CN107416204B - Unmanned aerial vehicle of monitoring ice condition key element - Google Patents
Unmanned aerial vehicle of monitoring ice condition key element Download PDFInfo
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- CN107416204B CN107416204B CN201610220681.1A CN201610220681A CN107416204B CN 107416204 B CN107416204 B CN 107416204B CN 201610220681 A CN201610220681 A CN 201610220681A CN 107416204 B CN107416204 B CN 107416204B
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- 239000004020 conductor Substances 0.000 claims description 2
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- 238000005553 drilling Methods 0.000 description 7
- 238000001514 detection method Methods 0.000 description 5
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- B64C39/02—Aircraft not otherwise provided for characterised by special use
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- E—FIXED CONSTRUCTIONS
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- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
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Abstract
The invention relates to an unmanned aerial vehicle for monitoring ice condition elements. The invention discloses an unmanned aerial vehicle for monitoring ice condition elements, which comprises an unmanned aerial vehicle body, a monitoring load and ground equipment. The unmanned aerial vehicle monitoring load comprises a small high-definition digital camera, or infrared, far infrared, thermal infrared camera shooting and photographing equipment, or ice thickness measuring electric drill equipment, or sonar ice thickness measuring equipment, and any combination thereof. The ice thickness measuring electric drill equipment is arranged between the unmanned aerial vehicle body and the undercarriage, comprises a structure body and a control measuring circuit, and can accurately measure the thickness of an ice layer in place. The unmanned aerial vehicle for monitoring the ice condition elements has the advantages of flexibility, rapidness, high efficiency, long distance, accuracy, safety, low cost and the like.
Description
Technical Field
The invention relates to the field of ice condition monitoring, in particular to an unmanned aerial vehicle for monitoring ice condition elements.
Background art:
the sea water icing phenomenon can occur in the Bohai sea and the northern part of the yellow sea in China every year in winter. Bohai and yellow sea ice are one of the important marine disasters in China. The icing degree of the sea is different due to the influence of winter climate and cold temperature, and the sea ice can push down a marine oil platform, destroy port facilities, block a navigation channel, damage a ship, paralyze the transportation of the sea and cause huge damage and loss to the marine facilities when the sea ice is serious; particularly, for the first ocean industry mainly comprising the ocean fishery, the ocean fishing industry is stopped due to the ice seal on the sea surface, the mariculture industry is damaged, a large amount of ships are damaged, the normal life of people in coastal areas is seriously influenced, the safety of the operation in the ice areas is ensured, and the sea ice forecasting and monitoring are very necessary.
Ice thickness refers to the vertical distance along the shore from the ice surface to the bottom of the ice layer, usually in centimeters, and is the most important part of sea ice monitoring. There are three types of current methods for obtaining ice thickness on site: one is to rely on the transmitted electromagnetic waves, sound waves, etc. to penetrate the ice layer and to convert the thickness of the ice by the time it takes to return to the receiver. The penetration speed is a key indicator. However, the nature of ice is controlled by its internal temperature, and the temperature of natural ice changes day and night with the temperature of the air. Therefore, the physical parameters related to the ice properties are variable values in a certain range, which causes great errors and uncertainty of error factors in the actual measurement method; secondly, the distance from the ice surface is calculated by depending on the time of reflecting the ultrasonic waves and the laser when the ultrasonic waves and the laser reach the ice surface, the actual measurement precision is influenced by local surface fluctuation, and the change of the thickness can be reflected only by relatively testing the surface and the bottom surface of the ice layer; and thirdly, direct measurement is carried out, the ice thickness observation along the bank is usually carried out by using an ice drill and an ice ruler, the method is simple and reliable, fixed-point timing observation cannot be realized, and the method cannot be carried out when sea ice is thin and cannot bear the weight of an observer, so that certain danger is realized.
The sea ice emergency monitoring equipment is necessary to be capable of timely and accurately acquiring sea ice condition elements of a sea ice disaster site and a sea area adjacent to the sea ice disaster site, effectively making a sea ice disaster emergency plan, providing effective first-hand data for disaster prevention and relief decision-making departments, and having a fast moving, high monitoring coverage area, a site accurate sea ice condition data collecting function and an information remote wireless transmission function.
The invention content is as follows:
the invention aims to provide an ice condition monitoring unmanned aerial vehicle which has the advantages of flexibility, rapidness, high efficiency, long distance, accuracy, safety, low cost and the like, and can meet the requirements of ice monitoring tasks of sea ice and various rivers and lakes. In sea ice observation, many terms that express and describe ice conditions are commonly referred to as ice condition elements. The device can monitor ice condition factors such as ice thickness, ice concentration, total ice amount, ice type, ice shape, ice surface temperature and the like.
The purpose of the invention is realized by the following technical scheme:
the invention discloses an unmanned aerial vehicle for monitoring ice condition elements.
The unmanned aerial vehicle body include fuselage, frame, safety cover and undercarriage device, energy and distribution device, power advancing device, navigation flight control device, wireless data transmission device. Wherein the unmanned aerial vehicle plays to set up to be designed into amphibian type, prevents that the ice surface from breaking, and unmanned aerial vehicle falls into water and damages. The navigation flight control device comprises a Global Navigation Satellite System (GNSS) positioning device, an attitude measurement device and the like.
The unmanned aerial vehicle load comprises a small visible light high-definition digital camera, or infrared, far infrared, thermal infrared camera shooting and photographing equipment, or ice thickness measuring electric drill equipment, or sonar ice thickness measuring equipment, or any combination of one or more of the small visible light high-definition digital camera, the infrared, the far infrared, the thermal infrared camera shooting and photographing equipment and the sonar ice thickness measuring equipment. The specific load configuration is determined by task requirements, unmanned aerial vehicle platform carrying capacity and the small miniaturization condition of load equipment. Wherein, the image data that small-size high definition digital camera, or infrared, or far infrared, or thermal infrared make a video recording camera equipment acquireed at unmanned aerial vehicle high altitude cruise stage can pass through image processing technique, acquires the intensity and the ice total amount of sea ice. The image data acquired at the low altitude or the target ice surface landing stage can acquire element information such as ice type and ice shape through an image recognition technology. The real-time video images can be used for ground control hands and decision-makers to select the in-place ice thickness to measure the target ice surface and assist in finishing the landing and takeoff of the target ice surface of the unmanned aerial vehicle.
The ground equipment of the unmanned aerial vehicle comprises ground control, wireless data receiving equipment, a data processing and display system, an unmanned aerial vehicle control hand and other ground support personnel and facilities.
As a further improvement of the invention, the ice thickness measuring electric drill equipment is realized by adopting a mode of positioning and measuring an electric drill at the same time, and the ice thickness measuring electric drill equipment can land on a target ice surface stably and safely during working. The ice thickness measuring electric drill equipment is arranged between an unmanned aerial vehicle body and an undercarriage and comprises a structure body and a control measuring circuit.
The ice thickness measuring electric drill equipment structure body comprises a side support, a top support, a sliding rail, a sliding groove, a motor fixing rod, a drill bit fixing clamp, a double-thread drill bit, a special-shaped nut rod and a thrust spring.
The double-thread drill bit is characterized in that the thread close to the outer end of the drill bit is a drill bit thread suitable for rotatably cutting an object, the part close to the motor and connected with the special-shaped nut rod is a bolt thread, the special-shaped nut rod is matched with the bolt thread of the double-thread drill bit, the screw pitch of the bolt and the rotating speed of the motor control the rotating, pushing-out and withdrawing translational speeds of the drill bit, and the double-thread drill bit can be set according to the hardness characteristic of ice.
The sliding rail is made of a conductor material with uniform resistance. The motor fixing rod is fixed with the motor, two ends of the motor fixing rod are connected with the two sliding grooves and then connected with the two sliding rails, and the sliding rails are fixed with the two side brackets; the motor is connected with the double-thread drill bit through the drill bit clamp, the special-shaped nut rod is connected with the drill bit through threads, and then the two ends of the special-shaped nut rod are fixed with the support. A thrust spring is connected to the top bracket and the motor to provide a thrust force in an outward direction of the drill bit. When the motor rotates along the screw thread of the nut, the motor, the drill bit fixing clamp, the double-thread drill bit, the motor fixing rod and the sliding chute are integrally screwed out along the sliding rail along the direction of the drill bit, so that the ice surface is drilled in or through; on the contrary, when the motor rotates reversely, the motor, the drill bit fixing clamp, the double-thread drill bit, the motor fixing rod and the sliding groove are integrally withdrawn inwards along the sliding rail along the drill bit direction, so that the original position is recovered, and one-time measurement is completed.
The control and measurement circuit of the ice thickness measurement electric drill equipment is arranged in a protective cover of a machine body and comprises a microprocessor or an embedded processor, a peripheral auxiliary circuit, a current sampling circuit, a resistance sampling circuit, a motor drive control circuit, a data transmission circuit and a digital communication interface circuit. The microprocessor or the embedded processor comprises a time timing module, a data packet generation module and the like, and can share hardware resources under the condition that the resources of the unmanned aerial vehicle navigation flight control microprocessor or the embedded processor are allowed; the current sampling circuit samples the current of the motor drive control circuit, and then the change data of the working power of the motor along with the time is obtained; the resistance sampling circuit samples the resistance of the sliding rail between the sliding groove on one side and the top support at the same sampling rate as the current sampling circuit, and the resistance is in direct proportion to the length due to the uniform distribution of the resistivity of the sliding rail material, so that the change data of the length of the sliding rail between the sliding groove on one side and the top support along with the time can be obtained. And finally, acquiring the data of the motor power along with the change of the length of the sliding rail between the sliding groove on one side and the top bracket.
The ice thickness measuring principle of the ice thickness measuring electric drill equipment is as follows: because motor power is at the idle load, power is low when not having the empty load rotation of contact ice surface promptly, and power is high when contact ice body drilling, and motor power becomes low again after drilling through the ice sheet in aqueous, so in the motor power that once drilling acquireed along with slide rail length variation curve graph between one side spout and the roof-rack, the corresponding segment length of high power output is the radial length L of ice surface drilling for, combines the zenith angle theta that unmanned aerial vehicle body gesture measuring device acquireed, acquires ice thickness observed value T at last and cos (theta) L.
Unmanned aerial vehicle power advancing device, rotor device and ice thickness measurement electric drill equipment can realize coordinated control promptly, when ice thickness measurement electric drill equipment during operation, with the help of rotor reverse rotation produces decurrent pressure, increase the frictional force of unmanned aerial vehicle undercarriage and ground, guarantee at survey ice electric drill during operation, unmanned aerial vehicle can not the displacement or incline.
The ground equipment of the unmanned aerial vehicle can be replaced by vehicle-mounted or shipborne equipment, for example, a ship or a ship can be used as a ground station, so that the regional observation of the far coast can be realized, and the unmanned aerial vehicle can be applied to the aspects of marine ecology, environmental protection, fishery, safety, travel and the like.
The invention has the following advantages and positive effects:
1. compared with the traditional method, the ice condition monitoring method has the advantages of flexibility, rapidness, high efficiency, long distance, accuracy, safety, low cost and the like. Especially, when the thickness of the ice surface is measured, the unmanned aerial vehicle can go deep into a dangerous area to replace the operation of people, the thinner ice surface can still be measured, and an operator only needs to control the unmanned aerial vehicle to complete the fixed-point measurement and acquisition of the ice thickness in a safe coast area.
2. The invention adopts multi-detection load detection, can simultaneously observe various ice condition parameters including ice thickness, ice concentration, ice total amount, ice shape and other factors, has high automation degree, can realize one-time unmanned aerial vehicle flight task completion multi-point acquisition on the ice thickness, has real-time performance and improves the ice condition monitoring efficiency.
3. In the load equipment of making a video recording, added hot infrared camera equipment, under night, haze or the smog condition, still can carry out the monitoring of ice condition.
Drawings
Fig. 1 is a schematic structural diagram of an unmanned aerial vehicle for monitoring ice condition elements according to the present invention.
Unmanned aerial vehicle includes unmanned aerial vehicle body 1, ice thickness measurement electric drill equipment 2 and visible light high definition digital camera 3. Wherein include unmanned aerial vehicle undercarriage 101 in the unmanned aerial vehicle body 1.
Fig. 2 is a side view of a drone monitoring ice condition elements.
Unmanned aerial vehicle includes unmanned aerial vehicle body 1, ice thickness measurement electric drill equipment 2 and visible light high definition digital camera 3. Wherein include unmanned aerial vehicle undercarriage 101 in the unmanned aerial vehicle body 1.
Fig. 3 is a schematic structural view of the ice thickness measuring electric drill apparatus of fig. 1.
The ice thickness electric drill equipment comprises a side bracket 201, a top bracket 202, a sliding rail 203, a sliding groove 204, a motor 205, a motor fixing rod 206, a drill bit fixing clamp 207, a double-thread drill bit 208, a special-shaped nut rod 209 and a thrust spring 210. The a-terminal to the B-terminal indicates the resistance of the sliding rail 203 on one side between the sliding groove 204 and the top bracket 202.
Fig. 4 is a side view showing the structure of the ice thickness measuring electric drill apparatus of fig. 1.
The ice thickness electric drill equipment comprises a side bracket 201, a top bracket 202, a sliding rail 203, a sliding groove 204, a motor 205, a motor fixing rod 206, a drill bit fixing clamp 207, a double-thread drill bit 208, a special-shaped nut rod 209 and a thrust spring 210. The a-terminal to the B-terminal indicates the resistance of the sliding rail 203 on one side between the sliding groove 204 and the top bracket 202.
Fig. 5 is a schematic diagram of a control measurement circuit of the ice thickness measurement electric drill apparatus of fig. 1.
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings.
Example 1
As shown in fig. 1 and 2, the ice condition element monitoring unmanned aerial vehicle of this embodiment mainly comprises unmanned aerial vehicle body 1, ice thickness measurement electric drill equipment 2 and visible light high definition digital camera 3 etc..
Unmanned aerial vehicle adopts the four rotor framework in this embodiment, unmanned aerial vehicle undercarriage 101, the design is amphibious undercarriage, it is makeed with light material, the design is sled shape, when the ice surface is taken one's place to measure, can guarantee to break at the ice surface and fall into the aquatic, still can waft at the surface of water, and enough unmanned aerial vehicle and ice surface area of contact can be guaranteed to this design, thereby reduce the pressure to the ice surface, thereby reduce the cracked probability of ice surface, furthermore, enough area of contact, can also guarantee at the frictional force of unmanned aerial vehicle with the ice surface contact, thereby can have sufficient frictional force at ice thickness measurement electric drill equipment during operation, avoid unmanned aerial vehicle to take place to rotate, displacement and slope.
In this embodiment, visible light high definition digital camera 3 has been adopted, can carry out ground remote switch to visible light high definition digital camera 3 through the navigation of unmanned aerial vehicle body 1 and flight control device, video data can be transmitted to the ground data receiving terminal through the wireless data transmission device of unmanned aerial vehicle body 1 in real time, control personnel can control unmanned aerial vehicle according to real-time video, and can select suitable target ice surface to land and take one's place ice thickness detection, in addition, video data can also utilize image processing technique to obtain the intensity and the ice total amount of sea ice, the image data that low latitude or target ice surface landed the stage and obtained can obtain essential element information such as ice type and ice form through image identification technique.
Referring to fig. 3 and 4, the ice thickness measuring electric drill apparatus in the present embodiment is installed between the body of the unmanned aerial vehicle and the landing gear, and includes a side bracket 201, a top bracket 202, a slide rail 203, a slide groove 204, a motor 205, a motor fixing rod 206, a drill fixing clip 207, a double-thread drill 208, a profiled nut rod 209, and a thrust spring 210. The thread of the double-thread drill 208 close to the outer end of the drill is a twist drill thread suitable for rotatably cutting objects, the part close to the motor 205 and connected with the special-shaped nut rod 209 is a bolt thread, the special-shaped nut rod 209 is matched with the fine thread of the double-thread drill 208, and the fine thread distance and the rotating speed of the motor control the rotating, pushing and retracting translational speeds of the drill. The sliding rail 203 is made of a material having uniform resistance. The motor fixing rod 206 is fixedly connected with the motor 205, two ends of the motor fixing rod are connected with the two sliding grooves 204, then the motor fixing rod is connected with the two sliding rails 203, and the sliding rails 203 are fixedly connected with the two side brackets 201; the motor 205 is connected with the double-thread drill 208 through the drill fixing clamp 207, the special-shaped nut rod 209 is connected with the bolt thread part of the double-thread drill 208 through threads, and then two ends of the special-shaped nut rod are fixedly connected with the two side brackets 201 respectively; a thrust spring 210 is coupled to the top bracket 202 and the motor 205 to provide a thrust force in an outward direction along the double threaded drill bit 208. When the motor 205 rotates along the nut thread in the special-shaped nut rod 209, the motor 205, the drill bit fixing clamp 207, the double-thread drill bit 208, the motor fixing rod 206 and the two sliding grooves 204 are integrally screwed out along the sliding rail 203 along the direction of the double-thread drill bit 208, so that the ice surface is drilled in and drilled through; conversely, when the motor 205 rotates against the nut thread in the special-shaped nut rod 209, the motor 205, the drill fixing clip 207, the double-thread drill 208, the motor fixing rod 206 and the two sliding grooves 204 are integrally retracted inwards along the sliding rail 203 along the direction of the double-thread drill 208, so that the original position is restored, and one measurement is completed.
Referring to fig. 5, the control and measurement circuit of the ice thickness measurement electric drill device in this embodiment is disposed in the protective cover of the drone body 1, and includes an embedded processor 211, a peripheral auxiliary circuit 212, a current sampling circuit 213, a resistance sampling circuit 214, a motor driving and control circuit 215, a data transmission circuit 216, and a digital communication interface circuit 217. The embedded processor 211 comprises a time timing module, a data packet generating module and the like; the current sampling circuit 213 samples the current of the motor driving control circuit 214 at a sampling rate of 10Hz, so as to obtain the change data of the working power of the motor along with the time; the resistance sampling circuit samples the resistance from the point A to the point B of the sliding rail 203 between the sliding groove 204 at one side and the top support 202 at the same sampling rate of 10Hz by using the current sampling circuit 213, and the sliding rail 203 is made of a material with uniform resistance and is in direct proportion to the length, so that the change data of the length from the point A to the point B of the sliding rail 203 between the sliding groove 204 at one side and the top support 202 along with the time can be obtained. Digital transmission circuit 216 links to each other with unmanned aerial vehicle body 1's wireless data transmission device, and the length of the change of motor power along with time of the A of slide rail 203 between spout 204 and the roof-rack 202 on one side during will be measured at every turn is with the change of data of the length of the point B along with time of the A of slide rail 203 and is passed down to ground receiving equipment, obtains the change curve of motor power along with the length of the point B to the A of slide rail 203 between spout 204 on one side and the roof-rack 202 through calculation on ground, combines the corresponding zenith angle information of this measuring time that unmanned aerial vehicle body 1 gesture measuring device measured to obtain the ice thickness information of each measurement finally. The digital communication interface circuit 217 is used for connecting the embedded processor 211 with the navigation and flight control device of the unmanned aerial vehicle body 1, ground remote control of the ice thickness measurement electric drill equipment can be realized through the navigation and flight control device of the unmanned aerial vehicle body 1, the switch of the ice thickness measurement electric drill equipment can be controlled, and the double-thread drill bit 208 rotates along or against the nut thread of the special-shaped nut rod 209.
The ice thickness measuring principle of the ice thickness measuring electric drill equipment in the embodiment is as follows:
because the motor power is unloaded, namely the power is low when the empty load of the contact ice surface is not rotated, the power is high when the motor is contacted with the ice body for drilling, and the motor power is changed from high to low in water after the ice layer is drilled, in a power curve diagram of the motor 205 and the length from the point A to the point B of the slide rail 203 between the slide groove 204 and the top bracket 202 on one side obtained by one-time drilling, the length corresponding to the high power output is the radial length or the depth L of the ice surface for drilling, and the zenith angle theta obtained by combining the attitude measuring device of the unmanned aerial vehicle body 1 is combined, and finally the ice thickness observed value T is obtained as cos (theta) L.
In addition, the power advancing device of unmanned aerial vehicle body 1 of this embodiment, rotor device and ice thickness measurement electric drill equipment 2 can realize coordinated control promptly, and at ice thickness measurement electric drill equipment during operation, with the help of rotor reverse rotation produces decurrent pressure, increases the frictional force on unmanned aerial vehicle undercarriage and ground, guarantees that at ice measurement electric drill during operation, unmanned aerial vehicle can not displacement or slope.
Example 2
The ice condition element monitoring unmanned aerial vehicle of this embodiment, its basic structure is the same with embodiment 1, and its difference lies in: the visible light high-definition digital video camera 3 is replaced by the thermal infrared camera, the ice condition detection method has the advantages that the ice condition detection can be carried out at night or under the conditions of haze or smoke, the adaptability under the special weather condition is improved, and in addition, the ice condition information of the ice surface temperature can be acquired by the thermal infrared camera.
Example 3
The ice condition monitoring unmanned aerial vehicle of this embodiment, what the unmanned aerial vehicle body adopted in this embodiment is fixed wing unmanned aerial vehicle, and load equipment adopts digital camera and infrared camera to be equipped with the cloud platform, can realize ground remote control camera angle and change. In this embodiment, the fixed-wing unmanned aerial vehicle cannot carry ice thickness measurement electric drill equipment, but can utilize a digital camera and an infrared camera to observe factors such as sea ice density, ice total amount ice type, ice shape and ice surface temperature, and the fixed-wing unmanned aerial vehicle can exert the advantages of high speed and wide coverage range of the fixed-wing aircraft.
The present invention and its embodiments have been described above in an illustrative manner, and the description is not intended to be limiting, and the embodiments shown in the drawings are only one embodiment of the present invention, and the actual structure is not limited thereto. Therefore, if the person skilled in the art receives the teaching, without departing from the spirit of the invention, the person skilled in the art shall not inventively design the similar structural modes and embodiments to the technical solution, but shall fall within the scope of the invention.
Claims (7)
1. An unmanned aerial vehicle for monitoring ice condition elements is characterized by comprising an unmanned aerial vehicle body, a monitoring load and ground equipment;
the unmanned aerial vehicle body comprises a body, a rack, an undercarriage device, an energy source and power distribution device, a power propulsion device, a navigation flight control device and a wireless data transmission device;
the ice thickness measuring electric drill equipment is also included;
the ice thickness measuring electric drill equipment is arranged between the unmanned aerial vehicle body and the undercarriage and comprises a structure body and a control measuring circuit; the ice thickness measuring electric drill equipment structure comprises a side bracket, a top bracket, a sliding rail, a sliding groove, a motor fixing rod, a drill bit fixing clamp, a double-thread drill bit, a special-shaped nut rod and a thrust spring;
the thread of the double-thread drill bit close to the outer end of the drill bit is a drill bit thread, the part close to the motor and connected with the special-shaped nut rod is a bolt thread, and the special-shaped nut rod is matched with the bolt thread of the double-thread drill bit;
the sliding rail is made of a conductor material with uniform resistance;
the motor fixing rod is fixed with the motor, two ends of the motor fixing rod are connected with the two sliding grooves and then connected with the two sliding rails, and the sliding rails are fixed with the two side brackets; the motor is connected with the double-thread drill bit through the drill bit clamp, the special-shaped nut rod is connected with the drill bit through threads, and then two ends of the special-shaped nut rod are fixed with the support; the thrust spring is connected with the top bracket and the motor and provides thrust along the outward direction of the drill bit;
the unmanned aerial vehicle power propulsion device and the ice thickness measuring electric drill equipment can realize linkage control.
2. The unmanned aerial vehicle for monitoring ice condition factors of claim 1, wherein the unmanned aerial vehicle body further comprises a protective cover, wherein the control and measurement circuit of the ice thickness measurement electric drill device is arranged in the protective cover of the body and comprises a microprocessor or an embedded processor, a peripheral auxiliary circuit, a current sampling circuit, a resistance sampling circuit, a motor drive control circuit, a data transmission circuit and a digital communication interface circuit.
3. The drone for monitoring ice conditions according to claim 2, wherein the microprocessor or embedded processor comprises a time timing module, a data packet generation module; the current sampling circuit samples the current of the motor drive control circuit, and then the change value of the working power of the motor along with the time is obtained; the resistance sampling circuit samples the resistance of the sliding rail between the sliding groove on one side and the top bracket at the same sampling rate as the current sampling circuit.
4. The drone for monitoring ice conditions according to claim 1, wherein the monitoring load comprises a visible light camera, and/or an infrared camera, and/or a far infrared camera, and/or a thermal infrared camera.
5. The drone for monitoring ice conditions according to claim 1, wherein the ground equipment comprises ground control, and/or wireless data receiving equipment, and/or data processing and display systems.
6. Use of the drone for monitoring the ice condition element of any one of claims 1 to 5 for monitoring the ice condition element.
7. The use of claim 6, wherein said ice condition factors are ice thickness, ice concentration, total ice quantity ice type, ice shape and ice surface temperature.
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| CN201610220681.1A CN107416204B (en) | 2016-04-11 | 2016-04-11 | Unmanned aerial vehicle of monitoring ice condition key element |
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| CN108444477A (en) * | 2018-03-13 | 2018-08-24 | 广东容祺智能科技有限公司 | A kind of more sea ice marine sites of unmanned plane are explored the way system and method for exploring the way |
| CN110053773A (en) * | 2019-04-30 | 2019-07-26 | 芜湖翼讯飞行智能装备有限公司 | A kind of unmanned plane and protective device for low temperature environment |
| CN110057282B (en) * | 2019-05-29 | 2020-09-15 | 山东省海河淮河小清河流域水利管理服务中心 | Automatic measuring device and method for river and lake ice |
| CN111877980B (en) * | 2020-08-06 | 2021-06-08 | 聊城市敏锐信息科技有限公司 | Drilling equipment based on unmanned aerial vehicle |
| KR102611408B1 (en) * | 2022-11-30 | 2023-12-07 | 임승희 | Modular water collecting apparatus for drones |
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| CN205060018U (en) * | 2015-04-28 | 2016-03-02 | 南昌航空大学 | Unmanned aerial vehicle for environmental monitoring |
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| CN101949259A (en) * | 2010-10-15 | 2011-01-19 | 肖双喜 | Multifunctional shale electric drill |
| CN203175406U (en) * | 2013-02-22 | 2013-09-04 | 王志秋 | Electric well drill |
| CN103321567A (en) * | 2013-06-26 | 2013-09-25 | 吉林大学 | Drill tool and method for measuring thicknesses of sea ice and river ice while drilling |
| CN203321307U (en) * | 2013-06-26 | 2013-12-04 | 吉林大学 | Drilling tool for measuring thickness of sea ice and river ice during drilling |
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