CN108072543A - A kind of water conservancy Water quality comprehensive monitor system and method - Google Patents
A kind of water conservancy Water quality comprehensive monitor system and method Download PDFInfo
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- CN108072543A CN108072543A CN201711281487.5A CN201711281487A CN108072543A CN 108072543 A CN108072543 A CN 108072543A CN 201711281487 A CN201711281487 A CN 201711281487A CN 108072543 A CN108072543 A CN 108072543A
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 145
- 238000000034 method Methods 0.000 title claims abstract description 24
- 238000005070 sampling Methods 0.000 claims abstract description 135
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims abstract description 10
- 238000001514 detection method Methods 0.000 claims description 63
- 238000012544 monitoring process Methods 0.000 claims description 36
- 238000010438 heat treatment Methods 0.000 claims description 11
- 210000003437 trachea Anatomy 0.000 claims description 10
- 238000004891 communication Methods 0.000 claims description 9
- 210000001503 joint Anatomy 0.000 claims description 3
- 230000006978 adaptation Effects 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 4
- 230000007547 defect Effects 0.000 description 3
- 230000003028 elevating effect Effects 0.000 description 2
- 230000001960 triggered effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- DMBHHRLKUKUOEG-UHFFFAOYSA-N diphenylamine Chemical compound C=1C=CC=CC=1NC1=CC=CC=C1 DMBHHRLKUKUOEG-UHFFFAOYSA-N 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005485 electric heating Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000001704 evaporation Methods 0.000 description 1
- 230000008020 evaporation Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 229910052755 nonmetal Inorganic materials 0.000 description 1
- 238000005192 partition Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/10—Devices for withdrawing samples in the liquid or fluent state
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- Aviation & Aerospace Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Hydrology & Water Resources (AREA)
- Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
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- Analytical Chemistry (AREA)
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- General Health & Medical Sciences (AREA)
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- Pathology (AREA)
- Sampling And Sample Adjustment (AREA)
Abstract
The invention discloses a kind of water conservancy Water quality comprehensive monitor system and method, its key points of the technical solution are that including unmanned plane, monitoring center and the sampling platform on multiple water body sampled points；Tracheae is provided in body, and several vacuum-packed sampling bottles, the bottom of body is stretched out in one end of tracheae and the other end is communicated with each sampling bottle, solenoid valve is each mounted between sampling bottle and tracheae, electric coil winder is additionally provided in body, solenoid valve and electric coil winder are connected with unmanned aerial vehicle (UAV) control device, the bottom of body is provided with the guiding piece being adapted with storage tank, the bottom of guiding piece has the hemisphere face with inner concave cooperation, guiding piece is connected with electric coil winder, passage is offered on guiding piece, tracheae may pass through passage and be docked with siphon pipe, it is additionally provided with to detect guiding piece on the outer wall of guiding piece and enters trigger device in storage tank, and the ring electromagnet for adsorbing annular iron ring.
Description
Technical Field
The invention relates to the field of water quality monitoring, in particular to a water conservancy water quality comprehensive monitoring system and method.
Background
At present, the water environment monitoring in China mainly comprises on-line monitoring and manual sampling monitoring. The on-line monitoring is realized by establishing a fixed on-line monitoring station to monitor the water quality data in real time, so that the cost is high, and the on-line monitoring cannot be widely applied in a large range; therefore, manual sampling monitoring is the main monitoring mode at present. The manual sampling monitoring is mainly realized by sampling on site, and then water quality detection is carried out on a tester through the collected water sample, so that the manual sampling monitoring is high in flexibility and wide in operable range.
The traditional artificial water sample collection method mainly comprises the steps of driving a research ship and the like into a water sampling area, and manually sampling through an existing water sampler; however, the traditional artificial water sampling method is low in efficiency, and due to the fact that sampling environments are various, great inconvenience is often brought to artificial sampling, and especially in some special environments, even artificial sampling cannot be carried out.
At present, in order to solve the defects of the traditional artificial water sample sampling method, unmanned sampling equipment is taken as the right place, unmanned sampling is one type of artificial sampling, the current unmanned aerial vehicle water sample collection is realized by arranging an elevating system on an unmanned aerial vehicle and lifting a water sampler through the elevating system. Although current unmanned aerial vehicle water sample collection is through setting up operating system on unmanned aerial vehicle to water sampling ware realization water sample collection goes up and down through operating system. Although the water sample collection of unmanned aerial vehicle water sample collection at present is convenient, but the water sampler of unmanned aerial vehicle water sample collection often can only carry out once water sample collection, and this efficiency that leads to unmanned aerial vehicle water sample collection is difficult to improve.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a water conservancy water body quality comprehensive monitoring system which has the characteristic of high water sample collection efficiency.
The technical purpose of the invention is realized by the following technical scheme:
a water conservancy water quality comprehensive monitoring system comprises an unmanned aerial vehicle, a monitoring center and a sampling platform positioned on a plurality of water sampling points;
the monitoring center is used for sending a driving instruction to the unmanned aerial vehicle, wherein the driving instruction carries position information of a plurality of water body sampling points;
the sampling platform is characterized in that an accommodating groove is formed in the center of the sampling platform, a siphon communicated with the accommodating groove is connected to the bottom of the sampling platform, an annular iron ring is arranged on the wall of the accommodating groove, and an inner concave surface gathered towards the accommodating groove is formed in the surface of the sampling platform;
the unmanned aerial vehicle comprises a machine body, an unmanned aerial vehicle controller and a power module, wherein the unmanned aerial vehicle controller is arranged in the machine body, the power module is used for providing electric energy, an unmanned aerial vehicle positioning unit and an unmanned aerial vehicle communication unit are connected to the unmanned aerial vehicle controller, and the unmanned aerial vehicle communication unit responds to a driving instruction to control the unmanned aerial vehicle to start; wherein,
the air pipe and the plurality of vacuum-sealed sampling bottles are arranged in the machine body, one end of the air pipe extends out of the bottom of the machine body, the other end of the air pipe is communicated with each sampling bottle, an electromagnetic valve is arranged between each sampling bottle and the air pipe, an electric winder is further arranged in the machine body, the electromagnetic valve and the electric winder are connected with an unmanned aerial vehicle controller, a traction block matched with the containing groove is arranged at the bottom of the machine body, a hemispherical surface matched with the inner concave surface is arranged at the bottom of the traction block, the traction block is connected with the electric winder, a channel is formed in the traction block, the air pipe can penetrate through the channel to be in butt joint with the siphon, and a trigger device used for detecting the traction block entering the containing groove and an annular electromagnet used for adsorbing the annular iron ring are further;
the unmanned aerial vehicle controller controls the annular electromagnet and the electric winder to be started based on the trigger signal output by the trigger device so as to enable the air pipe to be closed to the siphon pipe, and controls the electromagnetic valve corresponding to the water body sampling point to be opened for preset time and then to be closed.
Preferably, the number of the trigger devices is provided with a plurality of trigger devices, the plurality of trigger devices are circumferentially arranged on the outer wall of the traction block, and the trigger devices adopt trigger switches or capacitive proximity switches.
Preferably, the bottom of organism is provided with and is used for detecting this unmanned aerial vehicle distance detection device of height that hovers.
Preferably, the distance detection device is a height sensor or an ultrasonic sensor.
Preferably, each sampling platform is further provided with a detection body, the machine body is provided with a position detection device for identifying the detection body, and the diameter of the detection range of the position detection device is smaller than the width of the sampling platform.
Preferably, the detection body is an RFID tag, and the position detection device is an RFID reader/writer.
Preferably, the heating wire is wound on the air pipe, the heating wire is connected to the unmanned aerial vehicle controller, and the unmanned aerial vehicle controller is configured to control the heating wire to work after the control electromagnetic valve is opened for a preset time and is closed.
Aiming at the defects in the prior art, the invention also aims to provide a water conservancy water body quality comprehensive monitoring method which has the characteristic of high water sample collection efficiency.
The technical purpose of the invention is realized by the following technical scheme:
a water conservancy water body quality comprehensive monitoring method comprises the following steps:
a positioning step: the unmanned aerial vehicle controller receives a driving instruction sent by the monitoring center, so that the unmanned aerial vehicle flies above the first sampling platform to hover according to the position information output by the unmanned aerial vehicle positioning unit and the position information of the plurality of water body sampling points;
a connection step: the unmanned aerial vehicle controller controls the electric winder to start, drives the traction block to move downwards to abut against the inner concave surface of the sampling platform until the traction block is embedded into the containing groove, controls the annular electromagnet to be electrified based on a trigger signal output by the trigger device, correspondingly controls the electric winder to reset, and reversely pulls the unmanned aerial vehicle by the electric winder to enable the air pipe to pass through the channel to be abutted with the siphon pipe;
a sampling step: after the electric winder is reset, the unmanned aerial vehicle controller controls the electromagnetic valve corresponding to the water sampling point to be opened, and the water in the siphon is sucked into the sampling bottle under the action of negative pressure;
a releasing step: the unmanned aerial vehicle controller controls the electromagnetic valve to be opened for a preset time and then closed, and controls the annular electromagnet to lose power;
a point changing step: and the unmanned aerial vehicle controller flies above the next sampling platform to hover based on the position information of the next water body sampling point in the driving instruction, and the connecting step to the releasing step are repeated.
Preferably, in the positioning step, the method further comprises the following steps:
the unmanned aerial vehicle controller detects the hovering height of the unmanned aerial vehicle based on the distance detection device and drops the hovering height of the unmanned aerial vehicle to a preset hovering height;
under the hovering height, the position detection device judges whether a detection body exists in a detection range of the position detection device; if yes, entering a connection step; if not, the unmanned aerial vehicle is controlled to patrol around the position information of the water body sampling point so as to capture the detection body.
Preferably, in the step of controlling the unmanned aerial vehicle to patrol around the position information of the water body sampling point, the method further comprises the following steps:
the unmanned aerial vehicle controller controls the position information of the unmanned aerial vehicle on a hovering horizontal plane around the water body sampling point to gradually expand outwards by taking a spiral line as a flight track;
in the flight process, if the position detection device catches the detection body in the detection range, the unmanned aerial vehicle controller controls the unmanned aerial vehicle to hover.
In summary, compared with the prior art, the beneficial effects of the invention are as follows:
through controlling unmanned aerial vehicle to fly to every water sampling point on, the automatic water sampling, after a water sampling point water sampling finishes, and fly to next water sampling point collection water sample automatically, water sampling to all water sampling points finishes, use above-mentioned water sample collection mode, can avoid the staff to carry out the water sample collection to the water sampling point in person on the one hand, manpower labour's use has been saved, on the other hand can carry out water sample collection many times, the efficiency of unmanned aerial vehicle water sample collection is improved.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a system block diagram of a comprehensive monitoring system for quality of water conservancy project water quality;
fig. 2 is a schematic view of the flight of an unmanned aerial vehicle in the technical scheme of the invention;
FIG. 3 is a diagram of the unmanned plane acquisition state in the technical solution of the present invention;
FIG. 4 is a schematic connection diagram of the unmanned aerial vehicle according to the present invention;
fig. 5 is a schematic structural diagram of the unmanned aerial vehicle body in the technical scheme of the invention.
Reference numerals: 1. an unmanned aerial vehicle; 101. a body; 102. a rotor; 103. a support leg; 104. a mounting cavity; 105. a cabin door; 106. an air tube; 107. a sampling bottle; 108. a rubber plug; 109. a support; 110. an electromagnetic valve; 111. an electric heating wire; 112. a partition plate; 113. an electric winder; 1131. a spool stand; 1132. a spool; 1133. a take-up reel; 1134. a hauling rope; 1135. a servo motor; 1136. monitoring the encoder; 2. a sampling platform; 21. a containing groove; 22. a siphon tube; 23. a through hole; 24. a rubber guide surface; 25. a filter; 26. an annular iron ring; 27. an inner concave surface; 3. a traction block; 4. a channel; 5. a bevel; 6. a trigger device; 7. detecting a body; 8. a position detection device; 9. a distance detection device; 10. an annular electromagnet.
Detailed Description
In order to better and clearly show the technical scheme of the invention, the invention is further described with reference to the attached drawings.
Example one
With reference to fig. 1 and 2, a water conservancy water quality comprehensive monitoring system comprises an unmanned aerial vehicle 1, a monitoring center and a sampling platform 2 positioned on a plurality of water sampling points; the water sampling point in this application sets up in rivers, lakes class basin, and every water sampling point has corresponding longitude and latitude data, and sampling platform 2 sets up on every water sampling point and carries out the water sample collection in order to supply unmanned aerial vehicle 1.
Wherein, the monitoring center is used for carrying out wireless communication with unmanned aerial vehicle 1. The monitoring center is used for sending drive command to unmanned aerial vehicle 1, and wherein, carry the positional information of a plurality of water sampling points in the drive command, the positional information of a plurality of water sampling points arranges according to the collection order, and from this, unmanned aerial vehicle 1 can carry out water sample collection to the water sampling point one by one according to the positional information of a plurality of water sampling points.
Specifically, as shown in fig. 3, an accommodating groove 21 is formed in the center of the sampling platform 2, a siphon 22 communicated with the accommodating groove 21 is connected to the bottom of the sampling platform 2, that is, a through hole 23 penetrates through the sampling platform 2, one end of the through hole 23 is communicated with the center of the bottom of the accommodating groove 21, the siphon 22 is inserted into the other end of the through hole 23 to be communicated with the accommodating groove 21, and a rubber guide surface 24 is disposed at a joint of the through hole 23 and the accommodating groove 21. The siphon 22 extends into the body of water and a filter 25 is mounted at the end of the siphon 22. It should be noted that an annular iron ring 26 is disposed on a wall of the accommodating groove 21, the annular iron ring 26 is disposed around the through hole 23, and an inner concave surface 27 converging toward the accommodating groove 21 is disposed on the surface of the sampling platform 2.
Combine fig. 4 and fig. 5 to show, unmanned aerial vehicle 1 includes organism 101, rotor 102, the unmanned aerial vehicle controller of setting in organism 101, and be used for providing the power module of electric energy, be connected with unmanned aerial vehicle positioning unit and unmanned aerial vehicle communication unit on the unmanned aerial vehicle controller, unmanned aerial vehicle 1 carries out data interaction through unmanned aerial vehicle communication unit and monitoring center, unmanned aerial vehicle positioning unit is used for exporting the current positional information who locates of unmanned aerial vehicle 1, the longitude and latitude data that locate at present promptly. This unmanned aerial vehicle 1 receives the drive instruction that the monitoring center sent through unmanned aerial vehicle communication unit to respond to drive instruction in order to control this unmanned aerial vehicle 1 and start. In this application, unmanned aerial vehicle positioning unit adopts GPS module or big dipper navigation module, and unmanned aerial vehicle communication unit adopts the 4G module.
The two sides of the machine body 101 are provided with support legs 103, a mounting cavity 104 is arranged in the machine body 101, and a hatch 105 for opening the mounting cavity 104 is hinged to the bottom of the machine body 101, wherein the machine body 101 is provided with an air pipe 106 and a plurality of vacuum-sealed sampling bottles 107 in the mounting cavity 104, each sampling bottle 107 is sealed through a rubber plug 108, and the sampling bottles 107 are clamped and mounted on a support 109 in the mounting cavity 104. The bottom and the other end that organism 101 was stretched out to the one end of trachea 106 communicate with each other with every sampling bottle 107, all install solenoid valve 110 between every sampling bottle 107 and the trachea 106, specifically, the quantity of sampling bottle 107 corresponds with the quantity of water sampling point, every sampling bottle 107 corresponds with every water sampling point one by one, every solenoid valve 110 all links to each other with the unmanned aerial vehicle controller, therefore, every solenoid valve 110 corresponds with every water sampling point one by one. Wherein, the heating wire 111 is wound on the air pipe 106, the heating wire 111 is connected to the unmanned aerial vehicle controller, and the unmanned aerial vehicle controller is configured to control the heating wire 111 to work after the control electromagnetic valve 110 is opened for a predetermined time and closed.
Be provided with baffle 112 in the organism 101, organism 101 is provided with electronic winder 113 on baffle 112, and electronic winder 113 links to each other with the unmanned aerial vehicle controller, and the bottom of organism 101 is provided with the pull block 3 with storage tank 21 looks adaptation, and the bottom of pull block 3 has the hemisphere face with concave surface 27 complex. The traction block 3 adopts a nonmetal balancing weight with a certain weight. In this application, electronic winder 113 includes spool 1131, rotates spool 1132 installed on spool 1131 and installs two at least reels 1133 on spool 1132, has haulage rope 1134 on every reel 1133, wherein, is provided with on the spool 1131 and links to each other with spool 1132 in order to be used for driving spool 1132 pivoted servo motor 1135, installs monitoring encoder 1136 on the servo motor 1135.
The haulage rope 1134 of electronic winder 113 passes installation cavity 104 and connects on the pull block 3, set up the passageway 4 that air supply pipe 106 passed on the pull block 3, the opening part that passageway 4 is close to trachea 106 is provided with inclined plane 5, trachea 106 can pass passageway 4 and siphon 22 butt joint, wherein, still be provided with on the outer wall of pull block 3 and be arranged in detecting the trigger device 6 that pull block 3 enters into storage tank 21, and be used for adsorbing annular electromagnet 10 of annular iron ring 26, annular electromagnet 10 installs in the mounting groove of the hemispherical of pull block 3. The number of the trigger devices 6 is multiple, the trigger devices 6 are circumferentially arranged on the outer wall of the traction block 3, and the trigger devices 6 adopt trigger switches or capacitive proximity switches.
Each sampling platform 2 is also provided with a detection body 7, the machine body 101 is provided with a position detection device 8 for identifying the detection body 7, the diameter of the detection range of the position detection device 8 is smaller than the width of the sampling platform 2, the detection body 7 is an RFID label, and the position detection device 8 is an RFID reader-writer; wherein, the bottom of organism 101 is provided with and is used for detecting this unmanned aerial vehicle 1 distance detection device 9 of height that hovers, and distance detection device 9 is height sensor or ultrasonic sensor.
The unmanned aerial vehicle controller controls the annular electromagnet 10 and the electric winder 113 to be started based on the trigger signal output by the trigger device 6 so as to enable the air pipe 106 to be matched with the siphon 22, and controls the electromagnetic valve 110 corresponding to the water body sampling point to be opened for a preset time and then be closed.
The working process is as follows:
the monitoring center sends drive instruction to unmanned aerial vehicle 1, and the unmanned aerial vehicle controller receives the drive instruction that the monitoring center sent through unmanned aerial vehicle 1 to fly to hovering above first sampling platform 2 according to the positional information of the positioning unit output of unmanned aerial vehicle and the positional information of a plurality of water sampling points. Because the positioning accuracy of the positioning unit of the unmanned aerial vehicle has errors, and the error range is about 1-3m, the unmanned aerial vehicle 1 needs to be secondarily positioned.
The secondary positioning method is specifically that the unmanned aerial vehicle controller detects the hovering height of the unmanned aerial vehicle 1 based on the distance detection device 9, and drops the hovering height of the unmanned aerial vehicle 1 to a preset hovering height, and under the hovering height, the position detection device 8 judges whether the detection body 7 exists in the detection range; if yes, entering the next step; if not, the unmanned aerial vehicle 1 is controlled to patrol around the position information of the water body sampling point so as to capture the detection body 7. Specifically, the unmanned aerial vehicle controller controls the unmanned aerial vehicle 1 to hover and enter the next step if the detection body 7 is captured by the position detection device 8 in the detection range of the unmanned aerial vehicle 1 in the flying process if the position information of the unmanned aerial vehicle 1 on the hovering horizontal plane around the water body sampling point gradually expands outwards by taking the spiral line as the flying track.
In the next step, the unmanned aerial vehicle controller controls the electric winder 113 to start, drives the traction block 3 to move downwards, the hemispherical surface of the traction block 3 is abutted against the inner concave surface 27 of the sampling platform 2 when the traction block 3 moves downwards, and along with the release of the traction rope 1134 by the electric winder 113, the traction block 3 slides downwards along the inner concave surface 27 of the sampling platform 2 under the action of gravity until the traction block 3 is embedded into the containing groove 21. Therefore, in the process of sliding down the traction block 3, the traction block 3 is attached to the single surface of the concave surface 27 of the sampling platform 2, and at the moment, the trigger device 6 cannot be triggered; when the complete gomphosis of drawing block 3 enters into storage tank 21, trigger device 6 is triggered simultaneously, therefore, trigger device 6 outputs corresponding trigger signal to the unmanned aerial vehicle controller in, the unmanned aerial vehicle controller is responded to trigger signal and is got electric with control annular electro-magnet 10, annular electro-magnet 10 and annular iron ring 26 attract mutually, the unmanned aerial vehicle controller resets with corresponding control electronic winder 113 (when electronic winder 113 releases haulage rope 1134, monitoring encoder 1136 has monitored the number of turns of electronic winder 113, therefore, electronic winder 113 can reset corresponding number of turns), electronic winder 113 reverse traction unmanned aerial vehicle 1 is close to sampling platform 2 gradually, make trachea 106 pass passageway 4 on the drawing block 3 and dock with siphon 22.
Unmanned aerial vehicle controller resets back at electronic winder 113 through monitoring encoder 1136, unmanned aerial vehicle controller control opens corresponding to the solenoid valve 110 of water sampling point, because the inside vacuum of being taken out of sampling bottle 107, therefore, the water in siphon 22 is inhaled under the effect of negative pressure in the sampling bottle 107 that corresponds, wherein, unmanned aerial vehicle controller control solenoid valve 110 opens and closes after the predetermined time, unmanned aerial vehicle controller control annular electromagnet 10 loses the electricity, and corresponding control heating wire 111 starts, at this moment, unmanned aerial vehicle controller hovers with the top of flying to next sampling platform 2 based on the positional information of next water sampling point in the drive instruction, and correspondingly carry out water sample collection.
Wherein, heating wire 111 can carry out the evaporation to dryness with remaining water in trachea 106 at unmanned aerial vehicle 1 flight in-process, avoids the water at last water sampling point to cause the interference to the water at next water sampling point.
After the water collection of all water sampling points is finished, the unmanned aerial vehicle 1 is controlled to fly back to the monitoring center, and the staff only need open the hatch door 105 on the machine body 101 and take out the sampling bottle 107.
After the sampling bottle 107 is cleaned and installed back to the bracket 109, all the electromagnetic valves 110 are opened through the unmanned aerial vehicle controller, and all the sampling bottles 107 can be vacuumized through the air pipe 106 by using the suction pump so as to be convenient for next water collection.
Example two
A water conservancy water quality comprehensive monitoring method of the water conservancy water quality comprehensive monitoring system comprises the following steps:
a positioning step: the unmanned aerial vehicle controller receives a driving instruction sent by the monitoring center, so that the unmanned aerial vehicle flies above the first sampling platform 2 to hover according to the position information output by the unmanned aerial vehicle positioning unit and the position information of the plurality of water body sampling points;
a connection step: the unmanned aerial vehicle controller controls the electric winder 113 to start, drives the traction block 3 to move downwards to abut against the inner concave surface 27 of the sampling platform 2 until the traction block 3 is embedded into the containing groove 21, controls the annular electromagnet 10 to be electrified based on a trigger signal output by the trigger device 6, correspondingly controls the electric winder 113 to reset, and reversely pulls the unmanned aerial vehicle 1 by the electric winder 113 to enable the air pipe 106 to penetrate through the channel 4 to be abutted with the siphon 22;
a sampling step: after the electric winder 113 is reset, the unmanned aerial vehicle controller controls the electromagnetic valve 110 corresponding to the water sampling point to be opened, and the water in the siphon 22 is sucked into the sampling bottle 107 under the action of negative pressure;
a releasing step: the electromagnetic valve 110 is controlled by the unmanned aerial vehicle controller to be opened for a preset time and then closed, and the annular electromagnet 10 is controlled by the unmanned aerial vehicle controller to be powered off;
a point changing step: the unmanned aerial vehicle controller flies above the next sampling platform 2 to hover based on the position information of the next water body sampling point in the driving instruction, and the connecting step to the releasing step are repeated.
In the positioning step, the method further comprises the following steps:
the unmanned aerial vehicle controller detects the hovering height of the unmanned aerial vehicle 1 based on the distance detection device 9, and drops the hovering height of the unmanned aerial vehicle 1 to a preset hovering height;
at this hovering height, the position detection device 8 determines whether the detection object 7 is present within the detection range thereof; if yes, entering a connection step; if not, the unmanned aerial vehicle 1 is controlled to patrol around the position information of the water body sampling point so as to capture the detection body 7.
In the step of controlling the unmanned aerial vehicle 1 to patrol around the position information of the water body sampling point, the method further comprises the following steps:
the unmanned aerial vehicle controller controls the position information of the unmanned aerial vehicle 1 on the hovering horizontal plane around the water body sampling point to gradually expand outwards by taking a spiral line as a flight track;
during flight, when the position detection device 8 catches the detection object 7 within the detection range, the drone controller controls the drone 1 to hover.
By using the water sample collection mode, on one hand, the working personnel can be prevented from carrying out water sample collection on the water sampling point in person, the use of manpower and labor force is saved, on the other hand, water sample collection can be carried out for multiple times, and the water sample collection efficiency of the unmanned aerial vehicle 1 is improved.
The above description is intended to be illustrative of the present invention and not to limit the scope of the invention, which is defined by the claims appended hereto.
Claims (10)
1. A water conservancy water quality comprehensive monitoring system is characterized by comprising an unmanned aerial vehicle (1), a monitoring center and a sampling platform (2) positioned on a plurality of water sampling points;
the monitoring center is used for sending a driving instruction to the unmanned aerial vehicle (1), wherein the driving instruction carries position information of a plurality of water body sampling points;
a containing groove (21) is formed in the center of the sampling platform (2), a siphon (22) communicated with the containing groove (21) is connected to the bottom of the sampling platform (2), an annular iron ring (26) is arranged on the wall of the containing groove (21), and an inner concave surface (27) gathered towards the containing groove (21) is formed in the surface of the sampling platform (2);
the unmanned aerial vehicle (1) comprises a machine body (101), an unmanned aerial vehicle controller arranged in the machine body (101) and a power supply module used for providing electric energy, wherein an unmanned aerial vehicle positioning unit and an unmanned aerial vehicle communication unit are connected to the unmanned aerial vehicle controller, and the unmanned aerial vehicle communication unit responds to a driving instruction to control the unmanned aerial vehicle (1) to start; wherein,
the utility model discloses a take-up device of an unmanned aerial vehicle, including organism (101) in be provided with trachea (106) and a plurality of vacuum seal's sampling bottle (107), the bottom and the other end that stretch out organism (101) of trachea (106) communicate with each other with every sampling bottle (107), all install solenoid valve (110) between every sampling bottle (107) and trachea (106), still be provided with electronic winder (113) in organism (101), solenoid valve (110) and electronic winder (113) link to each other with the unmanned aerial vehicle controller, the bottom of organism (101) is provided with pull block (3) with storage tank (21) looks adaptation, the bottom of pull block (3) has the hemisphere face with interior concave surface (27) complex, pull block (3) and electronic winder (113) link to each other, seted up passageway (4) on pull block (3), trachea (106) can pass passageway (4) and siphon (22) butt joint, the outer wall of the traction block (3) is also provided with a trigger device (6) for detecting that the traction block (3) enters the accommodating groove (21) and an annular electromagnet (10) for adsorbing an annular iron ring (26);
the unmanned aerial vehicle controller controls the annular electromagnet (10) and the electric winder (113) to be started based on a trigger signal output by the trigger device (6) so as to enable the air pipe (106) to be closed to the siphon (22), and controls the electromagnetic valve (110) corresponding to the water body sampling point to be opened for a preset time and then to be closed.
2. The water conservancy water quality comprehensive monitoring system according to claim 1, characterized in that the number of the triggering devices (6) is multiple, the multiple triggering devices (6) are circumferentially arranged on the outer wall of the traction block (3), and the triggering devices (6) adopt triggering switches or capacitive proximity switches.
3. The water conservancy water quality comprehensive monitoring system according to claim 1, characterized in that a distance detection device (9) for detecting the hovering height of the unmanned aerial vehicle (1) is arranged at the bottom of the machine body (101).
4. A water conservancy water body quality comprehensive monitoring system according to claim 3, characterized in that the distance detection device (9) is a height sensor or an ultrasonic sensor.
5. The water conservancy water body quality comprehensive monitoring system according to claim 1, characterized in that each sampling platform (2) is further provided with a detection body (7), the machine body (101) is provided with a position detection device (8) for identifying the detection body (7), and the diameter of the detection range of the position detection device (8) is smaller than the width of the sampling platform (2).
6. The water conservancy water body quality comprehensive monitoring system according to claim 5, characterized in that the detection body (7) is an RFID tag, and the position detection device (8) is an RFID reader-writer.
7. The water conservancy water body quality comprehensive monitoring system according to claim 1, wherein a heating wire (111) is wound on the air pipe (106), the heating wire (111) is connected to the unmanned aerial vehicle controller, and the unmanned aerial vehicle controller is configured to control the heating wire (111) to work after the control solenoid valve (110) is opened for a preset time and is closed.
8. A water conservancy water body quality comprehensive monitoring method of the water conservancy water body quality comprehensive monitoring system according to any one of claims 1 to 7, characterized by comprising the following steps:
a positioning step: the unmanned aerial vehicle controller receives a driving instruction sent by the monitoring center, so that the unmanned aerial vehicle flies above the first sampling platform (2) to hover according to the position information output by the unmanned aerial vehicle positioning unit and the position information of the plurality of water body sampling points;
a connection step: the unmanned aerial vehicle controller controls the electric winder (113) to be started, drives the traction block (3) to move downwards to abut against the inner concave surface (27) of the sampling platform (2) until the traction block (3) is embedded into the containing groove (21), controls the annular electromagnet (10) to be electrified based on a trigger signal output by the trigger device (6), correspondingly controls the electric winder (113) to reset, and reversely pulls the unmanned aerial vehicle (1) by the electric winder (113) to enable the air pipe (106) to penetrate through the channel (4) to be abutted to the siphon (22);
a sampling step: after the electric winder (113) is reset, the unmanned aerial vehicle controller controls the electromagnetic valve (110) corresponding to the water sampling point to be opened, and the water in the siphon (22) is sucked into the sampling bottle (107) under the action of negative pressure;
a releasing step: the unmanned aerial vehicle controller controls the electromagnetic valve (110) to be opened for a preset time and then closed, and controls the annular electromagnet (10) to lose power;
a point changing step: the unmanned aerial vehicle controller flies above the next sampling platform (2) to hover based on the position information of the next water body sampling point in the driving instruction, and the connecting step to the releasing step are repeated.
9. The water conservancy water body quality comprehensive monitoring method according to claim 8, characterized by further comprising the following steps in the positioning step:
the unmanned aerial vehicle controller detects the hovering height of the unmanned aerial vehicle (1) based on the distance detection device (9), and the hovering height of the unmanned aerial vehicle (1) is lowered to a preset hovering height;
under the hovering height, the position detection device (8) judges whether a detection object (7) exists in the detection range; if yes, entering a connection step; if not, the unmanned aerial vehicle (1) is controlled to patrol around the position information of the water body sampling point so as to capture the detection body (7).
10. The water conservancy water body quality comprehensive monitoring method according to claim 9, wherein in the step of controlling the patrol of the unmanned aerial vehicle (1) around the position information of the water body sampling point, the method further comprises the following steps:
the unmanned aerial vehicle controller controls the unmanned aerial vehicle (1) to gradually expand outwards around the position information of the water body sampling point on the hovering horizontal plane by taking a spiral line as a flight track;
during flight, if the position detection device (8) catches the detection object (7) within the detection range, the unmanned aerial vehicle controller controls the unmanned aerial vehicle (1) to hover.
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