CN106527486A - Unmanned aerial vehicle for water-land multi-purpose sampling detection - Google Patents
Unmanned aerial vehicle for water-land multi-purpose sampling detection Download PDFInfo
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- CN106527486A CN106527486A CN201611166789.3A CN201611166789A CN106527486A CN 106527486 A CN106527486 A CN 106527486A CN 201611166789 A CN201611166789 A CN 201611166789A CN 106527486 A CN106527486 A CN 106527486A
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- unmanned plane
- detector
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- sensor
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/32—Alighting gear characterised by elements which contact the ground or similar surface
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
Abstract
The invention discloses an unmanned aerial vehicle for water-land multi-purpose sampling detection. The unmanned aerial vehicle is provided with sensors used for measuring indexes such as wind speed, wind direction, temperature, hydrology, pH, dissolved oxygen and ammonia nitrogen, and data is sent to a control terminal after direct online measurement, so as to realize rapid online detection and direct data acquisition. The unmanned aerial vehicle can perform water-land multi-purpose sampling detection in any environment in which the operation is difficult for the sampling personnel, is convenient to use, omits the tedious processes of sampling in the field and taking samples to a laboratory for assay determination of relevant indexes, is high in efficiency and precise in detection results, and has very broad application prospect.
Description
Technical field
The invention belongs to unmanned plane manufacturing technology field, being specifically related to a kind of for sample detecting of dwelling land and water more
Unmanned plane.
Background technology
UAV referred to as " unmanned plane ", english abbreviation are " UAV ", using radio robot and are provided for oneself
The not manned aircraft that presetting apparatus is manipulated.Can be divided into from technical standpoint definition：Unmanned fixed-wing aircraft, unmanned VTOL
Machine, unmanned airship, depopulated helicopter, unmanned multi-rotor aerocraft, unmanned parasol etc..
Unmanned plane press application, can be divided into it is military with it is civilian.Military aspect, unmanned plane are divided into reconnaissance plane and target drone.The people
With aspect, unmanned plane+sector application, it is the real firm need of unmanned plane；At present taking photo by plane, agricultural, plant protection, auto heterodyne, express transportation,
Disaster relief, observation wild animal, monitoring infectious disease, mapping, news report, electric inspection process, the disaster relief, movies-making, manufacture wave
The application in unrestrained etc. field, has greatly expanded the purposes of unmanned plane itself, developed country also actively extension sector application with
Development unmanned air vehicle technique.
At present, unmanned plane is broadly divided into three types in the application of field of environment protection.One：Environmental monitoring：Observation air,
Soil, vegetation and water quality condition, it is also possible to tracking real-time and the development of monitoring burst mode tra nsmitter；Two, environment is held
Method：Huan Jian departments are cruised in specific region using unmanned plane of the collection with analytical equipment is equipped with, and monitor the waste gas of factory of enterprise
With discharge of wastewater, polluter is found；Three, environmental improvement：Existed using the soft wing unmanned plane that catalyst and meteorological detection set is carried
Sprayed in the air, sow the operation principle of pesticide with unmanned plane as, certain area internal diabetes remove haze.Rationale for the recommendation：Nothing
Man-machine development is taken photo by plane, and persistency is strong, can also clap isotype using far infrared night, realizes round-the-clock boat monitoring, and unmanned plane is enforced the law again
Do not limited with landform by space.Ageing strong, mobility is good, and inspection scope is wide, especially in the Beijing-tianjin-hebei Region that haze is serious,
So that law enfrocement official can investigate polluter in time, slow down the pollution level of haze to a certain extent.
The content of the invention
Present invention solves the technical problem that there is provided a kind of unmanned plane for sample detecting of dwelling land and water more, by terminal
Remote control samples detection in the air using unmanned plane, and described unmanned airborne device determines wind speed, wind direction, temperature, the hydrology, pH, dissolving
The sensor of the indexs such as oxygen, ammonia nitrogen, transmits data to control terminal after directly determining in line, realizes quick online inspection
Survey, direct access data.
Technical scheme is as follows：A kind of unmanned plane for sample detecting of dwelling land and water, described unmanned owner more
To include unmanned plane body, propeller, air monitor, GPS controllers, landing wheel, water source detector；Described unmanned plane machine
Four propellers of control flight speed, the middle setting GPS controller that propeller is surrounded, described GPS are provided with above body
It is unmanned aerial vehicle (UAV) control device above controller, is air monitor above described unmanned aerial vehicle (UAV) control device, described air monitor
On be respectively mounted wind transducer, temperature sensor, air velocity transducer；Four are provided with below described unmanned plane body
Land is taken turns, described landing wheel in state of flight can automatic hidden, stretch out from hiding storehouse when working on land, each wheel that lands
Vertically can rotate freely；The center that the wheel that lands at four is surrounded is provided with water source detector, described water source detector
It is the combination unit of the compound sensor with automatic telescopic function, described water source detector mainly includes Telescopic base, stretches
Bar, detection data collection device, dissolving oxygen detector, pH detectors, ammonia nitrogen detector, hydrology detector, described flexible bottom
Seat connection expansion link controlling the collapsing length of water source detector, described expansion link bottom connecting detection transacter,
Dissolving oxygen detector, pH detectors, ammonia nitrogen detector, hydrology detection are respectively provided with described detection data collection device
Device.
Further, described air velocity transducer is that sound is in sky realizing the measurement of wind speed using ultrasound wave time difference method
Spread speed in gas, can be with the superposition of the air velocity on wind direction, if the direction of propagation of ultrasound wave is identical with wind direction, its speed
Can accelerate；If if conversely, the direction of propagation of ultrasound wave with wind direction conversely, its speed can be slack-off.Therefore, in fixed detector bar
Under part, the speed that ultrasound wave is propagated in atmosphere can be corresponding with function of wind speed；By calculate be obtained accurate wind speed and
Wind direction, when propagated due to sound wave in atmosphere, its speed is influenced by temperature very big；Described two passages of air velocity transducer
On two rightabouts, therefore temperature is negligible to the impact that SVEL is produced；Described wind transducer is
Photo-electric wind transducer；Described temperature sensor refers to contact type temperature sensor.
Further, described dissolving oxygen detector is the dissolved oxygen sensor using OOS61 fluorescence methods, OOS61 fluorescence
Measurement point can be converted into optical technology by method dissolved oxygen sensor, with digital signal processing function, nominal data be stored up automatically
Deposit and use digital communication, intelligent automatic monitoring to ensure the accuracy of measured value by transmitter in the sensor；Described pH
Detector is a kind of pH sensors being made up of chemical part and signal transmission part；Described ammonia nitrogen detector is Water quality ammonia nitrogen
Sensor；Described hydrology detector includes flow rate detection and flow detection, mainly by two-dimensional electromagnetic flow sensor and main frame
Part is constituted, and by cable connection, effectively real-time detection can be gone out the mean flow rate and instantaneous stream of conducting liquid and its be flowed to, have
Detection is directly perceived, accurate, reliable, and sensitivity is high, strong interference immunity.
Further, described air monitor and water source detector are converged by ZigBee-network connection, by LM358
Dual operational amplifier receives the data of described detector detection, and data are amplified with conversion, reuses ATmega16L-
Data are transferred to ZigBee module by serial communication by 8PI single-chip microcomputers, are received from ZigBee module by ZigBee-network
Data of transmission, and data are transferred to into described GPS controllers by serial communication, by GPRS network by the number for receiving
According to being transferred to monitoring terminal.
Further, described monitoring terminal refers to portable mobile communication apparatus, and described portable mobile communication sets
It is standby to connect mobile data network to control the work of described air monitor and water source detector by built-in app softwares
Make state, obtain all data of detection；Described app be by computer programming language design suitable for android
The application software of operating system, described software mainly include personal information registration, detecting instrument control system, described detection
Instrumentation control system includes that detecting instrument on-off control, detection data are received, detection data exports four modules, described individual
Information mainly includes title, the use time of user, and described detecting instrument control system can be to described air detection
The functional category of device and water source detector carries out various Sexual behavior mode.
Further, described unmanned plane body forms housing and inner chamber by injection molding, and described interior intracavity has
Electric container is accommodated, described container includes at least 3 spaces：Battery space, detecting system space, electronic control circuit and
Between engine air.
Further, four described propellers are driven by the independently-controlled motor respectively, for control it is described nobody
The height and speed of machine, while controlling the floating state that unmanned plane is transitioned into the final moment from the mobile status of initial time.
Further, described unmanned aerial vehicle (UAV) control device controls the main communication terminal of GPS controllers and main frame by control system
GPS communication connections, send Navigation Control letter to described flight system according to the real-time position information that prebriefed pattern and GPS are transmitted
Number；The control system of described unmanned aerial vehicle (UAV) control device solidifies on circuit boards, and outside shell is encapsulated, and is isolated including incoming level
Modular converter, logical operationss and control module, output level isolation modular converter and direct current transducer, the flight control of unmanned plane
Controller in equipment is isolated modular converter by incoming level and the input of double switch amount is sent to logical operationss and control module,
Logical operationss and control module isolate the input of double switch amount and the sensor portion dispensing that modular converter is sent into according to incoming level
Information is calculated the output of drive part controlled quentity controlled variable, control drive part rotating or stopping to the undercarriage for entering in place, directly
The unidirectional current that aircraft is input into is converted to stream transformer the voltage form needed for the circuit of control section.
Further, described landing wheel top connects extension and retraction system, drive system, control system, sensor, undercarriage
Arm and shock mitigation system, described jack are respectively to be machined with install sensor in two pieces of gripper shoes to before and after framework
Upper and lower spacing hole, worm gear, rocking arm, worm screw, upper mechanical position limitation bar and lower mechanical position limitation bar are arranged on framework, one end of rocking arm
It is connected with worm gear, the other end is connected with one end of shock mitigation system, the other end of shock mitigation system is with boom top of rising and falling by bearing pin
Connection, between snail, worm screw, screw thread coordinates, and one end of worm screw is connected with drive part, and sensor is arranged in upper and lower spacing hole,
Framework is fixedly mounted on airframe on load-carrying construction, and the upper end of the boom that rises and falls is by load rotating shaft and aircraft on airframe
Body connects, and the lower end of the boom that rises and falls is connected with the wheel that lands, and control system is arranged in the dynamical system of aircraft, by cable point
Do not dock with drive part and sensor.
Compared with prior art, unmanned plane device of the invention determines wind speed, wind direction, temperature, the hydrology, pH, dissolved oxygen, ammonia
The sensor of the indexs such as nitrogen, transmits data to control terminal after directly determining in line, realizes on-line quick detection, directly
Obtain data.Sample detecting of dwelling land and water can be carried out in the environment of any sample collector's operating difficultiess more, it is easy to use, save
Take laboratory after spot sampling to and be analyzed the complicated processes for determining index of correlation, efficiency high, testing result accurately, have
Very wide application prospect.
Description of the drawings
Fig. 1 is a kind of top view of unmanned plane for sample detecting of dwelling land and water of the present invention more；
Fig. 2 is a kind of upward view of unmanned plane for sample detecting of dwelling land and water of the present invention more；
Fig. 3 is a kind of air monitor structural representation of unmanned plane for sample detecting of dwelling land and water of the present invention more
Figure；
Fig. 4 is a kind of water source detector structural representation of unmanned plane for sample detecting of dwelling land and water of the present invention more
Figure；
Wherein, 1- unmanned planes body, 2- propellers, 3- air monitor, 4-GPS controllers, 5- landing wheels, the inspection of 6- water sources
Survey device, 7- wind transducers, 8- temperature sensors, 9- air velocity transducers, 10- unmanned aerial vehicle (UAV) control devices, 11- Telescopic bases, 12- stretch
Contracting bar, 13- detection data collection devices, 14- dissolving oxygen detectors, 15-pH detectors, 16- ammonia nitrogen detectors, the inspection of the 17- hydrology
Survey device.
Specific embodiment
To make purpose, technical scheme and the advantage of the embodiment of the present invention clearer, below in conjunction with the accompanying drawing of the present invention,
Technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is the present invention one
Divide embodiment, rather than the embodiment of whole.Based on the embodiment in the present invention, those of ordinary skill in the art are not making
The every other embodiment obtained under the premise of creative work, belongs to the scope of protection of the invention.
For ease of the understanding to the embodiment of the present invention, below in conjunction with the accompanying drawings and the specific embodiments as a example by further solved
Explanation is released, embodiment does not constitute the restriction to the embodiment of the present invention.
As depicted in figs. 1 and 2, a kind of unmanned plane for sample detecting of dwelling land and water, described unmanned plane mainly include more
Unmanned plane body 1, propeller 2, air monitor 3, GPS controllers 4, landing wheel 5, water source detector 6；Described unmanned plane machine
Body 1 is provided with four propellers 2 of control flight speed above, and the middle setting GPS controller 4 that propeller 2 is surrounded is described
It is unmanned aerial vehicle (UAV) control device 10 above GPS controllers 4, is air monitor 3 above described unmanned aerial vehicle (UAV) control device 10, such as Fig. 3 institutes
Show, in described air monitor 3, be respectively mounted wind transducer 7, temperature sensor 8, air velocity transducer 9；Described nobody
The lower section of machine body 1 is provided with four wheels 5 that land, described landing wheel 5 in state of flight can automatic hidden, work on land
Stretch out from hiding storehouse when making, each wheel 5 that lands vertically can be rotated freely；The center that the wheel 5 that lands at four is surrounded is arranged
There is water source detector 6, described water source detector 6 is the combination unit of the compound sensor with automatic telescopic function, such as Fig. 4 institutes
Show, described water source detector 6 mainly includes Telescopic base 11, expansion link 12, the detection of detection data collection device 13, dissolved oxygen
Device 14, pH detectors 15, ammonia nitrogen detector 16, hydrology detector 17, described 11 connection expansion link 12 of Telescopic base is controlling
The collapsing length of water source detector 6,12 bottom connecting detection transacter 13 of described expansion link, in described detection number
Oxygen detector 14, pH detectors 15, ammonia nitrogen detector 16, hydrology detector 17 are dissolved according to being respectively provided with collection device 13.
A kind of described unmanned plane for sample detecting of dwelling land and water is applied to into certain environmental monitoring department, its workflow more
Cheng Wei：Being arranged by monitoring terminal needs the geographical coordinate for sampling region, opens unmanned plane on and off switch, controls unmanned plane liter
Sky, when ground maximum restraining position is left, 5 automatic hiddens of wheel of landing, the GPS controllers 4 controlled by monitoring terminal are determined
Accurate test position whether is reached, after it is determined that position is correct, wind transducer 7, temperature sensor 8, wind speed sensing is opened
Device 9, dissolving oxygen detector 14, pH detectors 15, ammonia nitrogen detector 16, hydrology detector 17 start detection, close after completing detection
All testing equipments are closed, and monitoring terminal are wirelessly transmitted to after detection data collection device 13 is by the collection of all detection datas,
Unmanned plane is returned according to the navigation of GPS controllers 4, that is, complete detection.
Wherein, described air velocity transducer 9 is that sound is in atmosphere realizing the measurement of wind speed using ultrasound wave time difference method
Spread speed, can and wind direction on air velocity superposition, if the direction of propagation of ultrasound wave is identical with wind direction, its speed can add
Hurry up；If if conversely, the direction of propagation of ultrasound wave with wind direction conversely, its speed can be slack-off.Therefore, in fixed testing conditions
Under, the speed that ultrasound wave is propagated in atmosphere can be corresponding with function of wind speed；Accurate wind speed and wind are obtained by calculating
To, when propagated due to sound wave in atmosphere, its speed is influenced by temperature very big；Described 9 two passages of air velocity transducer
On two rightabouts, therefore temperature is negligible to the impact that SVEL is produced；Described wind transducer 7 is
Photo-electric wind transducer；Described temperature sensor 8 refers to contact type temperature sensor.Described dissolving oxygen detector 14 is
Using the dissolved oxygen sensor of OOS61 fluorescence methods, measurement point can be converted into optics skill by OOS61 fluorescence method dissolved oxygen sensor
Nominal data automatic storage, with digital signal processing function, is used digital communication, intelligence by transmitter by art in the sensor
Energyization monitors the accuracy for ensureing measured value automatically；Described pH detectors 15 are one kind by chemical part and signal transmission part
The pH sensors of composition；Described ammonia nitrogen detector 16 is Water quality ammonia nitrogen sensor；Described hydrology detector 17 includes flow velocity
Detection and flow detection, are mainly made up of two-dimensional electromagnetic flow sensor and host machine part, by cable connection, can be effectively real-time
Detect the mean flow rate of conducting liquid and instantaneously flow and its flow to, with directly perceived, accurate, reliability is detected, sensitivity is high, anti-dry
Immunity is strong.Described air monitor 3 and water source detector 6 are converged by ZigBee-network connection, are put by the double computings of LM358
Big device receives the data of described detector detection, and data are amplified with conversion, reuses ATmega16L-8PI single-chip microcomputers
Data are transferred to into ZigBee module by serial communication, the number sent from ZigBee module is received by ZigBee-network
According to and data being transferred to described GPS controllers 4 by serial communication, by GPRS network by the data transfer for receiving
To monitoring terminal.Described monitoring terminal refers to portable mobile communication apparatus, and described portable mobile communication apparatus can be with
Connect mobile data network to control the work shape of described air monitor 3 and water source detector 6 by built-in app softwares
State, obtains all data of detection；Described app is operated suitable for android by what computer programming language was designed
Systematic difference software, described software mainly include personal information registration, detecting instrument control system, described detecting instrument
Control system includes that detecting instrument on-off control, detection data are received, detection data exports four modules, described personal information
The main title for including user, use time, described detecting instrument control system can be to described 3 He of air monitor
The functional category of water source detector 6 carries out various Sexual behavior mode.Described unmanned plane body 1 forms housing and interior by injection molding
Chamber, described interior intracavity have the electric container of receiving, and described container includes at least 3 spaces：Battery space, detecting system
Space, between electronic control circuit and engine air.Four described propellers 2 are driven by the independently-controlled motor respectively, are used
In the height and speed that control the unmanned plane, while controlling unmanned plane is transitioned into the final moment from the mobile status of initial time
Floating state.Described unmanned aerial vehicle (UAV) control device 10 controls the main communication terminal GPS of GPS controllers 4 and main frame by control system
Communication connection, sends navigational control signals to described flight system according to the real-time position information that prebriefed pattern and GPS are transmitted；
The control system of described unmanned aerial vehicle (UAV) control device 10 solidifies on circuit boards, and outside shell is encapsulated, and is isolated including incoming level
Modular converter, logical operationss and control module, output level isolation modular converter and direct current transducer, the flight control of unmanned plane
Controller in equipment is isolated modular converter by incoming level and the input of double switch amount is sent to logical operationss and control module,
Logical operationss and control module isolate the input of double switch amount and the sensor portion dispensing that modular converter is sent into according to incoming level
Information is calculated the output of drive part controlled quentity controlled variable, control drive part rotating or stopping to the undercarriage for entering in place, directly
The unidirectional current that aircraft is input into is converted to stream transformer the voltage form needed for the circuit of control section.Described 5 top of landing wheel
Connection extension and retraction system, drive system, control system, sensor, rise and fall boom and shock mitigation system, described jack is to frame
It is machined with the upper and lower spacing hole of install sensor, worm gear, rocking arm, worm screw, upper machinery limit before and after frame in two pieces of gripper shoes respectively
Position bar and lower mechanical position limitation bar are arranged on framework, and one end and the worm gear of rocking arm are connected, and the other end is connected with one end of shock mitigation system
Connect, the other end of shock mitigation system is connected by bearing pin with boom top of rising and falling, between snail, worm screw, screw thread coordinates, one end of worm screw
It is connected with drive part, sensor is arranged in upper and lower spacing hole, and framework is fixedly mounted on airframe on load-carrying construction,
The rise and fall upper end of boom be connected with airframe by load rotating shaft on airframe, and 5 companies are taken turns with landing in the lower end of the boom that rises and falls
Connect, control system is arranged in the dynamical system of aircraft, is docked with drive part and sensor by cable respectively.
It should be noted last that, above example is only unrestricted to illustrate technical scheme, although ginseng
The present invention is described in detail according to preferred embodiment, it will be understood by those within the art that, can be to the present invention
Technical scheme modify or equivalent, without deviating from the spirit and scope of technical solution of the present invention.
Claims (9)
1. a kind of unmanned plane for sample detecting of dwelling land and water, it is characterised in that described unmanned plane mainly includes unmanned plane more
Body (1), propeller (2), air monitor (3), GPS controllers (4), landing wheel (5), water source detector (6)；Described nothing
Man-machine body (1) is provided with four propellers (2) of control flight speed above, the middle setting GPS control that propeller (2) is surrounded
Device (4) processed, is unmanned aerial vehicle (UAV) control device (10) above described GPS controllers (4), above described unmanned aerial vehicle (UAV) control device (10) is
Air monitor (3), is respectively mounted wind transducer (7), temperature sensor (8), wind speed biography in described air monitor (3)
Sensor (9)；Four wheels (5) that land are provided with below described unmanned plane body (1), described landing wheel (5) is in flight shape
During state can automatic hidden, stretch out from hiding storehouse when working on land, each land wheel (5) vertically can rotate freely；Four
The center that the individual wheel (5) that lands is surrounded is provided with water source detector (6), and described water source detector (6) is that have to stretch automatically
The compound sensor combination unit of contracting function, described water source detector (6) mainly include Telescopic base (11), expansion link
(12), detection data collection device (13), dissolving oxygen detector (14), pH detectors (15), ammonia nitrogen detector (16), hydrology inspection
Survey device (17), described Telescopic base (11) connection expansion link (12) is controlling the collapsing length of water source detector (6), described
Expansion link (12) bottom connecting detection transacter (13), is respectively provided with described detection data collection device (13)
Dissolving oxygen detector (14), pH detectors (15), ammonia nitrogen detector (16), hydrology detector (17).
2. a kind of unmanned plane for sample detecting of dwelling land and water as claimed in claim 1, it is characterised in that described wind speed more
Gap sensor when sensor (9) is ultrasound wave；Described wind transducer (7) is photo-electric wind transducer；Described temperature
Sensor (8) refers to contact type temperature sensor.
3. a kind of unmanned plane for sample detecting of dwelling land and water as claimed in claim 1, it is characterised in that described dissolving more
Oxygen detector (14) is the dissolved oxygen sensor using OOS61 fluorescence methods；Described pH detectors (15) are one kind by Division of Chemistry
Divide the pH sensors constituted with signal transmission part；Described ammonia nitrogen detector (16) is Water quality ammonia nitrogen sensor；Described water
Literary detector (17) is mainly made up of two-dimensional electromagnetic flow sensor and host machine part including flow rate detection and flow detection, is led to
Cross cable connection.
4. a kind of unmanned plane for sample detecting of dwelling land and water as claimed in claim 1, it is characterised in that described air more
Detector (3) and water source detector (6) are converged by ZigBee-network connection, receive described by LM358 dual operational amplifiers
Detector detection data, and data are amplified with conversion, reuse ATmega16L-8PI single-chip microcomputers by data by going here and there
Mouth communication transfer receives the data sent from ZigBee module by ZigBee-network, and data is led to ZigBee module
Cross serial communication and be transferred to described GPS controllers (4), the data for receiving are transferred to by monitoring terminal by GPRS network.
5. a kind of unmanned plane for sample detecting of dwelling land and water as claimed in claim 1, it is characterised in that described monitoring more
Terminal refers to portable mobile communication apparatus, and described portable mobile communication apparatus can pass through built-in app softwares and connect
Controlling the working condition of described air monitor (3) and water source detector (6), obtain detection owns mobile data network
Data；Described app is the application software suitable for android operating systems designed by computer programming language, institute
The software stated mainly includes personal information registration, detecting instrument control system, and described detecting instrument control system includes detection
Instrument switch control, detection data are received, detection data exports four modules, and described personal information is mainly including user
Title, use time, described detecting instrument control system can be to described air monitor (3) and water source detector (6)
Functional category carry out various Sexual behavior mode.
6. a kind of unmanned plane for sample detecting of dwelling land and water as claimed in claim 1, it is characterised in that described nobody more
Machine body (1) forms housing and inner chamber by injection molding, and described interior intracavity has the electric container of receiving, described container
Comprising at least 3 spaces：Battery space, detecting system space, between electronic control circuit and engine air.
7. a kind of unmanned plane for sample detecting of dwelling land and water as claimed in claim 1, it is characterised in that described four more
Propeller (2) is driven by the independently-controlled motor respectively, for controlling the height and speed of the unmanned plane, while controlling nothing
The man-machine floating state that the final moment is transitioned into from the mobile status of initial time.
8. a kind of unmanned plane for sample detecting of dwelling land and water as claimed in claim 1, it is characterised in that described nobody more
Machine controller (10) is controlled GPS controllers (4) by control system and is connected with the main communication terminal GPS communications of main frame, according to predetermined
The real-time position information that course line and GPS are transmitted sends navigational control signals to described flight system；Described unmanned aerial vehicle (UAV) control
The control system of device (10) solidifies on circuit boards, and outside shell is encapsulated, including incoming level isolation modular converter, logic fortune
Calculate and control module, output level isolation modular converter and direct current transducer, the controller in the flight control unit of unmanned plane
Modular converter is isolated by incoming level the input of double switch amount is sent to into logical operationss and control module, logical operationss and control
Module isolates the undercarriage that the double switch amount input of modular converter feeding and sensor portion are distributed into according to incoming level
Information is calculated the output of drive part controlled quentity controlled variable in place, control drive part rotating or stopping, and direct current transducer is by aircraft
The unidirectional current of input is converted to the voltage form needed for the circuit of control section.
9. a kind of unmanned plane for sample detecting of dwelling land and water as claimed in claim 1, it is characterised in that described landing more
Wheel (5) top connection extension and retraction system, drive system, control system, sensor, rise and fall boom and shock mitigation system, described folding and unfolding
Mechanism (1) be to the upper and lower spacing hole for being machined with install sensor in two pieces of gripper shoes before and after framework respectively, worm gear, rocking arm,
Worm screw, upper mechanical position limitation bar and lower mechanical position limitation bar are arranged on framework, and one end of rocking arm is connected with worm gear, the other end and damping
One end connection of system, the other end of shock mitigation system are connected by bearing pin with boom top of rising and falling, and between snail, worm screw, screw thread is matched somebody with somebody
Close, one end of worm screw is connected with drive part, sensor is arranged in upper and lower spacing hole, and framework is fixedly mounted on airframe
On upper load-carrying construction, the upper end of the boom that rises and falls is connected with airframe by load rotating shaft on airframe, is risen and fallen under boom
End with land wheel (5) be connected, control system installed in aircraft dynamical system on, by cable respectively with drive part and sensing
Device is docked.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611166789.3A CN106527486B (en) | 2016-12-16 | 2016-12-16 | A kind of unmanned plane for sample detecting of being dwelt more for land and water |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611166789.3A CN106527486B (en) | 2016-12-16 | 2016-12-16 | A kind of unmanned plane for sample detecting of being dwelt more for land and water |
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| CN106527486B CN106527486B (en) | 2018-01-02 |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106956775A (en) * | 2017-04-20 | 2017-07-18 | 金陵科技学院 | One kind water intaking unmanned plane |
| CN107167099A (en) * | 2017-05-09 | 2017-09-15 | 广东容祺智能科技有限公司 | A kind of reservoir capacity monitoring method based on amphibious unmanned plane Yu sound wave Bathymetric Technology |
| CN107284667A (en) * | 2017-07-19 | 2017-10-24 | 北京军秀咨询有限公司 | A kind of new and effective unmanned plane |
| CN108593842A (en) * | 2018-03-26 | 2018-09-28 | 山东大学 | Based on explosion-proof unmanned aerial vehicle platform tunnel gas automatic monitoring system and method |
| CN108732308A (en) * | 2018-05-11 | 2018-11-02 | 南京信息工程大学 | A kind of gas measurement device based on eight rotor wing unmanned aerial vehicles |
| CN109178307A (en) * | 2018-08-08 | 2019-01-11 | 江阴航源航空科技有限公司 | It is a kind of for measure soil and ocean sampling amphibious unmanned plane |
| CN109204799A (en) * | 2018-09-30 | 2019-01-15 | 江苏省生态环境评估中心（江苏省排污权登记与交易管理中心） | The original place gas-dynamic monitoring device and its application method of reconnaissance are transported and visualized based on unmanned plane |
| CN109358355A (en) * | 2018-10-19 | 2019-02-19 | 嘉善顺源金属制品有限公司 | A kind of device of high purity germanium detector easy to carry |
| CN109515710A (en) * | 2017-09-20 | 2019-03-26 | 深圳市春宏实业有限公司 | A kind of water and soil pollution environmental protection tests robot and working method |
| US20190128862A1 (en) * | 2017-10-31 | 2019-05-02 | Honeywell International Inc. | Remote gas sensing using uavs |
| WO2019109621A1 (en) * | 2017-12-07 | 2019-06-13 | Guangdong Kang Yun Technologies Limited | Optimizing propeller speed in drone design using onboard network of sensors |
| CN110907133A (en) * | 2019-12-16 | 2020-03-24 | 长江勘测规划设计研究有限责任公司 | Fishway evaluation system and fishway evaluation method |
| CN113271772A (en) * | 2019-01-22 | 2021-08-17 | 株式会社尼罗沃克 | Unmanned aerial vehicle system and control method of unmanned aerial vehicle system |
| CN113955106A (en) * | 2020-07-20 | 2022-01-21 | 江苏雨能水利工程有限公司 | Unmanned aerial vehicle convenient to installation hydrology measuring equipment |
| CN116147698A (en) * | 2023-01-04 | 2023-05-23 | 广东工业大学 | Monitoring system for amphibious investigation |
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Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106956775A (en) * | 2017-04-20 | 2017-07-18 | 金陵科技学院 | One kind water intaking unmanned plane |
| CN107167099A (en) * | 2017-05-09 | 2017-09-15 | 广东容祺智能科技有限公司 | A kind of reservoir capacity monitoring method based on amphibious unmanned plane Yu sound wave Bathymetric Technology |
| CN107284667A (en) * | 2017-07-19 | 2017-10-24 | 北京军秀咨询有限公司 | A kind of new and effective unmanned plane |
| CN109515710A (en) * | 2017-09-20 | 2019-03-26 | 深圳市春宏实业有限公司 | A kind of water and soil pollution environmental protection tests robot and working method |
| US11275068B2 (en) * | 2017-10-31 | 2022-03-15 | Honeywell International Inc. | Remote gas sensing using UAVs |
| US20190128862A1 (en) * | 2017-10-31 | 2019-05-02 | Honeywell International Inc. | Remote gas sensing using uavs |
| WO2019109621A1 (en) * | 2017-12-07 | 2019-06-13 | Guangdong Kang Yun Technologies Limited | Optimizing propeller speed in drone design using onboard network of sensors |
| CN108593842A (en) * | 2018-03-26 | 2018-09-28 | 山东大学 | Based on explosion-proof unmanned aerial vehicle platform tunnel gas automatic monitoring system and method |
| CN108732308A (en) * | 2018-05-11 | 2018-11-02 | 南京信息工程大学 | A kind of gas measurement device based on eight rotor wing unmanned aerial vehicles |
| CN108732308B (en) * | 2018-05-11 | 2023-05-26 | 南京信息工程大学 | Gas measurement device based on eight rotor unmanned aerial vehicle |
| CN109178307A (en) * | 2018-08-08 | 2019-01-11 | 江阴航源航空科技有限公司 | It is a kind of for measure soil and ocean sampling amphibious unmanned plane |
| CN109204799A (en) * | 2018-09-30 | 2019-01-15 | 江苏省生态环境评估中心（江苏省排污权登记与交易管理中心） | The original place gas-dynamic monitoring device and its application method of reconnaissance are transported and visualized based on unmanned plane |
| CN109204799B (en) * | 2018-09-30 | 2023-11-10 | 生态环境部南京环境科学研究所 | Unmanned plane transportation and visual point selection-based in-situ gas dynamic monitoring device and application method thereof |
| CN109358355A (en) * | 2018-10-19 | 2019-02-19 | 嘉善顺源金属制品有限公司 | A kind of device of high purity germanium detector easy to carry |
| CN113271772A (en) * | 2019-01-22 | 2021-08-17 | 株式会社尼罗沃克 | Unmanned aerial vehicle system and control method of unmanned aerial vehicle system |
| CN110907133A (en) * | 2019-12-16 | 2020-03-24 | 长江勘测规划设计研究有限责任公司 | Fishway evaluation system and fishway evaluation method |
| CN110907133B (en) * | 2019-12-16 | 2021-07-16 | 长江勘测规划设计研究有限责任公司 | Fishway evaluation system and fishway evaluation method |
| CN113955106A (en) * | 2020-07-20 | 2022-01-21 | 江苏雨能水利工程有限公司 | Unmanned aerial vehicle convenient to installation hydrology measuring equipment |
| CN116147698A (en) * | 2023-01-04 | 2023-05-23 | 广东工业大学 | Monitoring system for amphibious investigation |
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