CN111099017B - Environment monitoring unmanned aerial vehicle - Google Patents
Environment monitoring unmanned aerial vehicle Download PDFInfo
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- CN111099017B CN111099017B CN202010086577.4A CN202010086577A CN111099017B CN 111099017 B CN111099017 B CN 111099017B CN 202010086577 A CN202010086577 A CN 202010086577A CN 111099017 B CN111099017 B CN 111099017B
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 18
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 380
- 230000007246 mechanism Effects 0.000 claims abstract description 42
- 238000000926 separation method Methods 0.000 claims description 29
- 238000004804 winding Methods 0.000 claims description 18
- 239000000463 material Substances 0.000 claims description 10
- 238000001125 extrusion Methods 0.000 claims description 6
- 238000004891 communication Methods 0.000 claims description 5
- 238000003756 stirring Methods 0.000 claims description 5
- 230000007704 transition Effects 0.000 claims description 3
- 238000003780 insertion Methods 0.000 claims description 2
- 230000037431 insertion Effects 0.000 claims description 2
- 230000007613 environmental effect Effects 0.000 claims 7
- 238000005070 sampling Methods 0.000 abstract description 29
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 12
- 238000000034 method Methods 0.000 description 10
- 230000009471 action Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
- 230000003028 elevating effect Effects 0.000 description 5
- 239000003643 water by type Substances 0.000 description 5
- 230000008569 process Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 240000007643 Phytolacca americana Species 0.000 description 1
- 235000009074 Phytolacca americana Nutrition 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 239000011148 porous material Substances 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/10—Devices for withdrawing samples in the liquid or fluent state
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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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- Life Sciences & Earth Sciences (AREA)
- Hydrology & Water Resources (AREA)
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- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
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- General Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Sampling And Sample Adjustment (AREA)
Abstract
The invention relates to an environment monitoring unmanned aerial vehicle, which comprises an unmanned aerial vehicle body, wherein a water taking device is arranged on the unmanned aerial vehicle body, the water taking device is connected with the unmanned aerial vehicle body through a lifting mechanism, the lifting mechanism drives the water taking device to vertically lift and lower and raise the water taking device, when sample water is collected, the unmanned aerial vehicle flies above a specified water area and is in a hovering state, then the lifting mechanism enables the water taking device to descend below the water surface to collect the sample water, then the water taking device is lifted, the unmanned aerial vehicle is started again to enable the unmanned aerial vehicle to fly away from a sample water sampling area, and the unmanned aerial vehicle can effectively avoid the safety risk problem existing during sampling.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to an environment monitoring unmanned aerial vehicle.
Background
As lake environment detection equipment, the water environment monitoring unmanned aerial vehicle can effectively solve the problem that some water areas which are far away and inconvenient to sample by adopting a sampling ship have high sampling efficiency of sample water. Water environment monitoring unmanned aerial vehicle among the prior art is implementing when sampling the sample, need be used for drawing water sample sampling load and stretch into the surface of water below and sample, unmanned aerial vehicle's lower extreme organism also needs the submergence to adopt below the surface of water like this, however when great to the waters area, and when there is great stormy waves, cause unmanned aerial vehicle to appear the problem that receives the water short circuit extremely easily, thereby cause losing of unmanned aerial vehicle, in addition, when implementing to be close to the water intaking to the surface of water, because highly lower, unmanned aerial vehicle attitude control who makes has great difficulty.
Disclosure of Invention
The invention aims to provide an environment monitoring unmanned aerial vehicle, which can conveniently and reliably sample water in a water area and ensure the flight safety of the unmanned aerial vehicle.
The technical scheme adopted by the invention is as follows.
The utility model provides an environment monitoring unmanned aerial vehicle, includes the unmanned aerial vehicle organism, be provided with the water intaking ware on the unmanned aerial vehicle organism, be connected through elevating system between water intaking ware and the unmanned aerial vehicle organism, the vertical lift of elevating system drive water intaking ware just implements reduction and rising to the water intaking ware.
The invention also has the following features:
the water taking device comprises a plurality of rows of water taking pipes, the water taking pipes are arranged in a shape of one high end and one low end, and a water receiving opening is formed in the position of the high end of each water taking pipe.
The water taking pipe is characterized in that the lower end pipe orifice of the water taking pipe is hinged and arranged, the hinged shaft is horizontal, and the high end of the water taking pipe is provided with a water receiving plate.
The water taking pipe is characterized in that a lower end pipe orifice of the water taking pipe is arranged to be a flat pipe-shaped structure, an upper end outer wall of the pipe orifice of the water taking pipe is arranged to be a plane, an arc-shaped convex block is arranged at the upper end of an inner pipe wall of the water taking pipe, and the arc-shaped convex block is arc-shaped and extends downwards.
The lower end pipe orifices of the adjacent sampling pipes are connected through a connecting piece, and the connecting piece comprises an upper supporting plane and a lower cambered surface.
The sampling tube comprises a tube sleeve, a plane, an arc-shaped convex block and a connecting piece, wherein the tube sleeve is sleeved on a lower-end tube orifice of the sampling tube, the plane is arranged on the tube sleeve, the arc-shaped convex block is arranged in a tube cavity of the tube sleeve and extends into the lower-end tube orifice of the sampling tube, and the connecting piece is arranged between the sampling tubes.
The both ends of connecting piece are provided with the hinge rod, the hinge rod constitutes articulated connection with the outer wall of pipe box.
The sampling tube is provided with a hinged sleeve seat near the lower end tube orifice, the hinged sleeve seat is arranged on the bottom shell, and the bottom shell is integrally of a thin plate shell-shaped structure.
The bottom of the bottom shell is provided with a guide plate, the guide plate is vertically arranged on the bottom shell, the guide plate is arranged along the length direction of the bottom shell, and the lower end of the guide plate, which is close to the sampling tube, is a small-size end.
The whole bottom shell is arranged in a hollowed-out shape, and a plurality of rows of drain holes are distributed in the bottom shell.
The high-end bending downwardly extending of the water taking pipe, the whole water receiving plate is of a trough plate-shaped structure, and the length direction of the water receiving plate is perpendicular to the extending direction of the water taking pipe.
The tank bottom and the water receiving case of water receiving board are connected, the bottom interval of water receiving case is provided with the multiunit mount pad, the detachable sample water collection pipe that is provided with on the mount pad.
The water receiving plate is obliquely arranged, the lower end of the water receiving plate is arranged in an open shape, and communication holes are formed in the water receiving plate and are strip-shaped holes and communicated with the water receiving tank.
The lower extreme of unmanned aerial vehicle organism is provided with the cavity that is used for holding the water intaking ware, the drain pan covers the lower extreme opening part at the cavity.
The lifting mechanism comprises a lifting rope arranged in the cavity, one end of the lifting rope is connected with the bottom shell, and the winding mechanism drives the lifting rope to stretch and retract and to lift the bottom shell.
A clamping mechanism is arranged between the bottom shell and the cavity, and the bottom shell and the cavity opening are clamped and matched through the clamping mechanism.
The edge of drain pan is provided with the joint notch, latch mechanism is including setting up the joint at the cavity edge, joint horizontal sliding type sets up in the spout, the tip and the joint notch of joint constitute joint or separation fit, be provided with the pressure spring between the other end of joint and the spout, the pressure spring supports with the one end of spout and the other end of joint respectively with the parallel and both ends of spout and support and lean on.
The utility model discloses a separation device for a material, including cavity internal rotation formula, rotation driving lever, material stirring head, first separation dish, second separation dish, actuating mechanism, drive mechanism, driving mechanism, rotating driving lever horizontal arrangement and pole body are provided with the material stirring head, material stirring head constitutes grafting and separation cooperation with the overhead arc board of stirring of joint, the one end of rotating the driving lever is provided with first separation dish, be provided with first agreeing with the piece on the first separation dish, the interior rotation type that returns of cavity is provided with the lifter, the one end of lifter is provided with the second separation dish, be provided with the second agrees with the piece on the second separation dish, the second separation dish supports with first separation dish and supports and the cooperation of second agreeing with the piece and first agreeing with.
The rotating deflector rod is sleeved with an extrusion spring, and two ends of the extrusion spring are respectively abutted against a supporting seat supporting the rotating deflector rod and a supporting plate rotating the deflector rod body.
The rotating shifting rod is provided with a shifting head, the shifting head rotating shifting rod is vertically arranged, and the end part of the shifting head rotating shifting rod is abutted against or separated from the inner surface of the bottom shell.
The rotating deflector rod is provided with winding rollers, one end of the lifting rope is connected with the winding rollers, the rotating deflector rod is arranged in the cavity and is provided with two groups, and the winding rollers are arranged on the rotating deflector rod at intervals and are provided with two groups.
The driving mechanism comprises a driving motor arranged in the cavity, a driving gear is arranged on an output shaft of the driving motor, driven gears are respectively arranged at rod ends of the rotating shift levers on two sides, the driving gear is meshed with one of the driven gears, and the driving gear is connected with the other driven gear through a transition gear.
The sample water collecting pipe is arranged in the cavity, the top block is abutted against the water receiving plate and enables the lower end of the sample water collecting pipe to extend out of a perforated lower end orifice.
The method for collecting sample water by using the unmanned aerial vehicle is characterized in that: the method comprises the following steps:
firstly, debugging an unmanned aerial vehicle, and inputting the flying height and the flying speed of the unmanned aerial vehicle in a flying control terminal;
secondly, enabling the unmanned aerial vehicle to fly to a position above the water surface of the designated water area, acquiring water surface information by using a camera, acquiring the water surface height of the unmanned aerial vehicle from the designated water area by using a radar, sending the water surface height to a flight control terminal, sending a control instruction by the flight control terminal, and starting a lifting mechanism to enable a water collector to descend below the water surface;
thirdly, the flight control terminal sends out a control instruction to enable the unmanned aerial vehicle to move along the specified water area, and a water taking pipe of the water taking device is filled with sample water;
fourthly, the flight control terminal sends a control instruction to enable the unmanned aerial vehicle to hover, and the lifting mechanism is started to enable the water taking device to ascend;
and fifthly, the water taking device rises until the water taking device is buckled with the cavity opening in the unmanned aerial vehicle body into a whole, and the flight control terminal sends a control instruction, so that the unmanned aerial vehicle flies to the position of the flight control terminal and takes out the sample water taken out from the water taking device, and the sampling operation of the sample water in the designated water area is completed.
The invention has the technical effects that: when implementing sample water collection, unmanned aerial vehicle flies to the top in appointed waters to be in the state of hovering, then elevating system makes the water intaking ware descend to the surface of water below, implements the collection to sample water, and later lifts the water intaking ware, starts unmanned aerial vehicle once more, makes unmanned aerial vehicle fly away from sample water sampling area, the safety risk problem that exists when this unmanned aerial vehicle can effectively avoid the sampling.
Drawings
Fig. 1 to 3 are schematic structural diagrams of three views of an environment monitoring unmanned aerial vehicle;
fig. 4 to 6 are schematic diagrams of three view structures of the water taking device;
FIG. 7 is a front view of the water intake;
FIGS. 8 and 9 are schematic diagrams of two perspective structures of a water receiving plate in the water collector;
figures 10 and 11 are schematic views of two cross-sectional configurations of water intake pipes in a water intake;
fig. 12 and 13 are schematic diagrams of two view structures of the unmanned aerial vehicle body;
fig. 14 and 15 are schematic diagrams of two kinds of visual angle structures after the unmanned aerial vehicle body is disconnected.
Detailed Description
In order that the objects and advantages of the invention will be more clearly understood, the invention will now be described in detail with reference to the following examples. It is to be understood that the following text is merely illustrative of one or more specific embodiments of the invention and does not strictly limit the scope of the invention as specifically claimed. As used herein, the terms "parallel" and "perpendicular" are not limited to their strict geometric definitions, but include tolerances for machining or human error, legibility and inconsistency;
the environment monitoring unmanned aerial vehicle of the invention is explained in detail below with reference to fig. 1 to 15:
an environment monitoring unmanned aerial vehicle comprises an unmanned aerial vehicle body 10, wherein a water taking device 20 is arranged on the unmanned aerial vehicle body 10, the water taking device 20 is connected with the unmanned aerial vehicle body 10 through a lifting mechanism, the lifting mechanism drives the water taking device 20 to vertically lift and lower and lift the water taking device 20;
combine fig. 1 to fig. 5 to show, when implementing the sample water collection, unmanned aerial vehicle flies to the top in appointed waters, and be in the state of hovering, then elevating system makes water intaking ware 20 descend to below the surface of water, implement the collection to the sample water, and later lift water intaking ware 20, restart unmanned aerial vehicle, make unmanned aerial vehicle fly away from sample water sampling area, this unmanned aerial vehicle can effectively avoid the risk that unmanned aerial vehicle organism 10 submerges and cause below the surface of water, thereby ensure the reliability of unmanned aerial vehicle sample, ensure unmanned aerial vehicle safety.
As a preferred embodiment of the present invention, as shown in fig. 4 to 7, in order to reliably perform water taking operation on a water sample, the water taking device 20 includes a plurality of rows of water taking pipes 21, the water taking pipes 21 are arranged in a shape of a high end and a low end, and a water receiving port is disposed at the high end of the water taking pipes 21;
when the lifting mechanism drives the water taking device 20 to descend and the water taking device 20 descends to a position below the horizontal level, sample water enters from the lower end of the water taking pipe 21, the posture of water fetching of a bucket is simulated under the action of the gravity of the water flow, the water flow automatically enters the water taking pipe 21, and the water taking pipe 21 flows into a water receiving port from the higher end under the action of the dead weight of the sample water, so that the sampling operation of the sample water is realized;
when the lifting of water intaking ware 20 and be close to with unmanned aerial vehicle organism 10, under the water intaking pipe 21 dead weight for water intaking pipe 21 is under the dead weight effect of sample water, from the unnecessary water of low side discharge, in order to avoid too much water level in water intaking pipe 21, in order to realize the automatic drainage operation to water intaking pipe 21, until the combination of water intaking ware 20 and unmanned aerial vehicle organism 10.
In order to simulate the automatic water taking action of the water taking pipe 21, the lower end pipe orifice of the water taking pipe 21 is hinged and arranged, the hinged shaft is horizontal, and the high end position of the water taking pipe 21 is provided with a water receiving plate 22;
when the lifting mechanism of the unmanned aerial vehicle enables the water taking device 20 to descend to a water taking area, the water receiving plate 22 is firstly contacted with the water taking area, under the action of self weight, the water receiving plate 22 is firstly immersed at the position of the water taking area, a low-end pipe orifice of the water taking pipe 21 is arranged in a hinged mode, a pipe body of the water taking pipe 21 floats on the water surface, after low-end sample water of the water taking pipe 21 enters, the water taking pipe 21 is gradually leveled under the action of the self weight of a sample, water flows enter the water receiving pipe, and water taking operation of the sample water area is achieved;
as shown in fig. 10 and 11, a lower end pipe orifice of the water intake pipe 21 is configured as a flat pipe structure, an upper end outer wall of the pipe orifice of the water intake pipe 21 is configured as a plane 211, an upper end position of an inner wall of the water intake pipe 21 is provided with an arc-shaped protrusion 212, and the arc-shaped protrusion 212 is in an arc shape and extends downward;
the lower end pipe orifice of the water taking pipe 21 is set to be a plane 211, an arc-shaped bump 212 is arranged in the lower end pipe orifice of the water taking pipe 21, when the water receiving plate 22 moves along the water area, the plane 211 is matched with the arc-shaped bump 212, under the action of the downward pressure of water flow, the water taking pipe 21 extends below the water surface, sample water can enter along the lower end of the water taking pipe 21, and when the unmanned aerial vehicle stops flying, under the reset force of the water taking pipe 21, the sample water enters the water receiving pipe, so that the water taking operation of a sample water area is realized;
in order to further ensure that the lower end of the water intake pipe 21 can enter the water surface of the sampled water area, the lower end pipe orifices of the adjacent water intake pipes 21 are connected through a connecting piece 23, and the connecting piece 23 comprises an upper supporting plane 231 and a lower cambered surface 232;
the support plane 131 and the lower end arc surface 232 on the connecting piece 23 are matched with the plane 211 and the arc-shaped bump 212 at the pipe end of the water intake pipe 21, so that the water intake pipe 21 can effectively extend below the water surface, sample water is ensured to enter the water intake pipe 21, and the extraction operation of the sample water is realized.
More specifically, as shown in fig. 10 and 11, in order to form the above-mentioned plane 211 and arc-shaped protrusion 212 on the water intake pipe 21, the lower nozzle of the water intake pipe 21 is sleeved with the pipe sleeve 233, the plane 211 is disposed on the pipe sleeve 233, the arc-shaped protrusion 212 is disposed in the pipe cavity of the pipe sleeve 233 and extends into the lower nozzle of the water intake pipe 21, and the connecting member 23 is disposed between the water intake pipes 21;
during actual use, the pipe sleeve 233 is sleeved at the pipe orifice of the water intake pipe 21, so that the water intake pipe 21 extends below the water surface of the sampling pipe in the moving process of the water intake pipe 21, and the sampling operation of the sample water is realized.
In order to realize the hinged support of the water intake pipe 21, two ends of the connecting piece 23 are provided with hinged rods 234, and the hinged rods 234 are in hinged connection with the outer wall of the pipe sleeve 233.
More specifically, a hinge sleeve seat 24 is arranged at a position of the water intake pipe 21 close to the low-end pipe orifice, the hinge sleeve seat 24 is arranged on a bottom shell 26, and the bottom shell 26 is of a thin-plate shell-shaped structure as a whole;
when unmanned aerial vehicle's elevating system makes water intaking ware 20 descend to the surface of water below, after drain pan 26 contacted the surface of water, water submergence drain pan 26 to sample water gets into from the low side of water intaking pipe 21, along with unmanned aerial vehicle's removal, makes drain pan 26 drift along the area of intaking, and after water is filled to water intaking pipe 21, and get into in the water receiving plate 22 by high-end, in order to realize the sample operation to sample water.
In order to realize the normal movement of the bottom shell 26 on the water surface, a guide plate 261 is arranged at the bottom of the bottom shell 26, the guide plate 261 is vertically arranged on the bottom shell 26, the guide plate 261 is arranged along the length direction of the bottom shell 26, and the lower end of the guide plate 261 close to the water intake pipe 21 is a small-size end;
in the process of moving the bottom shell 26 along the water area, the water flows along the flowing water channel formed by the guide plate 261, so that the bottom shell 26 can drift along the water area, and in the process of contacting the lower end of the water intake pipe 21 with the sampled water area, the sample water enters from the water intake pipe 21, and the water flows along the water intake pipe 21 into the water receiving plate 22, so that the receiving operation of the water flow is realized.
More specifically, in order to enable water to smoothly enter from the bottom shell 26 and be discharged from the bottom shell 26, the bottom shell 26 is integrally arranged in a hollow manner, a plurality of rows of drainage holes 262 are distributed on the bottom shell 26, and when the water sampler 20 is lifted to be separated from the water surface, the drainage holes 262 can quickly drain the redundant sample water in the water sampler 20, so as to reduce the weight of the whole water sampler 20.
In order to realize the sampling operation of the sample water in the water taking pipe 21, the high end of the water taking pipe 21 is bent and extends downwards, the whole water receiving plate 22 is of a trough plate-shaped structure, and the length direction of the water receiving plate 22 is vertical to the extending direction of the water taking pipe 21;
in order to effectively receive sample water entering the water receiving plate 22, the bottom of the water receiving plate 22 is connected with a water receiving tank 221, a plurality of groups of mounting seats 222 are arranged at the bottom of the water receiving tank 221 at intervals, and sample water collecting pipes 223 are detachably arranged on the mounting seats 222;
the sample water is guided out of the water taking pipe 21 to the water tank of the water receiving plate 22, and water flow on the water receiving plate 22 enters the water receiving tank 221, so that the sample water can be effectively guided out of the water receiving tank 221, the sample water in the water receiving tank 221 can smoothly enter the sample water collecting pipe 223, the sample water is collected, the sample water is prevented from falling off from the water taking device 20 at will, and the reliability of sample water sampling is ensured.
In order to reduce the weight of the sampler 20 and quickly discharge redundant sample water, the water receiving plate 22 is obliquely arranged, the lower end of the water receiving plate 22 is arranged in an open shape, a communication hole 224 is formed in the water receiving plate 22, and the communication hole 224 is a strip-shaped hole and is communicated with the water receiving tank 221;
sample water that intake pipe 21 was derived gets into in the basin of water receiving plate 22 to rivers follow intercommunicating pore 224 and get into in the water receiving tank 221, thereby make sample water get into in the sample water adopts the pipe 223, in order to realize the collection to sample water, treat that water receiving tank 221 inscribes full of sample water after, rivers are natural and are discharged from the low side of water receiving plate 22, so that sampler 20's weight reduces, with the normal action mesh of flying of not disturbing unmanned aerial vehicle.
In order to accommodate the sampler 20 and reduce the wind resistance of the flying unmanned aerial vehicle, so as to conveniently control the attitude of the unmanned aerial vehicle, a cavity 11 for accommodating the water sampler 20 is arranged at the lower end of the unmanned aerial vehicle body 10, and the bottom shell 26 covers an opening at the lower end of the cavity 11;
when the lifting mechanism is started, after the water sampler 20 is filled with sample water, the water sampler 20 is lifted and extends into the cavity 11, so that the water sampler 20 is matched with the cavity 11 to store the water sampler 20, and the sampler 20 and the unmanned aerial vehicle body 10 form a whole, thereby reducing wind resistance and stably and effectively controlling the flight attitude of the unmanned aerial vehicle body 10;
more specifically, in order to realize the lifting operation of the water collector 20, so that the water collector 20 is located on the water surface and is in a free state to ensure that sample water can be effectively taken from the water collector 20, the lifting mechanism comprises a lifting rope 31 arranged in the chamber 11, one end of the lifting rope 31 is connected with the bottom shell 26, and the winding mechanism drives the lifting rope 31 to stretch and retract and carries out lifting on the bottom shell 26;
when the unmanned aerial vehicle flies above the designated sampling water area, the unmanned aerial vehicle is in a hovering state, the winding mechanism is started, the lifting rope 31 is extended, the water taking device 20 is made to descend below the water surface, after the sample water is poured into the water taking pipe 21, the winding mechanism is reset, the water taking device 20 is made to be separated from the water surface, the sample water in the water taking pipe 21 is made to be led into the sample water collecting pipe 223, the sample water is collected, then the unmanned aerial vehicle flies away from the sampling water area, and the sampling operation of the sample water is completed.
For the realization to sampler 20 and the effective lock of unmanned aerial vehicle organism 10, avoid sampler 20 to drop at will, be provided with latch mechanism between drain pan 26 and the cavity 11, latch mechanism makes drain pan 26 and 11 openings in cavity constitute the joint cooperation.
More specifically, in order to realize the buckling of the opening of the cavity 11 and the bottom case 26 and prevent the bottom case 26 and accessories from falling off the unmanned aerial vehicle body 10 at will, a clamping notch 264 is formed in the edge of the bottom case 26, the clamping mechanism comprises a clamping head 111 arranged at the edge of the cavity 11, the clamping head 111 is horizontally and slidably arranged in the sliding groove 112, the end portion of the clamping head 111 and the clamping notch 264 form clamping or separation fit, a pressure spring is arranged between the other end of the clamping head 111 and the sliding groove 112, the pressure spring is parallel to the sliding groove 112, and two ends of the pressure spring are respectively abutted against one end of the sliding groove 112 and the other end of the clamping head 111;
foretell winding mechanism starts for the in-process of the cavity 11 lock of drain pan 26 and unmanned aerial vehicle organism 10 makes the one end of the joint notch 264 on the drain pan 26 support with joint 111 and leans on, and compresses the pressure spring, until joint 111 stretches into in the joint notch 264, thereby realizes the chucking operation of joint 111 and drain pan 26, avoids the random follow unmanned aerial vehicle organism 10 of drain pan 26 and annex to drop down at will.
More specifically, as shown in fig. 12 to 15, a rotating shift lever 12 is rotatably disposed in the chamber 11, the rotating shift lever 12 is horizontally disposed, a material poking head 121 is disposed on a lever body, the material poking head 121 and a poking arc plate 1111 on the clamping head 111 form an insertion and separation fit, a first separation disc 122 is disposed at one end of the rotating shift lever 12, a first engaging block 1221 is disposed on the first separation disc 122, a lifting rod 13 is rotatably disposed in the chamber 11, a second separation disc 131 is disposed at one end of the lifting rod 13, a second engaging block 1311 is disposed on the second separation disc 131, the second separation disc 131 abuts against the first separation disc 122, the second engaging block 1311 is matched with the first engaging block 1221, and a driving mechanism drives the rotating shift lever 12 to rotate;
when the bottom shell 26 is buckled with the opening of the cavity 11 of the unmanned aerial vehicle body 10, the lifting rod 13 rotates, so that the second separation disc 131 abuts against the first separation disc 122, when the two separation discs abut against, the second engaging block 1311 is matched with the first engaging block 1221, so that the first separation disc 122 is linked to rotate, when the first separation disc 122 rotates, the rotating shift lever 12 rotates, and when the rotating shift lever 12 rotates, the shifting head 121 shifts the clamping joint 111 to slide along the sliding groove 112, so that the clamping joint 111 is separated from the clamping notch 264, so that the bottom shell 26 is separated from the opening of the cavity 11;
after the bottom shell 26 is separated from the opening of the cavity 11, the water sampler 20 where the bottom shell 26 is located descends downward and is vertically downward by the lifting rope 31 until the water sampler 20 is immersed in a sampling water area, so as to realize sampling operation on a water sample, after the water sampler 20 is filled with the sample water, the winding mechanism is started to raise the bottom shell 26, the lifting rod 13 rotates reversely, so that the second engaging block 1311 on the second separating disc 131 abuts against the first engaging block 1221 on the first separating disc 122, so as to rotate the material poking head 121 reversely, when the material poking head 121 pokes the poking arc 1111 of the bayonet joint 111 to abut against, the first separating disc 122 stops rotating, the second separating disc 131 continues rotating, when the bottom shell 26 rises to be buckled with the opening of the cavity 11, the bayonet joint 111 and the bayonet joint 264 form a bayonet joint operation, so as to realize buckling of the opening of the bottom shell 26 and the cavity 11, and further realize fixing of the water sampler 20 and the unmanned aerial vehicle body 10, the problem of the water intake device 20 falling off at will is avoided.
In order to realize the separation and combination of the rotating deflector rod 12 and the rod end of the lifting rod 13, an extrusion spring 123 is sleeved on the rotating deflector rod 12, and two ends of the extrusion spring 123 are respectively abutted against a supporting seat for supporting the rotating deflector rod 12 and a supporting plate for rotating the rod body of the deflector rod 12.
In order to ensure effective separation of bottom shell 26 from the opening of chamber 11, dial 126 is provided on said rotary dial 12, said dial 126 being arranged perpendicularly to rotary dial 12 and having an end abutting against or separated from the inner surface of bottom shell 26;
rotate driving lever 12 at the pivoted in-process for the internal surface of shifting block 126 and drain pan 26 supports and leans on, and then after joint 111 and joint notch 264 separate, realizes drain pan 26 and the open-ended separation operations of cavity 11 of unmanned aerial vehicle organism 10, thereby makes water intaking ware 20 under the effect of hanging of lifting rope 31 and send, immerses in the sample water territory, in order to accomplish the sample operation to sample water.
As a preferred scheme of the present invention, a support wire wheel 124 for the lifting rope 31 is arranged on the rotary shift lever 12, a winding roller 14 is further arranged in the chamber 11, the winding roller 14 is connected with one end of the lifting rope 31, the rotary shift lever 12 is arranged in two groups in the chamber 11, and the winding roller 14 is arranged on the rotary shift lever 12 at intervals;
above-mentioned both sides that rotate driving lever 12 and be located cavity 11 set up two sets ofly, and be provided with two sets of wire winding rollers 14 on two sets of rotation driving lever 12 respectively, utilize four lifting ropes 31 to realize hanging all around of drain pan 26 and establish, can stably realize hanging of water intaking ware 20 and establish, avoid water intaking ware 20 to incline the problem to appear, thereby avoid the unrestrained of the sample water in the water intaking ware 20, after water intaking ware 20 rises to as an organic whole with cavity 11's opening lock, can make unmanned aerial vehicle constitute a whole, in order to reduce unmanned aerial vehicle's windage, make unmanned aerial vehicle more steady fly.
In order to realize synchronous reverse driving of the two groups of rotating shifting rods 12, the driving mechanism comprises a driving motor 15 arranged in the cavity 11, an output shaft of the driving motor 15 is provided with a driving gear 151, rod ends of the rotating shifting rods 12 on two sides are respectively provided with a driven gear 124, the driving gear 151 is meshed with one driven gear 124, and the driving gear 151 is connected with the other driven gear 124 through a transition gear 125.
In order to facilitate the subsequent disassembly and assembly operation of the sample water collecting pipe 233, the water receiving plate 22 is movably arranged on the bottom shell 26, a sliding fit in the vertical direction is formed between the water receiving plate 22 and the bottom shell 26, a top spring is arranged between the water receiving plate 22 and the bottom shell 26, a through hole 263 is arranged on the bottom shell 26, the sample water collecting pipe 223 penetrates through the through hole 263 and is connected with the mounting seat 222 at the bottom of the water receiving tank 221, a top block 16 is arranged in the chamber 11, and the top block 16 abuts against the water receiving plate 22 and enables the lower end of the sample water collecting pipe 223 to extend out of a lower end opening of the through hole 263;
after the winding mechanism is started, in the process that the bottom shell 26 is close to and abutted against the chamber 11, the top block 16 is abutted against the water receiving plate 22, so that the top spring is compressed, the sample water collecting pipe 223 descends, and the lower end of the sample water collecting pipe extends out of the lower end hole of the through hole 263, so that the disassembly operation is convenient to perform, after the sample water collecting pipe 223 collects full sample water, the sample water collecting pipe 223 is disassembled from the through hole 263, then the sample water collecting pipe 223 is assembled on the water receiving plate 22, and the sampling operation of the sample water in the designated area is completed.
Be provided with camera device and radar installation on unmanned aerial vehicle organism 10, after reacing appointed waters, the surface of water height apart from the water source is gathered to the radar to unmanned aerial vehicle hovers, and implements the water source sample operation to appointed waters, and then unmanned aerial vehicle withdraws water intaking ware 20, accomplishes the sample operation to appointed regional water source.
The method for collecting sample water by using the unmanned aerial vehicle is characterized in that: the method comprises the following steps:
firstly, debugging an unmanned aerial vehicle, and inputting the flying height and the flying speed of the unmanned aerial vehicle in a flying control terminal;
secondly, enabling the unmanned aerial vehicle to fly to a position above the water surface of the designated water area, acquiring water surface information by using a camera, acquiring the water surface height of the unmanned aerial vehicle from the designated water area by using a radar, sending the water surface height to a flight control terminal, sending a control instruction by the flight control terminal, and starting a lifting mechanism to enable the water collector 20 to descend below the water surface;
thirdly, the flight control terminal sends out a control instruction to enable the unmanned aerial vehicle to move along the specified water area, and enable the water taking pipe 21 of the water taking device 20 to be filled with sample water;
fourthly, the flight control terminal sends a control instruction to enable the unmanned aerial vehicle to hover, and the lifting mechanism is started to enable the water taking device 20 to ascend;
fifthly, the water taking device 20 rises until the water taking device 20 and the cavity 11 in the unmanned aerial vehicle body 10 are buckled into a whole, the flight control terminal sends a control instruction, so that the unmanned aerial vehicle flies to the position of the flight control terminal and takes out the sample water taken out from the water taking device 20, and the sampling operation of the sample water in the designated water area is completed.
Claims (7)
1. An environmental monitoring unmanned aerial vehicle, its characterized in that: the unmanned aerial vehicle comprises an unmanned aerial vehicle body (10), wherein a water taking device (20) is arranged on the unmanned aerial vehicle body (10), the water taking device (20) is connected with the unmanned aerial vehicle body (10) through a lifting mechanism, the lifting mechanism drives the water taking device (20) to vertically lift and implement the lowering and lifting of the water taking device (20);
the water taking device (20) comprises a plurality of rows of water taking pipes (21), the water taking pipes (21) are arranged in a shape of a high end and a low end, and a water receiving port is formed in the high end of each water taking pipe (21); the lower end pipe orifice of the water taking pipe (21) is hinged and arranged, the hinged shaft is horizontal, and the high end of the water taking pipe (21) is provided with a water receiving plate (22);
the lower end pipe orifice of the water taking pipe (21) is set to be a flat pipe-shaped structure, the outer wall of the upper end of the pipe orifice of the water taking pipe (21) is set to be a plane (211), an arc-shaped convex block (212) is arranged at the upper end position of the inner pipe wall of the water taking pipe (21), and the arc-shaped convex block (212) is arc-shaped and extends downwards; the lower end pipe orifices of the adjacent water taking pipes (21) are connected through a connecting piece (23), and the connecting piece (23) comprises a supporting plane (231) at the upper end and an arc surface (232) at the lower end; a pipe sleeve (233) is sleeved on a lower-end pipe orifice of the water taking pipe (21), the plane (211) is arranged on the pipe sleeve (233), the arc-shaped convex block (212) is arranged in a pipe cavity of the pipe sleeve (233) and extends into the lower-end pipe orifice of the water taking pipe (21), and the connecting piece (23) is arranged between the water taking pipes (21); two ends of the connecting piece (23) are provided with hinged rods (234), and the hinged rods (234) are hinged with the outer wall of the pipe sleeve (233);
a hinged sleeve seat (24) is arranged at the position, close to the low-end pipe orifice, of the water taking pipe (21), the hinged sleeve seat (24) is arranged on a bottom shell (26), and the bottom shell (26) is integrally of a thin-plate shell-shaped structure; a guide plate (261) is arranged at the bottom of the bottom shell (26), the guide plate (261) is vertically arranged on the bottom shell (26), the guide plate (261) is arranged along the length direction of the bottom shell (26), and the lower end, close to the water taking pipe (21), of the guide plate (261) is a small-size end; the whole bottom shell (26) is arranged in a hollowed-out shape, and a plurality of rows of drain holes (262) are distributed on the bottom shell (26).
2. The environmental monitoring drone of claim 1, wherein: the high end of the water taking pipe (21) is bent and extends downwards, the water receiving plate (22) is integrally of a trough plate-shaped structure, and the length direction of the water receiving plate (22) is perpendicular to the extending direction of the water taking pipe (21); the bottom of the water receiving plate (22) is connected with a water receiving tank (221), a plurality of groups of mounting seats (222) are arranged at the bottom of the water receiving tank (221) at intervals, and a sample water collecting pipe (223) is detachably arranged on each mounting seat (222); the water receiving plate (22) is obliquely arranged, the lower end of the water receiving plate (22) is arranged in an open shape, a communication hole (224) is formed in the water receiving plate (22), and the communication hole (224) is a strip-shaped hole and is communicated with a water receiving tank (221).
3. The environmental monitoring drone of claim 2, wherein: the lower end of the unmanned aerial vehicle body (10) is provided with a cavity (11) for accommodating the water taking device (20), and the bottom shell (26) covers the lower end opening of the cavity (11); the lifting mechanism comprises a lifting rope (31) arranged in the chamber (11), one end of the lifting rope (31) is connected with the bottom shell (26), and the winding mechanism drives the lifting rope (31) to stretch and retract and lift the bottom shell (26); a clamping mechanism is arranged between the bottom shell (26) and the cavity (11), and the clamping mechanism enables the bottom shell (26) and the opening of the cavity (11) to form clamping fit.
4. The environmental monitoring drone of claim 3, wherein: the edge of drain pan (26) is provided with joint notch (264), clamping mechanism is including setting up joint (111) at cavity (11) edge, joint (111) horizontal sliding formula sets up in spout (112), the tip and joint notch (264) of joint (111) constitute joint or separation fit, be provided with the pressure spring between the other end of joint (111) and spout (112), the pressure spring supports with the one end of spout (112) and the other end of joint (111) respectively with the one end of spout (112) and the both ends of being parallel with spout (112) and support.
5. The environmental monitoring drone of claim 4, wherein: a rotating deflector rod (12) is arranged in the chamber (11) in a rotating way, the rotating deflector rod (12) is horizontally arranged, a material stirring head (121) is arranged on the rod body, the material poking head (121) and the poking arc plate (1111) on the clamping joint (111) form insertion and separation matching, one end of the rotating shifting lever (12) is provided with a first separating disc (122), a first conjunction block (1221) is arranged on the first separating disc (122), a lifting rod (13) is rotatably arranged in the cavity (11), a second separating disc (131) is arranged at one end of the lifting rod (13), and a second conjunction block (1311) is arranged on the second separating disc (131), the second separating disc (131) is abutted against the first separating disc (122), the second conjunction block (1311) is matched with the first conjunction block (1221), and the driving mechanism drives the rotating shifting rod (12) to rotate.
6. The environmental monitoring drone of claim 5, wherein: an extrusion spring (123) is sleeved on the rotating shifting rod (12), and two ends of the extrusion spring (123) are respectively abutted against a supporting seat supporting the rotating shifting rod (12) and a supporting plate of a rod body of the rotating shifting rod (12); the rotating shifting rod (12) is provided with a shifting head (126), the shifting head (126) is perpendicular to the rotating shifting rod (12), and the end part of the shifting head is abutted against or separated from the inner surface of the bottom shell (26); the rotating deflector rod (12) is provided with winding rollers (14), one end of the lifting rope (31) is connected with the winding rollers (14), the rotating deflector rod (12) is positioned in the cavity (11) and is provided with two groups, and the winding rollers (14) are positioned on the rotating deflector rod (12) and are arranged at intervals; the driving mechanism comprises a driving motor (15) arranged in the cavity (11), a driving gear (151) is arranged on an output shaft of the driving motor (15), driven gears (124) are respectively arranged at rod ends of the two rotating shift levers (12), the driving gear (151) is meshed with one driven gear (124), and the driving gear (151) is connected with the other driven gear (124) through a transition gear (125).
7. The environmental monitoring drone of claim 6, wherein: the water receiving plate (22) is movably arranged on the bottom shell (26), the water receiving plate (22) and the bottom shell (26) are in sliding fit in the vertical direction, a top spring is arranged between the water receiving plate (22) and the bottom shell (26), a through hole (263) is formed in the bottom shell (26), the sample water collecting pipe (223) penetrates through the through hole (263) and is connected with a mounting seat (222) at the bottom of the water receiving tank (221), a top block (16) is arranged in the cavity (11), and the top block (16) abuts against the water receiving plate (22) and enables the lower end of the sample water collecting pipe (223) to extend out of a lower end hole of the through hole (263).
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| CN112124607A (en) * | 2020-10-14 | 2020-12-25 | 王小方 | Unmanned aerial vehicle's suction tube is around pipe mechanism |
| CN114132502A (en) * | 2021-12-23 | 2022-03-04 | 中水三立数据技术股份有限公司 | Automatic water collection device based on unmanned aerial vehicle and safety protection method thereof |
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Effective date of registration: 20210508 Address after: 430070-2f-50, building A2, Rongke Zhigu, 555 Wenhua Avenue, Hongshan District, Wuhan City, Hubei Province (Star legend technology incubator) Patentee after: HUBEI YIFEI AVIATION INDUSTRY TECHNOLOGY Co.,Ltd. Address before: 419 Longjing Avenue, Duodao District, Jingmen high tech Zone, Jingmen City, Hubei Province (c109, 208, 209 Huigu Zhongchuang Industrial Park) Patentee before: DIGITAL EAGLE ELECTRONICS (HUBEI) Co.,Ltd. |
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