CN107063755A - A kind of unmanned plane water sampling method - Google Patents
A kind of unmanned plane water sampling method Download PDFInfo
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- CN107063755A CN107063755A CN201710394474.2A CN201710394474A CN107063755A CN 107063755 A CN107063755 A CN 107063755A CN 201710394474 A CN201710394474 A CN 201710394474A CN 107063755 A CN107063755 A CN 107063755A
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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
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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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- Life Sciences & Earth Sciences (AREA)
- Hydrology & Water Resources (AREA)
- Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
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- General Health & Medical Sciences (AREA)
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Abstract
A kind of unmanned plane water sampling method, comprises the following steps：Step 1. is unmanned plane with setting air objective waters coordinate and the line of flight and flight parameter；Unmanned plane flies to destination according to setup parameter；Or directly flown to destination by ground remote control；Step 2. unmanned plane hovers, and according to preset instructions or receives telecommand driving hub rotation, device for fetching water is put down, device for fetching water tenesmus height is determined by hub rotation thread；Step 3. hub, which stops the rotation to device for fetching water collection water sample, to be completed, and device for fetching water is pulled out the water surface and reclaimed by then water intake system driving hub reversion；Unmanned plane returns to one's starting point or testing goal by predetermined paths.The present invention is directly flown to target point using unmanned plane, and remote control water sampling, without being limited by geographical environment, possesses the high advantage of efficiency high, precision.
Description
Technical field
The invention belongs to unmanned plane field, it is related to a kind of unmanned plane application, and in particular to a kind of unmanned plane water sampling side
Method.
Background technology
With the high speed development of domestic economy, environmental protection problem is increasingly valued by people, and wherein on water
The Environmental monitoring of resource is the most important thing therein.The water sampling in waters is the important work of water resource environment monitoring
Make task, need chartering to drive to the center in waters in the past, water bucket of jettisoninging by hand carries out water sampling under water.But this
Kind of mode exist inconvenient, efficiency it is low, it is inaccurate the problem of.
The content of the invention
To overcome technological deficiency present in existing water sampling process, the invention discloses a kind of unmanned plane water sampling
Method.
Unmanned plane water sampling method of the present invention, comprises the following steps：
Step 1. is unmanned plane with setting air objective waters coordinate and the line of flight and flight parameter；Unmanned plane is according to setting
Parameter is flown to destination；Or directly flown to destination by ground remote control；
Step 2. unmanned plane is hovered, and according to preset instructions or receives telecommand driving hub rotation, and device for fetching water is put down,
Device for fetching water tenesmus height is determined by hub rotation thread；
Step 3. hub, which stops the rotation to device for fetching water collection water sample, to be completed, and then water intake system driving hub reversion will take
Hydrophone pulls out the water surface and reclaimed；Unmanned plane returns to one's starting point or testing goal by predetermined paths.
It is preferred that, flight parameter includes flying speed and flying height in the step 1.
It is preferred that and by device for fetching water transfer to calculate obtain tenesmus height.
It is preferred that, in the step 3, hub rotation thread when device for fetching water is reclaimed in step 2 with putting down device for fetching water
Rotate thread consistent.
It is preferred that, it is whole to be gathered by camera and pass image back in real time during unmanned plane collection water sample.
It is preferred that, in the step 3, in addition to security control process, the security control process is：On the hub
Insurance knot is in series with, during water intake system driving hub reversion, insurance knot stress is then broken more than threshold value, and water intake system is according to setting
It is fixed to complete to reclaim after thread, auto-returned.
It is preferred that, in the step 3, in addition to security control process, the security control process is：Set on unmanned plane
There is pinch-off device, when water intake system driving hub reversion, detecting device for fetching water can not normally reclaim, then remote control or according to pre-
The criterion first set starts line on pinch-off device cut-out device for fetching water, and the criterion set in advance is：Motor connects
Receive and do not rotated after recovery command.
It is preferred that, the device for fetching water includes the flexible drinking straw being wrapped on hub, and is connected simultaneously with flexible drinking straw one end
It is arranged on and the mass that density is more than water is connected with the sucking pump on unmanned plane, the flexible drinking straw other end；In the step 3
Device for fetching water gathers water sample：When one end that flexible drinking straw hangs with mass is sunk to below the water surface, open sucking pump and lead to water
Cross suction pipe and suck back unmanned plane.
Using unmanned plane water sampling method of the present invention, possesses following superiority：
One, gathers water sample using unmanned plane, and speed is fast, efficiency high；Unmanned plane directly flies to target water overhead, not by physical features,
The restriction of the ambient conditions such as the broad degree of the water surface, pasture and water growth.
Two, can realize long-range unmanned aerial vehicle's control, and staff is without coming to waterfront or other complex topographic territories personally, significantly
Personal safety is ensured；And accurately fixed point water intaking can be realized, provide effective guarantee for the comparative analysis of long term monitoring data.
Three, water acquisition operation automations degree are high, simple efficient.
Brief description of the drawings
Fig. 1 is a kind of embodiment structural representation of unmanned plane water sampling system in the present invention, and Fig. 2 is institute of the present invention
State the entitled 1- unmanned planes of reference in a kind of embodiment schematic diagram of water intake system, figure, 2- water intake systems, 3-
Face station, 4- remote controls；21- controllers, 22- image acquisition transmission systems, 23- hubs, 24- batteries, 25- motors, 5- water acquisitions
Device.
Embodiment
Below in conjunction with the accompanying drawings, the embodiment to the present invention is described in further detail.
Unmanned plane water sampling method of the present invention, comprises the following steps：
Step 1. is unmanned plane with setting air objective waters coordinate and the line of flight and flight parameter；Unmanned plane is according to setting
Parameter is flown to destination；Flight parameter generally comprises flying speed and flying height etc..
Step 2. unmanned plane hovers, and according to preset instructions or receives telecommand driving hub rotation, by device for fetching water
Put down, device for fetching water tenesmus height is determined by hub rotation thread.
Unmanned plane flies to specified coordinate overhead, puts down device for fetching water, and the tenesmus height of device for fetching water is general according to water level and nothing
The depth that man-machine flying height and water intaking are required is determined.Motor driving hub rotation, calculates and controls the rotation of hub
The number of turns, can control the tenesmus height of device for fetching water.
Step 3. hub, which stops the rotation to device for fetching water collection water sample, to be completed, then water intake system driving hub reversion,
Device for fetching water is pulled out into the water surface to reclaim；Unmanned plane returns to one's starting point or testing goal by predetermined paths.
Thread length when reclaiming thread typically with decentralization of device for fetching water, device for fetching water is recycled to by hub reversion
Original position.
Whole operation process can be realized with remote control, when remote control is realized, IMAQ transmission system can be installed on unmanned plane
The flight video information and water acquisition job information of system 22, in real time collection unmanned plane, and collection image is passed back into earth station 3 in real time
Or on remote control 4, operating personnel carry out corresponding control operation unmanned plane during flying, hovering, water acquisition, recovery etc. according to image.Also may be used
To set single-chip microcomputer in water intake system, according to pre-set programs, programming realization.
As Fig. 2 provides a kind of embodiment of water intake system of the present invention, water intake system includes controller 21, position
The battery 24 powered below controller and for controller and motor, in addition to motor 25 and hub under battery,
The motor power output shaft is connected with the rotating shaft of hub 23, and the winding line on the hub is with being lifted on below hub
Device for fetching water 5 is connected.
Flown in use, manipulating unmanned plane behind target water overhead, start hovering；Then the controller of water intake system according to
Pre-set programs or according to ground remote command, hub unwrapping wire is driven by motor, by the device for fetching water tied up on winding line from
High-altitude is put under water, and device for fetching water is reached after designated depth under water, and controller controlled motor stops operating；Subsequent controller is controlled again
Motor reversal drives hub take-up, and device for fetching water is pulled out into the water surface, unmanned plane is returned to；Subsequent unmanned plane is performed to make a return voyage, certainly automatically
Dynamic landing procedure, institute's water sampling is taken back, and is the decline and rising for realizing device for fetching water using hub rotating forward inversion mode, so that
Easily realize motor control；It is that flight during holding unmanned plane during flying and water acquisition and hovering are steady, heavier water sample is adopted
Acquisition means should be arranged on the geometric center projected position of multiple rotors；It is general that four or six rotors are set so that it is in office where
The unmanned plane moved upwards is all difficult to be influenceed by the gravity of device for fetching water.
It is for another set-up mode of device for fetching water：The device for fetching water includes the flexible drinking straw being wrapped on hub,
And be connected with flexible drinking straw one end and be arranged on the sucking pump on unmanned plane, being connected with density on the flexible drinking straw other end is more than
The mass of water；Mass can be quoit or be connected to metal tube of flexible drinking straw end etc..Device for fetching water in the step 3
Gathering water sample is specially：When one end that flexible drinking straw hangs with mass is sunk to below the water surface, open sucking pump and water is passed through into suction pipe
Suck back unmanned plane.Above water sucting mode can be by controlling sucking pump working time control to suck water, it is possible to achieve quantitative water acquisition,
Unmanned plane is reduced to bear a heavy burden.
The present invention for device for fetching water fetch water during by under water or water surface object winding when, be provided with security control process guarantor
The safety of card unmanned plane flies back.The security control process is：Pinch-off device is provided with unmanned plane, is collected when water intake system drives
Line device invert when, detecting device for fetching water can not normally reclaim, then remote control or according to criterion set in advance start pinch off dress
Line on cut-out device for fetching water is put, the criterion set in advance is：Motor is received and not rotated after recovery command；Can also
An insurance of being connected on the hub is tied, and during water intake system driving hub reversion, insurance knot stress is then broken more than threshold value
Split, water intake system completes to reclaim after thread according to setting, auto-returned.
Using unmanned plane water sampling method of the present invention, possesses following superiority：
One, gathers water sample using unmanned plane, and speed is fast, efficiency high；Unmanned plane directly flies to target water overhead, not by physical features,
The restriction of the ambient conditions such as the broad degree of the water surface, pasture and water growth.
Two, can realize long-range unmanned aerial vehicle's control, and staff is without coming to waterfront or other complex topographic territories personally, significantly
Personal safety is ensured；And accurately fixed point water intaking can be realized, provide effective guarantee for the comparative analysis of long term monitoring data.
Three, water acquisition operation automations degree are high, simple efficient.
Previously described each preferred embodiment for the present invention, if the preferred embodiment in each preferred embodiment
It is not substantially contradictory or premised on a certain preferred embodiment, each preferred embodiment can any stack combinations
Use, the design parameter in the embodiment and embodiment merely to clearly state inventor invention verification process, and
The scope of patent protection of the limitation present invention is not used to, scope of patent protection of the invention is still defined by its claims, all
It is the equivalent structure change made with the specification and accompanying drawing content of the present invention, similarly should be included in the protection model of the present invention
In enclosing.
Claims (8)
1. a kind of unmanned plane water sampling method, it is characterised in that：Comprise the following steps：
Step 1. is unmanned plane with setting air objective waters coordinate and the line of flight and flight parameter；Unmanned plane is according to setting
Parameter is flown to destination；Or directly flown to destination by ground remote control；
Step 2. unmanned plane hovers, and according to preset instructions or receives telecommand driving hub rotation, will be twined on hub
Around device for fetching water put down, device for fetching water tenesmus height by hub rotation thread determines；
Step 3. hub, which stops the rotation to device for fetching water collection water sample, to be completed, and then water intake system driving hub reversion will take
Hydrophone pulls out the water surface and reclaimed；Unmanned plane returns to one's starting point or testing goal by predetermined paths.
2. unmanned plane water sampling method as claimed in claim 1, it is characterised in that flight parameter is included in the step 1
Flying speed and flying height.
3. unmanned plane water sampling method as claimed in claim 1, it is characterised in that in the step 2, unmanned plane is according to winged
Row height and water surface elevation calculate device for fetching water tenesmus height, and by device for fetching water transfer to calculate obtain tenesmus height.
4. unmanned plane water sampling method as claimed in claim 1, it is characterised in that in the step 3, when device for fetching water is reclaimed
Hub rotation thread it is consistent with the rotation thread that device for fetching water is put down in step 2.
5. unmanned plane water sampling method as claimed in claim 1, it is characterised in that during unmanned plane collection water sample, entirely
Journey is gathered by camera and passes image back in real time.
6. unmanned plane water sampling method as claimed in claim 1, it is characterised in that in the step 3, in addition to safe control
Process processed, the security control process is：Insurance knot is in series with the hub, during water intake system driving hub reversion,
Insurance knot stress is then broken more than threshold value, and water intake system completes to reclaim after thread according to setting, auto-returned.
7. unmanned plane water sampling method as claimed in claim 1, it is characterised in that in the step 3, in addition to safe control
Process processed, the security control process is：Pinch-off device is provided with unmanned plane, when water intake system driving hub reversion,
Detecting device for fetching water can not normally reclaim, then remote control or according to criterion set in advance start pinch-off device cut-out device for fetching water
Upper line, the criterion set in advance is：Motor is received and not rotated after recovery command.
8. unmanned plane water sampling method as claimed in claim 1, it is characterised in that the device for fetching water includes being wrapped in line concentration
Flexible drinking straw on device, and be connected with flexible drinking straw one end and be arranged on the sucking pump on unmanned plane, the flexible drinking straw other end
On be connected with density be more than water mass；Device for fetching water collection water sample is specially in the step 3：When flexible drinking straw hangs with counterweight
When one end of thing is sunk to below the water surface, open sucking pump and water is sucked back into unmanned plane by suction pipe.
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| CN201710394474.2A CN107063755B (en) | 2017-05-29 | 2017-05-29 | Unmanned aerial vehicle water sample collection method |
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| CN201710394474.2A CN107063755B (en) | 2017-05-29 | 2017-05-29 | Unmanned aerial vehicle water sample collection method |
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| CN107063755B CN107063755B (en) | 2023-05-05 |
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Cited By (6)
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| CN108469769A (en) * | 2018-05-08 | 2018-08-31 | 江苏启飞应用航空科技有限公司 | A kind of increasingly automated water fetching device and control circuit |
| CN108594682A (en) * | 2018-04-16 | 2018-09-28 | 江苏启飞应用航空科技有限公司 | A kind of water sampling system on unmanned plane |
| CN109000982A (en) * | 2018-07-24 | 2018-12-14 | 烟台伺维特智能科技有限公司 | A kind of unmanned aerial vehicle platform water surface sampler, system and method |
| CN110194265A (en) * | 2019-05-31 | 2019-09-03 | 深圳创壹通航科技有限公司 | Long voyage unmanned plane and its control method for ocean water body automatic collection |
| CN112161840A (en) * | 2020-09-30 | 2021-01-01 | 山东科技大学 | Polyvinyl alcohol-based sponge water sampling device, use method of device and application of device |
| CN114132502A (en) * | 2021-12-23 | 2022-03-04 | 中水三立数据技术股份有限公司 | Automatic water collection device based on unmanned aerial vehicle and safety protection method thereof |
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| CN108594682A (en) * | 2018-04-16 | 2018-09-28 | 江苏启飞应用航空科技有限公司 | A kind of water sampling system on unmanned plane |
| CN108469769A (en) * | 2018-05-08 | 2018-08-31 | 江苏启飞应用航空科技有限公司 | A kind of increasingly automated water fetching device and control circuit |
| CN109000982A (en) * | 2018-07-24 | 2018-12-14 | 烟台伺维特智能科技有限公司 | A kind of unmanned aerial vehicle platform water surface sampler, system and method |
| CN110194265A (en) * | 2019-05-31 | 2019-09-03 | 深圳创壹通航科技有限公司 | Long voyage unmanned plane and its control method for ocean water body automatic collection |
| CN110194265B (en) * | 2019-05-31 | 2023-12-22 | 深圳创壹通航科技有限公司 | Long-range unmanned aerial vehicle for automatic marine water body collection and control method thereof |
| CN112161840A (en) * | 2020-09-30 | 2021-01-01 | 山东科技大学 | Polyvinyl alcohol-based sponge water sampling device, use method of device and application of device |
| CN114132502A (en) * | 2021-12-23 | 2022-03-04 | 中水三立数据技术股份有限公司 | Automatic water collection device based on unmanned aerial vehicle and safety protection method thereof |
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