CN114166546A - Unmanned aerial vehicle depthkeeping soil heavy metal monitoring system - Google Patents
Unmanned aerial vehicle depthkeeping soil heavy metal monitoring system Download PDFInfo
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- 239000002689 soil Substances 0.000 title claims abstract description 45
- 229910001385 heavy metal Inorganic materials 0.000 title claims abstract description 38
- 238000012544 monitoring process Methods 0.000 title claims abstract description 35
- 238000005070 sampling Methods 0.000 claims abstract description 177
- 238000004458 analytical method Methods 0.000 claims abstract description 36
- 238000010183 spectrum analysis Methods 0.000 claims description 12
- 238000004876 x-ray fluorescence Methods 0.000 claims description 12
- 238000001514 detection method Methods 0.000 claims description 9
- 238000004891 communication Methods 0.000 claims description 8
- DMBHHRLKUKUOEG-UHFFFAOYSA-N diphenylamine Chemical compound C=1C=CC=CC=1NC1=CC=CC=C1 DMBHHRLKUKUOEG-UHFFFAOYSA-N 0.000 claims description 2
- 230000005611 electricity Effects 0.000 claims 1
- 238000005527 soil sampling Methods 0.000 abstract description 16
- 238000004856 soil analysis Methods 0.000 abstract 1
- 239000000523 sample Substances 0.000 description 24
- 238000004846 x-ray emission Methods 0.000 description 11
- 238000010586 diagram Methods 0.000 description 4
- 238000010223 real-time analysis Methods 0.000 description 4
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- 238000000034 method Methods 0.000 description 2
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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
- G01N1/04—Devices for withdrawing samples in the solid state, e.g. by cutting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C37/00—Convertible aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
- B64U10/13—Flying platforms
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N23/00—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00
- G01N23/22—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00 by measuring secondary emission from the material
- G01N23/223—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00 by measuring secondary emission from the material by irradiating the sample with X-rays or gamma-rays and by measuring X-ray fluorescence
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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
- G01N33/24—Earth materials
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/0094—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- C—CHEMISTRY; METALLURGY
- C02—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
- C02F—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
- C02F2101/00—Nature of the contaminant
- C02F2101/10—Inorganic compounds
- C02F2101/20—Heavy metals or heavy metal compounds
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- C—CHEMISTRY; METALLURGY
- C02—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
- C02F—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
- C02F2103/00—Nature of the water, waste water, sewage or sludge to be treated
- C02F2103/06—Contaminated groundwater or leachate
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- C—CHEMISTRY; METALLURGY
- C02—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
- C02F—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
- C02F2209/00—Controlling or monitoring parameters in water treatment
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- G01N1/02—Devices for withdrawing samples
- G01N2001/021—Correlating sampling sites with geographical information, e.g. GPS
Abstract
The invention provides an unmanned aerial vehicle depth-fixing soil heavy metal monitoring system, and relates to the field of soil heavy metal monitoring. The unmanned aerial vehicle depth soil heavy metal monitoring system comprises a multi-rotor unmanned aerial vehicle, a walking device, a positioning module, a sampling module, an analysis module and a control module; the positioning module is used for determining the position information of the multi-rotor unmanned aerial vehicle, the multi-rotor unmanned aerial vehicle and the walking device are electrically connected with the control module, and the multi-rotor unmanned aerial vehicle and the walking device are jointly used for conveying the sampling module to a target sampling point; the sampling module is electrically connected with the control module and is used for sampling at a target sampling point; the analysis module is electrically connected with the control module and is used for analyzing the sampling samples acquired by the sampling module in real time. The unmanned aerial vehicle fixed-depth soil heavy metal monitoring system provided by the invention can sample and analyze in real time and output data reports in real time, has the characteristics of high efficiency, accurate sample point positioning and the like, greatly reduces the difficulty of soil sampling, and reduces the workload of soil sampling and analysis.
Description
Technical Field
The invention relates to the field of soil heavy metal monitoring, in particular to an unmanned aerial vehicle depth-fixing soil heavy metal monitoring system.
Background
Soil heavy metal detection is generally performed by sampling soil and then sending the soil to a laboratory for analysis through an XRF (X-ray fluorescence spectroscopy) device, or performing analysis on the soil on site by using a handheld XRF device and the like. The sampling of tradition depthkeeping soil is mainly for manual sampling, utilizes the spade to dig certain degree of depth, and the manual work is sampled, and this kind of mode is wasted time and energy, and is inefficient.
With the development of intelligent technologies such as robots and the like, a tracked robot is utilized for soil sampling, a drilling machine is integrated on the tracked robot, manual remote control is adopted to reach a destination, the drilling machine drills down to a fixed depth, a probe is used for sampling, and then a sample is brought back for analysis. For example, chinese patent document CN112326564A discloses a soil sampling and detecting apparatus, which includes a frame, a soil sampling device and a sample collecting device; the frame includes the support frame, the support frame bottom is provided with moving mechanism, moving mechanism includes chassis frame and crawler-type chain link, and the device of fetching earth includes the spiller and is used for controlling the drive mechanism that the spiller gos deep into soil. The soil sampling detection equipment method in the literature can reach sampling points which are difficult to reach by manual sampling, but has the defects that compared with the traditional sampling mode, the efficiency is not obviously improved, and the precision error of a sampling place is larger.
Unmanned aerial vehicle sampling is a novel sampling method appearing in recent years, and an unmanned aerial vehicle can fly to a target sampling point by utilizing manual remote control and returns after sampling in a remote control mode. Have efficient, save obvious advantages such as cost of labor, but utilize unmanned aerial vehicle to carry out the shortcoming of sampling among the prior art to lie in: when need take a sample between a plurality of points, change the sampling point through unmanned aerial vehicle flight, it is not very convenient especially to be apart from the very close different sampling points of distance. In addition, frequently rise and fall, power consumption is great, and unmanned aerial vehicle carries the power energy limited because of the dead weight factor, often is difficult to support the sampling-return work of a plurality of sampling points.
Disclosure of Invention
The invention aims to provide an unmanned aerial vehicle depth-fixed soil heavy metal monitoring system which can perform real-time sampling analysis and real-time data report, has the characteristics of high efficiency, accurate sample point positioning and the like, greatly reduces the difficulty of soil sampling, and reduces the workload of soil sampling analysis.
Embodiments of the invention may be implemented as follows:
the embodiment of the invention provides an unmanned aerial vehicle depth soil heavy metal monitoring system, which comprises a multi-rotor unmanned aerial vehicle, a walking device, a positioning module, a sampling module, an analysis module and a control module, wherein the walking device is installed at the bottom of the multi-rotor unmanned aerial vehicle, and the sampling module, the analysis module and the control module are all connected with the multi-rotor unmanned aerial vehicle;
the multi-rotor unmanned aerial vehicle is electrically connected with the control module, and the control module is used for controlling the working state of the multi-rotor unmanned aerial vehicle;
the walking device is electrically connected with the control module, and the control module is used for controlling the working state of the walking device;
the positioning module is electrically connected with the control module and used for determining the position information of the multi-rotor unmanned aerial vehicle, and the multi-rotor unmanned aerial vehicle and the walking device are jointly used for conveying the sampling module to a target sampling point;
the sampling module is electrically connected with the control module and is used for sampling at the target sampling point;
the analysis module is electrically connected with the control module and is used for analyzing the sampling samples acquired by the sampling module in real time.
Further, in an optional embodiment, the positioning module is a GPS positioning module or a beidou positioning module.
Further, in optional embodiment, many rotor unmanned aerial vehicle is provided with the carrier platform, the carrier platform has the connection interface, the orientation module with many rotor unmanned aerial vehicle detachably connects, GPS orientation module or big dipper orientation module with the interface connection of carrier platform.
Further, in optional embodiment, the sampling module includes an automatic sampling rod, the automatic sampling rod is installed in the multi-rotor unmanned aerial vehicle, the automatic sampling rod is of a telescopic rod-shaped structure, and the control module is electrically connected with the automatic sampling rod and used for controlling the automatic sampling rod to be telescopic.
Further, in an alternative embodiment, the end of the automatic sampling rod remote from the multi-rotor drone is provided with a closable structure for sampling at the target sampling point.
Further, in an alternative embodiment, the autosampler bar is centrally located on the carrier platform and extends downwardly.
Further, in an optional embodiment, the analysis module comprises an X-ray fluorescence spectrum analysis device for performing real-time analysis on the sampling sample acquired by the sampling module.
Further, in an optional embodiment, the unmanned aerial vehicle depthkeeping soil heavy metal detection system further includes a wireless communication module, and the wireless communication module is electrically connected with the X-ray fluorescence spectrum analysis device and is used for transmitting the analysis result of the X-ray fluorescence spectrum analysis device to the background control terminal.
Further, in optional embodiment, many rotor unmanned aerial vehicle includes unmanned aerial vehicle organism and unmanned aerial vehicle rotor, the quantity of unmanned aerial vehicle rotor includes the multiunit to all install in on the unmanned aerial vehicle organism, the orientation module the sampling module the analysis module with control module all with the unmanned aerial vehicle organism is connected, running gear install in the below of unmanned aerial vehicle organism.
Further, in an optional embodiment, the unmanned aerial vehicle depthkeeping soil heavy metal monitoring system further comprises a camera, and the camera is electrically connected with the control module and used for acquiring the ground condition of a sampling area, so that the sampling module can sample at a preset sampling point.
The unmanned aerial vehicle depthkeeping soil heavy metal monitoring system provided by the invention has the following beneficial effects: the control module presets coordinate data (longitude and latitude data and the like) of a target sampling point, controls the multi-rotor unmanned aerial vehicle and the walking device according to the coordinate data, enables the system to reach the target sampling point, samples the target sampling point through the sampling module, and analyzes the sampling sample through the analysis module. When the target sampling point is far away, the multi-rotor unmanned aerial vehicle can fly to the sampling point; when the target sampling point is close, or some sampling points are close to each other, and the ground condition allows, the walking device can be used for enabling the system to reach the sampling point. The embodiment of the invention can be combined with a multi-rotor unmanned aerial vehicle and a walking device, realizes convenient sampling among a plurality of sampling points, has high sampling point precision, and can continuously sample among the plurality of sampling points and finish detection. The unmanned aerial vehicle depth soil heavy metal monitoring system provided by the embodiment of the invention can sample and analyze in real time and output data reports in real time, has the characteristics of high efficiency, accurate sample point positioning and the like, greatly reduces the difficulty of soil sampling, and reduces the workload of soil sampling analysis.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the embodiments will be briefly described below. It is appreciated that the following drawings depict only certain embodiments of the invention and are therefore not to be considered limiting of its scope. For a person skilled in the art, it is possible to derive other relevant figures from these figures without inventive effort.
Fig. 1 is a block diagram of a structure of an unmanned aerial vehicle depth soil heavy metal monitoring system according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of an unmanned aerial vehicle depth soil heavy metal monitoring system according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of the unmanned aerial vehicle depthkeeping soil heavy metal monitoring system in fig. 2.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
It should be noted that the features of the embodiments of the present invention may be combined with each other without conflict.
The following detailed description of embodiments of the invention refers to the accompanying drawings.
Referring to fig. 1 and fig. 2, the present embodiment provides an unmanned aerial vehicle depth-fixed soil heavy metal monitoring system, which can perform real-time sampling analysis and real-time data report, and has the characteristics of high efficiency, accurate positioning of sampling points, and the like, thereby greatly reducing the difficulty of soil sampling and reducing the workload of soil sampling analysis.
In the embodiment of the invention, the unmanned aerial vehicle depth soil heavy metal monitoring system comprises a multi-rotor unmanned aerial vehicle, a walking device, a positioning module, a sampling module, an analysis module and a control module, wherein the walking device is arranged at the bottom of the multi-rotor unmanned aerial vehicle, and the sampling module, the analysis module and the control module are all connected with the multi-rotor unmanned aerial vehicle; the multi-rotor unmanned aerial vehicle is electrically connected with the control module, and the control module is used for controlling the working state of the multi-rotor unmanned aerial vehicle; the walking device is electrically connected with the control module, and the control module is used for controlling the working state of the walking device; the positioning module is electrically connected with the control module and used for determining the position information of the multi-rotor unmanned aerial vehicle, and the multi-rotor unmanned aerial vehicle and the walking device are jointly used for conveying the sampling module to a target sampling point; the sampling module is electrically connected with the control module and is used for sampling at a target sampling point; the analysis module is electrically connected with the control module and is used for analyzing the sampling samples acquired by the sampling module in real time.
It should be noted that, in the embodiment of the present invention, the control module presets coordinate data (longitude and latitude data, etc.) of the target sampling point, controls the multi-rotor unmanned aerial vehicle and the traveling device according to the coordinate data, so that the system reaches the target sampling point, samples the target sampling point through the sampling module, and analyzes the sample through the analysis module. In the embodiment of the invention, when the target sampling point is far away, the multi-rotor unmanned aerial vehicle can fly to the sampling point; when the target sampling point is close, or some sampling points are close to each other, and the ground condition allows, the walking device can be used for enabling the system to reach the sampling point. The embodiment of the invention can be combined with a multi-rotor unmanned aerial vehicle and a walking device, realizes convenient sampling among a plurality of sampling points, has high sampling point precision, and can continuously sample among the plurality of sampling points and finish detection.
Optionally, the walking module may be a crawler-type walking device, which is installed at the bottom of the multi-rotor unmanned aerial vehicle; the longitude and latitude data of sampling points are preset by the control module, the multi-rotor unmanned aerial vehicle is controlled to fly or walk by the crawler-type walking device according to the position information transmitted by the positioning module, the sampling points are reached, or the longitude and latitude data of the multiple sampling points are input into the control system, and the multi-rotor unmanned aerial vehicle flies to the sampling points by utilizing the data or walks to the sampling points one by one for sampling analysis.
Many rotor unmanned aerial vehicle in this embodiment dispose crawler-type running gear, when the target sampling point is far away, unmanned aerial vehicle flies the sampling point. When the target sampling point is close, or a plurality of sampling points are close to each other, the ground condition allows, and the crawler-type robot can walk past.
Optionally, the positioning module is a GPS positioning module or a beidou positioning module, and the embodiment of the present invention does not specifically require or limit the specific positioning principle of the positioning module, and may select any one of GPS and beidou positioning.
In an alternative embodiment, the multi-rotor unmanned aerial vehicle is provided with a carrier platform, the carrier platform is provided with a connecting interface, the positioning module is detachably connected with the multi-rotor unmanned aerial vehicle, and the GPS positioning module or the Beidou positioning module is connected with the interface of the carrier platform.
In an optional embodiment, the sampling module comprises an automatic sampling rod, the automatic sampling rod is mounted on the multi-rotor unmanned aerial vehicle, the automatic sampling rod is of a telescopic rod-shaped structure, and the control module is electrically connected with the automatic sampling rod and used for controlling the automatic sampling rod to stretch.
In an alternative embodiment, the end of the automatic sampling rod remote from the multi-rotor drone is provided with a closable structure for sampling at the target sampling point.
Optionally, the automatic sampling rod is located in a central position of the carrier platform and extends downward.
It should be noted that the automatic sampling rod is a scalable sampling rod, and the device is arranged in the center of the unmanned aerial vehicle carrier platform; the front end of the telescopic sampling rod is provided with a closable structure. After the sampling point is reached, the sampling rod extends out gradually according to the sampling depth and rotationally drills into the soil to reach the fixed depth position for sampling. After sampling, the sampling device is rotated and retracted gradually. The control module can control the action of the automatic sampling rod according to the preset sampling depth.
In an alternative embodiment, the analysis module comprises an X-ray fluorescence spectroscopy apparatus ("XRF" in fig. 2 and 3 refers to an X-ray fluorescence spectroscopy apparatus) for real-time analysis of the sample acquired by the sampling module. It should be noted that, an X-ray fluorescence spectrum analysis device is integrated on the machine body, and the sampling sample is transmitted to the X-ray fluorescence spectrum analysis device for real-time analysis after the automatic sampling rod retracts.
In an optional embodiment, the unmanned aerial vehicle depth-fixing soil heavy metal detection system further includes a wireless communication module, and the wireless communication module is electrically connected with the X-ray fluorescence spectrum analysis device and is used for transmitting an analysis result of the X-ray fluorescence spectrum analysis device to the background control terminal (the "pass-back" in fig. 2 and 3 refers to pass-back to the background control terminal).
It should be noted that, in the embodiment of the present invention, the wireless communication module may transmit the detection result of the X-ray fluorescence spectrum analysis apparatus back to the cloud system through the mobile network, and finally obtain the analysis data through the mobile phone platform or the computer platform.
In an optional embodiment, many rotor unmanned aerial vehicle include unmanned aerial vehicle organism and unmanned aerial vehicle rotor, and the quantity of unmanned aerial vehicle rotor includes the multiunit to all install on the unmanned aerial vehicle organism, orientation module, sampling module, analysis module and control module all are connected with the unmanned aerial vehicle organism, and running gear installs in the below of unmanned aerial vehicle organism.
In an optional embodiment, the unmanned aerial vehicle depthkeeping soil heavy metal monitoring system further comprises a camera, and the camera is electrically connected with the control module and used for obtaining the ground condition of the sampling area, so that the sampling module can sample at a preset sampling point.
The system control block diagram of the monitoring system in the present application is shown in fig. 3, and the functions of the control system include two parts: (1) the control of many rotor unmanned aerial vehicle and crawler travel unit, except controlling the unmanned aerial vehicle flight, still control the tracked vehicle operation, this part is the inherent control system of unmanned aerial vehicle self. (2) Sampling and processing control. In the embodiment, a user edits the longitude and latitude data, the sampling depth and other data of the sampling point according to a certain format, stores the data into the SD card and inserts the SD card into the control system. Control system (being the control module in fig. 1) reads sampling point position data, according to the positional information of positioning system (being the positioning module in fig. 1) transmission, near flying the sampling point, unmanned aerial vehicle lands, packs up rotary wing, according to positioning system, the tracked vehicle passes through the camera and gathers sampling area ground condition, walks to accurate sampling point, and control system rotates the sampling pole, drills into soil to the depthkeeping degree of depth, then opens the closed opening in front end and samples. After the sampling, the sampling rod is reversely rotated and retracted to the unmanned aerial vehicle, the body of the unmanned aerial vehicle is brought back to the sample, the XRF system is used for analyzing, after the analysis is finished, data are transmitted to the control system, the SD card is stored, meanwhile, the cloud end is transmitted back through the mobile network, and then the data are acquired through the computer or the mobile device.
The unmanned aerial vehicle depthkeeping soil heavy metal monitoring system has the advantages that: present tracked robot, unmanned aerial vehicle sampling do not all have integrated XRF equipment, need take back the sample, and the manual work utilizes XRF equipment to carry out the analysis. The unmanned aerial vehicle depth-fixed soil heavy metal monitoring system provided by the invention takes a multi-rotor unmanned aerial vehicle as a carrier platform, integrates XRF equipment, can sample and analyze in real time, and can output data reports in real time, has the characteristics of high efficiency, accurate sample point positioning and the like, and greatly reduces the difficulty and workload of soil sampling. The invention combines the characteristics of the unmanned aerial vehicle and the tracked vehicle, the unmanned aerial vehicle is adopted for flying in long-distance displacement, the tracked vehicle is adopted for moving in short distance, and the tracked vehicle has the fixed supporting function, so that the drilling stability of the sampling rod is ensured. XRF is integrated, real-time analysis is achieved, and manpower is saved. According to the unmanned aerial vehicle depthkeeping soil heavy metal monitoring system, the automatic sampling rod is mounted to support hard rod soil sampling, the modular interface is mounted, and carrying and maintenance are convenient.
The unmanned aerial vehicle depthkeeping soil heavy metal monitoring system that this embodiment provided: the control module presets coordinate data (longitude and latitude data and the like) of a target sampling point, controls the multi-rotor unmanned aerial vehicle and the walking device according to the coordinate data, enables the system to reach the target sampling point, samples the target sampling point through the sampling module, and analyzes the sampling sample through the analysis module. When the target sampling point is far away, the multi-rotor unmanned aerial vehicle can fly to the sampling point; when the target sampling point is close, or some sampling points are close to each other, and the ground condition allows, the walking device can be used for enabling the system to reach the sampling point. The embodiment of the invention can be combined with a multi-rotor unmanned aerial vehicle and a walking device, realizes convenient sampling among a plurality of sampling points, has high sampling point precision, and can continuously sample among the plurality of sampling points and finish detection. The unmanned aerial vehicle depth soil heavy metal monitoring system provided by the embodiment of the invention can sample and analyze in real time and output data reports in real time, has the characteristics of high efficiency, accurate sample point positioning and the like, greatly reduces the difficulty of soil sampling, and reduces the workload of soil sampling analysis.
It should be noted that in the description of the present invention, the terms "upper", "lower", "inner", "outer", "left", "right", etc. indicate the orientation or position relationship based on the orientation or position relationship shown in the drawings, or the orientation or position relationship which the product of the present invention is usually placed in when in use, or the orientation or position relationship which is usually understood by those skilled in the art, and are only for the convenience of describing the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore, should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.
It should also be noted that, in the description of the present invention, unless explicitly stated or limited otherwise, the terms "disposed" and "connected" are to be interpreted broadly, and for example, "connected" may be a fixed connection, a detachable connection, or an integral connection; can be mechanically or electrically connected; the connection may be direct or indirect via an intermediate medium, and may be a communication between the two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Although the present invention is disclosed above, the present invention is not limited thereto. Various changes and modifications may be effected therein by one skilled in the art without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (10)
1. An unmanned aerial vehicle depth-keeping soil heavy metal monitoring system is characterized by comprising a multi-rotor unmanned aerial vehicle, a walking device, a positioning module, a sampling module, an analysis module and a control module, wherein the walking device is installed at the bottom of the multi-rotor unmanned aerial vehicle, and the sampling module, the analysis module and the control module are all connected with the multi-rotor unmanned aerial vehicle;
the multi-rotor unmanned aerial vehicle is electrically connected with the control module, and the control module is used for controlling the working state of the multi-rotor unmanned aerial vehicle;
the walking device is electrically connected with the control module, and the control module is used for controlling the working state of the walking device;
the positioning module is electrically connected with the control module and used for determining the position information of the multi-rotor unmanned aerial vehicle, and the multi-rotor unmanned aerial vehicle and the walking device are jointly used for conveying the sampling module to a target sampling point;
the sampling module is electrically connected with the control module and is used for sampling at the target sampling point;
the analysis module is electrically connected with the control module and is used for analyzing the sampling samples acquired by the sampling module in real time.
2. The unmanned aerial vehicle depthkeeping soil heavy metal monitoring system of claim 1, wherein the orientation module is a GPS orientation module or a Beidou orientation module.
3. The unmanned aerial vehicle depthkeeping soil heavy metal monitoring system of claim 2, characterized in that, many rotor unmanned aerial vehicle are provided with carrier platform, carrier platform has the connection interface, the orientation module with many rotor unmanned aerial vehicle detachably connect, GPS orientation module or the big dipper orientation module with carrier platform's interface connection.
4. The unmanned aerial vehicle depthkeeping soil heavy metal monitoring system of claim 3, characterized in that, the sampling module includes automatic sampling pole, automatic sampling pole install in many rotor unmanned aerial vehicle, just automatic sampling pole is scalable rod-like structure, control module with automatic sampling pole electricity is connected, is used for controlling automatic sampling pole is flexible.
5. The unmanned depth soil heavy metal monitoring system of claim 4, wherein an end of the automatic sampling rod remote from the multi-rotor unmanned aerial vehicle is provided with a closable structure for sampling at the target sampling point.
6. The unmanned aerial vehicle depthkeeping soil heavy metal monitoring system of claim 3, wherein automatic sampling pole is located the central point of carrier platform, and downwardly extending.
7. The unmanned aerial vehicle depthkeeping soil heavy metal monitoring system of claim 1, wherein the analysis module comprises an X-ray fluorescence spectrum analysis device, the X-ray fluorescence spectrum analysis device is used for analyzing the sampling sample obtained by the sampling module in real time.
8. The unmanned aerial vehicle depthkeeping soil heavy metal monitoring system of claim 7, wherein the unmanned aerial vehicle depthkeeping soil heavy metal detection system further comprises a wireless communication module, the wireless communication module is electrically connected with the X-ray fluorescence spectrum analysis device and is used for transmitting an analysis result of the X-ray fluorescence spectrum analysis device to a background control terminal.
9. The unmanned aerial vehicle depthkeeping soil heavy metal monitoring system of claim 1, wherein, many rotor unmanned aerial vehicle include unmanned aerial vehicle organism and unmanned aerial vehicle rotor, the quantity of unmanned aerial vehicle rotor includes the multiunit, and all install in on the unmanned aerial vehicle organism, the orientation module, the sampling module, analysis module and control module all with the unmanned aerial vehicle organism is connected, running gear install in the below of unmanned aerial vehicle organism.
10. The unmanned aerial vehicle depthkeeping soil heavy metal monitoring system of claim 1, further comprising a camera, wherein the camera is electrically connected with the control module and is used for acquiring the ground condition of a sampling area, so that the sampling module can sample at a preset sampling point.
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| LU501951A LU501951B1 (en) | 2021-12-13 | 2022-04-27 | Fixed depth monitoring system for heavy metals in soil by unmanned aerial vehicle |
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