CN113479324A - Intelligent water quality sampling unmanned aerial vehicle system - Google Patents
Intelligent water quality sampling unmanned aerial vehicle system Download PDFInfo
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- CN113479324A CN113479324A CN202110762201.5A CN202110762201A CN113479324A CN 113479324 A CN113479324 A CN 113479324A CN 202110762201 A CN202110762201 A CN 202110762201A CN 113479324 A CN113479324 A CN 113479324A
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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
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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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
Abstract
The application relates to an intelligence water sampling unmanned aerial vehicle system belongs to water quality testing technical field, and this system includes: the system comprises a task issuing terminal, a multi-rotor flight platform, a quick-release suspension type water sampling device, a sampling device and a landing identification plate, wherein the multi-rotor flight platform is communicated and interconnected with the task issuing terminal; the problem that sampling scenes such as a long and narrow river channel are limited can be solved; the control instruction to the multi-rotor flight platform is sent through the task issuing terminal, the multi-rotor flight platform autonomously flies to a preset place to complete sampling, and the multi-rotor flight platform is guided to autonomously land to an expected landing position through the landing identification plate. The system can improve the efficiency and the safety of water quality sampling operation; through using sampling device to gather the water sample, rather than extracting the water sample through water pump and straw high altitude, can make the quality of water of gathering accord with quality of water sampling standard, improve quality of water analysis's accuracy.
Description
[ technical field ] A method for producing a semiconductor device
The application relates to an intelligent water quality sampling unmanned aerial vehicle system, and belongs to the technical field of water quality detection.
[ background of the invention ]
With the rapid development of the intelligent unmanned aerial vehicle technology, the unmanned aerial vehicle has wide application in the fields of environment detection, agricultural plant protection, military reconnaissance, aerial photography, emergency rescue and disaster relief and the like. Along with the water resource pollution condition is more serious, the intelligent water quality sampling unmanned aerial vehicle can assist relevant departments in rapidly monitoring water quality pollution events.
At present, a large-scale multi-axis aircraft is adopted as a flight platform for an unmanned aerial vehicle for water quality sampling, the size is large, and inconvenience is brought to equipment transportation and the like.
[ summary of the invention ]
The application provides an intelligent water quality sampling unmanned aerial vehicle system, which can solve the problems that a flight platform is large in size and only can sample water quality in an open area by taking a multi-rotor flight platform as the flight platform; meanwhile, the multi-rotor flying platform is controlled to execute flying operation through the task issuing terminal, manual operation for flying the multi-rotor flying platform is not needed, the multi-rotor flying platform is triggered to automatically land to a desired landing position through the landing identification plate, and the problem of low flying efficiency when the multi-rotor flying platform is manually operated can be solved; the flying efficiency and landing efficiency of the flying platform can be improved; in addition, water is taken by using the sampling device instead of extracting a water sample from the high altitude through a water pump and a suction pipe, so that the collected water quality meets the water quality sampling standard, and the accuracy of water quality analysis is improved.
Based on the foregoing, the present application provides the following technical solutions: an intelligent water quality sampling unmanned aerial vehicle system is provided, the system includes:
the task issuing terminal is used for issuing a flight task of water quality sampling;
a multi-rotor flying platform communicatively interconnected with the task-issuing terminal, including a vision sensor, for receiving the flying task; executing flight operation according to the flight task instruction;
the quick-release suspension type water sampling device is positioned at the bottom of the multi-rotor flight platform and drives the quick-release suspension type water sampling device to move in the flight process of the multi-rotor flight platform;
the sampling device is detachably connected with the quick-release suspension type water sampling device, after the multi-rotor flight platform flies to a designated water sampling level, the quick-release suspension type water sampling device lowers the sampling device to a preset depth, and the sampling device is pulled up after water sampling is finished;
a landing sign board placed at a desired landing position; after water collection is completed, the multi-rotor flight platform collects the image data of the landing identification plate through the vision sensor and performs autonomous vision guided landing according to the image data.
Optionally, the quick-release suspended water sampling device comprises:
a support frame;
a controller mounted on the support frame;
the driving assembly is arranged in the supporting frame and connected with the controller;
the wire twisting disc is arranged in the support frame and connected with a power output shaft of the driving assembly, a rope is wound on the wire twisting disc, and one end of the rope is connected with the sampling bottle; the power output shaft drives the wire twisting disc to rotate in the operation process, so that one end of the rope is lowered or lifted.
Optionally, a fixing column is arranged on the sampling bottle; the bottom of the supporting frame is provided with a through hole and a fixed pulley positioned above the through hole, and one end of the rope is connected with the fixed column through the fixed pulley; the size of the through hole is larger than that of the fixing column so that the fixing column penetrates through the through hole.
Optionally, the sampling bottle further comprises a fixing plate, and the fixing column is located on the fixing plate; a microswitch is further mounted at the bottom of the support frame, and a switch driving rod of the microswitch penetrates through the bottom of the support frame; the micro switch is connected with the driving component;
under the condition that the sampling bottle ascends to be close to the quick-detachable suspended type water sampling device, the fixing plate is in contact with the switch driving rod to trigger the micro switch to control the driving assembly to stop running.
Optionally, the drive assembly comprises:
the planetary reduction gearbox is connected with an encoder in the controller;
the rotor of the brushless motor is positioned in the planetary reduction gearbox, so that the planetary reduction gearbox reduces the output rotating speed of the brushless motor to a desired speed;
and the brushless electric regulator is connected with the planetary reduction gearbox and is used for regulating the driving speed of the driving assembly according to a control signal.
Optionally, the multi-rotor flying platform comprises:
the propeller mounting device comprises a frame, a driving mechanism and a driving mechanism, wherein the frame is provided with a propeller by adopting a coaxial double-propeller structure;
the flight control device, the positioning device, the power supply device, the communication device and the airborne terminal are arranged on the rack.
Optionally, the frame is provided with a folding structure, and one end of the folding structure is provided with the propeller.
Optionally, the multi-rotor flying platform further comprises a depth camera and a motion tracking camera mounted on the airframe;
the depth point cloud data collected by the depth camera is used for the multi-rotor flight platform to avoid obstacles;
the motion tracking camera is used for determining pose information of the multi-rotor flying platform when the positioning device fails.
Optionally, the system further comprises a server in communication with the task issuing terminal and the multi-rotor flying platform, respectively;
the multi-rotor flying platform is also used for sending the acquired image data to the server;
and the server is used for acquiring and storing the image data.
Optionally, the server is further configured to:
receiving sample data of the water quality collected by the sampling device;
performing sample analysis on the sample data to obtain a water quality analysis result;
and sending the water quality analysis result to a designated terminal.
The beneficial effect of this application lies in: the system comprises a task release terminal, a multi-rotor flight platform, a quick-release suspension type water sampling device, a sampling device and a landing identification plate, wherein the multi-rotor flight platform is communicated and interconnected with the task release terminal; the problem that sampling scenes such as a long and narrow river channel are limited can be solved; the control instruction to the multi-rotor flight platform is sent through the task issuing terminal, the multi-rotor flight platform autonomously flies to a preset place to complete sampling, and the multi-rotor flight platform is guided to autonomously land to an expected landing position through the landing identification plate. The system can improve the efficiency and the safety of water quality sampling operation; through using sampling device to gather the water sample, rather than extracting the water sample through water pump and straw high altitude, can make the quality of water of gathering accord with quality of water sampling standard, improve quality of water analysis's accuracy.
The foregoing description is only an overview of the technical solutions of the present application, and in order to make the technical solutions of the present application more clear and clear, and to implement the technical solutions according to the content of the description, the following detailed description is made with reference to the preferred embodiments of the present application and the accompanying drawings.
[ description of the drawings ]
Fig. 1 is a schematic structural diagram of an intelligent water quality sampling unmanned aerial vehicle system provided in an embodiment of the present application;
fig. 2 is a schematic structural diagram of an intelligent water quality sampling unmanned aerial vehicle system provided in another embodiment of the present application;
FIG. 3 is a schematic illustration of a multi-rotor flying platform descent process as provided by one embodiment of the present application;
FIG. 4 is a schematic representation of a multi-rotor flying platform according to one embodiment of the present disclosure;
FIG. 5 is a schematic structural diagram of a quick release suspended water sampling device according to an embodiment of the present disclosure;
FIG. 6 is a schematic structural diagram of a quick release suspended water sampling device according to another embodiment of the present disclosure;
fig. 7 is a flow chart of water sampling of a quick-release suspended water sampling device control sampling device according to an embodiment of the present application.
[ detailed description ] embodiments
The following detailed description of embodiments of the present application will be described in conjunction with the accompanying drawings and examples. The following examples are intended to illustrate the present application but are not intended to limit the scope of the present application.
Fig. 1 and fig. 2 are schematic structural diagrams of an intelligent water quality sampling unmanned aerial vehicle system provided by an embodiment of the application. As shown in fig. 1, the system comprises at least: the system comprises a task issuing terminal 11, a multi-rotor flight platform 12, a quick-release suspended water sampling device 13, a sampling device 14 and a landing identification plate 15.
Alternatively, the task issuing terminal 11 may be an electronic device having a communication function and a human-computer interaction function, such as a mobile phone, a computer, a tablet computer, and the like. The task issuing terminal 11 is used for issuing a flight task of water quality sampling.
The flight mission includes position information of a flight destination (position information specifying a water collection position) and a water quality sampling depth. Optionally, the flight mission further includes a flight speed, a flight altitude, and the like, and the content included in the flight mission is not limited in this embodiment.
Alternatively, the flight mission may be set by the user through the mission issuing terminal 11; or the server sends the task issuing terminal 11, in this case, the system further includes a server 16, and the server 16 is connected to the task issuing terminal 11 through mobile network communication, such as: the communication connection is realized through a 4G network, a 5G network or a mobile network of the next generation.
In this embodiment, multi-rotor flying platform 12 includes a vision sensor. The vision sensor is used for the multi-rotor flying platform 12 to collect image data of the landing identification plate 15 so as to land at a desired landing position according to the image data. Wherein the landing indication plate 15 is placed at a desired landing position.
Specifically, after water collection is completed, the multi-rotor flight platform collects image data of the landing identification plate through the vision sensor and performs autonomous visual guidance landing according to the image data.
Such as: referring to fig. 3, when multi-rotor flying platform 12 is positioned above and to the left of landing indicator panel 15, the vision sensor acquires image data including landing indicator panel 15; according to the position of the landing identification plate 15 in the image data, the relative position relationship between the multi-rotor flight platform 12 and the landing identification plate 15 can be determined; the multi-rotor flight platform 12 adjusts the position according to the relative position relationship until the multi-rotor flight platform is adjusted to be positioned right above the landing identification plate 15, and then performs vertical falling operation so as to land to the position where the landing identification plate 15 is placed.
It should be added that the multi-rotor flying platform 12 may also perform a drop operation while in the adjusted position.
Schematically, the size of the landing plate identification plate is 1000mm by 1mm of a PC plate, the printing pattern is an ArUco two-dimensional label, and the four-corner two-dimensional code ID is 0, 1, 2 and 3 clockwise; the ID of the central two-dimensional code is 4; spraying matte semitransparent paint on the surface layer of the identification plate; the four sides are fixed by adhesive cloth base tapes.
Optionally, the perception sensor includes a rotary lidar and/or an underlying monocular camera, and the embodiment does not limit the implementation manner of the vision sensor.
In one example, referring to fig. 4, multi-rotor flying platform 12 includes: a frame 121, wherein the frame adopts a coaxial double-paddle structure to install a propeller 122; a flight control device 123 mounted on the frame 121, a positioning device (not shown), a power supply device 124, a communication device (not shown), and an on-board terminal 125.
The number of the propellers 122 is 8, the frame 121 comprises 4 propeller shafts, two propellers 122 are mounted on each propeller shaft, the torque directions of the two propellers 122 are opposite, and the propellers are mounted on the frame by adopting a coaxial double-propeller structure.
Optionally, the frame 121 has a folding structure, and a propeller is disposed at one end of the folding structure. In this embodiment, through setting up beta structure, portable and transportation.
Illustratively, the multi-rotor flying platform has an wheelbase of 750mm, a maximum dimension of 1000mm 530mm, and a coaxial twin-oar two-blade distance of 120 mm. The blade is a 15-inch foldable blade, and the model of the motor is 4112KV 320.
Optionally, flight control device 123 is mounted at the center of gravity of multi-rotor flying platform 12.
The positioning device uses a Global Navigation Satellite System (GNSS) to obtain absolute positioning information of the multi-rotor flying platform 12, thereby determining whether the multi-rotor flying platform 12 reaches a designated water collection position.
The power supply device 124 may be an energy storage battery, and in other embodiments, the power supply device 124 may further include a solar panel, a fuel cell, and the like, and the implementation manner of the power supply device 124 is not limited in this embodiment. Illustratively, the battery capacity was 12000mAh, and 6S 2P.
The communication device is used for the multi-rotor flying platform 12 to be in communication connection with other equipment. Optionally, the communication device may be a 4G communication module, and the 4G remote control module is installed below the rear of the rack, and is not shielded by a metal part within 50mm of a square circle with the antenna as a center.
The onboard terminals 125, or onboard computers, are used to read, process, communicate, display and control various information on the multi-rotor flying platform 12. Such as: the command and sensory data for multi-rotor flying platform 12 are read, processed, transmitted, displayed, and controlled. The on-board terminal 125 is connected to the flight control device 123 and is communicatively connected to the task issuing terminal 11.
Optionally, the on-board terminals 125 are mounted directly above the center panel of the rack. The on-board terminal 125 is configured as an I7 processor, and software is installed with software packages for autonomous obstacle avoidance, guided landing, remote control and the like.
In one example, rotary lidar 126 is mounted directly above the airborne terminal housing, with the axis of rotation coincident with the multi-rotor flying platform 12Z-axis. The visual field picture of the lower camera is parallel to the ground.
Referring to fig. 4, the multi-rotor flying platform further includes airframe-mounted sensor apparatus. The sensor devices include a depth camera 127 and a motion tracking camera 128. The depth point cloud data collected by the depth camera is used for the multi-rotor flight platform to avoid obstacles; the motion tracking camera is used for determining pose information of the multi-rotor flying platform when the GPS positioning device fails. In one example, the depth camera and motion tracking camera are mounted facing straight ahead, at a height of about 450mm from the ground.
In practical implementation, the sensing device may further include other sensors, and the embodiments are not listed here.
Optionally, when the system further includes a server 16 communicatively connected to the task issuing terminal and the multi-rotor flying platform, respectively, the multi-rotor flying platform is further configured to send the acquired image data to the server 16; accordingly, the server is used for acquiring and storing the image data.
But quick detach suspension type water sampling device 13 is located many rotor flight platform 12 bottoms, drives quick detach suspension type water sampling device 13 and removes at many rotor flight platform 12 flight in-process.
The sampling device 14 is detachably connected with the quick-detachable suspension type water sampling device 13, and after the multi-rotor flight platform flies to a designated water sampling level, the quick-detachable suspension type water sampling device transfers the sampling device to a preset depth and lifts the sampling device after water sampling is completed.
In one example, referring to fig. 5, the quick release suspended water production apparatus 13 includes:
a support frame 131;
a controller 132 mounted on the support bracket 131;
a driving assembly 133 installed in the supporting bracket 131 and connected to the controller 131;
a wire twisting disc 134 which is arranged in the supporting frame 131 and is connected with the power output shaft of the driving assembly 133, wherein a rope (not shown in the figure) is wound on the wire twisting disc 134, and one end of the rope is connected with the sampling bottle 14; the power take-off shaft drives the cable drum 134 to rotate during operation to lower or raise one end of the cable.
The rope may be a nylon rope or a rope made of other materials, and the embodiment does not limit the material and type of the rope.
At this moment, but quick detach suspension type water sampling device is connected through four cloud platform support frames 131 and many rotor flight platform 12 central core plates, and sampling device accessible quick detach is buckled and suspension type water sampling device rapid Assembly.
Specifically, referring to fig. 5 and 6, the sample bottle 14 is provided with a fixing post 141. The bottom of the supporting frame 131 is provided with a through hole 135 and a fixed pulley 137 positioned above the through hole 135, and one end of the rope is connected with a fixed column 141 through the fixed pulley 137. The size of the through hole 135 is larger than that of the fixing post 141 so that the fixing post 141 passes through the through hole 135, and the size of the through hole 135 is larger than that of the fixing post 141 so that the fixing post 141 passes through the through hole 135.
The sampling bottle 14 further comprises a fixing plate 142, and the fixing posts 141 are located on the fixing plate 142; a microswitch 136 is also mounted at the bottom of the support frame 131, and a switch driving rod of the microswitch 136 passes through the bottom of the support frame 131; the microswitch 136 is connected to the drive assembly 133; in the event that the sampling bottle 14 rises to close the quick release suspended water sampling device 13, the fixing plate 142 contacts the switch driving lever to trigger the micro switch to control the driving assembly to stop running.
As shown in fig. 5, the driving assembly 133 includes: the planetary reduction box 1331, the planetary reduction box 1331 is connected with an encoder in the controller; a brushless motor 1332, the rotor of which is located within the planetary gearbox 1331, such that the planetary gearbox 1331 reduces the output speed of the brushless motor 1332 to a desired speed; and a brushless electric regulator 1333 connected to the planetary reducer 1331 for regulating the driving speed of the driving assembly according to the control signal. Schematically, the current of the electronic governor is 40A.
Schematically, the maximum size of the supporting frame 131 is 200mm by 100mm, and the size of the brushless motor is 3508 with a configuration 1: 30 planetary reduction boxes; the wire coil bracket is 30 mm; the width of the pulley groove is 5mm, and the diameter of the pulley groove is 10 mm; the maximum length of the nylon rope is 12 m; the volume of the sampling bottle is 200 ml; the maximum size of the fixing plate is 100mm 50mm 20mm, and through the lever principle, when the sampling bottle is positioned at the top, the upper side of the fixing plate of the sampling bottle is extruded, so that the fixing plate is fastened on the bottle body to play a role in fixing.
In order to understand the water quality sampling process more clearly, the following description will be given by taking an example of the sampling process. Referring to fig. 7, the water quality sampling process includes the following steps:
the quick-detachable suspended water sampling device determines whether the sampling device completes sampling, and may be determined whether the sampling duration reaches a preset duration, for example, 3 seconds or other values.
And 73, controlling the wire coil to rotate anticlockwise by the quick-detachable suspended type water sampling device so as to shrink the length of the rope, and triggering the driving assembly to stop rotating if the fixed plate contacts the microswitch in the process that the rope drives the sampling device to ascend, so that sampling is finished.
Optionally, when the system further comprises the server 16, the server is further configured to: receiving sample data of water quality acquired by a sampling device; carrying out sample analysis on the sample data to obtain a water quality analysis result; and sending the water quality analysis result to a designated terminal.
The designated terminal may be a terminal used by a water quality monitoring department, and of course, may also be a terminal used by other users, and the type of the designated terminal is not limited in this embodiment.
Based on the above system architecture, the present embodiment takes a water quality sampling process as an example for explanation, and the process includes:
step 1, releasing a water quality surveying task by a relevant part, enabling a sampling worker to obtain the water quality surveying task, enabling a user to reach the periphery of a sampling point, placing a ground landing plate, unfolding an aircraft, taking down a sensor protection cover, installing a rinsed sampling device, turning on a ground station power supply, electrifying the aircraft, and ensuring that a multi-rotor flight platform is successfully connected with the ground; issuing a flight task through a task issuing terminal;
and 2, taking off the multi-rotor flight platform, collecting a water sample at a fixed point and a fixed depth when the multi-rotor flight platform flies to a designated position, returning after sampling is finished, and performing vision-guided autonomous landing above the flying point and returning to the flying point. After the airplane propeller stops rotating, taking down the sampling device by a sampling person, and analyzing to obtain water quality sample data; the front-view camera and the downward-view camera acquire image data when flying at a waypoint. The obtained data is automatically uploaded to a server.
And 3, the server completes the analysis of the original data according to the algorithm model, generates a water quality report and automatically pushes the report to a specified terminal.
In summary, the intelligent water quality sampling unmanned aerial vehicle system provided by this embodiment is provided with a task issuing terminal, a multi-rotor flight platform in communication and interconnection with the task issuing terminal, a quick-release suspension type water sampling device located at the bottom of the multi-rotor flight platform, a sampling device detachably connected with the quick-release suspension type water sampling device, and a landing identification plate placed at a desired landing position; the problem that sampling scenes such as a long and narrow river channel are limited can be solved; the control instruction to the multi-rotor flight platform is sent through the task issuing terminal, the multi-rotor flight platform autonomously flies to a preset place to complete sampling, and the multi-rotor flight platform is guided to autonomously land to an expected landing position through the landing identification plate. The system can improve the efficiency and the safety of water quality sampling operation; through using sampling device to gather the water sample, rather than extracting the water sample through water pump and straw high altitude, can make the quality of water of gathering accord with quality of water sampling standard, improve quality of water analysis's accuracy.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
The above is only one specific embodiment of the present application, and any other modifications based on the concept of the present application are considered as the protection scope of the present application.
Claims (10)
1. The utility model provides an intelligence water quality sampling unmanned aerial vehicle system which characterized in that, the system includes:
the task issuing terminal is used for issuing a flight task of water quality sampling;
the multi-rotor flight platform is communicated and interconnected with the task issuing terminal and comprises an airborne computer module for receiving the flight tasks; executing flight operation according to the flight task instruction;
the quick-release suspension type water sampling device is positioned at the bottom of the multi-rotor flight platform and drives the quick-release suspension type water sampling device to move in the flight process of the multi-rotor flight platform;
the sampling device is detachably connected with the quick-release suspension type water sampling device, after the multi-rotor flight platform flies to a designated water sampling level, the quick-release suspension type water sampling device lowers the sampling device to a preset depth, and the sampling device is pulled up after water sampling is finished;
a landing sign board placed at a desired landing position; after water collection is completed, the multi-rotor flight platform collects the image data of the landing identification plate through the vision sensor and performs autonomous vision guided landing according to the image data.
2. The system of claim 1, wherein the quick release suspended water production apparatus comprises:
a support frame;
a controller mounted on the support frame;
the driving assembly is arranged in the supporting frame and connected with the controller;
the wire twisting disc is arranged in the support frame and connected with a power output shaft of the driving assembly, a rope is wound on the wire twisting disc, and one end of the rope is connected with the sampling device; the power output shaft drives the wire twisting disc to rotate in the operation process, so that one end of the rope is lowered or lifted.
3. The system of claim 2, wherein the sampling device is provided with a fixed column; the bottom of the supporting frame is provided with a through hole and a fixed pulley positioned above the through hole, and one end of the rope is connected with the fixed column through the fixed pulley; the size of the through hole is larger than that of the fixing column so that the fixing column penetrates through the through hole.
4. The system of claim 3, wherein the sampling device further comprises a fixed plate, the fixed post being located on the fixed plate; a microswitch is further mounted at the bottom of the support frame, and a switch driving rod of the microswitch penetrates through the bottom of the support frame; the micro switch is connected with the driving component;
and under the condition that the sampling device ascends to be close to the quick-detachable suspended type water sampling device, the fixed plate is contacted with the switch driving rod so as to trigger the microswitch to control the driving assembly to stop running.
5. The system of claim 2, wherein the drive assembly comprises:
the planetary reduction gearbox is connected with an encoder in the controller;
the rotor of the brushless motor is positioned in the planetary reduction gearbox, so that the planetary reduction gearbox reduces the output rotating speed of the brushless motor to a desired speed;
and the brushless electric regulator is connected with the planetary reduction gearbox and is used for regulating the driving speed of the driving assembly according to a control signal.
6. The system of claim 1, wherein the multi-rotor flying platform comprises:
the propeller mounting device comprises a frame, a driving mechanism and a driving mechanism, wherein the frame is provided with a propeller by adopting a coaxial double-propeller structure;
the flight control device, the positioning device, the power supply device, the communication device and the airborne terminal are arranged on the rack.
7. The system of claim 6, wherein the frame has a fold-over structure thereon, the fold-over structure having the propeller disposed on one end thereof.
8. The system of claim 6, wherein the multi-rotor flying platform further comprises sensor equipment mounted on the airframe, the sensor equipment including a depth camera and a motion tracking camera;
the depth point cloud data collected by the depth camera is used for the multi-rotor flight platform to avoid obstacles;
the motion tracking camera is used for determining pose information of the multi-rotor flying platform when the GPS positioning device fails.
9. The system of claim 1, further comprising a server communicatively coupled to each of the task-issuing terminal and the multi-rotor flying platform;
the multi-rotor flying platform is also used for sending the acquired image data to the server;
and the server is used for acquiring and storing the image data.
10. The system of claim 8, wherein the server is further configured to:
receiving sample data of the water quality acquired by the water acquisition device;
performing sample analysis on the sample data to obtain a water quality analysis result;
and sending the water quality analysis result to a designated terminal.
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