CN105292449B - Water quality sampling unmanned aerial vehicle - Google Patents
Water quality sampling unmanned aerial vehicle Download PDFInfo
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- CN105292449B CN105292449B CN201410374931.8A CN201410374931A CN105292449B CN 105292449 B CN105292449 B CN 105292449B CN 201410374931 A CN201410374931 A CN 201410374931A CN 105292449 B CN105292449 B CN 105292449B
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- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 25
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- 230000001360 synchronised effect Effects 0.000 claims description 14
- AZDRQVAHHNSJOQ-UHFFFAOYSA-N alumane Chemical group [AlH3] AZDRQVAHHNSJOQ-UHFFFAOYSA-N 0.000 claims description 13
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Abstract
The invention relates to the field of water quality collection, in particular to a water quality sampling unmanned aerial vehicle. The water quality sampling unmanned aerial vehicle comprises an unmanned aerial vehicle body, a driving device, a water sample collecting device and a circuit board mounting box, wherein a plurality of control units are arranged in the circuit board mounting box; a plurality of sensors are arranged on the unmanned aerial vehicle body; the control units form a flight control device, and the sensors form a navigation device; the driving device and the water sample collecting device are controlled to start and stop through the flight control device; the water sample collecting device comprises a water sampling device, a main body bracket, a water diversion device and a water body collecting controller, wherein the water diversion device is provided with a water diversion mechanism and plastic bottles; the water sampling device is connected with the water diversion mechanism on the water diversion device through a water pipe, and collected water samples enter the water diversion mechanism through the action of the water sampling device, and enter the plastic bottles for loading the water samples through the action of the water diversion mechanism. The water quality sampling unmanned aerial vehicle disclosed by the invention is broad in coverage area and high in mobility, requirements for extensive inspection and water quality collection can be met.
Description
Technical field
The present invention relates to water sampling field, specifically a kind of water quality sampling unmanned plane.
Background technology
At present China's water resource pollution situation is serious, and water prevention and cure of pollution work is extremely urgent, and efficiently comprehensively obtains water
Matter information is the prerequisite of water prevention and cure of pollution work, and water quality sampling work is then the key link for obtaining water quality information, at present
Generally by the way of artificial sample and automatically sampling, they all have respective limitation to water quality sampling, are mainly manifested in：
(1) for the dynamic acquisition in waters on a large scale, the water sampling in the waters on a large scale such as rivers, lake, coastal is used merely
Manual type inefficiency, automatic data collection is typically only capable to gather the water sample situation of fixing point, does not possess stochastic and dynamic；(2) it is right
In seriously polluted or burst chemical spill waters, there is poisonous and harmful substance or gas in bad environments, artificial collection has
Greatly dangerous, traditional approach is difficult collection；(3) for the waters of complex environment, such as marsh, wetland or harmful algae aggregation
Region etc., the method using unmanned boat or manually rowed the boat all is difficult to reach designated area, it is impossible to complete collecting work.Nobody goes straight up to
Machine operation wide coverage, mobility strong, disclosure satisfy that the needs of cruising on a large scale, the characteristics of be provided simultaneously with Unmanned operation,
The deep enough deathtrap of energy replaces the operation of people, further, since entering operating area using flying method, aquatic environment affects non-
It is often little, fit into the region job that ship is difficult to reach.
The content of the invention
It is an object of the invention to provide a kind of water quality sampling unmanned plane, wide coverage, mobility strong, disclosure satisfy that big
Scope cruising and the needs of water quality collection, can deep enough deathtrap or complex water areas operation.
The purpose of the present invention is achieved through the following technical solutions：
A kind of water quality sampling unmanned plane, including fuselage, driving means, water sample acquisition device and circuit board mounting box, wherein
Driving means and circuit board mounting box are arranged in the frame of fuselage, and water sample acquisition device is arranged on the undercarriage of fuselage；
Multiple control units are provided with circuit board mounting box, multiple sensors are provided with fuselage, the plurality of control unit and multiple
Sensor has respectively constituted flight control assemblies and guider, and the driving means and water sample acquisition device are flown by described
Row control device controls start and stop.
The water sample acquisition device includes water sampling device, main body rack, division box and water body acquisition controller, water acquisition dress
Put, division box and water body acquisition controller are installed on the main body rack, wherein division box be provided with hydroseparator structure and
The plastic bottle of water sample is taken up, water sampling device is connected by water pipe with the hydroseparator structure on the division box, the water sampling device
Start and stop are controlled by the water body acquisition controller with hydroseparator structure, described in the water sample of collection is entered into by water sampling device effect
In hydroseparator structure, and entered for taking up in the plastic bottle of the water sample by hydroseparator structure effect.
The water sampling device includes pipe discharging mechanism, peristaltic pump, flow transducer and suction hose, the suction hose and peristaltic pump
Water inlet be connected, and the suction hose in the non-shaft during operation of device in the pipe discharging mechanism, the peristaltic pump pass through water
Pipe is connected with the hydroseparator structure of the division box, and sets on the pipeline that is connected with the hydroseparator structure of division box of the peristaltic pump
There is flow transducer.
The pipe discharging mechanism includes putting pipe steering wheel, aluminum pipe, iron hoop and rope, and on the rotating disk for putting pipe steering wheel ferrum is cased with
Ring, the iron hoop is connected by rope with the one end for putting the aluminum pipe below pipe steering wheel is arranged at, the other end of the aluminum pipe with
One short steeve being fixedly arranged on main body rack is hinged, and the suction hose is wrapped on the aluminum pipe when device does not work,
A weight is provided with suction hose away from one end of the peristaltic pump.
The hydroseparator structure of the division box includes internal ring, outer shroud and point water rudder machine, and wherein outer shroud is arranged on main body rack
On, internal ring is rotatablely arranged in the outer shroud, and the internal ring is connected with point water rudder machine being arranged at below outer shroud；It is described
Internal ring is provided with the inlet opening and apopore for interconnecting, and multiple tapping holes is evenly equipped with the side wall of the outer shroud, for draining
Drain pipe be connected with one of tapping hole by pipe joint, extend into water pipe in each plastic bottle and pass through pipe joint respectively
Be connected one by one successively with other tapping holes, the apopore on the internal ring when water sample is gathered by the effect of described point of water rudder machine with
The arbitrary tapping hole docking communicated with plastic bottle on outer shroud.
The main body rack bottom is provided with the chassis for placing plastic bottle, and the chassis is by long hanger erection in main body rack
On, the upper fagging and lower fagging that position-limiting action is played to plastic bottle is provided with above chassis, being provided with long suspension rod can be along described
The slip aluminium ring that long suspension rod is slided up and down, is provided with location hole in the middle part of the long suspension rod, the slip aluminium ring is not entered by safety pin
Defined position in location hole in the middle part of the long suspension rod.
The water body acquisition controller is connected with the flight control assemblies, and the water body acquisition controller is provided with use
In the Temperature Humidity Sensor of collection sampled point environmental information.
Central control management unit, wireless communication unit are provided with the circuit board mounting box, remote signal receiver, are led
Boat data processing unit and barometertic altimeter, on the upside of the circuit board mounting box inertial navigation sensors are provided with, with frame
Gps satellite alignment sensor, the central control management unit, wireless communication unit and remote control letter are installed on connected tail
Number receptor constitutes the flight control assemblies, and the navigation data processing unit, gps satellite alignment sensor, inertia are led
Boat sensor and barometertic altimeter constitute navigation data processing unit and institute in the guider, and the guider
The central control management unit stated in flight control assemblies is connected, and driving means and water sample acquisition device are by central authorities' control
Administrative unit processed controls start and stop.
The frame front side is provided with a strutbeam, and a fixed high sensor, the fixed high sensing are provided with the strutbeam
Device is connected with the central control management unit.
The driving means include electromotor, drive mechanism, main screw and tail propeller, and the drive mechanism includes the
One synchronous belt drive mechanism, gear-box and the second synchronous belt drive mechanism, wherein gear-box include input gear axle, driving cog
Wheel, output shaft and output gear shaft, the input gear axle, travelling gear and output gear shaft are engaged successively, with main screw
Connected output shaft is connected with the travelling gear；Electromotor is by the first synchronous belt drive mechanism and the input gear of gear-box
Axle is connected, and the output gear shaft of gear-box is connected by the second synchronous belt drive mechanism with tail propeller, the electromotor and institute
State flight control assemblies be connected, the main screw steering wheel for controlling main screw is installed on the upside of frame, with frame
The end of connected tail is provided with the tail propeller steering wheel for controlling tail propeller.
Advantages of the present invention is with good effect：
1st, the present invention is higher compared with traditional method operation coverage wider, mobility in sampling process, is provided simultaneously with nothing
The characteristics of peopleization is operated, the deep enough deathtrap of energy replaces the operation of people.
2nd, the present invention is affected very little due to entering operating area using flying method by aquatic environment, fits into ship
Only it is difficult to the region job for reaching.
3rd, the water quality harvester high degree of automation in the present invention, including multiple water sample holding bottles, and it is expansible, therefore
Unmanned plane can flight complete multipoint acquisition.The method is more scientific and reasonable, saves human and material resources, can be to a great extent
Improve work efficiency.
Description of the drawings
Fig. 1 is schematic structural view of the invention,
Fig. 2 is the left view of the present invention in Fig. 1,
Fig. 3 is the structural representation of drive mechanism in Fig. 1,
Fig. 4 is the structural representation of water quality sampling device in Fig. 1,
Fig. 5 is the structural representation of main body rack in Fig. 4,
Fig. 6 is the structural representation of water sampling device in Fig. 4,
Fig. 7 is the structural representation of division box in Fig. 4,
Fig. 8 is the structural representation of inner ring and outer rings in Fig. 7.
Wherein, 1 is electromotor, and 2 is drive mechanism, and 3 are fixed high sensor, and 4 is frame, and 5 is gps satellite orientation sensing
Device, 6 is tail propeller, and 7 is tail propeller steering wheel, and 8 is water sample acquisition device, and 9 is undercarriage, and 10 is main screw, based on 11
Propeller steering wheel, 12 is inertial navigation sensors, and 13 is circuit board mounting box, and 14 is the first synchronous belt drive mechanism, and 15 is defeated
Enter gear shaft, 16 is gear-box, and 17 is output shaft, and 18 is output gear shaft, and 19 is the second synchronous belt drive mechanism, and 20 is water acquisition
Device, 21 is main body rack, and 22 is division box, and 23 is mounting blocks, and 24 is water body acquisition controller, and 25 is temperature and humidity sensing
Device, 26 is plastic bottle, and 27 is rear aluminium sheet, and 28 is camber member, and 29 is auxiliary girder, and 30 is front aluminium sheet, and 31 is long suspension rod, and 32 is slip aluminum
Ring, 33 is safety pin, and 34 is upper fagging, and 35 is chassis, and 36 is lower fagging, and 37 is long fagging pole, and 38 is short fagging pole, and 39 are
Flow transducer, 40 is peristaltic pump, and 41 to put pipe steering wheel, and 42 is iron hoop, and 43 is rope, and 44 is aluminum pipe, and 45 is suction hose, and 46 are
Short steeve, 47 is internal ring, and 48 is outer shroud, and 49 are a point water rudder machine, and 50 is inlet opening, and 51 is apopore, and 52 is tapping hole, and 53 are biography
Moving gear, 54 is tail, and 55 is strutbeam.
Specific embodiment
Below in conjunction with the accompanying drawings the invention will be further described.
As shown in Fig. 1~2, the present invention includes fuselage, driving means, water sample acquisition device 8 and circuit board mounting box 13, its
Middle fuselage includes frame 4, undercarriage 9 and tail 54, and driving means and circuit board mounting box 13 are arranged in frame 4, undercarriage 9
Installed in the downside of the frame 4, water sample acquisition device 8 is arranged on the undercarriage 9, and tail 54 is arranged on after frame 4
Side, in circuit board mounting box 13 multiple control units are provided with, and multiple sensors, the plurality of control unit are provided with fuselage
The fixed high device of flight control assemblies, guider and the water surface has been respectively constituted with multiple sensors.
The driving means include electromotor 1, drive mechanism 2, main screw 10 and tail propeller 6, as shown in figure 3, institute
Drive mechanism 2 is stated including the first synchronous belt drive mechanism 14, the wherein synchronous belt drive mechanism 19 of gear-box 16 and second, gear-box
16 include input gear axle 15, travelling gear 53, output shaft 17 and output gear shaft 18, the input gear axle 15, driving cog
Wheel 53 and output gear shaft 18 are engaged successively, and the output shaft 17 and the travelling gear 53 for connecting main screw 10 is connected.Start
Machine 1 is connected by the first synchronous belt drive mechanism 14 with the input gear axle 15 of gear-box 16, and the input gear axle 15 will be dynamic
Power passes to successively travelling gear 53 and output gear shaft 18, wherein the travelling gear 53 drives being connected with main screw 10
Output shaft 17 rotate, the output gear shaft 18 is then connected by the second synchronous belt drive mechanism 19 with tail propeller 6, so as to
Impart power to tail propeller 6.As shown in Fig. 2 being provided with three masters for controlling main screw 10 in the upside of frame 4
Propeller steering wheel 11, as shown in figure 1, the tail propeller steering wheel 7 for controlling tail propeller 6 is installed in the end of tail 54,
In the present embodiment, model BLS351 of main screw steering wheel 11, manufacturer is FUTBA, the type of tail propeller steering wheel 7
Number be BLS351, manufacturer is FUTBA.
As shown in figure 4, water sample acquisition device 8 includes the collection of water sampling device 20, main body rack 21, division box 22 and water body
Controller 24, wherein division box 22 include hydroseparator structure and the plastic bottle 26 for taking up water sample.As shown in figure 5, the master
The middle part of body support frame 21 is provided with two camber members 28, and the camber member 28 is arranged on the auxiliary girder 29 of main body rack 21, division box
22 are arranged on the camber member 28, and before and after the main body rack 21 front aluminium sheet 30 and rear aluminium sheet 27 are respectively provided on two sides with,
Water body acquisition controller 24 is arranged on the front aluminium sheet 30, and water sampling device 20 is installed on aluminium sheet 27 in the rear, is being led
The bottom of body support frame 21 is provided with chassis 35, and the chassis 35 is used to place the plastic bottle 26 for taking up different water samples, the chassis
35 are connected on main body rack 21 by four long suspension rods 31, in the top on chassis 35, are sequentially provided with along direction from top to bottom
Lower fagging 36 and upper fagging 34, the lower fagging 36 and upper fagging 34 play position-limiting action to the inner side of plastic bottle 26, prevent it from running
Winnow with a dustpan deflection, wherein lower fagging 36 is fixed on chassis 35 by three short fagging poles 38, upper fagging 34 is by one through institute
The long fagging pole 37 for stating lower fagging 36 is fixed on chassis 35.The long suspension rod 31 is provided with a slip aluminium ring 32, described
The inner side of slip aluminium ring 32 is evenly equipped with four installing holes, and the slip aluminium ring 32 is arranged on four and long hangs by this four installing holes
On bar 31, and the slip aluminium ring 32 can be slided up and down along long suspension rod 31, be equipped with one at the middle part of the long suspension rod 31 per root and determined
Position hole, when slip aluminium ring 32 slides into the lowermost end of main body rack 21, operating personnel just can be easily removed and be put into plastics
Bottle 26, after plastic bottle 26 is put on chassis 35, operating personnel makes slip aluminium ring 32 slide into the middle part of long suspension rod 31, then by safety pin
In 33 location holes for not entering the middle part of long suspension rod 31 respectively, position-limiting action is just played to slip aluminium ring 32, it is right that slip aluminium ring 32 is used for
Plastic bottle 26 plays fixation, prevents it from toppling over and drops.Two girders of main body rack 21 are respectively arranged at two ends with mounting blocks 23,
Main body rack 21 is installed on undercarriage 9 by the mounting blocks 23.
As shown in fig. 6, water sampling device 20 includes pipe discharging mechanism, peristaltic pump 40, flow transducer 39 and suction hose 45, it is described
Suction hose 45 is connected with the water inlet of peristaltic pump 40, and the suction hose 45 in the non-shaft during operation of device in the pipe discharging mechanism
On, the peristaltic pump 40 is connected by water pipe with the hydroseparator structure of the division box 22, and the peristaltic pump 40 and a point water dress
The connected pipeline of hydroseparator structure for putting 22 is provided with flow transducer 39.In the present embodiment, model 304K/ of the peristaltic pump 40
BT, manufacturer be Chongqing Jie Heng peristaltic pumps company limited, model MG-HZ41C of the flow transducer 39, manufacturer
For Shenzhen Mo Qiao International Trading Company Ltd.
The pipe discharging mechanism includes putting pipe steering wheel 41, iron hoop 42, rope 43 and aluminum pipe 44, and the pipe steering wheel 41 of putting is arranged on
The downside of rear aluminium sheet 27 of main body rack 21, it is described to put model HS-5646WP of pipe steering wheel 41, manufacturer in the present embodiment
For Hitec, an iron hoop 42 is cased with the rotating disk for putting pipe steering wheel 41, the iron hoop 42 puts pipe rudder by rope 43 with being arranged at
One end of aluminum pipe 44 of the lower section of machine 41 is connected, and in the downside of rear aluminium sheet 27 short steeve 46 is vertically provided with, aluminum pipe 44 it is another
End is hinged with the free end of the short steeve 46, and peristaltic pump 40 installs the upper side of aluminium sheet 27 in the rear, with the peristaltic pump
The connected suction hose 45 of 40 water inlets is provided with a weight in the one end away from the peristaltic pump 40, when equipment works, suction hose
45 are first wrapped on aluminum pipe 44, and when the rotation of the rotating disk of pipe steering wheel 41 is put, iron hoop 42 departs from, and aluminum pipe 44 is with around suction hose thereon
45 under gravity simultaneously to lower swing, and the weight on suction hose 45 then makes the disengaging aluminum pipe 44 of suction hose 45 stretch automatically,
Pipe operation is put in realization.
As shown in fig. 7, division box 22 includes hydroseparator structure and plastic bottle 26, wherein hydroseparator structure includes internal ring 47, outer
Ring 48 and point water rudder machine 49, the outer shroud 48 is bolted on two camber members 8 of main body rack 21, and internal ring 47 is embedded in
In entering the outer shroud 48, and internal ring 47 can freely be rotated in the outer shroud 48, as shown in figure 8, the internal ring 47 is provided with one
Inlet opening 50 and an apopore 51, the inlet opening 50 and apopore 51 are communicated, by the flow transducer in water sampling device 20
39 water pipes drawn are arranged on the inlet opening 50 by pipe joint, and multiple points of water are evenly equipped with the side wall of the outer shroud 48
Hole 52 a, drain pipe is connected by pipe joint with one of tapping hole 52, the water pipe extending in each plastic bottle 26
It is connected one by one successively with other tapping holes 52 by pipe joint respectively, point water rudder machine 49 is arranged on the downside of outer shroud 48, point water
The rotating disk of steering wheel 49 is connected with the internal ring 47 and drives the internal ring 47 to rotate, in the present embodiment, the model of described point of water rudder machine
For HS-5646WP, manufacturer is Hitec.When device works, water enters internal ring 47 by inlet opening 50, and Jing apopores 51 flow
Go out, point water rudder machine 49 drives internal ring 47 to rotate relative to outer shroud 48, so as to control the apopore 51 on internal ring 47 and outer shroud 48
On certain tapping hole 52 dock, current is flowed in corresponding plastic bottle 26 by the tapping hole 52, or by drain pipe flow out,
So as to realize a point water operation.
Water body acquisition controller 24 on front aluminium sheet 30 is used to control peristaltic pump 40, puts pipe steering wheel 41 and point water rudder
The start and stop of machine 49, this is known in the art technology, and Temperature Humidity Sensor 25 is provided with water body acquisition controller 24, the humiture
Model AM2321B of sensor 25, manufacturer is pine difficult to understand, and water body acquisition controller 24 passes through the Temperature Humidity Sensor 25
The environmental information of collection sampled point, the flow transducer 39 being arranged on the pipeline that peristaltic pump 40 is connected with division box 22 is then used
In collection absorption speed.
Circuit board mounting box 13 is installed in frame 4, central control management list is provided with the circuit board mounting box 13
Unit, wireless communication unit, remote signal receiver, navigation data processing unit and barometertic altimeter, in the present embodiment, the nothing
Line communication unit be 900MHz frequency hopping wireless communication units, barometertic altimeter model MPXA6115AC6U, manufacturer
For FREESCALE-SEMICONDUCTOR, as shown in Fig. 2 being provided with an inertial navigation in the upside of the circuit board mounting box 13
Sensor 12, model ADIS16365 of inertial navigation sensors 12, manufacturer is ADI, as shown in figure 1, on tail 54
One gps satellite alignment sensor 5, model LEA-6S-001 of the gps satellite alignment sensor 5, manufacturer are installed
For UBLOX.
The central control management unit, wireless communication unit and remote signal receiver constitute the flight control of the present invention
Device processed, wherein central control management unit are electrically connected with wireless communication unit by RS232 serial ports, and then are realized and ground control
The wireless two-way communication of base station processed；Central control management unit is electrically connected with remote signal receiver by parallel port, so as to by handss
Hold remote controller signal and be transferred to central control management unit, realize remote manual control, the central control management unit may be used also
The start and stop of electromotor 1 in control driving means, and send finger to the water sampling controller 24 in water sample acquisition device 8
Order, and the signal feedback of other units can be received and instruction is sent according to signal feedback, the central control management unit is
Technology commonly used in the art.
The navigation data processing unit being installed in circuit board mounting box 13, the gps satellite on tail 54
Alignment sensor 5, the inertial navigation sensors 12 for being arranged at the upside of circuit board mounting box 13 and it is arranged at circuit board mounting box 13
Interior barometertic altimeter constitutes the guider of the present invention, wherein gps satellite alignment sensor 5, inertial navigation sensors 12
Realize communicate by the electrical connection of RS232 serial ports with the navigation data processing unit, barometertic altimeter by A/D translation interfaces and
Communication is realized in the navigation data processing unit electrical connection.Gps satellite alignment sensor 5, inertial navigation sensors 12 and air pressure
Altimeter periodically sends the information such as position, attitude, height to the navigation data processing unit, and navigation data processing unit will
These information carry out fusion calculation, and navigation data processing unit is electrically connected real with central control management unit by RS232 serial ports
Now communicate, and information fusion calculation result is sent to into central control management unit, this is technology commonly used in the art.
As shown in figure 1, being provided with a strutbeam 55 in the front side of frame 4, a fixed high sensor is installed on the strutbeam 55
3, the fixed high device of the water surface that the fixed high sensor 3 is the present invention, the fixed high sensor 3 is the fixed high radar sensing of the water surface
Device, its model MB7060, manufacturer is MaxBotix, and the fixed high sensor 3 is logical with the central control management unit
Cross the electrical connection of RS232 serial ports and realize two-way communication, unmanned plane is sent to into the central control pipe apart from the elevation information of the water surface
Reason unit, then realizes the fixed high Hovering control of the water surface by calculating.
The present invention operation principle be：
Water quality sampling can be divided into manually and automatically two ways, and manual mode passes through hand-held remote controller by flight operator
Control to take off and reach the sampled point specified, and control aircraft and sampled point overhead is hovered over certain altitude scope；Manipulation people
Member's operation ground control base station, " putting pipe instruction " is sent by wireless communication unit to the central control management unit of unmanned plane,
The instruction is sent to water body acquisition controller 24 by central control management unit, and water body acquisition controller 24 is received after the instruction
That is control is put pipe steering wheel 41 and is rotated and puts down suction hose 45, then operator's operation ground control base station, by radio communication
Unit sends " water body collection starts " instruction to the central control management unit of unmanned plane, and central control management unit receives this
Water body acquisition controller 24 is forwarded it to after instruction, water body acquisition controller 24 is received after the instruction, control peristaltic pump 40
Rotate, water pipe is washed away from the water suction of specified sampled point, and will discharge from the drain pipe of division box 22 for the water for washing away, the mistake
Cheng Chixu 20 seconds, then stops peristaltic pump 40 and absorbs water；After scour process terminates, the control division box 22 of water body acquisition controller 24
Point water rudder machine 49 drive an internal ring 47 to rotate, make the apopore 51 on internal ring 47 be directed at corresponding tapping hole 52 on outer shroud 48；So
Afterwards the control of water body acquisition controller 24 peristaltic pump 40 restarts, and starts water suction；The speed of extract water is examined by flow transducer 39
Survey, carry out calculating the water yield by water body acquisition controller 24, to judge whether to have drawn institute's water requirement；After absorption is finished
Water body acquisition controller 24 stops peristaltic pump 40 and rotates, and point water rudder machine 49 of division box 22 drives internal ring 47 to rotate, and makes internal ring
47 apopore 51 is docked with the tapping hole 52 being connected with drain pipe on outer shroud 48, now reverse starting peristaltic pump 40 so as to anti-
Turn, discharge the water of residual in water pipe, this process continues 10 seconds, stop peristaltic pump 40, water body acquisition controller 24 sends " collection
Finishing " message is to ground control base station；Flight operator learns that collection operates unmanned plane during flying to next sampled point after finishing
Or make a return voyage.
Automatically to compare manual intervention needed for manual sampling process few for sampling process, before unmanned plane takes off, operator
The central authorities' control for being sent in the geographical position (multiple sampled points can be set simultaneously) of required sampled point by ground control base station
Administrative unit processed, these points under central control management unit record, unmanned plane can fly to the first sampled point automatically after taking off, when
After reaching the point, the unmanned plane being found range sample point of hover over automatically by surely high sensor 3, and central control management unit is sent out
" putting pipe instruction " is sent to put down suction hose 45, then central control management unit sends " water body collection starts " instruction and adopts to water body
Collection controller 24, starts water body collection.Water body gatherer process is identical with manual mode.When water body collection is finished, water body collection control
Device processed 24 sends " collection is finished " instruction to the central control management unit of unmanned plane, the nothing of central control management unit control afterwards
To next sampled point, repeated acquisition process, when the collection of all sampled points is finished, unmanned plane makes a return voyage automatically for man-machine automatic flight.
Claims (9)
1. a kind of water quality sampling unmanned plane, it is characterised in that：Including fuselage, driving means, water sample acquisition device (8) and circuit board
Mounting box (13), wherein driving means and circuit board mounting box (13) in the frame (4) of fuselage, water sample acquisition device
(8) on the undercarriage (9) of fuselage；Multiple control units are provided with circuit board mounting box (13), are provided with fuselage
Multiple sensors, the plurality of control unit and multiple sensors have respectively constituted flight control assemblies and guider, described
Driving means and water sample acquisition device (8) control start and stop by the flight control assemblies；
The water sample acquisition device (8) controls including the collection of water sampling device (20), main body rack (21), division box (22) and water body
Device (24) processed, water sampling device (20), division box (22) and water body acquisition controller (24) are installed in the main body rack
(21) on, wherein division box (22) is provided with hydroseparator structure and takes up the plastic bottle (26) of water sample, and water sampling device (20) is by water
Pipe is connected with the hydroseparator structure on the division box (22), and the water sampling device (20) and hydroseparator structure are adopted by the water body
Collection controller (24) control start and stop, the water sample of collection is entered in the hydroseparator structure by water sampling device (20) effect, and is led to
Cross the hydroseparator structure effect to enter for taking up in the plastic bottle (26) of the water sample.
2. water quality sampling unmanned plane according to claim 1, it is characterised in that：The water sampling device (20) is including putting pipe machine
Structure, peristaltic pump (40), flow transducer (39) and suction hose (45), the water inlet phase of the suction hose (45) and peristaltic pump (40)
Even, and the suction hose (45) in the non-shaft during operation of device in the pipe discharging mechanism, the peristaltic pump (40) is by water pipe
It is connected with the hydroseparator structure of the division box (22), and the peristaltic pump (40) is connected with the hydroseparator structure of division box (22)
Pipeline be provided with flow transducer (39).
3. water quality sampling unmanned plane according to claim 2, it is characterised in that：The pipe discharging mechanism includes putting pipe steering wheel
(41), aluminum pipe (44), iron hoop (42) and rope (43), are cased with iron hoop (42), the ferrum on the rotating disk for putting pipe steering wheel (41)
Ring (42) is connected by rope (43) with the one end for putting the aluminum pipe (44) below pipe steering wheel (41) is arranged at, the aluminum pipe (44)
The other end be hinged with the short steeve (46) that is fixedly arranged on main body rack (21), the suction hose (45) does not work in device
When be wrapped on the aluminum pipe (44), be provided with a weight away from one end of the peristaltic pump (40) in suction hose (45).
4. water quality sampling unmanned plane according to claim 1, it is characterised in that：The hydroseparator structure of the division box (22)
Including internal ring (47), outer shroud (48) and point water rudder machine (49), wherein outer shroud (48) on main body rack (21), internal ring (47)
In being rotatablely arranged at the outer shroud (48), and the internal ring (47) and point water rudder machine being arranged at below outer shroud (48)
(49) it is connected；The internal ring (47) is provided with the inlet opening (50) and apopore (51) for interconnecting, the side of the outer shroud (48)
Multiple tapping holes (52) are evenly equipped with wall, the drain pipe for draining is connected by pipe joint with one of tapping hole (52),
The water pipe extending in each plastic bottle (26) is connected one by one successively respectively by pipe joint with other tapping holes (52), described interior
Apopore (51) on ring (47) passes through on described point of water rudder machine (49) effect and outer shroud (48) and plastic bottle when water sample is gathered
(26) arbitrary tapping hole (52) docking for communicating.
5. water quality sampling unmanned plane according to claim 1, it is characterised in that：Main body rack (21) bottom is provided with puts
Put the chassis (35) of plastic bottle (26), the chassis (35) by long suspension rod (31) on main body rack (21), on chassis
(35) the upper fagging (34) and lower fagging (36) that position-limiting action is played to plastic bottle (26) is provided with above, is set on long suspension rod (31)
There is the slip aluminium ring (32) that can be slided up and down along the long suspension rod (31), be provided with location hole in the middle part of the long suspension rod (31), institute
State defined position in the location hole that slip aluminium ring (32) does not enter in the middle part of the long suspension rod (31) by safety pin (33).
6. water quality sampling unmanned plane according to claim 1, it is characterised in that：The water body acquisition controller (24) and institute
State flight control assemblies to be connected, and the water body acquisition controller (24) is provided with for gathering the warm and humid of sampled point environmental information
Degree sensor (25).
7. water quality sampling unmanned plane according to claim 1, it is characterised in that：It is provided with the circuit board mounting box (13)
Central control management unit, wireless communication unit, remote signal receiver, navigation data processing unit and barometertic altimeter,
Circuit board mounting box (13) upside is provided with inertial navigation sensors (12), pacifies on the tail (54) being connected with frame (4)
Equipped with gps satellite alignment sensor (5), the central control management unit, wireless communication unit and remote signal receiver structure
Into the flight control assemblies, the navigation data processing unit, gps satellite alignment sensor (5), inertial navigation sensors
And barometertic altimeter constitutes navigation data processing unit in the guider, and the guider and flies with described (12)
Central control management unit in row control device is connected, and driving means and water sample acquisition device (8) are by central authorities' control
Administrative unit processed controls start and stop.
8. water quality sampling unmanned plane according to claim 7, it is characterised in that：Frame (4) front side is provided with one
Beam (55), is provided with a fixed high sensor (3), the fixed high sensor (3) and central authorities' control on the strutbeam (55)
Administrative unit is connected.
9. water quality sampling unmanned plane according to claim 1, it is characterised in that：The driving means include electromotor (1),
Drive mechanism (2), main screw (10) and tail propeller (6), the drive mechanism (2) is including the first synchronous belt drive mechanism
(14), gear-box (16) and the second synchronous belt drive mechanism (19), wherein gear-box (16) include input gear axle (15), biography
Moving gear (53), output shaft (17) and output gear shaft (18), the input gear axle (15), travelling gear (53) and output gear
Wheel shaft (18) is engaged successively, and the output shaft (17) being connected with main screw (10) is connected with the travelling gear (53)；Electromotor
(1) be connected with the input gear axle (15) of gear-box (16) by the first synchronous belt drive mechanism (14), gear-box (16) it is defeated
Go out gear shaft (18) to be connected with tail propeller (6) by the second synchronous belt drive mechanism (19), the electromotor (1) flies with described
Row control device is connected, and the main screw steering wheel (11) for controlling main screw (10) is provided with the upside of frame (4),
The end of the tail (54) being connected with frame (4) is provided with tail propeller steering wheel (7) for controlling tail propeller (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410374931.8A CN105292449B (en) | 2014-08-01 | 2014-08-01 | Water quality sampling unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410374931.8A CN105292449B (en) | 2014-08-01 | 2014-08-01 | Water quality sampling unmanned aerial vehicle |
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| Publication Number | Publication Date |
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| CN105292449A CN105292449A (en) | 2016-02-03 |
| CN105292449B true CN105292449B (en) | 2017-05-17 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410374931.8A Expired - Fee Related CN105292449B (en) | 2014-08-01 | 2014-08-01 | Water quality sampling unmanned aerial vehicle |
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| CN105571904B (en) * | 2016-03-07 | 2019-02-22 | 武汉博感空间科技有限公司 | The automatic sampler of water quality sampling unmanned plane |
| 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 |
| CN105620715B (en) * | 2016-04-07 | 2018-02-02 | 珠海紫燕无人飞行器有限公司 | Depopulated helicopter |
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| 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 |
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| CN107436250B (en) * | 2017-07-27 | 2023-07-21 | 深圳市科卫泰实业发展有限公司 | Intelligent water sample collection system of unmanned aerial vehicle mount |
| CN107894353A (en) * | 2018-01-18 | 2018-04-10 | 贵州理工学院 | A kind of distance type lake storehouse water body sampling device |
| CN108622409A (en) * | 2018-03-28 | 2018-10-09 | 国投新疆罗布泊钾盐有限责任公司 | Industrial chemicals automatic sampling aircraft |
| CN109060442B (en) * | 2018-09-26 | 2019-11-29 | 浙江大学 | Autonomous fixed point depthkeeping formula water body sampling system and its method based on unmanned plane |
| CN110844096B (en) * | 2019-12-16 | 2020-10-27 | 宣城恒创科技有限公司 | Water sampling environmental protection unmanned aerial vehicle |
| CN113447316A (en) * | 2021-07-30 | 2021-09-28 | 杭州存览科技有限公司 | Unmanned aerial vehicle mounted pump suction type water sample collection device |
| CN113607500B (en) * | 2021-09-07 | 2023-08-01 | 中国计量大学 | Pumping type water quality sampling device based on unmanned aerial vehicle |
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| CN105292449A (en) | 2016-02-03 |
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