CN108872518A - A kind of water monitoring device based on unmanned plane - Google Patents
A kind of water monitoring device based on unmanned plane Download PDFInfo
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- CN108872518A CN108872518A CN201810891089.3A CN201810891089A CN108872518A CN 108872518 A CN108872518 A CN 108872518A CN 201810891089 A CN201810891089 A CN 201810891089A CN 108872518 A CN108872518 A CN 108872518A
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 143
- 238000012806 monitoring device Methods 0.000 title claims abstract description 27
- 238000012544 monitoring process Methods 0.000 claims abstract description 68
- 239000003643 water by type Substances 0.000 claims abstract description 35
- 239000003651 drinking water Substances 0.000 claims abstract description 31
- 235000020188 drinking water Nutrition 0.000 claims abstract description 31
- 239000010802 sludge Substances 0.000 claims abstract description 28
- 238000003973 irrigation Methods 0.000 claims abstract description 23
- 230000002262 irrigation Effects 0.000 claims abstract description 23
- 239000000523 sample Substances 0.000 claims description 195
- 239000010865 sewage Substances 0.000 claims description 32
- 238000001514 detection method Methods 0.000 claims description 20
- 238000004891 communication Methods 0.000 claims description 19
- 229910001385 heavy metal Inorganic materials 0.000 claims description 16
- 238000010521 absorption reaction Methods 0.000 claims description 7
- 238000000034 method Methods 0.000 claims description 7
- 238000004458 analytical method Methods 0.000 claims description 4
- 238000005070 sampling Methods 0.000 abstract description 8
- 230000009466 transformation Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 3
- 238000007667 floating Methods 0.000 description 3
- 235000014676 Phragmites communis Nutrition 0.000 description 2
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 239000003344 environmental pollutant Substances 0.000 description 2
- 238000012851 eutrophication Methods 0.000 description 2
- 231100000719 pollutant Toxicity 0.000 description 2
- 238000005086 pumping Methods 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 238000004140 cleaning Methods 0.000 description 1
- 238000007405 data analysis Methods 0.000 description 1
- 238000000354 decomposition reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000010842 industrial wastewater Substances 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 239000002244 precipitate Substances 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 238000005406 washing Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/18—Water
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/18—Water
- G01N33/1806—Biological oxygen demand [BOD] or chemical oxygen demand [COD]
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/18—Water
- G01N33/1813—Specific cations in water, e.g. heavy metals
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- Chemical & Material Sciences (AREA)
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- General Health & Medical Sciences (AREA)
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Abstract
The invention discloses a kind of water monitoring devices based on unmanned plane, including unmanned plane, sample holding device is equipped with below the unmanned plane, automatic telescopic link is equipped between the unmanned plane and sample holding device, seal chamber is equipped with below the sample holding device, drinking-water pipe and sludge collector are additionally provided with below the seal chamber, one end of the drinking-water pipe is placed in water, the other end is connected to by water pump with one end of irrigation pipe, the other end of the irrigation pipe is connected with sample holding device, and the sludge collector is arranged on the seal chamber by mechanical arm.The present invention provides a kind of water monitoring devices based on unmanned plane, the transformation of different water area monitoring points is realized by controlling unmanned plane, and it can be deeply monitored to bottom portion, solve the problems, such as that monitoring data are single, monitoring data are inaccurate, and the present invention is equipped with sampling apparatus, analyzes convenient for water quality of the staff to different waters.
Description
Technical field
The present invention relates to environment monitoring technical field, in particular to a kind of water monitoring device based on unmanned plane.
Background technique
The industrial wastewater of status, sanitary sewage are directly discharged in river mostly after treatment, utilize the water in river
Mobility, achieve the effect that a kind of carrying.But a river always there are the slow region of flow velocity or forms lake, because
This is discharged into some substances in river and will precipitate to form eutrophication at the slow region of river flow or lake
The ability of mud, water body natural decomposition is limited, and the mud of these eutrophication can seriously destroy the ecological environment in the waters,
Threaten neighboring area drinking water safety.
Therefore, there have been water quality monitorings, and in the prior art, water quality monitoring is mainly to be carried out by manual type,
Monitored water body is sampled by staff, then data analysis is carried out to monitored water body by field instrumentation.Such side
That there are monitoring cycles is long for formula, is unable to real-time monitoring, is difficult to find in time to emergency event.Based on such situation, on the market
There are some remote water quality monitoring systems, the sensor for monitoring water quality is mainly arranged close to the position of the water surface, to water
Body pinpointed, real-time monitoring.Such mode there are the problem of mainly have two o'clock, first is that such monitoring system mainly monitors
Be water quality near the water surface, some polluters can be deposited in river bed, this just has the problem of monitoring result inaccuracy；Second is that by
Then fixed point monitoring has that sampled data is single.
Application publication number CN107037189A discloses a kind of random mode river bed sewage, mud monitoring analysis system, including：
From walking terminal, it is equipped with counterweight chamber, counterweight chamber and extraneous connection from walking terminal, counterweight is intracavitary to be equipped with reed, and counterweight is intracavitary
The position opposite with reed is embedded with electromagnet；Monitoring modular, monitoring modular include pH sensor, the test side COD and a huge sum of money
Belong to concentration detection sensor, pH sensor, the test side COD and heavy metal concentration detection sensor are each attached to from walking terminal
Outer surface；Floating ball terminal, floating ball terminal is interior to be equipped with seal chamber, is equipped with locating module, power module, GPRS module in seal chamber
And microcontroller.The invention also discloses a kind of random mode river bed sewage, mud monitoring analysis method.But the monitoring mould
Block is arranged in water for a long time, is easy to be corroded, and can not can not be monitored to the sludge for sinking to bottom.
Summary of the invention
The present invention provides a kind of water monitoring devices based on unmanned plane, realize that different waters are supervised by control unmanned plane
The transformation of measuring point, and being deeply monitored to bottom portion, solves that monitoring data are single, monitoring data are inaccurate asks
Topic, and the present invention is equipped with sampling apparatus, analyzes convenient for water quality of the staff to different waters.
It is of the existing technology in order to solve the problems, such as, it adopts the following technical scheme that：
A kind of water monitoring device based on unmanned plane, including unmanned plane, the unmanned plane lower section are equipped with sample holding device, institute
It states and is equipped with automatic telescopic link between unmanned plane and sample holding device, one end of the automatic telescopic link is fixedly connected with unmanned plane,
The other end is fixedly connected with sample holding device；
The sample holding device includes holding frame, and described hold in frame is laminated from top to bottom equipped with multiple sample bombs, institute
It states and sample bomb is divided into mud sample storage room and sewage sample storage room equipped with vertical baffle among sample bomb；
It is equipped with seal chamber below the sample holding device, is equipped with locating module, microcontroller, power module in the seal chamber
And wireless communication module, the seal chamber lower section are equipped with monitoring probe, the monitoring probe is equipped with pH sensor, COD is detected
End and heavy metal concentration detection sensor；
It is additionally provided with drinking-water pipe and sludge collector below the seal chamber, one end of the drinking-water pipe is placed in water, and the other end is logical
It crosses water pump to be connected to one end of irrigation pipe, the other end of the irrigation pipe is connected with sample holding device, the sludge acquisition
Device is arranged on the seal chamber by mechanical arm；
The water pump, locating module, power module, wireless communication module, automatic telescopic link, pH sensor, the test side COD and
Heavy metal concentration detection sensor is connected to microcontroller respectively.
Preferably, the number of the automatic telescopic link is 3, is respectively distributed on the chassis of unmanned plane.
Preferably, the sludge collector is grab type sludge collector.
Preferably, the sample bomb is equipped with pulley, and the opposite two sidewalls of frame or so that hold are equipped with for cunning
The parallel sliding track of slipping.
Preferably, described hold is additionally provided with elastic component between frame and sample bomb, and one end of the elastic component, which connects, contains
The rear wall of frame is put, the other end connects the rear wall of sample bomb, and the frame that holds is equipped with magnechuck, the sample storage
Storage is equipped with absorption block corresponding with magnechuck, and the magnechuck is connected with microcontroller.
Preferably, the water pump is two-way pump.
Preferably, the arch that holds is equipped with water tank, and the water tank is connect with the sample bomb pipeline, the pipe
Road is equipped with control valve, and the control valve is connected with microcontroller.
Preferably, the end of the drinking-water pipe is provided with filter screen.
Preferably, the monitoring method of the water monitoring device based on unmanned plane includes the following steps：
Step 1：Manual control unmanned plane is moved to the overhead in monitoring waters, then module by wireless communication（404）To micro-control
Device processed inputs the depth of monitored water sample, the length of the microcontroller control automatic telescopic link, so that monitoring probe arrives
Up to the position where sample；
Step 2：PH sensor, the test side COD and heavy metal concentration detection sensor in monitoring probe is respectively to sample
Water quality is detected, and transmits the result to microcontroller, if the water quality of sample meets the requirements, is transferred to next waters to be measured
Or terminate monitoring, it is wanted if the water quality of sample is not met, asks and follow the steps below, while will test result by wireless communication
Module feedback is to staff；
Step 3：Microcontroller order pump working sequentially passes through pumping by the sewage sample in waters to be measured under the action of water pump
Water pipe, water pump and irrigation pipe are sealed up for safekeeping subsequently into sewage sample storage room, to be analyzed；
Step 4：The work of microcontroller order sludge collector, acquires the mud sample of water bottom to be measured, then passes through machinery
Arm is sent to mud sample storage room, to be analyzed；
Step 5：After mud sample and the sewage sample acquisition in waters to be measured, then control unmanned plane is transferred to next to be measured
Waters terminates monitoring.
Preferably, the monitoring method of the water monitoring device based on unmanned plane includes the following steps：
Step 1：Manual control unmanned plane is moved to the overhead in monitoring waters, and then module is defeated to microcontroller by wireless communication
Enter the depth of monitored water sample, the length of the microcontroller control automatic telescopic link, so that monitoring probe reaches sample
The position at place；
Step 2：PH sensor, the test side COD and heavy metal concentration detection sensor in monitoring probe is respectively to sample
Water quality is detected, and transmits the result to microcontroller, if the water quality of sample meets the requirements, is transferred to next waters to be measured
Or terminate monitoring, if the water quality of sample is undesirable, following steps；
Step 3：Microcontroller order pump working sequentially passes through pumping by the sewage sample in waters to be measured under the action of water pump
Water pipe, water pump and irrigation pipe are sealed up for safekeeping subsequently into sewage sample storage room, to be analyzed；
Step 4：The work of microcontroller order sludge collector, acquires the mud sample of water bottom to be measured, then passes through machinery
Arm is sent to mud sample storage room, to be analyzed；
Step 5：After mud sample and the sewage sample acquisition in waters to be measured, microcontroller order water pump, sludge collector
It stops working, then controls unmanned plane and be transferred to next waters to be measured or terminate monitoring；
Step 6：After staff takes out mud sample and sewage sample, microcontroller order control valve is opened, and water pump starts
It works, the water in water tank sequentially passes through sample bomb, irrigation pipe, water pump, drinking-water pipe, to sample bomb, irrigation pipe, water
Pump, drinking-water pipe are cleaned.
Compared with prior art, the present invention it has the advantages that：
（1）The present invention is by the reasonable utilization to unmanned plane and automatic upper telescopic rod, in waters to be measured arbitrarily by monitoring probe
It is mobile, realize the water quality monitoring of different location, different depth, while most can sufficiently tie by the detection method of platform of unmanned plane
The advantage of unmanned plane high maneuverability, high flexibility is closed, the ability for playing instrument detection is maximized, provides one kind for water quality detection
Novel and reliable, actual scheme, and unmanned plane is not directly contacted with the water surface, ensure that the spatter property of unmanned plane, avoids drift
Floating mobile device in water is chronically in water, the appearance for the phenomenon that is easy to be corroded；
（2）The present invention carries clear water pre-washing function, after acquisition, can clean immediately to sampling conduit etc., before preventing
Primary sampling improves the accuracy of sampled data to the pollution of following samples and influence；
（3）The present invention is equipped with multiple sample bombs, and primary lift-off can acquire the water sample of multiple sampled points, the sample storage
Device is divided into sewage sample storage room and the pure room of mud sample, has many advantages, such as that sampling sampling efficiency is high, sample degree of isolation is high,
It is easy to operate, it is applied widely.
Detailed description of the invention
Fig. 1 is a kind of water monitoring device schematic diagram based on unmanned plane described in embodiment 1；
Fig. 2 is a kind of water monitoring device schematic diagram based on unmanned plane as described in example 2；
Fig. 3 is embodiment 1, sample holding device schematic diagram described in embodiment 2；
In figure：1- unmanned plane, 3- sample holding device, 301- hold frame, 301a- water tank, 301b- pipeline, 301c- control valve,
302- sample bomb, 303- vertical baffle, 304- mud sample storage room, 305- sewage sample storage room, 306- pulley,
307- parallel sliding track, 308- elastic component, 309- magnechuck, 309a- absorption block, 4- seal chamber, 401- locating module, 402- are micro-
Controller, 403- power module, 404- wireless communication module, 5- automatic telescopic link, 6- monitoring probe, 601-pH sensor,
The test side 602-COD, 603- heavy metal concentration detection sensor, 7- drinking-water pipe, 701- water pump, 702- irrigation pipe, 8- sludge are adopted
Storage, 801- mechanical arm.
Specific embodiment
Present invention will be further explained below with reference to specific examples.These embodiments are merely to illustrate the present invention and do not have to
In limiting the scope of the invention.
Embodiment 1
Fig. 1~3, a kind of water monitoring device based on unmanned plane of the preferred embodiment of the present invention, including unmanned plane 1 are please referred to,
It is equipped with sample holding device 3 below the unmanned plane 1, automatic telescopic link is equipped between the unmanned plane 1 and sample holding device 3
5, one end of the automatic telescopic link 5 is fixedly connected with unmanned plane 1, and the other end is fixedly connected with sample holding device 3；
The sample holding device 3 includes holding frame 301, and described hold in frame 301 is laminated from top to bottom equipped with the storage of multiple samples
Storage 302 is equipped with vertical baffle 303 among the sample bomb 302 and divides sample bomb 302 for mud sample storage room
304 and sewage sample storage room 305；
It is equipped with seal chamber 4 below the sample holding device 3, is equipped with locating module 401, microcontroller in the seal chamber 4
402, power module 403 and wireless communication module 404, are equipped with monitoring probe 6 below the seal chamber 4, in the monitoring probe 6
Equipped with pH sensor 601, the test side COD 602 and heavy metal concentration detection sensor 603；
Drinking-water pipe 7 and sludge collector 8 are additionally provided with below the seal chamber 4, one end of the drinking-water pipe 7 is placed in water, another
End is connected to by water pump 701 with one end of irrigation pipe 702, and the other end of the irrigation pipe 702 is connected with sample holding device 3
Logical, the sludge collector 8 is arranged on the seal chamber 4 by mechanical arm 801；
The water pump 701, locating module 401, power module 403, wireless communication module 404, automatic telescopic link 5, pH sensor
601, the test side COD 602 and heavy metal concentration detection sensor 603 are connected to microcontroller 402 respectively.
Wherein, the number of the automatic telescopic link 5 is 3, is respectively distributed on the chassis of unmanned plane 1.
Using such structure, so that unmanned plane is connect reliably with sample holding device, stabilized structure.
Wherein, the sludge collector 8 is grab type sludge collector.
Wherein, the sample bomb 302 is equipped with pulley 306, and described hold sets on the opposite two sidewalls of frame 301 or so
There is the parallel sliding track 307 slided for pulley 306.
Using such structure, sample bomb is arranged in a manner of drawer to be held on frame, convenient for sample bomb
Closure and unlatching.
Wherein, described hold is additionally provided with elastic component 308 between frame 301 and sample bomb 302, the elastic component 308
One end connects the rear wall for holding frame 301, and the other end connects the rear wall of sample bomb 302, and the frame 301 that holds is equipped with
Magnechuck 309, the sample bomb 302 is equipped with and the corresponding absorption block 309a of magnechuck 309, the magnechuck
309 are connected with microcontroller 402.
Using such structure, when not sampling, elastic component handles normal condition, and sample bomb and holding is deposited between frame
In distance, so that sample bomb is in non-occluded state, after sewage sample and mud sample sample, manually to micro-control
Device input instruction processed, order sample bomb closure, i.e.,：The work of microcontroller order magnechuck, magnechuck and absorption block
Attract each other, compression elastic piece, further sample bomb with hold at a distance from frame so that sample bomb is in closed state,
To save sample.
Wherein, the water pump 701 is two-way pump.
Wherein, the end of the drinking-water pipe 7 is provided with filter screen.
Using such structure, it can prevent solid pollutant from entering drinking-water pipe, the situation quilt for avoiding drinking-water pipe blocked
Occur.
Wherein, the monitoring method of the water monitoring device based on unmanned plane includes the following steps：
Step 1：Manual control unmanned plane 1 is moved to the overhead in monitoring waters, then by wireless communication module 404 to microcontroller
Device 402 inputs the depth of monitored water sample, and the microcontroller 402 controls the length of automatic telescopic link 5, so that monitoring is visited
First 6 reach the position where sample；
Step 2：PH sensor 601, the test side COD 602 and 603 difference of heavy metal concentration detection sensing in monitoring probe 6
The water quality of sample is detected, and transmits the result to microcontroller 402, if the water quality of sample meets the requirements, is transferred to
Next waters to be measured terminates monitoring, if the water quality of sample is undesirable, follows the steps below, while will test result
Module 404 feeds back to staff by wireless communication；
Step 3：The work of 402 order water pump 701 of microcontroller, by the sewage sample in waters to be measured under the action of water pump, successively
Across drinking-water pipe 7, water pump 701 and irrigation pipe 702, sealed up for safekeeping subsequently into sewage sample storage room 305, it is to be analyzed；
Step 4：The work of 402 order sludge collector 8 of microcontroller, acquires the mud sample of water bottom to be measured, then passes through
Mechanical arm 801 is sent to mud sample storage room 304, to be analyzed；
Step 5：After mud sample and the sewage sample acquisition in waters to be measured, then control unmanned plane is transferred to next to be measured
Waters terminates monitoring.
Embodiment 2
Fig. 1~3, a kind of water monitoring device based on unmanned plane of the preferred embodiment of the present invention, including unmanned plane 1 are please referred to,
It is equipped with sample holding device 3 below the unmanned plane 1, automatic telescopic link is equipped between the unmanned plane 1 and sample holding device 3
5, one end of the automatic telescopic link 5 is fixedly connected with unmanned plane 1, and the other end is fixedly connected with sample holding device 3；
The sample holding device 3 includes holding frame 301, and described hold in frame 301 is laminated from top to bottom equipped with the storage of multiple samples
Storage 302 is equipped with vertical baffle 303 among the sample bomb 302 and divides sample bomb 302 for mud sample storage room
304 and sewage sample storage room 305；
It is equipped with seal chamber 4 below the sample holding device 3, is equipped with locating module 401, microcontroller in the seal chamber 4
402, power module 403 and wireless communication module 404, are equipped with monitoring probe 6 below the seal chamber 4, in the monitoring probe 6
Equipped with pH sensor 601, the test side COD 602 and heavy metal concentration detection sensor 603；
Drinking-water pipe 7 and sludge collector 8 are additionally provided with below the seal chamber 4, one end of the drinking-water pipe 7 is placed in water, another
End is connected to by water pump 701 with one end of irrigation pipe 702, and the other end of the irrigation pipe 702 is connected with sample holding device 3
Logical, the sludge collector 8 is arranged on the seal chamber 4 by mechanical arm 801；
The water pump 701, locating module 401, power module 403, wireless communication module 404, automatic telescopic link 5, pH sensor
601, the test side COD 602 and heavy metal concentration detection sensor 603 are connected to microcontroller 402 respectively.
Wherein, the number of the automatic telescopic link 5 is 3, is respectively distributed on the chassis of unmanned plane 1.
Using such structure, so that unmanned plane is connect reliably with sample holding device, stabilized structure.
Wherein, the sludge collector 8 is grab type sludge collector.
Wherein, the sample bomb 302 is equipped with pulley 306, and described hold sets on the opposite two sidewalls of frame 301 or so
There is the parallel sliding track 307 slided for pulley 306.
Using such structure, sample bomb is arranged in a manner of drawer to be held on frame, convenient for sample bomb
Closure and unlatching.
Wherein, described hold is additionally provided with elastic component 308 between frame 301 and sample bomb 302, the elastic component 308
One end connects the rear wall for holding frame 301, and the other end connects the rear wall of sample bomb 302, and the frame 301 that holds is equipped with
Magnechuck 309, the sample bomb 302 is equipped with and the corresponding absorption block 309a of magnechuck 309, the magnechuck
309 are connected with microcontroller 402.
Using such structure, when not sampling, elastic component handles normal condition, and sample bomb and holding is deposited between frame
In distance, so that sample bomb is in non-occluded state, after sewage sample and mud sample sample, manually to micro-control
Device input instruction processed, order sample bomb closure, i.e.,：The work of microcontroller order magnechuck, magnechuck and absorption block
Attract each other, compression elastic piece, further sample bomb with hold at a distance from frame so that sample bomb is in closed state,
To save sample.
Wherein, the water pump 701 is two-way pump.
Wherein, described hold is equipped with water tank 301a at the top of frame 301, and the water tank 301a and the sample bomb 302 are managed
Road 301b connection, the pipeline 301b are equipped with control valve 301c, and the control valve 301c is connected with microcontroller 402.
Using such structure, it is equipped with clear water in water tank, convenient for cleaning drinking-water pipe, sample bomb etc..
Wherein, the end of the drinking-water pipe 7 is provided with filter screen.
Using such structure, it can prevent solid pollutant from entering drinking-water pipe, the situation quilt for avoiding drinking-water pipe blocked
Occur.
Wherein, the monitoring method of the water monitoring device based on unmanned plane includes the following steps：
Step 1：Manual control unmanned plane 1 is moved to the overhead in monitoring waters, then by wireless communication module 404 to microcontroller
Device 402 inputs the depth of monitored water sample, and the microcontroller 402 controls the length of automatic telescopic link 5, so that monitoring is visited
First 6 reach the position where sample；
Step 2：PH sensor 601, the test side COD 602 and 603 difference of heavy metal concentration detection sensing in monitoring probe 6
The water quality of sample is detected, and transmits the result to microcontroller 402, if the water quality of sample meets the requirements, is transferred to
Next waters to be measured terminates monitoring, if the water quality of sample is undesirable, follows the steps below, while will test result
Module by wireless communication（404）Feed back to staff；
Step 3：The work of 402 order water pump 701 of microcontroller, by the sewage sample in waters to be measured under the action of water pump, successively
Across drinking-water pipe 7, water pump 701 and irrigation pipe 702, sealed up for safekeeping subsequently into sewage sample storage room 305, it is to be analyzed；
Step 4：The work of 402 order sludge collector 8 of microcontroller, acquires the mud sample of water bottom to be measured, then passes through
Mechanical arm 801 is sent to mud sample storage room 304, to be analyzed；
Step 5：After mud sample and the sewage sample acquisition in waters to be measured, then control unmanned plane is transferred to next to be measured
Waters terminates monitoring；
Step 6：After staff takes out mud sample and sewage sample, manual command microcontroller 402, microcontroller 402
Order control valve 301c is opened, and water pump 701 is started to work, and the water in water tank 301a sequentially passes through sample bomb 302, irrigation pipe
702, water pump 701, drinking-water pipe 7 clean sample bomb 302, irrigation pipe 702, water pump 701, drinking-water pipe 7.
Specific embodiments of the present invention are described above.It is to be appreciated that the invention is not limited to above-mentioned
Particular implementation, those skilled in the art can make various deformations or amendments within the scope of the claims, this not shadow
Ring substantive content of the invention.
Claims (10)
1. a kind of water monitoring device based on unmanned plane, including unmanned plane（1）, which is characterized in that the unmanned plane（1）Lower section
Equipped with sample holding device（3）, the unmanned plane（1）With sample holding device（3）Between be equipped with automatic telescopic link（5）, described
Automatic telescopic link（5）One end be fixedly connected with unmanned plane（1）, the other end is fixedly connected with sample holding device（3）；
The sample holding device（3）Including holding frame（301）, described to hold frame（301）Inside stacking from top to bottom is equipped with multiple
Sample bomb（302）, the sample bomb（302）Centre is equipped with vertical baffle（303）By sample bomb（302）It is divided into
Mud sample storage room（304）With sewage sample storage room（305）；
The sample holding device（3）Lower section is equipped with seal chamber（4）, the seal chamber（4）It is interior to be equipped with locating module（401）, it is micro-
Controller（402）, power module（403）And wireless communication module（404）, the seal chamber（4）Lower section is equipped with monitoring probe
（6）, the monitoring probe（6）It is equipped with pH sensor（601）, the test side COD（602）And heavy metal concentration detection sensor
（603）；
The seal chamber（4）Lower section is additionally provided with drinking-water pipe（7）With sludge collector（8）, the drinking-water pipe（7）One end be placed in water
In, the other end passes through water pump（701）And irrigation pipe（702）One end connection, the irrigation pipe（702）The other end and sample contain
Put device（3）It is connected, the sludge collector（8）Pass through mechanical arm（801）It is arranged in the seal chamber（4）On；
The water pump（701）, locating module（401）, power module（403）, wireless communication module（404）, automatic telescopic link
（5）, pH sensor（601）, the test side COD（602）And heavy metal concentration detection sensor（603）Respectively with microcontroller
（402）Connection.
2. the water monitoring device according to claim 1 based on unmanned plane, which is characterized in that the automatic telescopic link
（5）Number be 3, be respectively distributed in unmanned plane（1）Chassis on.
3. the water monitoring device according to claim 1 based on unmanned plane, which is characterized in that the sludge collector
（8）For grab type sludge collector.
4. the water monitoring device according to claim 1 based on unmanned plane, which is characterized in that the sample bomb
（302）It is equipped with pulley（306）, described to hold frame（301）The opposite two sidewalls in left and right are equipped with for pulley（306）Sliding is put down
Row sliding rail（307）.
5. the water monitoring device according to claim 1 based on unmanned plane, which is characterized in that described to hold frame（301）
With sample bomb（302）Between be additionally provided with elastic component（308）, the elastic component（308）One end connection hold frame（301）'s
Rear wall, the other end connect sample bomb（302）Rear wall, it is described to hold frame（301）It is equipped with magnechuck（309）,
The sample bomb（302）It is equipped with and magnechuck（309）Corresponding absorption block（309a）, the magnechuck（309）
With microcontroller（402）It is connected.
6. the water monitoring device according to claim 1 based on unmanned plane, which is characterized in that the water pump（701）For
Two-way pump.
7. the water monitoring device according to claim 1 based on unmanned plane, which is characterized in that described to hold frame（301）
Top is equipped with water tank（301a）, the water tank（301a）With the sample bomb（302）Pipeline（301b）Connection, the pipeline
（301b）It is equipped with control valve（301c）, the control valve（301c）With microcontroller（402）It is connected.
8. the water monitoring device according to claim 1 based on unmanned plane, which is characterized in that the drinking-water pipe（7）'s
End is provided with filter screen.
9. described in any item water monitoring devices based on unmanned plane according to claim 1~8, which is characterized in that the base
Include the following steps in the monitoring method of the water monitoring device of unmanned plane：
Step 1：Manual control unmanned plane（1）It is moved to the overhead in monitoring waters, then module by wireless communication（404）Xiang Wei
Controller（402）Input the depth of monitored water sample, the microcontroller（402）Control automatic telescopic link（5）Length,
So that monitoring probe（6）Reach the position where sample；
Step 2：Monitoring probe（6）On pH sensor（601）, the test side COD（602）And heavy metal concentration detection sensor
（603）The water quality of sample is detected respectively, and transmits the result to microcontroller（402）If the water quality of sample conforms to
It asks, be then transferred to next waters to be measured or terminate monitoring, if the water quality of sample is undesirable, following steps；
Step 3：Microcontroller（402）Order water pump（701）Work, by the sewage sample in waters to be measured under the action of water pump,
Sequentially pass through drinking-water pipe（7）, water pump（701）And irrigation pipe（702）, subsequently into sewage sample storage room（305）It seals up for safekeeping, wait divide
Analysis；
Step 4：Microcontroller（402）Order sludge collector（8）Work, acquires the mud sample of water bottom to be measured, then
Pass through mechanical arm（801）It send to mud sample storage room（304）, to be analyzed；
Step 5：After mud sample and the sewage sample acquisition in waters to be measured, then control unmanned plane is transferred to next to be measured
Waters terminates monitoring.
10. the water monitoring device according to claim 7 based on unmanned plane, which is characterized in that described to be based on unmanned plane
The monitoring method of water monitoring device include the following steps：
Step 1：Manual control unmanned plane（1）It is moved to the overhead in monitoring waters, then module by wireless communication（404）Xiang Wei
Controller（402）Input the depth of monitored water sample, the microcontroller（402）Control automatic telescopic link（5）Length,
So that monitoring probe（6）Reach the position where sample；
Step 2：Monitoring probe（6）On pH sensor（601）, the test side COD（602）And heavy metal concentration detection sensor
（603）The water quality of sample is detected respectively, and transmits the result to microcontroller（402）If the water quality of sample conforms to
It asks, be then transferred to next waters to be measured or terminate monitoring, if the water quality of sample is undesirable, follow the steps below, together
When will test result module by wireless communication（404）Feed back to staff；
Step 3：Microcontroller（402）Order water pump（701）Work, by the sewage sample in waters to be measured under the action of water pump,
Sequentially pass through drinking-water pipe（7）, water pump（701）And irrigation pipe（702）, subsequently into sewage sample storage room（305）It seals up for safekeeping, wait divide
Analysis；
Step 4：Microcontroller（402）Order sludge collector（8）Work, acquires the mud sample of water bottom to be measured, then
Pass through mechanical arm（801）It send to mud sample storage room（304）, to be analyzed；
Step 5：After mud sample and the sewage sample acquisition in waters to be measured, microcontroller（402）Order water pump（701）,
Sludge collector（8）It stops working, then controls unmanned plane and be transferred to next waters to be measured or terminate monitoring；
Step 6：After staff takes out mud sample and sewage sample, microcontroller（402）Order control valve（301c）It beats
It opens, water pump（701）It starts to work, water tank（301a）Interior water sequentially passes through sample bomb（302）, irrigation pipe（702）, water pump
（701）, drinking-water pipe（7）, to sample bomb（302）, irrigation pipe（702）, water pump（701）, drinking-water pipe（7）It is cleaned.
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