CN110631866A - Multi-point depth-fixing intelligent water quality sampling device based on multi-rotor unmanned aerial vehicle - Google Patents
Multi-point depth-fixing intelligent water quality sampling device based on multi-rotor unmanned aerial vehicle Download PDFInfo
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 115
- 238000005070 sampling Methods 0.000 title claims abstract description 88
- 239000007788 liquid Substances 0.000 claims abstract description 14
- 238000012546 transfer Methods 0.000 claims abstract description 4
- 230000005540 biological transmission Effects 0.000 claims description 6
- 238000004891 communication Methods 0.000 claims description 4
- 238000012544 monitoring process Methods 0.000 claims description 4
- 230000002572 peristaltic effect Effects 0.000 claims description 4
- 239000003990 capacitor Substances 0.000 claims description 3
- 238000001514 detection method Methods 0.000 claims description 3
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims description 2
- 238000009434 installation Methods 0.000 claims description 2
- 239000000463 material Substances 0.000 claims description 2
- 238000012545 processing Methods 0.000 claims description 2
- 238000003556 assay Methods 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 5
- 238000004804 winding Methods 0.000 description 9
- 238000005491 wire drawing Methods 0.000 description 4
- 239000003638 chemical reducing agent Substances 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 230000008054 signal transmission Effects 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 238000003915 air pollution Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000005086 pumping Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 239000002352 surface water Substances 0.000 description 1
- 239000002351 wastewater Substances 0.000 description 1
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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
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/08—Aircraft not otherwise provided for having multiple wings
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
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- 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
- G01N1/14—Suction devices, e.g. pumps; Ejector devices
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
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- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
- H04N7/185—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source from a mobile camera, e.g. for remote control
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Abstract
The invention provides a multi-point depth-fixing intelligent water quality sampling device based on a multi-rotor unmanned aerial vehicle, and relates to the technical field of water sample collection. The method is characterized in that: the ground control station is used for planning a route, sending an acquisition instruction and displaying water acquisition state information in real time; the water sampling device comprises a pump type sampler and a sampling point position control device; sampling point position control device transfers liquid level changer, electric capacity and stay-supported sensor to obtain water degree of depth and unmanned aerial vehicle apart from the surface of water height data to pass ground station back through the singlechip, confirm the sampling point coordinate according to water sample collection regulation, the pump formula sample thief is inhaled the water sample that awaits measuring by the suction pump, and exit linkage one divides many hoses is inputed the water sample respectively in a plurality of bottle lid bottoms are equipped with the sampling bottle of capacitanc sensor, thereby realize depthkeeping ration collection water sample.
Description
Technical Field
The invention relates to a multi-point depth-setting intelligent water quality sampling device based on a multi-rotor unmanned aerial vehicle, and belongs to the field of crossing of unmanned aerial vehicles and water sample collection.
Background
In recent years, environmental safety has been a hot topic, and water resources are seriously polluted due to the emission of waste water in industry, agriculture, life and the like. The pollution of surface water resources seriously threatens the environmental safety. In order to guarantee the life health of people, the water bodies in rivers, lakes and reservoirs are often required to be sampled and detected.
The traditional water body sampling is usually manual on-site sampling, a large amount of preparation is needed in the early stage of the sampling method, the sampling period is long, and the situation that the sampling working environment is severe is often met, for example, when the water surface is seriously polluted or a large amount of floating objects exist, the designated sampling position is difficult to reach. And water sample automatic acquisition system based on unmanned aerial vehicle adopts many rotor unmanned aerial vehicle as carrying platform, has good stability and the nature controlled, and the location is accurate, and the flexibility of taking off and land, the security is high. The method is not limited by obstacles and topographic conditions, saves manpower and material resources, is beneficial to high efficiency, accuracy and informatization of environment sampling, and makes up for the defects of the traditional environment sampling method. The patent of publication number CN110104191A discloses "an automatic acquisition device based on unmanned aerial vehicle", and the device sets up the suspending device in the unmanned aerial vehicle below, and the suspending device bottom sets up flexible chain connection water sampler and adopts water. It is difficult to satisfy the regulation standard of water quality sampling technique when in practical application, for example: the water sampling task planning and the real-time monitoring of the water sample collecting state can not be accurately carried out at the ground station, and quantitative water samples can not be collected according to the standard; the accurate fixed-depth collection by a standard sampler cannot be ensured; the collected water sample cannot be guaranteed not to be polluted, and the real water quality parameters are influenced; the flight task can not be realized once to obtain a plurality of sampling points water samples, and the efficiency is lower.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention designs a multi-point depth-setting intelligent water quality sampling device based on a multi-rotor unmanned aerial vehicle. The system can realize the planning of water sampling tasks and the sending of collection tasks at a ground station, and display the water depth information of a sampling water area, the height and the position information of the unmanned aerial vehicle from the water surface, and the depth of a current sampling point from the water surface in real time, and realize the accurate depth-fixed collection according to water sample collection technical rules. The suction pump is adopted to collect the water sample, so that air pollution to the water sample can be avoided, the water sample with a plurality of sampling points can be collected in one task, real-time water collection quantity information can be obtained, and accurate quantitative collection according to the technical specifications of water sample collection can be realized. The standardization and the accuracy of water sample collection are ensured, and the water collection efficiency is greatly improved.
In order to achieve the technical purpose, the invention discloses a multi-point depth-fixing intelligent water quality sampling device based on a multi-rotor unmanned aerial vehicle. Many rotor unmanned aerial vehicle includes fuselage, transmission system, flight control ware, GPS, compass, battery, transmitter.
The water sampling device comprises a pump type sampler, a sampling point position control device and a camera device (20); the sampling point position control device comprises a liquid level transmitter (9), a capacitor (16), a stay wire type sensor (2), a winding drum (6) of the liquid level transmitter, a mounting bracket (1) of the stay wire type sensor, a single chip microcomputer and a detachable mounting platform (17), wherein the detachable mounting platform (17) is fixed below an unmanned aerial vehicle, the liquid level transmitter (9), the capacitor (16) and the stay wire type sensor (2) are fixed at the bottom of the detachable platform, the single chip microcomputer is fixed above the unmanned aerial vehicle, the pump type sampler comprises a suction pump (14) (which is commonly a peristaltic pump or a manual vacuum pump), 3 sampling bottles (4), 3 capacitive sensors (3), a water collecting hose (15), a hose collecting drum (19) and a water pipe winding drum mounting bracket (18), and the 3 sampling bottles (4) and a hose winding drum wheel (19) are fixed on the detachable platform, 3 capacitive sensor (3) place in the bottom of sampling bottle upper cover, hose (15) are transferred and are put sampling point department and inhale the water sample that awaits measuring by the suction pump, and three hose (5) of exit linkage are inputed the water sample respectively into three sampling bottle, obtain the water sample and in time preserve, the follow-up detection chemical examination of being convenient for.
The improved technical scheme of the invention is that the water sampling device is provided with camera equipment for sampling water quality and monitoring the state during sampling in real time; meanwhile, the data is transmitted back to the ground station in real time through the data transmission module.
As an improved technical scheme of the invention, the sampling point position control device can measure the water depth information of a sampling water area, the height and position information of the unmanned aerial vehicle from the water surface and the depth of a current sampling point from the water surface, and further determine the position of the sampling point according to a water quality sampling technical rule, thereby obtaining an accurate and effective water sample.
As an improved technical scheme of the invention, the water sampling device can replace a suitable sampling bottle according to the water quality detection index.
As an improved technical scheme of the invention, the peristaltic pump is adopted in the water sampling device, and the pump body is not contacted with a water sample, so that the water sample is prevented from being polluted.
As an improved technical scheme of the invention, the output interface of the suction pump in the water sampling device is connected with one-to-many hoses which are respectively input into a plurality of sampling bottles, so that a flight task can collect water samples of a plurality of sampling points, and the working efficiency is improved.
As an improved technical scheme of the invention, the capacitive sensor is arranged at the bottom of the sampling bottle of the water sampling device, and the water sampling amount can be displayed in real time at a ground station through the wireless transmission module.
As an improved technical scheme, the acquisition device adopts an intelligent control system, the unmanned aerial vehicle and the ground end communicate to control operation, and the ground station can plan a water acquisition task and send an acquisition starting instruction and an acquisition stopping instruction.
Drawings
Fig. 1 is a block diagram of the flow of water quality sampling according to the present invention.
Fig. 2 is a water quality sampling device based on a multi-rotor unmanned aerial vehicle.
FIG. 3 is a drawing of the water sampling apparatus of the present invention;
the device comprises a wire-drawing type sensor mounting support, a wire-drawing type sensor, a capacitance type sensor, a water collecting bottle, a water collecting hose, a winding drum of a liquid level transmitter, a mounting support, a liquid level transmitter winding, a liquid level transmitter 9, a liquid level transmitter winding support, a speed reducer 11 and a speed reducer mounting support, wherein the wire-drawing type sensor mounting support is 1, the wire-drawing type sensor is 2, the capacitance type sensor is 3, the water collecting bottle, the water collecting hose is 5, the liquid level transmitter winding drum is 6. 13-motor, 14-water pump, 15-water pipe. 16-capacitance sensor, 17-mounting plate, 18-mounting bracket of water pipe winding roller, and 19-water pipe winding roller.
Detailed Description
As shown in fig. 1, a flow block diagram of a multi-point fixed-depth intelligent water quality sampling device based on a multi-rotor unmanned aerial vehicle specifically comprises the following steps:
step 1: the inspection and the automatic calibration of each subassembly and the module of many rotor unmanned aerial vehicle ensure that each subassembly and the module of unmanned aerial vehicle satisfy the requirement of taking off to and adopt water installation and ground station state normal.
Step 2: planning a water collection mission route at the ground station according to the sampling water surface, setting parameters such as flight speed, return terminal and the like, writing a planned route command into a flight controller, unlocking the unmanned aerial vehicle and sending a flight command.
And step 3: many rotor unmanned aerial vehicle fly to the assigned position according to the airline, send instruction and put down the sampling water bottom with the liquid level changer, record the degree of depth of sampling water, then with signal transmission to the singlechip on, the singlechip passes through wireless communication module with the signal and reaches ground station.
And 4, step 4: pack up the liquid level changer, transfer electric capacity stayguy formula sensor to the surface of water and survey unmanned aerial vehicle to the surface of water height, then with signal transmission to the singlechip on, the singlechip passes through wireless communication module and reaches the ground station with the signal.
And 5: and (4) processing the data obtained in the step (4) and the step (5) by the single chip microcomputer according to the water quality sampling technical specification standard, setting the lowering depth of the rubber hose, and lowering the rubber hose.
Step 6: and sending a collection instruction, pumping the water sample into a sampling bottle by a pump, and transmitting a water collection quantity signal in real time by a capacitive sensor at the bottom of the sampling bottle. Stopping collecting the water sample according to actual needs. And the ground station monitors the progress of the water collection task in real time.
And 7: withdraw the hose, many rotor unmanned aerial vehicle return voyage.
And 8: and (4) taking down the sampling bottle by ground staff, measuring the project on site, and taking the rest projects back to the laboratory to be detected and tested by various instruments.
The above description is only the most effective embodiment of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the scope of the invention.
Claims (7)
1. The utility model provides a multiple spot depthkeeping intelligence water quality sampling device based on many rotor unmanned aerial vehicle, includes many rotor unmanned aerial vehicle, adopts water installation, ground control station, and many rotor unmanned aerial vehicle includes fuselage, transmission system, flight control ware, GPS, compass, battery, transmitter, camera equipment. The water sampling device comprises a pump type sampler and a sampling point position control device; the sampling point position control device consists of a liquid level transmitter, a capacitor and pull-wire type sensor, a singlechip and a detachable mounting platform, the detachable platform is fixed below the unmanned aerial vehicle, the liquid level transmitter and the capacitance stay wire type sensor are fixed at the bottom of the detachable platform, the single chip microcomputer is fixed above the unmanned aerial vehicle, the pump type sampler consists of a suction pump (a peristaltic pump or a manual vacuum pump is commonly used), a plurality of sampling bottles, a plurality of capacitive sensors, a water collection hose and a hose take-up and pay-off roller, a plurality of sampling bottles and hose receive and release the gyro wheel and fix on can dismantling the platform, a plurality of capacitanc formula sensors are placed in sampling bottle lid bottom, and the hose is put sampling point department down and is inhaled the water sample that awaits measuring by the suction pump, and a plurality of sampling bottles are inputed respectively to the exit linkage one minute or more hose with the water sample, obtain the water sample and in time preserve, the follow-up detection assay of being convenient for.
2. The multi-point fixed-depth intelligent water quality sampling device based on the multi-rotor unmanned aerial vehicle as claimed in claim 1, wherein: the water sampling device is provided with camera equipment for monitoring the surrounding environment state when water samples are collected; and transmits the data back to the ground station in real time through the wireless data transmission module.
3. The multi-point fixed-depth intelligent water quality sampling device based on the multi-rotor unmanned aerial vehicle as claimed in claim 1, wherein: the sampling point position control device transfers the liquid level changer to obtain the water body depth to be measured according to pressure change, and transfers the change acquisition unmanned aerial vehicle apart from the surface of water of electric capacity stay-supported sensor according to the medium to be high. The sampling point depth is calculated by processing data through the single chip microcomputer, and all data are transmitted back to the ground station through the wireless data transmission module.
4. The multi-point fixed-depth intelligent water quality sampling device based on the multi-rotor unmanned aerial vehicle as claimed in claim 1, wherein: the pump type sampler adopts a suction pump (usually a peristaltic pump or a manual vacuum pump) to prevent the water sample from being polluted and losing authenticity.
5. The multi-point fixed-depth intelligent water quality sampling device based on the multi-rotor unmanned aerial vehicle as claimed in claim 1, wherein: the suction pump output interface in the water sampling device is connected with one-to-many hoses and respectively conveyed to a plurality of sampling bottles, so that a flight task is realized to obtain water samples of a plurality of sampling points. The number of sampling bottles can be installed according to actual needs.
6. The intelligent water sampling and monitoring system based on multi-rotor unmanned aerial vehicle of claim 1, characterized in that: a capacitance sensor is placed at the bottom of a bottle cap of a sampling bottle in the water sampling device, and the water sampling amount can be obtained in real time according to the change of a medium. Meanwhile, the material of the sampling bottle is selected and replaced according to the standard.
7. The multi-point fixed-depth intelligent water quality sampling device based on the multi-rotor unmanned aerial vehicle as claimed in claim 1, wherein: this collection system adopts intelligence control system, passes through wireless communication module communication by unmanned aerial vehicle, singlechip and ground station, and the ground station can plan the water collection task, sends and begins to gather and stop to gather the instruction to show unmanned aerial vehicle position state, water collection task progress.
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111426519A (en) * | 2020-05-28 | 2020-07-17 | 安徽中科大赛悟科技有限公司 | Airborne water quality sampler |
| CN112124607A (en) * | 2020-10-14 | 2020-12-25 | 王小方 | Unmanned aerial vehicle's suction tube is around pipe mechanism |
| CN112255042A (en) * | 2020-11-05 | 2021-01-22 | 湖北省生态环境监测中心站 | Different depth water quality sampling device for environmental monitoring |
| CN112525608A (en) * | 2020-11-27 | 2021-03-19 | 贾四强 | Water sampling device of water quality monitoring unmanned aerial vehicle |
| CN112629922A (en) * | 2020-12-31 | 2021-04-09 | 重庆壤科农业数据服务有限公司 | Unmanned aerial vehicle soil automatic sampler |
| CN112985913A (en) * | 2021-03-22 | 2021-06-18 | 中国计量大学 | Estuary water quality monitoring sampling system based on many unmanned aerial vehicles |
| CN113484086A (en) * | 2021-09-08 | 2021-10-08 | 奥来国信（北京）检测技术有限责任公司 | Water environment sampling device based on unmanned aerial vehicle |
| CN113532956A (en) * | 2021-08-20 | 2021-10-22 | 中国计量大学 | Pump suction type tidal bore tidal head water quality sampling system based on unmanned aerial vehicle |
| CN113607500A (en) * | 2021-09-07 | 2021-11-05 | 中国计量大学 | Pump suction type water quality sampling device based on unmanned aerial vehicle |
| CN114112538A (en) * | 2021-12-22 | 2022-03-01 | 盐城工学院 | Air suction type water quality sampling mechanism for water quality monitoring |
| WO2024113422A1 (en) * | 2022-12-02 | 2024-06-06 | 深圳先进技术研究院 | Water sampling method and device using multi-rotor unmanned aerial vehicle |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111426519A (en) * | 2020-05-28 | 2020-07-17 | 安徽中科大赛悟科技有限公司 | Airborne water quality sampler |
| CN112124607A (en) * | 2020-10-14 | 2020-12-25 | 王小方 | Unmanned aerial vehicle's suction tube is around pipe mechanism |
| CN112255042A (en) * | 2020-11-05 | 2021-01-22 | 湖北省生态环境监测中心站 | Different depth water quality sampling device for environmental monitoring |
| CN115165462A (en) * | 2020-11-27 | 2022-10-11 | 贾四强 | Water quality monitoring unmanned aerial vehicle water sample collection system |
| CN112525608A (en) * | 2020-11-27 | 2021-03-19 | 贾四强 | Water sampling device of water quality monitoring unmanned aerial vehicle |
| CN112629922A (en) * | 2020-12-31 | 2021-04-09 | 重庆壤科农业数据服务有限公司 | Unmanned aerial vehicle soil automatic sampler |
| CN112985913A (en) * | 2021-03-22 | 2021-06-18 | 中国计量大学 | Estuary water quality monitoring sampling system based on many unmanned aerial vehicles |
| CN113532956A (en) * | 2021-08-20 | 2021-10-22 | 中国计量大学 | Pump suction type tidal bore tidal head water quality sampling system based on unmanned aerial vehicle |
| CN113532956B (en) * | 2021-08-20 | 2023-01-24 | 中国计量大学 | Unmanned aerial vehicle-based water quality sampling method for pump suction type tidal bore tidal head |
| CN113607500A (en) * | 2021-09-07 | 2021-11-05 | 中国计量大学 | Pump suction type water quality sampling device based on unmanned aerial vehicle |
| CN113607500B (en) * | 2021-09-07 | 2023-08-01 | 中国计量大学 | Pumping type water quality sampling device based on unmanned aerial vehicle |
| CN113484086A (en) * | 2021-09-08 | 2021-10-08 | 奥来国信（北京）检测技术有限责任公司 | Water environment sampling device based on unmanned aerial vehicle |
| CN114112538B (en) * | 2021-12-22 | 2022-06-03 | 盐城工学院 | Air suction type water quality sampling mechanism for water quality monitoring |
| CN114112538A (en) * | 2021-12-22 | 2022-03-01 | 盐城工学院 | Air suction type water quality sampling mechanism for water quality monitoring |
| WO2024113422A1 (en) * | 2022-12-02 | 2024-06-06 | 深圳先进技术研究院 | Water sampling method and device using multi-rotor unmanned aerial vehicle |
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