CN107300486A - A kind of water quality sampling method and system based on unmanned plane - Google Patents
A kind of water quality sampling method and system based on unmanned plane Download PDFInfo
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- 238000005070 sampling Methods 0.000 title claims abstract description 89
- 238000000034 method Methods 0.000 title claims abstract description 24
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims description 25
- 239000007788 liquid Substances 0.000 claims description 14
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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
- G01N1/16—Devices for withdrawing samples in the liquid or fluent state with provision for intake at several levels
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- 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
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- 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
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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Abstract
The present invention relates to unmanned air vehicle technique field, and in particular to a kind of water quality sampling method based on unmanned plane, and the unmanned plane is provided with water sample acquisition device, comprises the following steps：Unmanned plane, which takes off, rises to Route reform height set in advance；Highly flown based on Route reform to above sampled point；Unmanned plane drop to hovering height set in advance above sampled point；The water sample acquisition device is controlled to sample；Sampling task is completed, and unmanned plane makes a return voyage or flown to next sampled point.Water quality sampling method and system provided by the present invention based on unmanned plane, water quality sampling device is arranged on unmanned plane, utilize the advantage that UAV Maneuver is flexible, acquisition range is wide, drastically increase sampling efficiency, save manpower, it is easy to operate, it is ensured that the water sample gathered is representative, it is ensured that the accuracy of experiment.
Description
Technical field
The present invention relates to unmanned air vehicle technique field, and in particular to a kind of water quality sampling method and system based on unmanned plane.
Background technology
Environmental monitoring is the important component of environmental management, is the mostly important basic and forward position of environmental protection work
Sex work.Wherein, water quality monitoring is most important part in environmental monitoring, truly to reflect water pollution situation, it is necessary to supervise
The representational water sample of measuring tool, traditional method is to sail to sampling of water quality point to be extracted, not only labor intensive, material resources and when
Between, and original environment of sampling of water quality point is easily destroyed, water sample is lost representativeness.
Unmanned plane is a kind of unmanned vehicle manipulated by radio robot or itself presetting apparatus, quilt
Be widely used in taking photo by plane, monitor, search and rescue, the every field such as resource exploration, agricultural, but the application in terms of unmanned plane water quality sampling
Technology is also immature.
The content of the invention
The present invention in order to solve the above-mentioned technical problem there is provided a kind of water quality sampling method and system based on unmanned plane, gram
Taken sampled present in prior art waste of manpower, expend time length and sampling environment be more easily damaged, caused water sample not
Representative the problem of.
In order to reach above-mentioned technique effect, the present invention includes following technical scheme：
A kind of water quality sampling method based on unmanned plane, the unmanned plane is provided with water sample acquisition device, comprises the following steps：
1）Unmanned plane, which takes off, to be risen to Route reform set in advance and highly locates；
2）Highly flown based on Route reform to above sampled point；
3）Unmanned plane drop to hovering height set in advance above sampled point；
4）The water sample acquisition device is controlled to sample；
5）Sampling task is completed, and unmanned plane makes a return voyage or flown to next sampled point.
Further, the step 2）Specifically include：
The unmanned plane flies to sampled point according to the geographical location information of sampled point acquired in advance；
Calculate the horizontal range with sampled point position in real time during sampled point is flown to；
Determine whether to fly to sampled point overhead, if having flown to sampled point overhead, drop to and set in advance by sampled point overhead
The fixed hovering apart from the water surface is highly located；It is no it, continue in real time obtain distance sample horizontal range.
Further, the unmanned plane is obtained apart from the distance of the water surface by the ultrasonic sensor being arranged on unmanned plane
Take.
Further, if the unmanned plane has flown to sampled point overhead, it is drop to by sampled point overhead set in advance
It is specially at the hovering height of the water surface：
The unmanned plane is by sampled point overhead with speedLanding, and whether real-time judge has drop to the first predetermined height；
If the first predetermined height has been drop to, with speedLanding（<）, until droping at hovering height；
If not droping to the first predetermined height, continue withLanding.
Further, the ultrasonic sensor will be measured in real time during unmanned plane is obtained apart from water surface elevation
Original height data send to remote control center and handled and obtained accurate height measured data.
Further, the accurate high number of degrees are obtained after the original height data processing by measured by ultrasonic sensor
It is according to method：
It is ranked up the continuous 10 original height data obtained in real time are ascending；
First three data or rear three data after sequence is taken to be averaged；
Then accurate altitude information is obtained using first-order low-pass ripple.
In addition, present invention also offers a kind of water quality sampling system based on unmanned plane, including earth station, unmanned plane, peace
The water quality sampling device being connected loaded on the lowering or hoisting gear on unmanned plane and with the lowering or hoisting gear；It is provided with the unmanned plane
Flight control modules, navigation positioning system, ultrasonic sensor and video sensor, the lowering or hoisting gear, water quality sampling device,
Navigation positioning system, ultrasonic sensor and video sensor are connected with the flight control modules；The flight control
Module and earth station's radio communication.
Further, the water quality sampling device includes sampling box, and the sampling box is connected and adopted with the lowering or hoisting gear
Multiple set of samples are provided with sample case, each set of samples is by sampling bottle, water gathering tube, water acquisition motor-driven valve, liquid level sensor and water acquisition pump
Composition, the water acquisition motor-driven valve and water acquisition pump are arranged on water gathering tube, and one end of the water gathering tube is connected in sampling bottle, another
End extends downwardly from sampling box, and the liquid level sensor is arranged at the nearly bottleneck end in sampling bottle, and the water acquisition motor-driven valve, liquid level are passed
Sensor and water acquisition pump are connected with the flight control modules.
Further, the lowering or hoisting gear include base, the reel being rotatably arranged on by axostylus axostyle on base, wound on
Pulling rope on the reel and the motor for rotating the reel, the motor by clutch with
The axostylus axostyle connection, the motor is connected with the flight control modules.
Further, the flight control modules pass through one kind in 3G network, 4G networks, 5G networks, WIFI and ground
Stand communication connection.
Using above-mentioned technical proposal, including following beneficial effect：Water quality sampling provided by the present invention based on unmanned plane
Method and system, water quality sampling device is arranged on unmanned plane, using the advantage that UAV Maneuver is flexible, acquisition range is wide,
Sampling efficiency is drastically increased, manpower is saved, it is easy to operate, it is ensured that the water sample gathered is representative, it is ensured that real
The accuracy tested.
Brief description of the drawings
The water quality sampling method flow diagram that Fig. 1 is provided by the embodiment of the present invention 1；
The water quality sampling method flow diagram that Fig. 2 is provided by the embodiment of the present invention 2；
The structured flowchart for the water quality sampling system that Fig. 3 is provided by the embodiment of the present invention；
The unmanned plane structural representation that Fig. 4 is provided by the embodiment of the present invention.
In figure,
1st, unmanned plane；2nd, motor；3rd, clutch；4th, reel；5th, axostylus axostyle；6th, base；7th, ultrasonic sensor；8th, pull
Rope；9th, sampling bottle；10th, liquid level sensor；11st, water acquisition pump；12nd, water acquisition motor-driven valve；13rd, flight control modules；14th, lifting dress
Put；15th, vision sensor；16th, ultrasonic sensor；17th, navigation positioning system；18th, water quality sampling device；19th, earth station；
20th, water gathering tube；21st, sampling box.
Embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with the utility model embodiment
Accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is this
Invent a part of embodiment, rather than whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art
The every other embodiment obtained under the premise of creative work is not made, belongs to the scope of protection of the invention.
In the present invention, term " on ", " under ", "left", "right", "front", "rear", " top ", " bottom ", " interior ", " outer ",
" in ", " vertical ", " level ", " transverse direction ", the orientation of the instruction such as " longitudinal direction " or position relationship be based on orientation shown in the drawings or
Position relationship.These terms are not intended to limit indicated dress primarily to preferably describe the present invention and embodiment
Put, element or part there must be particular orientation, or be constructed and operated with particular orientation.
Also, above-mentioned part term is in addition to it can be used to indicate that orientation or position relationship, it is also possible to for representing it
His implication, such as term " on " also be likely used for representing certain relations of dependence or annexation in some cases.For ability
For the those of ordinary skill of domain, the concrete meaning of these terms in the present invention can be understood as the case may be.
In addition, term " installation ", " setting ", " being provided with ", " connection ", " connected " " socket " should be interpreted broadly.For example, can
To be to be fixedly connected, it is detachably connected, or monolithic construction；Can mechanically connect, or electrical connection；Can be joined directly together,
Either it is indirectly connected to by intermediary, or is connection internal between two devices, element or parts.For
For those of ordinary skill in the art, the concrete meaning of above-mentioned term in the present invention can be understood as the case may be.
Unless otherwise indicated, the implication of " multiple " is two or more.
The present invention is described in further detail below by specific embodiment and with reference to accompanying drawing.
Embodiment：
Refering to Fig. 3 and 4, the present embodiment 1 provides a kind of water quality sampling system based on unmanned plane, including earth station 19, nobody
Machine 1, the lowering or hoisting gear 14 being installed on unmanned plane 1 and the water quality sampling device 18 being connected with the lowering or hoisting gear 14；Nobody
Flight control modules 13, navigation positioning system 17, ultrasonic sensor 16 and video sensor 15, lifting dress are provided with machine 1
Put 14, water quality sampling device 18, ultrasonic sensor 16, navigation positioning system 17 and video sensor 15 with the flight
Control module 13 is connected；Flight control modules 13 and the radio communication of earth station 19.
During unmanned plane is the carrier of whole water quality sampling system, the present embodiment, unmanned plane can select multi-rotor unmanned aerial vehicle,
Flight control modules 13 are the action maincenters of unmanned plane, and its stability decides the security of the whole flight course of unmanned plane, its
Upper carrying Inertial Measurement Unit, navigation positioning system etc., the main flight attitude for performing unmanned plane is calculated, the line of flight is controlled,
Flying quality feeds back, and performs in flight course the aerial mission of correlation；Airborne end digital transmission module is provided with unmanned plane,
Earth station is provided with ground surface end digital transmission module, and the airborne end digital transmission module is used to realize unmanned plane and ground with ground surface end digital transmission module
Radio communication and data transfer between the station of face；
In the present embodiment, lowering or hoisting gear 14 is used to control water quality sampling device 18 to lift with respect to unmanned plane, the energy of video sensor 15
Enough implement water surface shooting, and transmit to earth station 19, grasped in all directions at sampling waters by photo, video and Monitoring Data
Water quality condition.
In the present embodiment, the water quality sampling device 18 includes sampling box 21, the sampling box 21 and the lowering or hoisting gear
Multiple set of samples are provided with connection and sampling box 21, each collection point is sampled from a wherein set of samples, shifted to down automatically
During one sampled point, using another untapped using group sampling.
Each set of samples is made up of sampling bottle 9, water gathering tube 20, water acquisition motor-driven valve 12, liquid level sensor 10 and water acquisition pump 11,
The water acquisition motor-driven valve 12 and water acquisition pump 11 are arranged on water gathering tube 20, and one end of the water gathering tube 20 is connected in sampling bottle 9,
The other end extends downwardly from sampling box, and the liquid level sensor 10 is arranged at the nearly bottleneck end in sampling bottle 9, the water acquisition motor-driven valve
12nd, liquid level sensor 10 and water acquisition pump 11 are connected with the flight control modules 13.Water gathering tube 20 stretches into underwater, in water acquisition
Water sample is adopted into sampling bottle 9 in the presence of pump 11, when liquid level sensor 10, which measures gathered water sample, has reached ormal weight, sent
Signal is worked to flight control modules 13, the control lowering or hoisting gear 14 of flight control modules 13, and sampling bottle 9 is pulled up into receipts.
Lowering or hoisting gear 14 includes base 6, the reel 4 being rotatably arranged on by axostylus axostyle 5 on base 6, wound on the volume
Pulling rope 8 in line wheel 4 and the motor 2 for rotating the reel 4, the motor 2 by clutch 3 with
The axostylus axostyle 5 is connected, and the motor 2 is connected with the flight control modules 13.Motor 2 drives reel 4 to rotate,
So that sampling bottle 9 is risen or fallen.
In the present embodiment, the flight control modules pass through one kind in 3G network, 4G networks, 5G networks, WIFI and ground
Face station is communicated to connect.
The embodiment of the present invention two, there is provided a kind of water quality sampling method based on unmanned plane on the basis of embodiment one,
Refering to Fig. 1, the unmanned plane is provided with water sample acquisition device 18, comprises the following steps：
S101, unmanned plane, which take off, to be risen to Route reform set in advance and highly locates；
Carry out before water quality sampling, high definition satellite map is loaded in earth station 19, one or more adopt can be chosen on map
Sampling point, can set a property parameter for each sampled point, for example hovering height and task point attribute, the task point attribute
For：After the completion of task, unmanned plane 1 can select to make a return voyage, rise to certain altitude hovering or continue next sampled point that flies to.Choosing
Take sampled point and set after the property parameters of correspondence sampled point, set up the wireless communication connection relation of earth station 19 and unmanned plane 1,
The positional information and attribute parameter information of sampled point are sent to the flight control modules 13 of unmanned plane 1.
Fly in control unmanned plane to before Route reform height, remote control is first switched to GPS patterns, unblock throttle is shifted onto
Neutral, unmanned plane meeting automatic takeoff to the hovering set in advance is highly hovered, and operator can be seen by earth station
Shock value size, gps signal power, motor conditions, stabilization of carriage angle situation of aircraft etc. are examined, so as to appoint to ensure that aircraft enters
Health status before business.After determining that Aircraft State is good, earth station, which clicks on, to continue, and unmanned plane rises to the air route of user's setting
Flying height.
S102, highly flown based on Route reform to being intended to above sampled point；
Navigation positioning system is provided with unmanned plane, current location can be positioned, can be according to current location and received
Sampled point positional information, independently fly to being intended to above sampled point, in the present embodiment, unmanned plane, which first climbs to predetermined air route, to fly
Row height, level flies to sampled point overhead is intended to, and is conducive to saving the flight time, controls the stability of flight.
S103, unmanned plane drop to hovering height set in advance above sampled point；
When unmanned plane flies to sampled point overhead, navigation positioning system navigate to the position of collection point, unmanned plane Autonomous landing until
At hovering height.
S104, the control water sample acquisition device sampling；
When unmanned plane is drop at hovering height, motor work drives reel to rotate, water sample acquisition device declines, water
Water gathering tube in sample harvester is extend into water, and water acquisition motor-driven valve and water acquisition pump are opened, and are sampled, by water pump such as sampling bottle
It is interior, when liquid level sensor, which measures sampling bottle reclaimed water, reaches given amount, close water acquisition motor-driven valve and water acquisition pump, lowering or hoisting gear is by water
Sample harvester is promoted to unmanned plane.
S105, sampling task are completed, and unmanned plane makes a return voyage or flown to next sampled point.
After the completion of the sampling task of the sampled point, unmanned plane can be automatically selected and return according to the task attribute being previously set
Boat flies to next sampled point according to current location information and the next sampling point position information prestored.
The embodiment of the present invention three, there is provided a kind of based on unmanned plane on the basis of embodiment two
Water quality sampling method, refering to Fig. 4, further comprises the steps：
S201, unmanned plane, which take off, to be risen to Route reform set in advance and highly locates；
S202, highly flown based on Route reform to being intended to above sampled point；
The unmanned plane flies to sampled point according to the geographical location information of sampled point acquired in advance；
Calculate the horizontal range with sampled point position in real time during sampled point is flown to；
Determine whether to fly to sampled point overhead, if having flown to sampled point overhead, drop to and set in advance by sampled point overhead
The fixed hovering height apart from the water surface；It is no it, continue in real time obtain distance sample horizontal range.
S203, unmanned plane drop to hovering height set in advance above sampled point；
The unmanned plane is obtained apart from the distance of the water surface by the ultrasonic sensor being arranged on unmanned plane.If unmanned plane has flown
To sampled point overhead, ultrasonic sensor is opened, the unmanned plane is by sampled point overhead with speedLand, and real-time judge is
It is no to drop to the first predetermined height；
If the first predetermined height is drop to, with speedLanding（<）, until droping at hovering height；
If not droping to the first predetermined height, continue withLanding.
When unmanned plane is when at hovering height farther out, i.e., when not to the first predetermined height, with larger speed
Landing, when reaching the first predetermined height, then with smaller speedReduce the height set of Z-direction, with smaller speed
Close to hovering height, on the one hand can improve water acquisition efficiency, on the other hand avoid close to hovering height at when, due to speed compared with
It drop to greatly below hovering height.
When unmanned plane hovers at the hovering height apart from the water surface, the real-time detecting distance horizontal plane of ultrasonic sensor
, if gps signal dies down, there is the unstable phenomenon of height change, unmanned plane can utilize ultrasonic sensor measurement in distance
Highly automatically adjust, be specially：
When ultrasonic sensor detects that unmanned plane is more than the second predetermined altitude apart from the height of the water surface（Hovering height<Second is pre-
Fixed height<First predetermined altitude）, the height of next target point is gradually reduced, unmanned plane is maintained near hovering height；When
Ultrasonic sensor detects that unmanned plane is less than the 3rd predetermined altitude apart from the height of the water surface（3rd predetermined altitude<Hovering is high
Degree）, then gradually increase the height of next target point, maintain unmanned plane near hovering height.
In actual use, the sensor of measurement distance have infrared radar, laser radar, millimetre-wave radar, vision sensor,
Ultrasonic sensor；These sensors respectively have advantage and disadvantage：Laser radar precision is high, but expensive；Millimetre-wave radar is restricted
In wavelength, Effect on Detecting is not good enough；Infrared radar is easily absorbed on the water surface, can not embody difference；Vision sensor comparatively,
Technology is realized complex；Although inexpensive ultrasonic sensor measurement distance is very short, economical and practical, if be only applied to
Height is measured on the water surface, can be applicable.
But, by the data that inexpensive ultrasonic sensor comes out have many invalid datas, thus be can not be straight
Connect and use initial data, and need to carry out initial data certain processing, the ultrasonic sensor obtain unmanned plane away from
During water clearance, the original height data measured are sent to remote control center handled and obtained essence in real time
True height measured data.
The step of it is handled is as follows:
Unmanned plane gathers the ultrasonic wave initial data measured by ultrasonic sensor every 50HZ and is sent in descent
Earth station, observes the outlier of ultrasonic wave initial data（The larger measured value of fluctuation）It is upward jump or bounce downwards, that is, observes
The changing rule of ultrasonic wave initial data, if the outlier of ultrasonic wave is beated upwards, then according to following strategy to original
The ultrasound data of beginning is handled：Obtain in real time 10 original height data are ranked up by small arrival；Take after sequence
Rear three data（Less three data）Averaged；Then the accurate high number of degrees are obtained using first-order low-pass ripple
According to.
If the outlier of observation ultrasonic wave initial data is beated downwards, first three in 10 initial data after sequence is taken
Individual data（Larger first three data）Averaged, accurate altitude information is then obtained using a LPF.
The ultrasound data obtained by journey processed above can be more nearly actual value, eliminate many useless open countries
Value so that elevation carrection is more accurate, realizes using inexpensive ultrasonic sensor measurement height, saves cost.
S204, the control water sample acquisition device sampling；
When unmanned plane is rested at hovering height, water quality collection is proceeded by, sampling scale is set in sampling bottle in advance, by
In being provided with liquid level sensor in sampling bottle, when the water quality of extraction reaches default scale, liquid level sensor sensor will
Trigger a pwm signal, and pwm signal be transmitted to flight control modules, flight control modules control close water acquisition motor-driven valve and
Water acquisition pump, and start motor, motor drives lowering or hoisting gear, water sample acquisition device is lifted.
S205, sampling task are completed, and unmanned plane makes a return voyage or flown to next sampled point.
Unmanned plane has been gathered after water sample, can be flown to Route reform set in advance height, then be set according to attribute
Task, determines that aircraft is hovering, flies to and next water sampling point or independently make a return voyage.
The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the invention, for the skill of this area
For art personnel, the present invention can have various modifications and variations.Within the spirit and principles of the invention, that is made any repaiies
Change, equivalent substitution, improvement etc., should be included in the scope of the protection.
Claims (10)
1. a kind of water quality sampling method based on unmanned plane, the unmanned plane is provided with water sample acquisition device, it is characterised in that bag
Include following steps：
1）Unmanned plane, which takes off, to be risen to Route reform set in advance and highly locates；
2）Highly flown based on Route reform to above sampled point；
3）Unmanned plane drop to hovering height set in advance above sampled point；
4）The water sample acquisition device is controlled to sample；
5）Sampling task is completed, and unmanned plane makes a return voyage or flown to next sampled point.
2. the water quality sampling method according to claim 1 based on unmanned plane, it is characterised in that the step 2）Specific bag
Include：
The unmanned plane flies to sampled point according to the geographical location information of sampled point acquired in advance；
Calculate the horizontal range with sampled point position in real time during sampled point is flown to；
Determine whether to fly to sampled point overhead, if having flown to sampled point overhead, drop to and set in advance by sampled point overhead
The fixed hovering apart from the water surface is highly located；It is no it, continue in real time obtain distance sample horizontal range.
3. the water quality sampling method according to claim 2 based on unmanned plane, it is characterised in that the unmanned plane is apart from water
The distance in face is obtained by the ultrasonic sensor being arranged on unmanned plane.
4. the water quality sampling method according to claim 3 based on unmanned plane, it is characterised in that if the unmanned plane has flown
To sampled point overhead, then droping to the hovering set in advance apart from the water surface by sampled point overhead is highly specially：
The unmanned plane is by sampled point overhead with speedLanding, and whether real-time judge has drop to the first predetermined height；
If the first predetermined height has been drop to, with speedLanding, until droping at hovering height；Wherein,<；
If not droping to the first predetermined altitude, continue withLanding.
5. the water quality sampling method according to claim 4 based on unmanned plane, it is characterised in that the ultrasonic sensor
During unmanned plane is obtained apart from water surface elevation, in real time the original height data measured are sent to remote control center
Row handles and obtains accurate height measured data.
6. the water quality sampling method according to claim 5 based on unmanned plane, it is characterised in that described by supersonic sensing
Accurate altitude information method is obtained after original height data processing measured by device is：
It is ranked up the continuous 10 original height data obtained in real time are ascending；
First three data or rear three data after sequence is taken to be averaged；
Then accurate altitude information is obtained using first-order low-pass ripple.
7. a kind of water quality sampling system based on unmanned plane, it is characterised in that including earth station（19）, unmanned plane（1）, be installed on
Unmanned plane（1）On lowering or hoisting gear（14）And with the lowering or hoisting gear（14）The water quality sampling device of connection（18）；The nothing
It is man-machine（1）On be provided with flight control modules（13）, navigation positioning system（17）, ultrasonic sensor（16）And video sensor
（15）, the lowering or hoisting gear（14）, water quality sampling device（18）, navigation positioning system（17）, ultrasonic sensor（16）And
Video sensor（15）With the flight control modules（13）Connection；The flight control modules（13）With earth station（19）Nothing
Line communicates.
8. water quality sampling system according to claim 7, it is characterised in that the water quality sampling device（18）Including sampling
Case, the sampling box is connected with the lowering or hoisting gear and multiple set of samples is provided with sampling box, and each set of samples is by sampling bottle
（9）, water gathering tube（20）, water acquisition motor-driven valve（12）, liquid level sensor（10）With water acquisition pump（11）Composition, the water acquisition motor-driven valve
（12）With water acquisition pump（11）It is arranged on water gathering tube（20）On, the water gathering tube（20）One end be connected to sampling bottle（9）It is interior, it is another
End extends downwardly from sampling box, the liquid level sensor（10）It is arranged at sampling bottle（9）Interior nearly bottleneck end, the water acquisition motor-driven valve
（12）, liquid level sensor（10）With water acquisition pump（11）With the flight control modules（13）Connection.
9. water quality sampling system according to claim 7, it is characterised in that the lowering or hoisting gear（14）Including base（6）、
Pass through axostylus axostyle（5）It is rotatably arranged on base（6）On reel（4）, wound on the reel（4）On pulling rope（8）With
And for rotating the reel（4）Motor（2）, the motor（2）Pass through clutch（3）With the axostylus axostyle
（5）Connection, the motor（2）With the flight control modules（13）Connection.
10. water quality sampling system according to claim 7, it is characterised in that the flight control modules（13）Pass through 3G
Network, 4G networks, 5G networks, one kind in WIFI and earth station（19）Communication connection.
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