CN107560894A - A kind of unmanned plane device to keep sample automatically for water quality and the method that keeps sample - Google Patents
A kind of unmanned plane device to keep sample automatically for water quality and the method that keeps sample Download PDFInfo
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- CN107560894A CN107560894A CN201710912133.XA CN201710912133A CN107560894A CN 107560894 A CN107560894 A CN 107560894A CN 201710912133 A CN201710912133 A CN 201710912133A CN 107560894 A CN107560894 A CN 107560894A
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Abstract
The present invention relates to a kind of unmanned plane device to keep sample automatically for water quality and the method that keeps sample, including unmanned plane during flying device main body, it is arranged on the unmanned plane leg and the energy and control unit of the unmanned plane during flying device body side, the unmanned plane device also includes being arranged on the mounting bracket on the downside of the unmanned plane during flying device main body, automatic water quality is installed in the mounting bracket to keep sample unit, the automatic water quality unit that keeps sample includes sampling bottle, the support main body mechanism of sampling bottle is installed, the sampling pump being arranged on the downside of the support main body mechanism, the sampling flexible pipe being connected with the sampling pump, it is connected to the multi-parameter water-quality monitoring probe of the sampling hose end.The present invention is provided simultaneously with monitoring and keeping sample function, by online monitoring data and preparatory condition triggering sampling, keeps sample in time, and the product that keep sample are consistent with on-line monitoring object height, improve subsequent applications break-up value.
Description
Technical field
The present invention relates to environmental monitoring, more particularly to a kind of unmanned plane device to keep sample automatically for water quality and stays
Quadrat method.
Background technology
In monitoring water environment field, when being monitored on-line to surface water bodies such as river, lake, reservoir, immediate offshore areas, pass
System monitoring water quality on line system is typically in fixed monitoring station, can only carry out water quality monitoring to certain point position, can only represent
Water quality condition in fixed limited scope, and the water quality condition of different zones is obtained, it is necessary to arrange multiple monitoring stations, exist
Input cost is high, the construction period is long, difficult in maintenance, operation cost is high, can not flexibly move according to demand, can not freely adjust water
Sample monitor depth the shortcomings of, and it is some point position surrounding terrain it is special be difficult to arrange stationary monitoring website.
Accordingly, it is considered to formula water quality monitoring is moved using UAV flight's multi-parameter water-quality on-line monitoring probe.Meanwhile
When monitoring probe measurement water quality condition on-line, water quality grade state of interest is applied according to monitoring, once find current water
Matter state needs to analyse in depth, then requires that carrying out water quality in time keeps sample.When moveable on-line monitoring probe measurement water quality condition
When, according to monitoring apply water quality grade state of interest, once find that current water quality condition needs to analyse in depth, then require and
Shi Jinhang water quality keeps sample, and conventional moving monitoring system is not provided simultaneously with the ability that monitors and keep sample, if not retaining corresponding water quality
Sample, then can not subsequently it be analysed in depth, data application and decision-making can also lack convincingness.If in moveable online prison
Independently carry out auxiliary using artificial or other systems outside examining system and keep sample, the delay of meeting existence time is asked with sample position difference
Topic, causes stayed water sample and online data inconsistent, reduces subsequent applications break-up value.
Therefore, a kind of system is developed while comprising on-line monitoring and sampled functions, by online monitoring data and preparatory condition
Triggering sampling, realizes that the device that water quality keeps sample automatically just seems particularly necessary.
The content of the invention
The purpose of the present invention is in view of the above-mentioned problems, proposing that one kind fast automatic can arrive at multiple monitoring sites and realize one
Determine the unmanned plane that the multi-parameter water-quality of scope is monitored and kept sample automatically by online monitoring data and preparatory condition triggering water quality automatically
Device and water quality automatic safety quadrat method.
To achieve the above object, the invention provides a kind of unmanned plane device to keep sample automatically for water quality, including nobody
Machine aircraft body, the unmanned plane leg and the energy and control unit for being arranged on the unmanned plane during flying device body side, institute
Stating unmanned plane device also includes being arranged on the mounting bracket on the downside of the unmanned plane during flying device main body, is installed in the mounting bracket
There is automatic water quality to keep sample unit, the automatic water quality unit that keeps sample includes sampling bottle, the support main body mechanism for installing sampling bottle, set
Put it is described support main body mechanism on the downside of sampling pump, be connected with the sampling pump sampling flexible pipe, be connected to it is described sample it is soft
The multi-parameter water-quality monitoring probe of pipe end, the support main body mechanism include being arranged on the chassis of bottom, are arranged on top
Rotary steering lid, the hollow shaft-like bearing mounting base through the connection chassis and rotary steering lid, the sampling bottle are arranged on
Among the chassis and rotary steering lid, by being arranged between the chassis, rotary steering lid, hollow shaft-like bearing mounting base
The support connection on top, the hollow shaft-like bearing mounting base middle part is provided with clutch shaft bearing, top is provided with rotary steering axle,
Top is provided with second bearing, and the mounting bracket top is provided with stepper motor, the rotary steering cover provided with it is described
The groove deflector of sampling bottle connection.
Preferably, the sampling bottle is using the ribbon with elasticated is fixed, plastic buckle is fixed or stainless steel hoop
Fixed, the bottleneck of the sampling bottle is shaped as funnel-form, and sets shutter at the thin mouth end of sampling bottle bottleneck；The sampling bottle
Be centrosymmetric arrangement or array type arrangement.
Preferably, the groove deflector includes being arranged on guiding gutter that the rotary steering covers, led through rotation
The infundibulate pod apertures being arranged on to lid on the downside of guiding gutter end；In water quality sampling, water quality sample is along guiding gutter through pod apertures
Into sampling bottle.
Preferably, under stepper motor drive, the rotary steering axle rotates to the position of sampling bottle, and water quality
Sample is imported into sampling bottle by sampling pump, sampling flexible pipe, groove deflector successively.
Preferably, the end of the sampling flexible pipe is provided with filtering head, and material is stainless steel or cast iron quality, is shaped as justifying
Cylindricality, taper, spherical or hexahedron.
Preferably, the sampling flexible pipe sequentially passes through hollow shaft-like bearing mounting base, clutch shaft bearing reaches rotary steering axle
Top, and the sampling flexible pipe is extended in the guiding gutter；Rotary steering axle drives the chassis or the rotation of rotary steering lid
Turn, and change the relative position of sampling bottle and pod apertures.
Preferably, the unmanned plane during flying device main body is unmanned quadrotor, depopulated helicopter, more rotor flies for nobody
Row device or unmanned airship.
Preferably, the water quality parameter of the multi-parameter water-quality monitoring probe monitors includes pH, turbidity, dissolved oxygen, electrical conductivity
And water temperature, the multi-parameter water-quality monitoring probe are single with control by water quality parameter data transfer to the energy by transmission cable
Member.
Another object of the present invention is to provide a kind of water quality automatic safety quadrat method of unmanned plane device, the water quality is automatic
The method of keeping sample comprises the following steps：
A, control described unmanned plane device to reach above dry point by program or teleinstruction, then keep hovering shape
State；
B, unmanned plane device makes sampling hose end, multi-parameter water-quality monitoring probe and mistake downwards close to the monitoring point water surface
Filter is immersed in water, and adjusts flying height according to the depth requirements of water quality monitoring, then keeps floating state；
C, popped one's head in by multi-parameter water-quality and multi-parameter on-line monitoring is carried out to water body, while gather and handle monitoring water quality ginseng
Number data；
D, driving stepper motor is controlled to be rotated by axis of guide drive groove deflector upward to overflow position, sampling pump
Water sample rinse pipeline is drawn, rinse terminates post-sampling pump and stopped operating；
E, control stepper motor to drive groove deflector to rotate to default sampling bottle position by the axis of guide, sampling pump to
Upper absorption water sample, water sample are flowed into default sampling bottle, are gathered enough water sample post-sampling pumps and are stopped operating；
F, sampling pump discharges downwards water sample, and the residual water sample emptying post-sampling pump in sample lines is stopped operating；
G, automatic water quality keeps sample unit break-off, and unmanned plane device is upwardly away from the water surface and monitors multi-parameter water-quality
Probe and filtering head are in more than the water surface, and control unmanned plane device flies to, and collection keeps sample again for next monitoring point progress, until
Complete to keep sample in all monitoring points.
Based on above-mentioned technical proposal, it is an advantage of the invention that：
(1) single set system monitoring river, lake, reservoir, a wide range of waters of immediate offshore area can be used, can quickly be moved
Each monitoring site into region is moved, set of system covers multiple monitoring sites, and monitoring can be adjusted flexibly according to demand
Point position and monitoring depth, reduce construction and operation cost, shorten the construction period, be easy to safeguard, for the monitoring under extreme terrain
Point position also can conveniently be arrived at and complete to monitor and keep sample.
(2) system is provided simultaneously with monitoring and keeping sample function, by online monitoring data and preparatory condition triggering sampling, keep sample and
When, the product that keep sample are consistent with on-line monitoring object height, improve subsequent applications break-up value.
(3) mobility of unmanned plane can shorten the time moved between monitoring point, when monitoring efficiency of increasing water quality is with monitoring
Effect property.
(4) compact structure and the monitoring that can hover in the air, reduce as far as possible to other objects of the water surface or operation at sea
Interference.
(5) monitoring and the work that keeps sample, automation can be completed in multiple monitoring points by program or teleinstruction control successively
Degree is high, professional to user of service to require low, saves administration overhead.
Brief description of the drawings
Accompanying drawing described herein is used for providing a further understanding of the present invention, forms the part of the application, this hair
Bright schematic description and description is used to explain the present invention, does not form inappropriate limitation of the present invention.In the accompanying drawings：
Fig. 1 is the unmanned plane apparatus structure schematic diagram to keep sample automatically for water quality；
Fig. 2 is that automatic water quality keeps sample cellular construction schematic diagram；
Fig. 3 is that automatic water quality keeps sample unit section schematic diagram；
Fig. 4 is the operating diagram of step A in embodiment 2；
Fig. 5 is the operating diagram of step B in embodiment 2；
Fig. 6 is the operating diagram of step C in embodiment 2；
Fig. 7 is the operating diagram of step D in embodiment 2；
Fig. 8 is the operating diagram of step E in embodiment 2；
Fig. 9 is the operating diagram of step F in embodiment 2；
Figure 10 is the operating diagram of step G in embodiment 2；
Figure 11 is that unmanned plane device controls unmanned plane device to fly to next monitoring point progress again in step G in embodiment 2
It is secondary to gather the schematic diagram that keeps sample；
Figure 12 is that unmanned plane device water quality keeps sample schematic flow sheet automatically.
Embodiment
Below by drawings and examples, technical scheme is described in further detail.
Embodiment 1
The invention provides a kind of unmanned plane device sampled automatically for water quality, as shown in Figure 1, Figure 2, Figure 3 shows, wherein showing
A kind of preferred embodiment of the present invention is gone out.Specifically, the unmanned plane device includes unmanned plane during flying device main body 18, set
Unmanned plane leg 17 and the energy and control unit 16 in the side of unmanned plane during flying device main body 18, the unmanned plane device
Also include the mounting bracket 4 for being arranged on the downside of unmanned plane during flying device main body 18, automatic water is installed in the mounting bracket 4
Matter keeps sample unit, and the automatic water quality unit that keeps sample includes sampling bottle 6, the support main body mechanism for installing sampling bottle 6, is arranged on institute
State support main body mechanism on the downside of sampling pump 8, be connected with the sampling pump 8 sampling flexible pipe 7, be connected to it is described sample flexible pipe 7
The multi-parameter water-quality monitoring probe 19 of end, the support main body mechanism include being arranged on the chassis 12 of bottom, are arranged on top
Rotary steering lid 11, through connecting the chassis 12 and the hollow shaft-like bearing mounting base 13 of rotary steering lid 11, it is described to adopt
Sample bottle 6 is arranged among the chassis 12 and rotary steering lid 11, the chassis 12, rotary steering lid 11, hollow shaft-like bearing
Connected between mounting seat 13 by being arranged on the support 4 on top, the hollow middle part of shaft-like bearing mounting base 13 is provided with first
Bearing 5, top are provided with rotary steering axle 3, top is provided with second bearing 2, and the top of mounting bracket 4 is provided with stepping electricity
Machine 1, the rotary steering lid 11 are provided with the groove deflector 10 connected with the sampling bottle 6.
As shown in figure 1, the unmanned plane device, which is unmanned plane during flying device main body 18, configures special unmanned plane leg 17, just
Platform landing is being shut down in the Each part that whole unmanned plane device carries.The unmanned plane device is also described including being arranged on
The mounting bracket 4 of the downside of unmanned plane during flying device main body 18, remaining Each part are installed in mounting bracket 4, the energy
It is connected with controlling organization installed in the top of mounting bracket 4.The energy is stepper motor, sampling pump with controlling organization
The energy is provided with the device of unmanned plane during flying device main body 18, and state of flight, multi-parameter water-quality are controlled according to program or teleinstruction
Monitoring probe, stepper motor state and sampling pump state etc., and control multi-parameter water-quality monitoring to visit by program or teleinstruction
Head, state of flight, stepper motor state, sampling pump state etc. complete water quality monitoring, Monitoring Data transmission and processing and water quality
Keep sample.
Specifically, automatic water quality is installed in the mounting bracket 4 to keep sample unit, mounting bracket 4 keeps sample automatic water quality
Unit is connected as overall structure with unmanned plane during flying device main body 18, is the main executing agency of water quality sampling.Preferably,
Under the stepper motor 1 drive, the rotary steering axle 3 rotates to the position of sampling bottle 6, and water quality sample passes through successively
Sampling pump 8, sampling flexible pipe 7, groove deflector 10 are imported into sampling bottle 6.The unmanned plane device passes through pump, pipeline, mistake
Water is drawn onto among automatic water quality keeps sample unit subsequently into sampling bottle 6 by filter, can disposably realize more monitoring points, multi collect
Keep sample, while realize on-line monitoring.
As shown in figure 1, due to being provided with multi-parameter water-quality monitoring probe 19 in sampling flexible pipe 7 end, it can be to tool
The surface water body for having certain area coverage is monitored on-line, water quality parameter data can be transmitted by the energy and control unit 16 to
Surveillance center, when finding that water quality needs further analysis, water can be drawn onto by automatic water quality by pump, pipeline, filtering head and kept sample
Among unit is subsequently into sampling bottle, possesses and on-line monitoring and the timely function that keeps sample are carried out to the surface water body of certain area.
As shown in Fig. 2 the support main body mechanism is arranged using Central Symmetry, outer ring has multiple sampling bottles 6 to install bottle stand,
Multiple sampling bottles 6 can be installed, sampling bottle is centrosymmetric arrangement according to demand.The sampling bottle 6 be centrosymmetric arrangement or
Array type is arranged, and circular rotating water sample distribution structure is selected on rotary steering lid 11, preferentially can from rotary steering lid 11
Rotation, but can also be rotated from chassis 12.The rotary steering axle 3 drives the chassis 12 or rotary steering lid 11 to rotate,
And change the relative position of sampling bottle 6 and pod apertures 14.In addition, automatic water quality sampling unit can also sample line slideway and water sample
The mode that distributing trough is combined, while sampling bottle 6 can be arranged by array type.
The size and number of the sampling bottle 6 can be according to application requirement flexible configuration.Sampling bottle 6 is used with elasticated
Ribbon is fixed, plastic buckle is fixed or stainless steel hoop is fixed, simple in construction, is easy to dismount.The bottleneck shape of the sampling bottle 6
Shape is funnel-form, and sets shutter at the thin mouth end of the bottleneck of sampling bottle 6.Specifically, sampling bottle 6 uses anti-structure of jolting,
Bottleneck is designed as funnel-form, and is blocked at the top of the setting of the thin mouth end of funnel-form bottleneck.When there is a weak vibrations, water sample is from funnel-form
When bottleneck is spilt on a small quantity, can be blocked and keeps off back by top, the water sample spilt also can under gravity along funnel-form bottleneck again
Flow back in sampling bottle 6.
As shown in figure 3, be hollow shaft-like bearing mounting base 13 among support main body mechanism, its middle part installation clutch shaft bearing 5,
Preferably, the outer ring nitril shaft system of fits of the installation circular hole and clutch shaft bearing 5 of the hollow shaft-like bearing mounting base 13.Support body
Installation second bearing 2 at the top of mechanism, topmost are installation stepper motor 1.
For the rotary steering axle 3 using rotary type revolving body positioning flow dividing structure, the centre of rotary steering axle 3 is sky
Mandrel, end and the inner ring hole base system of fits of clutch shaft bearing 5, upper end and the inner ring hole base system of fits of second bearing 2.The chassis 12,
Connected between rotary steering lid 11, hollow shaft-like bearing mounting base 13 by being arranged on the support 4 on top, the support 4 is used for
Integrally-built support, ensure structural stability.
The groove deflector 10 includes being arranged on guiding gutter 15 on the rotary steering lid 11, through rotary steering
Lid 11 is arranged on the infundibulate pod apertures 14 on the downside of the end of guiding gutter 15.Preferably, sampling pump 8 is arranged in whole sampling structure
Least significant end, more adjoined water surface, make full use of the lift of sampling pump 8.The end of the sampling flexible pipe 7 is provided with the He of filtering head 9
Multi-parameter water-quality monitoring probe 19, can rely on gravity to make sampling flexible pipe 7 sagging vertically, when whole system is downwardly against approximately level,
End, multi-parameter water-quality monitoring probe 19 and the filtering head 9 for sampling flexible pipe 7 are immersed in water and draw water sample, are easy to enter water quality
Row multi-parameter monitoring and keep sample in time, and ensure that kept sample water sample is consistent with monitoring object on-line.The lower section of sampling pump 8 sampling flexible pipe
7 can be matched according to required maximum sampling depth, so as to realize the sample collection of different depth by adjusting flying height.
The material of filtering head 9 is stainless steel or cast iron quality, is shaped as cylinder, taper, spherical or hexahedron.The sampling pump
8 be peristaltic pump or plunger pump.Sampling pump 8 is preferably peristaltic pump in the present invention, and its function is to provide water sample draw power, it is also possible to
The water pump of the other forms such as plunger pump replaces.
The multi-parameter water-quality monitoring probe can require that the conventional on-line monitoring project of selection is wherein several according to concrete application
Independent assortment is carried out, Monitoring Data is transferred to control section by cable.The multi-parameter water-quality monitoring probe can be water quality
Conventional five parameter onlines probe, including conventional five parameters of pH, turbidity, dissolved oxygen, electrical conductivity, water temperature or water quality
Outside other probes, while can also be the independent assortment of all these probes.The multi-parameter water-quality monitoring probe and mistake
Filter can be fixed in same mechanism, also can be independently installed by both, need to only ensure to monitor position and sample position is basically identical
, it is easy to on-line monitoring and the being consistent property of numerical value to keep sample.
Sample the end of flexible pipe 7 when operating and filtering head 9 is immersed in water and draws water sample.The lower section flexible pipe of sampling pump 8 can root
Matched according to required length.Preferably, the sampling flexible pipe 7 sequentially passes through hollow shaft-like bearing mounting base 13, clutch shaft bearing 5
The top of rotary steering axle 3 is reached, and the sampling flexible pipe 7 is extended in the guiding gutter 15.
When water quality sampling keeps sample, water quality sample enters sampling bottle 6 along guiding gutter 15 through pod apertures.Sampling pump 8 is by adopting
Sample flexible pipe 7 drinks up water from monitoring point, and sampling flexible pipe 7 crosses the hollow shaft-like bearing mounting base 13 and first for supporting main body mechanism
Bearing 5, then arrive at the top of rotary steering axle 3.After water sample reaches the top of rotary steering axle 3, then rotary steering axle 3 rotates to
The position of sampling bottle 6 is specified, water is under gravity along fluted body deflector 10, into sampling bottle 6.Power section is adopted
With stepper motor 1, under the drive of motor, rotary steering axle 3 can be rotated to the position of any default sampling bottle 6, and by recessed
Water quality sample is imported into default sampling bottle 6 by groove deflector 10.Preferably, the guiding gutter 15 is provided with overfall position
Put, i.e., water sample is pumped into rinse pipeline, water sample is expelled directly out without entering any one sampling bottle 6.
Preferably, the unmanned plane during flying device main body 18 is unmanned quadrotor, depopulated helicopter, nobody more rotors
Aircraft or unmanned airship.Whole unmanned plane device uses vertical-type straight line, most of to use rotary type structure or cloth
Put, make structure compacter, barycenter is more placed in the middle, and flight is more stable.To reduce the quality of automatic water quality sampling unit, preferentially
From plastic material, PP, PE, ABS, UPVC etc. can be selected, it is possible to use stainless steel welding, such as 201,304,316.
The unmanned plane device that water quality samples automatically that is used for of the present invention at least has advantages below：
(1) single set system monitoring river, lake, reservoir, a wide range of waters of immediate offshore area can be used, can quickly be moved
Each monitoring site into region is moved, set of system covers multiple monitoring sites, and monitoring can be adjusted flexibly according to demand
Point position and monitoring depth, reduce construction and operation cost, shorten the construction period, be easy to safeguard, for the monitoring under extreme terrain
Point position also can conveniently be arrived at and complete to monitor and keep sample.
(2) system is provided simultaneously with monitoring and keeping sample function, by online monitoring data and preparatory condition triggering sampling, keep sample and
When, the product that keep sample are consistent with on-line monitoring object height, improve subsequent applications break-up value.
(3) mobility of unmanned plane can shorten the time moved between monitoring point, when monitoring efficiency of increasing water quality is with monitoring
Effect property.
(4) compact structure and the monitoring that can hover in the air, reduce as far as possible to other objects of the water surface or operation at sea
Interference.
(5) monitoring and the work that keeps sample, automation can be completed in multiple monitoring points by program or teleinstruction control successively
Degree is high, professional to user of service to require low, saves administration overhead.
Embodiment 2
The water quality automatic safety quadrat method that a kind of unmanned plane device is also provided of the present invention, as shown in Fig. 4~Figure 12, wherein showing
The workflow of the present embodiment is gone out.Specifically, the water quality automatic safety quadrat method comprises the following steps：
A, as shown in figure 4, controlling described unmanned plane device to reach above dry point by program or teleinstruction, then
Keep floating state.Safe distance is kept with the water surface during unmanned plane device flight, keeps multi-parameter water-quality monitoring probe and filtering
Head is on the water surface.
B, as described in Figure 5, unmanned plane device makes sampling hose end, multi-parameter water-quality prison downwards close to the monitoring point water surface
Probing head and filtering head are immersed in water, and adjust flying height according to the depth requirements of water quality monitoring, then keep hovering shape
State.
C, as shown in fig. 6, carrying out multi-parameter on-line monitoring to water body by multi-parameter water-quality probe, while gather and handle
Monitor water quality parameter data.
D, as shown in fig. 7, control driving stepper motor drives groove deflector to rotate to overflow position by the axis of guide,
Sampling pump draws water sample rinse pipeline upwards, and rinse terminates post-sampling pump and stopped operating.
E, as shown in figure 8, control stepper motor drives groove deflector to rotate to default sampling bottle position by the axis of guide
Put, sampling pump draws water sample upwards, and water sample is flowed into default sampling bottle, gathers enough water sample post-sampling pumps and stops operating.
F, as shown in figure 9, sampling pump discharges downwards water sample, the residual water sample in sample lines is emptied into post-sampling pump and stopped
Rotate.
G, as shown in Figure 10, automatic water quality keeps sample unit break-off, and unmanned plane device is upwardly away from the water surface makes water
Matter multi-parameter monitoring is popped one's head in and filtering head is in more than the water surface.Meanwhile as shown in figure 11, control unmanned plane device flies to next
Monitoring point carries out collection again and kept sample, until all monitoring points complete to keep sample.
As shown in figure 12, the water quality unmanned plane device that keeps sample automatically is sequentially completed the water of each monitoring point from appointed place
Matter is monitored on-line, retains sample to the water quality that needs keep sample, and then can return to appointed place according to predetermined paths.
Preferably, in step C, if water quality parameter data meet the default condition that keeps sample, later step performs water quality and adopted
Collection keeps sample；If water quality parameter data are unsatisfactory for the default condition that keeps sample, step G is directly performed, control unmanned plane device flies to
Next monitoring point carries out collection again and kept sample, until all monitoring points complete to keep sample.
The water quality automatic safety quadrat method of the unmanned plane device of the present invention is applied to surface water quality, and monitoring keeps sample automatically, including
River, lake, reservoir and immediate offshore area etc..Unmanned plane device has fixed shutdown platform, can carry conventional five parameters of water quality
On-line monitoring probe (pH, turbidity, dissolved oxygen, electrical conductivity, water temperature), multiple monitoring points can be preset by program, as monitoring point 1,
Monitoring point 2, monitoring point 3 ... monitoring point n, wherein monitoring point n are last monitoring point.Water quality keeps sample unmanned plane device automatically
There is automatically and manually both of which.Under automatic offline mode, according to predetermined flight path, water is monitored from each monitoring point successively
Sample, find in time to keep sample during water quality exception, after completion task, flown back platform according to predetermined return route；In a manual mode, may be used
Specified location monitoring water sample is reached by artificial remotely controlling.
Finally it should be noted that:The above embodiments are merely illustrative of the technical scheme of the present invention and are not intended to be limiting thereof；To the greatest extent
The present invention is described in detail with reference to preferred embodiments for pipe, those of ordinary skills in the art should understand that：Still
The embodiment of the present invention can be modified or equivalent substitution is carried out to some technical characteristics；Without departing from this hair
The spirit of bright technical scheme, it all should cover among the claimed technical scheme scope of the present invention.
Claims (10)
1. a kind of unmanned plane device to keep sample automatically for water quality, including unmanned plane during flying device main body (18), it is arranged on the nothing
The unmanned plane leg (17) and the energy of aircraft main body (18) side and control unit (16), it is characterised in that：It is described
Unmanned plane device also includes being arranged on the mounting bracket (4) on the downside of the unmanned plane during flying device main body (18), the mounting bracket
(4) automatic water quality is installed on to keep sample unit, the automatic water quality unit that keeps sample includes sampling bottle (6), installation sampling bottle (6)
Support main body mechanism, the sampling pump (8) being arranged on the downside of the support main body mechanism, the sampling being connected with the sampling pump (8)
Flexible pipe (7), the multi-parameter water-quality monitoring probe (19) for being connected to described sampling flexible pipe (7) end, the support main body mechanism bag
Include the chassis (12) for being arranged on bottom, the rotary steering lid (11) for being arranged on top, through the connection chassis (12) and rotation
The hollow shaft-like bearing mounting base (13) of guide cover (11), the sampling bottle (6) are arranged on the chassis (12) and rotary steering
Cover (11) among, between the chassis (12), rotary steering lid (11), hollow shaft-like bearing mounting base (13) by being arranged on
Support (4) connection in portion, hollow shaft-like bearing mounting base (13) middle part is provided with clutch shaft bearing (5), top is provided with rotation
Turn the axis of guide (3), top is provided with second bearing (2), mounting bracket (4) top is provided with stepper motor (1), the rotation
Turn guide cover (11) and be provided with the groove deflector (10) connected with the sampling bottle (6).
2. unmanned plane device according to claim 1, it is characterised in that：The sampling bottle (6) is used with elasticated
Ribbon is fixed, plastic buckle is fixed or stainless steel hoop is fixed, and the bottleneck of the sampling bottle (6) is shaped as funnel-form, and
The thin mouth end of sampling bottle (6) bottleneck sets shutter；The sampling bottle (6) be centrosymmetric arrangement or array type arrangement.
3. unmanned plane device according to claim 1, it is characterised in that：The groove deflector (10) includes being arranged on
Guiding gutter (15) on the rotary steering lid (11), it is arranged on the downside of guiding gutter (15) end through rotary steering lid (11)
Infundibulate pod apertures (14)；In water quality sampling, water quality sample enters sampling bottle (6) along guiding gutter (15) through pod apertures.
4. unmanned plane device according to claim 1, it is characterised in that：Under the stepper motor (1) drive, the rotation
Turn the position that the axis of guide (3) rotates to sampling bottle (6), and water quality sample passes through sampling pump (8), samples flexible pipe (7), be recessed successively
Groove deflector (10) is imported into sampling bottle (6).
5. unmanned plane device according to claim 1, it is characterised in that：The end of the sampling flexible pipe (7) was provided with
Filter (9), material are stainless steel or cast iron quality, are shaped as cylinder, taper, spherical or hexahedron.
6. unmanned plane device according to claim 3, it is characterised in that：The sampling flexible pipe (7) sequentially passes through hollow shaft
Shape bearing mounting base (13), clutch shaft bearing (5) reach rotary steering axle (3) top, and the sampling flexible pipe (7) extends to institute
State in guiding gutter (15)；Rotary steering axle (3) drives the chassis (12) or rotary steering lid (11) rotation, and changes sampling bottle
(6) with the relative positions of pod apertures (14).
7. unmanned plane device according to claim 1, it is characterised in that：The unmanned plane during flying device main body (18) is for nobody
Quadrotor, depopulated helicopter, unmanned multi-rotor aerocraft or unmanned airship.
8. unmanned plane device according to claim 1, it is characterised in that：Multi-parameter water-quality monitoring probe (19) monitoring
Water quality parameter include pH, turbidity, dissolved oxygen, electrical conductivity and water temperature, the multi-parameter water-quality monitoring probe (19) passes through biography
Defeated cable is by water quality parameter data transfer to the energy and control unit (16).
A kind of 9. water quality automatic safety quadrat method of unmanned plane device, it is characterised in that：The water quality automatic safety quadrat method is included such as
Lower step：
A, the unmanned plane in the claims 1~9 described in any one claim is controlled by program or teleinstruction
Device is reached above dry point, then keeps floating state；
B, unmanned plane device makes sampling hose end, multi-parameter water-quality monitoring probe and filtering head downwards close to the monitoring point water surface
It is immersed in water, and flying height is adjusted according to the depth requirements of water quality monitoring, then keeps floating state；
C, popped one's head in by multi-parameter water-quality and multi-parameter on-line monitoring is carried out to water body, while gather and handle monitoring water quality parameter number
According to control driving stepper motor drives groove deflector to rotate to overflow position by the axis of guide；
D, sampling pump draws water sample rinse pipeline upwards, and rinse terminates post-sampling pump and stopped operating；
E, control stepper motor to drive groove deflector to rotate to default sampling bottle position, sampling pump by the axis of guide to inhale upwards
Water sampling, water sample are flowed into default sampling bottle, are gathered enough water sample post-sampling pumps and are stopped operating；
F, sampling pump discharges downwards water sample, and the residual water sample emptying post-sampling pump in sample lines is stopped operating；
G, automatic water quality keeps sample unit break-off, and unmanned plane device is upwardly away from the water surface makes multi-parameter water-quality monitoring probe
It is in more than the water surface with filtering head, control unmanned plane device flies to, and collection keeps sample again for next monitoring point progress, until all
Complete to keep sample in monitoring point.
10. water quality automatic safety quadrat method according to claim 9, it is characterised in that：In step C, if water quality parameter number
According to the default condition that keeps sample is met, later step performs water quality collection and kept sample；If water quality parameter data are unsatisfactory for default keeping sample
Condition, then step G is directly performed, control unmanned plane device flies to, and collection keeps sample again for next monitoring point progress, until all
Complete to keep sample in monitoring point.
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