CN118145032B - Water quality remote sensing measurement device based on unmanned aerial vehicle hyperspectrum - Google Patents
Water quality remote sensing measurement device based on unmanned aerial vehicle hyperspectrum Download PDFInfo
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- CN118145032B CN118145032B CN202410567389.1A CN202410567389A CN118145032B CN 118145032 B CN118145032 B CN 118145032B CN 202410567389 A CN202410567389 A CN 202410567389A CN 118145032 B CN118145032 B CN 118145032B
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 82
- 238000005259 measurement Methods 0.000 title claims abstract description 18
- 238000005070 sampling Methods 0.000 claims abstract description 25
- 238000012544 monitoring process Methods 0.000 claims abstract description 10
- 238000007667 floating Methods 0.000 claims description 6
- 239000012943 hotmelt Substances 0.000 claims description 6
- 238000002844 melting Methods 0.000 claims 2
- 230000008018 melting Effects 0.000 claims 2
- 238000000034 method Methods 0.000 claims 1
- 230000000694 effects Effects 0.000 abstract description 6
- 235000017166 Bambusa arundinacea Nutrition 0.000 abstract description 4
- 235000017491 Bambusa tulda Nutrition 0.000 abstract description 4
- 241001330002 Bambuseae Species 0.000 abstract description 4
- 235000015334 Phyllostachys viridis Nutrition 0.000 abstract description 4
- 239000011425 bamboo Substances 0.000 abstract description 4
- 230000007423 decrease Effects 0.000 abstract description 2
- 230000008602 contraction Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- -1 at this time Substances 0.000 description 2
- 238000012851 eutrophication Methods 0.000 description 2
- 238000003780 insertion Methods 0.000 description 2
- 230000037431 insertion Effects 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 239000002245 particle Substances 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 230000001174 ascending effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000003595 spectral effect Effects 0.000 description 1
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A20/00—Water conservation; Efficient water supply; Efficient water use
- Y02A20/20—Controlling water pollution; Waste water treatment
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Abstract
The invention relates to the technical field of water quality monitoring equipment, in particular to a water quality remote sensing measurement device based on hyperspectrum of an unmanned aerial vehicle, which comprises the unmanned aerial vehicle and an integrated hyperspectral camera holder system arranged below the unmanned aerial vehicle and used for monitoring water quality, wherein a fixing device is arranged between two machine body support frames, and a sampling device is arranged on the outer side of a cross rod at the bottom of each machine body support frame. This quality of water remote sensing measuring device based on unmanned aerial vehicle hyperspectrum, control unmanned aerial vehicle decline height, sampling device descends to back under water, and fixed deckle can turn up under the buoyancy effect of gasbag, and rivers flow into the water storage tank on the section of thick bamboo by the inlet opening, and after unmanned aerial vehicle lifted, pressure spring restored the position of fixed deckle, and the ratchet contacts with the pawl, and drives and rotate a section of thick bamboo and take place to rotate to accomplish the sampling work of water, and remove empty water storage tank to the position that parallels with the inlet opening.
Description
Technical Field
The invention relates to the technical field of water quality monitoring equipment, in particular to a water quality remote sensing measurement device based on hyperspectrum of an unmanned aerial vehicle.
Background
The device utilizes the unmanned aerial vehicle as a platform to carry a hyperspectral camera and other related equipment, realizes quick, accurate and efficient remote sensing measurement of water quality, has the advantages of being quick, efficient, high in accuracy, low in cost, high in safety, high in repeatability and the like, and has wider application prospect in the field of water quality monitoring along with the continuous development of unmanned aerial vehicle technology and hyperspectral remote sensing technology.
When the hyperspectral camera is used for monitoring water quality, the unmanned aerial vehicle needs to have a certain height from the water surface, and for some wide water areas, the unmanned aerial vehicle may need to have a height of tens of meters from the water surface to obtain a better monitoring effect, if air flow or other unexpected conditions are encountered at high altitude, the weight of the bottom hyperspectral camera can be increased, so that the whole counterweight of the unmanned aerial vehicle is increased, the external moment and wind resistance of the unmanned aerial vehicle are increased, and the unmanned aerial vehicle can be caused to have the conditions of incapability of controlling and even falling; meanwhile, part of water quality is influenced by the optical property, state and eutrophication degree of the water body and scattering of suspended solid particles, so that the spectral characteristics of the water body are disturbed, and the water body needs to be sampled.
The existing water quality remote sensing measurement device based on unmanned aerial vehicle hyperspectrum does not exist
In view of this, we propose a water quality remote sensing measurement device based on unmanned aerial vehicle hyperspectrum.
The information disclosed in this background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person of ordinary skill in the art.
Disclosure of Invention
The invention aims to provide a water quality remote sensing measurement device based on hyperspectrum of an unmanned aerial vehicle so as to solve the problems in the background technology.
In order to achieve the above purpose, the present invention provides the following technical solutions:
The water quality remote sensing measurement device based on the hyperspectrum of the unmanned aerial vehicle comprises the unmanned aerial vehicle and an integrated hyperspectral camera holder system which is arranged below the unmanned aerial vehicle and used for monitoring the water quality condition, wherein the unmanned aerial vehicle comprises an unmanned aerial vehicle body, a plurality of extension brackets regularly arranged on the outer side wall of the unmanned aerial vehicle body, a propeller arranged above the end part of the extension bracket and two groups of engine body support frames arranged on the bottom surface of the unmanned aerial vehicle body;
a fixing device is arranged between the two machine body support frames and comprises a connecting plate, a locking part arranged in the connecting plate and a connecting part arranged below the connecting plate;
The locking part comprises a rotating shaft, two groups of shaft body gears arranged on the outer side walls of the upper end and the lower end of the rotating shaft, two groups of movable plugboards which are arranged on the outer sides of the shaft body gears in a central symmetry mode, and an electric push rod arranged at the inner corner position of the connecting plate;
The outer side of the cross rod at the bottom of the machine body support frame is provided with a sampling device, the sampling device comprises a rotating ring, a rotating fixed longitudinal plate arranged at the side of the rotating ring and rotating along with the rotating ring, a fixed frame plate arranged at the outer side of the fixed longitudinal plate and sampling parts arranged at the front end and the rear end of the rotating ring in opposite directions, and a pressure spring for bouncing the fixed longitudinal plate downwards is arranged at the center of the cross rod at the bottom of the machine body support frame;
The sampling part comprises an outer sleeve, a rotating cylinder arranged in the outer sleeve, a plurality of groups of pawls regularly arranged on the inner side of the rotating cylinder, a ratchet wheel arranged in the plurality of groups of pawls and a connecting cylinder arranged on the outer side wall of the ratchet wheel and rotating along with the ratchet wheel.
In the technical scheme of the invention, the extension bracket is fixedly connected to the outer side wall of the unmanned aerial vehicle body through a bolt, the bottom end of the propeller is coaxially connected with the motor output end at the end part of the extension bracket, the engine body support frame is fixedly connected to the bottom surface of the unmanned aerial vehicle body through a bolt, and the front end and the rear end of the pressure spring are welded and fixed at the central position of the cross rod at the bottom of the engine body support frame.
In the technical scheme of the invention, a plate bottom slot with a cross section in a shape of a Chinese character 'Hui' is formed in the bottom surface of the connecting plate, a placing groove is formed in the inner side of the plate bottom slot, and groove surface through grooves communicated with the plate bottom slot are formed in the groove walls of the inner sides of the periphery of the placing groove.
In the technical scheme of the invention, plate body protruding blocks are uniformly formed at the corner positions of the outer side walls of the left end and the right end of the connecting plate, rubber clamping blocks are connected to the outer sides of the plate body protruding blocks in a hot-melt mode, a plurality of annular protruding blocks which are used for being matched with bolts to ensure that the connecting plate can be fixed on the machine body supporting frame are integrally formed on the outer side walls of the rubber clamping blocks, and limiting supports which are used for limiting the moving interval of the movable plugboards are fixedly connected to the groove walls of the upper end and the lower end of the placing groove through screws of the connecting plate.
In the technical scheme of the invention, the upper end and the lower end of the rotating shaft are respectively and rotatably connected to the groove walls at the upper end and the lower end of the placing groove, the shaft body gear is fixedly connected to the outer side wall of the rotating shaft through a bayonet lock, a plurality of regularly distributed plate body tooth blocks meshed with the shaft body gear are integrally formed on the inner side wall of the movable plugboard, the longitudinal section size of the outer side end part of the movable plugboard is matched with the longitudinal section size of the groove through groove, the electric push rod is fixedly connected to the inner groove wall of the placing groove through a screw, the end part of the electric push rod telescopic rod is fixedly connected with a plate end push plate through a bolt, and the plate end push plate is fixedly connected with the inner cross rod of one group of movable plugboards through a bolt.
In the technical scheme of the invention, the connecting part comprises a connecting frame plate, connecting beams with the left and right ends welded and fixed on the inner side walls of the left and right ends of the connecting frame plate and rubber floating plates which are connected with the front and rear ends of the connecting beams in a hot melt mode, and a plurality of plate surface slots which are the same in number and in one-to-one correspondence to the positions of the through slots of the slot surfaces are arranged on the outer side wall of the connecting frame plate.
In the technical scheme of the invention, the rotating ring is rotatably connected to the outer side wall of the cross bar at the bottom of the machine body support frame, the fixed longitudinal plate and the rotating ring are integrally formed, the fixed frame plate and the fixed longitudinal plate are welded and fixed, and a plurality of air bags which are regularly distributed are connected in the fixed frame plate in a hot melt mode.
In the technical scheme of the invention, the outer sleeve is fixedly clamped on the outer side wall of the end part of the bottom cross rod of the machine body support frame, a plurality of regularly distributed water inlet holes which are internally and externally communicated are formed in the outer side wall of the outer sleeve, and the water inlet holes are positioned in parallel with the bottom cross rod of the machine body support frame.
In the technical scheme of the invention, the rotating cylinder is rotationally connected to the inside of the outer sleeve, a plurality of regularly distributed water storage tanks are arranged on the outer side wall of the rotating cylinder, the included angle formed by two adjacent water storage tanks and the center of the transverse section of the rotating cylinder is the same as the rotatable angle of the fixed longitudinal plate, a cylinder wall annular groove is arranged on the outer side wall of the rotating cylinder, which is close to one end of the outer sleeve, and a plurality of regularly distributed groove wall grooves are arranged on the inner side groove wall of the cylinder wall annular groove.
In the technical scheme of the invention, the pawl is rotationally connected to the grooved inner part of the groove wall, the ratchet wheel is fixedly welded with the connecting cylinder, the connecting cylinder is rotationally connected to the outer side wall of the cross bar at the bottom of the machine body support frame, and a connecting frame fixedly connected with the fixed frame plate through a screw is fixedly welded at the outer side of the connecting cylinder.
Compared with the prior art, the invention has the beneficial effects that:
1. This quality of water remote sensing measuring device based on unmanned aerial vehicle hyperspectrum, control unmanned aerial vehicle decline height, sampling device descends to back under water, and fixed deckle can turn up under the buoyancy effect of gasbag, and rivers flow into the water storage tank on the section of thick bamboo by the inlet opening, and after unmanned aerial vehicle lifted, pressure spring restored the position of fixed deckle, and the ratchet contacts with the pawl, and drives and rotate a section of thick bamboo and take place to rotate to accomplish the sampling work of water, and remove empty water storage tank to the position that parallels with the inlet opening.
2. This quality of water remote sensing measuring device based on unmanned aerial vehicle hyperspectrum, the shrink of control electricity push rod telescopic link, board end push pedal drive one of them a set of activity picture peg inwards move, and after plate body tooth piece and the contact of axis body gear, and drive axis body gear and take place to rotate along with the axis of rotation, and then drive all three other activity picture peg inwards to realize the quick dismantlement of connecting portion and integration hyperspectral camera cloud platform system and unmanned aerial vehicle, when meetting unexpected circumstances, also can resume unmanned aerial vehicle's control through unloading the heavy mode.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the invention;
Fig. 2 is a schematic structural diagram of the unmanned aerial vehicle in the invention;
FIG. 3 is a schematic view of a part of the structure of the invention;
FIG. 4 is a schematic view of the structure of the fixing device of the invention;
FIG. 5 is a schematic illustration of a portion of the structure of the fastening device of the present invention in cross-section;
FIG. 6 is a second schematic view of a part of the structure of the fixing device of the present invention;
FIG. 7 is a schematic view of the structure of the locking part of the invention;
FIG. 8 is a schematic view of a portion of the structure of the locking portion of the invention;
FIG. 9 is a schematic view of a movable board according to the present invention;
FIG. 10 is a schematic view of a connecting portion of the present invention;
FIG. 11 is a schematic diagram of a sampling device according to the present invention;
FIG. 12 is a schematic view showing the structure of a sampling part in the invention;
FIG. 13 is a schematic view of the structure of the outer sleeve of the present invention;
Fig. 14 is a schematic view of the structure of the rotary drum of the invention.
Reference numerals illustrate:
1. Unmanned plane; 10. an unmanned body; 11. extending the bracket; 12. a propeller; 13. a body support; 14. a pressure spring;
2. A fixing device; 20. a connecting plate; 201. a board bottom slot; 202. a placement groove; 203. the groove surface is communicated with the groove; 21. a plate body bump; 22. rubber clamping blocks; 23. a locking part; 230. a rotating shaft; 231. a shaft gear; 232. a movable plugboard; 2320. a plate tooth block; 233. an electric push rod; 234. a plate end push plate; 24. a limit bracket; 25. a connection part; 250. connecting a frame plate; 2501. a panel slot; 251. a connecting beam; 252. a rubber floating plate;
3. an integrated hyperspectral camera pan-tilt system;
4. A sampling device; 40. a rotating ring; 41. fixing the longitudinal plate; 42. fixing the frame plate; 43. an air bag; 44. a sampling unit; 440. an outer sleeve; 4401. a water inlet hole; 441. a rotating cylinder; 4410. a water storage tank; 4411. a cylinder wall ring groove; 4412. grooving the groove wall; 442. a pawl; 443. a ratchet wheel; 444. a connecting cylinder; 445. and (5) connecting a frame.
Detailed Description
The following description of the embodiments of the present invention will be made more apparent and fully hereinafter with reference to the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1 to 14, the present embodiment provides the following technical solutions:
The water quality remote sensing measurement device based on the hyperspectrum of the unmanned aerial vehicle comprises the unmanned aerial vehicle 1 and an integrated hyperspectral camera holder system 3 which is arranged below the unmanned aerial vehicle 1 and used for monitoring the water quality condition, wherein the unmanned aerial vehicle 1 comprises an unmanned aerial vehicle body 10, a plurality of extension brackets 11 which are regularly arranged on the outer side wall of the unmanned aerial vehicle body 10, a propeller 12 which is arranged above the end part of the extension brackets 11 and two groups of engine body support frames 13 which are arranged on the bottom surface of the unmanned aerial vehicle body 10;
In the invention, an extension bracket 11 is fixedly connected to the outer side wall of an unmanned aerial vehicle body 10 through bolts, the bottom end of a propeller 12 is coaxially connected with the output end of a motor at the end position of the extension bracket 11, a vehicle body supporting frame 13 is fixedly connected to the bottom surface of the unmanned aerial vehicle body 10 through bolts, and the front end and the rear end of a pressure spring 14 are welded and fixed at the center position of a cross rod at the bottom of the vehicle body supporting frame 13.
Further, the unmanned aerial vehicle body 10 is used for guaranteeing the intensity of the overall structure of the unmanned aerial vehicle 1, the extension bracket 11 is used for providing a mounting base point for the propeller 12, the propeller 12 provides ascending power for the unmanned aerial vehicle 1 through self rotation, the machine body support frame 13 is used for guaranteeing the stability of the unmanned aerial vehicle body 10 when falling to the ground, and meanwhile, a placement point is provided for the fixing device 2 and the sampling device 4.
In this embodiment, as shown in fig. 4-10, a fixing device 2 is disposed between two body support frames 13, and the fixing device 2 includes a connecting plate 20, a locking portion 23 disposed inside the connecting plate 20, and a connecting portion 25 disposed below the connecting plate 20;
Specifically, a bottom slot 201 with a cross section in a shape of a Chinese character 'hui' is formed in the bottom surface of the connecting plate 20, a placing groove 202 is formed in the inner side of the bottom slot 201 of the connecting plate 20, and groove surface through grooves 203 communicated with the bottom slot 201 are formed in the inner side groove walls around the placing groove 202 of the connecting plate 20.
Further, plate body protruding blocks 21 are uniformly formed at the corners of the outer side walls of the left end and the right end of the connecting plate 20, rubber clamping blocks 22 are connected to the outer sides of the plate body protruding blocks 21 in a hot-melt mode, a plurality of annular protruding blocks which are used for being matched with bolts to ensure that the connecting plate 20 can be fixed on the machine body supporting frame 13 are integrally formed on the outer side walls of the rubber clamping blocks 22, and limiting supports 24 used for limiting moving intervals of the movable inserting plates 232 are fixedly connected to the groove walls of the upper end and the lower end of the placing groove 202 through screws of the connecting plate 20.
Further, the connecting plate 20 is used for ensuring the strength of the whole structure of the fixing device 2, the plate bottom slot 201 is used for providing an insertion interval for the connecting frame plate 250, the placing groove 202 is used for providing a placing interval for the locking part 23, and the plate body protruding block 21 is matched with the rubber clamping block 22 to ensure that the fixing device 2 can be fixed on the machine body supporting frame 13.
In this embodiment, as shown in fig. 7-9, the locking portion 23 includes a rotation shaft 230, two sets of shaft gears 231 disposed on the outer sidewalls of the upper and lower ends of the rotation shaft 230, two movable plugboards 232 disposed on the outer sides of the shaft gears 231 in pairs and centered symmetrically, and an electric push rod 233 disposed at the inner corner of the connection plate 20.
Further, the upper and lower ends of the rotating shaft 230 are respectively and rotatably connected to the groove walls at the upper and lower ends of the placing groove 202, the shaft gear 231 is fixedly connected to the outer side wall of the rotating shaft 230 through a bayonet lock, a plurality of plate tooth blocks 2320 which are regularly distributed and meshed with the shaft gear 231 are integrally formed on the inner side wall of the movable plugboard 232, the longitudinal section size of the outer side end part of the movable plugboard 232 is matched with the longitudinal section size of the groove surface through groove 203, the electric push rod 233 is fixedly connected to the inner groove wall of the placing groove 202 through a screw, the end part of the telescopic rod of the electric push rod 233 is fixedly connected with the plate end push plate 234 through a bolt, and the plate end push plate 234 is fixedly connected with the inner side transverse rod of one group of the movable plugboards 232 through a bolt.
Further, the contraction of the telescopic rod of the electric push rod 233 in the locking part 23 in the fixing device 2 is controlled, one group of movable plugboards 232 is driven to move inwards through the plate end push plate 234, the plate body tooth blocks 2320 are contacted with the shaft body gear 231, the shaft body gear 231 is driven to rotate together with the rotating shaft 230, and the other three groups of movable plugboards 232 are driven to move inwards, so that the connection part 25 and the integrated hyperspectral camera cradle head system 3 are rapidly detached from the unmanned aerial vehicle 1.
In this embodiment, as shown in fig. 10, the connection portion 25 includes a connection frame 250, connection beams 251 with two ends welded and fixed on inner sidewalls of the two ends of the connection frame 250, and rubber floating plates 252 with two ends of the connection beams 251 in the front and rear directions, and a plurality of plate surface slots 2501 corresponding to the slots 203 are formed on the outer sidewalls of the connection frame 250;
Further, the connection frame plate 250 is used for ensuring the strength of the whole structure of the connection portion 25, the plate surface slot 2501 is used for providing an insertion interval for the movable plugboard 232, fixing of the connection portion 25 and the connection plate 20 is ensured, the connection beam 251 is used for providing a fixing platform for the integrated hyperspectral camera pan-tilt system 3, and the rubber floating plate 252 is used for ensuring that the integrated hyperspectral camera pan-tilt system 3 thrown into water floats on the water surface together with the connection portion 25 when encountering unexpected situations and needing to unload the weight, so that the subsequent recovery is facilitated.
In this embodiment, as shown in fig. 11-14, a sampling device 4 is disposed on the outer side of the bottom cross bar of the body support frame 13, where the sampling device 4 includes a rotating ring 40, a fixed vertical plate 41 disposed on the outer side of the rotating ring 40 and rotating with the rotating ring, a fixed frame plate 42 disposed on the outer side of the fixed vertical plate 41, and a sampling portion 44 disposed on opposite directions of the front and rear ends of the rotating ring 40, and a pressure spring 14 for pressing the fixed vertical plate 41 to turn down is disposed at the center of the bottom cross bar of the body support frame 13;
Further, the rotating ring 40 is rotatably connected to the outer side wall of the bottom cross bar of the body supporting frame 13, the fixed vertical plate 41 and the rotating ring 40 are integrally formed, the fixed frame plate 42 is welded and fixed with the fixed vertical plate 41, and a plurality of regularly distributed air bags 43 are connected in the fixed frame plate 42 in a hot melt manner.
Further, the rotation of the rotating ring 40 drives the fixed frame plate 42 to change the angle together by fixing the vertical plate 41, the fixed frame plate 42 is used for providing a fixed base point for the air bag 43 and the sampling part 44, the air bag 43 is used for generating upward buoyancy in water, so that the position of the fixed frame plate 42 is changed, and the pressure spring 14 provides downward turning acting force for the fixed frame plate 41 through self elasticity.
In this embodiment, as shown in fig. 12 to 14, the sampling portion 44 includes an outer sleeve 440, a rotating cylinder 441 disposed inside the outer sleeve 440, a plurality of sets of pawls 442 regularly disposed inside the rotating cylinder 441, a ratchet 443 disposed inside the plurality of sets of pawls 442, and a connecting cylinder 444 disposed on an outer side wall of the ratchet 443 and rotating with the ratchet 443.
Specifically, the outer sleeve 440 is fastened and fixed on an outer sidewall of an end of a bottom cross bar of the machine body support frame 13, a plurality of regularly distributed water inlet holes 4401 which are internally and externally penetrated are formed on the outer sidewall of the outer sleeve 440, and the positions of the water inlet holes 4401 are parallel to the bottom cross bar of the machine body support frame 13.
Further, the rotating cylinder 441 is rotatably connected to the inside of the outer sleeve 440, a plurality of regularly distributed water storage grooves 4410 are formed on the outer side wall of the rotating cylinder 441, the included angle formed by two adjacent water storage grooves 4410 and the center of the transverse section of the rotating cylinder 441 is the same as the rotatable angle of the fixed longitudinal plate 41, a cylinder wall annular groove 4411 is formed on the outer side wall of the rotating cylinder 441, which is close to one end of the outer sleeve 440, and a plurality of regularly distributed groove wall grooves 4412 are formed on the inner side groove wall of the cylinder wall annular groove 4411.
Further, the pawl 442 is rotatably connected to the inside of the slot 4412 of the slot wall, the ratchet 443 is fixedly welded to the connecting cylinder 444, the connecting cylinder 444 is rotatably connected to the outer side wall of the bottom cross bar of the body support frame 13, and the connecting frame 445 fixedly connected to the fixed frame plate 42 by screws is fixedly welded to the outer side of the connecting cylinder 444.
Further, after the sampling device 4 descends under water, the fixed frame plate 42 will turn up to a position parallel to the bottom cross bar of the machine body support frame 13 under the buoyancy action of the air bag 43 and water, at this time, water flows into the water storage tank 4410 on the rotating cylinder 441 through the water inlet 4401 on the outer side wall of the outer sleeve 440, when the unmanned aerial vehicle 1 flies, the fixed vertical plate 41 will restore the position of the fixed frame plate 42 under the elastic action of the pressure spring 14, and the connecting cylinder 444 is driven to rotate through the connecting frame 445, so that the ratchet 443 contacts with the pawl 442, and the rotating cylinder 441 is driven to rotate clockwise by a certain angle, so that the empty water storage tank 4410 is moved to a position parallel to the water inlet 4401.
Finally, it should be noted that, in the present invention, the electric push rod 233 is a general standard component or a component known to those skilled in the art, the structure and principle of the electric push rod 233 are known by those skilled in the art or known by conventional experimental methods, at the idle position of the device, the electric push rod 233 is connected to an external power source through a wire, the specific connection means should refer to the working principle in the present invention, and the electric devices are electrically connected according to the sequence of operation, and the detailed connection means are all known in the art.
When the water quality remote sensing measurement device based on the hyperspectral of the unmanned aerial vehicle is used, firstly, a monitoring person controls the unmanned aerial vehicle 1 to cooperate with the integrated hyperspectral camera holder system 3 through the control system, flies above a water area to be monitored, and records and transmits the information of the water area through a hyperspectral camera on a holder in the integrated hyperspectral camera holder system 3;
when the hyperspectral camera is affected by the optical property, state and eutrophication degree of the water body and scattering of suspended solid particles, the descending height of the unmanned aerial vehicle 1 is controlled, and after the sampling device 4 descends under water, the fixed frame plate 42 can be turned up to a position parallel to the cross bar at the bottom of the machine body support frame 13 under the buoyancy effect of the air bag 43 and the water, and at the moment, water flows into the water storage tank 4410 on the rotating cylinder 441 through the water inlet 4401 on the outer side wall of the outer sleeve 440;
When the unmanned aerial vehicle 1 is controlled to fly again, the fixed vertical plate 41 restores the position of the fixed frame plate 42 under the action of the elastic force of the pressure spring 14, and the connecting frame 445 drives the connecting cylinder 444 to rotate so as to enable the ratchet 443 to contact with the pawl 442 and further drive the rotating cylinder 441 to rotate a certain angle clockwise as a whole, so that the empty water storage tank 4410 is moved to a position parallel to the water inlet 4401;
When the monitored work task is finished, the contraction of the telescopic rod of the electric push rod 233 in the locking part 23 in the fixing device 2 is controlled, one group of movable plugboards 232 are driven to move inwards through the plate end push plate 234, after the plate body tooth blocks 2320 are contacted with the shaft body gear 231, the shaft body gear 231 is driven to rotate together with the rotating shaft 230, and the other three groups of movable plugboards 232 are driven to move inwards, so that the connecting part 25 and the integrated hyperspectral camera cradle head system 3 are rapidly detached from the unmanned aerial vehicle 1;
When the unmanned aerial vehicle 1 encounters unexpected situations during the flight, and the unmanned aerial vehicle 1 cannot normally fall and control, the contraction of the telescopic rod of the electric push rod 233 can be controlled, the connecting part 25 and the integrated hyperspectral camera cradle head system 3 are thrown into water, so that the whole counterweight of the unmanned aerial vehicle 1 is lightened, the external moment and wind resistance of the unmanned aerial vehicle 1 are reduced, the stability and wind resistance of the unmanned aerial vehicle 1 are improved, the control of the unmanned aerial vehicle is recovered, and the falling risk of the unmanned aerial vehicle is avoided;
the integrated hyperspectral camera head system 3 which is thrown into the water floats on the water surface through the rubber floating plate 252 in the connecting part 25, and then is recovered.
The foregoing has shown and described the basic principles, principal features and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the above-described embodiments, and that the above-described embodiments and descriptions are only preferred embodiments of the present invention, and are not intended to limit the invention, and that various changes and modifications may be made therein without departing from the spirit and scope of the invention as claimed.
Claims (8)
1. The utility model provides a quality of water remote sensing measuring device based on unmanned aerial vehicle hyperspectrum, includes unmanned aerial vehicle (1) and sets up in unmanned aerial vehicle (1) below be used for monitoring integrated hyperspectral camera cloud platform system (3) of quality of water condition, unmanned aerial vehicle (1) include unmanned aerial vehicle (10), a plurality of regulation set up extension support (11) on unmanned aerial vehicle (10) lateral wall, set up screw (12) and two sets of organism support frames (13) that set up on unmanned aerial vehicle (10) bottom surface in extension support (11) tip top;
The method is characterized in that: a fixing device (2) is arranged between the two machine body support frames (13), and the fixing device (2) comprises a connecting plate (20), a locking part (23) arranged inside the connecting plate (20) and a connecting part (25) arranged below the connecting plate (20);
The locking part (23) comprises a rotating shaft (230), two groups of shaft body gears (231) arranged on the outer side walls of the upper end and the lower end of the rotating shaft (230), two groups of movable plugboards (232) which are arranged outside the shaft body gears (231) in a two-by-two mode and are arranged on the outer sides of the shaft body gears (231) in a central symmetry mode, and electric pushing rods (233) arranged at the inner corner positions of the connecting plates (20);
The device is characterized in that a sampling device (4) is arranged on the outer side of a cross rod at the bottom of the machine body support frame (13), the sampling device (4) comprises a rotating ring (40), a fixed vertical plate (41) which is arranged on the outer side of the rotating ring (40) and rotates along with the rotating ring, a fixed frame plate (42) which is arranged on the outer side of the fixed vertical plate (41) and sampling parts (44) which are arranged on the opposite directions of the front end and the rear end of the rotating ring (40), and a pressure spring (14) for bouncing the fixed vertical plate (41) to turn down is arranged at the center of the cross rod at the bottom of the machine body support frame (13);
The sampling part (44) comprises an outer sleeve (440), a rotating cylinder (441) arranged in the outer sleeve (440), a plurality of groups of pawls (442) regularly arranged on the inner side of the rotating cylinder (441), a ratchet wheel (443) arranged in the plurality of groups of pawls (442) and a connecting cylinder (444) arranged on the outer side wall of the ratchet wheel (443) and rotating along with the rotation of the ratchet wheel;
The outer sleeve (440) is fixedly clamped on the outer side wall of the end part of the bottom cross rod of the machine body support frame (13), a plurality of regularly distributed water inlet holes (4401) which are internally and externally communicated are formed in the outer side wall of the outer sleeve (440), and the water inlet holes (4401) are positioned on the bottom cross rod of the machine body support frame (13) and are parallel;
The rotary cylinder (441) is rotationally connected to the inside of the outer sleeve (440), a plurality of regularly distributed water storage tanks (4410) are formed in the outer side wall of the rotary cylinder (441), the included angle formed by the adjacent two water storage tanks (4410) and the center of the transverse section of the rotary cylinder (441) is the same as the rotatable angle of the fixed longitudinal plate (41), a cylinder wall annular groove (4411) is formed in the outer side wall, close to one end of the outer sleeve (440), of the rotary cylinder (441), and a plurality of regularly distributed groove wall grooves (4412) are formed in the inner groove wall of the cylinder wall annular groove (4411).
2. The unmanned aerial vehicle hyperspectral-based water quality remote sensing measurement device according to claim 1, wherein: the extension support (11) is fixedly connected to the outer side wall of the unmanned aerial vehicle body (10) through bolts, the bottom end of the propeller (12) is coaxially connected with the motor output end at the end position of the extension support (11), the engine body support frame (13) is fixedly connected to the bottom surface of the unmanned aerial vehicle body (10) through bolts, and the front end and the rear end of the pressure spring (14) are welded and fixed to the central position of the cross rod at the bottom of the engine body support frame (13).
3. The unmanned aerial vehicle hyperspectral-based water quality remote sensing measurement device according to claim 1, wherein: a plate bottom slot (201) with a cross section in a shape like a Chinese character 'hui' is formed in the bottom surface of the connecting plate (20), a placing groove (202) is formed in the inner side of the plate bottom slot (201), and groove surface through grooves (203) communicated with the plate bottom slot (201) are formed in the groove walls of the inner sides of the periphery of the placing groove (202) of the connecting plate (20).
4. The unmanned aerial vehicle hyperspectral-based water quality remote sensing measurement device according to claim 3, wherein: plate body protruding blocks (21) are uniformly formed at the corner positions of the outer side walls of the left end and the right end of the connecting plate (20), rubber clamping blocks (22) are connected to the outer sides of the plate body protruding blocks (21) in a hot melting mode, a plurality of annular protruding blocks used for being matched with bolts to ensure that the connecting plate (20) can be fixed on the machine body supporting frame (13) are integrally formed on the outer side walls of the rubber clamping blocks (22), and limiting supports (24) used for limiting moving intervals of movable inserting plates (232) are fixedly connected to the groove walls of the upper end and the lower end of the placing groove (202) through screws.
5. The unmanned aerial vehicle hyperspectral-based water quality remote sensing measurement device according to claim 3, wherein: the upper end and the lower end of the rotating shaft (230) are respectively connected to the groove walls at the upper end and the lower end of the placing groove (202) in a rotating mode, the shaft body gear (231) is fixedly connected to the outer side wall of the rotating shaft (230) through a clamping pin, a plurality of plate body tooth blocks (2320) which are regularly distributed and meshed with the shaft body gear (231) are integrally formed on the inner side wall of the movable inserting plate (232), the longitudinal section size of the outer side end of the movable inserting plate (232) is matched with the longitudinal section size of the groove surface through groove (203), the electric push rod (233) is fixedly connected to the inner groove wall of the placing groove (202) through screws, the end portion of the telescopic rod of the electric push rod (233) is fixedly connected with a plate end push plate (234) through bolts, and the plate end push plate (234) is fixedly connected with the inner side transverse rods of one group of the movable inserting plates (232) through bolts.
6. The unmanned aerial vehicle hyperspectral-based water quality remote sensing measurement device according to claim 3, wherein: the connecting part (25) comprises a connecting frame plate (250), connecting beams (251) welded and fixed on the inner side walls of the left end and the right end of the connecting frame plate (250) and rubber floating plates (252) connected on the front end and the rear end of the connecting beams (251) in a hot melting mode, and a plurality of plate surface slots (2501) which are the same in number and correspond to the grooves (203) in one-to-one mode are arranged on the outer side wall of the connecting frame plate (250).
7. The unmanned aerial vehicle hyperspectral-based water quality remote sensing measurement device according to claim 1, wherein: the rotating ring (40) is rotationally connected to the outer side wall of the cross bar at the bottom of the machine body supporting frame (13), the fixed longitudinal plate (41) and the rotating ring (40) are integrally formed, the fixed frame plate (42) is fixedly welded with the fixed longitudinal plate (41), and a plurality of air bags (43) which are regularly distributed are connected in a hot melt mode in the fixed frame plate (42).
8. The unmanned aerial vehicle hyperspectral-based water quality remote sensing measurement device according to claim 1, wherein: the pawl (442) is rotationally connected to the inside of the slot (4412) of the slot wall, the ratchet wheel (443) is fixedly welded with the connecting cylinder (444), the connecting cylinder (444) is rotationally connected to the outer side wall of the cross rod at the bottom of the machine body support frame (13), and a connecting frame (445) fixedly connected with the fixed frame plate (42) through screws is fixedly welded on the outer side of the connecting cylinder (444).
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107150774A (en) * | 2017-05-11 | 2017-09-12 | 郑健 | A kind of water rescue device |
| CN110155351A (en) * | 2019-04-24 | 2019-08-23 | 台州学院 | A kind of unmanned plane with air bag |
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| KR102099183B1 (en) * | 2019-12-12 | 2020-04-10 | 세종신호에너지(주) | System for preventing crime and watching fire and water quality by UAV |
| CN114873668B (en) * | 2022-05-31 | 2023-03-24 | 滁州职业技术学院 | Water environment pollution treatment device and method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107150774A (en) * | 2017-05-11 | 2017-09-12 | 郑健 | A kind of water rescue device |
| CN110155351A (en) * | 2019-04-24 | 2019-08-23 | 台州学院 | A kind of unmanned plane with air bag |
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