary motor driving circuit and a pitching motor driving circuit which are electrically connected with the terminal controller are arranged on the circuit board 43, the rotary motor driving circuit is electrically connected with the rotary motor 47, and the pitching motor driving circuit is electrically connected with the pitching motor 59; the rechargeable battery is electrically connected with the rotating motor driving circuit and the pitching motor driving circuit respectively.

The U-shaped hanging support plate 40 can be driven to rotate by the cooperation of the rotating motor 47, the horizontal angle adjusting shaft 41, the horizontal angle adjusting worm 48 and the horizontal angle adjusting worm wheel 42, so that the horizontal orientation angle of the camera 61 is adjusted to meet the requirement of inspection; utilize the cooperation of every single move adjustment hollow shaft 54, pitch motor 59, every single move drive worm 58 and every single move drive worm wheel 57, can carry out rotary drive to electrical installation box 60 to adjust the every single move angle of camera 61, also can be simultaneously when charging with inferior charge seal shell 56 rotatory to the below, thereby make inferior charge coil and main charge coil press close to mutually, can also rotate when patrolling and examining camera 61's mirror surface pollution and clean the clearance to the top.

Further, an air bag concave groove 49 is arranged on the lower side surface of the middle side plate of the U-shaped hanging and carrying plate 40; an elastic air bag 50 is embedded and installed in the air bag concave groove 49; a wiping block 51 is fixedly arranged on the elastic air bag 50, and the lower side surface of the wiping block 51 protrudes out of the air bag concave groove 49; a wiping cotton layer 52 is arranged on the lower side surface of the wiping block 51, and when the camera 61 rotates to the upper side, the mirror surface of the wiping camera 61 is in contact with the wiping cotton layer 52; a cable hole 55 is formed in the pitching adjusting pipe shaft 54 in the electric installation box 60, and a threading hole 53 communicated with the end part of the pitching adjusting pipe shaft 54 is formed in the U-shaped hanging support plate 40; an electric connection cable of the secondary charging coil, the camera 61 and the pitching motor 59 enters the pitching adjusting pipe shaft 54 from the cable hole 55, passes through the threading hole 53 and then passes through the horizontal angle adjusting shaft 41 to enter the control cabin 39.

The elastic air bag 50 can facilitate the flexible installation of the wiping block 51, so that the wiping cotton layer 52 can flexibly wipe the mirror surface of the camera 61, thereby ensuring the picture quality during inspection; with the arrangement of the cable hole 55 and the threading hole 53, the electric connection cable can be conveniently threaded.

In the river and lake inspection intelligent image acquisition system based on the unmanned aerial vehicle, the base station controller adopts the existing single chip microcomputer control module, such as STM32 series single chip microcomputer control module; the terminal controller adopts the existing ARM controller module; the electric control switch adopts the existing electric control switch circuit; the base station memory and the terminal memory both adopt the existing memory modules; the base station Bluetooth module and the terminal Bluetooth module both adopt the existing Bluetooth modules; the camera 61 adopts the existing infrared camera; the GPS module adopts the existing GPS module; the rotor motor 45 adopts the existing driving motor; the wind driven generator 11 adopts the existing small generator; the opening and closing drive motor 23, the rotating motor 47 and the pitching motor 59 are all the existing stepping motors; the secondary charging coil and the main charging coil are both conventional wireless charging coils and comprise corresponding charging circuits; the voltage detection circuit adopts the existing voltage division circuit, and then the terminal controller carries out A/D acquisition; the WiFi module adopts the existing WiFi module; the gyroscope is an existing gyroscope.

The utility model discloses an intelligent image acquisition system is patrolled and examined in river and lake based on unmanned aerial vehicle installs when using, at first with each stay basic station along waiting to patrol and examine river and lake interval installation, patrol and examine unmanned aerial vehicle after the start-up, set for corresponding route of patrolling and examining by the host computer according to the route of river and lake, and will patrol and examine the circuit and store in the terminal memory, patrol and examine the unmanned aerial vehicle and take off the back and carry out the river and lake according to the data acquisition of patrolling and examining circuit and GPS module, carry out image acquisition to each patrol and examine the point in river and lake by camera 61; the terminal controller collects voltage in real time through the voltage detection circuit, when the terminal controller judges that the voltage of the rechargeable battery is lower than a set threshold value, the terminal controller selects a nearest stop base station, and the terminal controller controls the flight mechanism to fly to the selected stop base station; after the station is in the flight and stays in the station, the Bluetooth module of the station and the Bluetooth module of the terminal carry out pairing communication, the terminal controller sends a charging instruction to the base station controller, the base station controller controls the opening and closing motor 23 to drive the opening and closing driving shaft 34 to rotate after receiving the charging instruction, and further drives the two top cover plates 17 to open, meanwhile, the supporting ring 22 is lifted, the terminal controller carries out image recognition and positioning on the supporting ring 22 through the camera 61, therefore, the suspension mechanism of the inspection unmanned aerial vehicle accurately enters the supporting ring 22, the driving control of the flying mechanism is stopped after the suspension mechanism enters the supporting ring 22, the pitching motor 59 is controlled by the terminal controller to rotate the secondary charging sealing shell 56 to the lower part, the opening and closing motor 23 is controlled by the base station controller to descend the supporting ring 22, so that the secondary charging coil is close to the primary charging coil, and the charging battery is charged; when voltage detection circuit detects that voltage rises to full value, patrol and examine unmanned aerial vehicle and start the flight again to control camera 61 and rotate to the below and continue to carry out river lake and patrol and examine, base station controller control motor 23 that opens and shuts withdraws support ring 22, makes top apron 17 lid close on the top of shutting down platform case 1.

In the process of inspecting the flight of the unmanned aerial vehicle, a terminal controller performs flight stability control according to a gyroscope, and the terminal controller adopts the existing flight control program for the control program of a flight mechanism; after the terminal controller judges that the mirror surface is polluted according to the image, the wiping cotton layer 52 flexibly wipes the mirror surface of the camera 61 by rotating the camera 61 to the upper part; the solar cell panel 16 and the wind driven generator 11 charge the base station storage battery, so that the base station storage battery is kept to have sufficient electric quantity; the existing processing program is adopted for image acquisition by the camera 61 and image processing by the terminal controller.

As mentioned above, although the present invention has been shown and described with reference to certain preferred embodiments, it should not be construed as limiting the invention itself. Various changes in form and detail may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

Claims

1. The utility model provides a river lake intelligent image acquisition system that patrols and examines based on unmanned aerial vehicle which characterized in that: the system comprises an inspection unmanned aerial vehicle and each stopping base station; each staying base station is arranged at intervals along the river and lake to be inspected;

the stay base station comprises a support mechanism, a shutdown platform box (1), a lifting support mechanism and a main charging module; the bracket mechanism is fixedly arranged at the center of the lower side surface of the shutdown platform box (1); a top depression (19) is arranged at the center of the upper side surface of the shutdown platform box (1); the main charging module comprises a main charging sealing shell (20) and a main charging coil arranged in the main charging sealing shell (20); the main charging sealing shell (20) is arranged in the top recess (19); a sealing control box (28) is arranged in the shutdown platform box (1), and a base station controller, an electric control switch, a base station memory and a base station Bluetooth module are arranged in the sealing control box (28); the base station controller is respectively electrically connected with the electric control switch, the base station memory and the base station Bluetooth module; the electric control switch is connected in series with a power supply circuit of the main charging coil; the lifting support mechanism is arranged on the shutdown platform box (1) and is driven and controlled by the base station controller;

the inspection unmanned aerial vehicle comprises a flight mechanism, a control cabin (39), a suspension mechanism, a camera (61) and a secondary charging module; the secondary charging module comprises a secondary charging sealing shell (56) and a secondary charging coil arranged in the secondary charging sealing shell (56); the control cabin (39) is fixedly arranged in the middle of the flight mechanism, and a circuit board (43) and a rechargeable battery are arranged in the control cabin (39); a terminal Bluetooth module, a terminal controller, a GPS module and a terminal memory are arranged on the circuit board (43); the suspension mechanism is arranged below the control cabin (39), and the camera (61) and the secondary charging sealing shell (56) are fixedly arranged on the suspension mechanism; the terminal controller is respectively and electrically connected with the camera (61), the terminal Bluetooth module, the GPS module and the terminal memory; the secondary charging coil is electrically connected with the charging battery; the flying mechanism is driven and controlled by a terminal controller; the rechargeable battery respectively supplies power to the terminal controller, the camera (61), the terminal Bluetooth module, the GPS module and the terminal memory;

2. The unmanned aerial vehicle-based river and lake inspection intelligent image acquisition system according to claim 1, wherein: a WiFi module, a gyroscope and a voltage detection circuit which are electrically connected with the terminal controller are arranged on the circuit board (43); the voltage detection circuit is electrically connected with the rechargeable battery.

3. The unmanned aerial vehicle-based river and lake inspection intelligent image acquisition system according to claim 1, wherein: the flight mechanism comprises four branch units; each branch unit comprises a branch supporting rod (44), a duct (46) and a rotor motor (45); a rotor motor driving circuit electrically connected with the terminal controller is arranged on the circuit board (43); the four branch supporting rods (44) are all fixedly arranged on the side edge of the control bin (39), and the four branch supporting rods (44) are distributed in a cross shape; the rotor motor (45) is fixedly arranged on the end part of the branch supporting rod (44), and a rotor motor driving circuit is electrically connected with the rotor motor (45); the duct (46) is fixedly arranged on the end part of the branch supporting rod (44), and the rotor motor (45) is positioned at the center of the duct (46); the rechargeable battery supplies power for the rotor motor driving circuit.

4. The unmanned aerial vehicle-based river and lake inspection intelligent image acquisition system according to claim 1, wherein: the bracket mechanism comprises an adjusting sleeve (3), an adjusting rod (2), a positioning bolt (7) and a mounting bottom plate (4); the lower end of the adjusting sleeve (3) is vertically and fixedly arranged at the center of the upper side surface of the mounting bottom plate (4); the lower end of the adjusting rod (2) is inserted into the upper end pipe orifice of the adjusting sleeve (3), and a sealing ring (6) is arranged at the upper end pipe orifice of the adjusting sleeve (3); a ground thorn (5) is arranged on the lower side surface of the mounting bottom plate (4); the positioning bolt (7) is screwed on the pipe wall at the upper end of the adjusting sleeve (3), and the end part of the screw rod of the positioning bolt (7) is pressed on the rod wall of the adjusting rod (2); the upper end of the adjusting rod (2) is fixed at the center of the lower side surface of the shutdown platform box (1).

5. The unmanned aerial vehicle-based river and lake inspection intelligent image acquisition system according to claim 4, wherein: a rotary sleeve (8) is rotatably arranged on the adjusting rod (2); a diversion swing rod (9) and a wind driven generator (11) are arranged on the rotary sleeve (8), and the diversion swing rod (9) and the wind driven generator (11) are positioned on the same axis; a flow guide wing plate (10) is arranged on the suspended end part of the flow guide swing rod (9); a base station storage battery is arranged in the sealing control box (28); the wind driven generator (11) charges a base station storage battery; the base station storage battery supplies power for the base station controller, the base station memory and the base station Bluetooth module respectively, and the electric control switch is connected in series on a power supply line between the base station storage battery and the main charging coil.

6. The unmanned aerial vehicle-based river and lake inspection intelligent image acquisition system according to claim 4, wherein: a lower rectangular back plate (15) is hinged at the peripheral edge of the lower side surface of the shutdown platform box (1); solar panels (16) are fixedly arranged on the four lower rectangular back plates (15); the solar cell panel (16) charges a base station storage battery; a positioning sliding sleeve (12) is sleeved on the adjusting rod (2), a locking bolt (13) is screwed on the positioning sliding sleeve (12) in a threaded manner, and the end part of a screw rod of the locking bolt (13) is pressed on the adjusting rod (2); a backboard inclined stay bar (14) is hinged and installed at the center of the back of each of the four lower rectangular backboard (15) in a swinging manner; the lower ends of four back plate diagonal braces (14) are hinged on the positioning sliding sleeve (12) in a swinging mode.

7. The unmanned aerial vehicle-based river and lake inspection intelligent image acquisition system according to claim 1, wherein: the lifting support mechanism comprises an opening and closing drive motor (23), an opening and closing drive shaft (34), a lifting drive shaft (24), a support ring (22), two lifting sleeves (31) and two lifting drive rods (32); the opening and closing driving shaft (34) is transversely and rotatably arranged in the shutdown platform box (1) through the rotating shaft support (30), and the opening and closing driving shaft (34) transversely penetrates through the sealing control box (28); the opening and closing driving motor (23) is fixedly arranged in the sealing control box (28), and the end part of an output shaft of the opening and closing driving motor (23) is fixedly provided with a driving bevel gear (38); a driven bevel gear (37) meshed with the driving bevel gear (38) is arranged in the middle of the opening and closing driving shaft (34); a lifting driving worm (29) is coaxially and fixedly arranged on the opening and closing driving shaft (34); the lifting driving shaft (24) is longitudinally and rotatably arranged in the shutdown platform box (1), and a lifting driving worm wheel (25) meshed with the lifting driving worm (29) is fixedly arranged on the lifting driving shaft (24); two lifting sleeves (31) are vertically installed on the shutdown platform box (1) in a penetrating manner, two lifting driving rods (32) are respectively inserted on the two lifting sleeves (31) in a sliding manner, and lifting driving racks (33) are vertically arranged on the side walls of the two lifting driving rods (32); two lifting driving gears are arranged on the lifting driving shaft (24), and the two lifting driving gears are respectively partially embedded into the two lifting sleeves (31) to be meshed with the two lifting driving racks (33); the supporting circular ring (22) is horizontally and fixedly arranged on the upper end parts of the two lifting driving rods (32); an opening and closing motor driving circuit electrically connected with the base station controller is arranged in the sealing control box (28), and the opening and closing motor driving circuit is electrically connected with the opening and closing driving motor (23).

8. The unmanned aerial vehicle-based river and lake inspection intelligent image acquisition system according to claim 7, wherein: the left part and the right part of the opening and closing driving shaft (34) are provided with external threads (35) with opposite thread turning directions, and the external threads (35) of the left part and the right part are both provided with an opening and closing driving block (36) in a threaded manner; two strip-shaped guide holes (27) are transversely formed in the lower side wall of the shutdown platform box (1), and the lower side edges of the two opening and closing driving blocks (36) are respectively embedded into the two strip-shaped guide holes (27) in a sliding mode; an opening and closing driving connecting rod (18) is hinged on each of the two opening and closing driving blocks (36) in a swinging mode; a top cover plate (17) is hinged and installed at the left side and the right side of the upper side of the shutdown platform box (1) in a swinging mode, and a solar panel (16) is arranged on the outer side plate surface of the top cover plate (17); the solar cell panel (16) charges a base station storage battery; an annular groove (21) which is convenient for a supporting ring (22) to enter is arranged on the upper side surface of the shutdown platform box (1); still transversely be provided with two top bar holes (26) on the last side of shutting down platform case (1), the upper end of two drive connecting rods that open and shut (18) runs through behind two top bar holes (26) articulated installation on the inboard face of top apron (17) respectively.

9. The unmanned aerial vehicle-based river and lake inspection intelligent image acquisition system according to claim 1, wherein: the suspension mechanism comprises a horizontal angle adjusting shaft (41), a rotating motor (47), a U-shaped suspension plate (40), a pitching adjusting pipe shaft (54) and an electrical installation box (60); the horizontal angle adjusting shaft (41) is vertically and rotatably arranged at the center of the lower side surface of the control bin (39), and a horizontal angle adjusting worm wheel (42) is fixedly arranged at the upper end of the horizontal angle adjusting shaft (41); the rotating motor (47) is arranged in the control bin (39), and a horizontal angle adjusting worm (48) is installed on an output shaft of the rotating motor (47) in a butt joint mode; the horizontal angle adjusting worm (48) is meshed with the horizontal angle adjusting worm wheel (42); the upper side surface of the middle side plate of the U-shaped hanging plate (40) is fixedly arranged on the lower end part of the horizontal angle adjusting shaft (41); the middle part of the pitching adjusting pipe shaft (54) is rotatably arranged on the electric installation box (60), and two ends of the pitching adjusting pipe shaft (54) are fixedly arranged on the left side plate and the right side plate of the U-shaped hanging support plate (40); a pitching motor (59) is installed in the electric installation box (60), and a pitching driving worm (58) is installed at the end part of an output shaft of the pitching motor (59) in a butt joint mode; a pitch driving worm wheel (57) meshed with the pitch driving worm (58) is fixedly arranged on the pitch adjusting pipe shaft (54); the camera (61) and the secondary charging sealing shell (56) are respectively and fixedly arranged on the upper side and the lower side of the electric installation box (60); a rotating motor driving circuit and a pitching motor driving circuit which are electrically connected with the terminal controller are arranged on the circuit board (43), the rotating motor driving circuit is electrically connected with the rotating motor (47), and the pitching motor driving circuit is electrically connected with the pitching motor (59); the rechargeable battery is electrically connected with the rotating motor driving circuit and the pitching motor driving circuit respectively.

10. The unmanned aerial vehicle-based river and lake inspection intelligent image acquisition system according to claim 9, wherein: an air bag concave groove (49) is arranged on the lower side surface of the middle side plate of the U-shaped hanging plate (40); an elastic air bag (50) is embedded and installed in the air bag concave groove (49); a wiping block (51) is fixedly arranged on the elastic air bag (50), and the lower side surface of the wiping block (51) protrudes out of the air bag concave groove (49); a wiping cotton layer (52) is arranged on the lower side surface of the wiping block (51), and when the camera (61) rotates to the upper side, the mirror surface of the wiping camera (61) is in contact with the wiping cotton layer (52); a cable hole (55) is formed in the pitching adjusting pipe shaft (54) in the electric installation box (60), and a threading hole (53) communicated with the end part of the pitching adjusting pipe shaft (54) is formed in the U-shaped mounting plate (40); an electric connection cable of the secondary charging coil, the camera (61) and the pitching motor (59) enters the pitching adjusting pipe shaft (54) from the cable hole (55), passes through the threading hole (53) and then penetrates through the horizontal angle adjusting shaft (41) to enter the control bin (39).