CN111443180B - Water quality detection system based on unmanned aerial vehicle - Google Patents
Water quality detection system based on unmanned aerial vehicle Download PDFInfo
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- CN111443180B CN111443180B CN202010469254.3A CN202010469254A CN111443180B CN 111443180 B CN111443180 B CN 111443180B CN 202010469254 A CN202010469254 A CN 202010469254A CN 111443180 B CN111443180 B CN 111443180B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/18—Water
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
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- B64C39/02—Aircraft not otherwise provided for characterised by special use
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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
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
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- Y02A20/20—Controlling water pollution; Waste water treatment
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Abstract
The invention belongs to the technical field of water quality detection, and particularly relates to a water quality detection system based on an unmanned aerial vehicle, which comprises the unmanned aerial vehicle, a sampling module and a detection module, wherein the detection module and the sampling module are both carried on the unmanned aerial vehicle, the unmanned aerial vehicle is also provided with a retracting and releasing device which is used for releasing the sampling module into a water body to be detected and recovering the sampling module from the water body to be detected to the unmanned aerial vehicle, the sampling module is used for collecting a water body sample to be detected, the detection module is used for detecting the sampled water body sample, the unmanned aerial vehicle is provided with a wireless communication module, and detection data of the detection module is sent to a remote terminal through the wireless communication module. The unmanned aerial vehicle water quality detection system provided by the invention can realize fixed-point rapid sampling of a large-area water area, and meanwhile, the airborne detection module is carried, so that the remote detection of water quality parameters and the remote transmission of data are realized, the water quality detection efficiency of the large-area water area is improved, a water area water quality distribution map can be established, and more visual and accurate detection data can be provided.
Description
Technical Field
The invention belongs to the technical field of water quality detection, and particularly relates to a water quality detection system based on an unmanned aerial vehicle.
Background
Traditional water quality testing equipment can't realize the multiple spot short-term test to target waters on a large scale, and along with the gradual maturity of unmanned aerial vehicle technique, people begin to utilize unmanned aerial vehicle to carry out quick sampling to the water, operations such as detection, but unmanned aerial vehicle water quality sampling test equipment among the prior art has a plurality of defects, one of them is when sampling equipment is put in again, because the hawser receives wind-force, influence such as unrestrained, hawser length can't really reflect the degree of depth that the sampling container submerged the water layer, consequently can't be accurate sample the water of target water layer, it is second that current sampling equipment and check out test set can't carry out sampling simultaneously to the water of a plurality of water layers simultaneously, detection efficiency is low.
Disclosure of Invention
The invention aims to provide a water quality detection system based on an unmanned aerial vehicle, which can realize rapid fixed-point sampling and detection of a large-range water area.
The technical scheme adopted by the invention is as follows:
the utility model provides a water quality testing system based on unmanned aerial vehicle, includes unmanned aerial vehicle, sampling module and detection module, detection module and sampling module all carry on unmanned aerial vehicle, still are equipped with on the unmanned aerial vehicle to be used for releasing the sampling module to waiting to examine in the water and can retrieve the receiving and releasing device to unmanned aerial vehicle with the sampling module from waiting to examine the water, the sampling module is used for gathering the water sample that awaits measuring, detection module is used for detecting the water sample of sampling, unmanned aerial vehicle has wireless communication module, detection module's detection data passes through wireless communication module and sends to remote terminal.
The sampling module comprises a sampling container, a liquid inlet and outlet are formed in the sampling container, the liquid inlet and outlet are connected with the pressure-sensitive suction module, and the pressure-sensitive suction module is assembled in a way that when the sampling container is immersed into a water body to a preset depth, the water pressure of the preset depth can trigger the pressure-sensitive suction module to act so that the pressure-sensitive suction module sucks the water body at the preset depth position into the sampling container; the sampling container is a cylindrical container with one closed end and the other open end, the pressure-sensitive suction module comprises a piston which is arranged in the sampling container in a sliding manner along the axial direction of the sampling container, a rubber ring which is attached to the inner annular surface of the sampling container is arranged at the edge of the piston, a first elastic element is arranged between the piston and the sampling container, and the first elastic element is assembled in a manner that the elastic force of the first elastic element can drive the piston to slide in the direction far away from the closed end of the sampling container; the pressure-sensitive suction module further comprises a pressure-sensitive locking mechanism which is assembled to be capable of locking the piston at a designated position in the sampling container, and when the sampling container is submerged into the water body to a preset depth, the pressure-sensitive locking mechanism can release the piston to enable the piston to slide in a direction away from the closed end of the sampling container under the action of the first elastic element.
The sampling device comprises a sampling container, a piston, an end plate, a wedge-shaped spring bolt, a sliding seat, a plunger and a sampling container, wherein one side of the piston, which faces the open end of the sampling container, is connected with the piston rod, the end plate is arranged at one end, which is far away from the piston, of the piston rod, the end plate is provided with the locking bolt parallel to the piston rod, the side of the sampling container is provided with the locking seat fixedly connected with the sampling container, the locking seat is provided with a pin hole for the locking bolt to pass through, the locking seat is internally provided with the wedge-shaped spring bolt, the wedge-shaped spring bolt radially protrudes to the inner side of the pin hole along the pin hole, the locking bolt is provided with a wedge-shaped clamping groove matched with the wedge-shaped spring bolt, the wedge-shaped spring bolt is arranged on the sliding seat, the sliding seat is radially slidably arranged in the locking seat along the pin hole, the sliding seat is provided with the plunger, the axis direction of the plunger is parallel to the sliding direction of the sliding seat, and the plunger protrudes to the outside of the locking seat through a hole arranged on the locking seat; the second elastic element is arranged between the sliding seat and the locking seat, the elastic force of the second elastic element acting on the sliding seat is opposite to the pressure direction of water on the end face of the plunger after the sampling container is immersed in the water, when the water pressure on the end face of the plunger is smaller than the elastic force of the second elastic element, the sliding seat drives the wedge-shaped bolt to protrude into the pin hole under the action of the second elastic element, and when the water pressure on the end face of the plunger is larger than the elastic force of the second elastic element, the sliding seat drives the wedge-shaped bolt to move out of the pin hole under the pushing of the plunger.
The wedge-shaped lock tongue is movably connected with the sliding seat, the relative movement direction of the wedge-shaped lock tongue and the sliding seat is parallel to the sliding direction of the sliding seat, a third elastic element is further arranged between the wedge-shaped lock tongue and the sliding seat, the third elastic element is assembled into a structure that the elastic force of the third elastic element can drive the wedge-shaped lock tongue to move towards the center direction of the pin hole relative to the sliding seat, and a limiting component for limiting the displacement of the wedge-shaped lock tongue on the sliding block is further arranged between the lock tongue and the sliding seat; the wedge-shaped lock tongue is in sliding fit with a guide hole formed in the sliding seat through a guide pillar, the limiting component comprises a limiting block arranged at one end, away from the wedge-shaped lock tongue, of the guide pillar, and the limiting block is in blocking connection with one end, away from the wedge-shaped lock tongue, of the guide hole; the locking seat is further provided with an adjusting bolt, the adjusting bolt is in threaded connection with a threaded hole formed in the locking seat, and one end, located inside the threaded hole, of the adjusting bolt is abutted to the second elastic element.
At least one rodless piston is arranged between the piston and the closed end of the sampling container, and a rubber ring attached to the inner ring surface of the sampling container is arranged on the peripheral surface of the rodless piston; the liquid inlet and outlet ports are at least two, the number of the liquid inlet and outlet ports is equal to the number of rodless pistons plus 1, each liquid inlet and outlet port is arranged on the annular side wall of the sampling container at equal intervals along the axial direction of the sampling container, each liquid inlet and outlet port is connected with a valve body, the valve body comprises a valve shell with a cylindrical inner cavity and a valve rod arranged in the valve shell in a sliding mode, the valve rod is parallel to the axial direction of the sampling container, an annular groove is formed in the valve rod, a radial through hole and an axial through hole are formed in the valve rod, one end of the radial through hole penetrates through the annular groove, the other end of the radial through hole extends to the center of the valve rod, and one end of the axial through hole is communicated with the radial through hole, and the other end of the axial through hole penetrates through the end of the valve rod; the valve shell is provided with through holes penetrating through the side wall of the valve shell, the number of the through holes is consistent with that of the liquid inlet and outlet ports, the liquid inlet and outlet ports are communicated with the through holes in a one-to-one correspondence manner, and the width of the annular groove in the axial direction of the valve rod is consistent with the distance between the adjacent through holes; the valve rod is fixedly connected with the end plate and penetrates through the end plate; when the piston, the rodless piston and the closed end of the sampling container are closed, one side of the annular groove close to the end plate is flush with the center of one through hole closest to the closed end of the sampling container.
The number of the pressure-sensitive locking mechanisms is consistent with that of the liquid inlet and outlet ports, the pressure-sensitive locking mechanisms are arranged at intervals along the direction parallel to the axis of the sampling container, and the pressure-sensitive locking mechanisms share the same locking pin; the elasticity of the second elastic elements of the pressure-sensitive locking mechanisms arranged from the closed end of the sampling container to the open end of the sampling container is increased in sequence; the closed end of the sampling container is further provided with a balancing weight, the open end of the sampling container is provided with a radial pin used for being connected with a lifting rope, the piston rod is provided with a strip-shaped hole through which the radial pin passes and is in sliding fit with the radial pin, the center of the piston rod is provided with a threading hole, the threading hole penetrates through the inner wall of the strip-shaped hole to the end plate, one end of the lifting rope is connected with the radial pin, the other end of the lifting rope penetrates through the threading hole and is used for being connected with the winding and unwinding device, the winding and unwinding device is a winch installed on an unmanned aerial vehicle, and the lifting rope is wound on a winding drum of the winding winch.
The detection module comprises a detection container, a water quality detection sensor is arranged in the detection container, and the water quality detection sensor comprises one or more detection units for detecting one or more of the following parameters: temperature, pH, ORP, conductivity, salinity, dissolved oxygen, turbidity, chlorophyll A concentration, blue-green algae concentration, rhodamine concentration, oil concentration in water, ammonia nitrogen concentration, COD.
A liquid inlet is formed in the upper part of the detection container, a liquid outlet is formed in the bottom of the detection container, and an electric control valve is arranged on the liquid outlet; the unmanned aerial vehicle is characterized by further comprising a flow guide device, the flow guide device comprises a flow guide plate arranged at the upper end of an end plate of the sampling module, the top surface of the flow guide plate is an inclined plane, a guide ring is arranged below the unmanned aerial vehicle, the guide ring and the peripheral surface of the flow guide plate form a sliding insertion fit, an annular flow guide groove is formed in the outer side wall of the guide ring, the bottom wall of the annular flow guide groove is obliquely arranged, the lower end of the annular flow guide groove is communicated with a liquid inlet of the detection container, a cover plate is arranged at the upper end of the annular flow guide groove, the upper end of the guide ring and the bottom surface of the cover plate are arranged at intervals, a tubular column which protrudes upwards is arranged in the center of the flow guide plate, a central hole of the tubular column penetrates through the surface of the flow guide plate, the central hole of the tubular column and a threading hole in a piston rod of the sampling module are coaxially arranged, and when the upper end of the tubular column is abutted against the bottom surface of the cover plate, the top surface of the flow guide plate protrudes to the upper end surface of the guide ring, and the bottom surface of the flow guide plate is positioned in the guide ring; a line passing hole for a lifting rope to pass through is formed in the cover plate at a position corresponding to the central hole of the pipe column; the upper end of the cover plate is provided with a connecting bracket for connecting an unmanned aerial vehicle body; the cover plate is provided with an exhaust hole.
The liquid inlet is positioned at the upper end of the side wall of the detection container, the inner side of the liquid inlet is provided with a gate plate for opening and closing the liquid inlet, the gate plate is movably matched with the inner wall of the detection container along the height direction of the detection container, the electric control valve comprises a valve plate arranged at the inner side of the liquid outlet, the edge of the valve plate is in blocking connection with the edge of the inner side of the liquid outlet, the top surface of the valve plate is in a conical surface shape, the valve plate is connected with a valve plate driving element arranged below the detection container, the valve plate driving element is a linear motor or an electromagnetic clutch, the valve plate is fixedly connected with the gate plate through a connecting rod, the gate plate is opened when the valve plate is closed, and the gate plate is closed when the valve plate is opened; the detection container below still is equipped with the induced duct that the level set up, the both ends of induced duct are equipped with loudspeaker column structure, leakage fluid dram and induced duct middle part intercommunication, valve plate drive component installs in the induced duct bottom, and valve plate drive component's telescopic link passes the induced duct and with the valve plate rigid coupling.
Including belt cleaning device, belt cleaning device includes the clear water tank that sets up on the unmanned aerial vehicle, clear water tank passes through the shower nozzle intercommunication that sets up on pipeline and the apron bottom surface, is equipped with the scavenging pump on the pipeline.
The invention has the technical effects that: the unmanned aerial vehicle water quality detection system provided by the invention can realize fixed-point rapid sampling of a large-area water area, and meanwhile, the airborne detection module is carried, so that the remote detection of water quality parameters and the remote transmission of data are realized, the water quality detection efficiency of the large-area water area is improved, a water area water quality distribution map can be established, and more visual and accurate detection data can be provided.
Drawings
Fig. 1 is a perspective view of a water quality detection system based on an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 2 is a top view of a drone-based water quality detection system provided by an embodiment of the present invention;
fig. 3 is an exploded view of a water quality detection system based on a drone provided by an embodiment of the present invention, in which the drone is hidden;
FIG. 4 isbase:Sub>A cross-sectional view A-A of FIG. 2;
FIG. 5 is a cross-sectional view B-B of FIG. 4;
FIG. 6 is a schematic diagram of the pressure sensitive locking mechanism locking state provided by the embodiment of the present invention;
FIG. 7 is a schematic diagram of an unlocked state of the pressure sensitive locking mechanism provided by the embodiments of the present invention;
FIG. 8 is a schematic view of a wedge lock assembly of the pressure sensitive locking mechanism provided in accordance with an embodiment of the present invention;
fig. 9 is a perspective view of a water quality detecting system according to an embodiment of the present invention, in which a sampling module is in a recovery state;
fig. 10 is a perspective view of a water quality detecting system provided in an embodiment of the present invention; in the figure, a sampling module is in a state of waiting for recovery;
FIG. 11 is a sectional view of the water quality detecting system shown in FIG. 10 in a state;
fig. 12 is a cross-sectional view C-C of fig. 11.
Detailed Description
In order that the objects and advantages of the invention will be more clearly understood, the following description is given in conjunction with the accompanying examples. It is to be understood that the following text is merely illustrative of one or more specific embodiments of the invention and does not strictly limit the scope of the invention as specifically claimed.
Example 1
As shown in fig. 1 and 2, a water quality detection system based on unmanned aerial vehicle, including unmanned aerial vehicle 10, sampling module 20 and detection module 30, detection module 30 and sampling module 20 all carry on unmanned aerial vehicle 10, still are equipped with on the unmanned aerial vehicle 10 to be used for releasing sampling module 20 to the body of awaiting measuring in and can retrieve the receiving and releasing device 40 to unmanned aerial vehicle 10 with sampling module 20 from the body of awaiting measuring in, sampling module 20 is used for gathering the body of water sample that awaits measuring, detection module 30 is used for detecting the body of water sample of sampling, unmanned aerial vehicle 10 has wireless communication module, detection module 30's detection data sends to remote terminal through wireless communication module. The water quality detection system of the unmanned aerial vehicle 10 provided by the invention can realize fixed-point rapid sampling of a large-area water area, and meanwhile, the airborne detection module 30 is carried, so that the remote detection of water quality parameters and the remote transmission of data are realized, the water quality detection efficiency of the large-area water area is improved, a water area water quality distribution map can be established, and more intuitive and accurate detection data can be provided.
Preferably, as shown in fig. 3 to 12, the sampling module 20 includes a sampling container 21, the sampling container 21 is provided with a liquid inlet and outlet, the liquid inlet and outlet is connected to a pressure-sensitive suction module, and the pressure-sensitive suction module is configured such that when the sampling container 21 is submerged into a water body to a preset depth, a water pressure of the preset depth can trigger the pressure-sensitive suction module to act so that the pressure-sensitive suction module sucks the water body at the preset depth position into the sampling container 21; the sampling container 21 is a cylindrical container with one closed end and the other open end, the pressure-sensitive suction module comprises a piston 211 which is arranged in the sampling container 21 in a sliding manner along the axial direction of the sampling container 21, a rubber ring which is attached to the inner annular surface of the sampling container 21 is arranged at the edge of the piston 211, a first elastic element 2123 is arranged between the piston 211 and the sampling container 21, and the first elastic element 2123 is assembled in a manner that the elastic force of the first elastic element 2123 can drive the piston 211 to slide in a direction away from the closed end of the sampling container 21; the pressure-sensitive suction module further includes a pressure-sensitive locking mechanism which is fitted to be able to lock the piston 211 at a prescribed position in the sampling vessel 21, and which is able to release the piston 211 to slide in a direction away from the closed end of the sampling vessel 21 by the first elastic member 2123 when the sampling vessel 21 is submerged in the body of water to a preset depth. The sampling module 20 provided by the invention can automatically trigger the pumping module to act by utilizing the water pressure of a specific depth, so that the water body sample of the specific depth is accurately collected, and the sampling depth error caused by factors such as wind and wave in the transmission sampling process is avoided.
Specifically, a piston rod 212 is connected to one side of the piston 211 facing the open end of the sampling container 21, an end plate 213 is arranged at one end of the piston rod 212, which is far away from the piston 211, a locking pin 221 parallel to the piston rod 212 is arranged on the end plate 213, a locking seat 22 fixedly connected to the sampling container 21 is arranged beside the sampling container 21, a pin hole through which the locking pin 221 passes is arranged on the locking seat 22, a wedge-shaped latch bolt 223 is arranged in the locking seat 22, the wedge-shaped latch bolt 223 radially protrudes to the inner side of the pin hole along the pin hole, a wedge-shaped slot matched with the wedge-shaped latch bolt 223 is arranged on the locking pin 221, the wedge-shaped latch bolt 223 is mounted on a slide seat 222, the slide seat 222 is radially slidably arranged in the locking seat 22 along the pin hole, a plunger 224 is arranged on the slide seat 222, the axial direction of the plunger 224 is parallel to the sliding direction of the slide seat 222, and the plunger 224 protrudes to the outside of the locking seat 22 through a hole formed in the locking seat 22; a second elastic element 225 is further arranged between the slide base 222 and the locking base 22, the second elastic element 225 is assembled such that the elastic force of the second elastic element 225 acting on the slide base 222 is opposite to the pressure direction of the water body on the end face of the plunger 224 after the sampling container 21 is immersed in the water body, when the pressure of the water body on the end face of the plunger 224 is smaller than the elastic force of the second elastic element 225, the slide base 222 drives the wedge-shaped latch 223 to protrude into the pin hole under the action of the second elastic element 225, and when the pressure of the water body on the end face of the plunger 224 is larger than the elastic force of the second elastic element 225, the slide base 222 drives the wedge-shaped latch 223 to move out of the pin hole under the push of the plunger 224. Under normal pressure, wedge spring bolt 223 is protruding inwards in the pinhole under the effect of second elastic element 225, and when wedge draw-in groove and wedge spring bolt 223 just right at this moment, wedge spring bolt 223 is with the chucking of lock pin 221, and then prevents piston 211 upward movement, and when the water pressure that plunger 224 received was greater than second elastic element 225's elasticity, plunger 224 promoted slide 222 and slides, makes wedge spring bolt 223 withdraw from in the pinhole, and lock pin 221 relieved spacing this moment, and piston 211 upward movement and then the water sample of this water layer under the effect of first elastic element 2123.
Further, the wedge-shaped bolt 223 is movably connected with the sliding base 222, the relative movement direction of the wedge-shaped bolt 223 and the sliding base 222 is parallel to the sliding direction of the sliding base 222, a third elastic element 228 is further arranged between the wedge-shaped bolt 223 and the sliding base 222, the third elastic element 228 is assembled such that the elastic force of the third elastic element can drive the wedge-shaped bolt 223 to move towards the center direction of the pin hole relative to the sliding base 222, and a limit member 229 for limiting the displacement amount of the wedge-shaped bolt 223 on the sliding block is further arranged between the bolt and the sliding base 222; the wedge-shaped bolt 223 forms a sliding fit with a guide hole arranged on the sliding seat 222 through a guide post 227, the limit component 229 comprises a limit block arranged at one end of the guide post 227 far away from the wedge-shaped bolt, and the limit block is blocked and connected with one end of the guide hole far away from the wedge-shaped bolt 223; the wedge-shaped bolt 223 is elastically connected with the sliding base 222 so as to facilitate the resetting of the locking pin 221, the elastic coefficient of the third elastic element 228 is smaller than that of the second elastic element 225, when the locking pin 221 is inserted into the pin hole, the wedge-shaped bolt 223 is pushed to contract under the action of the inclined plane above the wedge-shaped bolt 223, and at the moment, the wedge-shaped bolt 223 compresses the third elastic element 228, so that the sliding base 222 does not need to be pushed to slide, and the resistance when the locking pin 221 is inserted into the pin hole is reduced. Still be equipped with adjusting bolt 226 on the locking seat 22, the screw hole threaded connection who sets up on adjusting bolt 226 and the locking seat 22, adjusting bolt 226 be located the inside one end of screw hole with second elastic element 225 butt can adjust second elastic element 225's elasticity through rotatory adjusting bolt 226 to critical pressure when adjustment plunger 224 promotes slide 222, so that sample the water of the different degree of depth according to actual demand.
Further, at least one rodless piston 214 is arranged between the piston 211 and the closed end of the sampling container 21, and a rubber ring attached to the inner annular surface of the sampling container 21 is arranged on the peripheral surface of the rodless piston 214; the liquid inlet and outlet ports are at least two, the number of the liquid inlet and outlet ports is equal to the number of the rodless pistons 214 plus 1, each liquid inlet and outlet port is arranged on the annular side wall of the sampling container 21 at equal intervals along the axial direction of the sampling container 21, each liquid inlet and outlet port is connected with a valve body, the valve body comprises a valve shell 23 with a cylindrical inner cavity and a valve rod 231 arranged in the valve shell 23 in a sliding mode, the valve rod 231 is parallel to the axial direction of the sampling container 21, an annular groove 232 is formed in the valve rod 231, a radial through hole and an axial through hole are formed in the valve rod 231, one end of the radial through hole penetrates through the annular groove 232, the other end of the radial through hole extends to the center of the valve rod 231, and one end of the axial through hole is communicated with the radial through hole and the other end of the axial through hole penetrates through the end of the valve rod 231; through holes penetrating through the side wall of the valve casing 23 are formed in the valve casing 23, the number of the through holes is consistent with that of the liquid inlet and outlet ports, the liquid inlet and outlet ports are communicated with the through holes in a one-to-one correspondence mode, and the width of the annular groove 232 in the axial direction of the valve rod 231 is consistent with the distance between the adjacent through holes; the valve rod 231 is fixedly connected with the end plate 213, and the valve rod 231 penetrates through the end plate 213; when the piston 211, the rodless piston 214 and the closed end of the sampling container 21 are closed, the side of the annular groove 232 close to the end plate 213 is flush with the center of a through hole closest to the closed end of the sampling container 21. The sampling module 20 provided by the invention can sample water bodies of a plurality of water layers by once putting, and the specific realization principle is as follows: when the sampling module 20 sinks to the first target water layer, the pressure-sensitive locking mechanism releases the piston 211 for a stroke, so that the joint surface of the bottommost rodless piston 214 and the next-lower-layer rodless piston 214 just reaches the liquid inlet and outlet of the next lower layer, the valve body communicates the liquid inlet and outlet of the bottommost layer with the water body in the process, and other liquid inlet and outlet are closed, so that vacuum is formed between the piston 211 and each rodless piston 214, at the moment, the piston 211 ascends to drive all rodless pistons 214 below to ascend, so that a water body sample is sucked to the position below the bottommost-layer rodless piston 214, and when the joint surface of the bottommost-layer rodless piston 214 and the next-lower-layer rodless piston 214 reaches the liquid inlet and outlet of the next lower layer, the valve body can just seal the liquid inlet and outlet of the bottommost layer and communicate the liquid inlet and outlet with the water body; when the sampling module 20 reaches the second target water layer, the pressure-sensitive locking mechanism releases the piston 211 for a stroke again, so that the abutting surfaces of the second lower rodless piston 214 and the third lower rodless piston 214 just reach the liquid inlet and outlet of the third lower layer, the valve body keeps the liquid inlet and outlet of the second lower layer communicated with the water body, and other liquid inlet and outlet are closed, so that the space between the piston 211 and all rodless pistons 214 except the lowermost layer is vacuum, at the moment, the piston 211 ascends and simultaneously drives all rodless pistons 214 except the lowermost layer to ascend, so that the water body sample is sucked between the second lower rodless piston 214 and the lowermost rodless piston 214, and when the abutting surfaces of the second lower rodless piston 214 and the third lower rodless piston 214 reach the liquid inlet and outlet of the third lower layer, the valve body just can close the liquid inlet and outlet of the second lower layer and the lowermost liquid inlet and outlet and can communicate the water body, and the circulation is realized, and the samples of different water layers can be respectively sucked between the adjacent pistons 211 and rodless pistons 214.
Specifically, the number of the pressure-sensitive locking mechanisms is consistent with that of the liquid inlet and outlet ports, the pressure-sensitive locking mechanisms are arranged at intervals along the direction parallel to the axis of the sampling container 21, and the pressure-sensitive locking mechanisms share the same locking pin 221; the elasticity of the second elastic element 225 of each pressure-sensitive locking mechanism arranged from the closed end of the sampling container 21 to the open end of the sampling container 21 is increased in sequence; the closed end of the sampling container 21 is further provided with a balancing weight 215, the open end of the sampling container 21 is provided with a radial pin 2122 used for being connected with a lifting rope, the piston rod 212 is provided with a strip-shaped hole 2121 through which the radial pin 2122 penetrates and is in sliding fit with the radial pin 2122, the center of the piston rod 212 is provided with a threading hole, the threading hole penetrates from the inner wall of the strip-shaped hole 2121 to the end plate 213, one end of the lifting rope 41 is connected with the radial pin 2122, the other end of the lifting rope penetrates through the threading hole and is used for being connected with the winding and unwinding device 40, the winding and unwinding device 40 is a winch installed on the unmanned aerial vehicle 10, and the lifting rope 41 is wound on a drum of the winch.
Preferably, the detection module 30 includes a detection container 31, a water quality detection sensor 32 is disposed in the detection container 31, and the water quality detection sensor 32 includes one or more detection units for detecting one or more of the following parameters: temperature, pH, ORP, conductivity, salinity, dissolved oxygen, turbidity, chlorophyll A concentration, blue-green algae concentration, rhodamine concentration, oil concentration in water, ammonia nitrogen concentration, COD.
A liquid inlet is formed in the upper part of the detection container 31, a liquid outlet is formed in the bottom of the detection container 31, and an electric control valve is arranged on the liquid outlet; the sampling device comprises a guide plate 61 arranged at the upper end of an end plate 213 of the sampling module 20, the top surface of the guide plate 61 is an inclined plane, a guide ring 62 is arranged below the unmanned aerial vehicle 10, the guide ring 62 and the peripheral surface of the guide plate 61 form a sliding insertion fit, an annular guide groove 63 is arranged on the outer side wall of the guide ring 62, the bottom wall of the annular guide groove 63 is obliquely arranged, the lower end of the annular guide groove 63 is communicated with a liquid inlet of the detection container 31, a cover plate 64 is arranged at the upper end of the annular guide groove 63, the upper end of the guide ring 62 and the bottom surface of the cover plate 64 are arranged at intervals, a pipe column 611 protruding upwards is arranged in the center of the guide plate 61, the center hole of the pipe column 611 penetrates through the surface of the guide plate 61, the center hole of the pipe column 611 and the threading hole on the piston rod 212 of the sampling module 20 are coaxially arranged, when the upper end of the pipe column 611 abuts against the bottom surface of the cover plate 64, the top surface of the guide plate 61 protrudes to the upper end of the guide ring 62, and the bottom surface of the guide plate 61 is located in the guide ring 62; a line passing hole for the lifting rope 41 to pass through is formed in the position, corresponding to the central hole of the pipe column 611, of the cover plate 64; the upper end of the cover plate 64 is provided with a connecting bracket 65 for connecting the unmanned aerial vehicle 10 body; the cover plate 64 is provided with an exhaust hole. The invention realizes the release of the water sample in the sampling module 20 by utilizing the lifting action of the sampling module 20, and the principle is as follows: when the pipe column 611 abuts against the bottom surface of the cover plate 64, the flow guide plate 61, the guide ring 62 and the annular flow guide groove 63 form a closed space, the sampling container 21 of the sampling module 20 continues to move upwards along with the continuous lifting of the winch, the piston 211 stops moving upwards under the blocking of the cover plate 64, and then the piston 211 extrudes the water quality sample out of the sampling container 21, and the water quality sample enters the closed space through the through hole in the valve rod 231 and flows into the detection container 31 through the closed space.
Preferably, the liquid inlet is located at the upper end of the side wall of the detection container 31, a gate plate 35 for opening and closing the liquid inlet is arranged on the inner side of the liquid inlet, the gate plate 35 is movably matched with the inner wall of the detection container 31 along the height direction of the detection container 31, the electronic control valve comprises a valve plate 33 arranged on the inner side of the liquid outlet, the edge of the valve plate 33 is in blocking connection with the edge of the inner side of the liquid outlet, the top surface of the valve plate 33 is in a conical surface shape, the valve plate 33 is connected with a valve plate driving element 37 arranged below the detection container 31, the valve plate driving element 37 is a linear motor or an electromagnetic clutch, the valve plate 33 is fixedly connected with the gate plate 35 through a connecting rod 36, the gate plate 35 is opened when the valve plate 33 is closed, and the gate plate 35 is closed when the valve plate 33 is opened; an air guiding pipe 34 horizontally arranged is further arranged below the detection container 31, horn-shaped structures are arranged at two ends of the air guiding pipe 34, a liquid outlet is communicated with the middle of the air guiding pipe 34, the valve plate driving element 37 is installed at the bottom of the air guiding pipe 34, and a telescopic rod of the valve plate driving element 37 penetrates through the air guiding pipe 34 and is fixedly connected with the valve plate 33. Induced duct 34 can produce the negative pressure at the leakage fluid dram that detects container 31, can be quick when valve plate 33 is opened take out the quality of water sample in detecting container 31 to the jettisoning can improve detection module 30's circulation detection efficiency to unmanned aerial vehicle 10 afterbody, on the one hand, and on the other hand can avoid the discarded quality of water sample to sputter on the electrical components of fuselage in the jettisoning process.
Further, including belt cleaning device, belt cleaning device includes the clear water tank 50 that sets up on the unmanned aerial vehicle 10, clear water tank 50 is equipped with scavenging pump 51 through the shower nozzle intercommunication that sets up on pipeline and the apron 64 bottom surface on the pipeline.
Example 2
An unmanned aerial vehicle 10-based water quality online detection method comprises the steps that an airborne sampling module 20 carried by an unmanned aerial vehicle 10 is adopted to sample a water body, a collected water body sample is detected through an airborne detection module 30, a collecting and releasing device 40 used for releasing the sampling module 20 into a water body to be detected and recovering the sampling module 20 from the water body to be detected to the unmanned aerial vehicle 10 is further arranged on the unmanned aerial vehicle 10, the unmanned aerial vehicle 10 is provided with a wireless communication module, the wireless communication module matches a detection result with GPS coordinates of a water sample collection point and sends the detection data to a remote terminal; the method comprises the following steps:
step 1: the method comprises the steps of debugging equipment, installing a sampling module 20 and a detection module 30 on the unmanned aerial vehicle 10, and ensuring that the unmanned aerial vehicle 10 is normally communicated with a remote terminal;
step 2: sampling, wherein an operating hand of the unmanned aerial vehicle 10 controls the unmanned aerial vehicle 10 to fly to the sky above a target water area, and the unmanned aerial vehicle 10 hovers above the target water area; the unmanned aerial vehicle 10 releases the sampling module 20, and the sampling module 20 enters the water body of the target water area to collect samples of the water body; after the sampling module 20 is immersed in the target water area for a preset time, the unmanned aerial vehicle 10 recovers the sampling module 20 to the lower part of the machine body;
and 3, step 3: during detection, the sampling module 20 releases the water body sample to the detection module 30, the detection module 30 detects the water body sample, and sends detection data and the GPS coordinate of the water area where the sample is located to the remote terminal;
and 4, step 4: and (5) repeating the steps 2 and 3 to finish the water quality detection of all the target water areas.
In step 2, before the sampling module 20 is released, the piston 211 is compressed to a position close to or closely attached to the closed end of the sampling container 21 and is locked by the pressure-sensitive locking mechanism, when the sampling module 20 reaches a specified depth of the target water body, the pressure-sensitive locking mechanism automatically releases the piston 211 under the action of water pressure, and the piston 211 moves in a direction away from the closed end of the sampling container 21 under the action of the first elastic element 2123, so that the water body in the target water layer is sucked.
In the step 2, one submergence of the sampling container 21 samples the water bodies of a plurality of different water layers of the target water area.
In the step 2, the sampling device only releases the water samples of one water layer at a time for detection, after each water Yang Ping is detected, the electric control valve at the bottom of the detection container 31 is opened, the detected water samples are directly discharged, then the electric control valve is closed, the sampling device releases the water samples of the next water layer for detection, and the detection of all the samples of different water layers in the same target water area is completed in such a circulating way.
In the step 2, the electric control valve is opened and the gate plate 35 is closed at the same time, so that the detection container 31 is isolated from the annular diversion trench 63, and at this time, in the process of draining the detection container 31, the sampling module 20 releases the next water sample to the annular diversion trench 63 in advance to accelerate the detection rate.
In the step 2, the cleaning device cleans the diversion device and the detection container 31 once every time the detection module 30 detects one sample.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that those skilled in the art can make various improvements and modifications without departing from the principle of the present invention, and these improvements and modifications should also be construed as the protection scope of the present invention. Structures, devices, and methods of operation not specifically described or illustrated herein are generally practiced in the art without specific recitation or limitation.
Claims (6)
1. The utility model provides a water quality testing system based on unmanned aerial vehicle which characterized in that: the unmanned aerial vehicle (10) comprises an unmanned aerial vehicle (10), a sampling module (20) and a detection module (30), wherein the detection module (30) and the sampling module (20) are both carried on the unmanned aerial vehicle (10), the unmanned aerial vehicle (10) is further provided with a retraction device (40) which is used for releasing the sampling module (20) into a water body to be detected and recovering the sampling module (20) from the water body to be detected to the unmanned aerial vehicle (10), the sampling module (20) is used for collecting a water body sample to be detected, the detection module (30) is used for detecting the sampled water body sample, the unmanned aerial vehicle (10) is provided with a wireless communication module, and detection data of the detection module (30) is sent to a remote terminal through the wireless communication module;
the sampling module (20) comprises a sampling container (21), a liquid inlet and a liquid outlet are formed in the sampling container (21), the liquid inlet and the liquid outlet are connected with the pressure-sensitive suction module, and the pressure-sensitive suction module is assembled in such a way that when the sampling container (21) is immersed into a water body to a preset depth, the water pressure of the preset depth can trigger the pressure-sensitive suction module to act so as to enable the pressure-sensitive suction module to suck the water body at the preset depth position into the sampling container (21); the sampling container (21) is a cylindrical container with one closed end and the other open end, the pressure-sensitive suction module comprises a piston (211) which is arranged in the sampling container (21) in a sliding manner along the axial direction of the sampling container (21), a rubber ring which is attached to the inner annular surface of the sampling container (21) is arranged at the edge of the piston (211), a first elastic element (2123) is arranged between the piston (211) and the sampling container (21), and the first elastic element (2123) is assembled in a manner that the elastic force of the first elastic element can drive the piston (211) to slide towards the direction far away from the closed end of the sampling container (21); the pressure-sensitive suction module further comprises a pressure-sensitive locking mechanism which is assembled to be capable of locking the piston (211) at a specified position in the sampling container (21), and when the sampling container (21) is submerged into water to a preset depth, the pressure-sensitive locking mechanism can release the piston (211) to enable the piston to slide in a direction away from the closed end of the sampling container (21) under the action of the first elastic element (2123);
one side, facing the open end of the sampling container (21), of the piston (211) is connected with a piston rod (212), one end, far away from the piston (211), of the piston rod (212) is provided with an end plate (213), the end plate (213) is provided with a locking pin (221) parallel to the piston rod (212), the side of the sampling container (21) is provided with a locking seat (22) fixedly connected with the sampling container (21), the locking seat (22) is provided with a pin hole for the locking pin (221) to pass through, the locking seat (22) is internally provided with a wedge-shaped locking tongue (223), the wedge-shaped locking tongue (223) radially protrudes to the inner side of the pin hole along the pin hole, the locking pin (221) is provided with a wedge-shaped clamping groove matched with the wedge-shaped locking tongue (223), the wedge-shaped locking tongue (223) is installed on a sliding seat (222), the sliding seat (222) is radially slidably arranged in the locking seat (22) along the pin hole, the sliding seat (222) is provided with a plunger (224), the axial direction of the plunger (224) is parallel to the outside of the locking seat (22); a second elastic element (225) is further arranged between the sliding seat (222) and the locking seat (22), the direction of the elastic force of the second elastic element (225) acting on the sliding seat (222) is opposite to the direction of the pressure of the water body on the end face of the plunger (224) after the sampling container (21) is immersed in the water body, when the pressure of the water body on the end face of the plunger (224) is smaller than the elastic force of the second elastic element (225), the sliding seat (222) drives the wedge-shaped bolt (223) to protrude into the pin hole under the action of the second elastic element (225), and when the pressure of the water body on the end face of the plunger (224) is larger than the elastic force of the second elastic element (225), the sliding seat (222) drives the wedge-shaped bolt (223) to move out of the pin hole under the pushing of the plunger (224);
the wedge-shaped bolt (223) is movably connected with the sliding seat (222), the relative movement direction of the wedge-shaped bolt (223) and the sliding seat (222) is parallel to the sliding direction of the sliding seat (222), a third elastic element (228) is further arranged between the wedge-shaped bolt (223) and the sliding seat (222), the third elastic element (228) is assembled to enable the elastic force of the third elastic element to drive the wedge-shaped bolt (223) to move towards the center direction of the pin hole relative to the sliding seat (222), and a limiting component (229) used for limiting the displacement of the wedge-shaped bolt (223) on the sliding block is further arranged between the bolt and the sliding seat (222); the wedge-shaped bolt (223) is in sliding fit with a guide hole formed in the sliding seat (222) through a guide post (227), the limiting component (229) comprises a limiting block arranged at one end, away from the wedge-shaped bolt (223), of the guide post (227), and the limiting block is in blocking connection with one end, away from the wedge-shaped bolt (223), of the guide hole; the locking seat (22) is further provided with an adjusting bolt (226), the adjusting bolt (226) is in threaded connection with a threaded hole formed in the locking seat (22), and one end, located inside the threaded hole, of the adjusting bolt (226) is abutted to the second elastic element (225);
at least one rodless piston (214) is arranged between the piston (211) and the closed end of the sampling container (21), and a rubber ring attached to the inner ring surface of the sampling container (21) is arranged on the peripheral surface of the rodless piston (214); the liquid inlet and outlet ports are at least two, the number of the liquid inlet and outlet ports is equal to the number of rodless pistons (214) plus 1, each liquid inlet and outlet port is arranged on the annular side wall of the sampling container (21) at equal intervals along the axial direction of the sampling container (21), each liquid inlet and outlet port is connected with a valve body, the valve body comprises a valve shell (23) with a cylindrical inner cavity and a valve rod (231) arranged in the valve shell (23) in a sliding mode, the valve rod (231) is parallel to the axial direction of the sampling container (21), an annular groove (232) is formed in the valve rod (231), a radial through flow hole and an axial through flow hole are formed in the valve rod (231), one end of the radial through flow hole penetrates through the annular groove (232), the other end of the radial through flow hole extends to the center of the valve rod (231), and one end of the axial through flow hole is communicated with the radial through flow hole and the other end of the valve rod (231) penetrates through end of the valve rod;
through holes penetrating through the side wall of the valve casing (23) are formed in the valve casing (23), the number of the through holes is consistent with that of the liquid inlet and outlet ports, the liquid inlet and outlet ports are communicated with the through holes in a one-to-one correspondence mode, and the width of the annular groove (232) in the axial direction of the valve rod (231) is consistent with the distance between the adjacent through holes; the valve rod (231) is fixedly connected with the end plate (213), and the valve rod (231) penetrates through the end plate (213); when the piston (211), the rodless piston (214) and the closed end of the sampling container (21) are closed, one side of the annular groove (232) close to the end plate (213) is flush with the center of a through hole closest to the closed end of the sampling container (21).
2. The unmanned aerial vehicle-based water quality detection system of claim 1, wherein: the number of the pressure-sensitive locking mechanisms is consistent with that of the liquid inlet and outlet ports, the pressure-sensitive locking mechanisms are arranged at intervals along the direction parallel to the axis of the sampling container (21), and the pressure-sensitive locking mechanisms share the same locking pin (221); the elasticity of the second elastic elements (225) of the pressure-sensitive locking mechanisms arranged from the closed end of the sampling container (21) to the open end of the sampling container (21) is increased in sequence; the closed end of the sampling container (21) is further provided with a balancing weight (215), the open end of the sampling container (21) is provided with a radial pin (2122) used for being connected with a lifting rope (41), the piston rod (212) is provided with a strip-shaped hole (2121) which is used for allowing the radial pin (2122) to penetrate and is in sliding fit with the radial pin (2122), the center of the piston rod (212) is provided with a threading hole, the threading hole penetrates through the end plate (213) from the inner wall of the strip-shaped hole (2121), one end of the lifting rope (41) is connected with the radial pin (2122), the other end of the lifting rope (41) penetrates through the threading hole and is used for being connected with the winding and unwinding device (40), the winding and unwinding device (40) is a winding machine installed on the unmanned aerial vehicle (10), and the lifting rope (41) is wound on a winding drum of the winding machine.
3. The unmanned aerial vehicle-based water quality detection system of claim 2, wherein: the detection module (30) comprises a detection container (31), a water quality detection sensor (32) is arranged in the detection container (31), and the water quality detection sensor (32) comprises one or more detection units for detecting one or more of the following parameters: temperature, pH, ORP, conductivity, salinity, dissolved oxygen, turbidity, chlorophyll A concentration, blue-green algae concentration, rhodamine concentration, oil concentration in water, ammonia nitrogen concentration, COD.
4. The unmanned aerial vehicle-based water quality detection system of claim 3, wherein: a liquid inlet is formed in the upper part of the detection container (31), a liquid outlet is formed in the bottom of the detection container (31), and an electric control valve is arranged on the liquid outlet; the device comprises a sampling module (20), a guide plate (61) is arranged at the upper end of an end plate (213) of the sampling module (20), the top surface of the guide plate (61) is an inclined plane, a guide ring (62) is arranged below the unmanned aerial vehicle (10), the guide ring (62) and the peripheral surface of the guide plate (61) form a sliding insertion fit, an annular guide groove (63) is formed in the outer side wall of the guide ring (62), the bottom wall of the annular guide groove (63) is obliquely arranged, the lower end of the annular guide groove (63) is communicated with a liquid inlet of the detection container (31), a cover plate (64) is arranged at the upper end of the annular guide groove (63), the upper end of the guide ring (62) and the bottom surface of the cover plate (64) are arranged at intervals, a pipe column (611) convexly arranged upwards is arranged at the center of the guide plate (61), a central hole of the pipe column (611) penetrates through the guide plate (61), the central hole (611) and a threading hole on a piston rod (212) of the sampling module (20) are coaxially arranged, and when the upper end of the pipe column (61) is abutted against the bottom surface of the guide ring (62); a line passing hole for the lifting rope (41) to pass through is formed in the position, corresponding to the central hole of the pipe column (611), of the cover plate (64); the upper end of the cover plate (64) is provided with a connecting bracket (65) for connecting the unmanned aerial vehicle (10) body; the cover plate (64) is provided with an exhaust hole.
5. The unmanned aerial vehicle-based water quality detection system of claim 4, wherein: the liquid inlet is positioned at the upper end of the side wall of the detection container (31), a gate plate (35) for opening and closing the liquid inlet is arranged on the inner side of the liquid inlet, the gate plate (35) is movably matched with the inner wall of the detection container (31) along the height direction of the detection container (31), the electric control valve comprises a valve plate (33) arranged on the inner side of the liquid outlet, the edge of the valve plate (33) is in blocking connection with the edge of the inner side of the liquid outlet, the top surface of the valve plate (33) is in a conical surface shape, the valve plate (33) is connected with a valve plate driving element (37) arranged below the detection container (31), the valve plate driving element (37) is a linear motor or an electromagnetic clutch, the valve plate (33) is fixedly connected with the gate plate (35) through a connecting rod (36), the gate plate (35) is opened when the valve plate (33) is closed, and the gate plate (35) is closed when the valve plate (33) is opened; the detection container (31) below still is equipped with induced duct (34) that the level set up, the both ends of induced duct (34) are equipped with loudspeaker column structure, drain opening and induced duct (34) middle part intercommunication, valve plate drive element (37) are installed in induced duct (34) bottom, and the telescopic link of valve plate drive element (37) passes induced duct (34) and with valve plate (33) rigid coupling.
6. The unmanned aerial vehicle-based water quality detection system of claim 5, wherein: including belt cleaning device, belt cleaning device includes clear water tank (50) that set up on unmanned aerial vehicle (10), clear water tank (50) are equipped with scavenging pump (51) on the pipeline through the shower nozzle intercommunication that sets up on pipeline and apron (64) bottom surface.
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| CN112124607A (en) * | 2020-10-14 | 2020-12-25 | 王小方 | Unmanned aerial vehicle's suction tube is around pipe mechanism |
| CN112525608B (en) * | 2020-11-27 | 2022-09-16 | 苏州巴涛信息科技有限公司 | Water sampling device of water quality monitoring unmanned aerial vehicle |
| CN113371195A (en) * | 2021-07-12 | 2021-09-10 | 中国科学技术大学 | Unmanned aerial vehicle large-range water quality acquisition method |
| CN113371188B (en) * | 2021-08-11 | 2021-10-26 | 深圳市华芯机器人技术有限责任公司 | Unmanned aerial vehicle is used in water sample collection |
| CN117741085B (en) * | 2024-02-17 | 2024-05-03 | 浙江信捷检测技术有限公司 | Water quality detection device and detection method |
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| CN101315005B (en) * | 2008-07-10 | 2011-10-19 | 王斌坚 | Transmission device of automatic lock |
| CN201943440U (en) * | 2010-12-13 | 2011-08-24 | 广东电白汉山锁业有限公司 | Door lock |
| CN106379503A (en) * | 2016-09-19 | 2017-02-08 | 浙江大学 | Automatic load rejecting mechanism of deep-sea sampler |
| CN107655722A (en) * | 2017-11-07 | 2018-02-02 | 刘剑锐 | A kind of water quality sample-taking box |
| CN107782874A (en) * | 2017-11-30 | 2018-03-09 | 南京灿华光电设备有限公司 | A kind of high intelligent unmanned machine of sampling efficiency for water quality detection |
| CN108444770A (en) * | 2018-06-15 | 2018-08-24 | 繁昌县小时候生态农业科技有限公司 | A kind of garden rice field Mixed cultivation of prawn and crab water quality detection sampler |
| CN209027853U (en) * | 2018-07-07 | 2019-06-25 | 华川技术有限公司 | UAV system automatic water quality sampler |
| CN110672371B (en) * | 2019-11-02 | 2022-06-28 | 浙江华圭环境检测有限公司 | Unmanned aerial vehicle environment detecting device |
| CN212111387U (en) * | 2020-05-28 | 2020-12-08 | 安徽中科大赛悟科技有限公司 | Water quality detection system based on unmanned aerial vehicle |
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