CN104458329A - Unmanned aerial vehicle type automatic sampling system at fixed points of water surface - Google Patents
Unmanned aerial vehicle type automatic sampling system at fixed points of water surface Download PDFInfo
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- CN104458329A CN104458329A CN201410775143.XA CN201410775143A CN104458329A CN 104458329 A CN104458329 A CN 104458329A CN 201410775143 A CN201410775143 A CN 201410775143A CN 104458329 A CN104458329 A CN 104458329A
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Abstract
The invention relates to an unmanned aerial vehicle type automatic sampling system at fixed points of the water surface. The unmanned aerial vehicle type automatic sampling system comprises a water sampler, a lifting mechanism and a control circuit, wherein the water sampler comprises a barrel body and a periphery component, a large conical horn mouth is designed at the lower end of the barrel body, and an end cover exhaust device is arranged at the upper end of the barrel body; a buoyancy ring and a heavy ring are arranged at the outer side of the barrel body, the buoyancy ring is arranged at the lower end of an end cover, and the heavy ring is arranged at the lower end of the buoyancy ring; and a valve cover is arranged at the bottom of the inner side of the barrel body; the integrity is connected by a flying ring, the lifting mechanism is connected at the upper part of the flying ring, and is controlled by the control circuit. The lifting mechanism adopts a winding and distributing mechanism, the winding mechanism is composed of a power motor, a worm-gear speed reducer and a speed ratio guide wire wheel set, the speed ratio guide wire wheel set is connected with the flying ring by a connecting wire, the speed ratio guide wire wheel set is connected with the worm-gear speed reducer which is connected with the power motor; while the twisting force is increased, self locking can be achieved; and the system adopts the unmanned aerial vehicle system to realize sampling, the traditional manual sampling mode can be replaced completely, and rapid, intelligent and high-efficiency water sampling can be achieved.
Description
Technical field
The present invention relates to a kind of unmanned plane water surface fixed point automatic sampling system, belong to unmanned air vehicle technique field.
Background technology
Surface seawater sampling is the important component part of marine environmental monitoring, and object collects the oil film of floating on water, analyzes its composition and find out oil spilling source.The mainly hand sampling of current seawater sampling mode, namely observe on a large scale and utilize the modes such as boats and ships sampling, behind boats and ships arrival target marine site, realize the collection sampling of seawater by manually discharging hydrophore (collector as gloomy in south or pressed cover collector etc.).
Although hand sampling is of a great variety, control mode is similar, is all to drop in water by hydrophore, and by release weight, the elastic switch that weight triggers hydrophore produces elastic force, and spring force forces hydrophore card cap seal to close and realizes water intaking.The drawback of this control mode not easily realizes robotization on the one hand, impact on the other hand by marine environment complicated and changeable and climatic factor is larger, as the impact of by wind, wave, weight drop very likely can depart from origin-location to such an extent as to collector card lid cannot be closed and cause sampling unsuccessfully.Therefore, traditional artificial seawater sampling mode can not meet growing ocean environment monitoring demand.
Summary of the invention
The object of the present invention is to provide a kind of unmanned plane water surface fixed point automatic sampling system, UAS can be utilized to sample can replace traditional hand sampling mode completely, seawater is sampled and becomes faster, efficient and intelligent.
To achieve these goals, technical scheme of the present invention is as follows.
A kind of unmanned plane water surface fixed point automatic sampling system, comprise hydrophore, elevating mechanism and control circuit part, wherein, hydrophore comprises cylindrical shell, and cylindrical shell lower end is connected with funnel, and cylindrical shell upper end is provided with end cap; Cylindrical shell arranged outside has buoyancy ring and counterweight ring, and buoyancy ring is arranged on end cap lower end, and counterweight ring is arranged on buoyancy ring lower end; Cylindrical shell inside bottom is provided with valve gap; End cap top is connected with suspension ring; Suspension ring top is connected with elevating mechanism, is provided with control circuit in elevating mechanism.
Further, elevating mechanism adopts winding mechanism, and this winding mechanism is made up of power motor, worm reduction gear and speed ratio wire wheels, speed ratio wire wheels is provided with connecting line and is connected with suspension ring, speed ratio wire wheels are connected with worm reduction gear, and worm reduction gear is connected with power motor.
Further, cylindrical shell adopts transparent organic glass material, adopts mold injection one-shot forming, or adopts that plexi-glass tubular is seamless spliced to be formed.
Further, counterweight ring adopts 304 or 201 stainless steels.
Further, buoyancy ring adopts high-density foam material, is cut into ring-type.
In this contrive equipment, cylindrical shape is as same inverted large funnel, when the hydrophore contact water surface, its taper typhon mouth makes the oil film of floating on water assemble toward middle fast, when water arrives centre position, hydrophore increases by the center pressure that affects of buoyancy, buoyancy forces valve gap to be opened, water enters in cylindrical shell fast, now due to hydrophore by self gravitation affect start sink, when sinking to the water surface and touching circular buoyancy ring, the buoyancy that buoyancy ring produces exceedes hydrophore self gravitation, hydrophore is kept afloat stably and does not occur crooked or sink.The effect of counterweight ring is used to neutral buoyancy, and the weight as changed counterweight ring can change the draft of hydrophore, to obtain the seawater of different volumes.When the water surface is left in hydrophore rising, valve gap relies on the gravity of water self the inlet seal of cylindrical shell, so far completes sampling.Cylinder material is transparent organic glass (acrylic PMMA), and manufacturing process can use mold injection one-shot forming, also can be spliced with plexi-glass tubular, but stitching position can not have gap, otherwise can leak.Counterweight ring material requirements is corrosion-resistant, generally selects 304 or 201 stainless steels to be advisable.Buoyancy ring 3 is high-density foam, is directly cut into ring-type, can produce enough buoyancy to support hydrophore as water wing.
In elevating mechanism, power motor drives worm speed reducer, makes it have the function that cuts off self-lock.Power motor is 12V direct current generator, and rotating speed can be regulated by pwm signal, and function is the lifting driving speed ratio wire wheels to complete hydrophore, and rising or falling speed is adjustable.Speed ratio guide roller speed ratio is 1: 3, and in available fishing rod, logical wheel replaces, and has automatic branching function.Guide roller end is provided with mechanical stroke switch, and when hydrophore lifting position is about to reach home, the catch Crush trigger formula limit switch on hydrophore makes motor stop and self-locking, so far completes primary sample task.
Electric Machine Control adopts " H " bridge DC motor Driver plate, and this control mode possesses overload protection function, focuses on electric current and efficiency, effectively plays power of motor and service time of battery, and can bear big current overload, maximum current can reach 30A; Have brake function, can be checked by motor rapidly, rapidly, braking obviously, realizes this feature operation simple in brake; Possess PWM speed-regulating function, this driving can be operated in the PWM dutycycle of 0%-100%, makes motor can obtain enough driving voltages.
This beneficial effect of the invention is: in this system, can adopt floating on water sampling mode, and sampling is carried out on sea level completely, thus is convenient to collect floating on water oil film, to determine oil spilling source; And adopt the efficient quick collection structure of typhon mouth formula oil film, realize the large area quick collection of oil film; Be designed with unique face sealed valve structure, rely on buoyancy of water to open, gravity is closed simultaneously, realizes meeting water automatic open close function, makes hydrophore structure simple, low cost of manufacture.In addition, in this system, worm and gear self-locking mechanism is also increased, even if make system in the event of a power failure also can be reliable and stable.And guide roller is provided with automatic branching function, hydrophore is in uphill process, and wire being wrapped on roller of automatic uniform local accumulation can not occur.This system is by unmanned aerial vehicle platform, and realizing the grab sampling to surface seawater by Long-distance Control, is a kind of surface seawater sampling mode emerging at present.Its advantage utilizes UAS to sample to replace traditional hand sampling mode completely, seawater sampled and becomes faster, efficient and intelligent.
Accompanying drawing explanation
Fig. 1 is the hydrophore structural representation in the embodiment of the present invention in institute's operative installations.
Fig. 2 is the system annexation block diagram in the embodiment of the present invention.
Description of symbols in figure: 1, suspension ring; 2, end cap; 3, buoyancy ring; 4, counterweight ring; 5, cylindrical shell; 6, valve gap.
Embodiment
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described, better to understand the present invention.
Embodiment
Unmanned plane water surface fixed point automatic sampling system in the present embodiment, comprise hydrophore, elevating mechanism and control circuit part, wherein, hydrophore structure as shown in Figure 1, comprises cylindrical shell 5, and cylindrical shell 5 lower end is connected with funnel, and cylindrical shell 5 upper end is provided with end cap 2; Cylindrical shell 5 arranged outside has buoyancy ring 3 and counterweight ring 4, and buoyancy ring 3 is arranged on end cap 2 lower end, and counterweight ring 4 is arranged on buoyancy ring 3 lower end; Cylindrical shell 5 inside bottom is provided with valve gap 6; End cap 2 top is connected with suspension ring 1; Suspension ring 1 top is connected with elevating mechanism, is provided with control circuit in elevating mechanism.Cylindrical shell 5 adopts transparent organic glass material, adopts mold injection one-shot forming, or adopts that plexi-glass tubular is seamless spliced to be formed.Counterweight ring 4 adopts 304 or 201 stainless steels.Buoyancy ring 3 adopts high-density foam material, is cut into ring-type.Elevating mechanism adopts winding mechanism, this winding mechanism is made up of power motor, worm reduction gear and speed ratio wire wheels, speed ratio wire wheels are provided with connecting line be connected with suspension ring 1, speed ratio wire wheels are connected with worm reduction gear, and worm reduction gear is connected with power motor.
In this contrive equipment, cylindrical shell 5 shape is as same inverted large funnel, when the hydrophore contact water surface, its taper typhon mouth makes the oil film of floating on water assemble toward middle fast, when water arrives centre position, hydrophore increases by the center pressure that affects of buoyancy, buoyancy forces valve gap 6 to be opened, water enters in cylindrical shell 5 fast, now due to hydrophore by self gravitation affect start sink, when sinking to the water surface and touching circular buoyancy ring 3, the buoyancy that buoyancy ring 3 produces exceedes hydrophore self gravitation, hydrophore is kept afloat stably and does not occur crooked or sink.The effect of counterweight ring 4 is used to neutral buoyancy, and the weight as changed counterweight ring 4 can change the draft of hydrophore, to obtain the seawater of different volumes.When the water surface is left in hydrophore rising, valve gap 6 relies on the gravity of water self the inlet seal of cylindrical shell 5, so far completes sampling.Cylindrical shell 5 material is transparent organic glass (acrylic PMMA), and manufacturing process can use mold injection one-shot forming, also can be spliced with plexi-glass tubular, but stitching position can not have gap, otherwise can leak.Counterweight ring 4 material requirements is corrosion-resistant, generally selects 304 or 201 stainless steels to be advisable.Buoyancy ring 3 is high-density foam, is directly cut into ring-type, can produce enough buoyancy to support hydrophore as water wing.
In elevating mechanism, power motor 1 drives worm speed reducer 2, makes it have the function that cuts off self-lock.Power motor is 12V direct current generator, and rotating speed can be regulated by pwm signal, and function is the lifting driving speed ratio wire wheels to complete hydrophore, and rising or falling speed is adjustable.Speed ratio guide roller speed ratio is 1: 3, and in available fishing rod, logical wheel replaces, and has automatic branching function.Guide roller end is provided with mechanical stroke switch, and when hydrophore lifting position is about to reach home, the catch Crush trigger formula limit switch on hydrophore makes motor stop and self-locking, so far completes primary sample task.
Electric Machine Control adopts " H " bridge DC motor Driver plate, and this control mode possesses overload protection function, focuses on electric current and efficiency, effectively plays power of motor and service time of battery, and can bear big current overload, maximum current can reach 30A; Have brake function, can be checked by motor rapidly, rapidly, braking obviously, realizes this feature operation simple in brake; Possess PWM speed-regulating function, this driving can be operated in the PWM dutycycle of 0%-100%, makes motor can obtain enough driving voltages.The specific works flow process of said system as shown in Figure 2.
The above is the preferred embodiment of the present invention; it should be pointed out that for those skilled in the art, under the premise without departing from the principles of the invention; can also make some improvements and modifications, these improvements and modifications are also considered as protection scope of the present invention.
Claims (5)
1. a unmanned plane water surface fixed point automatic sampling system, comprise hydrophore, elevating mechanism and control circuit part, it is characterized in that: described hydrophore comprises cylindrical shell, described cylindrical shell lower end is connected with funnel, and described cylindrical shell upper end is provided with end cap; Described cylindrical shell arranged outside has buoyancy ring and counterweight ring, and described buoyancy ring is arranged on end cap lower end, and described counterweight ring is arranged on buoyancy ring lower end; Described cylindrical shell inside bottom is provided with valve gap; Described end cap top is connected with suspension ring; Described suspension ring top is connected with elevating mechanism, is provided with control circuit in described elevating mechanism.
2. unmanned plane water surface fixed point automatic sampling system according to claim 1, it is characterized in that: described elevating mechanism adopts winding mechanism, described winding mechanism is made up of power motor, worm reduction gear and speed ratio wire wheels, described speed ratio wire wheels are provided with connecting line be connected with suspension ring, described speed ratio wire wheels are connected with worm reduction gear, and worm reduction gear is connected with power motor.
3. the unmanned plane water surface according to claim 1 fixed point automatic sampling system, is characterized in that: described cylindrical shell adopts transparent organic glass material, adopts mold injection one-shot forming, or adopts that plexi-glass tubular is seamless spliced to be formed.
4. unmanned plane water surface fixed point automatic sampling system according to claim 1, is characterized in that: described counterweight ring adopts 304 or 201 stainless steels.
5. unmanned plane water surface fixed point automatic sampling system according to claim 1, is characterized in that: described buoyancy ring adopts high-density foam material, is cut into ring-type.
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105372093A (en) * | 2015-11-12 | 2016-03-02 | 浙江省海洋水产研究所 | Sea environment monitoring water sampler |
| CN105372097A (en) * | 2015-11-12 | 2016-03-02 | 浙江省海洋水产研究所 | Self-triggering water quality detection unmanned plane device |
| CN105424410A (en) * | 2015-11-12 | 2016-03-23 | 浙江省海洋水产研究所 | Automatic water collecting equipment with water surface points fixed |
| CN105424409A (en) * | 2015-11-12 | 2016-03-23 | 浙江省海洋水产研究所 | Water surface single-point floating type automatic collecting system based on unmanned aerial vehicle |
| CN105510082A (en) * | 2015-12-15 | 2016-04-20 | 浙江省海洋水产研究所 | Unmanned aerial vehicle sampling device for marine environmental monitoring |
| CN105606400A (en) * | 2016-01-11 | 2016-05-25 | 浙江理工大学 | Self-triggering putting type water sampling equipment based on unmanned aerial vehicle |
| CN105606401A (en) * | 2016-01-11 | 2016-05-25 | 浙江理工大学 | Lifting touch type water sample collecting device |
| CN105628440A (en) * | 2016-01-11 | 2016-06-01 | 浙江理工大学 | Interval multipoint water sampling system |
| CN105699125A (en) * | 2016-03-09 | 2016-06-22 | 武汉博感空间科技有限公司 | Suspension type UAV (unmanned aerial vehicle) water sampler system |
| CN106525493A (en) * | 2016-11-25 | 2017-03-22 | 广州飞创智能科技有限公司 | Unmanned aerial vehicle for taking water sample and water taking method |
| CN106516118A (en) * | 2016-12-29 | 2017-03-22 | 天津云端智航科技有限公司 | Unmanned aerial vehicle for sampling multiple geological samples |
| CN108051239A (en) * | 2017-12-15 | 2018-05-18 | 佛山市神风航空科技有限公司 | A kind of plant sampling system based on unmanned plane |
| CN109541089A (en) * | 2018-12-28 | 2019-03-29 | 浙江亚凯检测科技有限公司 | A method of based on organo-chlorine pesticide in gas chromatograph detection waste water |
| CN110242302A (en) * | 2019-06-19 | 2019-09-17 | 中国水产科学研究院南海水产研究所 | A kind of full-automatic coastal waters substrate positioning cutting arrangement |
| CN114323810A (en) * | 2022-03-16 | 2022-04-12 | 山东省鲁南地质工程勘察院(山东省地质矿产勘查开发局第二地质大队) | Hydrogeology is with water level observation device |
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Cited By (24)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105424409B (en) * | 2015-11-12 | 2017-12-12 | 浙江省海洋水产研究所 | Water surface single-point floatation type automated collection systems based on unmanned plane |
| CN105372097A (en) * | 2015-11-12 | 2016-03-02 | 浙江省海洋水产研究所 | Self-triggering water quality detection unmanned plane device |
| CN105424410A (en) * | 2015-11-12 | 2016-03-23 | 浙江省海洋水产研究所 | Automatic water collecting equipment with water surface points fixed |
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| CN105510082A (en) * | 2015-12-15 | 2016-04-20 | 浙江省海洋水产研究所 | Unmanned aerial vehicle sampling device for marine environmental monitoring |
| CN105510082B (en) * | 2015-12-15 | 2018-02-13 | 浙江省海洋水产研究所 | A kind of marine environmental monitoring unmanned plane sampling apparatus |
| CN105606401A (en) * | 2016-01-11 | 2016-05-25 | 浙江理工大学 | Lifting touch type water sample collecting device |
| CN105606400B (en) * | 2016-01-11 | 2018-03-20 | 浙江理工大学 | Triggering releasing type water body sample devices certainly based on unmanned plane |
| CN105606401B (en) * | 2016-01-11 | 2018-03-20 | 浙江理工大学 | Lift actuating type water sample acquisition device |
| CN105628440B (en) * | 2016-01-11 | 2018-03-20 | 浙江理工大学 | Compartment multiple spot water sampling system |
| CN105628440A (en) * | 2016-01-11 | 2016-06-01 | 浙江理工大学 | Interval multipoint water sampling system |
| CN105606400A (en) * | 2016-01-11 | 2016-05-25 | 浙江理工大学 | Self-triggering putting type water sampling equipment based on unmanned aerial vehicle |
| CN105699125A (en) * | 2016-03-09 | 2016-06-22 | 武汉博感空间科技有限公司 | Suspension type UAV (unmanned aerial vehicle) water sampler system |
| CN105699125B (en) * | 2016-03-09 | 2018-10-30 | 武汉博感空间科技有限公司 | A kind of suspension type unmanned plane water-quality sampler system |
| CN106525493A (en) * | 2016-11-25 | 2017-03-22 | 广州飞创智能科技有限公司 | Unmanned aerial vehicle for taking water sample and water taking method |
| CN106525493B (en) * | 2016-11-25 | 2024-03-12 | 广州飞创智能科技有限公司 | Unmanned aerial vehicle for taking water sample and water taking method |
| CN106516118A (en) * | 2016-12-29 | 2017-03-22 | 天津云端智航科技有限公司 | Unmanned aerial vehicle for sampling multiple geological samples |
| CN108051239A (en) * | 2017-12-15 | 2018-05-18 | 佛山市神风航空科技有限公司 | A kind of plant sampling system based on unmanned plane |
| CN109541089A (en) * | 2018-12-28 | 2019-03-29 | 浙江亚凯检测科技有限公司 | A method of based on organo-chlorine pesticide in gas chromatograph detection waste water |
| CN110242302A (en) * | 2019-06-19 | 2019-09-17 | 中国水产科学研究院南海水产研究所 | A kind of full-automatic coastal waters substrate positioning cutting arrangement |
| CN110242302B (en) * | 2019-06-19 | 2022-04-19 | 中国水产科学研究院南海水产研究所 | Full-automatic offshore substrate positioning and excavating device |
| CN114323810A (en) * | 2022-03-16 | 2022-04-12 | 山东省鲁南地质工程勘察院(山东省地质矿产勘查开发局第二地质大队) | Hydrogeology is with water level observation device |
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