CN108168930A - A kind of soil sampling monitoring system and method based on construction - Google Patents
A kind of soil sampling monitoring system and method based on construction Download PDFInfo
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- CN108168930A CN108168930A CN201810008334.1A CN201810008334A CN108168930A CN 108168930 A CN108168930 A CN 108168930A CN 201810008334 A CN201810008334 A CN 201810008334A CN 108168930 A CN108168930 A CN 108168930A
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- aerial vehicle
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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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/24—Earth materials
Abstract
The invention discloses a kind of soil samplings based on construction to monitor system and method, its key points of the technical solution are that including unmanned plane, monitoring center and the sampling platform on multiple soil sampling points；Monitoring center carries the location information of multiple soil sampling points for sending driving instruction to unmanned plane in driving instruction；Unmanned plane includes body, the unmanned aerial vehicle (UAV) control device being arranged in body and the power module for providing electric energy, it is connected with unmanned plane positioning unit and UAV Communication unit on unmanned aerial vehicle (UAV) control device, UAV Communication unit is in response to driving instruction the unmanned plane to be controlled to start；The trigger signal that unmanned aerial vehicle (UAV) control device is exported based on trigger device, ring electromagnet and electric coil winder is controlled to start with by first connecting portion and second connecting portion pairing, casing is driven to be rotated such that position detecting device is opposite with position detection body by driving portion, lifting assembly control sampler moves downward to be sampled to pass through sample tap and sampling channel.
Description
Technical field
The present invention relates to monitoring field, more particularly to a kind of soil sampling monitoring system and method based on construction.
Background technology
At present, often soil soil property is monitored, is analyzed with the soil property to soil, soil analysis before construction
It is qualitative, the quantitative determination carried out to composition of the soil point and/or physics, chemical property.Soil sample analysis as a result, is soil
The premise of development ＆ construction.Wherein, the soil sample under the prior art is all manually to be sampled to appointed place, and sampling efficiency is low
Under, and sample and be inconvenient.
Publication No. is that the Chinese patent of CN107235146A discloses a kind of Soil K+adsorption sampling aircraft, by using winged
Row device is related to, and the place for manually reaching sampling can be replaced to carry out soil sample, to improve the efficiency of sampling.But such sampling side
Formula, can only often carry out a soil sampling, this causes the efficiency of soil collection to be difficult to improve.
Invention content
In view of the deficiencies of the prior art, the present invention intends to provide a kind of soil sampling monitoring based on construction
System can improve soil collection efficiency to a certain extent.
The present invention above-mentioned technical purpose technical scheme is that：
A kind of soil sampling monitoring system based on construction, including unmanned plane, monitoring center and positioned at multiple soil sampling points
On sampling platform；
Monitoring center for sending driving instruction to unmanned plane, wherein, the positions of multiple soil sampling points is carried in driving instruction
Confidence ceases；
The center of sampling platform offers storage tank, and the surface of the sampling platform has the inner concave gathered to storage tank, institute
It states and position detection body is provided on inner concave, at least two sampling channels, institute are through with around storage tank on the sampling platform
It states and annular iron ring is provided on the cell wall of storage tank；
Unmanned plane includes body, the unmanned aerial vehicle (UAV) control device being arranged in body and the power module for providing electric energy, described
Unmanned plane positioning unit and UAV Communication unit are connected on unmanned aerial vehicle (UAV) control device, the UAV Communication unit is in response to driving
It is dynamic to instruct that the unmanned plane is controlled to start；
Electric coil winder is provided in the body, the electric coil winder is connected with unmanned aerial vehicle (UAV) control device, the bottom of the body
Portion is provided with the guiding piece being adapted with storage tank, and the bottom of the guiding piece has the hemisphere face coordinated with inner concave, described
The lower rotation of body is equipped with hollow casing, and the electric coil winder has at least two traction ropes, and the traction rope is worn
Casing connection is crossed on guiding piece, first connecting portion is provided on the end face of the guiding piece, is set on the end face of described sleeve pipe
There is the second connecting portion with first connecting portion pairing；It is provided on the outer wall of the guiding piece and enters appearance for detecting guiding piece
Put the trigger device in slot and the ring electromagnet for adsorbing annular iron ring；
The bottom of the body is vertically installed at least two connecting plates, and the bottom of the connecting plate is provided with the plate that rises and falls, each
Sampling plate is slidably fitted on connecting plate, is provided with sampling motor on the sampling plate, on the output shaft of the sampling motor
Sampler is connected with, the lifting assembly for sampling plate to be driven to lift is provided on the body, is offered on the plate that rises and falls
The sample tap opposite with sampler；It is provided on the plate that rises and falls for the position detecting device of test position detection body, it is described
The driving portion for casing to be driven to rotate is provided in body；
The trigger signal that the unmanned aerial vehicle (UAV) control device is exported based on trigger device controls ring electromagnet and electric coil winder to start
By first connecting portion and second connecting portion pairing, casing to be driven to be rotated such that position detecting device and position by driving portion
It is opposite to detect body, the lifting assembly control sampler moves downward to be sampled to pass through sample tap and sampling channel.
Preferably, the lifting assembly includes lifting motor and screw, and the wire rod thread is connected on sampling plate and one
End, which is rotatably installed in, rises and falls on plate, and the lifting motor is arranged in body, and the output shaft of the lifting motor is connected to screw
The other end on.
Preferably, the driving portion includes the driving motor being arranged in body, connects on the output shaft of the driving motor
First gear is connected to, the second gear engaged with first gear is socketed in described sleeve pipe.
Preferably, the electric coil winder includes spool stand, the spool being rotatably installed on spool stand and is mounted on
At least two winding rolls on spool are respectively provided with traction rope on each winding roll, are provided on the spool stand and spool
It is connected for the spiral motor that spool is driven to rotate.
Preferably, the sampling motor, lifting motor, driving motor and spiral motor are described to take using servo motor
Monitoring encoder is mounted in sample motor, lifting motor, driving motor and spiral motor.
Preferably, the quantity of the trigger device is provided with multiple, and multiple trigger devices are circumferentially provided on the outer of guiding piece
On wall.
Preferably, the bottom of the body is provided with the distance detection device for detecting unmanned plane hovering height.
Preferably, orientation detection body is additionally provided on each sampling platform, is provided with to identify orientation on the body
The azimuth detecting apparatus of body is detected, the diameter of the azimuth detecting apparatus detection range is less than the width of sampling platform.
In view of the deficiencies of the prior art, the present invention intends to provide a kind of soil sampling monitoring based on construction
Method can improve soil collection efficiency to a certain extent.
The present invention above-mentioned technical purpose technical scheme is that：
A kind of soil sampling monitoring method based on construction, includes the following steps：
Positioning step：Unmanned aerial vehicle (UAV) control device receives the driving instruction that monitoring center sends, to be exported according to unmanned plane positioning unit
Location information and the location information of multiple soil samplings point fly to the top hovering of first sampling platform；
Connection Step：Unmanned aerial vehicle (UAV) control device control electric coil winder start, guiding piece is driven to move downward with sampling platform
Inner concave, which is contradicted, to be entered up to guiding piece is fitted into storage tank, the trigger signal that unmanned aerial vehicle (UAV) control device is exported based on trigger device
It is electric ring electromagnet to be controlled to obtain, and accordingly control electric coil winder resets, electric coil winder reversely draws unmanned plane will lead
Draw the second connecting portion pairing in the first connecting portion and casing on block；
Calibration steps：Unmanned aerial vehicle (UAV) control device judges whether position detecting device detects position detection body, if so, into next
Step；If it is not, unmanned aerial vehicle (UAV) control device then drives casing to rotate by driving portion, the controlled unitary rotation of the unmanned plane is until the plate that rises and falls
On position detecting device detect position detection body after stop operating, and enter next step；
Sampling step：Unmanned aerial vehicle (UAV) control device samples motor and lifting assembly starts, and lifting assembly drives sampler to move downward, and takes
Sample device, which passes through sample tap and samples after channel is sampled, to be resetted；
Release steps：Unmanned aerial vehicle (UAV) control control ring electromagnet dead electricity and control driving portion after sampler reset drive casing
It resets；
Change a step：Location information of the unmanned aerial vehicle (UAV) control device based on soil sampling point next in driving instruction is to fly to next
The top hovering of sampling platform, and repeat Connection Step ~ release steps.
Preferably, in positioning step, following steps are further included：
Unmanned aerial vehicle (UAV) control device detects the hovering height of the unmanned plane based on distance detection device, and by the hovering height of the unmanned plane
It drop to preset hovering height；
Under the hovering height, azimuth detecting apparatus judges to whether there is orientation detection body in its detection range；If so, into
Enter into Connection Step；If it is not, the unmanned plane is then controlled to believe on the horizontal plane that it hovers around the position of the soil sampling point
Breath gradually expands outwardly flight with the flight path of helix；
In flight course, unmanned aerial vehicle (UAV) control device judges whether azimuth detecting apparatus captures orientation detection in its detection range
Body, if so, unmanned aerial vehicle (UAV) control device then controls the unmanned plane to hover and enters in Connection Step.
In conclusion having the beneficial effect that in contrast to the prior art of the invention：
By controlling on unmanned plane during flying to each soil sampling point, automatic collection soil sample, in soil sampling point
After soil collection, and next soil sampling point acquisition soil that flies to automatically, until the soil of all soil sampling points is adopted
Collection finishes, using above-mentioned soil collection mode：
1st, staff can be avoided to arrive soil sampling point in person and carry out soil collection, save the use of manual labor's power；
2nd, multiple soil collection can be carried out, improves the efficiency of unmanned plane soil collection；
3rd, when soil is acquired, soil on each sampling platform can multiple repairing weld, ensure that unmanned plane acquires every time
To soil on fixed point position, ensure that the accuracy of soil monitoring and validity to the full extent, avoid soil sample
Regional differentiation soil constituent variation is brought to lead to the othernesses of soil monitoring data.
Description of the drawings
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other features of the invention,
Objects and advantages will become more apparent upon：
Fig. 1 is the system block diagram that the soil sampling based on construction monitors system in technical solution of the present invention；
Fig. 2 is the flight schematic diagram of unmanned plane in technical solution of the present invention；
Fig. 3 is the status diagram that unmanned plane hovers over above sampling platform in technical solution of the present invention；
Fig. 4 is the sampling schematic diagram of unmanned plane in technical solution of the present invention；
Fig. 5 is the structure diagram of unmanned plane in technical solution of the present invention；
Fig. 6 is the connection diagram of unmanned aerial vehicle (UAV) control device in technical solution of the present invention.
Reference numeral：1st, sampling platform；2nd, stabilizer blade；3rd, storage tank；4th, inner concave；5th, channel is sampled；6th, position detection body；
7th, annular iron ring；8th, body；9th, rotor；10th, partition board；11st, electric coil winder；111st, traction rope；112nd, spool stand；113rd, spiral
Axis；114th, winding roll；115th, spiral motor；12nd, guiding piece；13rd, hemisphere face；14th, casing；15th, bearing；16th, first connecting portion；
17th, second connecting portion；18th, trigger device；19th, ring electromagnet；20th, connecting plate；21st, rise and fall plate；22nd, pass through slot；23rd, it samples
Plate；24th, motor is sampled；25th, sampler；26th, lifting assembly；261st, lifting motor；262nd, screw；27th, sample tap；28th, position
Detection device；29th, driving portion；291st, driving motor；292nd, first gear；293rd, second gear；30th, open-close cover；31st, orientation is examined
Survey body；32nd, azimuth detecting apparatus；33rd, distance detection device.
Specific embodiment
In order to preferably technical scheme of the present invention be made clearly to show, the present invention is made below in conjunction with the accompanying drawings into one
Walk explanation.
Embodiment one
It is a kind of based on construction soil sampling monitoring system, with reference to shown in Fig. 1 and Fig. 2, including unmanned plane, monitoring center and
Sampling platform 1 on multiple soil sampling points.Each soil sampling point has corresponding longitude and latitude degrees of data, sampling platform 1
It is arranged on each soil sampling point so that unmanned plane carries out soil collection.
Monitoring center is used to carry out wireless communication with unmanned plane.Monitoring center is used to send in driving instruction to unmanned plane,
Wherein, the location information of multiple soil sampling points is carried in driving instruction, the location information of multiple soil sampling points is by acquisition
Sequence is arranged, and unmanned plane one by one can carry out soil sampling point according to the location information of multiple soil sampling points as a result,
Soil sampling.
As shown in figure 3, sampling platform 1 is fixed on the ground by stabilizer blade 2, the height between sampling platform 1 and ground is
10cm.Wherein, the center of sampling platform 1 offers storage tank 3, and the surface of sampling platform 1 has the indent gathered to storage tank 3
Face 4 is through at least two sampling channels 5 on sampling platform 1, it should be noted that set on inner concave 4 around storage tank 3
There is position detection body 6, annular iron ring 7 is provided on the cell wall of storage tank 3.
With reference to shown in Fig. 5 and Fig. 6, unmanned plane include body 8, rotor 9, the unmanned aerial vehicle (UAV) control device being arranged in body 8, with
And the power module for providing electric energy, unmanned plane positioning unit and UAV Communication unit are connected on unmanned aerial vehicle (UAV) control device,
Unmanned plane carries out data interaction by UAV Communication unit and monitoring center, and unmanned plane positioning unit is worked as exporting unmanned plane
The location of preceding information, that is, the longitude and latitude degrees of data being presently in.Unmanned plane receives monitoring center by UAV Communication unit
The driving instruction sent out, and in response to driving instruction with control the unmanned plane start.In the present embodiment, unmanned plane positioning unit is adopted
With GPS module or Beidou navigation module, UAV Communication unit uses 4G modules.
Be provided with partition board 10 in body 8, body 8 in being provided with electric coil winder 11 on partition board 10, electric coil winder 11 with
Unmanned aerial vehicle (UAV) control device is connected, and has at least two traction ropes 111 on electric coil winder 11, specifically, electric coil winder 11 includes
Spool stand 112, spool 113 and winding roll 114, spool stand 112 are fixed on partition board 10, and spool 113 is rotationally
On spool stand 112, at least two winding rolls 114 on spool 113 are installed, is respectively provided with and leads on each winding roll 114
Messenger 111, wherein, the spiral electricity being connected with spool 113 for spool 113 is driven to rotate is provided on spool stand 112
Machine 115, spiral motor 115 is connected with unmanned aerial vehicle (UAV) control device, in the present embodiment, spiral motor 115 use servo motor, and
Monitoring encoder is installed, monitoring encoder can monitor the number of turns of the rotation of spiral motor 115 to be answered in spiral motor 115
On position to initial station.
It should be noted that the bottom of body 8 is provided with the guiding piece 12 being adapted with storage tank 3, the bottom of guiding piece 12
Portion has the hemisphere face 13 coordinated with inner concave 4, and guiding piece 12 is using with the metal of constant weight or non-metal counterweight block.Its
In, the lower rotation of body 8 is equipped with hollow casing 14, and specifically, casing 14 is mounted on by bearing 15 on body 8, electricity
The traction rope 111 of dynamic winder 11 is connected to across casing 14 on the end face of guiding piece 12.
First connecting portion 16 is provided on the end face of guiding piece 12, is provided on the end face of casing 14 and first connecting portion 16
The second connecting portion 17 of pairing.In the present embodiment, first connecting portion 16 includes several be circumferentially provided on 12 end face of guiding piece
First helical teeth, second connecting portion 17 include it is several be circumferentially provided on 14 end face of casing be engaged with the first helical teeth it is second oblique
Tooth, guiding piece 12 is under the action of electric coil winder 11, when the end face of guiding piece 12 offsets with the end face of casing 14, the first helical teeth
It will be mutually engaged with the second helical teeth, at this point, guiding piece 12 can be rotated with casing 14 along a direction.
Be provided on the outer wall of guiding piece 12 for detect guiding piece 12 enter trigger device 18 in storage tank 3, with
And the ring electromagnet 19 for adsorbing annular iron ring 7.Trigger device 18 and ring electromagnet 19 are connected to unmanned aerial vehicle (UAV) control device,
And it is controlled by unmanned aerial vehicle (UAV) control device.In the present embodiment, the quantity of trigger device 18 is provided with multiple, multiple 18 circumferential directions of trigger devices
It is arranged on the outer wall of guiding piece 12, trigger device 18 uses trigger switch or capacitive approach switch.
The bottom of body 8 is vertically installed at least two connecting plates 20, and the bottom of several connecting plates 20 is provided with the plate that rises and falls
21, be provided on the plate 21 that rises and falls for guiding piece 12 by by slot 22, several connecting plates 20 by slot 22 around being set.Its
In, sampling plate 23 is slidably fitted on each connecting plate 20, sampling motor 24 is provided on sampling plate 23, sampling motor 24
Sampler 25 is connected with by shaft coupling on output shaft, the lifting assembly for sampling plate 23 to be driven to lift is provided on body 8
26, in the present embodiment, lifting assembly 26 includes lifting motor 261 and screw 262, and screw 262 is threaded on sampling plate 23
And one end is rotatably installed in and rises and falls on plate 21, lifting motor 261 is arranged in body 8, and the output shaft of lifting motor 261 passes through connection
Axis device is connected on the other end of screw 262.Lifting motor 261 and sampling motor 24 are using servo motor, lifting motor 261
Monitoring encoder is mounted on motor 24 with sampling, monitoring encoder can monitor lifting motor 261 and 24 turns of motor of sampling
The dynamic number of turns is reset on initial station.
It should be noted that offer the sample tap 27 opposite with sampler 25 on the plate 21 that rises and falls, sample tap 27 and pass through
Spacing between slot 22 is identical with the spacing between sampling channel 5 and storage tank 3, right in guiding piece 12 and storage tank 3 as a result,
It closes, when unmanned plane is placed in the center of sampling platform 1, by adjusting the angle of unmanned plane, sample tap 27 can be with sampling 5 phase of channel
It is right.
Specifically, rise and fall the position detecting device 28 being provided on plate 21 for test position detection body 6, is set in body 8
It is equipped with the driving portion 29 for casing 14 to be driven to rotate；In the present embodiment, position detection body 6 uses metal detection body, position inspection
Device 28 is surveyed using close to switch, the triggering end close to switch is located at the bottom for the plate 21 that rises and falls.What deserves to be explained is position detection
Body 6, sampling channel 5, storage tank 3 be on same straight line, position detecting device 28, sample tap 27 and by slot 22 positioned at same
On straight line.
Driving portion 29 includes being arranged on driving motor 291 in body 8, and the is connected on the output shaft of driving motor 291
One gear 292 is socketed with the second gear 293 engaged with first gear 292 on casing 14.Driving motor 291 is using servo electricity
Machine, is equipped with monitoring encoder on driving motor 291, monitoring encoder be capable of the number of turns that monitoring driving motor 291 rotates with into
Row is reset on initial station.
What deserves to be explained is the bottom for the plate 21 that rises and falls is hinged with the open-close cover 30 for closing sample tap 27, open-close cover 30
Articulated shaft on torsional spring is installed, open-close cover 30 can close sample tap 27 constantly under the action of torsional spring.
Orientation detection body 31 is additionally provided on each sampling platform 1, is provided with to identify orientation detection on the body 8
The azimuth detecting apparatus 32 of body 31, the diameter of 32 detection range of azimuth detecting apparatus are less than the width of sampling platform 1.Orientation detection
Body 31 is RFID label tag, and azimuth detecting apparatus 32 is RFID reader, wherein, orientation detection body 31 is located in sampling platform 1
Heart position.It should be noted that the bottom of body 8 is provided with the distance detection device for detecting unmanned plane hovering height
33.Distance detection device 33 is height sensor or ultrasonic sensor.
The trigger signal that unmanned aerial vehicle (UAV) control device is exported based on trigger device 18 as a result, controls ring electromagnet 19 and electronic
Winder 11 start by first connecting portion 16 and 17 pairing of second connecting portion, casing 14 to be driven to rotate by driving portion 29 so that
It is opposite with position detection body 6 to obtain position detecting device 28, the lifting assembly 26 controls sampler 25 to move downward to take
Sample mouth 27 and sampling channel 5 are sampled.
The course of work：
With reference to shown in Fig. 3 and Fig. 4, monitoring center is sent in driving instruction to unmanned plane, and unmanned aerial vehicle (UAV) control device is led to by unmanned plane
Letter unit receives the driving instruction of monitoring center's transmission, with the location information that is exported according to unmanned plane positioning unit and multiple
The location information of soil sampling point flies to the top hovering of first sampling platform 1.Due to the positioning accurate of unmanned plane positioning unit
Accuracy is there are certain error, and for error range in 1-3m or so, therefore, it is necessary to carry out secondary positioning to unmanned plane.
The mode of secondary positioning is specifically, unmanned aerial vehicle (UAV) control device detects the hovering of the unmanned plane based on distance detection device 33
Highly, and by the hovering of the unmanned plane it highly drop in preset hovering height, in the hovering height, orientation detection
Device 32 is judged with the presence or absence of orientation detection body 31 in its detection range, if so, entering in next step, if it is not, then
The unmanned plane is controlled to be gone on patrol around soil sampling point, to capture orientation detection body 31.Specifically, unmanned aerial vehicle (UAV) control device controls
The unmanned plane gradually expands outwardly on the horizontal plane that it hovers around the soil sampling point using helix as flight path, is flying
During row, if azimuth detecting apparatus 32 captures orientation detection body 31 in its detection range, unmanned aerial vehicle (UAV) control device controls
The unmanned plane hovers and enters in next step；
In the next step, unmanned aerial vehicle (UAV) control device control electric coil winder 11 starts, and guiding piece 12 is driven to move downward, guiding piece
12 in moving downward, and the hemisphere face 13 of guiding piece 12 is contradicted with the inner concave 4 of sampling platform 1, as electric coil winder 11 is released
Traction rope 111 is put, guiding piece 12 glides under gravity along the inner concave 4 of sampling platform 1, until guiding piece 12 is chimeric
It enters in storage tank 3.Guiding piece 12 is during downslide as a result, 4 single side of inner concave of guiding piece 12 and sampling platform 1
Fitting（At this point, trigger device 18 will not be concurrently triggered）；When guiding piece 12, which is completely fitted, to be entered in storage tank 3, triggering
Device 18 is concurrently triggered, and trigger device 18 is exported in corresponding trigger signal to unmanned aerial vehicle (UAV) control device as a result, unmanned aerial vehicle (UAV) control
Device is electric ring electromagnet 19 to be controlled to obtain in response to trigger signal, and ring electromagnet 19 is attracted with annular iron ring 7, unmanned aerial vehicle (UAV) control
Device simultaneously accordingly controls electric coil winder 11 to reset（Wherein, during electric coil winder 11 discharges traction rope 111, spiral motor
Monitoring encoders monitor on 115 turnning circle of spiral motor 115, when electric coil winder 11 resets as a result, spiral motor
115 can invert the corresponding number of turns）, during electric coil winder 11 resets, electric coil winder 11 can reversely draw nothing
It is man-machine to move closer to sampling platform 1, until the first connecting portion 16 on guiding piece 12 and 17 phase of second connecting portion on casing 14
Pairing, at this point, guiding piece 12 can be rotated with casing 14.
Wherein, after the reset of electric coil winder 11, unmanned aerial vehicle (UAV) control device will determine that whether position detecting device 28 detects
Position detection body 6, if so, into next step；If it is not, unmanned aerial vehicle (UAV) control device control driving motor 291 rotates, driving motor
291 drive casing 14 to rotate, since guiding piece 12 is pull-in on by ring electromagnet 19 and annular iron ring 7 in storage tank 3, as a result,
The unmanned plane can under the action of driving motor 291 on sampling platform 1 along a direction circumferential direction rotation, until the plate that rises and falls
After position detecting device 28 on 21 detects position detection body 6, unmanned aerial vehicle (UAV) control device control driving motor 291 is out of service
（At this point, the turnning circle that the monitoring encoder on driving motor 291 will record driving motor 291）, and enter in next step
In rapid.
In the next step, unmanned aerial vehicle (UAV) control device control sampling motor 24 and lifting motor 261 start, and sample 24 band of motor
Dynamic sampler 25 rotates, and lifting motor 261 drives sampling plate 23 to move downward by screw 262, with sampler 25 constantly
Move downward, until sampler 25 pass through sample tap 27 and sampling channel 5 contradict on the ground, with sampler 25 rotation and
It moving downward, sampler 25 can be acquired soil, wherein, unmanned aerial vehicle (UAV) control device can export the fixed cycle to lifting electricity
On machine 261 so that lifting motor 261 declines fixed depth to acquire corresponding depth of soil, logical to reach same sampling
The purpose of more than the 5 deep soil acquisition in road.
After 25 soil collection of sampler, unmanned aerial vehicle (UAV) control control sampling motor 24 and lifting motor 261 carry out instead
Turn to reset, sample motor 24 and lifting assembly 26 starts, lifting assembly 26 drives sampler 25 to move downward, and sampler 25 passes through
Sample tap 27 and sampling channel 5 reset after being sampled；After sampling motor 24 and lifting motor 261 reset, unmanned aerial vehicle (UAV) control
The reversion of control driving motor 291 resets while controlling 19 dead electricity of ring electromagnet（Traction rope 111 is avoided excessively to reverse）.
Location information of the unmanned aerial vehicle (UAV) control device based on soil sampling point next in driving instruction is to fly to next sampling
The top hovering of platform 1, and repeat the above steps.It is corresponded to what deserves to be explained is each lifting motor 261, sampler 25 have
Number, the quantity of sampler 25 is corresponding with the quantity of soil sampling point, and unmanned aerial vehicle (UAV) control device can be according to driving instruction as a result,
Corresponding lifting motor 261 and sampling motor 24 is controlled to start to carry out sampling action, reaches flight, multiple soil samplings
The purpose that point flies back after sampling simultaneously, to effectively improve the efficiency of soil sampling.
Embodiment two
A kind of soil sampling monitoring method based on construction that system is monitored such as a kind of above-mentioned soil sampling based on construction, including
Following steps：
Positioning step：Unmanned aerial vehicle (UAV) control device receives the driving instruction that monitoring center sends, to be exported according to unmanned plane positioning unit
Location information and the location information of multiple soil samplings point fly to the top hovering of first sampling platform 1；
Connection Step：Unmanned aerial vehicle (UAV) control device control electric coil winder 11 starts, and guiding piece 12 is driven to move downward to be put down with sampling
The inner concave 4 of platform 1, which is contradicted, to be entered up to guiding piece 12 is chimeric in storage tank 3, and it is defeated that unmanned aerial vehicle (UAV) control device is based on trigger device 18
The trigger signal gone out is electric ring electromagnet 19 to be controlled to obtain, and accordingly control electric coil winder 11 resets, and electric coil winder 11 is anti-
To traction unmanned plane with by 17 pairing of second connecting portion on the first connecting portion 16 on guiding piece 12 and casing 14；
Calibration steps：Unmanned aerial vehicle (UAV) control device judges whether position detecting device 28 detects position detection body 6, if so, into
Next step；If it is not, unmanned aerial vehicle (UAV) control device then drives casing 14 to rotate by driving portion 29, the controlled unitary rotation of the unmanned plane is straight
It stops operating, and enter next step after detecting position detection body 6 to the position detecting device 28 to rise and fall on plate 21；
Sampling step：Unmanned aerial vehicle (UAV) control device samples motor 24 and lifting assembly 26 and starts, lifting assembly 26 drive sampler 25 to
Lower movement, sampler 25, which passes through sample tap 27 and samples after channel 5 is sampled, to be resetted；
Release steps：Unmanned aerial vehicle (UAV) control control 19 dead electricity of ring electromagnet and control driving portion 29 after the reset of sampler 25 drive
Reset casing 14；
Change a step：Location information of the unmanned aerial vehicle (UAV) control device based on soil sampling point next in driving instruction is to fly to next
The top hovering of sampling platform 1, and repeat Connection Step ~ release steps.
In positioning step, following steps are further included：
Unmanned aerial vehicle (UAV) control device detects the hovering height of the unmanned plane based on distance detection device 33, and the hovering of the unmanned plane is high
Degree drop to preset hovering height；
Under the hovering height, azimuth detecting apparatus 32 judges to whether there is orientation detection body 31 in its detection range；If so,
Then enter in Connection Step；If it is not, then control position of the unmanned plane around the soil sampling point on the horizontal plane that it hovers
Confidence breath gradually expands outwardly flight with the flight path of helix；
In flight course, unmanned aerial vehicle (UAV) control device judges whether azimuth detecting apparatus 32 captures orientation inspection in its detection range
Body 31 is surveyed, if so, unmanned aerial vehicle (UAV) control device then controls the unmanned plane to hover and enters in Connection Step.
Above-mentioned soil sampling mode is applied as a result,：
1st, staff can be avoided to arrive soil sampling point in person and carry out soil collection, save the use of manual labor's power；
2nd, multiple soil collection can be carried out, improves the efficiency of unmanned plane soil collection；
3rd, when soil is acquired, soil on each sampling platform 1 can multiple repairing weld, ensure that unmanned plane acquires every time
To soil on fixed point position, ensure that the accuracy of soil monitoring and validity to the full extent, avoid soil sample
Regional differentiation soil constituent variation is brought to lead to the othernesses of soil monitoring data.
The above is only the preferred embodiment of the present invention, and protection scope of the present invention is not limited merely to above-mentioned implementation
Example, all technical solutions belonged under thinking of the present invention all belong to the scope of protection of the present invention.It should be pointed out that for the art
Those of ordinary skill for, several improvements and modifications without departing from the principles of the present invention, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (10)
1. a kind of soil sampling monitoring system based on construction, which is characterized in that including unmanned plane, monitoring center and be located at
Sampling platform (1) on multiple soil sampling points；
Monitoring center for sending driving instruction to unmanned plane, wherein, the positions of multiple soil sampling points is carried in driving instruction
Confidence ceases；
The center of sampling platform (1) offers storage tank (3), and the surface of the sampling platform (1) has to be gathered to storage tank (3)
Inner concave (4), position detection body (6) is provided on the inner concave (4), storage tank (3) is surrounded on the sampling platform (1)
At least two sampling channels (5) are through with, annular iron ring (7) is provided on the cell wall of the storage tank (3)；
Unmanned plane includes body (8), the unmanned aerial vehicle (UAV) control device being arranged in body (8) and the power supply mould for providing electric energy
Block is connected with unmanned plane positioning unit and UAV Communication unit, the UAV Communication unit on the unmanned aerial vehicle (UAV) control device
In response to driving instruction with control the unmanned plane start；
Electric coil winder (11) is provided in the body (8), the electric coil winder (11) is connected with unmanned aerial vehicle (UAV) control device, institute
The bottom for stating body (8) is provided with the guiding piece (12) being adapted with storage tank (3), the bottom of the guiding piece (12) have with
The hemisphere face (13) of inner concave (4) cooperation, the lower rotation of the body (8) is equipped with hollow casing (14), described electronic
Winder (11) has at least two traction ropes (111), and the traction rope (111) is connected to guiding piece (12) across casing (14)
On, first connecting portion (16) is provided on the end face of the guiding piece (12), is provided on the end face of described sleeve pipe (14) and the
The second connecting portion (17) of one connecting portion (16) pairing；It is provided with to detect guiding piece on the outer wall of the guiding piece (12)
(12) trigger device (18) that enters in storage tank (3) and for adsorbing the ring electromagnet of annular iron ring (7) (19)；
The bottom of the body (8) is vertically installed at least two connecting plates (20), and the bottom of the connecting plate (20) is provided with
Rise and fall plate (21), and sampling plate (23) is slidably fitted on each connecting plate (20), sampling is provided on the sampling plate (23)
Motor (24), it is described sampling motor (24) output shaft on be connected with sampler (25), be provided with to drive on the body (8)
Make the lifting assembly (26) of sampling plate (23) lifting, offered on the plate that rises and falls (21) and the opposite sample tap of sampler (25)
(27)；It is provided on the plate that rises and falls (21) for the position detecting device (28) of test position detection body (6), the body
(8) driving portion (29) for casing (14) to be driven to rotate is provided in；
The unmanned aerial vehicle (UAV) control device is based on the trigger signal of trigger device (18) output, control ring electromagnet (19) and electric rolling
Line device (11) starts that by first connecting portion (16) and second connecting portion (17) pairing, casing (14) is driven by driving portion (29)
It is rotated such that position detecting device (28) and position detection body (6) relatively, lifting assembly (26) the control sampler (25)
It moves downward and is sampled to pass through sample tap (27) and sampling channel (5).
A kind of 2. soil sampling monitoring system based on construction according to claim 1, which is characterized in that the lifting group
Part (26) includes lifting motor (261) and screw (262), and the screw (262) is threaded on sampling plate (23) and one end
Be rotatably installed on the plate that rises and falls (21), the lifting motor (261) is arranged in body (8), the lifting motor (261) it is defeated
Shaft is connected on the other end of screw (262).
A kind of 3. soil sampling monitoring system based on construction according to claim 2, which is characterized in that the driving portion
(29) including the driving motor (291) being arranged in body (8), first is connected on the output shaft of the driving motor (291)
Gear (292) is socketed with the second gear (293) engaged with first gear (292) in described sleeve pipe (14).
A kind of 4. soil sampling monitoring system based on construction according to claim 3, which is characterized in that the electric rolling
Line device (11) is including spool stand (112), the spool (113) being rotatably installed on spool stand (112) and mounted on spool
(113) at least two winding rolls (114) on are respectively provided with traction rope (111), the spool stand on each winding roll (114)
(112) spiral motor (115) being connected with spool (113) for spool (113) is driven to rotate is provided on.
A kind of 5. soil sampling monitoring system based on construction according to claim 4, which is characterized in that the sampling electricity
Machine (24), lifting motor (261), driving motor (291) and spiral motor (115) are using servo motor, the sampling motor
(24), monitoring encoder is mounted in lifting motor (261), driving motor (291) and spiral motor (115).
A kind of 6. soil sampling monitoring system based on construction according to claim 1, which is characterized in that the triggering dress
The quantity for putting (18) is provided with multiple, and multiple trigger devices (18) are circumferentially provided on the outer wall of guiding piece (12).
A kind of 7. soil sampling monitoring system based on construction according to claim 1, which is characterized in that the body
(8) bottom is provided with the distance detection device (33) for detecting unmanned plane hovering height.
8. a kind of soil sampling monitoring system based on construction according to claim 1, which is characterized in that each sampling is flat
Orientation detection body (31) is additionally provided on platform (1), the orientation for identifying orientation detection body (31) is provided on the body (8)
Detection device (32), the diameter of azimuth detecting apparatus (32) detection range are less than the width of sampling platform (1).
9. a kind of a kind of soil sampling based on construction as described in claim 1 ~ 8 any one monitor system based on construction
Soil sampling monitoring method, which is characterized in that include the following steps：
Positioning step：Unmanned aerial vehicle (UAV) control device receives the driving instruction that monitoring center sends, to be exported according to unmanned plane positioning unit
Location information and the location information of multiple soil samplings point fly to the top hovering of first sampling platform (1)；
Connection Step：Unmanned aerial vehicle (UAV) control device control electric coil winder (11) starts, and guiding piece (12) is driven to move downward with adopting
The inner concave (4) of sample platform (1), which is contradicted, to be entered up to guiding piece (12) is chimeric in storage tank (3), and unmanned aerial vehicle (UAV) control device is based on
The trigger signal of trigger device (18) output is electric ring electromagnet (19) to be controlled to obtain, and accordingly control electric coil winder (11) is multiple
Position, electric coil winder (11) reversely traction unmanned plane with will be on the first connecting portion (16) on guiding piece (12) and casing (14)
Second connecting portion (17) pairing；
Calibration steps：Unmanned aerial vehicle (UAV) control device judges whether position detecting device (28) detects position detection body (6), if so,
Into next step；If it is not, unmanned aerial vehicle (UAV) control device then drives casing (14) to rotate by driving portion (29), the unmanned plane is controlled whole
The position detecting device (28) that body is rotated up on the plate that rises and falls (21) stops operating, and enter after detecting position detection body (6)
To next step；
Sampling step：Unmanned aerial vehicle (UAV) control device sampling motor (24) and lifting assembly (26) start, and lifting assembly (26) drives sampling
Device (25) moves downward, and sampler (25) resets after being sampled across sample tap (27) and sampling channel (5)；
Release steps：Unmanned aerial vehicle (UAV) control control ring electromagnet (19) dead electricity and control driving portion after sampler (25) reset
(29) casing (14) is driven to reset；
Change a step：Location information of the unmanned aerial vehicle (UAV) control device based on soil sampling point next in driving instruction is to fly to next
The top hovering of sampling platform (1), and repeat Connection Step ~ release steps.
10. a kind of soil sampling monitoring method based on construction according to claim 9, which is characterized in that walked in positioning
In rapid, following steps are further included：
Unmanned aerial vehicle (UAV) control device is based on distance detection device (33) and detects the hovering height of the unmanned plane, and by the hovering of the unmanned plane
Highly it drop to preset hovering height；
Under the hovering height, azimuth detecting apparatus (32) judges to whether there is orientation detection body (31) in its detection range；
If so, it enters in Connection Step；If it is not, then control the unmanned plane on the horizontal plane that it hovers around the soil sampling point
Location information flight is gradually expanded outwardly with the flight path of helix；
In flight course, unmanned aerial vehicle (UAV) control device judges whether azimuth detecting apparatus (32) captures orientation in its detection range
Body (31) is detected, if so, unmanned aerial vehicle (UAV) control device then controls the unmanned plane to hover and enters in Connection Step.
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| CN201810008334.1A CN108168930A (en) | 2018-01-04 | 2018-01-04 | A kind of soil sampling monitoring system and method based on construction |
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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 |
| CN110244012A (en) * | 2019-06-26 | 2019-09-17 | 深圳市宇驰检测技术股份有限公司 | Unmanned plane in-situ monitoring device |
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| CN114063639A (en) * | 2021-10-16 | 2022-02-18 | 长沙乐源土地规划设计有限责任公司 | Unmanned aerial vehicle remote sensing information acquisition method and device |
| CN114063639B (en) * | 2021-10-16 | 2023-08-08 | 长沙乐源土地规划设计有限责任公司 | Unmanned aerial vehicle remote sensing information acquisition method and device |
| 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 |
| CN114518248A (en) * | 2022-02-18 | 2022-05-20 | 山东省鲁南地质工程勘察院(山东省地质矿产勘查开发局第二地质大队) | Soil monitoring device and method for environmental geological soil investigation |
| CN114518248B (en) * | 2022-02-18 | 2024-04-05 | 山东省鲁南地质工程勘察院(山东省地质矿产勘查开发局第二地质大队) | Soil monitoring device and method for environmental geological soil investigation |
| CN115389738A (en) * | 2022-05-25 | 2022-11-25 | 赣州数源科技有限公司 | Intelligent agricultural integrated information system environment control device |
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Application publication date: 20180615 |