CN212988868U - Depthkeeping water quality sampling device based on many rotor unmanned aerial vehicle - Google Patents
Depthkeeping water quality sampling device based on many rotor unmanned aerial vehicle Download PDFInfo
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- CN212988868U CN212988868U CN202020855050.9U CN202020855050U CN212988868U CN 212988868 U CN212988868 U CN 212988868U CN 202020855050 U CN202020855050 U CN 202020855050U CN 212988868 U CN212988868 U CN 212988868U
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Abstract
The utility model provides a depthkeeping water quality sampling device based on many rotor unmanned aerial vehicle relates to unmanned aerial vehicle and water quality monitoring cross field, a depthkeeping water quality sampling device based on many rotor unmanned aerial vehicle includes many rotor unmanned aerial vehicle, water sampling device, ground control station. The method is characterized in that: the ground control station is used for planning a route, sending an acquisition instruction and displaying the water sampling task progress and the surrounding environment state of a sampling point in real time; many rotor unmanned aerial vehicle below sets up water sampling device, utilizes direct current gear motor control vertical type water sampler to get into and carry out water sample collection in the waters, confirms the sampling position through the distance of adjustment water logging formula sensor and vertical type water sampler to realize depthkeeping ration collection water sample. This device simple structure, convenient operation provides convenience for water sample collection, the effectual efficiency that improves water sample collection.
Description
Technical Field
The invention relates to a depthkeeping water quality sampling device based on a multi-rotor unmanned aerial vehicle, and belongs to the crossing field of unmanned aerial vehicles and water quality monitoring.
Background
In recent years, surface water resources have become more and more polluted due to the influence of human activities. In water environment treatment work, in order to find out the current situation of the surface water environment, water areas such as rivers, lakes and reservoirs need to be subjected to depth-fixed sampling.
At present, the water quality monitoring field in China is mainly completed by manual monitoring, unmanned ship monitoring and remote sensing shooting by satellites, the manual monitoring needs on-site sampling, the period is long, the working efficiency is low, and a large amount of manpower and material resources need to be consumed; when the unmanned ship monitors that the water surface is seriously polluted or has a large amount of floating objects, the unmanned ship is also blocked and polluted, and has certain limitation on the water area environment; the resolution ratio of satellite remote sensing shooting is lower, and the influence by the atmosphere is more serious. And water sample automatic acquisition system based on unmanned aerial vehicle adopts many rotor unmanned aerial vehicle as carrying platform, has good stability and the nature controlled, and the location is accurate, and the flexibility of taking off and land, the security is high. The method is not limited by obstacles and topographic conditions, saves manpower and material resources, is beneficial to high efficiency, accuracy and informatization of environmental sampling, and makes up for the defects of the method. The patent with the publication number of CN 106885712A discloses an unmanned aerial vehicle-based water quality sampler, which is characterized in that a sampling mechanism is arranged below an unmanned aerial vehicle, a first motor is used for controlling the sampling mechanism to enter a lake for water sample collection, a second motor is used for controlling a plug to move downwards after collection is finished, a sampling test tube for collecting the water sample is sealed, splashing in the moving process is prevented, automatic collection of the water sample in the lake is realized, workers do not need to take a boat to collect the water sample any more, the labor intensity of the workers is effectively relieved, and convenience is brought to the lake water sample collection; however, it has some disadvantages in practical application, such as: the water sampling task planning and the real-time monitoring of the water sampling state can not be accurately carried out at a ground station, and the accurate fixed-depth collection by using a standard sampler can not be ensured; the collected water sample cannot be guaranteed not to be polluted, and the real water quality parameters are influenced.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention designs a depthkeeping water quality sampling device based on a multi-rotor unmanned aerial vehicle. The device can realize that water sampling task planning and collection task sending are carried out at a ground station and the surrounding environment of a sampling water area and the distance between a current sampling point and the water surface depth are displayed in real time, and accurate depth-fixing collection is realized according to a water sample collection technical specification. The standardization and the accuracy of water sample collection are ensured, and the water collection efficiency is greatly improved.
In order to achieve the technical purpose, the invention discloses a fixed-depth water quality sampling device based on a multi-rotor unmanned aerial vehicle. Many rotor unmanned aerial vehicle includes fuselage, transmission system, flight control ware, GPS, compass, battery, transmitter.
4 mounting pillars (13) are fixed below the unmanned aerial vehicle; the mounting support is connected with a detachable platform (12) to form an accommodating cavity with the unmanned aerial vehicle; the water sampling device consists of a vertical water sampler, a sampling point position control device and a camera device (14); the sampling point position control device consists of a single chip microcomputer (6), a direct current speed reducing motor (1), a connecting gasket (2), a winding roller (3), a bearing (4), a mounting bracket (5), a water immersion type sensor spring cable (7), a connecting rope (8), a motor forward and reverse rotation module (9), a battery (10), a waterproof cover (11), a water immersion type sensor (15) and a vertical water sampler (16); the direct current speed reducing motor (1) is connected with a winding roller (3) through a connecting gasket (2), a bearing (4) and a mounting bracket (5) and is fixed on a detachable mounting platform (12); one section of the connecting rope is wound on the winding roller (3), and the other end of the connecting rope is connected with the vertical water sampler (16) through a through hole on the detachable platform; the single chip microcomputer (6) and the waterproof cover (11) are fixed on the detachable installation platform, and the motor forward and reverse rotation module (9) and the battery (10) are fixed below the waterproof cover (11); the water immersion sensor (15) is connected to a connecting rope (8) of the vertical water sampler and is connected to the singlechip (6) by a water immersion sensor spring cable (7); the camera equipment is fixed at the bottom of the detachable installation platform. The ground control station comprises a computer and mobile communication equipment.
As an improved technical scheme of the invention, a wireless communication module is arranged on a singlechip of a control circuit board, and the direct current speed reducing motor, the motor forward and reverse rotation module, the battery and the camera equipment are respectively connected with the singlechip.
The improved technical scheme of the invention is that the water sampling device is provided with camera equipment for sampling water quality and monitoring the state during sampling in real time; meanwhile, the data is transmitted back to the ground station in real time through the wireless communication module.
As an improved technical scheme of the invention, the water quality sampling device can replace a suitable collection bottle according to the water quality detection index.
As an improved technical scheme of the invention, the position of the water sensor is adjustable and can be adjusted according to the sampling depth requirement.
As an improved technical scheme, the acquisition device adopts an intelligent control system, the unmanned aerial vehicle and the ground end communicate to control operation, and the ground station can plan a water acquisition task and send an acquisition starting instruction and an acquisition stopping instruction.
Drawings
Fig. 1 is a block diagram of the flow of water quality sampling according to the present invention.
Fig. 2 is a water quality sampling device based on a multi-rotor unmanned aerial vehicle.
FIG. 3 is a drawing of the water sampling apparatus of the present invention;
the device comprises a direct-current speed reducing motor 1, a connecting gasket 2, a winding roller 3, a bearing 4, a mounting support 5, a single chip microcomputer 6, a water immersion type sensor spring cable 7, a connecting rope 8, a motor forward and reverse rotation module 9, a battery 10, a waterproof cover 11, a detachable mounting platform 12, a mounting support 13, a camera 14 and a water immersion type sensor 15. 16-vertical water sampler.
Detailed Description
As shown in fig. 1, a flow block diagram of a depthkeeping water quality sampling device based on a multi-rotor unmanned aerial vehicle specifically includes the following steps:
step 1: the distance from the water immersion type sensor to the vertical type sensor is adjusted according to the water collecting task requirement.
Step 2: the inspection and the automatic calibration of each subassembly and the module of many rotor unmanned aerial vehicle ensure that each subassembly and the module of unmanned aerial vehicle satisfy the requirement of taking off to and adopt water installation and ground station state normal.
And step 3: planning a water collection mission route at the ground station according to the sampling water surface, setting parameters such as flight speed, return terminal and the like, writing a planned route command into a flight controller, unlocking the unmanned aerial vehicle and sending a flight command.
And 4, step 4: many rotor unmanned aerial vehicle fly to the assigned position according to the airline, and ground station sends the acquisition instruction, and direct current gear motor drives the wire winding gyro wheel and transfers vertical type water sampler. When the vertical water sampler contacts with the water surface, the bayonet at the bottom of the vertical water sampler is opened.
And 5: when the water immersion sensor contacts the water surface, the single chip microcomputer receives a signal and stops the motor to rotate forwards (namely the preset water sampling depth is reached).
Step 6: the single chip microcomputer starts the motor to rotate reversely, and meanwhile, the bayonet at the bottom of the vertical water sampler is closed, and the vertical water sampler is withdrawn. And the ground station monitors the progress of the water collection task in real time.
And 7: many rotor unmanned aerial vehicle return voyage. And (4) taking down the sampling bottle by ground staff, measuring the project on site, and taking the rest projects back to the laboratory to be detected and tested by various instruments.
And 8: and the ground station monitors the water-collecting surrounding environment and the progress of the water-collecting task in real time.
The above description is only the most effective embodiment of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the scope of the invention.
Claims (7)
1. A depthkeeping water quality sampling device based on a multi-rotor unmanned aerial vehicle comprises the multi-rotor unmanned aerial vehicle, a water collecting device and a ground control station; the multi-rotor unmanned aerial vehicle comprises a body, a transmission system, a flight controller, a GPS, a compass, a battery and a transmitter; the method is characterized in that: 4 mounting pillars (13) are fixed below the unmanned aerial vehicle; the mounting support is connected with a detachable mounting platform (12) to form an accommodating cavity with the unmanned aerial vehicle; the water sampling device consists of a vertical water sampler, a sampling point position control device and a camera device (14); the sampling point position control device consists of a single chip microcomputer (6), a direct current speed reducing motor (1), a connecting gasket (2), a winding roller (3), a bearing (4), a mounting bracket (5), a water immersion type sensor spring cable (7), a connecting rope (8), a motor forward and reverse rotation module (9), a battery (10), a waterproof cover (11), a water immersion type sensor (15) and a vertical water sampler (16); the direct current speed reducing motor (1) is connected with a winding roller (3) through a connecting gasket (2), a bearing (4) and a mounting bracket (5) and is fixed on a detachable mounting platform (12); one section of the connecting rope is wound on the winding roller (3), and the other end of the connecting rope is connected with the vertical water sampler (16) through a through hole on the detachable platform; the single chip microcomputer (6) and the waterproof cover (11) are fixed on the detachable installation platform, and the motor forward and reverse rotation module (9) and the battery (10) are fixed below the waterproof cover (11); the water immersion sensor (15) is connected to a connecting rope (8) of the vertical water sampler and is connected to the singlechip (6) by a water immersion sensor spring cable (7); the camera shooting equipment is fixed at the bottom of the detachable installation platform; the ground control station comprises a computer and mobile communication equipment.
2. The depthkeeping water quality sampling device based on many rotor unmanned aerial vehicle of claim 1, characterized in that: the water sampling device is provided with camera equipment for monitoring the surrounding environment state when water samples are collected; and transmits the data back to the ground station in real time through the wireless data transmission module.
3. The depthkeeping water quality sampling device based on many rotor unmanned aerial vehicle of claim 1, characterized in that: the water immersion type sensor in the sampling point position control device feeds back contact water surface information according to the change of a medium according to the liquid conduction principle, the distance from the water immersion type sensor to the vertical water sampler obtains the position of the vertical water sampler below the water surface, and the singlechip controls the water sampler so as to achieve the purpose of depth-fixed acquisition.
4. The depthkeeping water quality sampling device based on many rotor unmanned aerial vehicle of claim 1, characterized in that: the bayonet socket control water sample business turn over in vertical type water sampler bottom, whole journey keeps the water sample not to contact with the air, can prevent that the water sample from being polluted and losing the authenticity.
5. The depthkeeping water quality sampling device based on many rotor unmanned aerial vehicle of claim 1, characterized in that: the cable connected with the water immersion sensor and the single chip microcomputer is elastic, and the position of the water immersion sensor can be adjusted through stretching.
6. The depthkeeping water quality sampling device based on many rotor unmanned aerial vehicle of claim 1, characterized in that: the single chip microcomputer, the motor forward and reverse rotation module and the battery are all provided with waterproof covers.
7. The depthkeeping water quality sampling device based on many rotor unmanned aerial vehicle of claim 1, characterized in that: this collection system adopts intelligence control system, passes through wireless communication module communication by unmanned aerial vehicle, singlechip and ground station, and the ground station can plan the water collection task, sends and begins to gather and stop to gather the instruction to show unmanned aerial vehicle position state, water collection task progress and state.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113607490A (en) * | 2021-09-07 | 2021-11-05 | 中国计量大学 | Water volatile substance sampling device based on double unmanned aerial vehicles |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113607490A (en) * | 2021-09-07 | 2021-11-05 | 中国计量大学 | Water volatile substance sampling device based on double unmanned aerial vehicles |
| CN113607490B (en) * | 2021-09-07 | 2023-09-15 | 中国计量大学 | Water body volatile substance sampling device based on two unmanned aerial vehicle |
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