CN103983474A - Water sampling multi-rotor type aircraft - Google Patents
Water sampling multi-rotor type aircraft Download PDFInfo
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- CN103983474A CN103983474A CN201410206178.1A CN201410206178A CN103983474A CN 103983474 A CN103983474 A CN 103983474A CN 201410206178 A CN201410206178 A CN 201410206178A CN 103983474 A CN103983474 A CN 103983474A
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Abstract
The invention belongs to the field of multi-rotor type aircrafts and relates to a water sampling multi-rotor type aircraft which can be applied to water sampling, which is not easily performed manually, of rivers, lakes, shallow seas and other places away from a shore. The water sampling multi-rotor type aircraft comprises a self-driving instrument system and a water collection system, wherein the self-driving instrument system consists of a sensing system, a microprocessor and a power system; the water collection system consists of a steering gear and a water sampling device and is arranged at the bottom of the water sampling multi-rotor type aircraft; the sensing system comprises an inertial navigation sensor consisting of a gyroscope and an accelerometer, and is used for performing attitude detection on the water sampling multi-rotor type aircraft; the navigation positioning sensor consists of an electronic compass and a global position system (GPS), and is used for acquiring course information, spatial position and speed information of the water sampling multi-rotor type aircraft. The water sampling multi-rotor type aircraft is low in cost and convenient and easy to operate, has time-saving and labor-saving effects, and can guarantee that water quality at a sampling position is not damaged.
Description
Technical field
The invention belongs to multi-rotor aerocraft field, relate to and can be applied to rivers, lake, shallow sea etc. are manually difficult for the occasion of carrying out water quality sampling a kind of water quality sampling multi-rotor aerocraft away from bank.
Background technology
In the monitoring of environmental pollution and the investigation work of water pollution, reflect truly water pollution situation, must gather representative water sample, and water-quality sampler just plays this effect.Water-quality sampler is a kind of device that gathers water sample, is divided into two kinds of water quality artificial sample device and Water quality automatic sampling devices.The material of water quality artificial sample device must not exert an influence to the composition of water sample, and is easy to washing, can not have any residual to previous sample.Water quality automatic sampling device is to be suitable for bucket type sampling thief proportional to flow, it is a kind of intelligent multi-function suction-type water sample sub-bottle sampling apparatus, can require to realize multiple sample mode (quantitative sampling, sampling at regular time and quantity, the sampling of timing flow proportional, constant current quantitative sampling and Long-distance Control sampling) and multiple bottling mode (every bottle of unitary sampling--is singly adopted and every bottle of repeatedly sampling--mixed adopting) according to water sample sampling.Two kinds of above-mentioned traditional water quality sampling modes are comparatively applicable to the personnel such as enterprise's discharge water can be in the occasion of onshore operation, the occasion that is manually difficult for carrying out water quality sampling away from bank needs sample collector by ship or motorboat carries out water quality sampling to sampling position, but the drawback of this method also clearly, sample collector goes by ship or the motorboat power that consumes again consuming time on the one hand, sometimes also needs multi agent cooperation just can finish the work; Sample collector takes advantage of on the other hand ship or motorboat drive towards sampling position, probably destroy sampling position water quality, cause result of study inaccurate.Small-sized multi-rotor aerocraft becomes the focus of domestic and international Ge great colleges and universities and scientific research institution's research in recent years, has been applied to the fields such as Aerial photography, circuit line walking, forest fire protection, resource exploration, has broad application prospects.Water quality sampling device is designed to robot arm device and hangs on small-sized multi-rotor aerocraft, can be applied to rivers, lake, shallow sea etc. are manually difficult for carrying out water quality sampling occasion away from bank, in order to automatic collection water surface water sample.The simple and fast that is easy to use, in the time that this equipment of application carries out water quality sampling, can gather rapidly different location water surface water sample, essential apparatus while being the water quality samplings such as following environmental protection, scientific research as required.
Summary of the invention
The object of the present invention is to provide a kind of rivers, lake, shallow sea etc. are manually difficult for the problem of carrying out water quality sampling water quality sampling multi-rotor aerocraft away from bank that solves.
The object of the present invention is achieved like this:
The present invention includes and self be mounted with self-driving instrument system and water intake system, self-driving instrument system is made up of sensor-based system, microprocessor, power system, and water intake system is made up of steering wheel and water quality sampling device, is installed on water quality sampling multi-rotor aerocraft below; Sensor-based system comprises that inertial navigation sensors is made up of gyroscope and accelerometer, completes the attitude detection to water quality sampling multi-rotor aerocraft; Navigator fix sensor is made up of electronic compass and GPS, obtains the course information of water quality sampling multi-rotor aerocraft and locus, velocity information; The data of described microprocessor reception sensor-based system are determined flight attitude, flight position and the direction of water quality sampling multi-rotor aerocraft; Receive artificial transmission and control steering wheel signal, send pwm control signal control steering wheel; The water level detecting signal that receives condensate tank of dehumidifier feedback, in the time that water level reaches setting value, sends pwm control signal control steering wheel again; Steering wheel is in order to control the height of water quality sampling device, and steering wheel forward, declines water quality sampling device; Steering wheel reversion, rises water quality sampling device, and condensate tank of dehumidifier Real-Time Monitoring water quality sampling device water level is equipped with in water quality sampling device inside.
Beneficial effect of the present invention is:
Traditional water quality sampling mode is that sample collector goes by ship or motorboat carries out water quality sampling to sampling position, but the drawback of this method also clearly, and sample collector goes by ship or the motorboat power that consumes again consuming time on the one hand, sometimes also needs multi agent cooperation just can finish the work; Sample collector takes advantage of on the other hand ship or motorboat drive towards sampling position, probably destroy sampling position water quality, cause result of study inaccurate.The invention provides a kind of water quality sampling multi-rotor aerocraft, can avoid above drawback completely, just can complete water quality sampling task by a sample collector, cost is lower, multi-rotor aerocraft is convenient to operation, time saving and energy saving, and has ensured that sampling position water quality is not destroyed.This water quality sampling multi-rotor aerocraft is specially adapted to rivers, lake, shallow sea etc. are manually difficult for carrying out water quality sampling occasion away from bank.
Brief description of the drawings
Fig. 1 water quality sampling multi-rotor aerocraft general principles figure
Embodiment
Below in conjunction with accompanying drawing, the present invention is described in further detail.
The present invention discloses a kind of water quality sampling multi-rotor aerocraft, relates to many rotor wing unmanned aerial vehicles and liquid sample field of tool.A kind of water quality sampling multi-rotor aerocraft provided by the invention, self be mounted with self-driving instrument system and water intake system, self-driving instrument system comprises sensor-based system, microprocessor and power system, is mainly used in ensureing stability and the accuracy of water quality sampling multi-rotor aerocraft; Water intake system is made up of steering wheel and water quality sampling device, and in water quality sampling device inside, condensate tank of dehumidifier Real-Time Monitoring water level is installed, and mainly completes water quality sampling task.Water quality sampling multi-rotor aerocraft is convenient to operation, time saving and energy saving, and has ensured that sampling position water quality is not destroyed, and can be used for rivers, lake, shallow sea etc. are manually difficult for carrying out water quality sampling occasion away from bank.
In figure: 1 self-driving instrument system, 11 sensor-based systems, 12 microprocessors, 13 power systems, 2 water intake systems, 21 steering wheels, 22 water quality sampling devices.
Traditional water quality sampling mode is that sample collector goes by ship or motorboat carries out water quality sampling to sampling position, but the drawback of this method also clearly, and sample collector goes by ship or the motorboat power that consumes again consuming time on the one hand, sometimes also needs multi agent cooperation just can finish the work; Sample collector takes advantage of on the other hand ship or motorboat drive towards sampling position, probably destroy sampling position water quality, cause result of study inaccurate.Water quality sampling multi-rotor aerocraft can be avoided above drawback, can complete water quality sampling task completely by a sample collector, and cost is lower, and multi-rotor aerocraft is convenient to operation, time saving and energy saving, and has ensured that sampling position water quality is not destroyed.
The technical method that the present invention adopts is:
The invention provides a kind of water quality sampling multi-rotor aerocraft, self be mounted with self-driving instrument system and water intake system, self-driving instrument system is mainly used in ensureing stability and the accuracy of water quality sampling multi-rotor aerocraft; Water intake system mainly completes water quality sampling task.
Above-mentioned self-driving instrument system is further made up of sensor-based system, microprocessor, power system.Described sensor-based system specifically comprises: inertial navigation sensors is made up of gyroscope and accelerometer, completes the attitude detection to water quality sampling multi-rotor aerocraft; Navigator fix sensor is made up of electronic compass and GPS, obtains the course information of water quality sampling multi-rotor aerocraft and locus, velocity information, completes fixed point water quality sampling task thereby make it accurately arrive destination.
Above-mentioned microprocessor completes the data processing to sensor-based system, determines flight attitude, flight position and the direction of water quality sampling multi-rotor aerocraft, finally realizes the stabilized flight of water quality sampling multi-rotor aerocraft; Receive artificial transmission and control steering wheel signal, signal sends pwm control signal control steering wheel after processing; The water level detecting signal that receives condensate tank of dehumidifier feedback, in the time that water level reaches setting value, sends pwm control signal control steering wheel again.
Above-mentioned power system is made up of electron speed regulator and DC brushless motor, it receives the control command of exporting after microprocessor processes, flight attitude, flight position and the direction of the multi-rotor aerocraft of regulating water quality sampling in real time, the arrival destination of safety and precise.
Described water intake system is made up of steering wheel and water quality sampling device, is installed on water quality sampling multi-rotor aerocraft below.
Above-mentioned water quality sampling device, is mainly used in water quality sampling, and condensate tank of dehumidifier is equipped with in inside, Real-Time Monitoring water level.
Above-mentioned steering wheel is in order to control the height of water quality sampling device.Steering wheel forward, declines water quality sampling device; Steering wheel reversion, rises water quality sampling device.
With reference to a kind of water quality sampling multi-rotor aerocraft of Fig. 1, self be mounted with self-driving instrument system 1 and water intake system 2, self-driving instrument system 1 is mainly used in ensureing stability and the accuracy of water quality sampling multi-rotor aerocraft; Water intake system 2 mainly completes water quality sampling task.
Described self-driving instrument system 1 is further made up of sensor-based system 11, microprocessor 12, power system 13.Described sensor-based system 11 specifically comprises: inertial navigation sensors is made up of gyroscope and accelerometer, accelerometer at short notice data is inaccurate, but after through long measurement, it is accurate that data will become, and gyrostatic measurement result is contrary with accelerometer effect, In view of the foregoing, for obtaining more accurate measurement result, degree of will speed up meter and gyroscope are combined with, and the data of its acquisition are carried out to data fusion, complete the attitude detection to water quality sampling multi-rotor aerocraft, navigator fix sensor is made up of electronic compass and GPS, although GPS is in navigation, the aspects such as location can play an important role, but use in the environment of crested above it, as carried out water quality sampling below bridge, because the data of GPS are that receiving satellite obtains according to resolving, if in the relatively airtight environment such as bridge below or disturbing in stronger environment, it is larger that GPS obtains data error, therefore usually GPS and electronic compass are used in combination, the data that record after combination are carried out data fusion will be more accurate than single-sensor, thereby obtain course information and the locus of water quality sampling multi-rotor aerocraft, velocity information, thereby make it accurately arrive destination and complete fixed point water quality sampling task.
Described microprocessor 12 receives the data of sensor-based system 11 and does corresponding data processing, determines flight attitude, flight position and the direction of water quality sampling multi-rotor aerocraft, finally realizes the stabilized flight of water quality sampling multi-rotor aerocraft; Receive artificial transmission and control steering wheel signal, signal sends pwm control signal control steering wheel 21 after processing; The water level detecting signal that receives condensate tank of dehumidifier feedback, in the time that water level reaches setting value, sends pwm control signal control steering wheel 21 again.
Described power system 13 is made up of electron speed regulator and DC brushless motor, and it receives the control command of output after microprocessor 12 is processed, flight attitude and the heading of the multi-rotor aerocraft of regulating water quality sampling in real time.
Described water intake system 2 is made up of steering wheel 21 and water quality sampling device 22, belongs to a kind of robot arm device, is installed on water quality sampling multi-rotor aerocraft below.Further described steering wheel 21, in order to control the height of water quality sampling device 22.Flown, to water quality sampling place, to hover on the water surface by the water quality sampling multi-rotor aerocraft of manual remote control or independent navigation, microprocessor 12 sends pwm control signal to steering wheel 21, and steering wheel 21 forwards drop in water water quality sampling device 22; Described water quality sampling device 22, condensate tank of dehumidifier is equipped with in inside, detect in real time water quality sampling device 22 water level inside, in the time that water level reaches setting value, transmission is sampled into function signal to microprocessor 12, send pwm control signal control steering wheel 21 by microprocessor 12, steering wheel 21 reverses, make water quality sampling device 22 increase, water quality sampling completes, and is returned by manual remote control or independent navigation water quality sampling multi-rotor aerocraft.
Claims (1)
1. a water quality sampling multi-rotor aerocraft, comprise and self be mounted with self-driving instrument system (1) and water intake system (2), it is characterized in that: self-driving instrument system (1) is made up of sensor-based system (11), microprocessor (12), power system (13), water intake system (2) is made up of steering wheel (21) and water quality sampling device (22), is installed on water quality sampling multi-rotor aerocraft below; Sensor-based system comprises that inertial navigation sensors is made up of gyroscope and accelerometer, completes the attitude detection to water quality sampling multi-rotor aerocraft; Navigator fix sensor is made up of electronic compass and GPS, obtains the course information of water quality sampling multi-rotor aerocraft and locus, velocity information; The data of described microprocessor (12) reception sensor-based system (11) are determined flight attitude, flight position and the direction of water quality sampling multi-rotor aerocraft; Receive artificial transmission and control steering wheel signal, send pwm control signal control steering wheel (21); The water level detecting signal that receives condensate tank of dehumidifier feedback, in the time that water level reaches setting value, sends pwm control signal control steering wheel (21) again; Steering wheel (21) is in order to control the height of water quality sampling device (22), and steering wheel (21) forward, declines water quality sampling device (22); Steering wheel reversion (21), rises water quality sampling device (22), and condensate tank of dehumidifier Real-Time Monitoring water quality sampling device (22) water level is equipped with in water quality sampling device (22) inside.
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| CN105510082A (en) * | 2015-12-15 | 2016-04-20 | 浙江省海洋水产研究所 | Unmanned aerial vehicle sampling device for marine environmental monitoring |
| CN105571905A (en) * | 2015-12-15 | 2016-05-11 | 浙江省海洋水产研究所 | Multiple-point collecting device for surface seawater |
| WO2016082218A1 (en) * | 2014-11-28 | 2016-06-02 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle and water sample collection method thereof |
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| CN105928732A (en) * | 2016-04-19 | 2016-09-07 | 中国科学院植物研究所 | High-altitude leaf sampling and data recording system |
| CN106153377A (en) * | 2015-03-23 | 2016-11-23 | 上海市南洋模范中学 | One spot sampling bucket under water |
| CN106525493A (en) * | 2016-11-25 | 2017-03-22 | 广州飞创智能科技有限公司 | Unmanned aerial vehicle for taking water sample and water taking method |
| CN107300486A (en) * | 2017-08-11 | 2017-10-27 | 上海拓攻机器人有限公司 | A kind of water quality sampling method and system based on unmanned plane |
| CN107976591A (en) * | 2018-01-22 | 2018-05-01 | 吉林大学 | A kind of spatial noise acquisition system of portable more rotor flying systems |
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| US10338608B2 (en) | 2014-11-28 | 2019-07-02 | SZ DJI Technology Co., Ltd. | Unmanned aerial vehicle and water sampling method thereof |
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| CN106525493A (en) * | 2016-11-25 | 2017-03-22 | 广州飞创智能科技有限公司 | Unmanned aerial vehicle for taking water sample and water taking method |
| CN106525493B (en) * | 2016-11-25 | 2024-03-12 | 广州飞创智能科技有限公司 | Unmanned aerial vehicle for taking water sample and water taking method |
| CN107300486A (en) * | 2017-08-11 | 2017-10-27 | 上海拓攻机器人有限公司 | A kind of water quality sampling method and system based on unmanned plane |
| CN107976591A (en) * | 2018-01-22 | 2018-05-01 | 吉林大学 | A kind of spatial noise acquisition system of portable more rotor flying systems |
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