CN220084415U - Multispectral heavy metal ion detection device based on unmanned aerial vehicle - Google Patents

Abstract

The utility model relates to the technical field of water area monitoring, in particular to a multispectral heavy metal ion detection device based on an unmanned aerial vehicle. Including unmanned aerial vehicle body and carry on water sample collection and auxiliary detection device and integrated multispectral camera module on unmanned aerial vehicle body, water sample collection and auxiliary detection device include collection box, set up sample subassembly, sample storage subassembly in collection box and can with the auxiliary detection inclined plane that sample subassembly goes out the liquid end and correspond, auxiliary detection inclined plane upper berth has test paper, the box body of collection box comprises the light screen, collection box is last to be equipped with transparent detection window with auxiliary detection inclined plane corresponding position, integrated multispectral camera module includes multispectral camera, multispectral camera's camera lens corresponds the setting with transparent detection window. The device can realize continuous and real-time monitoring of a water area, is not easily influenced by natural environments such as the atmosphere, has better spectral information, can reserve a water sample, and is used for measuring the metal ion content of water quality subsequently.

Description

Multispectral heavy metal ion detection device based on unmanned aerial vehicle

Technical Field

The utility model relates to the technical field of water area monitoring, in particular to a multispectral heavy metal ion detection device based on an unmanned aerial vehicle.

Background

The water area is complex, and the pollution sources are more. Especially, part of the sewage outlet is extremely hidden, pollution sources in water areas such as small branches are not easy to monitor, and a certain danger is brought besides high-intensity labor of manual field monitoring.

The existing satellite remote sensing water quality monitoring method has the following problems:

1. because the revolution operation of the remote sensing satellite has a certain periodicity, the continuity of monitoring the water area is insufficient, and the data can not be acquired in real time.

2. The satellite remote sensing image is easily influenced by natural environments such as the atmosphere and the like, and the spectrum information is poor.

3. The image processing step obtained by satellite remote sensing is complex, and data information cannot be directly obtained. The processed image can not accurately reflect the pollution condition of heavy metal ions, and the result dispute is easily caused.

4. The sewage can not be reacted immediately under the sewage condition of a small sewage outlet, and the sewage can be displayed in a satellite image after sewage is discharged for a long time, but a large amount of pollutants are discharged to a water body at the moment.

Therefore, the existing method for monitoring water quality by adopting satellite remote sensing has more defects and needs to be improved. The unmanned aerial vehicle utilizes wireless remote control and has a program control function. The unmanned aerial vehicle has stronger maneuverability, can carry out activities such as environmental monitoring, express transportation, aerial photography, information exploration and the like in the field, and is a more powerful carrying platform along with the appearance of the unmanned aerial vehicle with larger load. The unmanned aerial vehicle can effectively overcome the defects when applied to water area monitoring, but how to apply the unmanned aerial vehicle is still in an exploration stage.

Disclosure of Invention

Aiming at the defects of the prior art, the utility model provides the multispectral heavy metal ion detection device based on the unmanned aerial vehicle, which can realize continuous and real-time monitoring of a water area by utilizing the unmanned aerial vehicle to cooperate with a water sample acquisition and auxiliary detection device and a multispectral camera, is not easily influenced by natural environments such as the atmosphere, has better spectrum information, can reserve a water sample, and is used for measuring the metal ion content of water quality subsequently.

The utility model provides a multispectral heavy metal ion detection device based on an unmanned aerial vehicle, which comprises an unmanned aerial vehicle body, a water sample collection and auxiliary detection device and an integrated multispectral camera module, wherein the water sample collection and auxiliary detection device is carried on the unmanned aerial vehicle body, the water sample collection and auxiliary detection device comprises a collection box, a sampling assembly, a sample storage assembly and an auxiliary detection inclined plane which can correspond to a liquid outlet end of the sampling assembly, the auxiliary detection inclined plane is paved with detection test paper, a box body of the collection box consists of a light shielding plate, a transparent detection window is arranged at a position on the collection box which corresponds to the auxiliary detection inclined plane, the integrated multispectral camera module comprises a multispectral camera, and a lens of the multispectral camera is correspondingly arranged with the transparent detection window.

More preferably, the sampling assembly comprises a telescopic water inlet pipe, a direct-current water pump, a threaded hose and a hard water injection pipe, wherein the direct-current water pump is arranged at the bottom of the collection box, one end of the telescopic water inlet pipe is connected with the liquid inlet end of the direct-current water pump, the other end of the telescopic water inlet pipe penetrates through the bottom of the collection box, the liquid outlet end of the direct-current water pump is connected with the liquid inlet end of the threaded hose, the liquid outlet end of the threaded hose is connected with the liquid inlet end of the hard water injection pipe, and the liquid outlet end of the hard water injection pipe is connected with the liquid inlet end of the sample storage assembly.

More preferably, the sample storage subassembly includes first direct current deceleration stepper motor, water sample bottle mount and water sample bottle, water sample bottle mount is discoid support body, a plurality of water sample bottles have evenly been placed to the hoop on the water sample bottle mount, first direct current deceleration stepper motor's output shaft with water sample bottle mount's centre of a circle department links firmly, the liquid end of stereoplasm water injection pipe with water sample bottle on the water sample bottle mount corresponds.

More preferably, still be equipped with second direct current deceleration stepper motor, swinging boom, first elastic element and spacing protruding piece in the collection box, second direct current deceleration stepper motor set up in on the interior roof of collection box, the swinging boom level set up in on the output shaft of second direct current deceleration stepper motor, the stereoplasm water injection pipe pass through first elastic element elasticity set up in the tip of swinging boom, the stereoplasm water injection pipe can be located under the drive of second direct current deceleration stepper motor water sample bottle top or supplementary detection inclined plane top, the top of stereoplasm water injection pipe is equipped with first inclined plane, spacing protruding piece set up on collection box roof with water sample bottle distribution clitellum corresponding position department on the bottle mount, spacing protruding piece's bottom be can with spacing complex second inclined plane of stereoplasm water injection pipe top first inclined plane, when rotatory extremely spacing protruding swinging boom piece below, the stereoplasm water injection pipe is in the spacing cooperation of first inclined plane and second inclined plane moves down.

More preferably, the auxiliary detection inclined plane is fixed on the side wall of the collection box, a test paper storage area and a test paper supply device are arranged above the auxiliary detection inclined plane, test paper is filled in the test paper storage area, and the test paper can be conveyed to the auxiliary detection inclined plane through the test paper supply device.

More preferably, still be equipped with manger plate piece, outlet and manger plate in the collection box and cut off, the manger plate piece is the triangle piece, the triangle piece sets up in supplementary detection inclined plane below, the bottom surface of triangle piece with gather the lateral wall of box and link firmly, the outlet set up in gather the box bottom and be located manger plate piece below, the manger plate cut off vertical be fixed in gather box bottom and be located supplementary detection inclined plane one side, the manger plate cut off with supplementary detection inclined plane between the inclined plane supplementary detection inclined plane with form the waste water drainage district between the manger plate piece.

More preferably, the top of the collecting box faces the auxiliary detection inclined plane and is provided with an LED light supplementing module.

Preferably, a filter device is arranged at the water inlet of the telescopic water inlet pipe.

The beneficial effects of the utility model are as follows:

1. through unmanned aerial vehicle carrying water sample collection and auxiliary detection device and integrated multispectral camera module that can remote control, utilize water sample collection and auxiliary detection device to realize the collection and the detection of water sample after with unmanned aerial vehicle remote control to appointed waters to through integrated multispectral camera module collection test paper diagram spectral information, can realize water quality analysis through the colorimetry. The device realizes the effective application of the unmanned aerial vehicle in the field of water area monitoring, can quickly acquire the ion concentration information of detection points, and stores multiple groups of detection data. Is a supplement to a satellite remote sensing water area monitoring method, and mainly solves the problem of too low monitoring frequency. The detection of the concentration of heavy metal ions can be realized within a specific range, and the detection is not influenced by atmospheric conditions such as cloud layers.

2. The sample storage assembly comprises a first direct-current speed reduction stepping motor, a water sample bottle fixing frame and a water sample bottle, wherein the water sample bottle fixing frame is a disc-shaped frame body, a plurality of water sample bottles are uniformly placed on the water sample bottle fixing frame in a circumferential direction, an output shaft of the first direct-current speed reduction stepping motor is fixedly connected with the circle center of the water sample bottle fixing frame, and a liquid outlet end of the hard water injection pipe corresponds to the water sample bottle on the water sample bottle fixing frame. By driving the rotation of the water sample bottle fixing frame, the automatic switching of the water sample bottles can be realized.

Drawings

FIG. 1 is a schematic diagram of the structure of the present utility model;

FIG. 2 is a schematic diagram of the internal structure of the water sample collecting and auxiliary detecting device;

FIG. 3 is a schematic diagram of the bottle stopper of the water bottle of the present utility model;

FIG. 4 is a schematic structural view of a water sample bottle fixing frame;

FIG. 5 is a schematic flow chart of the detection method of the present utility model;

FIG. 6 is a flow chart of step c in the detection method of the present utility model.

In the figure: 1. an unmanned aerial vehicle body; 2. a control and communication module; 3. the water sample collecting and auxiliary detecting device; 4. a second direct current deceleration stepping motor; 5. a rotating arm; 6. an LED light supplementing module; 7. a transparent detection window; 8. test paper supply means; 9. auxiliary detection inclined planes; 10. a test paper storage area; 11. a water blocking block; 12. a water outlet; 13. a filtering device; 14. a telescopic water inlet pipe; 15. a direct current water pump; 16. a threaded hose; 17. water blocking and partition; 18. a bottom layer of the water sample bottle fixing frame; 19. a water sample bottle; 191. a fixing device; 192. a second elastic element; 193. a rubber stopper; 20. the upper layer of the water sample bottle fixing frame; 21. a hard water injection pipe; 22. a first elastic element; 23. a first direct current deceleration stepping motor; 24. limiting protruding blocks; 25. integrating the multispectral camera module; 26. a module center shaft; 27. a central axis direct current motor; 28. multispectral camera

Detailed Description

In order to make the technical problems, technical schemes and beneficial effects to be solved more clear, the utility model is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the utility model.

It will be understood that when an element is referred to as being "mounted" or "disposed" on another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.

It is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are merely for convenience in describing and simplifying the description based on the orientation or positional relationship shown in the drawings, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus are not to be construed as limiting the utility model.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present utility model, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

Reference in the specification to "one embodiment" or "some embodiments" or the like means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the utility model. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," and the like in the specification are not necessarily all referring to the same embodiment, but mean "one or more but not all embodiments" unless expressly specified otherwise. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless expressly specified otherwise. "plurality" means "two or more".

The utility model provides a multispectral heavy metal ion detection device based on an unmanned aerial vehicle. The device mainly comprises: unmanned aerial vehicle body 1 and carry on water sample collection and auxiliary detection device 3 and integrated multispectral camera module 25 on unmanned aerial vehicle body 1.

The unmanned aerial vehicle body 1 has a first control unit, and the control module and the communication module 2 have a second control unit. The first communication unit is connected with the second communication unit through a cable.

The unmanned aerial vehicle is effective load equipment of the system. The control and communication module 2, the water sample collection and auxiliary detection device 3 and the integrated multispectral camera module 25 are installed at the bottom of the unmanned aerial vehicle.

The control and communication module 2 comprises a control unit, a communication unit and an environment awareness unit. The control unit provides the drive to control the coding motor in the water sample collection and auxiliary detection device 3 and the center axis motor inside the integrated multispectral camera module 25. The communication unit is used for transmitting information with the shore-based equipment. The environment sensing unit provides basic information such as ambient temperature, humidity and the like.

In the water sample collecting and auxiliary detecting device 3, the upper vertex angle is an LED light supplementing lamp matrix and is connected with a second control unit through a cable. And a transparent detection window is embedded into the side wall of the water sample collecting and auxiliary detection device 3 below the light supplementing lamp matrix. The middle part is close to the transparent detection window position and is an auxiliary detection inclined plane 9, and the auxiliary detection inclined plane 9 is in screw connection with the inner wall of the acquisition box. Above the auxiliary detection inclined plane is a test paper supply device 8 which is connected with a second control unit through a cable. Below the auxiliary detection inclined plane 9 is a water stop 11. The right lower part of the water sample collecting and auxiliary detecting device 3 is provided with a water outlet 12.

The position above the central line of the water sample collecting and auxiliary detecting device 3 is provided with a second coding motor (a second direct current deceleration stepping motor 4), and the lower part of the central shaft of the second coding motor is connected with a rotating arm 5. The rotating arm 5 is detected as a hard water injection pipe 21 near the outer edge. A first elastic element 22 is arranged between the hard water injection pipe 21 and the rotating arm 5. The upper part of the hard water injection pipe 21 is provided with a limiting convex block 24, and the contact surface below the limiting convex block 24 is an inclined surface. A water blocking partition 17 is arranged right below the rotating arm 5, and a direct-current water pump 15 is arranged on the left side of the water blocking partition 17. The direct-current water pump 15 is fixed at the bottom shell of the collecting device and is connected with a second control unit through a cable, the water inlet pipe of the direct-current water pump 15 is a telescopic water inlet pipe 14, and a filtering device 13 (primary filtering device) is arranged below the telescopic water inlet pipe 14. The primary filter device is fastened and fixed with the telescopic water inlet pipe 14. The water outlet end of the direct-current water pump 15 is connected with a threaded hose 16, and the length of the threaded hose 16 changes along with the position of the rotating arm 5.

The upper left side of the water sample collecting and auxiliary detecting device 3 is provided with a first coding motor (a first direct current deceleration stepping motor 23), and the lower part of a rotating shaft of the first coding motor is provided with a water sample storage area disc, namely a water sample bottle fixing frame. The upper layer 20 of the water sample bottle fixing frame is provided with a plurality of round hole structures in the water sample bottle placing ring belt area for placing the water sample bottles 19. The bottom layer 18 of the water sample bottle fixing frame is used for supporting the water sample bottle 19.

The water sample storage bottle is positioned in the round hole and is supported by the lower water sample bottle fixing frame bottom layer 18. The water sample bottle consists of a bottle body and a bottle plug, and the bottle body and the bottle plug are fixed through threads. The bottle plug is internally provided with an elastic element, and a rubber water stop plug is arranged below the elastic element.

The integrated multi-spectral camera module 25 mainly comprises a multi-spectral camera 28, a central axis 26 and a third encoding motor, namely a central axis direct current motor 27. The position close to the transparent detection window 7 of the water sample collecting and auxiliary detecting device 3 is provided with a multispectral camera 28, the multispectral camera 28 is fixed with a module center shaft 26, and the module center shaft 26 is connected with a third coding motor. The third coding motor is connected with the second control unit through a cable. The rear side shell is thicker and plays a role of counterweight.

The using method of the device comprises the following steps:

and a step a, the unmanned aerial vehicle cruises at low altitude, and the multispectral camera obtains a water area image and then transmits the water area image to the data processing module.

And b, if the suspected pollution area is not identified, continuing low-altitude cruising. If the water sample is identified as the suspected pollution area, transmitting position information, descending the height, and detecting whether the water sample storage and detection program can be started normally. If the device detects normal, the water sample storage and metal ion concentration detection program is operated.

Step c: the operation of the water sample collecting and auxiliary detecting device comprises the following steps:

and starting a water sample extraction program, and flushing the pipeline. And (5) after the preset time is reached, filling the water sample, and after the water sample is extracted, moving the water pipe to the reaction area and flushing. The test paper supply device carries a test paper to the auxiliary detection inclined plane. After waiting for a certain reaction time, the spectrum information of the test paper is detected by rotating the multispectral camera carried by the test paper to a transparent detection window above the auxiliary detection inclined plane, and the result is transmitted. The reacted test paper is pushed out to a waste paper box. Meanwhile, the camera is reset and is continuously used for monitoring the water area environment. The same spectrum camera is used as much as possible, so that the load of the unmanned aerial vehicle is effectively reduced. The water area abnormality is detected, the height is lowered to prepare detection, and the problem of more complex path planning is avoided.

Implement one

Fig. 1 shows a schematic structural diagram of a multispectral heavy metal ion detection device based on an unmanned aerial vehicle according to a preferred embodiment of the present utility model, and for convenience of explanation, only the relevant parts of the embodiment are shown, and the details are as follows:

in the embodiment, the four-rotor unmanned aerial vehicle with the model of Dajiang longitude and latitude MATRICE-200-V2 is adopted as a flight platform, the TB55-7660mAh-22.8V type battery is adopted as an unmanned aerial vehicle power supply, and the rechargeable lithium battery is adopted, so that the energy density is high, and the volume of the battery can be reduced. Meanwhile, by matching with a lithium battery power supply control system, low voltage drop can be realized, and the rotating speed of the motor is ensured to be in a proper range. The drone has an independent flight control system, i.e. a first control unit.

The control and communication module 2 mainly comprises an environment sensing device, a second control unit, a resolving unit and a communication unit. The environment sensing device is provided with an SHT30 chip and is used for measuring and acquiring environment information such as temperature, humidity and the like. The second control unit uses ARM Cortex-M series chips to be connected with the communication unit in a signal mode. The periphery of the chip is required to be matched with a corresponding motor driving circuit so as to control the water sample collecting and auxiliary detecting unit. The resolving unit is mainly a TrimbieMB2 module, and is used for processing and resolving signals and realizing flight path planning in cooperation with the first control unit. The external communication unit is mainly used for communicating with shore-based equipment or a cloud service end, transmitting detection results and instruction information and assisting the first control unit in controlling the flight attitude. And an ME3630-C3B-MP014G module specially developed by the Zhongxing company for the Internet of things equipment can be used to support an LTE Cat.4 seven-mode full-network communication module, and the maximum uplink rate is 50Mbps and the maximum downlink rate is 150Mbps under a 4G communication system. And supporting rollback to a 3G or 2G network. Because 2G network delay is great, and 2G basic station quantity reduces gradually, in order to ensure data normal transmission, use software to shield 2G function. And in the area with weak coverage of the base station signal, automatically switching to the 3G network.

As shown in fig. 2, the structure of the water sample collection and auxiliary detection device 3 is as follows:

the shell of the water sample collecting and auxiliary detecting device 3 adopts engineering plastics to lighten the weight of the device. The water sample collecting method is water pumping type, and is provided with a direct-current water pump 15. Wherein telescoping inlet tube 14 is used to withdraw a water sample from the desired depth water layer. The bottom of the telescopic water inlet pipe 14 comprises a filtering device 13, so that the telescopic water inlet pipe 14 is prevented from being blocked by large particles in water. The first and second dc reduction stepping motors 23, 4 may be JGB37-520 type having about 20Kg torque, and change the motor rotation speed using hall and reduction gears. The pumping position of the water sample is controlled by the second direct current deceleration stepping motor 4, and the rotating arm 5 is provided with three fixing sites which are respectively above the wastewater discharge area, the water sample storage area and the auxiliary detection area inclined plane.

The middle part is a wastewater discharge area with a water blocking partition 17 with a fixed height, and is mainly used for discharging wastewater generated in a flushing pipeline and an auxiliary detection area. Waste water flows out of the drain opening 12.

As shown in fig. 3, the watery bottle 19 includes a body and a stopper. The bottle body adopts a high-density polyethylene or hard (borosilicate) glass container, so that the pollution problem in the water sample storage process is avoided. The bottle stopper comprises a fixing device 191 and a second elastic element 192, wherein the second elastic element 192 is arranged in a water injection port of the fixing device 191 and is connected with a rubber plug 193 at the bottom of the water injection port. The rubber stopper 193 is used for closing the container, prevents rocking that produces during transportation and causes the water sample loss.

As shown in fig. 4, the water sample bottle fixing frame adopts a disc type structure and is made of phenolic resin. Inspired by the mechanical hard disk structure, the water sample storage area adopts a double-layer disk structure design, and the upper layer 20 of the water sample bottle fixing frame is provided with holes along the outer side of the disk and is used for fixing the water sample bottle 19. The water sample bottle for storing the sample is controlled by the rotation of the first direct current deceleration stepping motor 23. And the second direct-current deceleration stepping motor 4 rotates to control the storage position of the water sample. The hard water injection pipe 21 is a high-density polymer pipe and is connected with the direct-current water pump 15 through a threaded hose 16. The upper part of the elbow of the hard water injection pipe 21 is provided with an inclined surface structure, when the rotating arm 5 rotates to a left fixed position, the limiting convex block 24 with the inclined surface structure presses down the hard water injection pipe 21, the second elastic element 192 is pressed to drive the rubber plug 193 to move downwards, and a gap is formed, so that the hard water injection pipe 21 injects a water sample into the water sample storage bottle 19.

The auxiliary detection area is arranged into an inclined plane structure (namely an auxiliary detection inclined plane 9) so as to avoid excessive moisture residue during flushing. Meanwhile, the residual water is used for reacting with the test paper to generate color change. The inclined plane inclination angle is designed at the gravity center position of the test paper after the gravity center absorbs water, so that the gravity, the adsorption force and the supporting force of the inclined plane reach an equilibrium state. Wherein the detection part uses environment-friendly test paper developed in the group. By taking copper ion detection as an example, according to the detection index of the test paper in the current group and matching with a specially developed color treatment program, the concentration of Cu < 2+ > in the drinking water is far lower than the maximum concentration of 2.0mg/L in the drinking water regulated by the world health organization. Opposite the reaction zone is a transparent detection window 7, and a multispectral camera 28 can be rotated to the region outside the window for color acquisition. An LED light supplementing module 6 is arranged above the transparent detection window 7 and is used for supplementing light for the multispectral camera 28, and a non-differential light detection environment is maintained. The test paper supply device 8 is arranged above the auxiliary detection inclined plane 9 and can provide test paper after receiving the instruction of the second control unit, and the test paper is removed from the auxiliary detection inclined plane 9 after detection.

The main device in the integrated multispectral camera module 25 is an MS600Pro camera with 6 channels. The camera is provided with an intelligent dimming function, and the high dynamic range sensor can realize real-time dimming of multi-target global optimization, so that the information quantity of an original image is improved, and the difficulty of later image processing is reduced. The primary purpose of the integrated multispectral camera module 25 is to acquire scanned water surface spectral information and to reflect water site information. And secondly, the test paper spectrum information at the auxiliary detection device is obtained, and the result is fed back to the second control unit. The multispectral camera 28 is rotated to the transparent detection window 7 of the water sample collection and auxiliary detection device 3 by the rotation of a motor at the central axis of the integrated module. The three-way shading strip is used for forming a wrapping effect on the water sample collection and auxiliary detection device, so that the interference of external light on the light spectrum information collection is reduced.

Before the unmanned aerial vehicle takes off: the system self-tests to check if the multispectral camera 28 and the water sample collection and auxiliary detection device 3 can operate normally. In particular, the dc water pump 15, the second dc reduction stepper motor 4, the first dc reduction stepper motor 23, and the central axis dc motor 27 of the integrated multi-spectrum camera module 25 can be started normally. And after the detection is normal, receiving the electronic fence information sent by the shore-based equipment, and defining a preset detection area.

As shown in fig. 5, in the primary water quality heavy metal ion detection process, the equipment using method is as follows:

step a: the unmanned aerial vehicle takes off and flies to a preset airspace, and the multispectral camera 28 is started to patrol the water area. The control and communication module 2 transmits the map information back to the shore-based equipment, processes the information through the shore-based equipment and sends instructions whether to check. Preferably, the map information processing program can be transplanted to the control and communication module 2, and the control unit replaces ARM Cortex-A series chips, so that the local detection level is improved.

Step b: after the abnormal area is monitored, the area coordinate information and the environment information are recorded, and the path flight path planning is realized through the solution of the TrimbieMB2 module and the cooperation of the first control unit. The unmanned aerial vehicle descends to the height, prepares to gather the water sample and detects.

Step c: the operation of the water sample collecting and auxiliary detecting device comprises the following steps:

as shown in fig. 6, the pipeline is rinsed first, and the rotating arm 5 mounted on the shaft of the second dc deceleration stepping motor 4 drives the hard water injection pipe 21 and the threaded hose 16 to rotate to the position of the wastewater discharge area of the water sample collecting and auxiliary detecting device first, and operates according to the set threshold time. The waste water generated in the flushing process flows out of the water outlet 12 under the combined action of the water blocking wall 17, the outer wall of the auxiliary detection inclined plane 9 and the water blocking block 11. After the washing is finished, the rotating arm 5 rotates to the water sample storage area. At this time, the first elastic element 22 above the hard water injection pipe 21 is compressed by the limiting bump 24, so that the hard water injection pipe 21 is pressed down to the mouth of the water bottle 19. The elasticity of the second elastic element 192 in the bottle stopper of the bottle is designed to be not larger than the elasticity of the first elastic element 22 above the hard water injection tube 21. At this time, the direct-current water pump 15 is started to pump water into the water sample bottle 19. The preset pumping time is set according to the flow and the volume of the water sample bottle 19, and the pressure balance hole is arranged at the inner pipe of the water inlet pipe of the water sample bottle 19, so that air can be discharged conveniently, and water sample can be canned.

In one embodiment, a pressure sensing element may also be provided herein to control the run time of the dc water pump 15. After the predetermined pressure value is reached, the operation of the direct current water pump 15 is stopped. The rotating arm 5 drives the hard water injection pipe 21 to move to the auxiliary detection area, and flushing is continuously performed according to preset time. The function of the auxiliary detection ramp 9 is to allow the flushing water to flow into the waste area. Another function of the water stop 11 is to prevent light incident from the drain port from affecting the detection result. The test paper supply device 8 extracts a heavy metal ion test paper and conveys the heavy metal ion test paper to the auxiliary detection inclined plane 9. The auxiliary detection ramp 9 is made of black polyethylene and is kept at a certain offset range to help position the test paper in the image during image processing. Because the surface of the inclined plane still has certain water adhesion, and the test paper substrate has water absorption, the test paper cannot deviate greatly, and can be kept in the fixed range of the inclined plane.

After the auxiliary detection effect time is over, the central axis direct current motor 27 of the integrated multispectral camera module drives the multispectral camera 28 to rotate at the transparent detection window 7 of the auxiliary monitoring device from the water quality monitoring position. The light screen is made by black phenolic resin, because the integrated monitoring devices three sides have little light screen, the light screen blocks integrated multispectral camera module and water sample collection and auxiliary detection device's gap, avoids other light to get into from transparent detection window 7, influences the detection accuracy. After the multispectral camera 28 rotates to the outer side of the transparent detection window 7, the white LED light supplementing module 6 is started, and the multispectral camera 28 is utilized to collect the spectrum value of the test paper. And (3) performing image processing by the control and communication module 2, positioning the position of the test paper in the spectrum, and deducing the actual concentration value in the water sample according to the fitting relation between the spectrum information and the concentration of the heavy metal ions. The spectrogram values may be obtained using the OpenCV program. The color processing program is stored in a data processing unit composed of a Cortex-M series processor so as to obtain density information. And transmitting the processed data to shore-based equipment or a cloud server through a control and communication module. Thus completing one heavy metal ion detection operation. The unmanned aerial vehicle changes from a hovering state to a cruising state and navigates to the next sampling point.

In one embodiment, due to the limited locations of the water sample storage bottles, heavy metal ion concentration detection can also be performed first. If the concentration is within the preset concentration range, the site information, the environment value and the heavy metal ion concentration information can be directly stored without sampling, the detection step is optimized, and the detection efficiency is improved.

The above embodiments are only for illustrating the technical solution of the present utility model, and not for limiting the same; although the utility model has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present utility model, and are intended to be included in the scope of the present utility model.

Claims (8)

1. Multispectral heavy metal ion detection device based on unmanned aerial vehicle, its characterized in that: including unmanned aerial vehicle body (1) and take in water sample collection and auxiliary detection device (3) and integrated multispectral camera module (25) on unmanned aerial vehicle body (1), water sample collection and auxiliary detection device (3) including gather the box, set up in sample subassembly, sample storage subassembly in the collection box and can with supplementary detection inclined plane (9) that sample subassembly goes out liquid end and corresponds, supplementary detection inclined plane (9) upper berth has test paper, the box body of gathering the box comprises the light screen, gather on the box with supplementary detection inclined plane (9) correspond the position and are equipped with transparent detection window (7), integrated multispectral camera module (25) include multispectral camera (28), the camera of multispectral camera (28) with transparent detection window (7) correspond the setting.

2. The unmanned aerial vehicle-based multispectral heavy metal ion detection device according to claim 1, wherein: the sampling assembly comprises a telescopic water inlet pipe (14), a direct current water pump (15), a threaded hose (16) and a hard water injection pipe (21), wherein the direct current water pump (15) is arranged at the bottom of the collection box, one end of the telescopic water inlet pipe (14) is connected with the liquid inlet end of the direct current water pump (15), the other end of the telescopic water inlet pipe penetrates through the bottom of the collection box, the liquid outlet end of the direct current water pump (15) is connected with the liquid inlet end of the threaded hose (16), the liquid outlet end of the threaded hose (16) is connected with the liquid inlet end of the hard water injection pipe (21), and the liquid outlet end of the hard water injection pipe (21) is connected with the liquid inlet end of the sample storage assembly.

3. The unmanned aerial vehicle-based multispectral heavy metal ion detection device according to claim 2, wherein: the sample storage assembly comprises a first direct-current speed reduction stepping motor (23), a water sample bottle fixing frame and water sample bottles (19), wherein the water sample bottle fixing frame is a disc-shaped frame body, a plurality of water sample bottles (19) are evenly placed on the water sample bottle fixing frame in a circumferential direction, an output shaft of the first direct-current speed reduction stepping motor (23) is fixedly connected with the circle center of the water sample bottle fixing frame, and a liquid outlet end of the hard water injection pipe (21) corresponds to the water sample bottles (19) on the water sample bottle fixing frame.

4. The unmanned aerial vehicle-based multispectral heavy metal ion detection device according to claim 3, wherein: still be equipped with second direct current deceleration stepper motor (4), swinging boom (5), first elastic element (22) and spacing boss (24) in the collection box, second direct current deceleration stepper motor (4) set up in on the interior roof of collection box, swinging boom (5) level set up in on the output shaft of second direct current deceleration stepper motor (4), stereoplasm water injection pipe (21) through first elastic element (22) elasticity set up in the tip of swinging boom (5), stereoplasm water injection pipe (21) can be located under the drive of second direct current deceleration stepper motor (4) water sample bottle (19) top or supplementary detection inclined plane (9) top, the top of stereoplasm water injection pipe (21) is equipped with first inclined plane, spacing boss (24) set up on the collection box roof with on the water sample bottle mount water sample distribution corresponding position department, the bottom of spacing boss (24) be can with stereoplasm water injection pipe (21) first inclined plane of cooperation under the second inclined plane (21) the second inclined plane of rotating boom (21) under the slope.

5. The unmanned aerial vehicle-based multispectral heavy metal ion detection device according to claim 1, wherein: the auxiliary detection inclined plane (9) is fixed on the side wall of the acquisition box, a test paper storage area (10) and a test paper supply device (8) are arranged above the auxiliary detection inclined plane (9), test paper is filled in the test paper storage area (10), and the test paper can be conveyed to the auxiliary detection inclined plane (9) through the test paper supply device (8).

6. The unmanned aerial vehicle-based multispectral heavy metal ion detection device according to claim 5, wherein: still be equipped with manger plate piece (11), outlet (12) and manger plate partition (17) in the collection box, manger plate piece (11) are the triangle piece, the triangle piece sets up in supplementary detection inclined plane (9) below, the bottom surface of triangle piece with the lateral wall of collection box links firmly, outlet (12) set up in collection box bottom just is located manger plate piece (11) below, manger plate partition (17) vertical be fixed in collection box bottom just is located supplementary detection inclined plane (9) one side, manger plate partition (17) with between supplementary detection inclined plane (9) with form the waste water drainage district between manger plate piece (11).

7. The unmanned aerial vehicle-based multispectral heavy metal ion detection device according to claim 1, wherein: the top of the collection box faces to the auxiliary detection inclined plane (9) and is provided with an LED light supplementing module (6).

8. The unmanned aerial vehicle-based multispectral heavy metal ion detection device according to claim 2, wherein: a filtering device (13) is arranged at the water inlet of the telescopic water inlet pipe (14).