CN115597924A - High-precision multipoint water body sampling device mounted by unmanned aerial vehicle and sampling method - Google Patents
High-precision multipoint water body sampling device mounted by unmanned aerial vehicle and sampling method Download PDFInfo
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- CN115597924A CN115597924A CN202211425505.3A CN202211425505A CN115597924A CN 115597924 A CN115597924 A CN 115597924A CN 202211425505 A CN202211425505 A CN 202211425505A CN 115597924 A CN115597924 A CN 115597924A
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- 238000005070 sampling Methods 0.000 title claims abstract description 199
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 130
- 238000000034 method Methods 0.000 title claims abstract description 10
- 230000007246 mechanism Effects 0.000 claims abstract description 242
- 238000001514 detection method Methods 0.000 claims abstract description 21
- 239000007788 liquid Substances 0.000 claims description 57
- 230000014759 maintenance of location Effects 0.000 claims description 47
- 238000007599 discharging Methods 0.000 claims description 15
- 238000007789 sealing Methods 0.000 claims description 14
- 238000004140 cleaning Methods 0.000 claims description 5
- 238000000926 separation method Methods 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000000670 limiting effect Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000000630 rising effect Effects 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 241000282414 Homo sapiens Species 0.000 description 1
- 241001465754 Metazoa Species 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000008094 contradictory effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000036961 partial effect Effects 0.000 description 1
- 230000002441 reversible effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
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- 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
- G01N2001/1031—Sampling from special places
Abstract
The invention relates to the technical field of water body sampling, in particular to a high-precision multipoint water body sampling device mounted by an unmanned aerial vehicle and a sampling method, wherein the device comprises: the device comprises a shell, a lifting mechanism, a sampling mechanism, a conveying mechanism, a storage mechanism, a control module and a position detection mechanism; the sampling mechanism is arranged on the left side of the shell through a lifting mechanism; the storage mechanism is arranged at the lower part of the shell; the input end of the conveying mechanism extends into the inner side of the sampling mechanism, the output end of the conveying mechanism is communicated with the storage mechanism and used for conveying the water body sampled in the sampling mechanism into the storage mechanism for storage, and the position detection mechanism is arranged at the lower part of the shell; the control module is arranged on the inner side of the shell and is respectively and electrically connected with the lifting mechanism, the conveying mechanism and the position detection mechanism; the conveying mechanism is electromagnetic, can stably, accurately and reliably sample for multiple times through the electromagnetic conveying mechanism, and can automatically release and store the sampled water body; meanwhile, the invention has high sampling efficiency and strong expansibility.
Description
Technical Field
The invention relates to the technical field of water body sampling, in particular to a high-precision multipoint water body sampling device mounted by an unmanned aerial vehicle and a sampling method.
Background
Under the introduction of the concept of 'green development', the ecological civilization construction business is steadily promoted, and a green technical innovation system is an important measure for the green development. Water is a source of life, is one of the bases on which human beings depend to live, and has very important effects on other animals and plants in the ecological environment. However, with the rapid development of society, the improvement of industrialization level, and the characteristics of water resource fluidity and wide area, the water environment pollution is also becoming more serious. In order to guarantee the quality of the water body, the water body needs to be sampled periodically, wherein the sampling mechanism and the technology of the water body and the representativeness, the effectiveness and the accuracy of the collected water sample play a key role.
The existing water body regular sampling technology mainly adopts a manual sampling mode, an unmanned ship sampling mode and an unmanned plane sampling mode. The water sampler is manually put down to an approximate depth from a water area for manual regular sampling, and then a water sample is collected, but the manual sampling cannot ensure that the water sample collected each time is a water sample with the same depth and the same place, so that the deviation of a water body detection result is easily caused, and the manual sampling depends on a sampling ship to carry people to work, so that when the dangerous and dangerous working environment is met, danger is easily caused, the manual sampling efficiency is low, and the integral workload is large; the unmanned ship carries a water sample collecting mechanism through the unmanned ship, the unmanned ship is controlled by a computer to go to a specified place, then the water collecting mechanism is controlled to collect water, finally, a water sample is taken back, the water sample is taken down manually, after the unmanned ship arrives at the specified place, the collected water sample cannot be ensured to be in the same place due to the fluidity of the water sample, the deviation of a water body detection result is easily caused, and the unmanned ship sampling can only be arranged in a water area and cannot work across the water area; unmanned aerial vehicle sampling carries on water sample water sampling mechanism through unmanned aerial vehicle, and unmanned aerial vehicle goes to specific location and carries out the water sample collection, flies back to appointed place after the collection is accomplished and takes back by the manual work and carry out water quality analysis, is the mainstream mode that present water sample was gathered. Current unmanned aerial vehicle water sample collection mechanism all can only gather the single-point, and partial water sampling mechanism only can depthkeeping gather, can't realize many degree of depth water sample collection accurately.
Disclosure of Invention
The invention provides a high-precision multipoint water body sampling device mounted by an unmanned aerial vehicle and a sampling method, and aims to solve the technical problems of low sampling precision and low efficiency of sampling equipment in the prior art.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
the invention provides a high-precision multipoint water body sampling device mounted by an unmanned aerial vehicle, which comprises a shell, a lifting mechanism, a sampling mechanism, a conveying mechanism, a storage mechanism, a control module and a position detection mechanism, wherein the lifting mechanism is arranged on the shell;
the shell is mounted on an external unmanned aerial vehicle and is positioned at the bottom of the unmanned aerial vehicle;
the sampling mechanism is arranged on the left side of the shell through the lifting mechanism and is used for sampling the water body;
the storage mechanism is arranged at the lower part of the shell;
the input end of the conveying mechanism extends into the inner side of the sampling mechanism, and the output end of the conveying mechanism is communicated with the storage mechanism and used for conveying the water body sampled in the sampling mechanism into the storage mechanism for storage;
the position detection mechanism is arranged at the lower part of the shell;
the control module is installed on the inner side of the shell and is electrically connected with the lifting mechanism, the conveying mechanism and the position detection mechanism respectively.
Preferably, the high-precision multi-point water body sampling device further comprises an elastic guide mechanism, wherein the elastic guide mechanism comprises a first support, a second support, a plurality of guide rods, a plurality of springs, a first guide block and a second guide block;
the first bracket and the second bracket are both arranged on the left side of the lower part of the shell; the second bracket is vertically connected with the first bracket in a sliding manner through a plurality of guide rods;
the guide rods and the springs are equal in number and correspond to each other respectively, and the springs are sleeved on outer rings of the corresponding guide rods respectively;
first guide block fixed mounting be in the lower part of second support, the direction recess has been seted up to the bottom of first guide block, the lower part fixed mounting of second guide block be in the upper portion of sampling mechanism, the upper portion of second guide block is formed with the direction arch, the direction arch with the direction recess cooperatees.
Preferably, the lifting mechanism comprises a motor, two positioning plates, a gear assembly, a turntable and a pull rope;
the turntable is arranged on the inner side of the shell through the two positioning plates and is in rotary connection with the two positioning plates;
the motor is arranged on one of the positioning plates, and an output shaft of the motor is in transmission connection with the rotary table through the gear assembly; the motor is electrically connected with the control module;
one end of the pull rope is fixed on the turntable, and the other end of the pull rope is wound on the outer ring of the turntable and is connected and fixed on the sampling mechanism.
Preferably, the conveying mechanism comprises a conveying piece, a liquid separating electromagnetic valve, a first sampling pipe, a second sampling pipe and a third sampling pipe;
the conveying piece and the liquid separating electromagnetic valve are both arranged on the shell and are both electrically connected with the control module;
one end of the first sampling pipe extends into the inner side of the sampling mechanism, and the other end of the first sampling pipe is connected to the input end of the conveying piece;
one end of the second sampling pipe is connected to the output end of the conveying piece, and the other end of the second sampling pipe is connected to the input end of the liquid separating electromagnetic valve;
one end of the third sampling pipe is connected to the output end of the liquid separating electromagnetic valve, and the other end of the third sampling pipe extends into the inner side of the storage mechanism.
Preferably, the high-precision multi-point water body sampling device further comprises a limit switch, the limit switch is installed on the upper portion of the sampling mechanism, and the limit switch is electrically connected with the control module and used for limiting the rising position of the sampling mechanism.
Preferably, the high-precision multi-point water body sampling device further comprises a timer, wherein the timer is integrated in the control module, and the timer is electrically connected with the control module.
Preferably, the high-precision multi-point water body sampling device further comprises a liquid discharge mechanism and a sealing mechanism which are electrically connected with the control module;
a liquid discharge hole is formed in the lower part of the storage mechanism, and the liquid discharge mechanism is installed in the liquid discharge hole and used for discharging the sampling water body in the storage mechanism;
the upper part of the storage mechanism is provided with an air outlet, and the sealing mechanism is arranged on the inner side of the air outlet and used for controlling the opening and closing of the air outlet.
Preferably, the storage mechanism comprises a plurality of vials and a mounting plate;
the sample retention bottles are mounted on the lower portion of the shell through the mounting plate, the number of the liquid discharge holes and the number of the air outlet holes are equal to the number of the sample retention bottles and respectively correspond to the sample retention bottles, the liquid discharge holes and the air outlet holes are formed in the corresponding sample retention bottles, and the sealing mechanisms are arranged in the air outlet holes in the upper portions of the corresponding sample retention bottles; the liquid discharge mechanism is arranged in the liquid discharge hole at the lower part of the corresponding sample retention bottle.
The invention also provides a multipoint water body sampling method, which uses the high-precision multipoint water body sampling device to sample water bodies and specifically comprises the following steps:
s1, starting a lifting mechanism by using a control module, wherein the lifting mechanism drives a sampling mechanism to move so as to realize the resetting of the sampling mechanism;
s2, under the control of the control module, a sampling mechanism and a conveying mechanism are used for sampling the water body at the designated position for the first time, the water body sampled for the first time is used for cleaning the inner wall of a first sample retention bottle, and the cleaned water body is discharged through a corresponding liquid discharge mechanism;
s3, under the control of the control module, performing secondary sampling on the water body at the designated position by using the sampling mechanism and the conveying mechanism, and conveying the sampled water body into a first sample retention bottle for storage;
and S4, repeating the steps S1 to S3, sampling the water bodies at other positions, and respectively conveying the water bodies to other different sample retention bottles to realize multi-point water body sampling.
Preferably, the step S2 specifically includes the following steps:
s21, starting a motor, rotating the motor forwards, starting a timer, descending the sampling mechanism to a corresponding height, closing the timer, and standing for a period of time so that the sampling mechanism can collect the water body; after the static time reaches a first preset time, the motor rotates reversely, the timer is started, and the sampling mechanism ascends gradually until the sampling mechanism resets;
s22, after the sampling mechanism is reset, starting a conveying mechanism and a timer, starting timing by the timer, absorbing the water sample in the sampling mechanism into a first sample retention bottle by the conveying mechanism, and after a second designated time, completely conveying all the water sampled for the first time in the sampling mechanism into the first sample retention bottle;
s23, cleaning the inner wall of the first sample retention bottle by using the water body sampled for the first time;
s24, closing a sealing mechanism on the first sample-reserving bottle, starting a timer, and after a third specified time, putting down the sampling mechanism to a specified height, wherein the first sampling pipe is naturally exposed from the sampling mechanism;
and S25, conveying air to the first sample reserving bottle by using the conveying mechanism, increasing the air pressure inside the first sample reserving bottle, starting the corresponding liquid discharging mechanism and the timer, starting timing by the timer, discharging the first sample reserving bottle through the liquid discharging hole, and discharging the water body sampled for the first time in the first sample reserving bottle after fourth specified time.
The invention has the beneficial effects that:
1. the water body sampling device is provided with the position detection mechanism and the timer, and the coordination capacity of the water body sampling device is improved by means of the position detection mechanism and the timer and by means of the accurate control of the control module on each mechanism, and meanwhile, the water body sampling precision of the water body sampling device can be improved;
2. the storage mechanism is provided with a plurality of sample reserving bottles, and a sampling water body sampled each time can be conveyed into the corresponding sample reserving bottles through the conveying mechanism under the accurate control of the control module, so that the sampling device can sample a plurality of sampling points along the road, has high sampling efficiency, and is strong in expansibility and multiple in adaptive scenes;
3. in the process of sampling the water body at the sampling point at the designated position by using the sampling mechanism, the water body sampled at each sampling point for the first time can be utilized to clean the corresponding sample-remaining bottle, and the water body sampled at the position for the second time is the really required sampled water body, so that the representative water quality is ensured, and the accuracy of the sampled water body is improved.
Drawings
FIG. 1 is a schematic three-dimensional structure of the present invention;
FIG. 2 is a schematic view of the internal structure of the housing;
FIG. 3 is an enlarged view of the connection of the elastic guide mechanism and the sampling mechanism;
FIG. 4 is an enlarged schematic view of the three-dimensional structure of the elastic guide mechanism;
FIG. 5 is a schematic three-dimensional structure of the lifting mechanism;
description of reference numerals:
1. a housing;
2. a lifting mechanism; 21. a motor; 22. positioning a plate; 23. a gear assembly; 24. a turntable;
3. a sampling mechanism;
4. a conveying mechanism; 41. a conveying member; 42. a liquid separation electromagnetic valve;
5. a storage mechanism; 51. a sample retention bottle;
6. a control module;
7. an elastic guide mechanism; 71. a first bracket; 72. a second bracket; 73. a guide bar; 74. a spring; 75. a first guide block; 76. a second guide block;
8. a liquid discharge mechanism;
9. a position detection mechanism.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments. In the description of the present invention, the relevant orientation or positional relationship is based on the orientation or positional relationship shown in fig. 1, where "up" and "down" refer to the up-down direction of fig. 1, taking fig. 1 as an example, the vertical paper surface is up, the vertical paper surface is down, the vertical paper surface is left, the vertical paper surface is right, the vertical paper surface is inward, the vertical paper surface is outward, the left-right direction is horizontal, and the up-down direction is vertical. It is to be understood that such directional terms are merely used to facilitate describing the invention and to simplify the description, and are not intended to indicate or imply that the device or element so referred to must be constructed and operated in a particular orientation and therefore should not be considered as limiting the invention.
In addition, the descriptions of "first", "second", etc. in the present invention are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number or order of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
The first embodiment:
referring to fig. 1, 2 and 5, an embodiment of the application provides a high-precision multipoint water body sampling device mounted by an unmanned aerial vehicle, which includes a housing 1, a lifting mechanism 2, a sampling mechanism 3, a conveying mechanism 4, a storage mechanism 5, a control module 6 and a position detection mechanism 9;
the shell 1 is mounted on an external unmanned aerial vehicle and is positioned at the bottom of the unmanned aerial vehicle; the unmanned aerial vehicle carries out remote control through external control setting;
the sampling mechanism 3 is arranged on the left side of the shell 1 through the lifting mechanism 2 and is used for sampling a water body;
the storage mechanism 5 is arranged at the lower part of the shell 1 and is used for storing the sampled water body;
the input end of the conveying mechanism 4 extends into the inner side of the sampling mechanism 3, and the output end of the conveying mechanism is communicated with the storage mechanism 5 and is used for conveying the water body sampled in the sampling mechanism 3 into the storage mechanism 5 for storage;
the position detection mechanism 9 is installed at the lower part of the shell 1, in this embodiment, the position detection mechanism 9 is an ultrasonic radar, and the height of the invention can be detected by the ultrasonic radar;
the control module 6 is installed on the inner side of the shell 1, and the control module 6 is electrically connected with the lifting mechanism 2, the conveying mechanism 4 and the position detection mechanism 9 respectively.
Referring to fig. 3 and 4, in this embodiment, the high-precision multipoint water sampling device further includes an elastic guide mechanism 7, where the elastic guide mechanism 7 includes a first support 71, a second support 72, a plurality of guide rods 73, a plurality of springs 74, a first guide block 75, and a second guide block 76;
the first bracket 71 and the second bracket 72 are both detachably arranged at the left side of the lower part of the shell 1; the second bracket 72 is positioned below the first bracket 71, and the second bracket 72 is vertically and slidably connected with the first bracket 71 through a plurality of guide rods 73;
the number of the guide rods 73 is equal to that of the springs 74, and the springs 74 are corresponding to each other, and the springs 74 are sleeved on the outer rings of the corresponding guide rods 73; in this embodiment, the number of the guide rods 73 is two, the number of the springs 74 is two, and the two springs 74 are respectively sleeved on the corresponding guide rods 73.
The first guide block 75 is fixedly installed at the lower part of the second support 72, a guide groove is formed at the bottom of the first guide block 75, the lower part of the second guide block 76 is fixedly installed at the upper part of the sampling mechanism 3, a guide protrusion is formed at the upper part of the second guide block 76, and the guide protrusion is matched with the guide groove formed at the bottom of the first guide block 75.
Referring to fig. 5, in the present embodiment, the lifting mechanism 2 includes a motor 21, two positioning plates 22, a gear assembly 23, a rotary disc 24, and a pull rope;
the rotary table 24 is mounted on the inner side of the housing 1 through the two positioning plates 22, and the rotary table 24 is rotatably connected with the two positioning plates 22;
the motor 21 is a servo motor and has a forward and reverse rotation function, the motor 21 is mounted on one of the positioning plates 22, and an output shaft of the motor 21 is in transmission connection with the rotary table 24 through the gear assembly 23; the motor 21 is electrically connected with the control module 6;
one end of the pull rope is fixed on the rotary table 24, and the other end of the pull rope is wound on the outer ring of the rotary table 24 and is connected and fixed on the sampling mechanism 3.
In this embodiment, the high-precision multi-point water sampling device further includes a limit switch, the limit switch is installed on the upper portion of the sampling mechanism 3, and the limit switch is electrically connected with the control module 6 and used for limiting the rising position of the sampling mechanism 3.
In this embodiment, the high-precision multi-point water sampling device further includes a timer, the timer is integrated in the control module 6, and the timer is electrically connected to the control module 6.
The control module 6 comprises a PCB control panel, and the PCB control panel is used for receiving the control data frame and analyzing the control data frame; the control data frame refers to data sent by the position detection mechanism 9 and the motor 21 to the PCB control board, and is used for enabling the PCB control board to analyze the real-time height of the sampling mechanism 3 according to the rotating speed of the motor 21, the height data of the position detection mechanism 9 and the measured external unmanned aerial vehicle and the timing data of the timer;
referring to fig. 1, in this embodiment, the high-precision multi-point water sampling apparatus further includes a liquid discharge mechanism 8 and a sealing mechanism, both of which are electrically connected to the control module 6;
a liquid discharge hole is formed in the lower part of the storage mechanism 5, and the liquid discharge mechanism 8 is installed in the liquid discharge hole and used for discharging the sampling water body in the storage mechanism 5;
an air outlet hole is formed in the upper portion of the storage mechanism 5, and the sealing mechanism is installed on the inner side of the air outlet hole and used for controlling the air outlet hole to be opened and closed.
In this embodiment, the high-precision multi-point water sampling device further comprises a power supply module, wherein the power supply module is used for supplying power to each mechanism and each module, and the power supply module is electrically connected with the lifting mechanism 2, the conveying mechanism 4, the control module 6, the liquid discharge mechanism 8, the sealing mechanism and the position detection mechanism 9 respectively.
In this embodiment, the storage mechanism 5 includes a plurality of vials 51 and a mounting plate;
the sample retention bottles 51 are mounted at the lower part of the shell 1 through the mounting plate, the number of the liquid discharge holes and the number of the air outlet holes are equal to the number of the sample retention bottles 51 and respectively correspond to the sample retention bottles 51, the liquid discharge holes and the air outlet holes are formed in the corresponding sample retention bottles 51, and the sealing mechanisms are arranged in the air outlet holes at the upper parts of the corresponding sample retention bottles 51; the liquid drainage mechanism 8 is arranged in the liquid drainage hole at the lower part of the corresponding sample retention bottle 51. Preferably, the number of the vial 51 is three.
The liquid discharge mechanism 8 comprises a liquid discharge electromagnetic valve and a liquid discharge pipe, wherein the input end of the liquid discharge electromagnetic valve is connected to the corresponding liquid discharge hole, the output end of the liquid discharge electromagnetic valve is connected to one end of the liquid discharge pipe, and the other end of the liquid discharge pipe is communicated with the outside.
The sealing mechanism comprises a first joint and an on-off electromagnetic valve, the first joint is a one-to-three joint, three connectors on one side of the first joint are respectively connected to three air outlets, one connector on the other side of the first joint is connected with the input end of the on-off electromagnetic valve, and the on-off electromagnetic valve is electrically connected with the control module 6.
Referring to fig. 2, in the present embodiment, the conveying mechanism 4 includes a conveying member 41, a liquid separation solenoid valve 42, a first sampling pipe, a second sampling pipe, and a third sampling pipe;
the conveying piece 41 and the liquid separating electromagnetic valve 42 are both arranged on the shell 1 and are both electrically connected with the control module 6;
one end of the first sampling pipe extends into the inner side of the sampling mechanism 3, and the other end of the first sampling pipe is connected to the input end of the conveying piece 41;
one end of the second sampling pipe is connected to the output end of the conveying member 41, and the other end of the second sampling pipe is connected to the input end of the liquid separation electromagnetic valve 42;
one end of the third sampling pipe is connected to the output end of the liquid-separating electromagnetic valve 42, and the other end of the third sampling pipe extends into the inner side of the storage mechanism 5; the number of the third sampling pipes is three.
In this embodiment, because the number of sample bottles 51 is three, the number of liquid separating solenoid valve 42 is also three, the number of second sampling pipes is three, three the second sampling pipes pass through the second joint and connect in carry 41's output, the second joint is selected to divide into three and connects, a connector connection that the second connects is in carry 41's output, three second sampling pipe one end is connected respectively in the other three connector of second joint, three the second sampling pipe other end is connected respectively in three divide liquid solenoid valve 42's input, three divide liquid solenoid valve 42's output to be connected with the one end of three third sampling pipes respectively, the other end of three third sampling pipes is connected with three sample bottles 51 respectively.
Second embodiment:
a multi-point water body sampling method uses the high-precision multi-point water body sampling device to carry out water body sampling, and specifically comprises the following steps:
s1, starting a lifting mechanism 2 by using a control module 6, driving a sampling mechanism 3 to move by the lifting mechanism 2, and realizing the reset of the sampling mechanism 3;
s2, under the control of the control module 6, the water body at the designated position is sampled for the first time by using the sampling mechanism 3 and the conveying mechanism 4, the inner wall of the first sample retention bottle 51 is cleaned by using the water body sampled for the first time, and the cleaned water body is discharged by using the corresponding liquid discharge mechanism 8;
in this embodiment, the step S2 specifically includes the following steps:
step S21, starting the motor 21, enabling the motor 21 to rotate forwards, starting the timer, enabling the sampling mechanism 3 to descend to a corresponding height, enabling the timer to generate one interruption every second, and inquiring whether the sampling mechanism 3 reaches a target distance; if not, continuing to inquire, if reaching the specified height, closing the timer, and standing for a period of time so that the sampling mechanism 3 collects the water body; after the static time reaches a first preset time, the control module 6 sends a corresponding control data frame to the motor 21, the motor 21 rotates reversely, the timer is started, the sampling mechanism 3 rises to a corresponding height, the timer generates an interruption every second, and whether the sampling mechanism 3 reaches a target distance is inquired; if not, continuing to inquire until the sampling mechanism 3 is reset;
step S22, after the sampling mechanism 3 is reset, the conveying mechanism 4 and the timer are started, the timer starts to time, the conveying mechanism 4 absorbs the water sample in the sampling mechanism 3 into the first sample retention bottle 51, and after the second designated time, the water body sampled for the first time in the sampling mechanism 3 is completely conveyed into the first sample retention bottle 51;
s23, cleaning the inner wall of the first sample retention bottle 51 by using the water body sampled for the first time;
step S24, closing a sealing mechanism on the first sample retention bottle 51, sending a data frame to the motor 21 by the control module 6, rotating the motor 21 forwards, starting a timer, and after a third specified time, putting down the sampling mechanism 3 to a specified height, wherein the first sampling pipe is naturally exposed from the sampling mechanism 3;
and S25, conveying air to the first sample retention bottle 51 by using the conveying mechanism 4, increasing the air pressure inside the first sample retention bottle 51, starting the corresponding liquid discharge mechanism 8 and the timer, starting timing by the timer, discharging the first sample retention bottle 51 through the liquid discharge hole, and discharging the water body sampled for the first time in the first sample retention bottle 51 after fourth designated time.
S3, under the control of the control module 6, the sampling mechanism 3 and the conveying mechanism 4 are used for sampling the water body at the specified position for the second time, and the sampled water body is conveyed into the first sample retention bottle 51 for storage;
and S4, repeating the steps S1 to S3, sampling the water bodies at other positions, and respectively conveying the water bodies to other different sample retention bottles 51 to realize multi-point water body sampling.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily think of the changes or substitutions within the technical scope of the present invention, and shall cover the scope of the present invention. Moreover, the technical solutions in the embodiments of the present invention may be combined with each other, but it is necessary to be based on the realization of the technical solutions by those skilled in the art, and when the technical solutions are contradictory to each other or cannot be realized, such a combination of the technical solutions should not be considered to exist, and is not within the protection scope claimed by the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. The utility model provides a high accuracy multiple spot water sampling device of unmanned aerial vehicle carry which characterized in that: comprises a shell (1), a lifting mechanism (2), a sampling mechanism (3), a conveying mechanism (4), a storage mechanism (5), a control module (6) and a position detection mechanism (9);
the shell (1) is mounted on an external unmanned aerial vehicle;
the sampling mechanism (3) is arranged on the left side of the shell (1) through the lifting mechanism (2) and is used for sampling a water body;
the storage mechanism (5) is arranged at the lower part of the shell (1);
the input end of the conveying mechanism (4) extends into the inner side of the sampling mechanism (3), and the output end of the conveying mechanism is communicated with the storage mechanism (5) and is used for conveying the water body sampled in the sampling mechanism (3) into the storage mechanism (5) for storage;
the position detection mechanism (9) is arranged at the lower part of the shell (1);
the control module (6) is installed on the inner side of the shell (1), and the control module (6) is electrically connected with the lifting mechanism (2), the conveying mechanism (4) and the position detection mechanism (9) respectively.
2. A high-precision multi-point water body sampling device according to claim 1, further comprising an elastic guide mechanism (7), wherein the elastic guide mechanism (7) comprises a first bracket (71), a second bracket (72), a plurality of guide rods (73), a plurality of springs (74), a first guide block (75) and a second guide block (76);
the first bracket (71) and the second bracket (72) are arranged on the left side of the lower part of the shell (1); the second bracket (72) is vertically connected with the first bracket (71) in a sliding manner through a plurality of guide rods (73);
the number of the guide rods (73) and the number of the springs (74) are equal and respectively corresponding, and the springs (74) are respectively sleeved on the outer rings of the corresponding guide rods (73);
the sampling device is characterized in that the first guide block (75) is fixedly arranged at the lower part of the second support (72), a guide groove is formed in the bottom of the first guide block (75), the lower part of the second guide block (76) is fixedly arranged at the upper part of the sampling mechanism (3), a guide bulge is formed on the upper part of the second guide block (76), and the guide bulge is matched with the guide groove formed in the bottom of the first guide block (75).
3. A high-precision multi-point water body sampling device according to claim 1, wherein the lifting mechanism (2) comprises a motor (21), two positioning plates (22), a gear assembly (23), a turntable (24) and a pull rope;
the rotary table (24) is mounted on the inner side of the shell (1) through the two positioning plates (22), and the rotary table (24) is rotatably connected with the two positioning plates (22);
the motor (21) is arranged on one of the positioning plates (22), and an output shaft of the motor (21) is in transmission connection with the rotary disc (24) through the gear assembly (23); the motor (21) is electrically connected with the control module (6);
one end of the pull rope is fixed on the rotary table (24), and the other end of the pull rope is wound on the outer ring of the rotary table (24) and is fixedly connected to the sampling mechanism (3).
4. A high-precision multi-point water body sampling device according to any one of claims 1 to 3, wherein the conveying mechanism (4) comprises a conveying member (41), a liquid separation electromagnetic valve (42), a first sampling pipe, a second sampling pipe and a third sampling pipe;
the conveying piece (41) and the liquid separating electromagnetic valve (42) are both arranged on the shell (1) and are both electrically connected with the control module (6);
one end of the first sampling pipe extends into the inner side of the sampling mechanism (3), and the other end of the first sampling pipe is connected to the input end of the conveying piece (41);
one end of the second sampling pipe is connected to the output end of the conveying piece (41), and the other end of the second sampling pipe is connected to the input end of the liquid separating electromagnetic valve (42);
one end of the third sampling pipe is connected to the output end of the liquid separating electromagnetic valve (42), and the other end of the third sampling pipe extends into the inner side of the storage mechanism (5).
5. A high accuracy multipoint water sampling device according to claim 4 further comprising a limit switch mounted on the upper portion of said sampling mechanism (3), said limit switch being electrically connected to said control module (6) for defining the elevation position of said sampling mechanism (3).
6. A high accuracy multi-point water sampling device according to claim 5, further comprising a timer integrated within said control module (6), said timer being electrically connected to said control module (6).
7. A high precision multi-point water sampling device according to claim 6, further comprising a drainage mechanism (8) and a sealing mechanism both electrically connected to the control module (6);
a liquid discharge hole is formed in the lower part of the storage mechanism (5), and the liquid discharge mechanism (8) is installed in the liquid discharge hole and used for discharging the sampling water body in the storage mechanism (5);
and the upper part of the storage mechanism (5) is provided with an air outlet, and the sealing mechanism is arranged on the inner side of the air outlet and used for controlling the opening and closing of the air outlet.
8. A high accuracy multi-point water sampling device according to claim 7 wherein the storage mechanism (5) comprises a plurality of vials (51) and a mounting plate;
the sample retention bottles (51) are mounted at the lower part of the shell (1) through the mounting plate, the number of the liquid discharge holes and the number of the air outlet holes are equal to the number of the sample retention bottles (51) and respectively correspond to the sample retention bottles, the liquid discharge holes and the air outlet holes are formed in the corresponding sample retention bottles (51), and the sealing mechanisms are arranged in the air outlet holes at the upper parts of the corresponding sample retention bottles (51); the liquid drainage mechanism (8) is arranged in the liquid drainage hole at the lower part of the corresponding sample retention bottle (51).
9. A multi-point water sampling method, which is characterized in that the high-precision multi-point water sampling device of claim 8 is used for water sampling, and comprises the following steps:
s1, starting a lifting mechanism (2) by using a control module (6), wherein the lifting mechanism (2) drives a sampling mechanism (3) to move, so that the sampling mechanism (3) is reset;
s2, under the control of the control module (6), sampling the water body at the designated position for the first time by using the sampling mechanism (3) and the conveying mechanism (4), cleaning the inner wall of the first sample retention bottle (51) by using the water body sampled for the first time, and discharging the cleaned water body through the corresponding liquid discharging mechanism (8);
s3, under the control of the control module (6), performing secondary sampling on the water body at the designated position by using the sampling mechanism (3) and the conveying mechanism (4), and conveying the sampled water body into a first sample retention bottle (51) for storage;
and S4, repeating the steps S1 to S3, sampling the water bodies at other positions, and respectively conveying the water bodies to other different sample retention bottles (51) to realize multi-point water body sampling.
10. The multipoint water body sampling method according to claim 9, wherein the step S2 specifically comprises the steps of:
s21, starting a motor (21), enabling the motor (21) to rotate forwards, starting a timer, descending the sampling mechanism (3) to a corresponding height, closing the timer, and standing for a period of time so that the sampling mechanism (3) can collect the water body; after the standing time reaches a first preset time, the motor (21) rotates reversely, the timer is started, and the sampling mechanism (3) ascends gradually until the sampling mechanism (3) resets;
s22, after the sampling mechanism (3) is reset, starting the conveying mechanism (4) and the timer, starting timing by the timer, sucking the water sample in the sampling mechanism (3) into a first sample retention bottle (51) by the conveying mechanism (4), and after a second designated time, completely conveying the water body sampled for the first time in the sampling mechanism (3) into the first sample retention bottle (51);
s23, cleaning the inner wall of the first sample retention bottle (51) by using the water body sampled for the first time;
s24, closing a sealing mechanism on the first sample retention bottle (51), enabling a motor (21) to rotate positively, starting a timer, descending the sampling mechanism (3) to a specified height after a third specified time, and naturally exposing a first sampling pipe in the conveying mechanism (4) from the sampling mechanism (3) at the moment;
and S25, conveying air to the first sample retention bottle (51) by using the conveying mechanism (4), increasing the air pressure inside the first sample retention bottle (51), starting the corresponding liquid discharging mechanism (8) and the timer, starting timing by the timer, discharging the first sample retention bottle (51) through the liquid discharging hole, and discharging the water body sampled for the first time in the first sample retention bottle (51) after fourth appointed time.
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Application publication date: 20230113 |