CN108152071A - A kind of unmanned plane desert and Gobi soil sampling system - Google Patents
A kind of unmanned plane desert and Gobi soil sampling system Download PDFInfo
- Publication number
- CN108152071A CN108152071A CN201711354977.3A CN201711354977A CN108152071A CN 108152071 A CN108152071 A CN 108152071A CN 201711354977 A CN201711354977 A CN 201711354977A CN 108152071 A CN108152071 A CN 108152071A
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Classifications
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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
- G01N1/04—Devices for withdrawing samples in the solid state, e.g. by cutting
- G01N1/08—Devices for withdrawing samples in the solid state, e.g. by cutting involving an extracting tool, e.g. core bit
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
-
- 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
- G01N2001/021—Correlating sampling sites with geographical information, e.g. GPS
Abstract
The present invention relates to a kind of unmanned plane desert and Gobi soil sampling systems, the system includes unmanned plane subsystem and ground monitoring subsystem, unmanned plane subsystem includes GPS positioning module, obstacle avoidance module, Heading control module, soil sampling module, airborne radio-frequency communication module, ground monitoring subsystem is connected with the communication of airborne radio-frequency communication module, for receiving the position data of airborne radio-frequency communication module transmission and treated image data, and monitor the flight path of unmanned plane.The soil sampling function of unmanned plane is realized in unmanned plane subsystem by soil sampling module, Heading control module accurately regulates and controls unmanned plane course according to the data that GPS positioning module and obstacle avoidance module detect, it ensure that the steady safety in unmanned plane sampling way, it ensure that unmanned plane sampling process accurately and reliably, realize intellegent sampling, it is operated on the spot without technical staff, ensure that the personal safety of technical staff in desert and Gobi Soils In The Region sampling process.
Description
Technical field
The present invention relates to unmanned plane sampling technique fields, and in particular to a kind of unmanned plane desert and Gobi soil sampling system.
Background technology
The acquisition of pedotheque is that soil progress genealogical classification investigation, soil body conformational analysis, characteristics of soil fertility are ground
Study carefully, Soil nutrient movement changes and the basis of soil ecology investigation, the soil of accurate, appropriate, quick obtaining soil different depth
Earth sample is directly related to the depth of the area researches such as soil, geology, water conservancy, environmental protection and the reliability of data.Existing soil
Sampling process needs related technical personnel to manipulate the acquisition that sample devices completes pedotheque on the spot, but for desert and Gobi etc.
The area of bad environments, soil sampling work are implemented to be a no small test to technical staff, have both been related to environmental factor to sampling
The influence of process further includes the threat to technical staff's personal safety, so the soil sampling work of desert and Gobi is difficult to always
Therefore the development of large area, desertification treatment and the propulsion of soil improvement work also receive obstruction.
It can be seen that the desert and Gobi soil sampling system for how providing a kind of safe and convenient becomes present desert and Gobi soil
The problem of earth research field urgent need to resolve.
Invention content
The technical problems to be solved by the invention are to provide a kind of unmanned plane desert and Gobi soil sampling system of safe and convenient
System, the system ensure that the personal safety of ruthless area soil sampling staff without technical staff's spot sampling.
The technical solution that the present invention solves above-mentioned technical problem is as follows：A kind of unmanned plane desert and Gobi soil sampling system,
Including unmanned plane subsystem and ground monitoring subsystem, unmanned plane subsystem includes：
GPS positioning module, GPS positioning module receive the unmanned plane real time position data of GPS satellite transmission；
Obstacle avoidance module, obstacle avoidance module detect whether there are obstacles during unmanned plane during flying；
Heading control module, is electrically connected with GPS positioning module and obstacle avoidance module, for receiving the position of GPS positioning module transmission
The testing result of data and the whether there are obstacles of obstacle avoidance module transmission is put, and according to the position data received and whether is deposited
In the heading of the testing result regulation and control unmanned plane of barrier；The position data of Heading control module transmission sends ground prison to
Control subsystem；
Soil sampling module, soil sampling module are sampled the soil of designated position after UAV Landing and obtain soil
Data of the Temperature and Humidity module；
Airborne radio-frequency communication module is electrically connected with Heading control module and soil sampling module, and airborne radio-frequency communication module connects
Receive earth data of the Temperature and Humidity module and the sampling result that the position data of Heading control module transmission and soil sampling module are sent；
Ground monitoring subsystem is connected with the communication of airborne radio-frequency communication module, and ground monitoring subsystem receives airborne radio communication mould
The position data and Soil Temperature And Moisture degrees of data and sampling result of block transmission, and according to the obtained boat of position data monitoring unmanned plane
Mark.
The beneficial effects of the invention are as follows：The soil sampling of unmanned plane is realized in unmanned plane subsystem by soil sampling module
Function, Heading control module carry out accurately unmanned plane course according to the data that GPS positioning module and obstacle avoidance module detect
Regulation and control, ensure that unmanned plane sampling way in steady safety, ground monitoring subsystem can monitor in real time unmanned plane flight path and
Sampling process ensure that unmanned plane sampling process accurately and reliably, realize intellegent sampling, be operated on the spot without technical staff,
It ensure that the personal safety of technical staff in desert and Gobi Soils In The Region sampling process.
Based on the above technical solution, the present invention can also be improved as follows.
Further, ground monitoring subsystem includes Terrestrial Radio communication module, flight path programming module and monitoring module, ground
Radio-frequency communication module is connected with the communication of airborne radio-frequency communication module, and monitoring module and flight path programming module communicate with Terrestrial Radio
Module is electrically connected.
Advantageous effect using above-mentioned further scheme is：Pass through Terrestrial Radio communication module and airborne radio-frequency communication module
Wireless connection realize real time monitoring work of the ground station to unmanned plane, operating personnel can be advance by flight path programming module
The ship trajectory of unmanned plane is cooked up, the flight dynamic of unmanned plane was monitored online by monitoring module, ensure that unmanned plane the later stage
The controllability of sampling process.
Further, obstacle avoidance module includes radar range finding sensor, image module and data processing module, radar range finding sensing
Device is electrically connected with data processing module, and before radar range finding sensor detection unmanned plane, left and right, upper and lower five directions whether there is
Barrier and the distance between with barrier；Image module obtains the landforms image of unmanned plane position, and will get
Image data send data processing module to；Data processing module and the radar range finding sensor, image module and course
Control module is electrically connected, for receiving and processing the detection of obstacles result of radar range finding sensor transmission and image module transmission
Image data, and will treated that data send Heading control module to.
Advantageous effect using above-mentioned further scheme is：Barrier is acquired by radar range finding sensor and image module in real time
Hinder object information, in area with a varied topography or that aerial barrage object is more, unmanned plane of the invention can easily avoiding barrier safety
It advances, soil sampling unmanned plane is made to overcome the limitation of landform and geomorphologic conditions, the scope of application is wider.
Further, soil sampling module includes central processing unit, temperature sensor, humidity sensor, data storage, electricity
Machine actuating device and auger, temperature sensor are electrically connected with the first input port of the central processing unit, humidity sensor
It being electrically connected with the second input port of central processing unit, data storage is electrically connected with the first output port of central controller,
Motor driver is electrically connected with the second output terminal mouth of central processing unit, and the third output port of central processing unit is penetrated with airborne
Frequency communication module is electrically connected, and motor driver is electrically connected with auger, and auger is used to take the soil of designated position
Sample.
Advantageous effect using above-mentioned further scheme is：Temperature sensor and humidity sensor can be acquired by sample bits
The temperature and humidity of soil is put, collected soil temperature and humidity information is stored into data storage, convenient for the later stage to soil
The analysis and research of sample, auger is driven by electric driver completes soil sampling work, and central processing unit can control electric drive
The control of dynamic device and then realization to auger, it is achieved thereby that the automation of soil sampling process.
Further, auger is telescopic structure, and the length of entire auger can control motor by central processing unit
Driving device is adjusted.
Advantageous effect using above-mentioned further scheme is：Auger, which is designed as telescopic structure, can reduce entire soil
The volume of earth sampling apparatus makes unmanned plane more steady in flight course, so as to improve entire unmanned plane soil sampling system
The reliability of operational process.
Description of the drawings
Fig. 1 is the schematic network structure of unmanned plane desert and Gobi soil sampling system of the present invention；
Fig. 2 is the overall structure block diagram of unmanned plane desert and Gobi soil sampling system of the present invention；
Fig. 3 is soil sampling modular structure composition frame chart of the present invention.
In attached drawing, parts list represented by the reference numerals are as follows：
1st, unmanned plane subsystem, 11, GPS positioning module, 12, obstacle avoidance module, 121, radar range finding sensor, 122, data
Processing module, 123, image module, 13, Heading control module, 14, soil sampling module, 141, temperature sensor,
142nd, humidity sensor, 143, central processing unit, 144, data storage, 145, auger, 15, airborne radio communication mould
Block, 2, ground monitoring subsystem, 21, monitoring module, 22, Terrestrial Radio communication module, 23, flight path programming module, 3,
GPS satellite.
Specific embodiment
The principle and features of the present invention will be described below with reference to the accompanying drawings, and the given examples are served only to explain the present invention, and
It is non-to be used to limit the scope of the present invention.
Referring to attached drawing 1 and Fig. 2, unmanned plane desert and Gobi soil sampling system provided in this embodiment includes unmanned plane subsystem
System 1 and ground monitoring subsystem 2, unmanned plane subsystem 1 include：
GPS positioning module 11, for receiving the unmanned plane real time position data of the transmission of GPS satellite 3；
Obstacle avoidance module 12, for detecting the barrier that whether there is during unmanned plane during flying；
Heading control module 13 is electrically connected with GPS positioning module 11 and obstacle avoidance module 12, for receiving GPS positioning module 11
The detection of obstacles of position data and obstacle avoidance module 12 transmission of transmission is as a result, simultaneously according to the position data and barrier received
Testing result regulates and controls the heading of unmanned plane；
Soil sampling module 14, for being sampled after UAV Landing to the soil of designated position and obtaining soil temperature and humidity
Data；
Airborne radio-frequency communication module 15, is electrically connected with Heading control module 13 and soil sampling module 14, for course to be controlled
The position data that molding block 13 transmits sends ground monitoring subsystem 2 to, and airborne radio-frequency communication module 15 is additionally operable to adopt in soil
The Soil Temperature And Moisture degrees of data and sampling result that egf block 14 transmits send ground monitoring subsystem 2 to；
Ground monitoring subsystem 2 is connected with the communication of airborne radio-frequency communication module 15, is passed for receiving airborne radio-frequency communication module 15
The position data sent and treated image data, and monitor the flight path of unmanned plane.
Ground monitoring subsystem 2 provided in this embodiment includes Terrestrial Radio communication module 22,23 and of flight path programming module
Monitoring module 21, Terrestrial Radio communication module 22 are connected with the communication of airborne radio-frequency communication module 15, monitoring module 21 and flight path rule
Module 23 is drawn to be electrically connected with Terrestrial Radio communication module 22.
Obstacle avoidance module 12 provided in this embodiment includes radar range finding sensor 121, image module 123 and data processing mould
Block 122, radar range finding sensor 121 are electrically connected with data processing module 122, and radar range finding sensor 121 is used to detect nobody
Before machine, left and right, upper and lower five direction whether there are obstacles and the distance between with barrier, and by detection of obstacles knot
Fruit sends data processing module 122 to；Image module 123 is electrically connected with data processing module 122, and image module 123 is used to obtain
The landforms image of unmanned plane position is taken, and sends the image data got to data processing module 122；Data processing
Module 122 is electrically connected with Heading control module 13, for receiving and processing the detection of obstacles of the transmission of radar range finding sensor 121
As a result the image data transmitted with image module 123, and data send Heading control module 13 to by treated.
Referring to attached drawing 3, soil sampling module 14 includes central processing unit 143, temperature sensor 141, wet in the present embodiment
Spend sensor 142, data storage 144, motor driver 145 and auger 146, temperature sensor 141 and central processing
The first input port electrical connection of device 143, humidity sensor 142 are electrically connected with the second input port of central processing unit 143, number
It is electrically connected according to memory 144 with the first output port of central controller 143, motor driver 145 and central processing unit 143
The electrical connection of second output terminal mouth, the third output port of central processing unit 143 is electrically connected with airborne 15 pieces of radio communication mould, electric
Machine actuating device 145 is electrically connected with auger 146, and auger 146 is used to be sampled the soil of designated position.
Auger 146 is telescopic structure, and the length of entire auger 146 can control electricity by central processing unit 143
Machine actuating device 145 is adjusted.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all the present invention spirit and
Within principle, any modification, equivalent replacement, improvement and so on should all be included in the protection scope of the present invention.
Claims (5)
1. a kind of unmanned plane desert and Gobi soil sampling system, which is characterized in that including unmanned plane subsystem and ground monitoring
System, the unmanned plane subsystem include
GPS positioning module, the GPS positioning module receive the unmanned plane real time position data of GPS satellite transmission；
Obstacle avoidance module, the obstacle avoidance module detect whether there are obstacles during unmanned plane during flying；
Heading control module, is electrically connected with GPS positioning module and obstacle avoidance module, and the Heading control module receives the GPS
The testing result of the position data of locating module transmission and the whether there are obstacles of obstacle avoidance module transmission, and according to receiving
The testing result of position data and whether there are obstacles regulates and controls the heading of unmanned plane, the Heading control module transmission
Position data sends ground monitoring subsystem to；
Soil sampling module, the soil sampling module are sampled and obtain to the soil of designated position after UAV Landing
Soil Temperature And Moisture degrees of data；
Airborne radio-frequency communication module is electrically connected with the Heading control module and soil sampling module, and the airborne radio frequency leads to
Believe that module receives the Soil Temperature And Moisture number of degrees that the position data of the Heading control module transmission and the soil sampling module are sent
According to and sampling result；
The ground monitoring subsystem is connected with the airborne radio-frequency communication module communication, and the ground monitoring subsystem receives institute
The position data of airborne radio-frequency communication module transmission and Soil Temperature And Moisture degrees of data and sampling result are stated, and according to obtained positional number
According to the flight path of monitoring unmanned plane.
A kind of 2. unmanned plane desert and Gobi soil sampling system according to claim 1, which is characterized in that the ground prison
It controls subsystem and includes Terrestrial Radio communication module, flight path programming module and monitoring module, the Terrestrial Radio communication module and institute
Airborne radio-frequency communication module communication connection is stated, the monitoring module and the flight path programming module communicate with the Terrestrial Radio
Module is electrically connected.
A kind of 3. unmanned plane desert and Gobi soil sampling system according to claim 1, which is characterized in that the avoidance mould
Block includes radar range finding sensor, image module and data processing module, the radar range finding sensor and the data processing
Module is electrically connected, before radar range finding sensor detection unmanned plane, left and right, upper and lower five direction whether there are obstacles with
And away from the distance between barrier, and send detection of obstacles result to data processing module；Described image module with it is described
Data processing module is electrically connected, described image module is used to obtaining the landforms image of unmanned plane position, and will be got
Image data sends data processing module to；The data processing module is electrically connected with Heading control module, for receiving and locating
The detection of obstacles result of the radar range finding sensor transmission and the image data of described image module transmission are managed, and will processing
Data afterwards send the Heading control module to.
4. a kind of unmanned plane desert and Gobi soil sampling system according to claim 1, which is characterized in that the soil is adopted
Egf block includes central processing unit, temperature sensor, humidity sensor, data storage, motor driver and auger, institute
The first input port that temperature sensor is stated with the central processing unit is electrically connected, the humidity sensor and the central processing
The second input port electrical connection of device, the data storage are electrically connected with the first output port of the central controller, institute
Motor driver is stated to be electrically connected with the second output terminal mouth of the central processing unit, the third output port of central processing unit with
The airborne radio-frequency communication module electrical connection, the motor driver are electrically connected with the auger, and the auger is to referring to
The soil put is positioned to be sampled.
A kind of 5. unmanned plane desert and Gobi soil sampling system according to claim 4, which is characterized in that the auger
For telescopic structure, the length of entire auger can control the motor driver to be adjusted by central processing unit.
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| CN201711354977.3A CN108152071A (en) | 2017-12-15 | 2017-12-15 | A kind of unmanned plane desert and Gobi soil sampling system |
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| CN201711354977.3A CN108152071A (en) | 2017-12-15 | 2017-12-15 | A kind of unmanned plane desert and Gobi soil sampling system |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108871856A (en) * | 2018-09-27 | 2018-11-23 | 中国环境管理干部学院 | A kind of Intelligent unattended machine contaminated soil collector with GPS positioning |
| CN111435135A (en) * | 2019-01-11 | 2020-07-21 | 通用电气航空系统有限公司 | Land monitoring system and method for collecting data via UAV |
| CN111609884A (en) * | 2020-05-21 | 2020-09-01 | 齐齐哈尔大学 | Desert monitoring system and operation method thereof |
| CN112747958A (en) * | 2020-12-31 | 2021-05-04 | 武汉大学 | Bionic obstacle-avoiding large-depth interstellar sampler and sampling method |
| US11001380B2 (en) | 2019-02-11 | 2021-05-11 | Cnh Industrial Canada, Ltd. | Methods for acquiring field condition data |
| CN112861658A (en) * | 2021-01-14 | 2021-05-28 | 中国科学院地理科学与资源研究所 | Identification method for desertification control key area based on multi-source data |
| US11059582B2 (en) | 2019-02-11 | 2021-07-13 | Cnh Industrial Canada, Ltd. | Systems for acquiring field condition data |
| CN113267369A (en) * | 2021-05-12 | 2021-08-17 | 熊彩霞 | Environment monitoring equipment for geological exploration and soil sampling method |
| CN114166546A (en) * | 2021-12-13 | 2022-03-11 | 中国环境科学研究院 | Unmanned aerial vehicle depthkeeping soil heavy metal monitoring system |
| CN114460263A (en) * | 2021-05-11 | 2022-05-10 | 北京山水云图科技有限公司 | System and method for monitoring and protecting soil health condition for long time |
| US11483960B2 (en) | 2019-11-19 | 2022-11-01 | Cnh Industrial Canada, Ltd. | System and method for monitoring seedbed conditions using a seedbed sensing assembly supported on a UAV |
| US11852621B2 (en) | 2020-04-23 | 2023-12-26 | Cnh Industrial Canada, Ltd. | System and method for monitoring tilled floor conditions using a tilled floor sensing assembly |
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| CN108871856A (en) * | 2018-09-27 | 2018-11-23 | 中国环境管理干部学院 | A kind of Intelligent unattended machine contaminated soil collector with GPS positioning |
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| CN111435135A (en) * | 2019-01-11 | 2020-07-21 | 通用电气航空系统有限公司 | Land monitoring system and method for collecting data via UAV |
| US11001380B2 (en) | 2019-02-11 | 2021-05-11 | Cnh Industrial Canada, Ltd. | Methods for acquiring field condition data |
| US11059582B2 (en) | 2019-02-11 | 2021-07-13 | Cnh Industrial Canada, Ltd. | Systems for acquiring field condition data |
| US11483960B2 (en) | 2019-11-19 | 2022-11-01 | Cnh Industrial Canada, Ltd. | System and method for monitoring seedbed conditions using a seedbed sensing assembly supported on a UAV |
| US11852621B2 (en) | 2020-04-23 | 2023-12-26 | Cnh Industrial Canada, Ltd. | System and method for monitoring tilled floor conditions using a tilled floor sensing assembly |
| CN111609884A (en) * | 2020-05-21 | 2020-09-01 | 齐齐哈尔大学 | Desert monitoring system and operation method thereof |
| CN112747958B (en) * | 2020-12-31 | 2021-11-09 | 武汉大学 | Bionic obstacle-avoiding large-depth interstellar sampler and sampling method |
| CN112747958A (en) * | 2020-12-31 | 2021-05-04 | 武汉大学 | Bionic obstacle-avoiding large-depth interstellar sampler and sampling method |
| CN112861658A (en) * | 2021-01-14 | 2021-05-28 | 中国科学院地理科学与资源研究所 | Identification method for desertification control key area based on multi-source data |
| CN114460263A (en) * | 2021-05-11 | 2022-05-10 | 北京山水云图科技有限公司 | System and method for monitoring and protecting soil health condition for long time |
| CN113267369A (en) * | 2021-05-12 | 2021-08-17 | 熊彩霞 | Environment monitoring equipment for geological exploration and soil sampling method |
| CN114166546A (en) * | 2021-12-13 | 2022-03-11 | 中国环境科学研究院 | Unmanned aerial vehicle depthkeeping soil heavy metal monitoring system |
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