CN214150420U - Unmanned aerial vehicle unmanned ship is water installation in coordination - Google Patents
Unmanned aerial vehicle unmanned ship is water installation in coordination Download PDFInfo
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- CN214150420U CN214150420U CN202022915304.4U CN202022915304U CN214150420U CN 214150420 U CN214150420 U CN 214150420U CN 202022915304 U CN202022915304 U CN 202022915304U CN 214150420 U CN214150420 U CN 214150420U
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Abstract
The utility model discloses an unmanned aerial vehicle unmanned ship is water installation in coordination, include: the unmanned aerial vehicle is provided with an unmanned aerial vehicle GPS positioning device, an unmanned aerial vehicle wireless communication device, a flight controller and a multispectral camera; the unmanned ship is provided with an unmanned ship GPS positioning device, an unmanned ship communication device, a ship body controller and a water body sampling device; the system comprises an onshore control system, wherein the onshore control system controls the unmanned aerial vehicle and the unmanned ship to operate and carries out communication and data transmission, the onshore control system controls the unmanned aerial vehicle to fly above the water surface, multispectral images of a water area are shot by a multispectral camera and transmitted to the onshore control system, and the onshore control system analyzes the images to determine a pollution source and then controls the unmanned ship to go to the pollution source for sampling. Through the cooperation of unmanned aerial vehicle and unmanned ship, enlarged water sampling range, improved the efficiency of water sampling, to water real-time scanning analysis and sampling, improved the precision of water quality analysis.
Description
Technical Field
The utility model belongs to the technical field of the unmanned air vehicle technique and specifically relates to a unmanned aerial vehicle unmanned ship is water installation in coordination.
Background
With the improvement of the quality of life, the requirements of people on water quality are continuously improved, and the problem of water pollution also draws high attention of society. In this context, the problem of water pollution control is imminent. Sampling the water quality of polluted water source is an effective means for treating water pollution.
Common water quality sampling methods are divided into manual sampling and unmanned equipment sampling. The manual sampling is that workers take a boat to a sampled water area to collect water quality and then return to a laboratory to analyze the water quality, and the method is time-consuming, labor-consuming and dangerous. Unmanned equipment sampling refers to that workers carry relevant sampling equipment or water quality monitoring equipment to a sampled water area by using unmanned equipment such as unmanned planes, unmanned ships and the like to perform unmanned water sampling or online water quality monitoring. The method not only improves the efficiency of water quality sampling, but also reduces the cost and the danger of the traditional water quality monitoring. However, most of the existing unmanned water collection equipment adopts single equipment such as unmanned aerial vehicles or unmanned ships to collect water quality information, and is limited by objective environment, the visual field of the equipment and the duration, so that the sampling capacity and the sampling range of the unmanned equipment are greatly limited. Patent No. CN201611011437.0 discloses a water quality inspection and pollutant tracing system and method based on unmanned equipment. The unmanned aerial vehicle and unmanned ship cooperative water quality monitoring is realized, but the unmanned aerial vehicle and unmanned ship cooperative water quality monitoring only can realize a water quality online monitoring function and cannot realize a water sampling function, so that the accuracy of water quality data is seriously reduced. And the unmanned ship carries the unmanned aerial vehicle to search for the pollution source, and then the unmanned ship is used for positioning the pollution source, so that the cruising ability of the unmanned ship is greatly reduced, and the monitoring range of the monitored water area is greatly reduced.
SUMMERY OF THE UTILITY MODEL
Utility model purpose: in order to overcome the not enough of background art, the utility model discloses an unmanned aerial vehicle unmanned ship is water installation in coordination.
The technical scheme is as follows: unmanned aerial vehicle unmanned ship water installation in coordination, include:
the unmanned aerial vehicle is provided with an unmanned aerial vehicle GPS positioning device, an unmanned aerial vehicle wireless communication device, a flight controller and a multispectral camera;
the unmanned ship is provided with an unmanned ship GPS positioning device, an unmanned ship communication device, a ship body controller and a water body sampling device;
the system comprises an onshore control system, wherein the onshore control system controls the unmanned aerial vehicle and the unmanned ship to operate and carries out communication and data transmission, the onshore control system controls the unmanned aerial vehicle to fly above the water surface, multispectral images of a water area are shot by a multispectral camera and transmitted to the onshore control system, and the onshore control system analyzes the images to determine a pollution source and then controls the unmanned ship to go to the pollution source for sampling.
Further, the bottom of unmanned ship is located to water sampling device, including the sampling frame, be equipped with the sampling bottle in the sampling frame, be equipped with the sampling pipe on the sampling bottle, sample through the water pump.
Furthermore, the sampling bottle is equipped with a plurality ofly in the sampling frame, the sampling pipe passes through the reposition of redundant personnel interface and is connected with every sampling bottle, and every reposition of redundant personnel mouth department all is equipped with an electromagnetism water valve, and every electromagnetism water valve is controlled by the relay of difference, samples respectively to each sampling bottle as required.
Furthermore, the sampling pipe is connected with the sampling bottle through the steering wheel, and the rotation of the sampling pipe is realized through controlling the steering wheel to rotate, so that the water inlet of the sampling pipe is positioned in different water depths.
Furthermore, a video transmission device is arranged on the unmanned ship and communicated with the onshore control system through an unmanned ship communication device, and a monitored water area picture is provided for the onshore control system.
Furthermore, obstacle avoidance devices are arranged on the periphery of the unmanned ship body.
Has the advantages that: compared with the prior art, the utility model has the advantages that: carry multispectral camera through unmanned aerial vehicle and carry out aerial quick spectral scanning to being sampled the waters, form the whole spectral image who is sampled the waters, independently discern the pollution source and return the GPS positional information of pollution source, control system sends time information for unmanned ship to the bank, unmanned ship carries water sampling device and independently cruises to the target point and adopts water, cooperation through unmanned aerial vehicle and unmanned ship, the quality of water sampling scope has been enlarged from the technical aspect, the efficiency of quality of water sampling has been improved, scan analysis and sampling in real time to the water, the precision of quality of water analysis has been improved. On the economic aspect, the method reduces the labor cost of manpower and saves the expenditure of water quality sampling work.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a water sampling device of the present invention;
fig. 3 is a flow chart of the present invention.
Detailed Description
The technical solution of the present invention will be further explained with reference to the accompanying drawings and examples.
Unmanned aerial vehicle unmanned ship collaborative water sampling device as shown in figure 1 includes: unmanned aerial vehicle 1, unmanned ship 2 and shore control system.
The unmanned aerial vehicle 1 comprises a vehicle body, a motor, a propeller blade and a lithium battery, wherein the unmanned aerial vehicle 1 is provided with an unmanned aerial vehicle GPS positioning device 101, an unmanned aerial vehicle wireless communication device 102, a flight controller 103 and a multispectral camera 104; wherein, the head direction of the flight controller 103 is the advancing direction of the unmanned aerial vehicle, i.e. the head direction.
The flight controller 103 selects Holybro Pixhawk4 as a control unit of the unmanned aerial vehicle, and controls the attitude and flight parameters of the unmanned aerial vehicle to perform data fusion processing. Propeller blades are installed on the motors, the four groups of motors are distributed around the flight controller 103 in a cross shape and are connected with PWM wave output ports of the flight controller, the flight controller controls the rotating speeds of different motors by controlling the range of output PWM waves, and finally the control of the attitude and the rotating speed of the unmanned aerial vehicle is realized. The unmanned aerial vehicle wireless communication device 102 selects three LC6600 data transmission modules, the modules are respectively connected with the flight controller 103, the onshore control system and the unmanned ship controller 203 through a UART protocol, a data transmission mode adopts a broadcast mode, namely, any node sends data and other nodes can receive the data, so that data receiving and sending processing among the unmanned aerial vehicle, the onshore control system and the unmanned ship is realized. The GPS positioning device 101 is connected with the flight controller 103 through an IIC protocol, so that the unmanned aerial vehicle can be autonomously positioned and the position of the pollution source can be positioned. The multispectral camera 104 is a 5-channel multispectral camera special for remote sensing and is connected with a flight controller through an SPI protocol, an unmanned aerial vehicle carries the multispectral camera to fly above a water body to be measured according to a planned path, the multispectral camera scans and shoots a sampling area in the flying process, finally, the shot pictures are fused to form a complete multispectral image, a pollution source is analyzed from the image, and the unmanned aerial vehicle wireless communication device 102 sends the position information of the pollution source to the unmanned aerial vehicle. The unmanned ship carries the water collecting device to collect water.
The unmanned ship 2 is provided with an unmanned ship GPS positioning device 201, an unmanned ship communication device 202, a ship body controller 203 and a water body sampling device 3 on the unmanned ship 2; the unmanned ship 2 is provided with a video transmission device 204 which is communicated with the onshore control system through an unmanned ship communication device 202 to provide a monitored water area picture for the onshore control system. Obstacle avoidance devices 205 are arranged around the hull of the unmanned ship 2.
The ship controller 203 selects Holybro Pixhawk4 as a main control unit of the unmanned ship for data processing. The unmanned ship propulsion device selects rovmaker 2216 propeller with VIDAR lithium battery pack, the propellers are two groups and are respectively positioned at the rear end of the ship body, and the ship body controller 203 controls the rotating speed of the propellers by outputting PWM wave range to meet the requirement of navigation control. The video transmission device 204 selects a waterproof camera to provide the monitored water area picture for the onshore control system. The unmanned ship obstacle avoidance device adopts an ultrasonic sensor to meet the obstacle avoidance requirement.
The system comprises an onshore control system, wherein the onshore control system controls equipment of the unmanned aerial vehicle 1 and the unmanned ship 2 to operate and carries out communication and data transmission, the onshore control system controls the unmanned aerial vehicle 1 to fly above the water surface, multispectral images of the water area are shot by a multispectral camera 104 and transmitted to the onshore control system, the onshore control system analyzes the images to determine a pollution source, and then the unmanned ship 2 is controlled to go to the pollution source for sampling.
As shown in fig. 2, the water sampling device 3 is arranged at the bottom of the unmanned ship 2, and includes a sampling frame 301, a sampling bottle 302 is arranged in the sampling frame 301, a sampling pipe 303 is arranged on the sampling bottle 302, and sampling is performed by a water pump 304. Sampling bottle 302 is equipped with a plurality ofly in sampling frame 301, sampling pipe 303 is connected with every sampling bottle 302 through the reposition of redundant personnel interface, and every reposition of redundant personnel mouth department all is equipped with an electromagnetism water valve, and every electromagnetism water valve is controlled by different relays, samples respectively to each sampling bottle 302 as required. Sampling pipe 303 is connected with sampling bottle 302 through steering wheel 305, rotates through control steering wheel 305 and realizes that sampling pipe 303 rotates for the water inlet of sampling pipe 303 is located different depths of water.
The steering engine 305 controls the angle of the sampling pipe 303 to achieve the purpose of water sampling at different depths, the relay controls the electromagnetic water valve to be switched on and off to control the water inlet of the sampling bottle 302, and the sampling bottle 302 is used for storing the water quality collected by the sampling pipe 303. When the unmanned ship receives a water collection command sent by an onshore control system, the unmanned ship autonomously plans a path to reach a designated water collection place, then the sampling pipe is slowly put down, sample collection work is carried out on water quality at different depths, in order to reduce the load of the unmanned ship and improve the cruising ability and stability of the unmanned ship, the water collection device selects materials with smaller quality, the sampling device can collect ten water quality samples at most, and the volume of each sample is 100 milliliters.
Firstly, an onshore control system measures the coordinates of the initial point position of a sampled water area and plans the flight path of the unmanned aerial vehicle, the information is sent to a flight controller, the flight controller processes the attitude parameters of the unmanned aerial vehicle, the unmanned aerial vehicle is ready to take off and cruise, and the flight height depends on the definition of a multispectral camera. During the flying process, the multispectral camera scans and shoots the sampling water area, and finally, the shot pictures are fused to form a complete multispectral image. The attitude, the position information and the multispectral image of the unmanned aerial vehicle are transmitted to an onshore control system through a wireless communication module, the onshore control system analyzes the multispectral image to determine a pollution source, once an onshore control center determines the pollution source and then transmits an instruction to the unmanned aerial vehicle, the unmanned aerial vehicle transmits the position information of the pollution source to the onshore control system, the onshore control system transmits the position information to the unmanned ship, the unmanned ship prepares to a target point for water collection, and the unmanned aerial vehicle sails backwards and prepares for next inspection.
After the unmanned ship receives the pollution source position information sent by the onshore control system, the ship body controller calculates the deflection angle to which the unmanned ship needs to be adjusted when the unmanned ship runs to the central coordinate of the detection area according to the longitude and latitude coordinates of the unmanned ship at the moment and the pollution source position coordinate. Meanwhile, the unmanned ship controller determines the steering angle of the unmanned ship according to the relation between the coordinates of the unmanned ship and the straight line of the starting point, and adjusts the driving direction of the unmanned ship according to the obtained data. The GPS positioning device controls different rotating speeds of the propelling device through a differential method to enable the unmanned ship to steer. The unmanned ship controller sends an instruction after obtaining a series of unmanned ship autonomous navigation data, and prepares for autonomous navigation to a set monitoring area. In the driving process, when the unmanned ship obstacle avoidance device detects that obstacles exist in the surrounding environment, the unmanned ship controller detects whether the PWM value is smaller than a set value or not by processing the received pulse signals. After further processing, the PWM value is recalculated and output, the propulsion device controls the navigation speed, and the obstacle avoidance device adopts four-direction monitoring and various obstacle avoidance strategies, so that the ship body navigates more stably and effectively avoids obstacles, and the ship body is prevented from colliding. When the unmanned ship autonomously cruises to the position of the pollution source, the water collecting device is ready to collect water.
Firstly, depth control design: the depth control part mainly controls the angle of the sampling pipeline by a steering engine so as to control the depth of water sampling. The sampling pipe is horizontal with the surface of water during initial state, controls the angle of sampling pipe and surface of water contact through the rotatory angle of control steering wheel to reach the purpose of different degree of depth water sampling. For example, the water collecting depth of the water collecting pipe with the length of 1 meter is 50cm when the steering engine rotates for 30 degrees, and meanwhile, the water collecting depth can be controlled by changing the length of the hard water pipe, so that the precision of the water collecting depth is increased, and the range of the water collecting depth is also increased.
Secondly, the design of water sample collection box: mainly adopt the break-make of relay control electromagnetism water valve to control the water sample of different levels and flow in different sampling bottles, specific thinking is as follows: the water sample collection is realized by using a water pump, the water inlet of the water pump extends into water through a depth control part, the water outlet of the water pump is connected with the water inlet of a shunt joint, each shunt outlet of the shunt joint is connected with an electromagnetic water valve, and the water outlet of the electromagnetic water valve is introduced into a sampling bottle; the electromagnetic water valve is controlled by different relays, the electromagnetic valve is opened during water collection, then the water pump is opened to collect water from the sampling bottle, and the water pump is closed after water collection is finished and then the water valve is closed.
As shown in fig. 3, the work flow of the present invention is: the coordinate of the sampled water area is given by the onshore control system, the unmanned aerial vehicle carries the multispectral camera to patrol the sampled water area through the autonomous planned path, the multispectral camera continuously shoots the sampled water area to form a multispectral image of the whole water area, and the image is transmitted back to the onshore control system through the wireless communication module. And the onshore control system analyzes the image to determine the pollution source. After the pollution source is determined to exist, the onshore control system sends an instruction to the unmanned aerial vehicle, and the unmanned aerial vehicle sends back the position information of the pollution source. And when the unmanned aerial vehicle task is finished, the unmanned aerial vehicle autonomously returns to the initial point to wait for next takeoff. The shore control system sends the pollution source position information transmitted back by the unmanned aerial vehicle to the unmanned ship, and the unmanned ship autonomously plans a path by taking the position information as a target point and carries the water sampling device to reach the pollution source position. After a command of starting water sampling of the onshore control system is received, the water sampling device turns to the steering engine to work and rotates for a certain angle, after the command reaches a specified angle, the electric appliance works, the electromagnetic valve is electrified, and the sampling pipe starts to sample the water quality. After sampling, the steering wheel rotates to the next angle, and another degree of depth quality of water is gathered to the sampling pipe, and until the required degree of depth of water collection is accomplished. After the command is finished, the shore control system sends a return command, and the unmanned ship starts to return to the starting point to wait for the next command execution.
Claims (6)
1. The utility model provides an unmanned aerial vehicle unmanned ship is water installation in coordination, its characterized in that includes:
the unmanned aerial vehicle (1), wherein the unmanned aerial vehicle (1) is provided with an unmanned aerial vehicle GPS positioning device (101), an unmanned aerial vehicle wireless communication device (102), a flight controller (103) and a multispectral camera (104);
the unmanned ship (2), wherein the unmanned ship (2) is provided with an unmanned ship GPS positioning device (201), an unmanned ship communication device (202), a ship controller (203) and a water body sampling device (3);
the system comprises an onshore control system, wherein the onshore control system controls equipment of an unmanned aerial vehicle (1) and an unmanned ship (2) to operate and carries out communication and data transmission, the onshore control system controls the unmanned aerial vehicle (1) to fly above the water surface, multispectral images of a water area are shot through a multispectral camera (104) and transmitted to the onshore control system, the onshore control system analyzes the images to determine a pollution source, and then the unmanned ship (2) is controlled to go to the pollution source for sampling.
2. The unmanned aerial vehicle unmanned ship is water installation in coordination with of claim 1, characterized in that: the bottom of unmanned ship (2) is located in water sampling device (3), including sampling frame (301), be equipped with sampling bottle (302) in sampling frame (301), be equipped with sampling pipe (303) on sampling bottle (302), sample through water pump (304).
3. The unmanned aerial vehicle unmanned ship is water installation in coordination with of claim 2, characterized in that: sampling bottle (302) are equipped with a plurality ofly in sampling frame (301), sampling pipe (303) are connected with every sampling bottle (302) through the reposition of redundant personnel interface, and every reposition of redundant personnel mouth department all is equipped with an electromagnetism water valve, and every electromagnetism water valve is controlled by different relays, samples respectively to each sampling bottle (302) as required.
4. The unmanned aerial vehicle unmanned ship is water installation in coordination with of claim 3, characterized in that: sampling pipe (303) are connected with sampling bottle (302) through steering wheel (305), rotate through control steering wheel (305) and realize that sampling pipe (303) rotate for the water inlet of sampling pipe (303) is located different depths of water.
5. The unmanned aerial vehicle unmanned ship is water installation in coordination with of claim 1, characterized in that: the unmanned ship (2) is provided with a video transmission device (204) which is communicated with the onshore control system through an unmanned ship communication device (202) to provide a monitored water area picture for the onshore control system.
6. The unmanned aerial vehicle unmanned ship is water installation in coordination with of claim 1, characterized in that: obstacle avoidance devices (205) are arranged around the hull of the unmanned ship (2).
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| CN114537666A (en) * | 2022-03-14 | 2022-05-27 | 三峡大学 | Unmanned aerial vehicle and unmanned ship cooperative water surface floating garbage removing equipment and operation method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114537666A (en) * | 2022-03-14 | 2022-05-27 | 三峡大学 | Unmanned aerial vehicle and unmanned ship cooperative water surface floating garbage removing equipment and operation method |
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