Water quality automatic sampling system based on rotor unmanned plane and method thereof

Abstract

The invention discloses a water quality automatic sampling system based on a rotor unmanned plane and a method thereof, and applicable to the technical field of water quality sampling and detection. The water quality automatic sampling system mainly comprises a turntable motor (1), a depth detecting sensor (9), a sampling pump (12), a sampling bottle (16), a solenoid valve (17), an unmanned plane (19), a rocker arm (20), and a controller (21); the turntable motor drives the sampling pipe and adjusts the sampling depth; the sampling pipe is connected with a plurality of sampling bottles through a branch, and the sampling bottles are arranged in the middle of the sampling platform base; the platform base is connected with the unmanned plane through the rocker arm; through bending the rocker arm, the flying model and the traction model of the unmanned vehicle can be switched; compensation bending is performed on the rocker arm monitored and controlled on the basis of a gradiograph. The system and the method can realize the organic combination of water quality sampling and the unmanned vehicle, fully use the loading and cruising ability of the unmanned vehicle, effectively keep the balance property of the sampling system, and are featured by fast sampling, convenience, and high efficiency.

Description

technical field [0001] The invention relates to the technical field of water quality sampling and detection, and is especially suitable for long-distance and large-scale sample collection of surface water bodies. Background technique [0002] Water is the material basis for human survival. However, due to rapid economic development and poor pollution control, water pollution seriously threatens many water bodies in our country. In order to grasp the status quo of water quality and its changing trend, it is necessary to sample and analyze rivers, rivers, lakes, reservoirs, canals, seas and other water bodies. [0003] Traditional water quality sampling is usually performed manually on-site. For large surface water bodies, it is often necessary to take ships and other means of transportation into designated locations for sampling. This method of manual sampling is inefficient. For wild water bodies, the surrounding crews and infrastructure are scarce, and the cost of manual s...

AI Technical Summary

Problems solved by technology

For example, Chinese Patent Publication No. CN 104458329 A invented a UAV water surface fixed-point automatic sampling system, which is used for water quality sampling on the surface of water bodies and collects one water sample in one flight; Chinese Patent Publication No. CN 105510082 A invented a marine The unmanned aerial vehicle sampling device for environmental monitoring realizes multi-point water quality sampling by setting multiple lifting devices and water collection cylinders. This method needs to set up multiple motors, which increases the load of the unmanned aerial vehicle; another example is Chinese Patent Publication No. CN 105842009 A. Invented a water sample collection device for water quality monitoring UAV, which drives the sample holder arranged on the ring bracket to rotate by driving the motor, so as to collect multiple water samples at one time, but this method requires the sample holder to be kept In the open state, it is easy to cause water sample pollution or sloshing and splashing

[0005] Although UAVs are highly maneuverable, their load is limited, and the commonly used rotor UAV is an underactuated system, and its horizontal movement needs to be achieved by tilting the UAV.

However, the existing UAV sampling equipment is only a simple combination of UAV and sampling device connected, which does not take into account the balance of sampling to UAV flight, battery life, and load problems, and the degree of automation is low, and it has not been fully utilized. Advantages of drone-based sampling

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