CN114034522A - System and method for collecting particles in air based on multi-unmanned aerial vehicle operation - Google Patents
System and method for collecting particles in air based on multi-unmanned aerial vehicle operation Download PDFInfo
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- 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
- G01N1/22—Devices for withdrawing samples in the gaseous state
- G01N1/2273—Atmospheric sampling
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
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- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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- 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
- G01N2001/021—Correlating sampling sites with geographical information, e.g. GPS
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
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Abstract
The invention relates to a system and a method for collecting particles in air based on operation of multiple unmanned aerial vehicles, and belongs to the technical field of unmanned aerial vehicles. The collection system includes an unmanned aerial vehicle and a ground-assisted vehicle. Wherein the unmanned aerial vehicle aircraft is equipped with particulate matter collecting device and GPS positioning system, has descending platform, unmanned aerial vehicle battery charging outfit and various particulate matter collecting device on the ground auxiliary vehicle. This system carries on the unmanned aerial vehicle through ground auxiliary vehicle and carries out the particulate matter collection operation after going to the specified area, can send out many and carry out the task in coordination, and can in time supply and send out the unmanned aerial vehicle continuation work of awaiting the opportune moment simultaneously after having carried out the task. This can effectively prolong unmanned aerial vehicle operating time and increase collection efficiency and collection volume, the further of the scientific research activity of being convenient for goes on.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicles, and relates to a system and a method for collecting particles in air based on operation of multiple unmanned aerial vehicles.
Background
In the prior art, the drifting of biological particles in the atmosphere is a key subject of agricultural ecosystem research, and is a key technology for researches such as invasive species diffusion, ecological population change, pollen allergen tracing and the like. Because the biological particles spread along with the wind have light weight, small volume, large variation range of spreading height and distance and fast change of the atmosphere, the biological particle drifting sampling is always the elbow for researching the atmospheric spreading of the biological particles. Biological particles, such as pollen, seeds and the like, which drift along with the atmosphere are captured as much as possible, so that the opportunity of effective sampling is increased, and a novel sampling tool needs to be developed.
The unmanned plane is called unmanned plane for short, and is called UAV in English, and is an unmanned aerial vehicle operated by using a radio remote control device and a self-contained program control device. At this time, the unmanned aerial vehicle becomes a new collecting carrier by virtue of various advantages of the unmanned aerial vehicle. But unmanned aerial vehicle also has its self limitation, for example duration can't support long-time collection again, and the particulate matter quantity that unmanned aerial vehicle single was gathered is not enough, gathers the environment and is more complicated, and unmanned aerial vehicle position or not have steady landing environment scheduling problem can't be tracked to naked eye.
Disclosure of Invention
In view of the above, the present invention provides a system and a method for collecting particulate matter in air based on multiple unmanned aerial vehicles.
In order to achieve the purpose, the invention provides the following technical scheme:
an airborne particulate matter collection system based on multi-drone operation, the system comprising:
the unmanned aerial vehicle aircraft is provided with a particulate matter collecting device and a GPS (global positioning system);
the ground auxiliary vehicle is provided with a computer terminal, is in contact with each working unmanned aerial vehicle through wireless communication, carries out manual remote operation on the unmanned aerial vehicle, and checks the current position through a positioning system; the ground auxiliary vehicle is provided with a platform for the unmanned aerial vehicle to land;
unmanned aerial vehicle battery charging outfit provides continuation of the journey for the unmanned aerial vehicle who returns a journey.
Optionally, the particle collecting device comprises a hook, a pod, a coil, a power supply device, a rotating device, a wire, a driver, a fixing device, umbrella ribs, a rotating member, an umbrella rod, a particle collecting sheet, a light-tight plastic cover, a loading device and a guide rod;
the hook is connected with the light-tight plastic cover through threads, the part of the umbrella rib, which deviates from the umbrella rod, is rotationally connected with the driver, the guide rod is arranged on the nacelle, the lower end of the guide rod is connected with the rotating part on the umbrella rib in a sliding way, and the threads of the rotating part are rotationally connected with the umbrella rib; the power supply equipment is electrically connected with the expansion piece and the driver respectively;
the particle collecting equipment comprises a nacelle, a sampling device, a telescopic device and power supply equipment, wherein the telescopic device and the power supply equipment are arranged on the nacelle; the sampling device is in an umbrella-shaped structure when opened; 4 mutually vertical microscope sheets which are detachably connected with the tail end of the umbrella rod and the umbrella top and coated with adhesive are arranged at the tail end of the umbrella rod and the umbrella top of the umbrella-shaped structure; the power supply equipment is positioned at the upper part of the nacelle and is not directly contacted with the fixed part at the right side of the coil;
the ground auxiliary vehicle is provided with a landing platform, unmanned aerial vehicle charging equipment and various particulate matter collecting equipment; the landing platform provides a stable landing environment for the unmanned aerial vehicle; the unmanned aerial vehicle charging equipment supplements electric energy for the unmanned aerial vehicle completing the task so that the task needs to be started again; the particle collecting device comprises an unused microscope slice coated with an adhesive and a storage device thereof;
when the pod is not lowered, the light-tight plastic cover covers the particle collecting equipment;
the upper part of the light-tight plastic cover is narrow and the lower part is wide, and the lower end of the light-tight plastic cover is provided with an opening;
the telescopic device adopts a winch and comprises a rotating device and a coil;
the power supply equipment is arranged in the area of the nacelle on the right upper part of the driver, and the power supply equipment is arranged on the right side of the coil and is powered by a storage battery;
and a loading device is arranged in the left free space of the coil to balance the gravity center of the nacelle.
Optionally, the drone aircraft is a quad-rotor drone.
Optionally, the particle collection device comprises a bracket and 4 microscope sheets which are detachably connected to the bracket and coated with the adhesive.
Optionally, the particulate collection device is equipped with a removable adhesive coated microscope slide, and a storage means.
The method for collecting the particulate matters in the air based on the multi-unmanned aerial vehicle operation based on the system comprises the following steps:
s1: mounting the collecting device on each unmanned aerial vehicle;
s2: flying each unmanned aerial vehicle to an appointed position according to the point to be detected;
s3: when the unmanned aerial vehicle stably flies at each working position, the support provided with the thin sheet is lowered to the designated position through the telescopic device;
s4: sampling particulate matters of the point to be measured by using a sampling tool;
s5: if the sampling work is carried out at the position, the next team of unmanned aerial vehicles is released before the previous team of unmanned aerial vehicles returns to the air, then the previous team returns to the air, and if more sampling work is not needed at the position, the next team of unmanned aerial vehicles returns to the air directly; retrieve or install new particulate matter and gather the thin slice according to actual need after returning to the journey, or charge for the unmanned aerial vehicle that electric power is not enough.
Optionally, in S2, performing cooperative control on the unmanned aerial vehicle group;
in S3, each drone retractor is operated individually to make the particulate matter collecting sheet reach a designated position, so as to sample the particulate matter at different positions at the same time, and form a distribution map of the atmospheric biological particle data in the area range.
The invention has the beneficial effects that: according to the invention, the four collecting thin sheets which are perpendicular to each other are used at one time, so that the collecting amount of a single unmanned aerial vehicle is increased. The support of using unmanned aerial vehicle and ground auxiliary vehicle through the formation can make and have a certain quantity but limited circumstances at unmanned aerial vehicle to sample different position particulate matters at the same time, form the distribution diagram of more comprehensive regional scope atmosphere biological particle data. The collecting device has strong practicability, is beneficial to reducing the operation cost and the danger of manually collecting samples, and has the characteristics of large collecting amount, long time, strong continuity, wide distribution of collected samples and the like.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention. The objectives and other advantages of the invention may be realized and attained by the means of the instrumentalities and combinations particularly pointed out hereinafter.
Drawings
For the purposes of promoting a better understanding of the objects, aspects and advantages of the invention, reference will now be made to the following detailed description taken in conjunction with the accompanying drawings in which:
FIG. 1 is a schematic view of a particulate matter collection apparatus of the present invention;
FIG. 2 is a flow chart of the formation problem and the inter-group problem prevention between drones;
FIG. 3 is a flow chart of the method of the present invention.
Reference numerals: the hanging hook 1, the hanging cabin 2, the coil 3, the power supply device 4, the rotating device 5, the electric wire 6, the driver 7, the fixing device 8, the umbrella ribs 9, the rotating piece 10, the umbrella rod 11, the particle collecting thin sheet 12, the light-tight plastic cover 13, the weight device 14 and the guide rod 15.
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention in a schematic way, and the features in the following embodiments and examples may be combined with each other without conflict.
Wherein the showings are for the purpose of illustrating the invention only and not for the purpose of limiting the same, and in which there is shown by way of illustration only and not in the drawings in which there is no intention to limit the invention thereto; to better illustrate the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
The same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar components; in the description of the present invention, it should be understood that if there is an orientation or positional relationship indicated by terms such as "upper", "lower", "left", "right", "front", "rear", etc., based on the orientation or positional relationship shown in the drawings, it is only for convenience of description and simplification of description, but it is not an indication or suggestion that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes, and are not to be construed as limiting the present invention, and the specific meaning of the terms may be understood by those skilled in the art according to specific situations.
Referring to fig. 1 to 3, the invention provides an air particulate matter collecting system and a working method based on the joint operation of multiple unmanned aerial vehicles. The collection system includes an unmanned aerial vehicle and a ground-assisted vehicle. Wherein the unmanned aerial vehicle aircraft is equipped with particulate matter collecting device and GPS positioning system. The particle collecting equipment comprises a hanger, a nacelle, a sampling workpiece, a telescopic device and a power supply facility, wherein the telescopic device and the power supply facility are arranged on the nacelle; the hanging piece is connected with the expansion piece; 4 mutually vertical microscope sheets which are detachably connected with the bracket and coated with the adhesive are arranged at the lowest part of the hanging piece; and the power supply facility is electrically connected with the expansion piece and the driver respectively. The ground auxiliary vehicle is provided with a landing platform, unmanned aerial vehicle charging equipment and various particulate matter collecting equipment. The landing platform can provide steady landing environment for unmanned aerial vehicle. Unmanned aerial vehicle battery charging outfit can be for accomplishing the unmanned aerial vehicle of task and supplementing the electric energy and need going out again in order to prepare for the task. The particulate collection device includes unused adhesive coated microscope slides and their storage means.
Further, the telescopic device adopts a winch.
Further, the power supply device is provided with an upper right area of the driver, a right side position of the coil, and a storage battery.
Furthermore, one end of the umbrella rib, which is far away from the pod, is also provided with a hanging ring which is hooked with the hanging piece, and the hanging piece adopts a hanging hook.
Furthermore, the sampling work piece comprises the support, can dismantle the sampling piece of connecting on this support and constitute, the sampling piece sets up to 4, is mutually perpendicular distribution, adopts the microscope slide that has scribbled the adhesive.
The invention also discloses a collecting method implemented by the unmanned aerial vehicle atmospheric biological particle collecting device, which comprises the following steps:
s1: mounting the collecting device on each unmanned aerial vehicle;
s2: flying each unmanned aerial vehicle to an appointed position according to the point to be detected;
s3: when the unmanned aerial vehicle stably flies at each working position, the support provided with the thin sheet is lowered to the designated position through the telescopic device;
s4: sampling particulate matters of the point to be measured by using a sampling tool;
s5: if the sampling work is arranged at the position, the next team of unmanned aerial vehicles can be released before the previous team of unmanned aerial vehicles return to the air, then the previous team returns to the air, and if more sampling work does not need to be arranged at the position, the unmanned aerial vehicles directly return to the air. Retrieve or install new particulate matter and gather the thin slice according to actual need after returning to the journey, or charge for the unmanned aerial vehicle that electric power is not enough.
Referring to fig. 1, the elements are designated by the reference numerals 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14 and 15.
For example, as shown in fig. 1, when using the collecting device, the rotating device 5 is remotely controlled to expose the nacelle 2 outside the light-tight plastic cover 13, the remote actuator 7 controls the rotating member 10 to move downwards to open the umbrella structure, four collecting sheets perpendicular to each other are mounted at the end of the umbrella pole and the top of the umbrella pole, the remote actuator 7 controls the rotating member 10 to move upwards to close the umbrella structure, the hook 1 is lifted to make the device freely droop, the balance state is observed or measured by a plumb line, the weight can be increased or decreased at the weight device 14 according to actual conditions to balance the device, and the nacelle 2 is retracted into the cover by the remote rotating device 5. Can install this collection system on unmanned aerial vehicle after preparing to accomplish, unmanned aerial vehicle arrives to the assigned position after, and remote control rotary device 5 makes nacelle 2 expose outside light-tight plastics cover 13 earlier, and remote control driver 7 control rotating member 10 moves down makes this umbrella structure fully expand, makes the sampling worker have bigger collection scope. After collection is completed, the remote actuator 7 controls the rotating member 10 to move upwards to close the umbrella structure, and the remote rotating device 5 retracts the nacelle 2 into the cover. And finishing the collection work. In order to complete the above series of work, the control operations of the conventional device on the unmanned aerial vehicle and each component on the acquisition device belong to the current general technology, and are not described herein too much. As for the problem of formation between drones and the problem of preventing between groups, the prior art has a good solution, so that only a simple flow chart is given here, and the process is shown in fig. 2.
During the use, suppose there are 8 unmanned aerial vehicles that the electric quantity is sufficient, divide into team 1, team 2. Firstly, carrying an unmanned aerial vehicle by a ground auxiliary vehicle to go to a target site, and installing an acquisition device on an unmanned aerial vehicle team 1 after the unmanned aerial vehicle arrives at a destination; after waiting that unmanned aerial vehicle all reaches the assigned position, remote control triggers its telescoping device and makes and collect the thin slice and be in the assigned position, and unmanned aerial vehicle keeps at the uniform velocity or the state of hovering according to actual need, waits that it fully collects the particulate matter. Can carry on collection device for team 2's unmanned aerial vehicle a period of time before the collection is accomplished, team 1's unmanned aerial vehicle returns to navigate before team 2 unmanned aerial vehicle takes off and goes to new or still need the position of collecting information, team 1's unmanned aerial vehicle returns to navigate this moment to look over its position through GPS on the unmanned aerial vehicle on the ground auxiliary vehicle, make it keep safe distance between each unmanned aerial vehicle. Then a plane is unfolded on the vehicle according to the environment, and the effect of the plane is only to keep the unmanned aerial vehicle to stably land. Retrieve after the descending and collect thin slice and supplementary electric quantity, according to actual need and team 2 unmanned aerial vehicle recycle can.
As shown in fig. 3, T represents the total time length of the collection work, T represents the sum of the work time length preset by the current unmanned aerial vehicle and the work time length accumulated by each group, and wT represents the word collection time-the predicted time for the unmanned aerial vehicle to fly to the destination-various preparation work times (the time is approximate and is adjusted according to the requirement, and has significance when being positive).
Finally, the above embodiments are only intended to illustrate the technical solutions of the present invention and not to limit the present invention, and although the present invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions, and all of them should be covered by the claims of the present invention.
Claims (7)
1. The utility model provides a particulate matter collecting system in air based on operation of many unmanned aerial vehicles which characterized in that: the system comprises:
the unmanned aerial vehicle aircraft is provided with a particulate matter collecting device and a GPS (global positioning system);
the ground auxiliary vehicle is provided with a computer terminal, is in contact with each working unmanned aerial vehicle through wireless communication, carries out manual remote operation on the unmanned aerial vehicle, and checks the current position through a positioning system; the ground auxiliary vehicle is provided with a platform for the unmanned aerial vehicle to land;
unmanned aerial vehicle battery charging outfit provides continuation of the journey for the unmanned aerial vehicle who returns a journey.
2. The system of claim 1, wherein the system is configured to collect particulate matter in air based on multiple drone operations, and further comprising: the particle collecting device comprises a hook (1), a nacelle (2), a coil (3), a power supply device (4), a rotating device (5), an electric wire (6), a driver (7), a fixing device (8), umbrella ribs (9), a rotating part (10), an umbrella rod (11), a particle collecting thin sheet (12), a light-tight plastic cover (13), a loading device (14) and a guide rod (15);
the hook (1) is connected with the light-tight plastic cover (13) through threads, the part of the umbrella rib (9) departing from the umbrella rod is rotationally connected with the driver (7), the guide rod (15) is installed on the nacelle (2), the lower end of the guide rod (15) is slidably connected with the rotating piece (10) on the umbrella rib (9), and the threads of the rotating piece (10) are rotationally connected with the umbrella rib (9); the power supply equipment (4) is electrically connected with the expansion piece and the driver (7) respectively;
the particle collecting equipment comprises a nacelle, a sampling device, a telescopic device and power supply equipment, wherein the telescopic device and the power supply equipment are arranged on the nacelle; the sampling device is in an umbrella-shaped structure when opened; 4 mutually vertical microscope sheets which are detachably connected with the tail end of the umbrella rod and the umbrella top and coated with adhesive are arranged at the tail end of the umbrella rod and the umbrella top of the umbrella-shaped structure; the power supply equipment is positioned at the upper part of the nacelle and is not directly contacted with the fixed part at the right side of the coil;
the ground auxiliary vehicle is provided with a landing platform, unmanned aerial vehicle charging equipment and various particulate matter collecting equipment; the landing platform provides a stable landing environment for the unmanned aerial vehicle; the unmanned aerial vehicle charging equipment supplements electric energy for the unmanned aerial vehicle completing the task so that the task needs to be started again; the particle collecting device comprises an unused microscope slice coated with an adhesive and a storage device thereof;
when the pod is not lowered, the light-tight plastic cover covers the particle collecting equipment;
the upper part of the light-tight plastic cover is narrow and the lower part is wide, and the lower end of the light-tight plastic cover is provided with an opening;
the telescopic device adopts a winch and comprises a rotating device and a coil;
the power supply equipment is arranged in the area of the nacelle on the right upper part of the driver, and the power supply equipment is arranged on the right side of the coil and is powered by a storage battery;
and a loading device is arranged in the left free space of the coil to balance the gravity center of the nacelle.
3. The system of claim 1, wherein the system is configured to collect particulate matter in air based on multiple drone operations, and further comprising: the unmanned aerial vehicle aircraft is a quad-rotor unmanned aerial vehicle.
4. The system of claim 1, wherein the system is configured to collect particulate matter in air based on multiple drone operations, and further comprising: the particle collection device consists of a bracket and 4 microscope sheets which are detachably connected with the bracket and coated with adhesive.
5. The system of claim 1, wherein the system is configured to collect particulate matter in air based on multiple drone operations, and further comprising: the particulate collection device is equipped with a removable adhesive-coated microscope slide, and a storage means.
6. The method for collecting the particulate matters in the air based on the multi-unmanned aerial vehicle operation based on the system of any one of claims 1 to 5 is characterized in that: the method comprises the following steps:
s1: mounting the collecting device on each unmanned aerial vehicle;
s2: flying each unmanned aerial vehicle to an appointed position according to the point to be detected;
s3: when the unmanned aerial vehicle stably flies at each working position, the support provided with the thin sheet is lowered to the designated position through the telescopic device;
s4: sampling particulate matters of the point to be measured by using a sampling tool;
s5: if the sampling work is carried out at the position, the next team of unmanned aerial vehicles is released before the previous team of unmanned aerial vehicles returns to the air, then the previous team returns to the air, and if more sampling work is not needed at the position, the next team of unmanned aerial vehicles returns to the air directly; retrieve or install new particulate matter and gather the thin slice according to actual need after returning to the journey, or charge for the unmanned aerial vehicle that electric power is not enough.
7. The method for collecting particulate matter in air based on multi-unmanned aerial vehicle operation of claim 6, wherein: in S2, performing cooperative control on the unmanned aerial vehicle group;
in S3, each drone retractor is operated individually to make the particulate matter collecting sheet reach a designated position, so as to sample the particulate matter at different positions at the same time, and form a distribution map of the atmospheric biological particle data in the area range.
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| CN111712773A (en) * | 2019-07-09 | 2020-09-25 | 深圳市大疆创新科技有限公司 | Control method, electronic equipment and system for cooperative work of unmanned aerial vehicle |
| CN112711265A (en) * | 2020-04-08 | 2021-04-27 | 江苏方天电力技术有限公司 | Mobile multi-unmanned-aerial-vehicle intelligent inspection complete equipment and inspection method |
| 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 |
| CN213481811U (en) * | 2021-05-12 | 2021-06-18 | 中国市政工程西南设计研究总院有限公司 | Automatic sampling analysis system based on vehicle-mounted and unmanned aerial vehicle |
| CN113359854A (en) * | 2021-07-12 | 2021-09-07 | 于伟龙 | Multi-unmanned aerial vehicle collaborative operation scheduling method, system and storage medium |
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