CN105571904A - Automatic sampler of water quality sampling UAV (Unmanned Aerial Vehicle) - Google Patents
Automatic sampler of water quality sampling UAV (Unmanned Aerial Vehicle) Download PDFInfo
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- CN105571904A CN105571904A CN201610127943.XA CN201610127943A CN105571904A CN 105571904 A CN105571904 A CN 105571904A CN 201610127943 A CN201610127943 A CN 201610127943A CN 105571904 A CN105571904 A CN 105571904A
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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
- G01N1/14—Suction devices, e.g. pumps; Ejector devices
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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
- G01N1/14—Suction devices, e.g. pumps; Ejector devices
- G01N2001/1445—Overpressure, pressurisation at sampling point
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Abstract
The invention discloses an automatic sampler of a water quality sampling UAV (Unmanned Aerial Vehicle). The automatic sampler comprises a main body support, a fixed height sensor, a water sample collecting device, a lifting device, a sample dividing device, a sample storage device and a control circuit board, wherein the water sample collecting device comprises a submersible pump, a pressure and liquid level sensor, a flexible water pipe and a flow sensor and is capable of completing fixed-depth sampling; the lifting device comprises a servo motor, a magnetic encoder, a reduction gear, a slip ring, a bearing, a proximity switch, a telescopic rod and a ceramic eye component and is capable of realizing retracing and releasing functions of the water sample collecting device; the sample storage device is formed by three layers of detachable plastic bottles. According to the automatic sampler disclosed by the invention, the weight of the automatic sampler can be effectively reduced, and the performance of the whole water quality sampling UAV is increased; meanwhile, the fixed-depth sampling is realized through the lifting device and the pressure and liquid level sensor which is additionally arranged in a sampling opening, the water quality collecting device can be retracted during a flying process of the water quality sampling UAV, and the safety during the flying process of the water quality sampling UAV is increased.
Description
Technical field
The present invention relates to the technical field of water quality sampling equipment, be related specifically to a kind of automatic sampler of water quality sampling unmanned plane.
Background technology
Along with China's expanding economy, water resource pollution situation is more and more serious, and control and the protection of water resource also more and more come into one's own, and how efficiently obtaining the prerequisite that water quality information is water prevention and cure of pollution, water quality sampling is then the key link obtaining water quality information.Utilize unmanned plane to carry out water quality sampling, relative to the mode of traditional artificial sample and automatically sampling, not only have that efficiency is high, personnel safety's advantages of higher, and can be difficult at complex environment or people's ship the place sampling that arrives.Because many rotor wing unmanned aerial vehicles technology is mature on the whole, the key realizing water quality sampling unmanned plane is the Water quality automatic sampling device of carry on unmanned plane, alleviates the weight of itself while practical function as far as possible, the working time of sampling unmanned plane of increasing water quality; In order to ensure the safety of sampling unmanned plane, the water intaking parts of automatic sampling apparatus should possess elevating function.
Be in the Chinese utility model/application for a patent for invention of 201420430386.5 at application number, need to increase extra weight at the end of water intaking parts suction hose and ensure that suction hose can sink to below the water surface, add the weight of whole sampling apparatus; Although whole sampling unmanned plane is equipped with surely high sensor, can measure the height of the unmanned plane distance water surface, that does not measure suction hose transfers length, cannot know the degree of depth of sampling water quality and determine the function of depth-sampling; In addition, because it does not design the closed tube device of suction hose, after sampling completes, suction hose can not be packed up, and can bring larger potential safety hazard to unmanned plane during flying, thus can not carry out over the horizon sampling.
Therefore, the present invention is directed to the weight of the automatic sampler of water quality sampling unmanned plane, cannot the problem such as sampling at set depth and the accurate folding and unfolding of suction hose, submersible pump and self-adaptation negative feedback control is adopted to be applied to the automatic sampler of sampling unmanned plane first, make it have the accurate folding and unfolding of lighter weight, sampling at set depth and suction hose, increase water quality sampling unmanned plane overall performance, apply more extensive.
Summary of the invention
In order to overcome above-mentioned the deficiencies in the prior art, the invention provides a kind of automatic sampler of answering water quality sampling unmanned plane, the weight of airborne water-quality sampler can be alleviated, carry out sampling at set depth and improve the security of unmanned plane carrier aircraft.Water quality sampling unmanned plane performance can be made more excellent, and accommodation is wider, and security is higher, can realize over the horizon sampling.
For achieving the above object, the present invention is by the following technical solutions:
An automatic sampler for water quality sampling unmanned plane,
Comprise main body rack, control circuit board, water sample acquisition device, jacking gear and sample storage device;
Reduction gearing secondary part in described jacking gear is connected with main body rack by bearing; Reduction gearing secondary part drives sample storage device to rotate;
Described water sample acquisition device comprises submersible pump, pressure liquid level sensor and flexible pipe, and wherein submersible pump and pressure liquid level sensor are installed together, and can know that submersible pump is in the degree of depth of below liquid level, realizes sampling at set depth in real time; Flexible pipe one end for water sample transmission is connected with the water side of submersible pump, and the center section of flexible pipe is wrapped in the outer wall of sample storage device.
Also comprise a point sampling device, the injection port of point sampling device and flexible pipe connect, and point multiple outlet of sampling device is connected with the injection port of each layer of sample storage device respectively, realizes different layers water sample being stored into sample storage device.
Sample storage device comprises Multi-layer detachable and unloads plastic bottle, is connected between every one deck and last layer by screw thread.
When rotary sample stores, under the gravity of submersible pump, submersible pump can decline automatically, and the contraction that simultaneous retractable bar can be synchronous, realizes water sample acquisition device and transfer; When reverse rotation sample storage, flexible pipe can be wound around at the outer wall of sample storage device, and the elongation that simultaneous retractable bar can be synchronous, achieves collecting of water sample acquisition device.
Sampling device is divided to be fixedly connected with reduction gearing secondary part; Sample storage device is fixedly connected with a point sampling device; Servomotor drives reduction gearing driving wheel to rotate, and reduction gearing driving wheel drives reduction gearing secondary part to rotate, and then drives point sampling device and sample storage device to rotate.
Described jacking gear also comprises expansion link, and flexible pipe is by the end circular hole of expansion link telescopic section.
The injection port of sampling device is divided to be connected by flow sensor with flexible pipe one end.
At expansion link circular hole while be provided with proximity switch, when submersible pump is close to proximity switch, its export rz signal to the controller of control circuit board.
Control circuit board controls the fixed high sensor of automatic sampler, water sample acquisition device, jacking gear, point sampling device, sample storage device and samples, and receive the control signal that UAS sends over, complete the control of unmanned plane hover height, submersible pump sampling depth, sampling flow, sample volume and/or storage location.
Use automatic sampler to carry out a method for unmanned plane water sampling, it is characterized in that: comprise the steps:
System self-test, self-inspection collects submersible pump after passing through, and enters clean state, and self-detection result is sent to UAS;
Setting sample point coordinate position, the flight path of water quality sampling unmanned plane, sampling depth and sampling water amount parameters;
Unmanned plane flies according to track the position of sampled point, and is hovered over the place of distance liquid level certain altitude by the elevation information that automatic sampler feeds back;
Automatic sampler transfers submersible pump according to hover height, sampling depth state modulator jacking gear, and detects the degree of depth of submersible pump according to pressure liquid level sensor in real time, after the degree of depth of submersible pump meets sampling request, stops issuing submersible pump;
According to the position of parameter determination sample in sample storage device of the sampling water yield, after completing, start sampling to submersible pump energising;
In sampling process, the flow according to flow sensor feedback carries out sampling flow control, gathers the water yield according to flow rate calculation, after the collection water yield meets the demands, stops sampling, collects submersible pump, enter clean state;
Now carry out next sampled point sampling according to steering order or make a return voyage.
An automatic sampling apparatus for water quality sampling unmanned plane, comprises main body rack, fixed high sensor, pressure liquid level sensor, water sample acquisition device, jacking gear, point sampling device, sample storage device and control circuit board; Wherein fixed high sensor, sampling camera, water sample acquisition device, jacking gear, point sampling device, sample storage device and a circuit board are installed on main body rack, main body rack is installed on unmanned aerial vehicle body by interface, in order to ensure the efficient of unmanned plane of sampling, whole system needs rationally to place, and ensures that the center of gravity of sampling system is in unmanned plane allowed band; Control circuit board is responsible for the real-time control of water sampling, jacking gear, division box, and is responsible for fixed high sensor, the data acquisition of pressure liquid level sensor and the communication with unmanned aerial vehicle control system.
Described water sample acquisition device comprises submersible pump, pressure liquid level sensor, flexible water conduit, flow sensor, wherein submersible pump and pressure liquid level sensor are installed together, can know that submersible pump is in the degree of depth of below liquid level in real time, and then can sampling at set depth be completed; Submersible pump is the power part of water quality sampling, can eliminate current buoyancy to the impact caused of sampling by the weight of self.Submersible pump is connected with flexible water conduit one end, and middle water pipe carries out folding and unfolding by jacking gear, and one end is connected with flow sensor in addition, and flow sensor is connected with division box again, and water sample is assigned to the different vessels of sample storage device by division box.
Described jacking gear has supporting structure, servomotor, magnetic coder, reduction gearing, slip ring, bearing, proximity switch, expansion link, ceramic eye part.Servomotor end is equipped with magnetic coder, it drives a point sampling device, sample storage device to rotate by reduction gearing, with the matrix that the outer wall of sample storage device is wound around for flexible water conduit, by clockwise (seeing from the top down) rotary sample storage device, flexible water conduit is progressively wound around at the outer wall of sample storage device, realizes collecting of water sample acquisition device.Flexible water conduit is by the end round mouth of expansion link, and the ceramic eye of round mouth inner wall sleeve, reduces the friction and wear to flexible pipe; On the right side of round mouth, proximity switch is housed, collects as water sample acquisition device the feedback that puts in place; Jacking gear is connected with sampling apparatus with slip ring by bearing.
Described point of sampling device comprises injection port, T-valve, a four-way valve and five pinch valves, there are three outlets, by water pipe, water sample is assigned to the different holding bottles of sample storage device, point sampling device top is connected with jacking gear, and bottom is connected with sample storage device.Divide sampling device to realize water sample by the different on off states of pinch valve to distribute.
Described sample storage device is made up of three layers of detachable plastic bottle, every layer of plastic bottle all has injection port and outlet, outlet routine sampling plug, be connected by screw thread between every one deck and last layer, the number of plies of sample storage device can be selected according to the flexible in size of the number of sampled point and sampling quantity.After collection completes, sample storage device can be pulled down direct preservation, and change other sample storage device.Sample storage device is connected with a point sampling device by screw thread.
Control circuit board comprises 32-bit microprocessor, driven by servomotor module, encoder interfaces, expansion link driver module, liquid flowmeter interface, pressure liquid level sensor interface, ultrasound wave fixed high sensor interface, submersible pump control interface, pinch valve control interface and camera Energy control interface; Be power interface and communication interface between control circuit board and unmanned plane, power interface is the power supply input of whole automatic sampler, communication interface is responsible for the sampling instruction that satellite receiver sends, and the data such as height, the sampling thief depth of water of the state of Real-time Feedback automatic sampler, fixed high sensor.
Beneficial effect of the present invention is: not by means of only the propulsion system of submersible pump as sampling, effectively alleviate the weight of whole automatic sampling apparatus, improve the performance of whole water quality sampling unmanned plane; Increase pressure liquid level sensor by jacking gear with at sample tap simultaneously, the degree of depth of thief hatch can be known in real time, and regulate the degree of depth of thief hatch by jacking gear real-time negative feedback, and then realize sampling at set depth; And by jacking gear, the lifting of water sample acquisition device can be realized flexibly, in unmanned plane during flying process, water sample acquisition device is packed up, improve the security of unmanned plane during flying process.In addition, adopt the sample storage device of flexible layering, the number of plies of sample storage can be selected according to sample requirement flexibly, improve the performance of whole sampling apparatus.Through the realization of above-mentioned functions, water quality sampling unmanned plane possesses to be applied widely, can realize over the horizon and automatically sample.
Inventive point of the present invention is also: adopt submersible pump to go deep in water as most terminal, because submersible pump lift is larger, not high to the hover height limitation of the water surface of unmanned plane; And submersible pump own wt can be used as the weight that sampling head sinks in water, do not need additionally to increase quality assurance sampling head, thus reduce the weight of whole unmanned plane sampled load; Meanwhile, compared with general tubulose or box-packed sampling apparatus, submersible pump pumping hole easily increases filtration unit.
Inventive point of the present invention is also: submersible pump and pressure transducer with the use of, can know the degree of depth of the water sample of collection in real time, depth information is parameter important in water sample; Controlled sampling at set depth can be realized, after sampling head reaches the depth of water of sampling request, starting sampling.
Inventive point of the present invention is also: adopt the mode of soft tube winding, effectively can receive flexible pipe, solves the safety problem of over the horizon unmanned plane during flying, and when solving landing, sampling head lands contaminated problem simultaneously.Coordinate liquid distributing device and device for storing liquid to rotate and realize transferring of flexible pipe, solve the problem that in sampling at set depth, the sampling head degree of depth is stable.And rotate the matrix as soft tube winding using liquid distributing device and device for storing liquid, do not need to increase extra structure as the matrix of soft tube winding, alleviate the weight of load; And the outside dimension of device for storing liquid is proper as being wound around flexible pipe; Because flexible pipe needs to be wound around, device for storing liquid rotates and is connected with other one end, rotates together and makes connected interface relatively simple for structure.And adopt expansion link can solve the problem of flexible pipe uniform winding at liquid storage pipe.
Accompanying drawing explanation
With reference to the accompanying drawings the present invention is described in further detail below.
The automatic sampler of the water quality sampling unmanned plane that Fig. 1 provides for the invention process.
Wherein, 1 is submersible pump, 2 is pressure liquid level sensor, 3 is the scalable part of expansion link, 4 is sampling flexible pipe, 5 is expansion link end circular hole, 6 is proximity switch, 7 is sample storage device third layer, 8 is the outlet of every layer, sample storage device, 9 is the sample storage device second layer, 10 for dividing the flexible pipe between sampling device and sample storage device, 11 is the import of every layer, sample storage device, 12 is a point sampling device, 13 is flow sensor, 14 is reduction gearing engaged wheel, 15 is expansion link fixed part, 16 is slip ring, 17 is magnetic coder, 18 is servomotor, 19 is reduction gearing driving wheel, 20 is the fixed high sensor of ultrasound wave, 21 is control circuit board and main body rack, 22 is many rotor wing unmanned aerial vehicles, 23 is sampling camera.
Embodiment
Below in conjunction with accompanying drawing, the present invention is described in further detail.
As shown in Figure 1, the present invention includes main body rack and control circuit board 21, fixed high sensor 20, pressure liquid level sensor 2, water sample acquisition device, jacking gear, point sampling device 12, sample storage device and sampling camera 23.Wherein, fixed high sensor 20, sampling camera 23 and jacking gear are all according at main body rack, the part rotated in jacking gear divides sampling device 12, reduction gearing secondary part 14, sample storage device to be connected with main body rack with bearing 16 by slip ring, slip ring mainly solves control between control circuit board 21 and jacking gear and communicates, divide sampling device 12 to be fixed by securing member and reduction gearing secondary part 14, sample storage device is fixed by screw thread and point sampling device 12; Servomotor 18 in jacking gear is connected with main body rack by securing member with expansion link 15; Magnetic coder 17 is arranged on the afterbody of servomotor 18, and its shell and servomotor shell are fixed, and rotating hole is connected with the rotating shaft of motor, and servo motor output shaft and reduction gearing driving wheel 19 are fixedly connected; Reduction gearing driving wheel 19 is connected with reduction gearing secondary part 14 by gears, reduction gearing driving wheel 19 is driven to rotate at servomotor, reduction gearing driving wheel 19 drives reduction gearing secondary part 14 to rotate, and then drives point sampling device 12 and sample storage device to rotate.The injection port of sampling device 12 and flow sensor 13 is divided directly to connect, its three outlets are connected with the injection port of three layers of sample storage device respectively by flexible pipe, its inner flow direction by a threeway, a four-way and five pinch valve Quality controls, and then can control sample storage at sample storage device one deck.
Flexible pipe 4 one end of water sample acquisition device is connected with the sample introduction end of flow sensor 13, one end is connected with the water side of submersible pump 1 in addition, center section is wrapped in the outer wall of water sample storage device, and pass through the end circular hole 5 of expansion link telescopic section 3, in the middle of end circular hole 5, ceramic eye is housed, reduces the friction force to flexible pipe and friction.Because water sample sampling device end adopts submersible pump 1, the quality of itself can allow its flexible pipe have necessarily downward pulling force, when update device is rotated counterclockwise (seeing from the top down), under the gravity of submersible pump 1, submersible pump 1 can decline automatically, simultaneous retractable bar can be synchronous contraction, realize sampling apparatus and transfer; When jacking gear turns clockwise (seeing from the top down), water pipe can be wound around at the outer wall of water sample storage device, because the overall length of flexible pipe is certain, what be wound around is more, hose length from expansion link circular hole 5 to submersible pump 1 is shorter, submersible pump 1 moves upward, and the elongation that simultaneous retractable bar can be synchronous, achieves collecting of sampling apparatus; At expansion link circular hole 5 while be provided with proximity switch 6, when submersible pump is close to proximity switch, its export rz signal to the controller of control circuit board, this state is the clean state of sampling apparatus.Automatic sampling apparatus enters clean state after powering automatically, after each water sampling completes, also enter clean state.
At the end of submersible pump 1, pressure liquid level sensor 2 is installed simultaneously, mainly to the control circuit board feedback submersible pump 1 residing degree of depth at present, control circuit board is according to feedback signal dynamic conditioning jacking gear, if submersible pump 1 degree of depth is inadequate, submersible pump transferred by jacking gear; If submersible pump 1 degree of depth has exceeded setting value, jacking gear will collect submersible pump, make submersible pump substantially be in the following constant depth of liquid level, thus realize sampling at set depth.
Sampling device 12 is divided to be made up of an injection port, T-valve, four-way valve, five pinch valves and three outlets, five pinch valves are controlled circuit board 21 and control, by controlling opening and close water sample can being realized to discharge from different outlets of different pinch valve, and then realize different layers water sample being stored into sample storage device.Sample storage device is made up of three layers of detachable plastic bottle, every layer of plastic bottle all has injection port and outlet, outlet routine sampling plug, be connected by screw thread between every one deck and last layer, the number of plies of sample storage device can be selected according to the flexible in size of the number of sampled point and sampling quantity.After collection completes, sample storage device can be pulled down direct preservation, and change other sample storage device.Sample storage device is connected with a point sampling device by screw thread.In sampling process, can determine that water sample is full of one deck and is still full of multilayer according to the size requirement of water quality sampling amount.
Fixed high sensor 20 in control circuit board 21 pairs of native systems, water sample acquisition device, jacking gear, point sampling device 12, sample storage device control and sample, and receive the control signal that UAS sends over, complete the controls such as unmanned plane hover height, submersible pump sampling depth, sampling flow, sample volume, storage location, and by these information Real-time Feedbacks to UAS, UAS is transferred to land station by data radio station, grasps sampling progress in real time for land station staff.Meanwhile, land station staff can by the whole sampling process of sampling camera Real-Time Monitoring.After water sample sampling completes, automatic sampler can collect submersible pump automatically, enters clean state, until arrive next sampled point.
Principle of work of the present invention is:
After automatic sampler powers on, carry out self-inspection to surely high sensor 21, water sample acquisition device, jacking gear, point sampling device etc., submersible pump is collected in self-inspection after passing through, enter clean state, and self-detection result is sent to UAS.After ground staff confirms that unmanned plane state and automatic sampler state are normally, the parameter such as flight path, sampling depth, the sampling water yield of setting sample point coordinate position, water quality sampling unmanned plane.Water quality sampling unmanned plane flies according to track the position of sampled point, and is hovered over the place of distance liquid level certain altitude by the elevation information that automatic sampler feeds back; Send to automatic sampler after unmanned plane position stability and start instruction of sampling, automatic sampler transfers submersible pump 1 according to the state modulator such as hover height, sampling depth jacking gear, and the degree of depth of submersible pump 1 is detected in real time according to pressure liquid level sensor 2, after the degree of depth of submersible pump 1 meets sampling request, stop issuing submersible pump 1; Divide the on off state of the pinch valve in sampling device 12 according to the parameter adjustment of the sampling water yield, determine the number of plies that sample stores in sample storage device, start sampling to after completing submersible pump 1 energising; In sampling process, carry out sampling flow control according to the flow that flow sensor 13 feeds back, ensure that sampling flow is in rational scope, and gather the water yield according to flow rate calculation, after the collection water yield meets the demands, stop sampling, collect submersible pump 1, enter clean state; Now carry out next sampled point sampling according to steering order or make a return voyage.
Claims (10)
1. an automatic sampler for water quality sampling unmanned plane, is characterized in that:
Comprise main body rack, control circuit board, water sample acquisition device, jacking gear and sample storage device;
Reduction gearing secondary part in described jacking gear is connected with main body rack by bearing; Reduction gearing secondary part drives sample storage device to rotate;
Described water sample acquisition device comprises submersible pump, liquid level sensor and flexible pipe, and wherein submersible pump and liquid level sensor are installed together, and can know that submersible pump is in the degree of depth of below liquid level, realizes sampling at set depth in real time; Flexible pipe one end for water sample transmission is connected with the water side of submersible pump, and the center section of flexible pipe is wrapped in the outer wall of sample storage device.
2. an automatic sampler as claimed in claim 1, it is characterized in that: also comprise a point sampling device, the injection port of sampling device and water sample acquisition device is divided to connect, divide the multiple outlet of sampling device to be connected with the injection port of each layer of sample storage device respectively, realize different layers water sample being stored into sample storage device.
3. the automatic sampler as described in claim 1 or 2 any one, is characterized in that: sample storage device comprises Multi-layer detachable and unloads plastic bottle, is connected between every one deck and last layer by screw thread.
4. an automatic sampler as claimed in claim 1, is characterized in that: when rotary sample stores, under the gravity of submersible pump, and submersible pump can decline automatically, and the contraction that simultaneous retractable bar can be synchronous, realizes water sample acquisition device and transfer; When reverse rotation sample storage, flexible pipe can be wound around at the outer wall of sample storage device, and the elongation that simultaneous retractable bar can be synchronous, achieves collecting of water sample acquisition device.
5. an automatic sampler as claimed in claim 2, is characterized in that: a point sampling device is fixedly connected with reduction gearing secondary part; Sample storage device is fixedly connected with a point sampling device; Servomotor drives reduction gearing driving wheel to rotate, and reduction gearing driving wheel drives reduction gearing secondary part to rotate, and then drives point sampling device and sample storage device to rotate.
6. an automatic sampler as claimed in claim 1, is characterized in that: described jacking gear also comprises expansion link, and flexible pipe is by the end circular hole of expansion link telescopic section.
7. an automatic sampler as claimed in claim 1, is characterized in that: the injection port of point sampling device is connected by flow sensor with flexible pipe one end.
8. the automatic sampler as described in claim 1-7 any one, is characterized in that: be provided with proximity switch at expansion link circular hole, and when submersible pump is close to proximity switch, it exports rz signal to the controller of control circuit board.
9. the automatic sampler as described in claim 1-8 any one, it is characterized in that: control circuit board controls the fixed high sensor of automatic sampler, water sample acquisition device, jacking gear, point sampling device, sample storage device and samples, and receive the control signal that UAS sends over, complete the control of unmanned plane hover height, submersible pump sampling depth, sampling flow, sample volume and/or storage location.
10. use the automatic sampler as described in claim 1-9 any one to carry out a method for unmanned plane water sampling, it is characterized in that: comprise the steps:
System self-test, self-inspection collects submersible pump after passing through, and enters clean state, and self-detection result is sent to UAS;
Setting sample point coordinate position, the flight path of water quality sampling unmanned plane, sampling depth and sampling water amount parameters;
Unmanned plane flies according to track the position of sampled point, and is hovered over the place of distance liquid level certain altitude by the elevation information that automatic sampler feeds back;
Automatic sampler transfers submersible pump according to hover height, sampling depth state modulator jacking gear, and detects the degree of depth of submersible pump according to pressure liquid level sensor in real time, after the degree of depth of submersible pump meets sampling request, stops issuing submersible pump;
According to the position of parameter determination sample in sample storage device of the sampling water yield, after completing, start sampling to submersible pump energising;
In sampling process, the flow according to flow sensor feedback carries out sampling flow control, gathers the water yield according to flow rate calculation, after the collection water yield meets the demands, stops sampling, collects submersible pump, enter clean state;
Now carry out next sampled point sampling according to steering order or make a return voyage.
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| CN108036849A (en) * | 2017-12-29 | 2018-05-15 | 中国农业科学院农业信息研究所 | A kind of aquatic products monitoring device and method based on unmanned plane |
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