CN106527486B - A kind of unmanned plane for sample detecting of being dwelt more for land and water - Google Patents
A kind of unmanned plane for sample detecting of being dwelt more for land and water Download PDFInfo
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- CN106527486B CN106527486B CN201611166789.3A CN201611166789A CN106527486B CN 106527486 B CN106527486 B CN 106527486B CN 201611166789 A CN201611166789 A CN 201611166789A CN 106527486 B CN106527486 B CN 106527486B
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- unmanned plane
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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
Dwelt the unmanned plane of sample detecting for land and water the invention discloses a kind of more, described unmanned plane device determines the sensor of the indexs such as wind speed, wind direction, temperature, the hydrology, pH, dissolved oxygen, ammonia nitrogen, by transmitting data to control terminal after line directly determines, realize 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 difficulties more, it is easy to use, take the complicated processes that laboratory carries out analysis measure index of correlation, efficiency high to after eliminating spot sampling, testing result is accurate, has very wide application prospect.
Description
Technical field
The invention belongs to unmanned plane manufacturing technology field, specifically it is related to a kind of land and water that is used for and dwells sample detecting more
Unmanned plane.
Background technology
Referred to as " unmanned plane ", english abbreviation is " UAV " to UAV, using radio robot and is provided for oneself
The not manned aircraft that presetting apparatus manipulates.It 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 presses application field, 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
Unmanned plane+sector application, it is that unmanned plane has really just needed with aspect；At present take photo by plane, agricultural, plant protection, self-timer, 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 in itself, developed country also actively extension sector application with
Develop 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 can also track and monitor real-time the development of burst mode tra nsmitter；Two, environment is held
Method：Huan Jian departments are cruised using the unmanned plane for being equipped with collection and analytical equipment in specific region, the waste gas of factory of monitoring enterprise
With discharge of wastewater, pollution sources are found；Three, environmental improvement：Existed using the soft wing unmanned plane for carrying catalyst and meteorological detection is set
Sprayed in the air, sow the operation principle of agricultural chemicals with unmanned plane as, haze is eliminated in certain area.Rationale for the recommendation：Nothing
Man-machine development is taken photo by plane, and persistence is strong, can also use far infrared night to clap isotype, realizes round-the-clock boat monitoring, and unmanned plane is enforced the law again
Do not limited by space and landform.Ageing strong, mobility is good, and inspection scope is wide, especially in the serious Beijing-tianjin-hebei Region of haze,
So that law enfrocement official can investigate pollution sources 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 being dwelt more for land and water, pass through terminal
Remote control samples detection, described unmanned airborne device measure wind speed, wind direction, temperature, the hydrology, pH, dissolving in the air using unmanned plane
The sensor of the indexs such as oxygen, ammonia nitrogen, by transmitting data to control terminal after line directly determines, realize online quick inspection
Survey, directly obtain data.
Technical scheme is as follows：A kind of unmanned plane for sample detecting of being dwelt more for land and water, described unmanned owner
To include unmanned plane body, propeller, air monitor, GPS controllers, landing wheel, water source detector；Described unmanned plane machine
Four propellers of control flying speed, the middle setting GPS controllers that propeller surrounds, 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
It is upper that wind transducer, temperature sensor, air velocity transducer are installed respectively；Four are provided with below described unmanned plane body
Land is taken turns, and described landing wheel can be hidden automatically in state of flight, is stretched out when working on land from hiding storehouse, each wheel that lands
Can vertically it rotate freely；The center that four landing wheels surround is provided with water source detector, described water source detector
It is that the compound sensor with automatic telescopic function combines the unit, described water source detector mainly includes Telescopic base, stretched
Bar, detection transacter, dissolving oxygen detector, pH detectors, ammonia nitrogen detector, hydrology detector, described flexible bottom
Seat connection expansion link controls 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 transacter
Device.
Further, described air velocity transducer is the measurement that wind speed is realized using ultrasonic wave time difference method, and sound is in sky
Spread speed in gas, can be with the air velocity superposition on wind direction, if the direction of propagation of ultrasonic wave is identical with wind direction, its speed
It can accelerate；If if conversely, the direction of propagation of ultrasonic wave with wind direction on the contrary, its speed can be slack-off.Therefore, in fixed detector bar
Under part, the speed that ultrasonic wave is propagated in atmosphere can be corresponding with function of wind speed；By calculate i.e. can obtain accurate wind speed and
Wind direction, when being propagated in atmosphere due to sound wave, its speed is influenced by temperature very big；Described two passages of air velocity transducer
On two opposite directions, therefore temperature on caused by SVEL influence can be ignored；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, and with digital signal processing function, nominal data is stored up automatically
Deposit and digital communication is used by transmitter in the sensor, intelligent automatic monitoring ensures the accuracy of measured value；Described pH
Detector is a kind of pH sensors being made up of chemical part and signal hop；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 formed, and by cable connection, can effectively detect the mean flow rate and instantaneous stream and its flow direction of conducting liquid in real time, have
Detection is directly perceived, accurate, reliable, high sensitivity, strong interference immunity.
Further, described air monitor connects convergence with water source detector by ZigBee-network, passes through 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 8PI single-chip microcomputers by serial communication, are received by ZigBee-network and are come from ZigBee module
The data of transmission, and data are transferred to described GPS controllers, the number that will be received by GPRS network by serial communication
According to being transferred to monitoring terminal.
Further, described monitoring terminal refers to portable mobile communication apparatus, and described portable mobile communication is set
It is standby mobile data network to be connected by built-in app softwares to control the work of described air monitor and water source detector
Make state, obtain all data of detection；Described app is to be applied to android by what computer programming language was designed
The application software of operating system, described software mainly include personal information registration, detecting instrument control system, described detection
Instrumentation control system includes the control of detecting instrument switch, detection data receiver, detection four modules of data output, described individual
Mainly the title including the use of person, usage time, described detecting instrument control system can be to described air detections for information
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, described interior intracavitary by injection molding and had
Electric container is accommodated, described container includes at least three space：Battery space, detecting system space, electronic control circuit and
Engine space.
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 control unmanned plane to be transitioned into the floating state at 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, Navigation Control letter is sent to described flight system according to the real-time position information that prebriefed pattern and GPS are transmitted
Number；On circuit boards, outside is encapsulated with shell for the control system solidification of described unmanned aerial vehicle (UAV) control device, including incoming level isolation
Modular converter, logical operation and control module, output level isolation modular converter and direct current transducer, the flight control of unmanned plane
Controller in equipment isolates modular converter by incoming level and the input of double switch amount is sent into logical operation and control module,
Logical operation and control module isolate the input of double switch amount and sensor portion dispensing of modular converter feeding according to incoming level
The output of drive part controlled quentity controlled variable is calculated in information to the undercarriage entered in place, controls drive part rotating or stopping, directly
Stream transformer is converted to the direct current that aircraft inputs the voltage form needed for the circuit of control section.
Further, described landing wheel top connection extension and retraction system, drive system, control system, sensor, undercarriage
Arm and shock mitigation system, described jack are to being machined with install sensor respectively in two pieces of supporting plates 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, one end connection of the other end and shock mitigation system, the other end of shock mitigation system and boom top of rising and falling pass through bearing pin
Connection, screw thread coordinates between snail, worm screw, 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 for the boom that rises and falls passes through load rotating shaft and aircraft on airframe
Body is connected, and the lower end for the boom that rises and falls is arranged in the dynamical system of aircraft with wheel connection of landing, control system, passes through cable point
Do not docked with drive part and sensor.
Compared with prior art, unmanned plane device of the invention measure wind speed, wind direction, temperature, the hydrology, pH, dissolved oxygen, ammonia
The sensor of the indexs such as nitrogen, by transmitting data to control terminal after line directly determines, realize 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 difficulties more, it is easy to use, save
Take the complicated processes that laboratory carries out analysis measure index of correlation after spot sampling to, efficiency high, testing result is accurate, have
Very wide application prospect.
Brief description of the drawings
Fig. 1 is a kind of top view of the unmanned plane of sample detecting of being dwelt more for land and water of the present invention；
Fig. 2 is a kind of upward view of the unmanned plane of sample detecting of being dwelt more for land and water of the present invention；
Fig. 3 is a kind of air monitor structural representation of the unmanned plane of sample detecting of being dwelt more for land and water of the present invention
Figure；
Fig. 4 is a kind of water source detector structural representation of the unmanned plane of sample detecting of being dwelt more for land and water of the present invention
Figure；
Wherein, 1- unmanned planes body, 2- propellers, 3- air monitor, 4-GPS controllers, 5- landings wheel, the inspection of 6- water sources
Device, 7- wind transducers, 8- temperature sensors, 9- air velocity transducers, 10- unmanned aerial vehicle (UAV) controls device, 11- Telescopic bases, 12- is surveyed to stretch
Contracting bar, 13- detections transacter, 14- dissolvings oxygen detector, 15-pH detectors, 16- ammonia nitrogen detectors, the inspection of the 17- hydrology
Survey device.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the present invention accompanying drawing,
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 whole embodiments.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 exemplified by further solved
Explanation is released, embodiment does not form 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 being dwelt more for land and water, described unmanned plane mainly include
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 flying speed above, and the middle setting GPS controllers 4 that propeller 2 surrounds are described
The top of GPS controllers 4 is unmanned aerial vehicle (UAV) control device 10, and the described top of unmanned aerial vehicle (UAV) control device 10 is air monitor 3, such as Fig. 3 institutes
Show, wind transducer 7, temperature sensor 8, air velocity transducer 9 are installed respectively in described air monitor 3；Described nobody
The lower section of machine body 1 is provided with four wheels 5 that land, and described landing wheel 5 can be hidden automatically in state of flight, on land work
Stretched out when making from hiding storehouse, each wheel 5 that lands can be rotated freely vertically；The center setting that the wheel 5 that landed at four surrounds
There is water source detector 6, described water source detector 6 is that the compound sensor with automatic telescopic function combines the unit, such as Fig. 4 institutes
Show, described water source detector 6 mainly includes Telescopic base 11, expansion link 12, detection transacter 13, dissolved oxygen detection
Device 14, pH detectors 15, ammonia nitrogen detector 16, hydrology detector 17, the described connection expansion link 12 of Telescopic base 11 control
The collapsing length of water source detector 6, the described bottom connecting detection transacter 13 of expansion link 12, in described testing 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 more for land and water is applied to certain environmental monitoring department, its workflow
Cheng Wei：The geographical coordinate for needing to sample region is set by monitoring terminal, opens unmanned plane power switch, controls unmanned plane liter
Sky, when leaving ground maximum restraining position, the wheel 5 that lands is hidden automatically, and the GPS controllers 4 controlled by monitoring terminal determine
Accurate test position whether is reached, after it is determined that position is correct, opens wind transducer 7, temperature sensor 8, wind speed sensing
Device 9, dissolving oxygen detector 14, pH detectors 15, ammonia nitrogen detector 16, hydrology detector 17 start to detect, and are closed after completing detection
All detection devices are closed, monitoring terminal will be wirelessly transmitted to after all detection Data Collections by detecting transacter 13,
Unmanned plane navigates according to GPS controllers 4 and returned, that is, completes detection.
Wherein, described air velocity transducer 9 is the measurement that wind speed is realized using ultrasonic wave time difference method, and sound is in atmosphere
Spread speed, can and wind direction on air velocity superposition, if the direction of propagation of ultrasonic wave is identical with wind direction, its speed can add
It hurry up；If if conversely, the direction of propagation of ultrasonic wave with wind direction on the contrary, its speed can be slack-off.Therefore, in fixed testing conditions
Under, the speed that ultrasonic wave is propagated in atmosphere can be corresponding with function of wind speed；Accurate wind speed and wind are can obtain by calculating
To when being propagated in atmosphere due to sound wave, its speed is influenced by temperature very big；Described 9 two passages of air velocity transducer
On two opposite directions, therefore temperature on caused by SVEL influence can be ignored；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 oxygens sensor
Art, with digital signal processing function, nominal data automatic storage is used into digital communication, intelligence by transmitter in the sensor
Energyization monitors the accuracy for ensureing measured value automatically；Described pH detectors 15 are one kind by chemical part and signal hop
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, can be effectively real-time by cable connection
The mean flow rate and instantaneous stream and its flow direction of conducting liquid are detected, has detection directly perceived, accurate, reliable, high sensitivity, resists dry
Immunity is strong.Described air monitor 3 connects convergence with water source detector 6 by ZigBee-network, is 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 ZigBee module by serial communication, the number sent from ZigBee module is received by ZigBee-network
According to, and data are transferred to described GPS controllers 4, the data transfer that will be received by GPRS network by serial communication
To monitoring terminal.Described monitoring terminal refers to portable mobile communication apparatus, and described portable mobile communication apparatus can be with
Mobile data network is connected by built-in app softwares to control the work shape of described air monitor 3 and water source detector 6
State, obtain all data of detection；Described app is that the android that is applied to designed by computer programming language is operated
Systematic difference software, described software mainly include personal information registration, detecting instrument control system, described detecting instrument
Control system includes the control of detecting instrument switch, detection data receiver, detection four modules of data output, described personal information
The mainly title including the use of person, usage time, described detecting instrument control system can be to the described Hes of air monitor 3
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 intracavitary, which has, accommodates electric container, and described container includes at least three space：Battery space, detecting system
Space, electronic control circuit and engine space.Four described propellers 2 are driven by the independently-controlled motor respectively, use
In the height and speed of the control unmanned plane, while unmanned plane is controlled to be 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, navigational control signals are sent according to the real-time position information that prebriefed pattern and GPS are transmitted to described flight system；
On circuit boards, outside is encapsulated with shell for the control system solidification of described unmanned aerial vehicle (UAV) control device 10, including incoming level isolation
Modular converter, logical operation and control module, output level isolation modular converter and direct current transducer, the flight control of unmanned plane
Controller in equipment isolates modular converter by incoming level and the input of double switch amount is sent into logical operation and control module,
Logical operation and control module isolate the input of double switch amount and sensor portion dispensing of modular converter feeding according to incoming level
The output of drive part controlled quentity controlled variable is calculated in information to the undercarriage entered in place, controls drive part rotating or stopping, directly
Stream transformer is converted to the direct current that aircraft inputs the voltage form needed for the circuit of control section.The described top of landing wheel 5
Extension and retraction system, drive system, control system, sensor, rise and fall boom and shock mitigation system are connected, described jack is to frame
The upper and lower spacing hole of install sensor, worm gear, rocking arm, worm screw, upper machinery limit are machined with front and rear two pieces of supporting plates of frame 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 one end of the other end and shock mitigation system connects
Connect, the other end of shock mitigation system is connected with boom top of rising and falling by bearing pin, and screw thread coordinates between snail, worm screw, 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 is connected by load rotating shaft on airframe with airframe, and the lower end for the boom that rises and falls connects with the wheel 5 that lands
Connect, control system is arranged in the dynamical system of aircraft, is docked respectively with drive part and sensor by cable.
It should be noted last that the above embodiments are merely illustrative of the technical solutions of the present invention and it is unrestricted, 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 substitution, without departing from the spirit and scope of technical solution of the present invention.
Claims (1)
1. a kind of unmanned plane for sample detecting of being dwelt more for land and water, it is characterised in that described unmanned plane mainly includes unmanned plane
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 flying speed above, and the middle setting GPS that propeller (2) surrounds is controlled
Device (4) processed, described GPS controllers (4) top is unmanned aerial vehicle (UAV) control device (10), is above described unmanned aerial vehicle (UAV) control device (10)
Air monitor (3), wind transducer (7), temperature sensor (8), wind speed are installed in described air monitor (3) respectively and passed
Sensor (9)；Four wheels (5) that land are provided with below described unmanned plane body (1), described landing wheel (5) is in flight shape
It can automatically hide during state, be stretched out when working on land from hiding storehouse, each wheel (5) that lands can be rotated freely vertically；Four
The individual center that wheel (5) surrounds of landing 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) transacter (13), dissolving oxygen detector (14), pH detectors (15), ammonia nitrogen detector (16), hydrology inspection, are detected
Device (17) is surveyed, described Telescopic base (11) connection expansion link (12) controls the collapsing length of water source detector (6), described
Expansion link (12) bottom connecting detection transacter (13), it is respectively provided with described detection transacter (13)
Dissolve oxygen detector (14), pH detectors (15), ammonia nitrogen detector (16), hydrology detector (17)；Described air velocity transducer
(9) gap sensor when being ultrasonic wave；Described wind transducer (7) is photo-electric wind transducer；Described temperature sensor
(8) contact type temperature sensor is referred to；Described dissolving oxygen detector (14) is sensed using the dissolved oxygen of OOS61 fluorescence methods
Device；Described pH detectors (15) are a kind of pH sensors being made up of chemical part and signal hop；Described ammonia nitrogen
Detector (16) is Water quality ammonia nitrogen sensor；Described hydrology detector (17) includes flow rate detection and flow detection, by two dimension
Electromagnetism flow sensor and host machine part are formed, and pass through cable connection；Described air monitor (3) and water source detector (6)
Connected and converged by ZigBee-network, the data of described detector detection, and logarithm are received by LM358 dual operational amplifiers
According to conversion is amplified, reuses ATmega16L-8PI single-chip microcomputers and data are transferred to ZigBee module by serial communication, lead to
Cross ZigBee-network and receive the data sent from ZigBee module, and data are transferred to described GPS by serial communication
Controller (4), the data received are transferred to by monitoring terminal by GPRS network；Described monitoring terminal refers to portable shifting
Dynamic communication equipment, described portable mobile communication apparatus can connect mobile data network to control by built-in app softwares
The working condition of the described air monitor (3) of system and water source detector (6), obtain all data of detection；Described app is
The application software suitable for android operating systems designed by computer programming language, described software mainly include
Personal information registration, detecting instrument control system, described detecting instrument control system include the control of detecting instrument switch, detection
Data receiver, detection three modules of data output, described the personal information mainly title including the use of person, usage time, institute
The detecting instrument control system stated can carry out more to the functional category of described air monitor (3) and water source detector (6)
Sample Sexual behavior mode；Described unmanned plane body (1) forms housing and inner chamber by injection molding, and described interior intracavitary, which has, accommodates electricity
The container of gas, described container include at least three space：Battery space, detecting system space, electronic control circuit and engine
Space；Four described propellers (2) are driven by the independently-controlled motor respectively, for control the unmanned plane height and
Speed, while control unmanned plane to be transitioned into the floating state at final moment from the mobile status of initial time；Described unmanned plane
Controller (10) controls the main communication terminal GPS of GPS controllers (4) and main frame to communicate and connected by control system, according to predetermined boat
The real-time position information that line and GPS are transmitted sends navigational control signals to flight system；Described unmanned aerial vehicle (UAV) control device (10)
Control system solidifies on circuit boards, and outside is encapsulated with shell, including incoming level isolation modular converter, logical operation and control
Module, output level isolation modular converter and direct current transducer, the controller in the flight control unit of unmanned plane pass through input
Level isolates modular converter and the input of double switch amount is sent into logical operation and control module, logical operation and control module according to
The double switch amount that incoming level isolation modular converter is sent into inputs the undercarriage being distributed into sensor portion information in place
The output of drive part controlled quentity controlled variable is calculated, controls drive part rotating or stopping, direct current transducer to input aircraft straight
Stream electricity is converted to the voltage form needed for the circuit of control section；Described landing wheel (5) top connects extension and retraction system, drivetrain
System, control system, sensor, rise and fall boom and shock mitigation system, described jack (1) are to two pieces of supports before and after framework
The upper and lower spacing hole of install sensor, worm gear, rocking arm, worm screw, upper mechanical position limitation bar and lower mechanical position limitation are machined with plate respectively
Bar is arranged on framework, and one end and the worm gear of rocking arm are connected, and one end of the other end and shock mitigation system connects, shock mitigation system it is another
Boom top of holding and rise and fall is connected by bearing pin, and screw thread coordinates between snail, worm screw, and one end of worm screw is connected with drive part, biography
Sensor is arranged in upper and lower spacing hole, and framework is fixedly mounted on airframe on load-carrying construction, and the upper end for the boom that rises and falls passes through
Load rotating shaft is connected with airframe on airframe, and the lower end for the boom that rises and falls is connected with the wheel (5) that lands, and control system is arranged on
In the dynamical system of aircraft, docked respectively with drive part and sensor by cable.
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| 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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| 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 |
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