CN110525648B

CN110525648B - Automatic air acquisition system and unmanned aerial vehicle positioning method thereof

Info

Publication number: CN110525648B
Application number: CN201910762772.1A
Authority: CN
Inventors: 袁素
Original assignee: Shandong Shengyuan Environmental Protection Technology Co Ltd
Current assignee: Shandong Shengyuan Environmental Protection Technology Co., Ltd
Priority date: 2019-08-19
Filing date: 2019-08-19
Publication date: 2020-12-11
Anticipated expiration: 2039-08-19
Also published as: CN110525648A

Abstract

The invention discloses an automatic air acquisition system and an unmanned aerial vehicle positioning method thereof, wherein the automatic air acquisition system comprises a charging module, an unmanned aerial vehicle and a sampling module, wherein the charging module is used for wirelessly charging the unmanned aerial vehicle, and the sampling module is used for acquiring an air sample; the charging module comprises a charging base, a motor box and a charging box, wherein a supporting cylinder is fixed on the charging base, a rotating disk is arranged in the supporting cylinder, a positioning lamp belt concentric with the rotating disk is also arranged on the supporting cylinder, a light source is arranged in the positioning lamp belt, and the light source is electrified to emit light; the surfaces of the rotating disc and the supporting cylinder are also provided with positioning strips; at least three signal antennas are uniformly arranged on the top surface of the supporting cylinder and in the circumferential direction of the supporting cylinder; the unmanned aerial vehicle comprises a machine body, wherein a plurality of rotor plates are respectively arranged on the machine body, and positioning images are also arranged on the rotor plates; the mounting seat is also provided with a three-axis pan-tilt, and the three-axis pan-tilt is provided with a camera and a gray camera; the machine body is also coated with a plurality of positioning coating strips.

Description

Automatic air acquisition system and unmanned aerial vehicle positioning method thereof

Technical Field

The invention relates to an air sampling technology, in particular to an automatic air acquisition system and an unmanned aerial vehicle positioning method thereof.

Background

With the increasingly deep environmental protection concept and the increasingly stricter environmental regulations, monitoring of air quality is a necessary means. Particularly in some heavy industry gathering areas, in order to guarantee the current call that the green water mountain is the silver mountain of the gold mountain, regular air sampling is mostly needed, and then analysis is carried out to obtain air monitoring data, so that the government is assisted to supervise and adjust.

The current air sampling mode is mainly carried out by adopting a full-manual or semi-manual mode, the full-manual mode is mainly used for carrying out air sampling by utilizing air collecting equipment in a monitoring area, the mode is very troublesome, time and labor are consumed very much, and the sampling height is influenced by the ground height, so that the air sampling is not comprehensive, and the real air quality cannot be reflected. Semi-manual work mainly adopts unmanned aerial vehicle to carry on air sampling equipment, its sampling of manual control, then carries out the analysis behind the air of manual collection sampling. The mode can obtain air samples with different heights, the requirement degree on human participation is relatively low, the labor cost can be greatly reduced, and the sampling mode is a common sampling mode at present.

However, sampling by the unmanned aerial vehicle must be controlled manually and completely, the endurance time of the unmanned aerial vehicle is short, and the current ordinary endurance time is 30-200 minutes, so that the unmanned aerial vehicle in some areas which cannot be charged in time falls down to form a chicken rib. Moreover, the current air monitoring is classified into regular or irregular monitoring, and continuous monitoring is not available, so that a manager cannot really obtain continuous change of air quality, and the problem that people cannot be responsible for follow-up monitoring is caused. However, once the continuous monitoring mode is adopted, the high manpower input is inevitably caused, and the current basic national situation is not met.

In addition, the existing unmanned aerial vehicle sampling can only be carried out single-point sampling generally, namely only one sampling air bag is carried, sampling is carried out after the unmanned aerial vehicle takes off to a specified position, and then the unmanned aerial vehicle flies back to the position of a mining author. This kind of mode just makes present unmanned aerial vehicle sampling still can't realize remote control because generally need the multiple spot sampling, this just needs to adopt the author, constantly dismouting sampling gasbag.

Disclosure of Invention

In view of the above defects in the prior art, the present invention provides an automatic air collection system and a positioning method for an unmanned aerial vehicle thereof, wherein the automatic air collection system can realize multipoint and multi-location sampling and automatic charging functions.

In order to achieve the purpose, the invention provides an automatic air acquisition system which comprises a charging module, an unmanned aerial vehicle and a sampling module, wherein the charging module is used for wirelessly charging the unmanned aerial vehicle, and the sampling module is used for acquiring an air sample;

the charging module comprises a charging base, a motor box and a charging box, wherein a supporting cylinder is fixed on the charging base, a rotating disk is arranged in the supporting cylinder, a positioning lamp belt concentric with the rotating disk is also arranged on the supporting cylinder, a light source is arranged in the positioning lamp belt, and the light source is electrified to emit light;

the surfaces of the rotating disc and the supporting cylinder are also provided with positioning strips; at least three signal antennas are uniformly arranged on the top surface of the supporting cylinder and in the circumferential direction of the supporting cylinder; the signal antenna is respectively in communication connection with the signal output end of the LORA signal transmitter;

the unmanned aerial vehicle comprises a body, wherein a plurality of rotor plates are respectively arranged on the body, and positioning images are also arranged on the rotor plates;

the mounting seat is further provided with a locking assembly and a three-axis pan-tilt, the three-axis pan-tilt is provided with a camera and a gray level camera, and the camera is used for collecting color images; the machine body is also coated with a plurality of positioning coating strips.

The invention also discloses an unmanned aerial vehicle positioning method based on the automatic air acquisition system, which comprises the following steps:

s110, when the unmanned aerial vehicle is in a take-off state, firstly, the unmanned aerial vehicle returns to the position above the charging module according to a positioning signal detected by a positioning chip and a preset return route, acquires an image of the positioning lamp belt through a camera, analyzes the image and judges whether the image is positioned above the positioning lamp belt; adjusting the image acquisition ends of the gray level camera and the video camera to be in a vertical state;

s120, starting the gray camera, collecting an image containing the positioning strip, and adjusting the body to enable the gray camera to be opposite to one positioning strip; meanwhile, the lamp belt image collected by the camera is identified, whether the machine body is positioned in the lamp belt or not is judged according to the angle of the collected image, and if the machine body is positioned outside the lamp belt, the machine body is adjusted to be positioned in the lamp belt;

s130, the unmanned aerial vehicle starts to descend vertically, the positioning tags are opened, and meanwhile, the LORA signal transmitter sends signals with different frequencies to each signal antenna respectively, so that the positioning tags on the machine body receive the signals one by one; the pulse signal transmitted by each signal antenna comprises sending time; the unmanned aerial vehicle hovers when the positioning tag can receive the signal;

s140, the unmanned aerial vehicle respectively adds a receiving time tag to the received pulse signals sent by each signal antenna and then transmits the pulse signals to the CPU, and the CPU converts the distance between each signal antenna and the positioning tag by multiplying the light speed by the signal transmission time so as to obtain the positioning point of the positioning tag and the included angle between the connecting line of the positioning tag and each signal antenna and the horizontal plane; making a vertical line between the positioning point and the rotating disc, judging whether the vertical line is overlapped with a preset landing line within an error range, and if not, adjusting the position of the machine body until the positioning label is positioned on the preset landing line;

s150, the unmanned aerial vehicle starts to vertically descend until the unmanned aerial vehicle stops on the rotating disc, and at the moment, the rotating disc overcomes the elasticity of the rotating pressure spring to move downwards, so that the turntable microswitch is triggered; the PLC judges that a plurality of turntable micro-switches output signals, and at least three turntable micro-switches output signals to judge that the unmanned aerial vehicle has stopped; and if the unmanned aerial vehicle is judged not to be stopped well, controlling the unmanned aerial vehicle to take off and carrying out positioning again.

Preferably, the method further comprises the following steps:

s160, the charging box is not located above the rotating disk in the initial state, after the unmanned aerial vehicle lands on the rotating disk, the torsion motor is started, and the torsion shaft is driven to rotate so as to drive the charging box to rotate above the rotating disk.

S170, the camera collects positioning coating images arranged on the machine body, judges whether the camera is positioned at a preset position according to all the collected positioning coating images, and deduces the position of the camera according to the position and the state of each positioning coating in the images;

s180, acquiring an electronic picture of a positioning image by a camera, transmitting the electronic picture to a PLC (programmable logic controller) for identification, controlling a double-shaft motor to rotate for a circle if the positioning image is not acquired, continuously acquiring an electronic image, and starting to calculate the inclination angle of the positioning image once the positioning image is found, wherein the inclination angle is an included angle generated by a connecting line of the positioning image and the camera and a rotating disk;

if the inclination angle deflects in the circumferential direction of the rotating disk, controlling the double-shaft motor to rotate reversely by the angle, so that the positioning image is located in a preset position range; if the inclination angle deflects in the axial direction of the guide shaft, controlling the telescopic motor to start, and adjusting the position of the camera in the axial direction of the guide shaft to position;

if the positioning image is not obtained, controlling the telescopic motor to start, driving the charging box to repeatedly and slowly move in the axial direction of the guide shaft to obtain the image, and if the positioning image is found, stopping the telescopic motor and starting to position the image; if the positioning image is not found, judging that the positioning fails, and taking off the unmanned aerial vehicle again for positioning or remotely operating the unmanned aerial vehicle for positioning through an operator;

s190, after the charging box and the unmanned aerial vehicle are positioned, the charging end plate is opposite to the charging flat plate, then the push rod motor is started to move the charging end plate downwards until the push rod motor contacts the micro switch to feed back a signal to the PLC, then the push rod motor is stopped, and the charging end plate is judged to be tightly attached to the charging flat plate;

the number of the contact micro switches is multiple, at least three contact micro switches feed back signals to the PLC to judge that the charging end plate is completely attached to the charging flat plate, and then the PLC starts the wireless charging transmitter to perform wireless charging; otherwise, judging that the positioning fails and repositioning.

Preferably, in S180, during the early calibration, a standard drawing is collected at a preset position of the camera as a reference, and the drawing collected at the later stage only needs to be compared and positioned with the reference.

The invention has the beneficial effects that:

1. according to the invention, the wireless charging of the unmanned aerial vehicle can be realized through the charging module, so that the endurance of the unmanned aerial vehicle is ensured, the remote unmanned control can be realized, and the long-time automatic sampling can be realized.

2. According to the invention, the unmanned aerial vehicle can be relatively accurately stopped on the rotating disk through the image and LORA positioning technology, so that the wireless charging of the unmanned aerial vehicle is guaranteed.

3. The sampling module realizes the one-by-one parallel connection of the main air passage to each bronchus through the air distribution mechanism, so that each gas storage box can supply air through each bronchus respectively, and can be cut off in time when a certain bronchus goes wrong, and other bronchus are adopted for continuous use, thereby improving the fault resistance and fault tolerance of the invention.

4. The invention can realize the one-by-one ventilation and cut-off of each gas storage box through the reversing valve group, thereby realizing the one-by-one air intake of each gas storage box, namely, the independent sampling of each gas storage box, and realizing the multipoint and multiple sampling. Is particularly suitable for areas needing continuous monitoring.

5. According to the invention, through image and wireless signal positioning, higher positioning precision can be obtained, so that the position accuracy of the unmanned aerial vehicle during landing and the positioning between the charging end plate and the charging flat plate are ensured to meet the requirement of basic wireless charging.

Drawings

Fig. 1-2 are schematic structural views of the present invention.

Fig. 3-5 are schematic structural diagrams of the charging module of the present invention.

Fig. 6 is a schematic view of the contact assembly of the present invention.

Fig. 7-9 are schematic views of the charging base structure of the present invention.

Fig. 10-11 are schematic structural views of the drone of the present invention.

Fig. 12-18 are schematic diagrams of the sampling module structure of the present invention. Wherein FIG. 15 is an enlarged view at F1 in FIG. 14, and FIG. 16 is a schematic view of the latch assembly.

Fig. 19-20 are schematic structural views of the gas distribution mechanism of the present invention. Wherein fig. 20 is an enlarged view at F2 in fig. 19.

Fig. 21 is a schematic diagram of the structure at the position of the limit plate of the invention.

Fig. 22 is a schematic structural view of the gas distribution mechanism of the present invention.

FIG. 23 is a schematic view of the exhaust assembly of the present invention.

FIG. 24 is a schematic view of the structure of the cartridge according to the present invention.

FIG. 25 is a schematic view of a pressure relief vent of the present invention.

Fig. 26 is a schematic view of the reversing valve assembly of the present invention.

Fig. 27 is a schematic view of the on-off valve structure of the present invention.

Detailed Description

The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.

Referring to fig. 1 to 27, the automatic air collection system of the present embodiment includes a charging module, an unmanned aerial vehicle a, and a sampling module, where the charging module is configured to wirelessly charge the unmanned aerial vehicle a, and the sampling module is configured to collect an air sample;

referring to fig. 1 to 9, the charging module includes a charging base 110, a motor box 140, and a charging box 150, the top of the charging base 110 is closed by a charging base plate 120, a support cylinder 130 is mounted on the charging base plate 120, and the support cylinder 130 is hollow inside;

a torsion motor 550 is installed inside the charging base 110, a torsion output shaft 551 of the torsion motor 550 is fixedly assembled with the third gear 533, and the torsion motor 550 drives the torsion output shaft 551 to rotate clockwise and counterclockwise around the circumference after being electrified; the third gear 533 is in meshing transmission with the second gear 532, the second gear 532 is in meshing transmission with the first gear 531, the second gear 532 is mounted on the intermediate shaft 260, and the intermediate shaft 260 and the charging base 110 can be assembled in a circumferential rotating manner;

the first gear 531 is fixed on the torsion shaft 210, one end of the torsion shaft 210 is connected with the input shaft of the first encoder 540 through a coupler, and the other end of the torsion shaft penetrates through the charging base 110 and then is assembled and fixed with the motor box 140; a telescopic motor 520 is installed in the motor box 140, a second bevel gear 512 is fixed on a telescopic output shaft 521 of the telescopic motor 520, the second bevel gear 512 is in meshing transmission with the first bevel gear 511, the first bevel gear 511 is fixed at one end of a driving screw 230, the other end of the driving screw 230 is installed in a threaded sleeve 240 and is assembled with the threaded sleeve through screwing, and the threaded sleeve 240 is fixed on the charging box 150; the first encoder 540 is used to detect the rotation angle of the torsion shaft 210.

And motor case 140 is still assembled and fixed with one end of guide shaft 220, and the other end of guide shaft 220 passes through guide hole 1511 and can axially slide-assemble with it, and guide hole 1511 sets up on guide block 151, and guide block 151 is fixed on charging case 150. When the charging box is used, the telescopic motor 520 drives the telescopic driving shaft 521 to rotate circumferentially, the telescopic driving shaft 521 drives the driving screw 230 to rotate circumferentially through the first helical gear and the second helical gear, and the driving screw 230 drives the threaded sleeve 240 to move in the axial direction through the threads, so that the charging box 150 moves in the axial direction of the guide shaft, and the position of the charging box in the axial direction of the guide shaft can be adjusted.

A telescopic protective sleeve 160 is arranged between the charging box 150 and the motor box 140 and outside the guide shaft 230, and the telescopic protective sleeve 160 has elasticity, and two ends of the telescopic protective sleeve are respectively assembled and fixed with the charging box 150 and the motor box 140, so that foreign matters are prevented from entering the telescopic protective sleeve 160 to protect the driving screw, the threaded sleeve and the guide shaft.

The push rod motor 330 is installed in the motor box 150, the telescopic shaft 331 of the push rod motor 330 penetrates through the charging box 150 and then is assembled and fixed with the charging fixing plate 340, the charging fixing plate 340 is fixed on the charging end plate 310, the charging end plate 310 is assembled and fixed with one end of the guide rod 250, and the other end of the guide rod 250 is installed in the motor box 150 and can be assembled with the same in an axial sliding mode. When the charging device is used, the push rod motor 330 can drive the telescopic shaft 331 to axially move so as to drive the charging end plate 310 to synchronously move, and the guide rod is used for preventing the charging end plate 310 from sliding and ensuring that the moving direction of the charging end plate is in the axial direction of the guide rod.

The end plate 310 that charges embeds there is the wireless transmitter that charges, and it is used for sending wireless signal of charging to make the wireless receiver that charges on the unmanned aerial vehicle A receive in order to carry out wireless charging. The charging end plate 310 is also provided with a camera 320, and the camera 320 is used for acquiring an image below the camera; in addition, the charging end plate 310 is further provided with a contact mounting hole 311, and a contact assembly is mounted in the contact mounting hole 311;

the contact assembly comprises a contact microswitch 350 and a contact rod 370, wherein a first trigger ring 361 and a second trigger ring 362 are respectively arranged at two ends of the contact rod 370, and the first trigger ring 361 is opposite to the trigger end of the contact microswitch 350, so that the first trigger ring 361 can trigger the contact microswitch 350; one end of the contact rod 370, which is provided with the second trigger ring 362, is installed in the contact installation hole 311, and the contact rod 370 can be axially and slidably installed; the contact compression spring 380 is sleeved on the part of the contact rod 370 between the second trigger ring 362 and the inner end surface of the contact mounting hole 311. The contact pressure spring 380 is used for applying force to the second trigger ring 362, when making initial state, the second trigger ring 362 bottom surface stretches out the charging end plate 310 bottom surface, this kind of design makes charging end plate 310 compress tightly to unmanned aerial vehicle A's the dull and stereotyped A112 that charges, the second trigger ring 362 is at first promoted to remove to contact micro-gap switch 350 in order to overcome contact pressure spring 380 elasticity by the dull and stereotyped A112 that charges, it is complete to retract contact mounting hole 311 to reach the second trigger ring 362, first trigger ring 361 triggers contact micro-gap switch 350 this moment, contact micro-gap switch 350 is to installing the PLC signals in charging base 110, PLC judges that charging end plate 310 compresses tightly with the contact of charging dull and stereotyped A112, can charge.

Support section of thick bamboo 130 internally mounted have rotary disk 440, and still install on the support section of thick bamboo 130 with the concentric location lamp area 420 of rotary disk 440, location lamp area 420 embeds has the light source, and the light source circular telegram is luminous, and the light source of this embodiment is LED lamp pearl. During the use, the light that sends through location lamp area 420 can regard as the benchmark of unmanned aerial vehicle descending location.

The location strip 430 is still installed on rotary disk 440, support section of thick bamboo 130 surface, and location strip 430 has a plurality ofly and evenly distributed on rotary disk 440 circumferencial direction, and in this embodiment, location strip 430 surface is grey, and it is used for being convenient for install the grey camera on unmanned aerial vehicle and obtains the image to carry out assistance-localization real-time.

Support on the section of thick bamboo 130 top surface, still evenly install at least three signal antenna 410 on the section of thick bamboo 130 circumferencial direction of support, signal antenna 410 is used for sending the wireless signal of certain frequency to be convenient for the signal receiver on the unmanned aerial vehicle to receive, in order to assist the unmanned aerial vehicle location. The signal antennas 410 are respectively connected to the signal output terminals of the LORA signal transmitters for transmitting wireless signals.

The inner side of the rotating disc 440 is concentrically provided with a six-sided shaft 441, the six-sided shaft 441 is installed in a six-sided hole 5611 and can be assembled with the six-sided hole in an axial sliding manner, the six-sided hole 5611 is arranged at one end of a first rotating output shaft 561, the other end of the first rotating output shaft 561 penetrates through a waterproof partition plate 460 and then is assembled with a double-shaft motor 560 (or a hollow shaft motor), and a second rotating output shaft 562 is further installed on the double-shaft motor 560, in this embodiment, the first rotating output shaft 561 and the second rotating output shaft 562 rotate synchronously and can be the same shaft body; the second rotary output shaft 562 is coupled to the input shaft of the second encoder 570, so that the second encoder can detect the rotation angle of the second rotary output shaft 562.

The part of the first rotating output shaft 561, which is located between the rotating disc 440 and the waterproof partition 460, is sleeved with a turntable pressure spring 450, the turntable pressure spring 450 is used for generating an elastic force which hinders the rotating disc 440 from moving downwards, at least three turntable micro-switches 580 are further installed at the corresponding positions of the waterproof partition 460 and the rotating disc 440, and the plurality of turntable micro-switches 580 are uniformly distributed on the circumferential direction of the rotating disc 440, and the triggering ends of the plurality of turntable micro-switches are respectively opposite to the rotating disc 440. When the drone stops on the rotating disc 440, the gravity of the rotating disc 440 increases, thereby moving down against the elastic force of the rotating disc pressure spring 450 until the rotating disc 440 presses the trigger end of the rotating disc microswitch 580, so that the rotating disc microswitch 580 inputs a signal to the PLC, so that the PLC determines that the drone has stopped on the rotating disc 440.

Referring to fig. 10 to 12, the unmanned aerial vehicle a includes a body a110, a plurality of rotor plates a120 are respectively mounted on the body a110, a rotor a210 is mounted on each rotor plate a120, a mounting base a150 is further fixed on the body a110, the mounting base a150 is fixedly assembled with one end of a plurality of support rods a130, the other end of each support rod a130 is fixedly assembled with a bottom plate a140, and the bottom plate a140 is used for contacting with a rotating disc 440 to support the unmanned aerial vehicle a; the rotor plate a120 is further provided with a positioning image a310, which may be a two-dimensional code in this embodiment. During the use, acquire the location image through the camera, then discern the location image to judge whether unmanned aerial vehicle and rotary disk take place the slope according to the angle of inclination of location image and camera.

Still install kayser subassembly, triaxial cloud platform A320 on the mount pad A150, install camera A330 and grey level camera on the triaxial cloud platform A320, camera A330 is used for gathering the colour image, triaxial cloud platform A320 has three degrees of freedom to adjust camera A330 and grey level camera's angle, position. In this embodiment, the three-axis pan-tilt head a320 is directly purchased from the existing three-axis tilting pan-tilt head.

The clamping lock assembly is assembled with the sampling module, so that the sampling module is fixed on the mounting seat A150; the inside wireless receiver that charges that still installs of organism A110, the wireless receiver that charges is installed and is being charged panel A112 inboardly for receive the wireless signal of charging that the wireless transmitter that charges sent, and input the battery storage of unmanned aerial vehicle after converting this signal into the electric energy.

Still install in the unmanned aerial vehicle:

CPU, is used for receiving and dispatching, analyzing the control command, and carry on the parameter calculation;

the memory is used for storing data, and the solid state disk is selected in the embodiment;

the 5G module is used for wirelessly communicating with external equipment;

the positioning label is used for assisting positioning; the positioning tag in this embodiment is a LORA signal receiver;

an air pump for pumping external atmosphere to the booster pump through the air suction pipe B112;

the barometer is used for converting the flying height through air pressure;

the positioning chip is used for positioning through a GPS or a Beidou;

the digital-to-analog converter is used for converting the analog signal and the digital signal into each other;

the battery is used for supplying power to all airborne electric equipment;

and the booster pump is used for pressurizing and delivering the air flow to the main air pipe B111 to be stored in the air storage box B220.

The signal ends of the memory, the 5G module, the positioning tag, the barometer, the positioning chip and the digital-to-analog converter are respectively in communication connection with the signal end of the CPU, and the analog signal end of the digital-to-analog converter is respectively in communication connection with the control ends of the booster pump and the air pump, so that the running states of the booster pump and the air pump can be controlled through the CPU. In this embodiment, a contactor is respectively connected in series to the power input ends of the booster pump and the air pump, and the analog signal end of the digital-to-analog converter is electrically connected to the control end of the contactor, so that the start and stop of the booster pump and the air pump are controlled by controlling the on/off of the currents of the booster pump and the air pump.

In this embodiment, the positioning process that unmanned aerial vehicle lands on the rotary disk is as follows:

s110, the unmanned aerial vehicle is in a take-off state, firstly, the unmanned aerial vehicle returns to the upper part of the charging module according to a positioning signal detected by a positioning chip and a preset return route, in the process, the camera is mainly used for collecting an image of the positioning lamp belt, and the image is analyzed to judge whether the unmanned aerial vehicle is positioned above the positioning lamp belt;

s120, starting the gray-scale camera, collecting an image containing the positioning strip, and adjusting the body A110 to ensure that the gray-scale camera is opposite to one positioning strip; meanwhile, the lamp strip image collected by the camera is identified, whether the machine body is located in the lamp strip or not is judged through the angle of the collected image, and if the machine body is located outside the lamp strip, the machine body A110 is adjusted to enable the machine body to be located in the lamp strip. Of course this process may be operated manually.

S130, the unmanned aerial vehicle starts to descend vertically, the positioning tags are opened, and meanwhile, the LORA signal transmitter sends different frequency signals to each signal antenna 410 respectively, so that LORA signal receivers on the unmanned aerial vehicle can receive the signals one by one; the pulse signal transmitted by each signal antenna 410 includes a transmission time; the LORA signal receiver can receive the signal and the unmanned aerial vehicle hovers; generally, the distance between the rotating disc and the rotating disc is 5-10 meters;

s140, the unmanned aerial vehicle respectively adds a receiving time label to the received pulse signal sent by each signal antenna 410 and then transmits the pulse signal to a CPU, the CPU multiplies the signal transmission time by the light speed to convert the distance between each signal antenna 410 and a LORA signal receiver, so as to position the LORA signal receiver, make a perpendicular line between the positioning point and a rotating disc, judge whether the perpendicular line is overlapped with a preset falling line within an error range, and adjust the position of the unmanned aerial vehicle body if the perpendicular line is not overlapped with the preset falling line until the LORA signal receiver is positioned on the preset falling line;

s150, the unmanned aerial vehicle starts to vertically descend until the unmanned aerial vehicle stops on the rotating disc, and at the moment, the rotating disc overcomes the elasticity of the rotating pressure spring to move downwards, so that the turntable microswitch is triggered; at the moment, the PLC judges that a plurality of turntable micro-switches output signals, and generally at least three turntable micro-switches output signals are required to judge that the unmanned aerial vehicle is stopped; if the unmanned aerial vehicle is judged not to be stopped, the unmanned aerial vehicle is controlled to take off and be positioned again, or the unmanned aerial vehicle is remotely operated by an operator to land; specifically be 5G module and server wireless communication, the operator passes through wireless handle to server input control signal to control unmanned aerial vehicle makes corresponding action in order to adjust gesture, position.

S160, the initial state of the charging box 150 is the state shown in fig. 3, and after the unmanned aerial vehicle lands on the rotating disk, the torsion motor is started, so as to drive the torsion shaft 210 to rotate to drive the charging box to rotate above the rotating disk;

s170, the camera 320 collects the images of the positioning coating strips A111 arranged on the machine body A110, judges whether the camera 320 is located at a preset position according to all the collected images of the positioning coating strips A111, and infers the position of the camera 320 according to the position and the state of each positioning coating strip A111 in the images. In the embodiment, a standard drawing is directly collected as a reference when the camera 320 is located at a preset position, and the drawing collected at the later stage only needs to be compared with the reference, so that the camera and the unmanned aerial vehicle are positioned, and the next positioning is facilitated;

s180, collecting an electronic picture of a positioning image by the camera 320, conveying the electronic picture to a PLC (programmable logic controller) for identification, controlling the double-shaft motor 560 to rotate for a circle and continuously acquiring an electronic image if the positioning image is not collected, starting to calculate the inclination angle of the positioning image (the included angle between the connecting line of the double-shaft motor and the camera and the rotating disk) once the positioning image is found, and controlling the double-shaft motor to rotate reversely by taking the angle as the standard in the figure 1 if the inclination angle deflects in the circumferential direction of the rotating disk so as to enable the positioning image to be located in a preset position range; if the inclination angle deflects in the axial direction of the guide shaft, the telescopic motor is controlled to be started, and the position of the camera in the axial direction of the guide shaft is adjusted to position.

If the positioning image is not obtained, controlling the telescopic motor to start, driving the charging box to repeatedly and slowly move in the axial direction of the guide shaft to obtain the image, and if the positioning image is found, stopping the telescopic motor and starting to position the image; if the positioning image is not found, the positioning failure is judged, and the unmanned aerial vehicle takes off again to be positioned or the unmanned aerial vehicle is remotely operated by an operator to be positioned at the moment.

S190, after the charging box and the unmanned aerial vehicle are positioned, the charging end plate is opposite to the charging flat plate, then the push rod motor is started to move the charging end plate downwards until the push rod motor contacts the micro switch 350 to feed back a signal to the PLC, then the push rod motor is stopped, and the charging end plate is judged to be tightly attached to the charging flat plate;

because there are a plurality of contact micro switches 350, in this embodiment, only when at least three contact micro switches 350 feed back a signal to the PLC, it is determined that the charging end plate is completely attached to the charging flat plate, and then the PLC starts the wireless charging transmitter to perform wireless charging; otherwise, judging that the positioning fails and repositioning.

Through the mode, through the actual measurement of the applicant, the positioning precision is within 3cm, the success rate of positioning is more than 90%, and the automatic positioning requirement and the charging endurance requirement of the unmanned aerial vehicle can be met. During the in-service use, at first at built-in sampling point coordinate of unmanned aerial vehicle, height, then unmanned aerial vehicle can take off according to the procedure of predetermineeing automatically to the sampling point and sample, then returns the rotary disk automatically. The unmanned aerial vehicle can take charge of the sampling work within the range of about 15-20 kilometers nearby by calculating the flying height of the existing unmanned aerial vehicle of 80-100 meters, the flying speed of 50 kilometers per hour and the endurance time of 40 minutes, so that the sampling range is greatly improved, the unmanned aerial vehicle is full-automatic, and the manual participation degree can be reduced. The staff only need take off the gas storage frame after the gas storage box is whole to use up and extract the gas of sampling can, very convenient, can realize sampling at any time in 24 hours moreover.

Referring to fig. 12 to 16, the latch assembly includes a first fixed side plate a410, a fixed top plate a420, and a second fixed side plate a430, the fixed side plate a410 and the second fixed side plate a430 are fixed on the fixed top plate a420, the fixed top plate a420 is fixed on the mounting seat a150, and two fixed side plates a410 and two fixed side plates a430 are respectively connected end to form a latch frame;

the second fixed side plate A430 is provided with a clamping lock installation groove A431, the clamping lock installation groove A431 and a lock cylinder A540 are installed in the clamping lock installation groove A431, the inside of the lock cylinder A540 is a hollow sliding inner cylinder A541, one end of the lock cylinder A540 is fixedly assembled with a sliding block ring A550, the sliding block ring A550 is fixedly assembled with one end of a lock block A560, the lock block A560 is provided with a lock block inclined plane A561, the lock block A560 is installed in a lock groove B211, and the lock groove B211 is arranged on a fixed clamping plate B210;

the sliding inner cylinder A541 and the sliding column part A521 can be axially assembled in a sliding mode, the sliding column part A521 is fixedly assembled with one end of a driving rod A520, the other end of the driving rod A520 penetrates through a clamping and locking installation groove A431 and then is fixedly assembled with a driving pin A510, the driving rod A520 axially slides, a clamping and locking pressure spring A530 is installed between the end face of the inner side of the clamping and locking installation groove A431 and a sliding block ring A550, and the clamping and locking pressure spring A530 is used for generating elastic force for the sliding block ring A550 to move towards a locking groove B211 so that a locking block A560 is always installed in the locking;

the driving pin A510 is installed in the driving groove A452 and can be assembled with the driving groove A452 in a sliding mode, the driving groove A452 is arranged on the switch plate A450, a switch convex plate A470 is further fixed on the switch plate A450, a roller A471 is installed on the switch convex plate A470, and the roller A471 can be installed in a circumferential rotating mode;

the roller A471 is in pressing contact with the driving inclined surface A461, the driving inclined surface A461 is arranged on the driving convex plate A460, the driving convex plate A460 is fixed on the second fixed side plate A430, the switch plate A450 is slidable and installed in the switch sliding groove A442, the switch sliding groove A442 is composed of two clamping plates A441 respectively distributed on two sides of the switch plate A450, one end of each clamping plate A441 is fixedly assembled with the second fixed side plate A430, the other end of each clamping plate A441 is fixedly assembled with the side sealing plate A440, and the side sealing plate A440 is used for sealing the side surface of the switch sliding groove A442.

And a force plate A451 is also fixed on the end part of the switch plate A450 which penetrates out of the switch chute A442. In use, the switch plate A450 is driven by the force plate A451 to slide in the switch chute A442.

When the sampling module needs to be taken down, the switch plate A450 is only required to be pushed to the driving convex plate A460, the roller A471 is matched with the driving inclined surface A461 to push the switch plate A450 to the clamping plate A441, the axial displacement of the switch plate A450 is also provided for the driving rod A520, the driving rod A520 drives the lock cylinder A540, the sliding block ring A550 and the lock block A560 to be locked in the lock locking and locking installation groove A431, the lock block A560 is separated from the lock groove B211, the sampling module can be taken down, and then the switch plate is restored to the initial state.

When the sampling module needs to be installed (the switch board a450 is in a state shown in fig. 14), the fixed clamping board B210 is directly installed in the clamping frame, the fixed clamping board B210 is attached to the second fixed side board a430, and then the sampling module is continuously pushed towards the fixed top board a420, so that the fixed clamping board B210 is matched with the locking block inclined plane a561 to press the locking block into the clamping lock installation groove a431 by overcoming the elasticity of the clamping lock spring a530 until the locking groove B211 is opposite to the bitter boiling groove a560, at this time, the locking block a560 pushes the locking block a560 into the locking groove B211 under the action of the clamping lock spring a530, and the locking block locks the locking groove B211. The whole process does not need to operate the switch board again, and is very convenient and fast.

Referring to fig. 12 to 27, the sampling module includes an air storage frame B200, an air distribution plate B100, a branch air tube B240, and a reversing valve group B300 mounted on the branch air tube B240, and a fixing clamping plate B210, a lower support plate B230, and a plurality of air storage boxes B220 are respectively fixed on the air storage frame B200; each gas storage box B220 corresponds to one reversing valve group B300, each branch gas pipe B240 is provided with a plurality of reversing valve groups B300, one end of each branch gas pipe B240 is fixedly assembled with the lower support plate B230 far away from the gas distribution plate B100, and the other end of each branch gas pipe B240 penetrates through the lower support plate B230 close to the gas distribution plate B100 and then is communicated with a reversing groove B101; each air storage box B220 is also provided with an air storage box exhaust nozzle B221, when in use, the air sampled in the air storage box is pumped out through the air storage box exhaust nozzle B221, and the air storage box exhaust nozzle B221 can refer to or directly adopt an air valve of the existing automobile tire;

the gas distribution plate B100 is fixed on the gas storage frame B200, the reversing groove B101 is arranged in the gas distribution plate B100, and a main gas passage B102, an exhaust sliding groove B103, a switching installation groove B104 and a through guide groove B105 are further arranged in the gas distribution plate B100; each reversing groove B101 corresponds to one bronchus, the reversing groove B101 is communicated with a main air passage B102, one end of the main air passage 102 is closed, the other end of the main air passage is communicated with one end of a main air pipe B111, the other end of the main air pipe B111 is communicated with an outlet of a booster pump, an inlet of the booster pump is communicated with an outlet of an air pump, an inlet of the air pump is communicated with one end of an air suction pipe B112, and the other end of the air suction pipe B112 is;

the exhaust chute B103 is arranged between the two reversing grooves B101 and communicated with the main air passage B101, a reversing valve block B460 is installed in the reversing groove B101, and a reversing notch B461 and a communicating air hole B462 are respectively arranged on the reversing valve block B460. In an initial state, the reversing valve block B460 is positioned at the topmost part of the reversing groove B101, and the branch gas pipe is communicated with the main gas pipe B102 through the reversing notch B461, but the communication gas hole B462 on the reversing valve block B460 is arranged at the top of the reversing groove B101, so that two ends of the communication gas hole are sealed by the inner wall of the reversing groove B101, and the main gas pipe from the main gas pipe to the next reversing groove B101 is disconnected by the reversing valve block B460, so that the main gas pipe is divided into a plurality of sections which are respectively communicated with the branch gas pipe B240 corresponding to the main gas pipe.

The top of the reversing valve block B460 is fixedly assembled with one end of a valve rod B540, the other end of the valve rod B560 is installed in the switching installation groove B104, a retaining sliding plate B541 is fixed to the end, the valve rod B540 can axially slide, a valve rod pressure spring B550 is sleeved on a part, located between the retaining sliding plate B541 and the inner bottom surface of the switching installation groove B104, of the valve rod B540, and the valve rod pressure spring B550 is used for generating elastic force, far away from the switching valve block B460, on the retaining sliding plate B541, so that the switching valve block B460 is always located at the top of the reversing groove B101 in an initial.

The ball B560 is mounted on the top of the valve rod B540, the ball B560 can roll in a spherical shape relative to the valve rod B540, the retaining sliding plate B541 is fixedly connected with the limiting plate B520 through the connecting sliding plate B522, and the connecting sliding plate B522 is clamped with the penetrating guide groove B105 and can be assembled in a sliding mode;

the limiting plate B520 is provided with a limiting guide groove B521, the limiting guide groove B521 is composed of an inclined upper groove part B5211, a top end arc groove part B5212 and an inclined lower groove part B5213, the inclined upper groove part B5211 and the inclined lower groove part B5213 are respectively communicated by the top end arc groove part B5212, the inclined upper groove part B5211 and the inclined lower groove part B5213 are respectively arranged in a downward inclined mode from the communication position with the top end arc groove part B5212, and the lowest end of the inclined upper groove part B5211 is lower than the lowest end of the inclined lower groove part B5213. In an initial state, the lowest end of the inclined upper groove part B5211 is clamped with the second limit pin B532 and can be assembled in a sliding way; the second limiting pin B532 is fixed at one end of the limiting connecting plate B510, and the other end of the limiting connecting plate B510 is hinged with the gas distribution plate B100 through the first limiting pin B531.

The ball B560 is in contact with the topmost part of the downward pressing inclined surface B613 in the initial state, the downward pressing inclined surface B613 is arranged on the switching driving block B610, and the downward pressing inclined surface B613 is obliquely arranged from bottom to top; the switching driving block B610 and the switching screw B411 are assembled in a screwing mode through threads, one end of the switching screw is assembled with the gas distribution plate B100 on one side of the switching installation groove B104 in a circumferential rotating mode, and the other end of the switching screw penetrates through the gas distribution plate B100 and then is assembled with an output shaft of the switching motor B410, so that the switching motor B410 can drive the switching screw B411 to rotate forward and backward in the circumferential direction; the switching drive block B610 is engaged with the switching mounting groove B104 and is slidably fitted in the switching screw axial direction.

Preferably, the switching driving block B610 is further provided with a release slope B611, a holding plane B612, and two guide detection slopes B614, respectively, wherein the holding plane B612 is in a horizontal state, and two ends of the holding plane B612 are connected to the lowest ends of the release slope B611 and the press-down slope B613, respectively; the release slope B611 is inclined from bottom to top, and the guide detection slopes B614 are respectively arranged on two sides of the top of the switching driving block B610 and are inclined from bottom to top.

The top surface of the switching driving block B610 is also tightly attached to the bottom of a position-measuring rod B620, the top of the position-measuring rod B620 passes through the top sealing plate B120 and the supporting shell B110 and then is opposite to the trigger end of a position-measuring microswitch B430, and each valve rod B540 corresponds to one position-measuring microswitch B430; the top sealing plate B120 seals the top of the switching installation groove B104, and the supporting shell B110 is fixed on the gas distribution plate B100;

a stress ring B621 is arranged on the part of the positioning rod B620, which is positioned between the supporting shell B110 and the top sealing plate B120, a positioning compression spring B630 is sleeved on the part of the positioning rod B620, which is positioned between the stress ring B621 and the supporting shell B120, and the positioning compression spring B630 is used for applying elastic force to the positioning rod B620 towards the switching driving block B610.

When the state of the reversing valve block B460 is required, the switching motor B410 is started to drive the switching screw rod to rotate circumferentially, the switching screw rod B411 drives the switching driving block B610 to move in the axial direction through threads, so that the switching driving block B610 applies downward pressing displacement to the valve rod B540 through the downward pressing inclined plane B613, the valve rod B540 overcomes the elastic force of the valve rod pressure spring B550 to press downwards, the holding sliding plate B541 and the reversing valve block B460 are driven to synchronously move downwards until the reversing groove B461 completely enters the reversing groove B101 and the communication air hole B462 communicates the main air passages B102 on the two sides. At this time, the change-over valve block B460 seals and separates the corresponding branch air pipe B240 and the main air pipe B102, and the main air pipe B102 is communicated with the change-over notch B461 of the next change-over valve block B460.

When the holding slide B541 moves down, the holding slide B520 is moved down synchronously by the connecting slide B522, so that the second holding pin B532 reaches the top arc groove portion B5212 along the inclined upper groove portion B5211 and enters the top of the inclined lower groove portion B5213. After the switching driving block B610 is separated from the balls, due to the action of the valve rod spring B550 on the valve rod B540, the valve rod moves upwards to drive the limiting plate to move upwards, at the moment, the second limiting pin B532 slides along the inclined lower groove part B5213 until the bottommost part of the inclined lower groove part B5213 is reached, so that the limiting plate B520 is fixed and limited, at the moment, the reversing valve block B460 seals and separates the reversing groove B461 from the main air passage B102, the communicating air hole B462 communicates the main air passages B102 on two sides, and the valve rod spring B550 stores elastic force.

When the state of the reversing valve block needs to be recovered, the switching motor B410 is turned over to drive the switching driving block B610 to retreat, so that the inclined plane B611 is released from being contacted with the ball B560, and the valve rod B540 is pressed down again, so that the second limiting pin B532 moves upwards to the tops of the top arc groove part B5212 and the inclined upper groove part B5211 along the inclined lower groove part B5213. After the switching driving block B610 is separated from the balls, the valve rod moves up under the action of the valve rod spring, so that the limiting plate B520 and the reversing valve block B460 are driven to move up synchronously, and the second limiting pin B532 is restored to the initial state along the inclined upper groove portion B5211.

The mode can realize independent switching of the communication between each branch gas pipe B240 and the main gas passage, so that the next branch gas pipe B240 can be directly started when a certain branch gas pipe B240 fails, and the tolerance of the failure is increased. The positioning microswitch is designed to detect the position of the switching drive block B610, so that the CPU can know the position of the switching drive block B610 by sending a signal to the CPU through the positioning microswitch after the switching drive block B610 completes the corresponding work.

Preferably, because the air sampled at the last time always exists in the main air passage when the air sampling device is used, if the air sampling device is directly conveyed to the next branch air pipe, sampling errors are prone to occur, and sampling results are inaccurate, the applicant designs an exhaust assembly, wherein the exhaust assembly comprises an exhaust air bag B480 and an exhaust valve plate B440, the exhaust air bag B480 and the exhaust valve plate B440 are respectively installed in an exhaust sliding groove B103, an exhaust driving plate B481 is installed at the top of the exhaust air bag B480, the exhaust driving plate B481 is in contact pressing with the bottom surface of the exhaust valve plate B440, a communicating air groove B441 is arranged at one end, close to the exhaust driving plate B481, of the exhaust valve plate B440, the top of the exhaust valve plate B440 is fixedly assembled with one end of an arc-shaped spring leaf B450, and the arc-shaped top of the arc. The arc spring piece has elasticity, and its other end is open end.

The air exhaust air bag B480 is elastic and the interior of the air exhaust air bag B480 is respectively communicated with the air inlet end of the pressure relief air exhaust nozzle B420 and the air outlet end of the micro one-way valve B472, the air inlet end of the micro one-way valve B472 is communicated with one end of a side air pipe B471, the side air pipe B471 is communicated with the main air passage B102, and the other end of the pressure relief air exhaust nozzle B420 penetrates out of the air distribution plate B100. The pressure relief exhaust valve B420 can refer to or directly adopt an air valve of the existing automobile tire;

in the initial state, the exhaust valve plate B440 seals and divides the main gas passage. Before the air flow enters the next reversing valve block of the exhaust valve plate B440 (after the last sampling, the sampling is started), the air flow firstly enters the exhaust air bag B480 through the side air pipe B471, so that the exhaust air bag B480 is inflated to push the exhaust valve plate B440 to move upwards against the elasticity of the arc-shaped spring piece B450 until the communicating air groove B441 communicates the main air passages B102 on the two sides; due to the design, the residual air after the last sampling is almost completely pushed into the exhaust air bag B480, so that the air after the last sampling is prevented from influencing the current sampling. When the exhaust valve plate B440 needs to be reset, the pressure relief exhaust nozzle B420 is directly opened, so that the airflow in the exhaust air bag B480 is discharged through the pressure relief exhaust nozzle B420, and the elastic force of the arc-shaped spring piece enables the exhaust air bag B480 and the exhaust valve plate B440 to be reset.

Referring to fig. 25, the pressure relief exhaust nozzle B420 includes an exhaust shell B424, a first air passage B421 and a second air passage B422 are respectively disposed in the exhaust shell B424, one end of the first air passage B421 is communicated with the inside of the exhaust airbag B480, the other end of the first air passage B421 is in sealing assembly with one end of a sealing rod B810, the other end of the sealing rod B810 penetrates through the exhaust shell B424 and is then fixed to a pull button B830, a spring ring B820 is disposed on a portion of the sealing rod B810 located in the second air passage B422, an exhaust pressure spring B840 is sleeved on a portion of the sealing rod B810 located between the spring ring B820 and an inner end face of the second air passage B422 near one end of the pull button B830, the exhaust pressure spring B840 is used for generating a pushing force for the sealing rod B810 to move to the first air passage B421, a through exhaust through hole B423 is disposed on a side wall of the second air passage B422, and the exhaust through hole.

When the air pressure sealing device is used, once the air pressure in the first air passage B421 can drive the sealing rod B810 to move towards the second air passage B422 against the elastic force of the exhaust pressure spring B840, the first air passage B421 is communicated with the exhaust through hole B423 to exhaust the redundant air flow in the main air passage. Of course, the sealing rod B810 may be pulled by pulling the pull button by hand, so that the first air passage B421 communicates with the exhaust through hole B423, thereby exhausting the gas in the exhaust airbag B480.

Referring to fig. 24, an air storage bag B270 is installed in the air storage box B220, the air storage bag B270 has elasticity and is in a contracted state in an initial state, a hollow storage cavity B271 is formed in the air storage bag B270, and when the air storage box B is used, sampled air is stored in the storage cavity B271; the storage cavity B271 is respectively communicated with one end of an air outlet nozzle B221 of the air storage box and one end of an air inlet pipe B222 of the air storage box;

the gas storage box B220 is also internally provided with a gas storage microswitch B260 and an elastic piece B250, the elastic piece B250 comprises a fixed part B251 and an elastic part B252, and the elastic part B252 has elasticity and the open end of the elastic part B252 is opposite to the trigger end of the gas storage microswitch B260. After the air storage bag B270 is completely expanded, the elastic part B252 is driven to overcome the self elastic force to rotate towards the air storage microswitch B260 until the air storage microswitch B260 is triggered, at the moment, the sample stored in the air storage bag B270 is judged to reach the maximum value, and then the air pump and the booster pump are stopped to stop sampling.

In this embodiment, all consumer are provided by unmanned aerial vehicle's battery, and the signal end of side position micro-gap switch, the signal end of gas storage micro-gap switch, the control end of step motor driver respectively with the signal end communication of unmanned aerial vehicle's Controller (CPU) be connected, the step motor driver is used for driving the operation of switching motor, the switching motor is step motor.

Referring to fig. 26-27, the reversing valve group B300 includes a valve body B310 and an on-off valve B700, the valve body B320 is a hollow valve cavity B321, a piston B350 is installed in the valve cavity B321 in a sealing manner and in an axially slidable manner, a first communicating groove B322 and a second communicating groove B323 are formed in the inner wall of the valve cavity B321, a sealing table B324 is arranged between the first communicating groove B322 and the second communicating groove B323, and the sealing table B324 is assembled with the piston B350 in a sealing manner;

and a piston notch B352 is arranged on one side of the piston facing the first communicating groove B322, and when the piston is used, the piston notch B352 is used for communicating the first communicating groove B322 with the second communicating groove B323. A guide valve rod B351 is fixed on one end of the piston B350, and the guide valve rod B351 is arranged in the inner valve cylinder B331 of the guide valve cylinder B330 and can be assembled with the inner valve cylinder B331 in a sliding way; a resistance pressure spring B340 is sleeved outside the guide valve cylinder B330 and the guide valve rod B351, and the resistance pressure spring B340 is used for generating elastic force towards the limiting cylinder B360 to the piston;

a switch air bag B370 is mounted on the inner side of the limiting cylinder B360, the switch air bag B370 is respectively communicated with a switch air nozzle B380 and one end of a switch air pipe B362, the other end of the switch air nozzle B380 penetrates through the valve body B320, and the other end of the switch air pipe B362 penetrates through the valve body and then is communicated with an exhaust pipe head B772 of the switch valve B700; the switch valve B380 may be a valve of an existing tire.

The valve cavity B321 is also respectively communicated with one end of a reversing air inlet pipe head B313, an air passing pipe head B312 and an air outlet pipe head B325, the reversing air inlet pipe head B313 and the air passing pipe head B312 are respectively connected in series on a bronchus B240, the air outlet pipe head B325 is communicated with an inlet of an air storage one-way valve B311, an outlet of the air storage one-way valve is communicated with an air inlet pipe B222 of the air storage box, and therefore air is supplied into the air storage box;

the reversing air inlet pipe head B313 is also communicated with a switch air inlet pipe B773 of a switch valve B700 through a bridging pipe B314; a driving air inlet pipe B771 of the switch valve B700 is communicated with the interior of the air storage bag B270; the exhaust pipe head B325 is communicated with the valve cavity B321 and is close to the end face of the piston B350, and the resistance spring B340 applies pushing force to the piston and presses the switch air bag B370.

The switch valve B700 comprises a switch valve body B710, a hollow switch valve cavity B711 is arranged in the switch valve body B710, a switch air guide groove B712 is arranged on the inner wall of the switch valve cavity B711, the part of the switch valve cavity B711, which is not provided with the switch air guide groove B712, is in sealing and axially sliding assembly with a switch valve plug B720, a valve plug air guide hole B721 is arranged in the switch valve plug B720, and the valve plug air guide hole penetrates through the switch valve plug B720;

the switching valve cavity B711 is respectively communicated with one end of a driving air inlet pipe B771, one end of a switching air inlet pipe B773 and one end of an air exhaust pipe head B772, a first limiting cylinder B760 is fixed in one end, close to the driving air inlet pipe B771, of the switching valve cavity B711, and the first limiting cylinder B760 is used for limiting the maximum displacement of the switching valve plug B720 moving towards the driving air inlet pipe B771;

the end face, far away from the driving air inlet pipe B771, of the switch valve plug B720 is tightly pressed with one end of a pressure maintaining pressure spring B740, the other end of the pressure maintaining pressure spring B740 is sleeved on a second limiting cylinder B730, the second limiting cylinder B730 is fixed in a switch valve cavity B711, and the end face of the second limiting cylinder B730 is used for limiting the maximum displacement of the switch valve plug B720 moving towards the switch valve cavity B711. When the end face of the second limiting cylinder B730 is tightly attached to the end face of the switch valve plug B720, the valve plug air guide hole B721 communicates the switch air inlet pipe B773 with the exhaust pipe head B772, so that the air flow in the switch air inlet pipe B773 can enter the exhaust pipe head B772 and enter the switch air bag B370.

The exhaust pipe head B772 is communicated with an outlet of the switch one-way valve B750, and an inlet of the switch one-way valve B750 is communicated with the switch valve cavity B711. The switch check valve B750 is used for preventing the airflow in the exhaust pipe head B772 from flowing backwards into the switch valve cavity.

When the gas storage switch is used, gas flow sent by the branch gas pipe B240 respectively enters the reversing gas inlet pipe head B313 and the bridge pipe B314, at the moment, the switch valve B700 is in a state shown in the figure 27, the gas flow of the bridge pipe B314 cannot be conducted, the gas flow enters the valve cavity B321, then enters the gas storage box B220 through the gas outlet pipe head B325 to be stored, after the gas pressure of the gas storage box B220 reaches a certain value, the gas pressure can push the switch valve plug B720 to overcome the pressure maintaining spring B740 to move downwards to the maximum position, so that the gas flow of the switch gas inlet pipe B773 enters the switch gas bag B370 through the valve plug gas guide hole B721, the switch gas bag B370 gradually expands, the piston is driven to move towards the gas outlet pipe head B325, the connecting position of the gas outlet pipe head B325 and the valve cavity is sealed by the piston, at the moment, the gas flow completely enters the switch gas. Then the air pump and the booster pump stop running.

During next sampling, the air pump and the booster pump pressurize and convey the air flow into the switch air bag, so that the switch air bag B370 is expanded until the piston notch B352 communicates the first communicating groove B322 with the second communicating groove B323, and the air flow can pass through the valve cavity and is output from the air passing pipe head B312 to the next part of branch air pipes, enter the next valve cavity and the bridging pipe B314. On one hand, the design switches on the switch valve through the air pressure of the air storage bag, so that a subsequent bronchus is closed in time when the pressure relief is generated in the air storage bag, and the pollution of later-period sampling gas is prevented; on the other hand, when the next sampling is carried out, the airflow remained in the pipeline before can be pushed into the switch air bag B370, so that the sampling quality is prevented from being influenced.

The invention is not described in detail, but is well known to those skilled in the art.

The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.

Claims

1. An automatic air acquisition system is characterized by comprising a charging module, an unmanned aerial vehicle and a sampling module, wherein the charging module is used for wirelessly charging the unmanned aerial vehicle, and the sampling module is used for acquiring an air sample;

the charging module comprises a charging base, a motor box and a charging box, wherein a supporting cylinder is fixed on the charging base, a rotating disc is arranged in the supporting cylinder, a positioning lamp belt concentric with the rotating disc is further arranged on the supporting cylinder, a light source is arranged in the positioning lamp belt, and the light source is electrified to emit light;

the unmanned aerial vehicle comprises a body, wherein a plurality of rotor plates are respectively arranged on the body, and positioning images are also arranged on the rotor plates; the machine body is also fixedly provided with a mounting seat;

the mounting seat is also provided with a three-axis pan-tilt, the three-axis pan-tilt is provided with a camera and a gray level camera, and the camera is used for collecting color images; the machine body is also coated with a plurality of positioning coating strips;

the top of the charging base is sealed through a charging bottom plate, a supporting cylinder is mounted on the charging bottom plate, and the supporting cylinder is hollow;

a telescopic motor is installed in the motor box, a second bevel gear is fixed on a telescopic output shaft of the telescopic motor, the second bevel gear is in meshing transmission with the first bevel gear, the first bevel gear is fixed at one end of a driving screw rod, the other end of the driving screw rod is installed in a screw sleeve and is assembled with the screw sleeve in a screwing mode through threads, and the screw sleeve is fixed on the charging box;

a push rod motor is installed in the motor box, a telescopic shaft of the push rod motor penetrates through the charging box and then is assembled and fixed with a charging fixing plate, the charging fixing plate is fixed on a charging end plate, the charging end plate is assembled and fixed with one end of a guide rod, and the other end of the guide rod is installed in the motor box and can be axially assembled with the motor box in a sliding manner; the wireless charging emitter is arranged in the charging end plate.

2. The automatic air collection system of claim 1, wherein the motor case is further assembled and fixed with one end of a guide shaft, the other end of the guide shaft passes through a guide hole and is axially slidably assembled with the guide shaft, the guide hole is formed in a guide block, and the guide block is fixed on the charging case;

a torsion motor is arranged in the charging base, and a torsion output shaft of the torsion motor is fixedly assembled with the third gear; the third gear is in meshing transmission with the second gear, the second gear is in meshing transmission with the first gear, the second gear is arranged on the intermediate shaft, and the intermediate shaft and the charging base can be assembled in a circumferential rotating mode;

first gear is fixed on the torsion shaft, and torsion shaft one end passes through the coupling joint with the input shaft of first encoder, and the other end is worn out and is fixed with the assembly of motor case after charging the base.

3. The automatic air collection system of claim 2, wherein the charging end plate further comprises a camera mounted thereon, the camera being configured to capture an image located thereunder; in addition, a contact mounting hole is formed in the charging end plate, and a contact assembly is mounted in the contact mounting hole;

the contact assembly comprises a contact micro switch and a contact rod, wherein a first trigger ring and a second trigger ring are respectively arranged at two ends of the contact rod, and the first trigger ring is opposite to the trigger end of the contact micro switch; one end of the contact rod, provided with the second trigger ring, is installed in the contact installation hole, and the contact rod can be axially installed in a sliding manner; a contact pressure spring is sleeved on the part of the contact rod, which is positioned between the second trigger ring and the inner end surface of the contact mounting hole; during initial state, the second triggers the ring bottom surface and stretches out the end plate bottom surface that charges, and the PLC signals of installing in the base that charges after the contact micro-gap switch is triggered, and PLC judges that the end plate that charges compresses tightly with the dull and stereotyped contact that charges.

4. The automatic air collection system of claim 1, wherein a six-sided shaft is concentrically mounted inside the rotary disk, the six-sided shaft is mounted in a six-sided hole and is axially slidably assembled with the six-sided hole, the six-sided hole is formed in one end of the first rotary output shaft, the other end of the first rotary output shaft penetrates through the waterproof partition plate and is assembled with the double-shaft motor, and the double-shaft motor is further provided with a second rotary output shaft; the second rotary output shaft is connected with an input shaft of a second encoder through a coupler;

the part of the first rotary output shaft between the rotary disk and the waterproof partition plate is sleeved with a rotary disk pressure spring, the rotary disk pressure spring is used for generating elastic force for preventing the rotary disk from moving downwards, at least three rotary disk micro switches are further installed at the corresponding position of the waterproof partition plate and the rotary disk, and the plurality of rotary disk micro switches are evenly distributed on the circumferential direction of the rotary disk and the triggering ends of the rotary disk micro switches are respectively opposite to the rotary disk.

5. The automatic air collection system of claim 1, wherein the unmanned aerial vehicle has installed therein:

a memory for storing data;

the 5G module is used for wirelessly communicating with external equipment;

the positioning label is used for assisting positioning;

an air pump for pumping external atmosphere to the booster pump through the air suction pipe;

the barometer is used for converting the flying height through air pressure;

the positioning chip is used for positioning;

the battery is used for supplying power to all airborne electric equipment;

the booster pump is used for pressurizing and conveying the air flow to the main air pipe so as to store the air flow into the air storage box;

the signal ends of the memory, the 5G module, the positioning tag, the barometer, the positioning chip and the digital-to-analog converter are respectively in communication connection with the signal end of the CPU, and the analog signal end of the digital-to-analog converter is respectively in communication connection with the control ends of the booster pump and the air pump.

6. The automatic air collection system of claim 1, wherein the sampling module comprises an air storage frame, an air distribution plate, a branch air pipe and a reversing valve group arranged on the branch air pipe, wherein a fixing clamping plate, a lower support plate and a plurality of air storage boxes are respectively fixed on the air storage frame; each gas storage box corresponds to one reversing valve group, each branch gas pipe is provided with a plurality of reversing valve groups, one end of each branch gas pipe is fixedly assembled with the lower support plate far away from the gas distribution plate, and the other end of each branch gas pipe penetrates through the lower support plate close to the gas distribution plate and then is communicated with the reversing groove; each air storage box is also provided with an air storage box exhaust nozzle; the gas distribution plate is fixed on the gas storage frame, and the reversing groove is arranged in the gas distribution plate;

the gas distribution plate is internally provided with a main gas passage, an exhaust chute, a switching mounting groove and a through guide groove; each reversing groove corresponds to one branch air pipe and is communicated with a main air passage, one end of the main air passage is closed, the other end of the main air passage is communicated with one end of the main air pipe, the other end of the main air pipe is communicated with an outlet of a booster pump, an inlet of the booster pump is communicated with an outlet of an air pump, an inlet of the air pump is communicated with one end of an air suction pipe, and the other end of the air suction pipe is communicated with the;

the exhaust chute is arranged between the two reversing chutes and is communicated with the main air passage, a reversing valve block is arranged in each reversing chute, and a reversing notch and a communicating air hole are respectively arranged on each reversing valve block; the top of the reversing valve block is fixedly assembled with one end of a valve rod, the other end of the valve rod is arranged in the switching installation groove, a retaining sliding plate is fixed on the end of the valve rod, the valve rod can axially slide, and a valve rod pressure spring is sleeved on a part, located between the retaining sliding plate and the bottom surface of the inner side of the switching installation groove, of the valve rod;

in the initial state, the reversing valve block is positioned at the top of the reversing groove, the branch gas pipe is communicated with the main gas passage through the reversing notch groove, the communicating gas hole on the reversing valve block is arranged at the top of the reversing groove, so that two ends of the communicating gas hole are sealed by the inner wall of the reversing groove, and the main gas passage from the main gas passage to the next reversing groove is disconnected by the reversing valve block, so that the main gas passage is divided into a plurality of sections which are respectively communicated with the branch gas pipes corresponding to the main gas passage; the holding sliding plate is fixedly connected with the limiting plate through the connecting sliding plate, and the connecting sliding plate is clamped with the penetrating guide groove and can be assembled in a sliding mode;

the limiting plate is provided with a limiting guide groove, the limiting guide groove is composed of an inclined upper groove part, a top end arc groove part and an inclined lower groove part, the inclined upper groove part and the inclined lower groove part are respectively communicated by the top end arc groove part, the inclined upper groove part and the inclined lower groove part are respectively arranged in a downward inclined mode from the communication part with the top end arc groove part, and the lowest end of the inclined upper groove part is lower than the lowest end of the inclined lower groove part; in an initial state, the lowest end of the inclined upper groove part is clamped with the second limiting pin and can be assembled in a sliding mode; the second limiting pin is fixed at one end of the limiting connecting plate, and the other end of the limiting connecting plate is hinged with the gas distributing plate through the first limiting pin.

7. An unmanned aerial vehicle positioning method based on the automatic air acquisition system of any one of claims 1-6, characterized by comprising the following steps:

8. The drone positioning method of claim 7, further comprising the steps of:

s160, the charging box is not positioned above the rotating disk in the initial state, and after the unmanned aerial vehicle lands on the rotating disk, the torsion motor is started to drive the torsion shaft to rotate so as to drive the charging box to rotate above the rotating disk;

9. An unmanned aerial vehicle positioning method as claimed in claim 8, wherein in S180, during early calibration, a standard drawing is collected at a position where the camera is located at a preset position as a reference, and the drawing collected at a later stage only needs to be compared with the reference for positioning.