CN207488010U - A kind of water quality automatic sampling system based on rotor wing unmanned aerial vehicle - Google Patents
A kind of water quality automatic sampling system based on rotor wing unmanned aerial vehicle Download PDFInfo
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- CN207488010U CN207488010U CN201621202781.3U CN201621202781U CN207488010U CN 207488010 U CN207488010 U CN 207488010U CN 201621202781 U CN201621202781 U CN 201621202781U CN 207488010 U CN207488010 U CN 207488010U
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Abstract
A kind of water quality automatic sampling system based on rotor wing unmanned aerial vehicle, suitable for water quality sampling and detection technique field.Mainly include rotary tray motor（1）, depth sensor（9）, sampling pump（12）, sampling bottle（16）, solenoid valve（17）, unmanned plane（19）, rocking arm（20）, controller（21）；Sampling pipe is driven by rotary tray motor and adjusts sampling depth, sampling pipe connects multiple sampling bottles by branch, and sampling bottle is arranged in the middle part of sampling platform seat, and platform base connects unmanned plane by rocking arm；It is bent by rocking arm, realizes the switching of unmanned plane during flying pattern and traction mode；Compensatory bending is implemented based on inclinometer monitoring and controlling rocking arm.System provided by the utility model realizes the organic assembling of water quality sampling and unmanned plane, makes full use of unmanned plane load and cruising ability, effectively keeps the balance of sampling system, has the characteristics that sampling is quick, convenient, efficient.
Description
Technical field
The utility model is related to water quality samplings and detection technique field, are particularly suitable for remote, large-scale surface water body
Sample collection.
Background technology
Water is material base for the survival of mankind, however, since economy is grown rapidly, prevention and cure of pollution are ineffective in addition, water
The seriously polluted numerous water bodys that threaten China.In order to grasp water quality situation and its variation tendency, need to river, river, lake, library,
The water bodys such as canal, sea carry out sampling analysis.
Traditional water quality sampling is typically to be operated by manual site, for large-scale surface water body, need to often take the friendships such as ship
Logical tool drives into appointed place and is sampled.The method efficiency of this artificial sample is low, for field water, can around employ ship
Member and infrastructure are deficient, and the method cost of artificial sampling by ship is higher；Especially for seriously polluted, Sudden Leakage position,
And the waters of environment complexity, such as the strategically located and difficult of access remote, marsh of landform, pest accumulation regions, artificial sample also more danger.
Inconvenient existing for traditional artificial sampling in order to solve, people have studied a variety of unmanned sample devices.As unmanned boat is adopted
Sample so that the convenience and efficiency of water body sampling greatly improve, but there are still personnel under complex environment to be difficult to reach water boundary,
It launches and the problem of recycling ship is inconvenient, and is difficult to accomplish grab sampling in the higher water body of flow velocity.Separately there are personnel to have studied nothing
Man-machine sample devices, unmanned machine operation wide coverage, mobility strong can contact water body under complex environment and implement sampling.
Such as 104458329 A of China Patent Publication No. CN, a kind of unmanned plane water surface fixed point automatic sampling system is invented, for water body
The water quality sampling on surface, flight acquire a water sample；105510082 A of China Patent Publication No. CN, have invented a kind of sea
Foreign environmental monitoring unmanned plane sampling apparatus, by the way that multiple lifting gears and water acquisition cylinder is set to realize the water quality sampling of multiple spot, this
Kind mode needs to set multiple motors, increases the load of unmanned plane；For another example 105842009 A of China Patent Publication No. CN, hair
Understand a kind of water quality monitoring unmanned plane water sample acquisition device, the sample storage device of arrangement on a toroidal support is driven to turn by driving motor
It is dynamic, realize that primary lift-off acquires multiple water samples, but this mode needs sample storage device to keep opening-wide state, easily cause water sample pollution or
It rocks and spills.
Although unmanned plane mobility strong, its load is limited, and the rotor wing unmanned aerial vehicle generally used is a kind of drive lacking
System, moving horizontally needs to realize by unmanned plane run-off the straight.And existing unmanned plane sample devices be unmanned plane and
Sampling apparatus simply combination be connected, it is not fine the considerations of sampling to the equilibrium problem of unmanned plane during flying, continuation of the journey problem, load ask
Topic, and the degree of automation is low, does not give full play to the advantage sampled based on unmanned plane.
Invention content
In view of the deficiency of prior art, the utility model, which provides a kind of water quality based on rotor wing unmanned aerial vehicle and samples automatically, is
System, can effectively realize that water quality samples automatically, and flight acquires multiple water samples, keep sampling system balance, effectively save
The power of unmanned plane.
The utility model is achieved through the following technical solutions.
A kind of water quality automatic sampling system based on rotor wing unmanned aerial vehicle described in the utility model, including rotary tray motor（1）、
Depth sensor（9）, sampling pump（12）, sampling bottle（16）, solenoid valve（17）, unmanned plane（19）, rocking arm（20）, controller
（21）.
The rotary tray motor（1）Pass through synchronous belt（2）Draw turntable（11）, turntable（11）Pass through rolling bearing（3）Gu
It is scheduled on platform base（5）On, cable（8）And sampling pipe（10）Wound side by side is in turntable（11）On；Cable（8）One end connection depth measurement
Sensor（9）, other end connection conducting slip ring（4）；Sampling pipe（10）Arrival end be disposed adjacent to depth sensor（9）Position
And and cable（8）It is mutually fixed, port of export connection rotary joint（13）.
Rotary joint（13）Pass through inlet tube（14）Connect sampling pump（12）, sampling pump（12）Outlet passes through inlet tube（14）
Branch's connection at least sampling bottle all the way（16）, sampling bottle（16）It is vertical to place, sampling bottle（16）Inlet is equipped with solenoid valve（17）,
Inlet tube（14）Stretch into sampling bottle（16）Bottom position, drain pipe（15）Stretch into sampling bottle（16）Bottle stopper position；Inlet tube（14）
Branch directly passes through solenoid valve（17）Connection at least drain pipe all the way（15）.
Sampling pump（12）And sampling bottle（16）It is each attached to platform base（5）On；Sampling bottle（16）It is arranged in platform base（5）In
Portion, rotary tray motor（1）, rolling bearing（3）, power supply（18）It is arranged in platform base（5）Up-sample bottle（16）Around.
Platform base（5）Bottom is provided with floating ball（6）, floating ball（6）It is arranged with foot pad（7）, platform base（5）Top is by shaking
Arm（20）Connect unmanned plane（19）.
Rotary tray motor（1）, conducting slip ring（4）, sampling pump（12）, solenoid valve（17）, power supply（18）, rocking arm（20）, deviational survey
Instrument（22）And controller（21）Connection.
Further, the depth sensor（9）For noncontacting proximity sensor.
Further, the depth sensor（9）For ultra-sonic depth finder.
Further, the rocking arm（20）It can bend, ranging from 0-90 ° of bending angle.
The automatic method of sampling of a kind of water quality based on rotor wing unmanned aerial vehicle described in the utility model, includes the following steps.
（One）Remotely pilotless machine（19）It is made to take water quality sampling system to fly and drop to setting sampled point, and rest on water
Body surface face.
（Two）Pass through depth sensor（9）Water depth is tested, is determined to need the depth sampled according to the depth of water, passes through turntable
Motor（1）Discharge cable（8）And sampling pipe（10）So that sampling pipe（10）Entrance reaches setting depth of water position.
（Three）Synchronous averaging sampling pump（12）With with drain pipe（15）Connected solenoid valve（17）, make water sample empty one section when
Between；It is then shut off and drain pipe（15）Connected solenoid valve（17）, while start and empty sampling bottle inlet tube（14）Connected electricity
Magnet valve（17）, implement water quality sampling, close the solenoid valve after the completion（17）And sampling pump（12）.
（Four）Pass through rotary tray motor（1）Adjust sampling pipe（10）Entrance repeats step to next depth of water position（Three）；If
It needs to sample in deeper multiple positions, then adjusts sampling pipe after often having acquired the position of a certain depth（10）Entrance is to next
Depth of water position simultaneously repeats step（Three）Until bosom sample collection finishes.
（Five）After the sampled point water quality sampling, pass through rocking arm（20）It is bent unmanned plane（19）It is set to heeling condition,
Start unmanned plane（19）Traction takes water quality sampling system and next place's sampled point is dragged on the water surface, repeats step（Two）、
（Three）、（Four）.
（Six）After sampling, start unmanned plane（19）It draws and water quality sampling system is dragged to and operated on the water surface
The position that personnel are closer to, passes through rocking arm（20）It is bent unmanned plane（19）Horizontality is classified as from inclination；Start unmanned plane
（19）Ground is back into offline mode and by sampling system band.
Further, step（Six）Unmanned plane（19）Offline mode in, controller（21）Pass through inclinometer（22）Monitoring
Platform base（5）Angle of inclination, and rocking arm is controlled in a manner of close loop negative feedback（20）It bends to keep platform base（5）Water
It is flat.
Advantageous effect：The utility model makes full use of that unmanned plane job area is wide, mobility strong, can be under complex environment
The characteristics of water body implements sampling is contacted, has and samples convenient, safe and efficient advantage.Sampling system is arranged on by sampling bottle
Middle part, other units are arranged on surrounding, are conducive to system gravity before and after reducing sampling and deviate, improve the stabilization and balance of system
Property.The bending implemented by Dip Angle Monitoring to rocking arm carries out feedback control, and then ensures flight course sampling bottle and sampling system
Level, further improve the balance of system, realize sampling and the organic assembling of unmanned plane.It is bent, realized by rocking arm
The switching of unmanned plane during flying pattern and traction mode rationally using the empty two kinds of Move Modes of water, effectively increases sampling system
Load and cruising ability.By the setting of sampling pipe branch and solenoid valve, realize that sampling system once descends water, multiple water samples to adopt
Collection, has the characteristics that energy saving, quick, efficient.
An expanding function and advantage as the utility model：It is general when being sampled in the higher water body of flow velocity
Unmanned boat sampling system can be by water because of the unmanned plane sampling system for swimming on the water surface or needing to be put into sampling bottle inside water body
Stream is impacted it is difficult to accomplish grab sampling, and the utility model can manipulate unmanned plane floating and rest on above water body, only will be with survey
Deep sensor probe（Have weight effect concurrently）The sampling tube inlet end of binding together is put into water body, effectively avoids the excessively high water of flow velocity
It is impacted caused by stream, keeps grab sampling.
Description of the drawings
Fig. 1 is the overall structure diagram of one embodiment of the utility model.
Fig. 2 is the utility model sampling section control system architecture figure.
Fig. 3 is the mating remote control part control system architecture figure of the utility model.
In figure：1. rotary tray motor, 2. synchronous belts, 3. rolling bearings, 4. conducting slip rings, 5. platform bases, 6. floating balls, 7. feet
Pad, 8. cables, 9. depth sensors, 10. sampling pipes, 11. turntables, 12. sampling pumps, 13. rotary joints, 14. inlet tubes, 15.
Drain pipe, 16. sampling bottles, 17. solenoid valves, 18. power supplys, 19. unmanned planes, 20. rocking arms, 21. controllers, 22. inclinometers, 23.
Rotor.
Specific embodiment
As shown in Figure 1, a kind of water quality automatic sampling system based on rotor wing unmanned aerial vehicle of the utility model, including rotary tray motor
1st, depth sensor 9, sampling pump 12, sampling bottle 16, solenoid valve 17, unmanned plane 19, rocking arm 20, controller 21；
The rotary tray motor 1 draws turntable 11 by synchronous belt 2, and turntable 11 is fixed on platform base 5 by rolling bearing 3
On, cable 8 and 10 wound side by side of sampling pipe are on turntable 11；One end connection depth sensor 9 of cable 8, other end connection are led
Electric slip ring 4；The arrival end of sampling pipe 10 is disposed adjacent to 9 position of depth sensor and is fixed with 8 phase of cable, port of export connection rotation
Adapter 13.
Rotary joint 13 connects sampling pump 12 by inlet tube 14, and the outlet of sampling pump 12 is connected to by 14 branch of inlet tube
Few sampling bottle 16 all the way, four road sampling bottles are connected with as Fig. 1 show, can 1 ~ 4# of label, the vertical placement of sampling bottle 16, sampling bottle 16
Inlet is equipped with solenoid valve 17, and inlet tube 14 stretches into 16 bottom position of sampling bottle, and drain pipe 15 stretches into 16 bottle stopper position of sampling bottle；
14 branch of inlet tube directly connects at least drain pipe 15 all the way by solenoid valve 17.
Sampling pump 12 and sampling bottle 16 are each attached on platform base 5；Sampling bottle 16 is arranged in 5 middle part of platform base, turntable electricity
Machine 1, rolling bearing 3, power supply 18 are arranged in platform base 5 and up-sample around bottle 16.
5 bottom of platform base is provided with floating ball 6, and floating ball 6 is arranged with foot pad 7, and 5 top of platform base connects nothing by rocking arm 20
Man-machine 19.
Rotary tray motor 1, conducting slip ring 4, sampling pump 12, solenoid valve 17, power supply 18, rocking arm 20, inclinometer 22 with control
Device 21 connects.
Further, the depth sensor 9 is noncontacting proximity sensor.
Further, the depth sensor 9 is ultra-sonic depth finder.
Further, the rocking arm 20 can bend, ranging from 0-90 ° of bending angle.
With reference to attached drawing 1, Fig. 2 and Fig. 3, a kind of automatic method of sampling of water quality based on rotor wing unmanned aerial vehicle includes the following steps.
（One）Remotely pilotless machine 19 makes it take water quality sampling system to fly and drop to setting sampled point, and rest on water body
Surface.
（Two）Water depth is tested by depth sensor 9, is determined to need the depth sampled according to the depth of water, passes through turntable electricity
Machine 1 discharges cable 8 and sampling pipe 10 so that 10 entrance of sampling pipe reaches setting depth of water position.
（Three）Synchronous averaging sampling pump 12 and the solenoid valve 17 being connected with drain pipe 15 make water sample emptying a period of time；So
The solenoid valve 17 being connected with drain pipe 15 is closed afterwards, while starts the solenoid valve 17 being connected with empty sampling bottle inlet tube 14, is implemented
Water quality sampling closes the solenoid valve 17 and sampling pump 12 after the completion.
（Four）10 entrance of sampling pipe is adjusted to next depth of water position by rotary tray motor 1, repeats step 3；If deeper
Multiple positions need to sample, then often acquired behind the position of a certain depth adjustment 10 entrance of sampling pipe to next depth of water position
And repeat step（Three）Until bosom sample collection finishes.
（Five）It after the sampled point water quality sampling, is bent by rocking arm 20 and unmanned plane 19 is set to heeling condition, started
Unmanned plane 19 is drawn, and takes water quality sampling system and next place's sampled point is dragged on the water surface, repeat step（Two）、（Three）、
（Four）.
（Six）After sampling, start unmanned plane 19 and draw and be dragged to water quality sampling system on the water surface and operator
The position that member is closer to, is bent by rocking arm 20 unmanned plane 19 being classified as horizontality from inclination；Startup unmanned plane 19, which enters, to fly
Sampling system band is simultaneously back to ground by row pattern.
Further, step（Six）In the offline mode of unmanned plane 19, controller 21 passes through 22 monitoring platform seat 5 of inclinometer
Angle of inclination, and rocking arm 20 is controlled to bend in a manner of close loop negative feedback to keep platform base 5 horizontal.
When carrying out water quality sampling, inputted and instructed by remote controler, instructed by being wirelessly transmitted to controller 21, controller 21
Start unmanned plane 19 so that water quality sampling system flies and drop to setting sampled point.Under the buoyancy of floating ball 6, entirely
Water quality sampling system floatability closes 19 rotor 23 of unmanned plane above the water surface, then sends a command to controller by remote control
21 carry out sampling operation.
Water depth is tested by depth sensor 9, such as water depth of detection is 30m, determines to need to adopt according to the depth of water
The depth of sample, according to environmental industry standard《Surface water and sewage monitoring technical specification》, sampling depth of water setting under the conditions of depth of water 30m
For 0.5,15.0,29.5m, cable 8 and sampling pipe 10 are discharged by rotary tray motor 1, under the gravity of depth sensor 9,
Sampling pipe 10 can be kept straight down so that 10 entrance of sampling pipe reaches setting depth of water position, such as 0.5m.
Synchronous averaging sampling pump 12 and the solenoid valve 17 being connected with drain pipe 15 implement water sample emptying a period of time, such as
20s；The solenoid valve 17 being connected with drain pipe 15 is then shut off, while it is that 1# inlet tubes 14 are connected to start with empty sampling bottle such as number
Solenoid valve 17, implement water quality sampling, close solenoid valve 17 and sampling pump 12 after the completion.Since sampling bottle 16 is arranged on sampling system
Around system middle part, other units are arranged on, are conducive to system gravity before and after reducing sampling and deviate, improve system in the water surface and flight
Stabilization and balance in the process.
10 entrance of sampling pipe is adjusted to next depth of water position, such as 15.0m by rotary tray motor 1.Start 12 He of sampling pump
The solenoid valve 17 being connected with drain pipe 15 implements water sample emptying a period of time, such as 20s；It is then shut off what is be connected with drain pipe 15
Solenoid valve 17, while start the solenoid valve 17 being connected with empty sampling bottle as numbered the sampling bottle inlet tube 14 for being 2#, implement water quality
Solenoid valve 17 and sampling pump 12 are closed in sampling after the completion.
After the water quality sampling of all depth of the sampled point, be bent by rocking arm 20 unmanned plane 19 is set to it is skewed
State such as tilts 80 °.Start unmanned plane 19, under the draw of rotor 23, sampling system is dragged on the water surface, and travels
Continue to implement sampling to next place's sampled point.The utility model realizes sampling by the setting of sampling pipe multiple-limb and solenoid valve
System once descends water, multiple water samplings, has the characteristics that energy saving, quick, efficient.
After sampling, start 19 draw of unmanned plane, water quality sampling system is dragged to from the water surface and operator
The position that member is closer to, is bent by rocking arm 20 unmanned plane 19 being classified as horizontality from inclination；Startup unmanned plane 19, which enters, to fly
Sampling system band is simultaneously back to ground by row pattern.In the process, the inclination angle of 16 place platform base 5 of sampling bottle is monitored, and is passed through
The mode of close loop negative feedback implements compensatory bending to rocking arm 20, to ensure the level of platform base 5, prevent sampling bottle 16 rock or
Topple over, improve the balance of system, realize the organic assembling of water quality sampling and unmanned plane 19.Also, it is bent by rocking arm 23,
Realize the switching of unmanned plane during flying pattern and traction mode so that system tool makes full use of sampling system there are two types of move mode
The floating united on the water surface is moved, and is effectively saved the loading commissions of sampling system, is improved cruising ability.
A specific embodiments as the utility model：When being sampled in the higher water body of flow velocity, unmanned plane is manipulated
19 carrying water quality sampling systems are vacantly rested on above water body, and only will have weight effect concurrently with the probe of depth sensor 9 bundlees
10 arrival end of sampling pipe together is put into water body, is effectively avoided impacting caused by the excessively high flow of flow velocity, is kept grab sampling.
Claims (4)
1. a kind of water quality automatic sampling system based on rotor wing unmanned aerial vehicle, it is characterized in that including rotary tray motor（1）, depth sensor
（9）, sampling pump（12）, sampling bottle（16）, solenoid valve（17）, unmanned plane（19）, rocking arm（20）, controller（21）；
The rotary tray motor（1）Pass through synchronous belt（2）Draw turntable（11）, turntable（11）Pass through rolling bearing（3）It is fixed on
Platform base（5）On, cable（8）And sampling pipe（10）Wound side by side is in turntable（11）On；Cable（8）One end connection depth measurement sensing
Device（9）, other end connection conducting slip ring（4）；Sampling pipe（10）Arrival end be disposed adjacent to depth sensor（9）Position and with
Cable（8）It is mutually fixed, port of export connection rotary joint（13）；
Rotary joint（13）Pass through inlet tube（14）Connect sampling pump（12）, sampling pump（12）Outlet passes through inlet tube（14）Branch
Connection at least sampling bottle all the way（16）, sampling bottle（16）It is vertical to place, sampling bottle（16）Inlet is equipped with solenoid valve（17）, feed liquor
Pipe（14）Stretch into sampling bottle（16）Bottom position, drain pipe（15）Stretch into sampling bottle（16）Bottle stopper position；Inlet tube（14）Branch
Directly pass through solenoid valve（17）Connection at least drain pipe all the way（15）；
Sampling pump（12）And sampling bottle（16）It is each attached to platform base（5）On；Sampling bottle（16）It is arranged in platform base（5）Middle part,
Rotary tray motor（1）, rolling bearing（3）, power supply（18）It is arranged in platform base（5）Up-sample bottle（16）Around；
Platform base（5）Bottom is provided with floating ball（6）, floating ball（6）It is arranged with foot pad（7）, platform base（5）Top passes through rocking arm
（20）Connect unmanned plane（19）；
Rotary tray motor（1）, conducting slip ring（4）, sampling pump（12）, solenoid valve（17）, power supply（18）, rocking arm（20）, inclinometer
（22）And controller（21）Connection.
2. a kind of water quality automatic sampling system based on rotor wing unmanned aerial vehicle according to claim 1, it is characterized in that described
Depth sensor（9）For noncontacting proximity sensor.
3. a kind of water quality automatic sampling system based on rotor wing unmanned aerial vehicle according to claim 1, it is characterized in that described
Depth sensor（9）For ultra-sonic depth finder.
4. a kind of water quality automatic sampling system based on rotor wing unmanned aerial vehicle according to claim 1, it is characterized in that described
Rocking arm（20）It can bend, ranging from 0-90 ° of bending angle.
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| CN201621202781.3U CN207488010U (en) | 2016-11-08 | 2016-11-08 | A kind of water quality automatic sampling system based on rotor wing unmanned aerial vehicle |
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| CN201621202781.3U CN207488010U (en) | 2016-11-08 | 2016-11-08 | A kind of water quality automatic sampling system based on rotor wing unmanned aerial vehicle |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109060442A (en) * | 2018-09-26 | 2018-12-21 | 浙江大学 | Autonomous fixed point depthkeeping formula water body sampling system and its method based on unmanned plane |
| CN109211321A (en) * | 2018-09-21 | 2019-01-15 | 商丘师范学院 | A kind of sewage automatic detection device |
| CN109883767A (en) * | 2019-03-14 | 2019-06-14 | 中兴仪器（深圳）有限公司 | A kind of sampling gondola and unmanned plane based on unmanned plane |
-
2016
- 2016-11-08 CN CN201621202781.3U patent/CN207488010U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109211321A (en) * | 2018-09-21 | 2019-01-15 | 商丘师范学院 | A kind of sewage automatic detection device |
| CN109060442A (en) * | 2018-09-26 | 2018-12-21 | 浙江大学 | Autonomous fixed point depthkeeping formula water body sampling system and its method based on unmanned plane |
| CN109883767A (en) * | 2019-03-14 | 2019-06-14 | 中兴仪器（深圳）有限公司 | A kind of sampling gondola and unmanned plane based on unmanned plane |
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