CN107192583A - A kind of intelligent water quality sampling method of water quality sampling unmanned plane - Google Patents
A kind of intelligent water quality sampling method of water quality sampling unmanned plane Download PDFInfo
- Publication number
- CN107192583A CN107192583A CN201710636723.4A CN201710636723A CN107192583A CN 107192583 A CN107192583 A CN 107192583A CN 201710636723 A CN201710636723 A CN 201710636723A CN 107192583 A CN107192583 A CN 107192583A
- Authority
- CN
- China
- Prior art keywords
- sampling
- motor
- self
- return
- unmanned plane
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000005070 sampling Methods 0.000 title claims abstract description 141
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 65
- 238000000034 method Methods 0.000 title claims abstract description 20
- 239000000523 sample Substances 0.000 claims abstract description 69
- 230000008569 process Effects 0.000 claims abstract description 10
- 230000008878 coupling Effects 0.000 claims abstract description 9
- 238000010168 coupling process Methods 0.000 claims abstract description 9
- 238000005859 coupling reaction Methods 0.000 claims abstract description 9
- 239000011521 glass Substances 0.000 claims description 11
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 claims description 10
- 150000001875 compounds Chemical class 0.000 claims description 10
- 239000001301 oxygen Substances 0.000 claims description 10
- 229910052760 oxygen Inorganic materials 0.000 claims description 10
- 230000000630 rising effect Effects 0.000 claims description 6
- 238000004891 communication Methods 0.000 claims description 3
- 238000001125 extrusion Methods 0.000 claims description 3
- 239000004973 liquid crystal related substance Substances 0.000 claims description 3
- 230000009471 action Effects 0.000 claims description 2
- 230000003139 buffering effect Effects 0.000 claims description 2
- 230000007423 decrease Effects 0.000 claims description 2
- 230000008901 benefit Effects 0.000 abstract description 2
- 230000007246 mechanism Effects 0.000 abstract description 2
- 230000004888 barrier function Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 230000005611 electricity Effects 0.000 description 5
- 239000003792 electrolyte Substances 0.000 description 4
- 239000007788 liquid Substances 0.000 description 4
- 238000005259 measurement Methods 0.000 description 4
- 239000000203 mixture Substances 0.000 description 4
- MYMOFIZGZYHOMD-UHFFFAOYSA-N Dioxygen Chemical compound O=O MYMOFIZGZYHOMD-UHFFFAOYSA-N 0.000 description 3
- 230000000903 blocking effect Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 239000013078 crystal Substances 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 239000012530 fluid Substances 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 244000005700 microbiome Species 0.000 description 2
- 230000002265 prevention Effects 0.000 description 2
- 241000196324 Embryophyta Species 0.000 description 1
- 240000002853 Nelumbo nucifera Species 0.000 description 1
- 235000006508 Nelumbo nucifera Nutrition 0.000 description 1
- 235000006510 Nelumbo pentapetala Nutrition 0.000 description 1
- 229910021607 Silver chloride Inorganic materials 0.000 description 1
- 238000005273 aeration Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000009395 breeding Methods 0.000 description 1
- 230000001488 breeding effect Effects 0.000 description 1
- 239000000919 ceramic Substances 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 239000008358 core component Substances 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000001934 delay Effects 0.000 description 1
- 238000009792 diffusion process Methods 0.000 description 1
- 238000001035 drying Methods 0.000 description 1
- 238000005183 dynamical system Methods 0.000 description 1
- 238000005868 electrolysis reaction Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 239000012634 fragment Substances 0.000 description 1
- 239000007789 gas Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-M hydroxide Chemical compound [OH-] XLYOFNOQVPJJNP-UHFFFAOYSA-M 0.000 description 1
- 238000007654 immersion Methods 0.000 description 1
- 239000010842 industrial wastewater Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000012528 membrane Substances 0.000 description 1
- 239000010841 municipal wastewater Substances 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 239000012466 permeate Substances 0.000 description 1
- 238000005086 pumping Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 229920006395 saturated elastomer Polymers 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- HKZLPVFGJNLROG-UHFFFAOYSA-M silver monochloride Chemical compound [Cl-].[Ag+] HKZLPVFGJNLROG-UHFFFAOYSA-M 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
- 238000004065 wastewater treatment Methods 0.000 description 1
- 239000003403 water pollutant Substances 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
-
- 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
- G01N1/16—Devices for withdrawing samples in the liquid or fluent state with provision for intake at several levels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
Landscapes
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Physics & Mathematics (AREA)
- Hydrology & Water Resources (AREA)
- Automation & Control Theory (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Health & Medical Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Sampling And Sample Adjustment (AREA)
Abstract
The invention discloses a kind of intelligent water quality sampling method of water quality sampling unmanned plane, the unmanned plane includes unmanned vehicle, sampled-data control system, sampling cup, and wherein sampled-data control system includes the fixed high probe of motor fixing plate, spool, control board, self-locking motor, shaft coupling, rotating speed coder, sample motor, return baffle plate, reset buffer, water level, Self locking gears, sampling cup drawstring and return switch.By determine height make unmanned plane it is stable rest on certain height on the water surface, then by controlling the rotation number of turns of spool sampling cup is accurately reached underwater specified location, ensure that the sampling cup for adopting full water sample firmly rests on the bottom centre position of unmanned plane finally by return sensing and self-lock mechanism.Whole water sampling process can be automatically performed and be maked a return voyage by programming, without manual intervention.The great advantage of this system is exactly reliable and stable, easy, the standard compliant sampling flow of intelligence.
Description
Technical field
The invention belongs to unmanned air vehicle technique field, and in particular to a kind of intelligent water quality sampling side of water quality sampling unmanned plane
Method.
Background technology
With pay attention to day by day of the Chinese Government to environmental problem, system promotes water prevention and cure of pollution, Ecology protection and water money
The work of source control is extremely urgent, efficiently comprehensively obtains the prerequisite that water quality information is water prevention and cure of pollution work, and water quality is adopted
Sample work is then the key link for obtaining water quality information.In order to improve the operating efficiency of this key link and in case of emergency
Be rapidly completed water sampling task under complex environment, invent it is a kind of can it is quick, efficiently, the water sampling instrument of full intelligence be ten
Divide what is be necessary.Current most sampling work is completed by people, and the shortcoming of artificial sample is：
1 cost is high, efficiency is low, waste time and energy.
2 can not adapt to complicated foreign environment.Also useful unmanned plane just completes sampling, such as patent CN203975222 U
Propose a kind of use water pump and the sampling unmanned plane of water sample is extracted in suction pipe high-altitude, the advantage of this method is sampling mechanism design
Relatively easy, load is relatively light, but has the disadvantage:
1 takes mode using pumping, and when water pollutant is more, sample lines are easily blocked, can not be timely in the event of blocking
Detection.
2 sample lines easily grow various microorganisms, it is necessary to regularly clean or replace flexible pipe for a long time.
Significant changes can occur in extraction process for 3 some measurement indexes such as dissolved oxygen, cause measurement error.For above-mentioned
The deficiency of two kinds of sample modes, the suspension type unmanned plane water-quality sampler system that designs of the present invention can with remote control unmanned plane,
Self-navigation carries out the collection of water sample to appointed place, and whole sampling process high efficiency and time conservation, without human intervention, is greatly improved
The efficiency and range of sampling.
The content of the invention
Goal of the invention：The invention aims to solve it is of the prior art it is not enough there is provided a kind of water quality sampling nobody
The intelligent water quality sampling method of machine, the method for sampling hangs sampled-data control system and sampler by unmanned vehicle, nobody
Aircraft is maintained at certain height on the water surface by the altitude signal of sampled-data control system, and sampled-data control system controls sampler again
Decline and rise, sampled-data control system notifies unmanned vehicle to make a return voyage after the completion of water sampling, whole process is simple, convenient and rapid, it is complete from
Dynamic control.
Technical scheme：A kind of intelligent water quality sampling method of water quality sampling unmanned plane of the present invention, its feature exists
In：Comprise the following steps：
Start before sampling, first on map or scene determine need sample specified place, by whole unmanned plane water-quality sampler
System is placed in the voyage of sampled point；
If unmanned vehicle is self-navigation, unmanned vehicle takes off according to route planning and goes to sampling position；Otherwise fly
Personnel go to sampling position in ground control unmanned vehicle；
After unmanned vehicle reaches sampled point overhead, aircrew clicks on " starting sampling ", sampling in the control software of ground
Process starts；
Unmanned vehicle reads the water surface elevation information that sampled-data control system is transmitted, and is adjusted automatically according to present level unmanned vehicle
Whole vertical height is until being stabilized to preset height；
Sampled-data control system control self-locking motor releases the locking to Self locking gears, then starts sample motor, spool starts
Unwrapping wire, while sampled-data control system constantly reads the newest unwrapping wire length of numerical computations of rotating speed coder, when calculating to sampling
Cup is when having leached into certain depth under water, and sampled-data control system stops sample motor, and waits for a period of time and allow sampling cup to fill
Full water sample, afterwards sampled-data control system be again started up sample motor and rotate backward, spool starts take-up, when sampling cup is reached back
Position baffle plate, sampling cup props up reset buffer and switchs closure by return, and sampled-data control system stops sample motor, and self-locking motor is opened
It is dynamic that Self locking gears are locked；
Unmanned vehicle makes a return voyage or has aircrew's ground remote control to make a return voyage automatically.
Further, described water quality sampling unmanned plane includes unmanned vehicle, sampled-data control system and sampling cup；Wherein
Sampled-data control system includes fixed high subsystem, withdrawing rope subsystem, motor number of turns computing subsystem, return subsystem, center control
Subsystem and assembling subsystem；Withdrawing rope subsystem includes sample motor, shaft coupling, spool and sampling cup drawstring；Electricity
Machine number of turns computing subsystem includes rotating speed coder, and rotating speed coder can obtain the rotation number of turns of sample motor in real time, rotates
The spiral girth that the number of turns is multiplied by spool can obtain the length of unwrapping wire, so as to control the falling head of sampling cup；Return subsystem
System includes reset buffer, return switch, Self locking gears and self-locking motor；Central control subsystem include control board, it is described in
Control plate provided with single-chip microcomputer, PH compound glasses electrode, 499ADO dissolved oxygens quantity sensor, CA3140 operational amplifiers, two
ADC0832A/D converters and a LCD liquid crystal display screen；Wherein described PH compound glasses electrode and 499ADO dissolved oxygen amounts are passed
The signal input part of sensor is respectively connecting to the signal input part of correspondence CA3140 operational amplifiers, the CA3140 operation amplifiers
The amplified signal of device output inputs multiple differences of the single-chip microcomputer after ADC0832A/D converters are converted into data signal
Water quality sampling signal input part, the single-chip microcomputer by corresponding ports respectively to the LCD display, scan drive circuit with
And warning circuit output control signal；Assembling subsystem includes motor fixing plate and return baffle plate；Sample motor and Self locking gears
It is fixed on motor fixing plate, reset buffer, return switch are fixed on return baffle plate.
Further, reset buffer includes spring and the disk on spring both sides, encounters return when sampling cup rising and delays
The lower disc of phase, lower disc extrusion spring are rushed, spring extrudes upper disk, and upper disk finally extrudes limit switch, when the pressure of spring
When power is reached to a certain degree, limit switch closure, closure signal passes to central control subsystem, and central control subsystem, which is known, to be adopted
Sample cup return, stops the rising of sampling cup.
Further, after sample motor is out of service, central control subsystem can control self-locking motor to promote self-locking head
It is engaged with Self locking gears, Self locking gears is not rotated, because Self locking gears are fixed in the rotating shaft of sample motor, sampling
Central control subsystem can control self-locking motor away from self-locking tooth before the rotating shaft of motor is therefore locked, then next time, sampling started
Wheel, self-locking head is unclamped with Self locking gears, and the rotating shaft of self-locking motor can be rotated freely.
Further, sampling cup is by sampling cup drawstring raising and lowering, and sampling cup drawstring is wrapped on spool, volume
Bobbin is linked together by shaft coupling and sample motor, and spool carries out take-up and unwrapping wire by sample motor.
Further, unmanned vehicle carries out fixed height by the fixed high probe of water level, and sampling electricity is determined by rotating speed coder
The rotation number of turns of machine ensures that sampling cup is put down so as to control the length of sampling cup drawstring unwrapping wire by reset buffer and return switch
Steady returns to original position, makes spool remains stationary lock-out state by self-locking motor and Self locking gears, Self locking gears, which are fixed on, to be adopted
In the rotating shaft of sample motor.
Further, the state of control board collection all the sensors and switch, controls the execution sequential of all mobile devices,
Communicated in the beginning and end stage of sampling and unmanned vehicle, the data communication interface of control board and unmanned vehicle is
RS232 or RS485.
Further, motor fixing plate is fixed on the chassis of unmanned plane, and return baffle plate is fixed on the leg of unmanned plane；
Bottom during sampling cup return should be higher than the leg bottom of unmanned plane.
Further, when sampling cup sampling completes spool take-up, sampling cup is made to encounter by reset buffer
Speed slows down during return baffle plate, reduces the impact to unmanned vehicle, and return switch closure after sampling cup return, control board is received
Stop spool take-up action after to return switch closure signals.
Further, unmanned vehicle is depopulated helicopter or unmanned gyroplane.
Beneficial effect：
1 and artificial sample mode it is essentially the same, meet existing standard water quality sample streams journey；
2 whole sampling processes are simple to operate, high efficiency smart；
3 compared with unmanned boat sample mode, and unmanned vehicle can be from the local takeoff and landing farther from riverbank, without artificial
Unmanned boat is put down into water and bank is pulled on, manpower is saved, and be suitable for complex environment.
4 be not present sample lines, sample lines will not cooperating microorganisms water sample is polluted, sampling process will not occur
Block.
5 sampling processes do not introduce error, and all measurement indexes are consistent after the completion of sampling and in water body.
Brief description of the drawings
Fig. 1 is overall composition schematic diagram of the invention；
Fig. 2 is sampled-data control system composition schematic diagram；
Fig. 3 is sampled-data control system return switch schematic diagram；
Fig. 4 is control board circuit theory schematic diagram of the present invention；
Fig. 5 is operation amplifier circuit schematic diagram of the invention.
Embodiment
Technical scheme is described in further detail with reference to specific embodiment.
A kind of water quality sampling unmanned plane as shown in Fig. 1 to Fig. 3, the system is by unmanned vehicle 1, sampled-data control system 2
With the part of sampling cup 3 three composition.Install the bottom that sampled-data control system 2 is fixed to unmanned vehicle 1 by motor fixing plate 4
On plate, the leg that unmanned vehicle 1 is fixed to by return baffle plate 11, sampling cup 3 is suspended on spiral by sampling cup drawstring 15
On axle 5.Wherein for sampled-data control system 2, spool 5, self-locking motor 7, shaft coupling 8, rotating speed coder 9, sample motor 10
It is fixed on Self locking gears 14 on motor fixing plate 4, the fixed high probe 13 of control board 6, reset buffer 12, water level, sampling cup are drawn
Rope 15 and return switch 16 are fixed on return baffle plate 11.
The dynamical system of the present invention is unmanned vehicle 1, and basic demand is to hover, and load exists in more than 5Kg, continuation of the journey
More than 15 minutes.The system is using the M8A agricultural plant protection machines of Beijing day way aviation, and type is reequiped on the basis of former type, plus
Fill our sampled-data control system and sampler, the gross weight of sampled-data control system and sampler empty bottle is less than 1 .5Kg.Work as load
When lotus is 10Kg, M8A hoverings can reach that whole cruising time, flight condition was good more than 30 minutes more than 15 minutes.
Sampled-data control system 2 is the core component of the system, the system it is main by surely high subsystem, withdrawing rope subsystem,
Motor number of turns computing subsystem, return subsystem, six parts of central control subsystem and assembling subsystem are constituted.Determine Gao Zi
System is responsible for collecting unmanned plane from the elevation information of the water surface, the releasing and withdrawal of withdrawing rope subsystem responsible sampling cup drawstring 15,
Motor number of turns computing subsystem is responsible for calculating the rotation number of turns of sample motor and then calculates the releasing length of sampling cup drawstring 15, returns
Sub-systems are responsible for the accurately position that returns to before setting out of sampling cup 3, and central control subsystem is responsible for above four subsystems
The coordinating and unifying works and the communication with unmanned vehicle, assembles subsystem by all device reasonable arrangements and unmanned vehicle knot
It is combined.
The device of fixed high subsystem is popped one's head in including supersonic liquid level, and what the system was selected is 4-20SC--WRTM series spies
Head, 5 meters of maximum range, minimum range 50cm, the .6mm of resolution ratio 1, the power supply of Refresh Data rate 0 .6Hz, 10~32V interval, number
It is 4~20mA current signals according to interface.
The device of withdrawing rope subsystem includes sample motor 10, shaft coupling 8, spool 5 and sampling cup drawstring 15.Sampling electricity
Machine 10 uses Faulhaber 2342L012 DC speed-reducings, operating voltage 12V, no-load speed：8100RPM, turns after deceleration
Fast 120RPM, power output：17W.The axle of sample motor 10 is linked together by the axis of shaft coupling 8 and spool 5, sampling
Cup drawstring 15 is wrapped on spool 5, and sampling cup drawstring 15 uses fishing line.The work of sample motor 10 drives spool 5 to rotate, and adopts
The unwrapping wire of spool 5 when sample starts, sampling cup 3 from high-altitude descending to the water surface under, sample motor 10 is rotated backward after the completion of sampling,
The take-up of spool 5, sampling cup 3 rises back to unmanned vehicle 1 under the water surface.
Motor number of turns computing subsystem includes rotating speed coder 9, and rotating speed coder 9 is by magnetic degree sensors A S5600 and two
Polar circle shape magnet is constituted, and the cheap precision of magnetic coder small volume is high, can configure analog voltage output or position angle PWM is defeated
Go out, be adapted to the demand for calculating motor rotations.AS5600 and magnetic blow out centre are symmetrical during installation, AS5600 just can according to magnet positions,
Export the corresponding magnitude of voltage of angle residing for magnet.The rotation number of turns of sample motor can be obtained in real time by rotating speed coder 9, turned
The spiral girth that moving-coil number is multiplied by spool can obtain the length of unwrapping wire, so as to control the falling head of sampling cup 3.
Return subsystem includes reset buffer 12, return switch 16, Self locking gears 14 and self-locking motor 7.Reset buffering
Device 12 is made up of the disk on spring and spring both sides, and return switch 16 is limit switch.Encounter back when sampling cup 3 rises
The lower disc of digit buffer 12, lower disc extrusion spring, the upper disk of spring extruding, upper disk finally extrudes limit switch, works as bullet
When the pressure of spring is reached to a certain degree, limit switch closure, closure signal passes to central control subsystem, central control subsystem
Know the return of sampling cup 3, stop the rising of sampling cup 3.By reset buffer 12, the rising pair of sampling cup 3 can be reduced
The compression shock of the bottom of unmanned vehicle 1, can also make the relatively reliable shell fragment of closure of limit switch will not reciprocating collision.In sampling
After motor 10 is out of service, to prevent the self-locking moment of torsion of sample motor 10 inadequate, central control subsystem can control self-locking motor 7
Promote self-locking head and Self locking gears to be engaged, Self locking gears is not rotated, because Self locking gears are fixed on sample motor
In rotating shaft, the rotating shaft of sample motor 10 is therefore locked, then sampling next time starts preceding central control subsystem and self-locking can be controlled electric
Machine 7 is unclamped away from Self locking gears 14, self-locking head with Self locking gears 14, and the rotating shaft of self-locking motor 7 can be rotated freely.
Central control subsystem includes control board 6.Have on control board 6 and determine high subsystem, withdrawing rope subsystem, motor circle
The electrical control interface of number computing subsystem and return subsystem.MCU on control board selects the STM32F1 of STMicw Electronics
Family chip, the serial cpu frequency up to 72MHz, FLASH highest 1M capacity, RAM highests 96K is low in energy consumption, there is substantial amounts of
Common peripheral hardware, the need for disclosure satisfy that system control.
Assembling subsystem includes motor fixing plate 4 and return baffle plate 11, and assembling subsystem is sampled-data control system 2 and nobody
The tie that aircraft 1 is connected.Spool 5, self-locking motor 7, shaft coupling 8, rotating speed coder 9, sample motor 10 and Self locking gears
14 grade motor related devices are fixed on motor fixing plate 4, and motor fixing plate 4 is connected by the bottom plate of top installing plate and unmanned plane
It is connected together, the fixed high probe 13 of control board 6, reset buffer 12, water level, sampling cup drawstring 15 and return switch 16 are fixed on back
On the baffle plate 11 of position, return baffle plate 11 is linked together by the leg of the two pieces of installing plates in side and unmanned vehicle 1.Return baffle plate
11 also have One function to be exactly limited samples cup the distance between 3 and unmanned vehicle 1, and sampling cup 3 will not directly contact nothing
People's aircraft 1, bottom during 3 return of sampling cup should be higher than the leg bottom of unmanned vehicle 1, and such unmanned vehicle 1 drops
Just do not influenceed when falling by sampling cup 3.
Control board circuit theory diagrams as shown in Figure 3 and Figure 4.Including single-chip microcomputer, PH compound glasses electrode, one
499ADO dissolved oxygens quantity sensor, two CA3140 operational amplifiers, two ADC0832A/D converters and a LCD liquid crystal
Display screen；The signal input part of wherein described PH compound glasses electrode and 499ADO dissolved oxygen quantity sensors is respectively connecting to correspondence
The signal input part of CA3140 operational amplifiers, the amplified signal of the CA3140 operational amplifiers output passes through ADC0832A/D
Converter is converted into inputting 2 different water quality sampling signal input parts of the single-chip microcomputer after data signal；The single-chip microcomputer
By corresponding ports respectively to the LCD display, scan drive circuit and warning circuit output control signal.The monolithic
Machine selects AT89C52 controllers.
When it is implemented, pH compound glass electrode sensor glass electrodes are used as indicator electrode, silver chloride electrode conduct
Two kinds of electrode packages are constituted compound glass electrode by reference electrode together.Insert electrodes into solution to be measured, compound glass electrode
With solution composition galvanic cell to be measured, two output leads of compound glass electrode are respectively the positive pole and negative pole of galvanic cell.
The 499ADO sensors of selection are mainly used in the content of dissolved oxygen in continuous detection liquid, and measurement range is 0-
In 20ppm, the aeration tank for being mainly used in municipal wastewater and Industrial Waste Water Treatments factory, it can be used for molten in detection breeding pool
Solve the content of oxygen.499ADO sensors are made up of golden negative electrode, silver-colored order positive electrode and electrolyte, and one layer is covered with negative electrode
The barrier film for allowing oxygen to permeate.During working sensor, the oxygen molecule in fluid to be measured is diffused in negative electrode by barrier film, is applied
Oxygen molecule is reduced into hydroxide ion by the polarizing voltage being added in negative electrode, and then produces electric current between yin, yang electrode.By
The temperature of fluid to be measured is depended on by the diffusion rate of barrier film in oxygen molecule, so, the response time of sensor must school
Positive temperature is on the infiltrative influence of barrier film.In dissolved oxygen sensor can built-in Pt100 temp probes, therefore, will during demarcation
Sensor is exposed in saturated air, and by the associated button in analytical instrument, now, analytical instrument measures atmospheric pressure, and counts
Calculate under Current Temperatures, pressure, the equilibrium concentration of atmospheric oxygen.The maintenance of the sensor is also very convenient, fast.Barrier film
Replacing need not use specific purpose tool or other fixing equipments, and a few drop electrolyte only need to be put in diaphragm assembly, are then put
On negative electrode, rotation fixator is twisted in place.During filling electrolyte, sensing station is inverted, position upwards, is outwarded winding in barrier film position
The blocking solution plug of what sensors sides partial below, then extruding is equipped with dielectric plastic bottle, and electrolysis is added dropwise at leisure from filling opening
Liquid, directly only liquid level is low up to filling opening lower section, then the reset of blocking solution plug is screwed, then, sensing station is recovered into normal, i.e. barrier film
Down, and with right finger pinch its top, firmly outward side whipping several times, make to be filled with electrolyte completely with dissolved oxygen every
Membrane module is connected, and bubble is there may be in the middle of removing.The mounting means of sensor has multiple choices, is surveyed for Loss-on-drying gas pond or pond
Amount application, selects immersion mounting means；For duct survey application, flow type mounting means is selected.499ADO sensors
VP cable connectors and a private cable, i.e. Split type structure can be matched somebody with somebody.The VP male connectors connected with sensor, can with equipped with
The cable Fast Installation of VP Female connectors, dismounting.Once the wiring of cable and analytical instrument is completed, then later more emat sensor
When, without changing cable, without rewiring, and during install sensor, cable is also not in twisting phenomenon.
The minimum system of STC89C52 single-chip microcomputers is made up of clock circuit, reset circuit, power circuit and single-chip microcomputer.Monolithic
The clock signal of machine is used for providing the time reference of various operations in single chip microcomputer, and resetting operation then makes the on-chip circuit of single-chip microcomputer
Initialization, makes single-chip microcomputer be brought into operation from a kind of initial state of determination.The clock signal of single-chip microcomputer is generally obtained with two kinds of circuit forms
Arrive：Internal oscillator mode and outside mode of oscillation.In the external crystal oscillator of pin XTAL1 and XTAL2 or ceramic resonator, just
Constitute internal oscillator mode.Due to there is a high gain inverting amplifier inside single-chip microcomputer, after external crystal oscillator, just constitute
Self-excited oscillator simultaneously produces running clock pulse.When 2 height electricity more than machine cycle occurs in the reset pin RST of 51 single-chip microcomputers
Usually, single-chip microcomputer is carried out resetting operation.If RST is continuously high level, single-chip microcomputer is at cycle reset state.According to should
It is required that, resetting operation generally has two kinds of citation forms：Electrification reset and upper electricity or switch reset.Electrification reset requires to connect
After power supply, automatic realize resets operation, and during single-chip microcomputer is run, can also make monolithic processor resetting with switching manipulation.Monolithic
The reset operation of machine makes single-chip microcomputer enter init state, including making program counter PC=0000H, this show program from
0000H address locations start to perform.
Its dynamic duty process is：Start before sampling, first on map or scene determine need sample specified place, will
Whole device is placed in the voyage of sampled point.If unmanned vehicle 1 is self-navigation, unmanned vehicle rises according to route planning
Fly to go to sampling position；Otherwise aircrew goes to sampling position in ground control unmanned vehicle 1.When unmanned vehicle 1 is arrived
Up to after sampled point overhead, aircrew clicks on " starting sampling " in the control software of ground, and sampling process starts.First, nobody
Aircraft 1 reads the water surface elevation information that sampled-data control system 2 is transmitted, and is hung down according to the adjust automatically of present level unmanned vehicle 1
Straight height is until being stabilized to preset height, and then unmanned plane during flying device 1 notifies the fixed height of sampled-data control system 2 to complete, controlling of sampling
System 2 controls self-locking motor 7 to release the locking to Self locking gears 14 first, then starts sample motor 10, and spool 5 starts to put
Line, while the newest unwrapping wire length of the numerical computations of the constantly reading rotating speed coder 9 of sampled-data control system 2, sampling is arrived when calculating
Cup 3 is when having leached into certain depth under water, and sampled-data control system 2 stops sample motor 10, and waits for a period of time and allow sampling
Cup 3 is full of water sample, and sampled-data control system 2 is again started up sample motor 10 and rotated backward afterwards, and spool 5 starts take-up, when adopting
Sample cup 3 reaches return baffle plate 11, and sampling cup 3, which props up reset buffer 11, allows return to switch 16 closures, and closure signal passes to sampling
Control system 2, sampled-data control system 2 stops sample motor 10, and self-locking motor 7 starts to be locked to Self locking gears 14, and is led to
Know that unmanned vehicle 1 makes a return voyage, unmanned vehicle 1 makes a return voyage automatically or has aircrew's ground remote control to make a return voyage.
The above described is only a preferred embodiment of the present invention, any formal limitation not is made to the present invention, though
So the present invention is disclosed above with preferred embodiment, but is not limited to the present invention, any to be familiar with this professional technology people
Member, without departing from the scope of the present invention, when the technology contents using the disclosure above make a little change or modification
For the equivalent embodiment of equivalent variations, as long as being the content without departing from technical solution of the present invention, the technical spirit according to the present invention
Any simple modification, equivalent variations and the modification made to above example, in the range of still falling within technical solution of the present invention.
Claims (10)
1. a kind of intelligent water quality sampling method of water quality sampling unmanned plane, it is characterised in that：Comprise the following steps：
Start before sampling, first on map or scene determine need sample specified place, by whole unmanned plane water-quality sampler
System is placed in the voyage of sampled point；
If unmanned vehicle is self-navigation, unmanned vehicle takes off according to route planning and goes to sampling position；Otherwise fly
Personnel go to sampling position in ground control unmanned vehicle；
After unmanned vehicle reaches sampled point overhead, aircrew clicks on " starting sampling ", sampling in the control software of ground
Process starts；
Unmanned vehicle reads the water surface elevation information that sampled-data control system is transmitted, and is adjusted automatically according to present level unmanned vehicle
Whole vertical height is until being stabilized to preset height；
Sampled-data control system control self-locking motor releases the locking to Self locking gears, then starts sample motor, spool starts
Unwrapping wire, while sampled-data control system constantly reads the newest unwrapping wire length of numerical computations of rotating speed coder, when calculating to sampling
Cup is when having leached into certain depth under water, and sampled-data control system stops sample motor, and waits for a period of time and allow sampling cup to fill
Full water sample, afterwards sampled-data control system be again started up sample motor and rotate backward, spool starts take-up, when sampling cup is reached back
Position baffle plate, sampling cup props up reset buffer and switchs closure by return, and sampled-data control system stops sample motor, and self-locking motor is opened
It is dynamic that Self locking gears are locked；
Unmanned vehicle makes a return voyage or has aircrew's ground remote control to make a return voyage automatically.
2. a kind of water quality sampling unmanned plane according to claim 1, it is characterised in that：Including unmanned vehicle, sampling control
System processed and sampling cup；Wherein sampled-data control system includes fixed high subsystem, withdrawing rope subsystem, motor number of turns calculating subsystem
System, return subsystem, central control subsystem and assembling subsystem；Withdrawing rope subsystem includes sample motor, shaft coupling, volume
Bobbin and sampling cup drawstring；Motor number of turns computing subsystem includes rotating speed coder, and rotating speed coder can obtain sampling in real time
The rotation number of turns of motor, the spiral girth that the rotation number of turns is multiplied by spool can obtain the length of unwrapping wire, so as to control sampling cup
Falling head；Return subsystem includes reset buffer, return switch, Self locking gears and self-locking motor；Center control subsystem
System includes control board, and the control board is provided with single-chip microcomputer, PH compound glasses electrode, 499ADO dissolved oxygens quantity sensor, CA3140
Operational amplifier, two ADC0832A/D converters and a LCD liquid crystal display screen；Wherein described PH compound glasses electrode and
The signal input part of 499ADO dissolved oxygen quantity sensors is respectively connecting to the signal input part of correspondence CA3140 operational amplifiers, described
The amplified signal of CA3140 operational amplifiers output inputs the list after ADC0832A/D converters are converted into data signal
Multiple different water quality sampling signal input parts of piece machine, the single-chip microcomputer by corresponding ports respectively to the LCD display,
Scan drive circuit and warning circuit output control signal；Assembling subsystem includes motor fixing plate and return baffle plate；Sampling
Motor and Self locking gears are fixed on motor fixing plate, and reset buffer, return switch are fixed on return baffle plate.
3. a kind of water quality sampling unmanned plane as claimed in claim 2, it is characterised in that：Reset buffer includes spring and bullet
The disk on spring both sides, when circle in the lower disc of reset buffering phase, lower disc extrusion spring, spring extruding is encountered in sampling cup rising
Disk, upper disk finally extrudes limit switch, when the pressure of spring reaches to a certain degree, and limit switch closure, closure signal is passed
To central control subsystem, central control subsystem knows sampling cup return, stops the rising of sampling cup.
4. a kind of water quality sampling unmanned plane as claimed in claim 2, it is characterised in that：After sample motor is out of service, in
Centre control subsystem can control self-locking motor to promote self-locking head and Self locking gears to be engaged, and Self locking gears is not rotated, by
Be fixed in Self locking gears in the rotating shaft of sample motor, the rotating shaft of sample motor is therefore locked, then sampling next time start before in
Centre control subsystem can control self-locking motor away from Self locking gears, and self-locking head unclamps with Self locking gears, and the rotating shaft of self-locking motor can
Freely to rotate.
5. a kind of water quality sampling unmanned plane as claimed in claim 2, it is characterised in that：Sampling cup passes through on sampling cup drawstring
Rise and decline, sampling cup drawstring is wrapped on spool, and spool is linked together by shaft coupling and sample motor, spool
Take-up and unwrapping wire are carried out by sample motor.
6. a kind of water quality sampling unmanned plane as claimed in claim 2, it is characterised in that：Unmanned vehicle passes through the fixed height of water level
Probe carries out fixed height, determines the rotation number of turns of sample motor to control the length of sampling cup drawstring unwrapping wire by rotating speed coder
Degree, ensures that sampling cup smoothly returns to original position by reset buffer and return switch, is made by self-locking motor and Self locking gears
Spool remains stationary lock-out state, Self locking gears are fixed in the rotating shaft of sample motor.
7. a kind of water quality sampling unmanned plane as claimed in claim 2, it is characterised in that：Control board gathers all the sensors and opened
The state of pass, controls the execution sequential of all mobile devices, is led in the beginning and end stage of sampling and unmanned vehicle
The data communication interface of letter, control board and unmanned vehicle is RS232 or RS485.
8. a kind of water quality sampling unmanned plane as claimed in claim 2, it is characterised in that：Motor fixing plate is fixed on unmanned plane
Chassis, return baffle plate is fixed on the leg of unmanned plane；Bottom during sampling cup return should be higher than the leg bottom of unmanned plane.
9. a kind of water quality sampling unmanned plane as described in claim 2-8, it is characterised in that：When sampling cup sampling completes spool
During take-up, sampling cup speed when return baffle plate will be encountered is slowed down by reset buffer, reduction is rushed to unmanned vehicle
Hit, return switch closure after sampling cup return, control board, which is received, stops spool take-up action after return switch closure signals.
10. a kind of water quality sampling unmanned plane as described in claim 2-8, it is characterised in that：Unmanned vehicle is that nobody goes straight up to
Machine or unmanned gyroplane.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710636723.4A CN107192583A (en) | 2017-07-31 | 2017-07-31 | A kind of intelligent water quality sampling method of water quality sampling unmanned plane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710636723.4A CN107192583A (en) | 2017-07-31 | 2017-07-31 | A kind of intelligent water quality sampling method of water quality sampling unmanned plane |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107192583A true CN107192583A (en) | 2017-09-22 |
Family
ID=59885018
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710636723.4A Pending CN107192583A (en) | 2017-07-31 | 2017-07-31 | A kind of intelligent water quality sampling method of water quality sampling unmanned plane |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107192583A (en) |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107621391A (en) * | 2017-10-18 | 2018-01-23 | 深圳国技仪器有限公司 | Wind resistance ambient air samples aircraft |
| CN107894353A (en) * | 2018-01-18 | 2018-04-10 | 贵州理工学院 | A kind of distance type lake storehouse water body sampling device |
| CN108469357A (en) * | 2018-04-17 | 2018-08-31 | 深圳市安思科电子科技有限公司 | A kind of unmanned plane with river water sampling function based on Internet of Things |
| CN108469358A (en) * | 2018-05-09 | 2018-08-31 | 东莞中国科学院云计算产业技术创新与育成中心 | UAV system and its method of sampling for the sampling of different depth water body |
| CN109506985A (en) * | 2018-12-07 | 2019-03-22 | 天津津航计算技术研究所 | A kind of multi-point layered water sampling system for unmanned boat |
| CN109782797A (en) * | 2019-01-03 | 2019-05-21 | 中国科学院自动化研究所 | Multiple no-manned plane Synergistic method, system, device for multiple spot water quality sampling |
| CN110987524A (en) * | 2020-01-01 | 2020-04-10 | 新疆天业（集团）有限公司 | Sampling method for coal-carrying transportation of power plant fuel vehicle |
| CN111103296A (en) * | 2020-01-20 | 2020-05-05 | 无锡市建筑工程质量检测中心 | Data measurement control processing device of non-contact detection system for quality of building outer wall surface |
| CN111176319A (en) * | 2020-02-11 | 2020-05-19 | 数字鹰电子（湖北）有限公司 | Method for collecting sample water by using unmanned aerial vehicle |
| CN111551401A (en) * | 2020-06-04 | 2020-08-18 | 同济大学 | Multipoint sampling device and unmanned aerial vehicle carrying same |
| CN111846225A (en) * | 2020-07-24 | 2020-10-30 | 杭州海康机器人技术有限公司 | Mounting platform of unmanned aerial vehicle aircraft, sampling device and control method of sampling device |
| CN113607494A (en) * | 2021-07-30 | 2021-11-05 | 华东理工大学 | Automatic water taking device and method for unmanned aerial vehicle |
| CN116149387A (en) * | 2023-04-19 | 2023-05-23 | 深圳市可飞科技有限公司 | Water quality sampler control mechanism, control method and water quality sampling device |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202330403U (en) * | 2011-12-01 | 2012-07-11 | 哈尔滨理工大学 | Intelligent water quality monitoring system |
| CN105044303A (en) * | 2015-09-08 | 2015-11-11 | 大连理工大学 | Multi-parameter water quality vertical dynamic data acquisition device for reservoirs |
| CN105466494A (en) * | 2015-12-28 | 2016-04-06 | 天津凯瑞基科技有限公司 | Pollution source monitoring management system |
| CN105699125A (en) * | 2016-03-09 | 2016-06-22 | 武汉博感空间科技有限公司 | Suspension type UAV (unmanned aerial vehicle) water sampler system |
| CN206311380U (en) * | 2016-11-17 | 2017-07-07 | 广州市德弛科技有限公司 | External hanging type water body collecting device based on unmanned plane |
-
2017
- 2017-07-31 CN CN201710636723.4A patent/CN107192583A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202330403U (en) * | 2011-12-01 | 2012-07-11 | 哈尔滨理工大学 | Intelligent water quality monitoring system |
| CN105044303A (en) * | 2015-09-08 | 2015-11-11 | 大连理工大学 | Multi-parameter water quality vertical dynamic data acquisition device for reservoirs |
| CN105466494A (en) * | 2015-12-28 | 2016-04-06 | 天津凯瑞基科技有限公司 | Pollution source monitoring management system |
| CN105699125A (en) * | 2016-03-09 | 2016-06-22 | 武汉博感空间科技有限公司 | Suspension type UAV (unmanned aerial vehicle) water sampler system |
| CN206311380U (en) * | 2016-11-17 | 2017-07-07 | 广州市德弛科技有限公司 | External hanging type water body collecting device based on unmanned plane |
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107621391A (en) * | 2017-10-18 | 2018-01-23 | 深圳国技仪器有限公司 | Wind resistance ambient air samples aircraft |
| CN107894353A (en) * | 2018-01-18 | 2018-04-10 | 贵州理工学院 | A kind of distance type lake storehouse water body sampling device |
| CN108469357B (en) * | 2018-04-17 | 2020-09-01 | 江西小布教育科技有限公司 | Unmanned aerial vehicle who has river sampling function based on thing networking |
| CN108469357A (en) * | 2018-04-17 | 2018-08-31 | 深圳市安思科电子科技有限公司 | A kind of unmanned plane with river water sampling function based on Internet of Things |
| CN108469358A (en) * | 2018-05-09 | 2018-08-31 | 东莞中国科学院云计算产业技术创新与育成中心 | UAV system and its method of sampling for the sampling of different depth water body |
| CN109506985A (en) * | 2018-12-07 | 2019-03-22 | 天津津航计算技术研究所 | A kind of multi-point layered water sampling system for unmanned boat |
| CN109782797A (en) * | 2019-01-03 | 2019-05-21 | 中国科学院自动化研究所 | Multiple no-manned plane Synergistic method, system, device for multiple spot water quality sampling |
| CN110987524A (en) * | 2020-01-01 | 2020-04-10 | 新疆天业（集团）有限公司 | Sampling method for coal-carrying transportation of power plant fuel vehicle |
| CN110987524B (en) * | 2020-01-01 | 2022-08-02 | 新疆天业（集团）有限公司 | Sampling method for coal-carrying transportation of power plant fuel vehicle |
| CN111103296A (en) * | 2020-01-20 | 2020-05-05 | 无锡市建筑工程质量检测中心 | Data measurement control processing device of non-contact detection system for quality of building outer wall surface |
| CN111176319A (en) * | 2020-02-11 | 2020-05-19 | 数字鹰电子（湖北）有限公司 | Method for collecting sample water by using unmanned aerial vehicle |
| CN111176319B (en) * | 2020-02-11 | 2020-10-27 | 数字鹰电子（湖北）有限公司 | Method for collecting sample water by using unmanned aerial vehicle |
| CN111551401B (en) * | 2020-06-04 | 2021-06-01 | 同济大学 | Multipoint sampling device and unmanned aerial vehicle carrying same |
| CN111551401A (en) * | 2020-06-04 | 2020-08-18 | 同济大学 | Multipoint sampling device and unmanned aerial vehicle carrying same |
| CN111846225A (en) * | 2020-07-24 | 2020-10-30 | 杭州海康机器人技术有限公司 | Mounting platform of unmanned aerial vehicle aircraft, sampling device and control method of sampling device |
| CN111846225B (en) * | 2020-07-24 | 2021-12-17 | 杭州海康机器人技术有限公司 | Mounting platform of unmanned aerial vehicle aircraft, sampling device and control method of sampling device |
| CN113607494A (en) * | 2021-07-30 | 2021-11-05 | 华东理工大学 | Automatic water taking device and method for unmanned aerial vehicle |
| CN116149387A (en) * | 2023-04-19 | 2023-05-23 | 深圳市可飞科技有限公司 | Water quality sampler control mechanism, control method and water quality sampling device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107192583A (en) | A kind of intelligent water quality sampling method of water quality sampling unmanned plane | |
| CN107310738A (en) | A kind of UAS of the intellectuality based on water quality sampling | |
| CN105699125B (en) | A kind of suspension type unmanned plane water-quality sampler system | |
| CN204612984U (en) | A kind of Groundwater Flow sampling overflow mechanism | |
| CN102937538B (en) | Remote-controlled three-dimensional sampling system and method applied to water quality emergency monitoring | |
| CN205642948U (en) | Many rotors air quality sampling unmanned aerial vehicle | |
| CN111650103B (en) | Floated runoff silt content monitoring devices | |
| CN105044303A (en) | Multi-parameter water quality vertical dynamic data acquisition device for reservoirs | |
| CN208420429U (en) | A kind of marine monitoring unmanned plane automatic sampling apparatus | |
| CN105045323B (en) | Intelligent grouting system | |
| CN105300727A (en) | Automatic water sample collector | |
| CN109374848A (en) | A kind of manual acquisition device of the vertical water quality data of data intelligence feedback and application method | |
| CN107541463A (en) | A kind of full-automatic on-line early warning diagnosis and treatment apparatus of anaerobic fermentation | |
| CN201535778U (en) | Drift water quality monitoring platform | |
| CN208705090U (en) | A kind of unmanned sampling of water quality detection system | |
| CN112326913A (en) | Water quality detection system based on unmanned ship | |
| CN206540736U (en) | A kind of intelligent atmosphere sampling instrument | |
| CN204493043U (en) | A kind of marine fuel oil managing and control system | |
| CN109540197A (en) | Underground water remote monitoring device and Groundwater Monitoring system with it | |
| CN202649807U (en) | Vibroflotation construction remote monitoring and recording system | |
| CN208270706U (en) | The insulation detection device and manned underwater vehicle of manned underwater vehicle | |
| CN206696656U (en) | A kind of cable shaft ditch on-line monitoring system | |
| CN206171784U (en) | Marine oil discharge monitoring and control system | |
| CN202058048U (en) | Automatic monitoring system for multi-purpose station clean water tank liquid levels | |
| CN212009004U (en) | Rain gauge outdoor detection device based on weighing constant volume |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170922 |