A water sample automatic sampling drone

Abstract

The present invention provides a water sample automatic sampling drone, wherein a buoyancy chassis is provided at the lower end of the fuselage, a comprehensive sampling device, a sample collector, a spectroscopic imager and a signal receiving control box are provided inside the fuselage, the spectroscopic imager is provided on the signal receiving control box, the signal receiving control box is provided at the lower end of the sample collector, and the sample collector and the spectroscopic imager are both electrically connected to the signal receiving control box. When the drone is used, the drone can predict the basic conditions of the water body through multi-spectral images, and effectively select and locate sampling points. The drone platform can float on the surface of the water area to be detected through the buoyancy chassis, and the floating objects on the water surface can be pushed away by the unfolding of the buoyancy chassis, and the relevant water area can be sampled using the comprehensive sampling device, and the samples can be sent to the laboratory for further inspection. It can sample multiple water areas simultaneously along urban roads or river sections, which can improve the accuracy and representativeness of sampling point selection, and effectively reduce costs and improve efficiency.

Description

Technical Field

[0001] The embodiment of the present invention relates to the field of unmanned aerial vehicle monitoring technology, and in particular to an automatic water sampling unmanned aerial vehicle. Background Art

[0002] At present, the water quality monitoring methods adopted by local environmental protection departments and water conservancy departments in my country are mainly achieved by determining the profile in the fixed waters, and monitoring, sampling and analysis for a long time, so as to judge the water quality. In actual scientific research, there are generally no fixed long-term monitoring points in the research area, and a large number of water samples along the river are required. Sampling of rivers is generally done along the river or by boat. These two sampling methods are difficult to guarantee the representativeness of sampling. The sampling points along the river cannot represent the true situation of the water quality of the river. The water body generally has a large spatial variability along the river section, the water body along the river bank is shallow, and the water quality is quite different from that in the middle of the river. The practical problems of boat sampling are mainly manifested in (1) the high sampling cost, especially for the large spatial differences in water quality of river water bodies, poor river connectivity, and sampling points scattered for several kilometers, which makes the cost of boat sampling difficult to control; (2) Rivers with poor water quality are generally the terminal rivers of the water network, with shallow water depths and no conditions for navigation; (3) For rivers and lakes that can be navigated, the sampling points for boat sampling can generally only be distributed on the side of the ship, and the disturbance of the water body by boat will affect the sampling object. In addition, whether it is boat sampling or manual sampling along the river, it is often affected by manpower, material resources, and climate and hydrological conditions, and the amount of data collected cannot be too much; it is also costly, slow, and inefficient; and for the entire urban water body, these measurement point data only have local and typical representative significance, and it is difficult to obtain the distribution and changes of water quality parameters in a large area of ​​water, and cannot meet the requirements for real-time and large-scale monitoring and evaluation of water quality. Summary of the invention

[0003] To this end, an embodiment of the present invention provides an automatic water sampling drone, which expands the sampling range by using a drone to sample water to solve the problems of high cost, slow speed and low efficiency in the sampling process caused by the influence of physical resources and climate and hydrological conditions in the prior art.

[0004] In order to achieve the above purpose, the embodiment of the present invention provides the following technical solutions:

[0005] The present invention provides a water sample automatic sampling drone, comprising a casing, a fuselage, a comprehensive sampling device and a buoyancy chassis, wherein the casing is arranged at the upper end of the fuselage, the buoyancy chassis is arranged at the lower end of the fuselage, and the comprehensive sampling device is arranged inside the fuselage;

[0006] The comprehensive sampling device includes a sample collector, a spectroscopic imager and a signal receiving control box. The spectroscopic imager is arranged on the signal receiving control box, and the signal receiving control box is arranged at the lower end of the sample collector. The sample collector and the spectroscopic imager are both electrically connected to the signal receiving control box.

[0007] Preferably, the sample collector includes a peristaltic pump, a gear transmission mechanism, a synchronous motor and a sample storage turntable, the peristaltic pump is transmission connected to the first output end of the gear transmission mechanism, the sample storage turntable is transmission connected to the second output end of the gear transmission mechanism, and the synchronous motor is transmission connected to the input end of the gear transmission mechanism.

[0008] Preferably, the gear transmission mechanism includes a gear mounting plate, a first sub-gear, a main gear, a second sub-gear, a turntable support shaft, a main pulley and a sub-pulley, the sub-pulley is drivingly connected to the main pulley, the synchronous motor is drivingly connected to the main gear, the main pulley passes through the gear mounting plate and is coaxially arranged with the first sub-gear, the first sub-gear is drivingly connected to the main gear, the main gear is drivingly connected to the second sub-gear, the second sub-gear is drivingly connected to the sample storage turntable, the sample storage turntable is rotatably arranged on the head end of the turntable support shaft, the tail end of the turntable support shaft is fixedly arranged on the gear mounting plate, the second sub-gear and the sub-pulley are both rotatably arranged on the gear mounting plate, and the peristaltic pump is drivingly connected to the sub-pulley.

[0009] Preferably, a positioning stop pin, a toothless portion and a toothed portion are provided on the main gear, the positioning stop pin is inserted into the toothless portion, the toothless portion and the toothed portion are connected end to end, and the second sub-gear and the first sub-gear are both meshed and transmission-connected with the toothed portion;

[0010] The second sub-gear has the same structure as the first sub-gear, and both the first sub-gear and the second sub-gear are provided with arc-shaped notches, and the arc-shaped notches of the second sub-gear and the first sub-gear are offset against the toothless portion.

[0011] Preferably, the end faces of the first sub-gear and the second sub-gear are both provided with levers, the lever of the first sub-gear abuts against the positioning stop pin, and the lever of the second sub-gear abuts against the positioning stop pin and the sample storage turntable respectively.

[0012] Preferably, the sample storage turntable includes a turntable, a test tube rack and a sampling test tube. The head end of the turntable support shaft is inserted at the axis center of the turntable. A plurality of test tube racks are arranged on the turntable. A sampling test tube is installed on any test tube rack. The sampling test tube is arranged at the lower end of the liquid outlet of the peristaltic pump. The power input end of the peristaltic pump is connected to the secondary pulley for transmission, and a plurality of test tube racks are against the lever of the second secondary gear.

[0013] Preferably, the buoyancy chassis includes a limiting mechanism, a float and a paddle rod, the limiting mechanism is arranged at the lower end of the fuselage, two floats are fixedly arranged on the limiting mechanism, and two paddle rods are movably inserted on the limiting mechanism.

[0014] Preferably, the limiting mechanism includes a limiting shaft, a limiting gear and a fixed bracket, two limiting shafts are movably inserted at the lower end of the fuselage, a limiting gear is fixedly provided at the end of the two limiting shafts, the two limiting gears are meshed for transmission, the two limiting shafts are respectively connected to a fixed bracket, the two fixed brackets are respectively connected to a float, and a paddle rod is respectively inserted on the two fixed brackets.

[0015] Preferably, the paddle lever comprises a rod body and a floating paddle, one end of the rod body is slidably inserted in the fixed bracket, and the other end of the rod body is fixedly connected to the floating paddle.

[0016] Preferably, the floating paddle has a density less than that of water, and is magnetic.

[0017] The embodiments of the present invention have the following advantages:

[0018] 1. A floating paddle is provided on the buoyancy chassis. When the UAV is in the air, the floating paddle is in a closed state under the action of magnetic force. When the UAV lands on the water surface, under the action of the buoyancy of the water surface, the float drives the fixed bracket to open, and the fixed bracket drives the paddle rod to unfold. Since the density of the floating paddle is less than that of water, the floating paddle can push away the garbage on the water sheet, thereby preventing the garbage from hindering the UAV from sampling sewage.

[0019] 2. A gear transmission mechanism is provided in the sample collector, and the gear transmission mechanism can realize intermittent transmission through an incomplete gear structure. At the same time, the gear transmission mechanism is provided with two driven incomplete gears, which can correspond to two different actuators respectively, and realize differential coordination between the two actuators. Therefore, in the drone, the sampling and collection actions can be completed under the drive of one power source, thereby realizing an optimized structure and improving the stability of the drone.

[0020] 3. The present invention mainly uses drones to sample and collect sewage. Compared with the existing technology of manual monitoring and sampling, it can greatly save human resources and reduce the impact of climate and hydrology on sample collection. At the same time, it can effectively expand the overall collection scope, thereby improving the accuracy of water quality monitoring. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the implementation methods of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for the implementation methods or the description of the prior art. Obviously, the drawings in the following description are only exemplary, and for ordinary technicians in this field, other implementation drawings can be derived from the provided drawings without creative work.

[0022] The structures, proportions, sizes, etc. illustrated in this specification are only used to match the contents disclosed in the specification so as to facilitate understanding and reading by persons familiar with the technology. They are not used to limit the conditions under which the present invention can be implemented, and therefore have no substantial technical significance. Any structural modification, change in proportion or adjustment of size shall still fall within the scope of the technical contents disclosed in the present invention without affecting the effects and purposes that can be achieved by the present invention.

[0023] Figure 1 A stereoscopic diagram of an automatic water sampling drone provided by an embodiment of the present invention;

[0024] Figure 2 A three-dimensional diagram of a buoyancy chassis of an automatic water sampling drone provided in an embodiment of the present invention;

[0025] Figure 3 A stereoscopic diagram of the main gear of an automatic water sampling drone provided by an embodiment of the present invention;

[0026] Figure 4 A three-dimensional diagram of the first gear of an automatic water sampling drone provided by an embodiment of the present invention;

[0027] Figure 5 A three-dimensional diagram of a gear transmission mechanism of an automatic water sampling drone provided in an embodiment of the present invention;

[0028] Figure 6 A stereoscopic diagram of a comprehensive sampling device of an automatic water sampling drone provided in an embodiment of the present invention;

[0029] In the figure: 1 housing; 2 body; 3 integrated sampling device; 31 sample collector; 311 peristaltic pump; 312 gear transmission mechanism; 3121 gear mounting plate; 3122 first sub-gear; 3123 main gear; 31231 positioning stop pin; 31232 toothless part; 31233 toothed part; 3124 second sub-gear; 3125 turntable support shaft; 3126 main pulley; 3127 sub-pulley; 313 synchronous motor; 314 sample storage turntable; 3141 turntable; 3142 test tube rack; 3143 sampling test tube; 32 spectroscopic imager; 33 signal receiving control box; 4 buoyancy chassis; 41 limiting mechanism; 411 limiting shaft; 412 limiting gear; 413 fixed bracket; 42 float; 43 paddle lever; 431 lever body; 432 floating paddle; 5 paddle lever; 6 arc-shaped notch; 7 sample collection tube. DETAILED DESCRIPTION

[0030] The following is a description of the implementation of the present invention by specific embodiments. People familiar with the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0031] like Figure 1-6 The embodiment of the present invention provides an automatic water sampling drone, including a housing 1, a fuselage 2, a comprehensive sampling device 3 and a buoyancy chassis 4. The housing 1 is arranged at the upper end of the fuselage 2. The structure composed of the housing 1 and the fuselage 2 is streamlined. When the drone is flying in the air, the flight lift of the drone can be effectively improved, thereby increasing the range of the drone. The lower end of the fuselage 2 is provided with a buoyancy chassis 4, which can make the drone float on the water surface, so that the drone can sample and collect sewage. The fuselage 2 is internally provided with a comprehensive sampling device 3; the comprehensive sampling device 3 can collect sewage at multiple locations, and classify and store the collected sewage so that it can be taken back to the laboratory for analysis and testing.

[0032] The comprehensive sampling device 3 includes a sample collector 31, a spectroscopic imager 32 and a signal receiving control box 33. The spectroscopic imager 32 can collect spectrum reflection information and record images along the river section. The drone can predict the basic conditions of the water body through multi-spectral images and effectively select and locate the sampling points. Thus, by analyzing the spectrum radiation characteristics of black and odorous water bodies and focusing on the spectrum radiation characteristics of the visible light band, a theoretical basis and basic parameters are provided for the identification of black and odorous water bodies by drone images. The spectroscopic imager 32 is arranged on the signal receiving control box 33, and the signal receiving control box 33 is arranged at the lower end of the sample collector 31. The sample collector 31 and the spectroscopic imager 32 are both electrically connected to the signal receiving control box 33. The signal receiving control box 33 can realize real-time information communication between the ground and the drone, so that the drone can go to the designated area for data sampling, so as to obtain first-hand information for analysis in a timely manner.

[0033] According to a specific embodiment of the present invention, the sample collector 31 includes a peristaltic pump 311, a gear transmission mechanism 312, a synchronous motor 313 and a sample storage turntable 314. The peristaltic pump 311 is connected to the first output end of the gear transmission mechanism 312, the first output end of the gear transmission mechanism 312 is the transmission connection between the secondary pulley 3127 and the peristaltic pump 311, the sample storage turntable 314 is connected to the second output end of the gear transmission mechanism 312, the second output end of the gear transmission mechanism 312 is the connection between the lever 5 of the second secondary gear 3124 and the test tube rack 3142, and the synchronous motor 313 is connected to the input end of the gear transmission mechanism 312. The input end of the gear transmission mechanism 312 is the transmission connection between the main gear 3123 and the synchronous belt machine 313. When the sample collector 31 is started, the synchronous motor 313 drives the main gear 3123 to rotate. When the main gear 3123 and the first sub-gear 3122 are meshed and transmitted, the second sub-gear 3124 remains stationary. After the first sub-gear 3122 rotates one circle, the main gear 3123 and the second sub-gear 3124 are meshed and transmitted. At this time, the first sub-gear 3122 remains stationary. By analogy, it can be known that there is always one between the first sub-gear 3122 and the second sub-gear 3124 that remains stationary. Since the first sub-gear 3122 and the second sub-gear 3124 each correspond to an actuator, the two actuators can achieve coordinated movement.

[0034] According to a specific embodiment of the present invention, the gear transmission mechanism 312 includes a gear mounting plate 3121, a first sub-gear 3122, a main gear 3123, a second sub-gear 3124, a turntable support shaft 3125, a main pulley 3126 and a sub-pulley 3127. The sub-pulley 3127 is connected to the main pulley 3126 through a belt transmission, and the diameter of the sub-pulley 3127 is smaller than that of the main pulley 3126, so as to increase the rotation speed of the sub-pulley 3127. The synchronous motor 313 is connected to the main gear 3123 through transmission, and the main pulley 3126 passes through the gear mounting plate 3121 and is coaxially arranged with the first sub-gear 3122, so that the number of revolutions of the main pulley 3126 and the first sub-gear 3122 is consistent. The first sub-gear 3122 is in transmission connection with the main gear 3123, and the main gear 3123 is in transmission connection with the second sub-gear 3124. The first sub-gear 3122 and the second sub-gear 3124 are both meshed and in transmission with the toothed portion 31233 of the main gear 3123. The tail end of the turntable support shaft 3125 is fixedly arranged on the gear mounting plate 3121, and the second sub-gear 3124 and the sub-pulley 3127 are both rotatably arranged on the gear mounting plate 3121. The second sub-gear 3124 is in transmission connection with the sample storage turntable 314. During the process of the second sub-gear 3124 rotating one circle, the second sub-gear 3124 can move the sample storage turntable 314 through the lever 5. Since the sample storage turntable 314 is rotatably arranged at the head end of the turntable support shaft 3125, each time the lever 5 is moved, the sample storage turntable 314 can be rotated by a certain angle, so that the test tube in the sample storage turntable 314 can always move to the lower end of the output port of the peristaltic pump 311. Since the peristaltic pump 311 is in transmission connection with the secondary pulley 3127, when the second secondary gear 3124 rotates one circle, the first secondary gear 3122 starts to rotate, and since the first secondary gear 3122 is coaxially arranged with the primary pulley 3126, the angular velocities of the first secondary gear 3122 and the primary pulley 3126 are equal, and further, the primary pulley 3126 is in transmission connection with the secondary pulley 3127 through a belt, so the linear velocities of the primary pulley 3126 and the secondary pulley 3127 are equal;

[0035] According to the relationship between rotation speed n and linear speed v;

[0036] n=1 / T=v / 2πr

[0037] When the linear speed v of the two pulleys is the same, the smaller the radius r, the greater the rotation speed N. Since the radius of the secondary pulley 3127 is smaller than that of the primary pulley 3126, the rotation speed can be greatly increased, which is beneficial for the peristaltic pump 311 to collect enough samples.

[0038] According to a specific embodiment of the present invention, the main gear 3123 is provided with a positioning stop pin 31231, a toothless portion 31232 and a toothed portion 31233, the positioning stop pin 31231 is inserted into the toothless portion 31232, the toothless portion 31232 and the toothed portion 31233 are connected end to end, the gear portion of the second sub-gear 3124 and the gear portion of the first sub-gear 3122 are both meshed and connected with the toothed portion 31233; it should be specifically explained here that only one of the second sub-gear 3124 and the first sub-gear 3122 can be meshed and connected with the main gear 3123. The second sub-gear 3124 has the same structure as the first sub-gear 3122, and the first sub-gear 3122 and the second sub-gear 3124 are both provided with an arc notch 6, and the arc notch 6 of the second sub-gear 3124 and the arc notch 6 of the first sub-gear 3122 are both offset against the toothless portion 31232. Thereby, one of the second sub-gear 3124 and the first sub-gear 3122 can always mesh with the main gear 3123 for transmission, while the other remains stationary.

[0039] According to a specific embodiment of the present invention, the end faces of the first sub-gear 3122 and the second sub-gear 3124 are both provided with levers 5, the levers 5 of the first sub-gear 3122 abut against the positioning stop pin 31231, and the levers 5 of the second sub-gear 3124 abut against the positioning stop pin 31231 and the sample storage turntable 314. When the main gear 3123 rotates, the positioning stop pin 31231 rotates around the axis of the main gear 3123, and when the toothless portion 31232 leaves the arc-shaped notch 6, the positioning stop pin 31231 collides with the lever 5, thereby enabling the toothed portion 31233 to mesh with the first sub-gear 3122 for transmission, and enabling the first sub-gear 3122 to drive the main pulley 3126 to rotate together, and prompting the secondary pulley 3127 to increase the speed, so that the peristaltic pump 311 can extract enough samples.

[0040] According to a specific embodiment of the present invention, the sample storage turntable 314 includes a turntable 3141, a test tube rack 3142 and a sampling test tube 3143. The head end of the turntable support shaft 3125 is inserted at the axis of the turntable 3141, so that the turntable 3141 can rotate freely around the axis. A plurality of test tube racks 3142 are arranged on the turntable 3141, and a sampling test tube 3143 is installed on any of the test tube racks 3142. The test tube racks 3142 can protect the test tubes and prevent the test tubes from being damaged. In addition, when the toothless part 31232 leaves the arc-shaped notch 6, the positioning pin 31231 will collide with the lever 5. At this time, the lever 5 of the second sub-gear 3124 will rotate around the center of the second sub-gear 3124. During this process, the lever 5 will move the test tube rack 3142 to rotate the turntable 3141 by a certain angle, so that the sampling test tube 3143 is always located at the lower end of the liquid outlet of the peristaltic pump 311. Furthermore, before the turntable 3141 rotates again, the lever 5 will not move, and the turntable 3141 will remain stationary. At this time, the peristaltic pump 311 will draw the sample and inject it into the test tube 3143. When the peristaltic pump 311 completes the collection of a sample, it can cycle through the previous step, and thereby collect multiple different samples.

[0041] According to a specific embodiment of the present invention, the buoyancy chassis 4 includes a limiting mechanism 41, a buoy 42 and a paddle rod 43. The limiting mechanism 41 is provided at the lower end of the fuselage 2. Two buoys 42 are fixedly provided on the limiting mechanism 41. The buoys 42 can make the drone stay on the water surface, so that the drone can collect water samples. The limiting mechanism 41 can make the two buoys 42 open synchronously, so that the drone can stay on the water surface stably. Two paddle rods 43 are movably inserted on the limiting mechanism 41 to push away the garbage floating on the water surface to prevent the garbage from interfering with the drone in collecting water samples.

[0042] According to a specific embodiment of the present invention, the limiting mechanism 41 includes a limiting shaft 411, a limiting gear 412 and a fixed bracket 413. Two limiting shafts 411 are movably inserted at the lower end of the fuselage 2. The ends of the two limiting shafts 411 are respectively fixed with limiting gears 412. The two limiting gears 412 are meshed for transmission, thereby ensuring that the rotation angle of the limiting shaft 411 is always equal. Furthermore, since the limiting gear 412 is an incomplete gear, the rotation angle of the limiting shaft 411 can be limited to no more than 150 degrees during the rotation process. Since the two limiting shafts 411 are respectively connected to one of the fixed brackets 413, and the two fixed brackets 413 are respectively connected to one of the buoys 42, the two fixed brackets 413 can be deployed synchronously, thereby improving the stability of the UAV landing on the water surface.

[0043] According to a specific embodiment of the present invention, the paddle rod 43 includes a rod body 431 and a floating paddle 432. One end of the rod body 431 is slidably inserted in the fixed bracket 413. The rod body 431 can be freely extended and retracted in the fixed bracket 413, and the other end of the rod body 431 is fixedly connected to the floating paddle 432. When the unmanned frame floats on the water surface, the fixed bracket 413 is unfolded under the action of the gravity of the unmanned aircraft, and the floating paddle 432 always stays on the water surface under the action of the buoyancy of the water surface. During the unfolding of the fixed bracket 413, the floating paddle 432 will also unfold with it, thereby pushing away the floating objects on the water surface, thereby avoiding obstruction of the unmanned aircraft from collecting samples. Furthermore, the bottom of the unmanned aircraft also includes a sample collection tube 7, which is arranged below the unmanned aircraft and is connected to the input end of the peristaltic pump 311. During the landing of the unmanned aircraft from the water surface, the sample collection tube 7 will gradually enter below the water surface to collect the corresponding water sample, and then bring it into the laboratory for testing.

[0044] According to a specific embodiment of the present invention, since the density of the floating paddle 432 is less than that of water, the rod body 431 can be freely extended and retracted so that the floating paddle 432 can always stay on the water surface. At the same time, the floating paddle 432 is magnetic. When the drone is flying in the air, the floating paddle 432 can also be prevented from being adsorbed together under the action of the magnetic force. Thus, it can be avoided that the buoyancy chassis 4 can be prevented from shaking randomly in the air, causing the problem of unstable flight of the drone.

[0045] The use process of the embodiment of the present invention is as follows:

[0046] The present invention provides an automatic water sampling drone, which can monitor and sample urban water bodies and river sections by carrying a comprehensive sampling device on the drone platform. When it is used, the spectrum imager 2 carried by the drone is first used to sample a large area of ​​river channels and urban water bodies, and then field sampling is performed on key water areas. When it is implemented, the drone needs to be landed on the sampling water surface. When the drone reaches the water surface, the float 42 is expanded outward under the action of buoyancy and gravity, and drives the fixed bracket 413 to open. During the expansion of the fixed bracket 413, the rod body 431 drives the floating paddle 432 to push away the floating objects on the water surface, thereby sampling for the drone. The sample is cleared of obstacles; at the same time, the sample collection tube 7 goes deep under the water surface to collect water samples; then the synchronous motor 313 starts and drives the main gear 3123 to rotate. During the rotation of the main gear 3123, there will always be one between the first sub-gear 3122 and the second sub-gear 3124 that is meshed with the main gear 3123, while the other remains stationary. The peristaltic pump 311 is driven by the first sub-gear 3122, and the sample storage turntable 314 is driven by the second sub-gear 3124. Thus, different samples can be divided into different sampling test tubes 3143 in the sample storage turntable 314 through the peristaltic pump 311, and the synchronous motor can complete the collection of one sample per rotation. In summary, the present invention uses the unmanned aerial vehicle platform to move to multiple relevant waters for sampling, thereby greatly expanding the scope of sample collection, solving the problems of high cost, slow speed and low efficiency in the sampling process caused by the influence of physical resources and climate and hydrological conditions in the prior art, and can improve the accuracy and representativeness of sampling point selection, and effectively reduce costs and improve efficiency.

[0047] Although the present invention has been described in detail above by general description and specific embodiments, it is obvious to those skilled in the art that some modifications or improvements can be made to the present invention. Therefore, these modifications or improvements made without departing from the spirit of the present invention all belong to the scope of protection claimed by the present invention.

Claims

1. A water sample automatic sampling drone, characterized in that: The invention comprises a casing (1), a fuselage (2), a comprehensive sampling device (3) and a buoyancy chassis (4), wherein the casing (1) is arranged at the upper end of the fuselage (2), the buoyancy chassis (4) is arranged at the lower end of the fuselage (2), and the comprehensive sampling device (3) is arranged inside the fuselage (2); The integrated sampling device (3) comprises a sample collector (31), a spectroscopic imager (32) and a signal receiving control box (33); the spectroscopic imager (32) is arranged on the signal receiving control box (33); the signal receiving control box (33) is arranged at the lower end of the sample collector (31); the sample collector (31) and the spectroscopic imager (32) are both electrically connected to the signal receiving control box (33); the buoyancy chassis (4) comprises a limiting mechanism (41), a buoy (42) and a paddle lever (43); the lower end of the fuselage (2) is provided with a limiting mechanism (41); two buoys (42) are fixedly arranged on the limiting mechanism (41); two paddle levers (43) are movably inserted on the limiting mechanism (41); the limiting mechanism (41) is provided with a plurality of buoys (42); The mechanism (41) comprises a limit shaft (411), a limit gear (412) and a fixed bracket (413); two limit shafts (411) are movably inserted at the lower end of the fuselage (2); a limit gear (412) is fixedly arranged at the end of each of the two limit shafts (411); the two limit gears (412) are meshed for transmission; the two limit shafts (411) are respectively connected to one of the fixed brackets (413); since the limit gear (412) is an incomplete gear, the rotation angle of the limit shaft (411) can be limited during the rotation process; the two fixed brackets (413) are respectively connected to one of the floats (42); and a paddle rod (43) is respectively inserted into each of the two fixed brackets (413).

2. The automatic water sampling drone according to claim 1, characterized in that: The sample collector (31) comprises a peristaltic pump (311), a gear transmission mechanism (312), a synchronous motor (313) and a sample storage turntable (314); the peristaltic pump (311) is transmission-connected to a first output end of the gear transmission mechanism (312); the sample storage turntable (314) is transmission-connected to a second output end of the gear transmission mechanism (312); and the synchronous motor (313) is transmission-connected to an input end of the gear transmission mechanism (312).

3. The automatic water sampling drone according to claim 2, characterized in that: The gear transmission mechanism (312) comprises a gear mounting plate (3121), a first sub-gear (3122), a main gear (3123), a second sub-gear (3124), a turntable support shaft (3125), a main pulley (3126) and a sub-pulley (3127); the sub-pulley (3127) is transmission-connected to the main pulley (3126); the synchronous motor (313) is transmission-connected to the main gear (3123); the main pulley (3126) passes through the gear mounting plate (3121) and is coaxially arranged with the first sub-gear (3122); the first sub-gear (3122) is coaxially arranged with the main gear (3124); (3123) is transmission connected, the main gear (3123) is transmission connected to the second sub-gear (3124), the second sub-gear (3124) is transmission connected to the sample storage turntable (314), the sample storage turntable (314) is rotatably set on the head end of the turntable support shaft (3125), the tail end of the turntable support shaft (3125) is fixedly set on the gear mounting plate (3121), the second sub-gear (3124) and the sub-pulley (3127) are both rotatably set on the gear mounting plate (3121), and the peristaltic pump (311) is transmission connected to the sub-pulley (3127).

4. The automatic water sampling drone according to claim 3, characterized in that: The main gear (3123) is provided with a positioning stop pin (31231), a toothless portion (31232) and a toothed portion (31233); the positioning stop pin (31231) is inserted into the toothless portion (31232); the toothless portion (31232) and the toothed portion (31233) are connected end to end; the second sub-gear (3124) and the first sub-gear (3122) are both meshed and transmission-connected with the toothed portion (31233); the second sub-gear (3124) and the first sub-gear (3122) have the same structure as the first sub-gear (3122); the first sub-gear (3122) and the second sub-gear (3124) are both provided with an arc-shaped notch (6); the arc-shaped notch (6) of the second sub-gear (3124) and the arc-shaped notch (6) of the first sub-gear (3122) are both against the toothless portion (31232).

5. The automatic water sampling drone according to claim 4, characterized in that: The end surface of the first sub-gear (3122) and the end surface of the second sub-gear (3124) are both provided with a lever (5); the lever (5) of the first sub-gear (3122) abuts against the positioning stop pin (31231), and the lever (5) of the second sub-gear (3124) abuts against the positioning stop pin (31231) and the sample storage turntable (314), respectively.

6. The automatic water sampling drone according to claim 5, characterized in that: The sample storage turntable (314) comprises a turntable (3141), a test tube rack (3142) and a sampling test tube (3143); the head end of the turntable support shaft (3125) is inserted at the axis of the turntable (3141); a plurality of test tube racks (3142) are arranged on the turntable (3141); a sampling test tube (3143) is installed on any one of the test tube racks (3142); the sampling test tube (3143) is arranged at the lower end of the liquid outlet of the peristaltic pump (311); the power input end of the peristaltic pump (311) is transmission-connected to the secondary pulley (3127); and a plurality of the test tube racks (3142) are abutted against the lever (5) of the second secondary gear (3124).

7. The automatic water sampling drone according to claim 1, characterized in that: The paddle lever (43) comprises a rod body (431) and a floating paddle (432); one end of the rod body (431) is slidably inserted into a fixed bracket (413), and the other end of the rod body (431) is fixedly connected to the floating paddle (432).

8. The automatic water sampling drone according to claim 7, characterized in that: The floating paddle (432) has a density lower than that of water, and is magnetic.

Images