CN109655311A - A kind of water quality probe depthkeeping system and method suitable for unmanned plane - Google Patents
A kind of water quality probe depthkeeping system and method suitable for unmanned plane Download PDFInfo
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- CN109655311A CN109655311A CN201811574724.1A CN201811574724A CN109655311A CN 109655311 A CN109655311 A CN 109655311A CN 201811574724 A CN201811574724 A CN 201811574724A CN 109655311 A CN109655311 A CN 109655311A
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- hanging cable
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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
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
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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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
- G01B21/08—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness for measuring thickness
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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- Aviation & Aerospace Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
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Abstract
The invention belongs to unmanned plane detection technology fields, a kind of water quality probe depthkeeping system and method suitable for unmanned plane is disclosed, water quality probe depthkeeping system includes hanging cable length sensing unit, level detector and the hanging cable retractable unit being equipped in unmanned plane load；Hanging cable length sensing unit is used to detect the length of hanging cable releasing, and level detector is used for the flying height of sensorcraft；When work, hanging cable is attached to hanging cable retractable unit, for suspending water quality probe in midair；Hanging cable retractable unit determines that hanging cable degree of lengthening and should control the folding and unfolding of hanging cable according to the detection result of hanging cable length sensing unit and level detector, makes water quality probe in target underwater penetration.Popped one's head in depthkeeping system and method by the water quality, the underwater penetration for realizing the water quality probe that unmanned plane carrier suspended in midair is controllable, adjustable, and operation process can dynamic, automatic adjustment underwater penetration, realize depthkeeping acquisition or detection.
Description
Technical field
The invention belongs to technical field of environmental detection, and it is fixed to pop one's head in more particularly, to a kind of water quality suitable for unmanned plane
Deep system and method.
Background technique
One of the step of water quality detection is acquisition water sample, and the underwater water with depth is got in manual work mode inconvenience
Sample, and for staff can not be close water intaking can not then be sampled, bring very big inconvenience to water quality detection.With nothing
The development of man-machine technology, in the sampling process of water quality detection, carrying out water quality sampling as carrier using unmanned plane can overcome
The disadvantages described above of manual sampling.Unmanned plane is carried using the cable that unmanned plane progress sampling of water quality generallys use unmanned plane carrying
Probe or container transfer to sample point and fetch water, or the water sample of acquisition be drawn into unmanned plane taken using the water pipe carried
It is detected in the sampling probe of band to take back laboratory.However, in the prior art not yet well realize sensing probe or
The depthkeeping of sampling probe.
Some existing water quality sampling schemes do not have depthkeeping design, and the depth not sunk to completely to water quality probe is controlled
System, or the depth only sunk to by manually experiencing water quality probe, by lifting the stock being connected on water quality probe, line manually
Sinkage is adjusted in the components such as cable, rope, chain, water pipe, and this deep-controlled error is big, fluctuation is big.
Separately have and water quality probe sinkage is controlled using buoy, is determined between buoy and water quality probe by length
The components connection such as cable, rope, chain；Although water quality probe can be made to sink to and stablize in determining depth, depth is sunk to
Degree is unable to flexible modulation, especially cannot in operation process dynamic regulation at any time, and due to having between water quality probe and buoy
Cable, rope, chain exist, when field operation or storage save, the problems such as being easy to happen knotting, wear.Separately have using buoy
Water quality probe sinkage is controlled, passes through metal spring, nonmetallic spring or clockwork spring etc. between buoy and water quality probe
Elastomeric element connection.After entering water, the pulling force that water quality probe sinks stretches elastomeric element, and after stress balance, water quality probe is
Stablize in determining depth.In which, the elastic components contract under receiving state is shorter length, although largely
The problem of avoiding knotting, abrasion, but is equally unable to flexible modulation sinkage, especially cannot in operation process dynamic at any time
It adjusts.
Separately have by the components connection water quality probe such as stock, cable, rope, chain, water pipe with scale, by artificial observation
The position of scale or numerical value are popped one's head in the depth sunk to control water quality.Although which can at the scene operation when flexible modulation it is heavy
The depth entered, but it is difficult to realize automation control and the adjusting of sinkage.
Summary of the invention
Aiming at the above defects or improvement requirements of the prior art, the present invention provides a kind of water quality spies suitable for unmanned plane
Head depthkeeping system and method, its object is to realize water quality probe automation Depth control and adjust.
To achieve the above object, according to one aspect of the present invention, the water quality probe depthkeeping suitable for unmanned plane is provided
System, including hanging cable length sensing unit, level detector and the hanging cable retractable unit being equipped in unmanned plane load；
Wherein, hanging cable length sensing unit is used to detect the length of hanging cable releasing, and level detector is used for sensorcraft
Flying height；When work, hanging cable is attached to hanging cable retractable unit, for suspending water quality probe in midair；Hanging cable retractable unit is according to extension
The detection result of Suo Changdu sensing unit and level detector determines that hanging cable degree of lengthening and should control the folding and unfolding of hanging cable, visits water quality
Head is in target underwater penetration.
Preferably, above-mentioned water quality probe depthkeeping system, hanging cable should degree of lengthening l=h+ds-dd；
Wherein, ds is water quality probe target underwater penetration, and dd is the zequin and level detector of hanging cable retractable unit
Measurement starting point between difference in height；H is the drone flying height obtained by level detector.
Preferably, above-mentioned water quality probe depthkeeping system, hanging cable length sensing unit use Hall magnetic sensor, infrared biography
One of sensor, grating sensor, inductance type transducer, capacitance type sensor, metal sensor are several.
Preferably, above-mentioned water quality probe depthkeeping system, level detector include the first altimeter and the second altimeter；Nothing
Height h=α of the man-machine carrier apart from the water surfacebd·hbd+αus·hus；
Wherein, hbdIt is the height measurement results of the first altimeter, husIt is the height measurement results of the second altimeter；αbdWith
αusIt is the weight of the first altimeter and the second altimeter respectively, meets:
It is another aspect of this invention to provide that providing a kind of water quality probe depthkeeping method suitable for unmanned plane, including such as
Lower step:
The method that the water quality probe depthkeeping system provided using embodiment carries out depthkeeping, includes the following steps:
(1) height h of the unmanned plane carrier apart from the water surface is obtained by level detector；
(2) the hanging cable length l=h+d that should be released is obtaineds-dd；
Wherein, ds is water quality probe target underwater penetration, and dd is that hanging cable retractable unit zequin and level detector are surveyed
Measure the difference in height between starting point；
(3) according to the folding and unfolding for the hanging cable length control hanging cable that should be released, make water quality probe in target underwater penetration.
Preferably, above-mentioned water quality probe depthkeeping method, when water quality probe target underwater penetration, hanging cable retractable unit calculate
Difference in height or unmanned plane carrier between starting point and level detector measurement starting point is one or several in the height of the water surface
It changes, then enters step (2) and update the hanging cable length that should be released, and according to step (3) according to the hanging cable length control of update
Hanging cable folding and unfolding processed.
Preferably, above-mentioned water quality probe depthkeeping method, height h=α of the unmanned plane carrier apart from the water surfacebd·hbd+αus·
hus；
Wherein, hbdIt is the height measurement results of the first altimeter, husIt is the height measurement results of the second altimeter；αbdWith
αusIt is the weight of the first altimeter and the second altimeter respectively, meets:
In general, through the invention it is contemplated above technical scheme is compared with the prior art, can obtain down and show
Beneficial effect:
(1) the water quality probe depthkeeping system and method provided by the invention suitable for unmanned plane, solves and utilizes unmanned plane
Carry out the water quality in water quality detection or Collecting operation pop one's head in depthkeeping the problem of, the underwater penetration for realizing water quality probe is controllable, can
It adjusts, and realizes the dynamic in operation process, automatic adjustment.
(2) the water quality probe depthkeeping system provided by the invention suitable for unmanned plane, used component is simple, light and handy,
Flight safety, energy consumption will not be impacted because unmanned plane load is increased.
Detailed description of the invention
Fig. 1 is that the system of the water quality probe depthkeeping system provided in an embodiment of the present invention suitable for unmanned plane constitutes signal
Figure；
In all the appended drawings, identical appended drawing reference is used to denote the same element or structure, in which: 1- water quality probe,
2- hanging cable, 3- hanging cable retractable unit, 4- unmanned plane, 5- level detector, 6- hanging cable retractable unit zequin, 7- height detecting
Device measures starting point, 8- hanging cable length sensing unit.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.As long as in addition, technical characteristic involved in the various embodiments of the present invention described below
Not constituting a conflict with each other can be combined with each other.
Referring to Fig.1, the water quality probe depthkeeping system suitable for unmanned plane that embodiment provides, including it is equipped on unmanned plane 4
Hanging cable retractable unit 3, hanging cable length sensing unit 8 and level detector 5 in load；
For packing up or put down hanging cable, hanging cable can furl volume to be put or folds folding and put hanging cable retractable unit 3；When work, hang
Rope 2 is attached to hanging cable retractable unit 3, and water quality, which is popped one's head in, is fixed on the end of hanging cable；Cable, rope, chain or water can be used in hanging cable
Pipe.Hanging cable length sensing unit 8 is used to detect the length of hanging cable decentralization, and Hall magnetic sensor, infrared sensor, grating can be used
One of sensor, inductance type transducer, capacitance type sensor, metal sensor etc. or several combinations detect.
Level detector 5 is for detecting the flying height of unmanned plane.In one embodiment using the (whole world GNSS
Navigational satellite system) equipment (including the equipment based on the positioning systems such as Beidou, GPS, GLONASS, GALILEO), pressure altitude
In the height measuring part such as meter, ultrasonic height meter, laser altimeter, infrared altimeter, microwave altimeter, millimeter wave altimeter
One or several kinds of combinations realize.
For each level detector, probe tip of the unmanned plane carrier apart from water surface elevation is the water surface, and different
The detection starting point of level detector is not necessarily identical.For example, the detection starting point of GNSS device is the position where GNSS antenna, and
The detection starting point of the height sensors such as ultrasonic height meter is the position where sensor itself, passes through what is obtained to direct detection
Height plus or minus a determining value, the height value detection starting point having the same for obtaining each level detector.
In embodiment, each level detector detect apart from water surface elevation value be h1、h2、h3、……、hn, UAV system
Has the height apart from the water surface
αiMeet following two points:
αiValue can be adjusted in real time in operation process.
The method that the water quality probe depthkeeping system provided using embodiment carries out depthkeeping, includes the following steps:
(1) height h of the unmanned plane carrier apart from the water surface is obtained by level detector；
In one embodiment, level detector includes the first, second two altimeters, respectively big-dipper satellite altimeter
With ultrasonic height meter；The height measurement results of big-dipper satellite altimeter are hbd, ultrasonic height meter height measurement results are
hus；Then height h=αbd·hbd+αus·hus；
In formula, αbdAnd αusIt is the weight of big-dipper satellite altimeter and ultrasonic height meter respectively, meets:
Higher from water surface elevation, the accuracy of ultrasonic height meter detection result is lower, confidence level is lower, but system is to height
The requirement for spending the precision of measurement is also lower；Higher from water surface elevation, the accuracy of ultrasonic height meter detection result is higher, credible
Degree is higher, and requirement of the system to the precision of elevation carrection is also higher.αusRelationship between h is non-positive correlation, i.e. h is lower
When, the bigger α of useus；When h is higher, smaller α is usedus。
In effective monitoring scope, the detection accuracy of individual ultrasonic height meter is better than individual big-dipper satellite height
Meter；The height detection effective range of ultrasonic height meter is 0.1m~10m, and in effective monitoring scope, apart from smaller, inspection
It is higher to survey result credibility.And the height detection effective range of big-dipper satellite altimeter is that the total space is effective, and testing result can
Reliability is unrelated with height.
In the embodiment,
1. taking α in the case where height is greater than 10mus=0, αbd=1, so that height detecting value of the unmanned plane apart from the water surface
H places one's entire reliance upon the detection result of big-dipper satellite altimeter.
2. in the case where height is 0.1m~10m,
It takesI.e. height is lower, the shared power of the detection result of ultrasonic height meter
It is again bigger.
And the case where 0.1m is lower than for height, since the altitude range is the uneasy full-height of unmanned machine operation,
It does not consider.
(2) the length l=h+d for the hanging cable that determination should releases-dd；
Wherein, ds is water quality probe target underwater penetration, and dd is that hanging cable retractable unit zequin 6 and level detector are surveyed
The difference in height between starting point 7 is measured, h is height of the unmanned plane carrier apart from the water surface.
In an example, it is 3 meters that water quality, which is popped one's head in into water target depth ds,；Hanging cable retractable unit zequin 6 and height
Difference in height dd between detector measurement starting point 7 is 0.5 meter；Height h of the unmanned plane carrier apart from the water surface is 10 meters, hanging cable folding and unfolding
The length l=h+d for the rope that unit should releases-dd, as 12.5 meters.
(3) folding and unfolding of hanging cable 2 is controlled by hanging cable retractable unit 3, makes water quality probe in target underwater penetration.
When water quality is popped one's head between target underwater penetration ds, hanging cable retractable unit zequin and level detector measurement starting point
One of height h apart from the water surface of difference in height dd, unmanned plane carrier or a few persons change, then enter step (2) again
The length l for the hanging cable that should be released is calculated, and controls hanging cable folding and unfolding, to adjust water quality probe underwater penetration, target is reached and enters
Water depth realizes depthkeeping acquisition and measurement.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to
The limitation present invention, any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should all include
Within protection scope of the present invention.
Claims (7)
- The depthkeeping system 1. a kind of water quality suitable for unmanned plane is popped one's head in, which is characterized in that including being equipped in unmanned plane load Hanging cable length sensing unit, level detector and hanging cable retractable unit；Hanging cable length sensing unit is used to detect the length of hanging cable releasing, and flight of the level detector for sensorcraft is high Degree；When work, hanging cable is attached to hanging cable retractable unit, for suspending water quality probe in midair；Hanging cable retractable unit is passed according to hanging cable length The detection result of sense unit and level detector determines that hanging cable degree of lengthening and should control the folding and unfolding of hanging cable, makes water quality probe in mesh Mark underwater penetration.
- The depthkeeping system 2. water quality as described in claim 1 is popped one's head in, which is characterized in that hanging cable should degree of lengthening l=h+ds-dd；Wherein, dsFor water quality probe target underwater penetration, ddFor the zequin of hanging cable retractable unit and the measurement of level detector Difference in height between starting point；H is the drone flying height obtained by level detector.
- The depthkeeping system 3. water quality as claimed in claim 1 or 2 is popped one's head in, which is characterized in that the hanging cable length sensing unit is adopted With in Hall magnetic sensor, infrared sensor, grating sensor, inductance type transducer, capacitance type sensor, metal sensor It is one or several kinds of.
- The depthkeeping system 4. water quality as claimed in claim 1 or 2 is popped one's head in, which is characterized in that the level detector includes first Altimeter and the second altimeter；Height h=α of the unmanned plane carrier apart from the water surfacebd·hbd+αus·hus；Wherein, hbdIt is the height measurement results of the first altimeter, husIt is the height measurement results of the second altimeter；αbdAnd αusPoint It is not the weight of the first altimeter and the second altimeter, meets:
- A kind of depthkeeping method 5. water quality suitable for unmanned plane is popped one's head in, which comprises the steps of:(1) height h of the unmanned plane carrier apart from the water surface is obtained by level detector；(2) the hanging cable length l=h+d that should be released is obtaineds-dd；Wherein, ds is water quality probe target underwater penetration, and dd is that hanging cable retractable unit zequin and level detector measure Difference in height between point；(3) according to the folding and unfolding for the hanging cable length control hanging cable that should be released, make water quality probe in target underwater penetration.
- The depthkeeping method 6. water quality as claimed in claim 5 is popped one's head in, which is characterized in that when water quality probe target underwater penetration, hang The height of difference in height or unmanned plane carrier apart from the water surface between rope retractable unit zequin and level detector measurement starting point In it is one or several change, then according to step (2), update the hanging cable length that should be released, and control and hang according to step (3) Rope folding and unfolding.
- 7. such as water quality described in claim 5 or 6 probe depthkeeping method, which is characterized in that height of the unmanned plane carrier apart from the water surface Spend h=αbd·hbd+αus·hus；Wherein, hbdIt is the height measurement results of the first altimeter, husIt is the height measurement results of the second altimeter；αbdAnd αusPoint It is not the weight of the first altimeter and the second altimeter, meets:
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Cited By (4)
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| CN110118999A (en) * | 2019-06-11 | 2019-08-13 | 威海程航航空科技有限公司 | A kind of unmanned plane search system and method |
| CN110631866A (en) * | 2019-10-21 | 2019-12-31 | 浙江量大智能科技有限公司 | Multi-point depth-fixing intelligent water quality sampling device based on multi-rotor unmanned aerial vehicle |
| CN111717384A (en) * | 2020-05-28 | 2020-09-29 | 河北柒壹壹玖工业自动化技术有限公司 | Water quality sampling device based on solar unmanned aerial vehicle |
| CN113917104A (en) * | 2021-10-15 | 2022-01-11 | 中国农业大学 | Method for monitoring water quality of air-ground integrated mariculture by using unmanned aerial vehicle with winch |
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Application publication date: 20190419 |