CN105292449A - Water quality sampling unmanned aerial vehicle - Google Patents
Water quality sampling unmanned aerial vehicle Download PDFInfo
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- CN105292449A CN105292449A CN201410374931.8A CN201410374931A CN105292449A CN 105292449 A CN105292449 A CN 105292449A CN 201410374931 A CN201410374931 A CN 201410374931A CN 105292449 A CN105292449 A CN 105292449A
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Abstract
The invention relates to the field of water quality collection, in particular to a water quality sampling unmanned aerial vehicle. The water quality sampling unmanned aerial vehicle comprises an unmanned aerial vehicle body, a driving device, a water sample collecting device and a circuit board mounting box, wherein a plurality of control units are arranged in the circuit board mounting box; a plurality of sensors are arranged on the unmanned aerial vehicle body; the control units form a flight control device, and the sensors form a navigation device; the driving device and the water sample collecting device are controlled to start and stop through the flight control device; the water sample collecting device comprises a water sampling device, a main body bracket, a water diversion device and a water body collecting controller, wherein the water diversion device is provided with a water diversion mechanism and plastic bottles; the water sampling device is connected with the water diversion mechanism on the water diversion device through a water pipe, and collected water samples enter the water diversion mechanism through the action of the water sampling device, and enter the plastic bottles for loading the water samples through the action of the water diversion mechanism. The water quality sampling unmanned aerial vehicle disclosed by the invention is broad in coverage area and high in mobility, requirements for extensive inspection and water quality collection can be met.
Description
Technical field
The present invention relates to water sampling field, specifically a kind of water quality sampling unmanned plane.
Background technology
Current China water resource pollution situation is serious, water prevention and cure of pollution work is extremely urgent, and efficient comprehensively acquisition water quality information is the condition precedent of water prevention and cure of pollution work, water quality sampling work is then the key link obtaining water quality information, current water quality sampling adopts the mode of artificial sample and sampling automatically usually, they all have respective limitation, be mainly manifested in: (1) is for the dynamic acquisition in waters on a large scale, rivers, lake, the water sampling in coastal grade waters on a large scale uses merely manual type inefficiency, automatic collection can only gather the water sample situation of attachment point usually, do not possess stochastic and dynamic, (2) for waters that is seriously polluted or burst chemical spill, there is hazardous and noxious substances or gas in bad environments, artificial collection has great danger, and traditional approach is difficult to gather, (3) for the waters of complex environment, as marsh, wetland or harmful algae aggregation zone etc., employing unmanned boat or the method for manually rowing the boat all are difficult to arrive designated area, cannot complete collecting work.Depopulated helicopter operation wide coverage, mobility strong, the needs of cruising on a large scale can be met, possesses the feature of Unmanned operation simultaneously, the deep enough hazardous location of energy replaces the operation of people, in addition, owing to adopting flying method to enter operating area, aquatic environment impact is very little, is applicable to entering the region job that ship is difficult to arrive.
Summary of the invention
The object of the present invention is to provide a kind of water quality sampling unmanned plane, wide coverage, mobility strong, the needs of cruising on a large scale and water quality collection can be met, can deep enough hazardous location or complex water areas operation.
The object of the invention is to be achieved through the following technical solutions:
A kind of water quality sampling unmanned plane, comprise fuselage, actuating device, water sample acquisition device and circuit board mounting box, wherein actuating device and circuit board mounting box are arranged in the frame of fuselage, and water sample acquisition device is arranged on the alighting gear of fuselage; Multiple control unit is provided with in circuit board mounting box, fuselage is provided with multiple sensor, described multiple control unit and multiple sensor constitute flight control unit and homing advice respectively, and namely described actuating device and water sample acquisition device control start and stop by described flight control unit.
Described water sample acquisition device comprises water sampling device, main body rack, division box and water body acquisition controller, water sampling device, division box and water body acquisition controller are installed on described main body rack, wherein division box is provided with hydroseparator structure and takes up the plastic bottle of water sample, water sampling device is connected with the hydroseparator structure on described division box by water pipe, described water sampling device and hydroseparator structure control start and stop by described water body acquisition controller, the water sample gathered enters into described hydroseparator structure by water sampling device effect, and entered for taking up in the plastic bottle of this water sample by the effect of described hydroseparator structure.
Described water sampling device comprises Fang Guan mechanism, peristaltic pump, flow sensor and sucking tube, described sucking tube is connected with the water inlet of peristaltic pump, and described sucking tube at the non-shaft during operation of device in described Fang Guan mechanism, described peristaltic pump is connected with the hydroseparator structure of described division box by water pipe, and the pipeline that described peristaltic pump is connected with the hydroseparator structure of division box is provided with flow sensor.
Described Fang Guan mechanism comprises puts pipe steering wheel, aluminum pipe, iron hoop and rope, on the described rotating disk putting pipe steering wheel, cover has iron hoop, described iron hoop is connected with the one end being arranged at the aluminum pipe that this is put below pipe steering wheel by rope, the other end of described aluminum pipe and a short steeve be fixedly arranged on main body rack hinged, described sucking tube is wrapped on described aluminum pipe when device does not work, be provided with a weight at sucking tube away from one end of described peristaltic pump.
The hydroseparator structure of described division box comprises inner ring, outer shroud and point water rudder machine, and its outer-loop is arranged on main body rack, and inner ring is arranged in described outer shroud rotationally, and described inner ring is connected with point water rudder machine be arranged at below outer shroud; Described inner ring is provided with the inlet opening and apopore that interconnect, the sidewall of described outer shroud is evenly equipped with multiple tapping hole, drain hose for draining is connected with one of them tapping hole by adaptor union, the water pipe extend in each plastic bottle is connected with other tapping holes successively one by one respectively by adaptor union, and the apopore in described inner ring is docked with arbitrary tapping hole that outer shroud communicates with plastic bottle by the effect of described point of water rudder machine when gathering water sample.
Described main body rack bottom is provided with the chassis of placing plastic bottle, long hanger erection is passed through on main body rack in described chassis, be provided with above chassis and the upper fagging of position-limiting action and lower fagging are risen to plastic bottle, long suspension rod is provided with the slip aluminium ring that can slide up and down along described long suspension rod, the middle part of described long suspension rod is provided with knock hole, and described slip aluminium ring does not enter in the knock hole in the middle part of described long suspension rod to limit position by safety pin.
Described water body acquisition controller is connected with described flight control unit, and described water body acquisition controller is provided with the Temperature Humidity Sensor for gathering sampling point environmental information.
Central control management unit is provided with in described circuit board mounting box, wireless communication unit, remote signal receiver, navigation data processing unit and barometric altimeter, inertial navigation sensors is provided with on the upside of described circuit board mounting box, the tail be connected with frame is provided with gps satellite alignment sensor, described central control management unit, wireless communication unit and remote signal receiver constitute described flight control unit, described navigation data processing unit, gps satellite alignment sensor, inertial navigation sensors and barometric altimeter constitute described homing advice, and the navigation data processing unit in described homing advice is connected with the central control management unit in described flight control unit, actuating device and water sample acquisition device are all by the start and stop of described central control management unit controls.
Be provided with a strutbeam on front side of described frame, this strutbeam is provided with a fixed high sensor, described fixed high sensor is connected with described central control management unit.
Described actuating device comprises driving engine, transmission device, main screw and tail screw propeller, described transmission device comprises the first synchronous belt drive mechanism, gear case and the second synchronous belt drive mechanism, wherein gear case comprises input gear axle, transmission gear, output shaft and output gear shaft, described input gear axle, transmission gear and output gear shaft engage successively, and the output shaft be connected with main screw and described transmission gear are connected; Driving engine is connected with the input gear axle of gear case by the first synchronous belt drive mechanism, the output gear shaft of gear case is connected with tail screw propeller by the second synchronous belt drive mechanism, described driving engine is connected with described flight control unit, main screw steering wheel for controlling main screw being installed in the upside of frame, at the end of the tail be connected with frame, the tail screw propeller steering wheel for controlling tail screw propeller being installed.
Advantage of the present invention and good effect are:
1, in sampling process, comparatively orthodox method operation coverage is wider, manoevreability is stronger in the present invention, and possess the feature of Unmanned operation, the deep enough hazardous location of energy replaces the operation of people simultaneously.
2, the present invention enters operating area owing to adopting flying method, affects very little, be applicable to entering the region job that ship is difficult to arrive by aquatic environment.
3, the water quality harvester degree of automation in the present invention is high, comprises multiple water sample holding bottle, and easily extensible, therefore unmanned plane flight can complete multipoint acquisition.The method is more scientific and reasonable, saves human and material resources, can increase work efficiency to a great extent.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention,
Fig. 2 is left view of the present invention in Fig. 1,
Fig. 3 is the structural representation of transmission device in Fig. 1,
Fig. 4 is the structural representation of water quality sampling device in Fig. 1,
Fig. 5 is the structural representation of main body rack in Fig. 4,
Fig. 6 is the structural representation of water sampling device in Fig. 4,
Fig. 7 is the structural representation of division box in Fig. 4,
Fig. 8 is the structural representation of inner ring and outer shroud in Fig. 7.
Wherein, 1 is driving engine, 2 is transmission device, 3 is fixed high sensor, 4 is frame, 5 is gps satellite alignment sensor, 6 is tail screw propeller, 7 is tail screw propeller steering wheel, 8 is water sample acquisition device, 9 is alighting gear, 10 is main screw, 11 is main screw steering wheel, 12 is inertial navigation sensors, 13 is circuit board mounting box, 14 is the first synchronous belt drive mechanism, 15 is input gear axle, 16 is gear case, 17 is output shaft, 18 is output gear shaft, 19 is the second synchronous belt drive mechanism, 20 is water sampling device, 21 is main body rack, 22 is division box, 23 is mounting blocks, 24 is water body acquisition controller, 25 is Temperature Humidity Sensor, 26 is plastic bottle, 27 is rear aluminium sheet, 28 is camber member, 29 is auxiliary girder, 30 is front aluminium sheet, 31 is long suspension rod, 32 is slip aluminium ring, 33 is safety pin, 34 is upper fagging, 35 is chassis, 36 is lower fagging, 37 is long fagging pole, 38 is short fagging pole, 39 is flow sensor, 40 is peristaltic pump, 41 for putting pipe steering wheel, 42 is iron hoop, 43 is rope, 44 is aluminum pipe, 45 is sucking tube, 46 is short steeve, 47 is inner ring, 48 is outer shroud, 49 is a point water rudder machine, 50 is inlet opening, 51 is apopore, 52 is tapping hole, 53 is transmission gear, 54 is tail, 55 is strutbeam.
Detailed description of the invention
Below in conjunction with accompanying drawing, the invention will be further described.
As shown in Fig. 1 ~ 2, the present invention includes fuselage, actuating device, water sample acquisition device 8 and circuit board mounting box 13, wherein fuselage comprises frame 4, alighting gear 9 and tail 54, actuating device and circuit board mounting box 13 are arranged in frame 4, alighting gear 9 is arranged on the downside of described frame 4, water sample acquisition device 8 is arranged on described alighting gear 9, tail 54 is arranged on the rear side of frame 4, multiple control unit is provided with in circuit board mounting box 13, fuselage is provided with multiple sensor, described multiple control unit and multiple sensor constitute flight control unit respectively, homing advice and the fixed high device of the water surface.
Described actuating device comprises driving engine 1, transmission device 2, main screw 10 and tail screw propeller 6, as shown in Figure 3, described transmission device 2 comprises the first synchronous belt drive mechanism 14, gear case 16 and the second synchronous belt drive mechanism 19, wherein gear case 16 comprises input gear axle 15, transmission gear 53, output shaft 17 and output gear shaft 18, described input gear axle 15, transmission gear 53 and output gear shaft 18 engage successively, and the output shaft 17 connecting main screw 10 is connected with described transmission gear 53.Driving engine 1 is connected with the input gear axle 15 of gear case 16 by the first synchronous belt drive mechanism 14, power is passed to transmission gear 53 and output gear shaft 18 by described input gear axle 15 successively, namely wherein said transmission gear 53 drives the output shaft 17 be connected with main screw 10 to rotate, described output gear shaft 18 is connected with tail screw propeller 6 by the second synchronous belt drive mechanism 19, thus by transmission of power to tail screw propeller 6.As shown in Figure 2, three are provided with for controlling the main screw steering wheel 11 of main screw 10 in the upside of frame 4, as shown in Figure 1, at the end of tail 54, the tail screw propeller steering wheel 7 for controlling tail screw propeller 6 is installed, in the present embodiment, described main screw steering wheel 11 model is BLS351, and manufacturer is FUTBA, described tail screw propeller steering wheel 7 model is BLS351, and manufacturer is FUTBA.
As shown in Figure 4, water sample acquisition device 8 comprises water sampling device 20, main body rack 21, division box 22 and water body acquisition controller 24, and wherein division box 22 comprises hydroseparator structure and the plastic bottle 26 for taking up water sample.As shown in Figure 5, two camber members 28 are provided with in the middle part of described main body rack 21, described camber member 28 is arranged on the auxiliary girder 29 of main body rack 21, namely division box 22 is arranged on described camber member 28, the both sides, front and back of described main body rack 21 are respectively equipped with front aluminium sheet 30 and rear aluminium sheet 27, namely water body acquisition controller 24 is arranged on described front aluminium sheet 30, namely water sampling device 20 is installed in the rear on aluminium sheet 27, chassis 35 is provided with in the bottom of main body rack 21, described chassis 35 is namely for placing the plastic bottle 26 taking up different water sample, described chassis 35 is connected on main body rack 21 by four long suspension rods 31, above chassis 35, lower fagging 36 and upper fagging 34 is provided with successively along direction from top to bottom, position-limiting action is played inside described lower fagging 36 and upper fagging 34 pairs of plastic bottles 26, prevent its deflection of jolting, fagging 36 is wherein played to be fixed on chassis 35 by three short fagging poles 38, upper fagging 34 is fixed on chassis 35 by the long fagging pole 37 that is passed described lower fagging 36.Described long suspension rod 31 is provided with a slip aluminium ring 32, four mounting holes are evenly equipped with inside described slip aluminium ring 32, namely described slip aluminium ring 32 is arranged on four long suspension rods 31 by these four mounting holes, and described slip aluminium ring 32 can slide up and down along long suspension rod 31, a knock hole is equipped with at the middle part of the long suspension rod 31 of every root, when slip aluminium ring 32 slides into the lowermost end of main body rack 21, operating personnel just can take out and put into plastic bottle 26 easily, be put into after on chassis 35 until plastic bottle 26, operating personnel makes slip aluminium ring 32 slide in the middle part of long suspension rod 31, then safety pin 33 is not entered respectively in the knock hole in the middle part of long suspension rod 31, just position-limiting action is played to slip aluminium ring 32, slip aluminium ring 32 is for playing fixation to plastic bottle 26, prevent from it from toppling over to drop.Two girder two ends of main body rack 21 are respectively equipped with mounting blocks 23, and namely main body rack 21 is installed on alighting gear 9 by described mounting blocks 23.
As shown in Figure 6, water sampling device 20 comprises Fang Guan mechanism, peristaltic pump 40, flow sensor 39 and sucking tube 45, described sucking tube 45 is connected with the water inlet of peristaltic pump 40, and described sucking tube 45 at the non-shaft during operation of device in described Fang Guan mechanism, described peristaltic pump 40 is connected by the hydroseparator structure of water pipe with described division box 22, and the pipeline that described peristaltic pump 40 is connected with the hydroseparator structure of division box 22 is provided with flow sensor 39.In the present embodiment, described peristaltic pump 40 model is 304K/BT, and manufacturer is Chongqing Jie Heng peristaltic pump Co., Ltd, and the model of described flow sensor 39 is MG-HZ41C, and manufacturer is Shenzhen Mo Qiao International Trading Company Ltd.
Described Fang Guan mechanism comprises puts pipe steering wheel 41, iron hoop 42, rope 43 and aluminum pipe 44, describedly put rear aluminium sheet 27 downside that pipe steering wheel 41 is arranged on main body rack 21, in the present embodiment, described pipe steering wheel 41 model of putting is HS-5646WP, manufacturer is Hitec, on the rotating disk putting pipe steering wheel 41, cover has an iron hoop 42, described iron hoop 42 by rope 43 be arranged at aluminum pipe 44 one end of putting below pipe steering wheel 41 and be connected, a short steeve 46 is vertically provided with in the downside of rear aluminium sheet 27, the other end of aluminum pipe 44 is namely hinged with the free end of this short steeve 46, peristaltic pump 40 installs the upper side of aluminium sheet 27 in the rear, the sucking tube 45 be connected with described peristaltic pump 40 water inlet is provided with a weight in the one end away from described peristaltic pump 40, during equipment work, sucking tube 45 is first wrapped on aluminum pipe 44, when putting pipe steering wheel 41 dial rotation, iron hoop 42 departs from, aluminum pipe 44 with around sucking tube 45 thereon under gravity simultaneously to lower swing, weight on sucking tube 45 then makes sucking tube 45 depart from aluminum pipe 44 automatically to stretch, pipe operation is put in realization.
As shown in Figure 7, division box 22 comprises hydroseparator structure and plastic bottle 26, wherein hydroseparator structure comprises inner ring 47, outer shroud 48 and point water rudder machine 49, described outer shroud 48 is bolted on two camber members 8 of main body rack 21, inner ring 47 setting-in enters in described outer shroud 48, and inner ring 47 freely can be rotated in this outer shroud 48, as shown in Figure 8, described inner ring 47 is provided with an inlet opening 50 and an apopore 51, described inlet opening 50 and apopore 51 communicate, namely the water pipe of being drawn by the flow sensor 39 in water sampling device 20 is arranged on described inlet opening 50 by adaptor union, the sidewall of described outer shroud 48 is evenly equipped with multiple tapping hole 52, a drain hose is connected with one of them tapping hole 52 by adaptor union, the water pipe extend in each plastic bottle 26 is connected with other tapping holes 52 successively one by one respectively by adaptor union, water rudder machine 49 is divided to be arranged on the downside of outer shroud 48, the rotating disk of water rudder machine 49 is divided to be connected with described inner ring 47 and to drive this inner ring 47 to rotate, in the present embodiment, the model of described point of water rudder machine is HS-5646WP, manufacturer is Hitec.During device work, water enters inner ring 47 by inlet opening 50, and flow out through apopore 51, water rudder machine 49 is divided to drive inner ring 47 to rotate relative to outer shroud 48, thus the apopore 51 that can control in inner ring 47 docks with certain tapping hole 52 on outer shroud 48, current are flowed in corresponding plastic bottle 26 by this tapping hole 52, or is flowed out by drain hose, thus realize a point water operation.
Be arranged on water body acquisition controller 24 on front aluminium sheet 30 for controlling peristaltic pump 40, putting the start and stop of pipe steering wheel 41 and point water rudder machine 49, this is techniques well known, water body acquisition controller 24 is provided with Temperature Humidity Sensor 25, the model of this Temperature Humidity Sensor 25 is AM2321B, manufacturer is pine difficult to understand, water body acquisition controller 24 gathers the environmental information of sampling point by described Temperature Humidity Sensor 25, is arranged at flow sensor 39 on pipeline that peristaltic pump 40 is connected with division box 22 for gathering absorption speed.
Circuit board mounting box 13 is installed in frame 4, central control management unit is provided with in described circuit board mounting box 13, wireless communication unit, remote signal receiver, navigation data processing unit and barometric altimeter, in the present embodiment, described wireless communication unit is 900MHz frequency hopping wireless communication unit, described barometric altimeter model is MPXA6115AC6U, manufacturer is FREESCALE-SEMICONDUCTOR, as shown in Figure 2, an inertial navigation sensors 12 is provided with on the upside of described circuit board mounting box 13, this inertial navigation sensors 12 model is ADIS16365, manufacturer is ADI, as shown in Figure 1, tail 54 is provided with a gps satellite alignment sensor 5, the model of this gps satellite alignment sensor 5 is LEA-6S-001, manufacturer is UBLOX.
Described central control management unit, wireless communication unit and remote signal receiver constitute flight control unit of the present invention, wherein central control management unit is connected by RS232 serial port power with wireless communication unit, and then the wireless two-way communication of realization and control base station, ground; Central control management unit is connected by parallel-port electrical with remote signal receiver, thus by hand-held remote controller Signal transmissions to central control management unit, realize remote manual to control, the start and stop of driving engine 1 in all right accessory drive of described central control management unit, and send instruction to the water sampling controller 24 in water sample acquisition device 8, and the signal feedback of other unit can be received and send instruction according to signal feedback, described central control management unit is this area common technology.
The described navigation data processing unit be installed in circuit board mounting box 13, the gps satellite alignment sensor 5 be arranged on tail 54, be arranged at inertial navigation sensors 12 on the upside of circuit board mounting box 13 and the barometric altimeter be arranged in circuit board mounting box 13 constitutes homing advice of the present invention, wherein gps satellite alignment sensor 5, inertial navigation sensors 12 and described navigation data processing unit are connected by RS232 serial port power and realize communicating, and barometric altimeter is electrically connected with described navigation data processing unit by A/D translation interface and realizes communicating.Gps satellite alignment sensor 5, inertial navigation sensors 12 and barometric altimeter periodically send the information such as position, attitude, height to described navigation data processing unit, these information are carried out fusion calculation by navigation data processing unit, navigation data processing unit and central control management unit are connected by RS232 serial port power and realize communicating, and information fusion calculation result is sent to central control management unit, this is this area common technology.
As shown in Figure 1, a strutbeam 55 is provided with on front side of frame 4, this strutbeam 55 is provided with a fixed high sensor 3, described fixed high sensor 3 is the fixed high device of the water surface of the present invention, described fixed high sensor 3 is the fixed high radar sensor of the water surface, its model is MB7060, manufacturer is MaxBotix, described fixed high sensor 3 and described central control management unit are connected by RS232 serial port power and realize two way communication, the elevation information of the unmanned plane distance water surface is sent to described central control management unit, then realizes the fixed high Hovering control of the water surface by calculating.
Principle of work of the present invention is:
Water quality sampling can be divided into manually and automatic two kinds of modes, and manual mode is controlled to take off the sampling point arriving and specify by hand-held remote controller by the manipulation personnel that fly, and controls aircraft and hover over sampling point overhead with certain altitude scope, manipulation control base station, human users ground, sent " putting pipe instruction " to the central control management unit of unmanned plane by wireless communication unit, this instruction is sent to water body acquisition controller 24 by central control management unit, namely water body acquisition controller 24 controls to put pipe steering wheel 41 and rotates and put down by sucking tube 45 after receiving this instruction, then control base station, human users ground is manipulated, " water body collection starts " instruction is sent to the central control management unit of unmanned plane by wireless communication unit, central control management unit is transmitted to water body acquisition controller 24 after receiving this instruction, after water body acquisition controller 24 receives this instruction, control peristaltic pump 40 to rotate, water pipe is washed away from the water suction of appointment sampling point, and the drain hose of the water being used for washing away from division box 22 is discharged, this process lasts 20 seconds, then peristaltic pump 40 is stopped to absorb water, after scour process terminates, point water rudder machine 49 that water body acquisition controller 24 controls division box 22 drives inner ring 47 to rotate, and makes the apopore 51 in inner ring 47 aim at corresponding tapping hole 52 on outer shroud 48, then water body acquisition controller 24 controls peristaltic pump 40 and restarts, and starts water suction, the speed drawing water is detected by flow sensor 39, is undertaken calculating the water yield, to judge whether to draw institute's water requirement by water body acquisition controller 24, after absorption, water body acquisition controller 24 stops peristaltic pump 40 to rotate, a point water rudder machine 49 for division box 22 drives inner ring 47 to rotate, the apopore 51 of inner ring 47 is docked with the tapping hole 52 that outer shroud 48 is connected with drain hose, now reverse starting peristaltic pump 40, make it reverse, discharge water residual in water pipe, this process lasts 10 seconds, stop peristaltic pump 40, water body acquisition controller 24 sends " gathering complete ", and message controls base station to ground, unmanned plane during flying is operated to next sampling point or make a return voyage after flight manipulation personnel learn collection.
It is few that automatic sampling process compares manual intervention needed for manual sampling process, before unmanned plane takes off, the central control management unit that the geographic position (can simultaneously arrange multiple sampling point) of required sampling point is sent to by control base station, ground by manipulation personnel, these points under central control management unit record, can automatically fly to the first sampling point after unmanned plane takes off, when after this point of arrival, described unmanned plane is parked in sample point by fixed high sensor 3 automatic suspension of finding range, central control management unit sends " putting pipe instruction " and is put down by sucking tube 45, then central control management unit sends " water body collection starts " instruction to water body acquisition controller 24, start water body collection.Water body gatherer process is identical with manual mode.When water body gathers complete, instruction that water body acquisition controller 24 sends " gathering complete " is to the central control management unit of unmanned plane, central control management unit controls unmanned plane flies next sampling point automatically afterwards, repeated acquisition process, when all sampling points gather complete, unmanned plane makes a return voyage automatically.
Claims (10)
1. a water quality sampling unmanned plane, it is characterized in that: comprise fuselage, actuating device, water sample acquisition device (8) and circuit board mounting box (13), wherein actuating device and circuit board mounting box (13) are arranged in the frame (4) of fuselage, and water sample acquisition device (8) is arranged on the alighting gear (9) of fuselage; Multiple control unit is provided with in circuit board mounting box (13), fuselage is provided with multiple sensor, described multiple control unit and multiple sensor constitute flight control unit and homing advice respectively, and described actuating device and water sample acquisition device (8) namely control start and stop by described flight control unit.
2. water quality sampling unmanned plane according to claim 1, it is characterized in that: described water sample acquisition device (8) comprises water sampling device (20), main body rack (21), division box (22) and water body acquisition controller (24), water sampling device (20), division box (22) and water body acquisition controller (24) are installed on described main body rack (21), wherein division box (22) is provided with hydroseparator structure and takes up the plastic bottle (26) of water sample, water sampling device (20) is connected with the hydroseparator structure on described division box (22) by water pipe, described water sampling device (20) and hydroseparator structure control start and stop by described water body acquisition controller (24), the water sample gathered enters into described hydroseparator structure by water sampling device (20) effect, and entered in the plastic bottle (26) for taking up this water sample by the effect of described hydroseparator structure.
3. water quality sampling unmanned plane according to claim 2, it is characterized in that: described water sampling device (20) comprises Fang Guan mechanism, peristaltic pump (40), flow sensor (39) and sucking tube (45), described sucking tube (45) is connected with the water inlet of peristaltic pump (40), and described sucking tube (45) at the non-shaft during operation of device in described Fang Guan mechanism, described peristaltic pump (40) is connected by the hydroseparator structure of water pipe with described division box (22), and the pipeline that described peristaltic pump (40) is connected with the hydroseparator structure of division box (22) is provided with flow sensor (39).
4. water quality sampling unmanned plane according to claim 3, it is characterized in that: described Fang Guan mechanism comprises puts pipe steering wheel (41), aluminum pipe (44), iron hoop (42) and rope (43), on the described rotating disk putting pipe steering wheel (41), cover has iron hoop (42), described iron hoop (42) is connected with the one end being arranged at the aluminum pipe (44) that this is put below pipe steering wheel (41) by rope (43), the other end of described aluminum pipe (44) and a short steeve (46) be fixedly arranged on main body rack (21) hinged, described sucking tube (45) is wrapped on described aluminum pipe (44) when device does not work, a weight is provided with away from one end of described peristaltic pump (40) at sucking tube (45).
5. water quality sampling unmanned plane according to claim 2, it is characterized in that: the hydroseparator structure of described division box (22) comprises inner ring (47), outer shroud (48) and point water rudder machine (49), its outer-loop (48) is arranged on main body rack (21), inner ring (47) is arranged in described outer shroud (48) rotationally, and described inner ring (47) is connected with point water rudder machine (49) being arranged at outer shroud (48) below, described inner ring (47) is provided with the inlet opening (50) and apopore (51) that interconnect, the sidewall of described outer shroud (48) is evenly equipped with multiple tapping hole (52), drain hose for draining is connected with one of them tapping hole (52) by adaptor union, the water pipe extend in each plastic bottle (26) is connected with other tapping holes (52) successively one by one respectively by adaptor union, apopore (51) in described inner ring (47) is docked with the upper arbitrary tapping hole (52) communicated with plastic bottle (26) of outer shroud (48) by described point of water rudder machine (36) effect when gathering water sample.
6. water quality sampling unmanned plane according to claim 2, it is characterized in that: described main body rack (21) bottom is provided with the chassis (35) of placing plastic bottle (26), described chassis (35) is arranged on main body rack (21) by long suspension rod (31), the upper fagging (34) and the lower fagging (36) that plastic bottle (26) are played to position-limiting action is provided with in the top of chassis (35), long suspension rod (31) is provided with the slip aluminium ring (32) that can slide up and down along described long suspension rod (31), the middle part of described long suspension rod (31) is provided with knock hole, described slip aluminium ring (32) does not enter in the knock hole at described long suspension rod (31) middle part to limit position by safety pin (33).
7. water quality sampling unmanned plane according to claim 2, it is characterized in that: described water body acquisition controller (24) is connected with described flight control unit, and described water body acquisition controller (24) is provided with the Temperature Humidity Sensor (25) for gathering sampling point environmental information.
8. water quality sampling unmanned plane according to claim 1, it is characterized in that: described circuit board mounting box is provided with central control management unit in (13), wireless communication unit, remote signal receiver, navigation data processing unit and barometric altimeter, inertial navigation sensors (12) is provided with in described circuit board mounting box (13) upside, the tail (54) be connected with frame (4) is provided with gps satellite alignment sensor (5), described central control management unit, wireless communication unit and remote signal receiver constitute described flight control unit, described navigation data processing unit, gps satellite alignment sensor (5), inertial navigation sensors (12) and barometric altimeter constitute described homing advice, and the navigation data processing unit in described homing advice is connected with the central control management unit in described flight control unit, actuating device and water sample acquisition device (8) are all by the start and stop of described central control management unit controls.
9. water quality sampling unmanned plane according to claim 8, it is characterized in that: described frame (4) front side is provided with a strutbeam (55), this strutbeam (55) is provided with a fixed high sensor (3), and described fixed high sensor (3) is connected with described central control management unit.
10. water quality sampling unmanned plane according to claim 1, it is characterized in that: described actuating device comprises driving engine (1), transmission device (2), main screw (10) and tail screw propeller (6), described transmission device (2) comprises the first synchronous belt drive mechanism (14), gear case (16) and the second synchronous belt drive mechanism (19), wherein gear case (16) comprises input gear axle (15), transmission gear (53), output shaft (17) and output gear shaft (18), described input gear axle (15), transmission gear (53) and output gear shaft (18) engage successively, the output shaft (17) be connected with main screw (10) and described transmission gear (53) are connected, driving engine (1) is connected with the input gear axle (15) of gear case (16) by the first synchronous belt drive mechanism (14), the output gear shaft (18) of gear case (16) is connected with tail screw propeller (6) by the second synchronous belt drive mechanism (19), described driving engine (1) is connected with described flight control unit, main screw steering wheel (11) for controlling main screw (10) is installed in the upside of frame (4), at the end of the tail (54) be connected with frame (4), the tail screw propeller steering wheel (7) for controlling tail screw propeller (6) is installed.
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| CN201410374931.8A CN105292449B (en) | 2014-08-01 | 2014-08-01 | Water quality sampling unmanned aerial vehicle |
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| CN201410374931.8A CN105292449B (en) | 2014-08-01 | 2014-08-01 | Water quality sampling unmanned aerial vehicle |
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