Cable control method and system for sampling device of unmanned aerial vehicle and sampling device

Abstract

The invention provides a cable control method and system for a sampling device of an unmanned aerial vehicle and the sampling device, and the method comprises the steps: when the sampling device enters a water surface for sampling, obtaining an actual rotation angle when a cable descends, determining a rotation direction of the cable according to the actual rotation angle, and if the rotation direction of the cable is a direction opposite to a preset direction, determining that the cable is in a cable descending state; if the actual rotation angle is larger than the actual rotation angle, a first control torque is generated according to the actual rotation angle so as to control the cable to rotate in the preset direction, the calculation formula of the first control torque is # imgabs0 #, # imgabs1 # is the first control torque, # imgabs2 # is a control parameter and used for adjusting the rotation amplitude of the cable in the preset direction, and # imgabs3 # is the actual rotation angle of the cable around the shaft. Whether the cable is wound or not is determined by obtaining the rotation angle when the cable descends and determining the rotation direction of the cable, and the cable winding problem is solved by adjusting the rotation direction of the cable through the first control torque.

Description

Technical Field

[0001] The present application relates to the technical field of unmanned aerial vehicles, and in particular to a cable control method and system for a sampling device of an unmanned aerial vehicle, and a sampling device. Background Art

[0002] At present, environmental water sampling is one of the key tasks in scientific research, environmental monitoring and water resources. Traditional water sampling usually requires manual operation, which has certain dangers and risks, is inefficient and susceptible to human errors. Traditional water sampling devices are prone to cable entanglement during the sampling process, which reduces the stability and efficiency of sampling. Summary of the invention

[0003] In order to solve the above technical problems, the present application is proposed. The embodiments of the present application provide a cable control method, system and sampling device for a sampling device of a drone, which solves the problem of reduced sampling efficiency caused by cable entanglement during sampling in the prior art.

[0004] According to one aspect of the present application, a cable control method for a sampling device of an unmanned aerial vehicle is provided, comprising: When the sampling device enters the water surface for sampling, the actual rotation angle of the cable when it descends is obtained; Determining a rotation direction of the cable according to the actual rotation angle; If the rotation direction of the cable is opposite to the preset direction, a first control torque is generated according to the actual rotation angle to control the cable to rotate in the preset direction; wherein the calculation formula of the first control torque is: ,in, is the first control torque, is a control parameter used to adjust the rotation amplitude of the cable in the preset direction, is the actual rotation angle of the cable around the axis.

[0005] In one embodiment, when the sampling device enters the water surface for sampling, before obtaining the rotation angle of the cable when it descends, the cable control method of the sampling device of the drone further includes: When the sampling device descends to the water surface, obtaining the actual descending length of the cable; Get the number of pulses currently generated by the motor; Based on the correction formula , according to the number of pulses, calculate the target drop length corresponding to the number of pulses; wherein, is the target descent length, , , All are parameters. is the number of pulses; The actual drop length of the cable is corrected according to the target drop length.

[0006] In one embodiment, the cable control method of the sampling device of the drone further includes: Obtaining the rotation speed of the cable when it descends; If the rotation speed of the cable is greater than a preset speed threshold, a second control torque is generated according to the rotation speed to reduce the rotation speed of the cable.

[0007] According to another aspect of the present application, a cable control system of a sampling device of an unmanned aerial vehicle is provided, comprising: A control module, the control module is used to execute the cable control method of the sampling device of the drone according to any one of claims 1 to 3 above; A communication module, wherein the communication module is respectively connected to the UAV and the control module for communication; A collection module is communicatively connected with the control module, and is used to collect the length of the cable of the sampling device.

[0008] According to another aspect of the present application, a sampling device for an unmanned aerial vehicle is provided, comprising: drones; and A sampling device, the sampling device comprising a fixing device, a driving device and a sampling bottle, one end of the fixing device is fixedly connected to the bottom of the drone, the driving device comprises a carbon plate, a motor, a reel, a PCB board and a positioning block, the PCB board comprises the cable control system of the sampling device of the drone described above, the top of the carbon plate is fixedly connected to the other end of the fixing device, the bottom of the carbon plate is respectively fixedly connected to the motor, the reel and the PCB board, the cable control system of the sampling device of the drone is communicatively connected to the motor, the cable control system of the sampling device of the drone is electrically connected to the power supply end of the drone, the output shaft of the motor is transmission-connected to the reel, the cable control system of the sampling device of the drone is used to turn on the motor to drive the reel to rotate, a cable is wound around the reel, one end of the cable passes through the positioning block and is fixed to the bottom of the positioning block, the bottom of the positioning block is fixedly connected to the sampling bottle, and the sampling bottle is used to sample liquid.

[0009] In one embodiment, the driving device includes a reduction gearbox, which is communicatively connected to the cable control system of the sampling device of the drone, the output shaft of the motor is transmission-connected to the wire wheel through the reduction gearbox, the reduction gearbox is fixed to the bottom of the carbon plate, the worm of the reduction gearbox is transmission-connected to the output shaft of the motor, the worm gear shaft of the reduction gearbox is meshingly connected to multiple protrusions on the inner wall of the groove of the wire wheel, and the motor drives the reduction gearbox to reduce the rotation speed of the wire wheel.

[0010] In one embodiment, the driving device includes a limit block, the top of the limit block is movably connected to the positioning block, the bottom of the limit block is fixedly connected to the sampling bottle, and the cable passes through the limit block and is fixed to the bottom of the limit block.

[0011] In one embodiment, the sampling device includes a sampling shell, the inner wall of the top of the sampling shell is fixedly connected to the outer wall of the carbon plate, the bottom of the sampling shell is in contact with the limit block, the bottom of the sampling shell is provided with a through hole, the cable passes through the through hole, the outer wall of the fixing rod of the positioning block is fixedly connected to the inner wall of the through hole, and the sampling shell is used to protect the driving device.

[0012] In one embodiment, a limit switch is provided at the bottom of the fixing rod of the positioning block, and the limit switch is electrically connected to the motor. When the limit block contacts the limit switch, the limit switch is triggered and generates a trigger signal which is sent to the cable control system of the sampling device of the drone, and the cable control system of the sampling device of the drone controls the motor to shut down.

[0013] In one embodiment, the sampling device includes a connecting device, which includes a connecting block and a connecting hook, the connecting hook is hinged to the connecting block, the top of the connecting block is fixedly connected to the bottom of the limit block, and the bottom of the connecting hook is fixedly connected to the sampling bottle.

[0014] The present application provides a cable control method, system and sampling device for a sampling device of an unmanned aerial vehicle. The method comprises: when the sampling device enters the water surface for sampling, obtaining the actual rotation angle of the cable when it descends, determining the rotation direction of the cable according to the actual rotation angle, and if the rotation direction of the cable is opposite to the preset direction, generating a first control torque according to the actual rotation angle to control the cable to rotate in the preset direction, wherein the calculation formula of the first control torque is: ,in, is the first control torque, It is a control parameter used to adjust the rotation amplitude of the cable in the preset direction. is the actual rotation angle of the cable around the axis. By obtaining the rotation angle of the cable when it is lowered and determining the rotation direction of the cable, it is determined whether the cable is entangled. If the rotation direction is determined to be the opposite direction of the preset direction, that is, it is determined that the cable has an entanglement problem, then a first control torque is generated, and the rotation direction of the cable is adjusted by the first control torque to solve the cable entanglement problem. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] By describing the embodiments of the present application in more detail in conjunction with the accompanying drawings, the above and other purposes, features and advantages of the present application will become more apparent. The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the present application and do not constitute a limitation of the present application. In the accompanying drawings, the same reference numerals generally represent the same components or steps.

[0016] Figure 1 It is a flowchart of a cable control method of a sampling device of a drone provided by an exemplary embodiment of the present application.

[0017] Figure 2 It is a schematic diagram of the structure of a cable control system of a sampling device of a drone provided by an exemplary embodiment of the present application.

[0018] Figure 3 It is a schematic diagram of the structure of a sampling device for a drone provided by an exemplary embodiment of the present application.

[0019] Figure 4 It is a schematic diagram of the structure of a sampling device for a drone provided by another exemplary embodiment of the present application.

[0020] Figure 5 It is a schematic diagram of the structure of a sampling device for a drone provided by another exemplary embodiment of the present application.

[0021] Figure 6 It is a structural diagram of an electronic device provided by an exemplary embodiment of the present application.

[0022] Description of reference numerals: 31. Sampling device; 311. Fixing device; 312. Driving device; 313. Sampling bottle; 3121. Carbon plate; 3122. Motor; 3123. Wire wheel; 3124. PCB board; 3125. Positioning block; 3126. Speed ​​reducer; 3127. Limit block; 314. Sampling housing; 3111. Two slide rails arranged opposite to each other; 3112. Fixing pendant; 316. Camera; 317. Millimeter wave radar; 315. Connecting device; 3151 , connecting block; 3152, connecting hook; 3153, handle; 201, control module; 202, communication module; 203, acquisition module; 204, motor drive module; 205, protection control module; 206, limit switch module; 207, indicator light module; 208, buzzer; 209, video module; 210, radar height acquisition module; 10, electronic equipment; 11, processor; 12, memory; 13, input device; 14, output device. DETAILED DESCRIPTION

[0023] Below, the exemplary embodiments according to the present application will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application, and it should be understood that the present application is not limited to the exemplary embodiments described here.

[0024] Figure 1 FIG. 1 is a flow chart of a cable control method for a sampling device of a drone provided by an exemplary embodiment of the present application. Figure 1 As shown, the cable control method of the sampling device of the drone includes: Step 110: When the sampling device enters the water surface for sampling, the actual rotation angle of the cable when it descends is obtained.

[0025] In the embodiment of the present application, the motion equation of the cable during the sampling process is set as: ,in, is the rotation angle of the cable about its axis (in radians) as a function of time, is the moment of inertia of the cable, is the external resistance torque (indicating the opposite direction of the preset direction of the cable), If the current cable rotation direction is opposite, that is, the cable is wound, you can change , and directs the movement of the adjustment cable through the changed differential equation.

[0026] The actual rotation angle of the cable can be obtained through an angle sensor or other device, and the corresponding first control torque can be generated according to the actual rotation angle, and the first control torque can be substituted into the above motion equation. , the rotation angle of the cable is adjusted as indicated by the modified differential equation.

[0027] Step 120: Determine the rotation direction of the cable according to the actual rotation angle.

[0028] In an embodiment of the present application, the actual rotation angle of the cable is obtained by an angle sensor or other device, and the rotation direction of the cable can be determined based on the actual rotation angle. For example, +360 degrees means that the cable rotates 360 degrees clockwise, and -360 degrees means that the cable rotates 360 degrees counterclockwise. The rotation direction of the cable can be determined by the positive and negative degrees. If the preset direction is set to clockwise, then the opposite direction of the preset direction is counterclockwise. That is to say, if the rotation direction of the cable is counterclockwise, a first control torque is generated, indicating that the rotation direction is abnormal due to cable winding, so the cable can be untangled by applying a reverse rotation control torque.

[0029] Step 130: If the rotation direction of the cable is opposite to the preset direction, a first control torque is generated according to the actual rotation angle to control the cable to rotate in the preset direction.

[0030] In the embodiment of the present application, the formula for the first control torque is: ,in, is the first control torque, It is a control parameter used to adjust the rotation amplitude of the cable in the preset direction. The actual rotation angle (in radians) of the cable around the axis. By controlling the rotation of the cable in the preset direction, the cable can be rotated in the preset direction to untangle.

[0031] Substituting the formula of the first control torque into the above equation of motion, we get the first differential equation, which is: , is the actual rotation angle (radians) of the cable about its axis as a function of time, is the moment of inertia of the cable, is the external resistance torque (assumed to be opposite to the preset direction of the cable), The control parameter is used to adjust the rotation amplitude of the cable in a preset direction. The control system in the sampling device controls the cable to rotate in the preset direction through the first differential equation and rotates according to the angle indicated by the control torque.

[0032] The present application provides a cable control method for a sampling device of an unmanned aerial vehicle, the method comprising: when the sampling device enters the water surface for sampling, obtaining the actual rotation angle of the cable when it descends, determining the rotation direction of the cable according to the actual rotation angle, and if the rotation direction of the cable is opposite to the preset direction, generating a first control torque according to the actual rotation angle to control the cable to rotate in the preset direction, wherein the calculation formula of the first control torque is: ,in, is the first control torque, It is a control parameter used to adjust the rotation amplitude of the cable in the preset direction. is the actual rotation angle of the cable around the axis. By obtaining the rotation angle of the cable when it is lowered and determining the rotation direction of the cable, it is determined whether the cable is entangled. If the rotation direction is determined to be the opposite direction of the preset direction, that is, it is determined that the cable has an entanglement problem, then a first control torque is generated, and the rotation direction of the cable is adjusted by the first control torque to solve the cable entanglement problem.

[0033] In one embodiment, the cable control method of the sampling device of the drone can be specifically implemented as follows: obtaining the rotation speed of the cable when it descends; if the rotation speed of the cable is greater than a preset speed threshold, generating a second control torque based on the rotation speed to reduce the rotation speed of the cable.

[0034] In the embodiment of the present application, if the rotation speed of the cable is too high, the cable may also be entangled when the sampling device enters the water surface for sampling, causing the cable to rotate too fast. Therefore, if the rotation speed of the cable is greater than the speed threshold, a second control torque is generated. The formula of the second control torque is: ,in, is the rotation angle of the cable around the axis (radians), and is a control parameter used to reduce the rotation speed of the cable or adjust the amplitude of reducing the rotation speed of the cable. By generating a second control torque to reduce the rotation speed of the cable, the cable winding problem is solved.

[0035] Substituting the above formula of the second control torque into the equation of motion, the second differential equation is obtained as follows: , is the moment of inertia of the cable, is the external resistance torque, is the rotation angle of the cable around the axis (radians), and It is a control parameter used to reduce the rotation speed of the cable or adjust the amplitude of reducing the rotation speed of the cable.

[0036] In one embodiment, before step 110, the cable control method of the sampling device of the drone can be specifically implemented as follows: when the sampling device descends to the water surface, the actual descending length of the cable is obtained; the number of pulses generated by the current motor is obtained; based on the correction formula , according to the number of pulses, calculate the target drop length corresponding to the number of pulses; where, is the target descent length, , , All are parameters. is the number of pulses; according to the drop length, correct the actual drop length of the cable.

[0037] In the embodiment of the present application, a correction formula is constructed to calculate the target drop length of the cable, and the actual drop length of the cable is adjusted by the target drop length. Specifically, the correction formula construction method includes: obtaining N pulses generated by the current motor rotating one circle, and receiving n pulses generated by the current motor rotating one circle, setting that N pulses are generated when the motor rotates one circle, obtaining the n pulses generated by the current motor, then the number of circles x of the motor rotation is , the target drop length of the cable is set to , the relationship between the number of turns and the target drop length of the cable is: , according to the equation of the number of circles and the relationship, we can get the equation Since N is a constant, we can rewrite the equation to get Raise the sampling bottle in the sampling device to the target position, which indicates that the cable has no rising or falling length, that is, the length is 0. Obtain the corresponding n values ​​when the sampling bottle in the sampling device drops 1000mm (millimeter), 3000mm, and 5000mm, that is, the number of pulses generated by the motor. 1000mm corresponds to n1, 3000mm corresponds to n2, and 5000mm corresponds to n3. Therefore, formula 1 can be obtained as Formula 2 is , Formula 3 is . Through formula 1, formula 2 and formula 3, we can get , , The value of , so that different target descent lengths can be obtained according to the correction formula and the different pulse numbers generated by the motor. If the actual descent length of the cable is greater than the target descent length, the actual descent length is adjusted so that the difference between the actual descent length and the target descent length is less than a first preset difference threshold, which may be 0.1 or 0.3, etc. If the actual descent length of the cable is less than the target descent length, the actual descent length is adjusted so that the difference between the actual descent length and the target descent length is less than a second preset difference threshold, which may be 0.2 or 0.3, etc.

[0038] In addition, since the winding of the cable after sampling will cause deviations in the length of the cable each time, the number of pulses generated by the motor and the actual descent length of the cable need to be cleared before the sampling device performs sampling, thereby ensuring that the length of the cable starts from 0 each time it descends.

[0039] Figure 2 FIG. 1 is a schematic diagram of the structure of a cable control system of a sampling device of a drone provided by an exemplary embodiment of the present application. Figure 2 As shown, the cable control system of the sampling device of the drone includes: a control module 201, a communication module 202 and a collection module 203. The control module 201 is used to execute any of the above-mentioned cable control methods for the sampling device of the drone. The communication module 202 is respectively communicated with the drone and the control module 201. The collection module 203 is communicated with the control module 201. The collection module 203 is used to collect the length of the cable of the sampling device.

[0040] In the embodiment of the present application, the control module 201 can control the rotation of the motor in the sampling device, the flashing of the indicator light, and the opening or closing of the buzzer. The control module 201 obtains the trigger information of the limit switch in the sampling device, the length of the cable sent by the acquisition module 203, and the length of the cable sent by the radar height acquisition module 210.

[0041] Among them, the communication module 202 has a power supply function, and the communication module 202 is electrically connected to the drone and the control module 201 respectively, so that the drone can provide its power to the control module 201, thereby powering the sampling device. In addition, the communication module 202 can be connected to an electronic device for communication, and the electronic device can be a remote control or a mobile phone. The operator can send a control command to the communication module 202 through a remote control or a mobile phone, and the communication module 202 forwards the control command to the control module 201.

[0042] The cable control system of the sampling device of the drone may also include a motor drive module 204, which is respectively connected to the control module 201 and the acquisition module 203 in communication, and the motor drive module 204 is used to control the motor to accelerate or decelerate or stop, so as to control the acquisition device to rise or fall or stop. The motor drive module 204 sends a control signal to the acquisition module 203, and the acquisition module 203 controls the movement of the cable according to the instruction of the control signal, wherein the control signal represents a control cable rise signal or a fall signal or a stop signal. Among them, the acquisition module 203 can collect the number of pulses generated by the motor.

[0043] The cable control system of the sampling device of the drone may also include a protection control module 205, which is in communication with the control module 201. When the drone is on the ground, the switch on the sampling device is triggered, and the protection control module 205 is used to control the cable not to move and generate a prompt message to remind the user not to place the sampling bottle on the ground. If the user uses it improperly and the cable is tangled, the user can turn off the switch and the user can release the cable on the ground to rewind the cable.

[0044] The cable control system of the sampling device of the drone may also include a limit switch module 206, which is communicatively connected to the control module 201. The limit switch module 206 sends a signal indicating that the limit switch in the sampling device is triggered to the control module 201, and the control module 201 controls the motor to stop rotating according to the triggered signal.

[0045] The cable control system of the sampling device of the drone may further include an indicator light module 207, which is in communication with the control module 201. When a fault occurs in the control module 201, the indicator light module 207 emits light. The flashing of the indicator light module 207 indicates that the control module 201 is operating normally.

[0046] The cable control system of the sampling device of the drone may also include a buzzer 208, which is connected to the control module 201 in communication. When the switch corresponding to the protection control module 205 is turned on and the control module 201 receives a command from the user to descend, the control module 201 controls the buzzer 208 to turn on. When the cable in the sampling device does not move upward within a preset time period (indicating that the sampling bottle is entangled and does not move upward within a preset time period), the control module 201 controls the buzzer 208 to turn on. When the rotation direction of the cable is opposite to the preset direction and the cable reaches the target position, the control module 201 controls the buzzer 208 to turn on.

[0047] The cable control system of the sampling device of the drone may further include a video module 209 , which is communicatively connected to the communication module 202 , and is used to send a video of the sampling device when sampling.

[0048] The cable control system of the sampling device of the drone can also include a radar height acquisition module 210, which is connected to the control module 201 in communication, and is connected to the millimeter wave radar in communication, and is used to obtain the height of the sampling bottle in the millimeter wave radar measurement sampling device from the water surface. Wherein, the depth of the sampling bottle entering the water surface is set to D2, and the height of the sampling bottle from the water surface is set to D1. When the control module 201 receives the water collection start instruction, the control module 201 calculates the length of the cable release of the sampling bottle as L= D1+ D2, and the control module 201 controls the motor to rotate so that the release length of the cable reaches L.

[0049] Figure 3 It is a schematic diagram of the structure of a sampling device for a drone provided by an exemplary embodiment of the present application. Figure 4 It is a schematic diagram of the structure of a sampling device for a drone provided by another exemplary embodiment of the present application. Figure 5 FIG. 1 is a schematic diagram of a sampling device for a drone provided by another exemplary embodiment of the present application. Figure 3-Figure 5As shown, the sampling device of the drone includes: a drone and a sampling device 31, the sampling device 31 includes a fixing device 311, a driving device 312 and a sampling bottle 313, one end of the fixing device 311 is fixedly connected to the bottom of the drone, the driving device 312 includes a carbon plate 3121, a motor 3122, a wire wheel 3123, a PCB board 3124 and a positioning block 3125, the PCB board 3124 includes the cable control system of the sampling device of the drone mentioned above, the top of the carbon plate 3121 is fixedly connected to the other end of the fixing device 311, and the bottom of the carbon plate 3121 is respectively fixedly connected to the motor 3122, the wire wheel 3123, the PCB board 3124 and the positioning block 3125. Wheel 3123, PCB board 3124, the cable control system of the sampling device of the drone is electrically connected to the motor 3122, the cable control system of the sampling device of the drone is electrically connected to the power supply end of the drone, the output shaft of the motor 3122 is transmission connected to the wire wheel 3123, the cable control system of the sampling device of the drone is used to turn on the motor 3122 to drive the wire wheel 3123 to rotate, the cable is wound around the wire wheel 3123, one end of the cable passes through the positioning block 3125 and is fixed to the bottom of the positioning block 3125, the bottom of the positioning block 3125 is fixedly connected to the sampling bottle 313, and the sampling bottle 313 is used to sample liquid.

[0050] In an embodiment of the present application, since workers are unable to collect liquids in some special areas, the present application utilizes the flying function of the drone to fix a sampling device 31 at the bottom of the drone. The sampling device 31 can collect liquids in areas or special areas that workers cannot reach.

[0051] Specifically, the sampling device 31 may include a fixing device 311, a driving device 312 and a sampling bottle 313, and the sampling device 31 may be fixed as a whole to the bottom of the drone through the fixing device 311. The driving device 312 is connected to the sampling bottle 313, and the driving device 312 may drive the sampling bottle 313 to move upward or downward.

[0052] The fixing device 311 includes two slide rails 3111 and a fixed hanger 3112 arranged opposite to each other. The fixed hanger 3112 is fixed to the bottom of the drone. The two slide rails 3111 arranged opposite to each other are fixed on the carbon plate 3121. The two slide rails 3111 arranged opposite to each other are matched and connected with the fixed hanger 3112. The fixed hanger 3112 is fixed to the bottom of the drone by four screws. The two slide rails 3111 arranged opposite to each other are fixed on the carbon plate 3121 by ball screws. The fixed hanger 3112 includes a first fixing frame, a second fixing frame, a third fixing frame and a fourth fixing frame. One end of the second fixing frame and the third fixing frame are respectively fixedly connected to the first fixing frame, and the other end of the second fixing frame and the third fixing frame are respectively fixedly connected to the fourth fixing frame. The second fixing frame is matched and connected with one of the two slide rails 3111 arranged opposite to each other, and the third fixing frame is matched and connected with the other of the two slide rails 3111 arranged opposite to each other.

[0053] The driving device 312 may include a carbon plate 3121, a motor 3122, a reel 3123, a PCB board 3124 and a positioning block 3125, and the motor 3122, the reel 3123 and the PCB board 3124 may be fixed through the bottom of the carbon plate 3121. The top of the carbon plate 3121 is fixedly connected to the fixing device 311, so that the driving device 312 is fixed on the drone as a whole. The output shaft of the motor 3122 is connected to the reel 3123 in a transmission manner, so that the reel 3123 can be driven to rotate, and a cable is wound around the reel 3123, wherein one end of the cable is fixed to the inner layer of the reel 3123 through a patch, and the other end of the cable passes through the positioning block 3125 and is fixed to the bottom of the positioning block 3125, and the bottom of the positioning block 3125 is fixedly connected to the sampling bottle 313. The motor 3122 drives the reel 3123 to rotate, thereby releasing or shortening the length of the cable, thereby driving the sampling bottle 313 to perform an ascending or descending movement. The sampling bottle 313 is used for sampling liquid, and the liquid may be water.

[0054] In order to automatically control the opening of the motor 3122, the opening of the motor 3122 is controlled by the cable control system of the sampling device of the drone on the PCB board 3124. The cable control system of the sampling device of the drone is connected to the motor 3122 in communication, and the control module in the cable control system of the sampling device of the drone can control the opening or closing of the motor 3122. The cable control system of the sampling device of the drone can be electrically connected to the power supply end of the drone, wherein the communication module in the cable control system of the sampling device of the drone is electrically connected to the power supply end of the drone through the power supply line, so that the cable control system of the sampling device of the drone can work through the power supply of the drone.

[0055] like Figure 4As shown, the driving device 312 includes a reduction gearbox 3126, which is communicatively connected to the cable control system of the sampling device of the drone, the output shaft of the motor 3122 is transmission-connected to the reel 3123 through the reduction gearbox 3126, the reduction gearbox 3126 is fixed to the bottom of the carbon plate 3121, the worm of the reduction gearbox 3126 is transmission-connected to the output shaft of the motor 3122, the worm gear shaft of the reduction gearbox 3126 is meshingly connected to a plurality of protrusions on the inner wall of the groove of the reel 3123, and the motor 3122 drives the reduction gearbox 3126 to reduce the rotation speed of the reel 3123.

[0056] In the embodiment of the present application, since the cable may become entangled when it is rising or falling, a reduction gearbox 3126 may be provided to reduce the rotation speed of the pulley 3123, thereby resolving the problem of cable entanglement.

[0057] Specifically, the reduction box 3126 is fixed to the bottom of the carbon plate 3121, and the worm of the reduction box 3126 is connected to the output shaft of the motor 3122, and the worm gear shaft of the reduction box is meshed with multiple protrusions on the inner wall of the groove of the wire wheel 3123, so that the worm gear shaft rotates in the groove and drives the wire wheel 3123 to rotate. Among them, the worm gear shaft has multiple grooves that can be meshed with multiple protrusions on the inner wall of the groove of the wire wheel 3123, so that the worm gear shaft can drive the wire wheel 3123 to rotate.

[0058] like Figure 4 As shown, the driving device 312 may include a limit block 3127, the top of the limit block 3127 is movably connected to the positioning block 3125, the bottom of the limit block 3127 is fixedly connected to the sampling bottle 313, and the cable passes through the limit block 3127 and is fixed at the bottom of the limit block 3127.

[0059] In the embodiment of the present application, after the sampling device 31 collects the liquid, the motor 3122 controls the cable to rise, so as to process and analyze the liquid. In order to determine the position of the cable to the top, a limit block 3127 is set, and the position of the cable to the top is determined by the limit block 3127, and the position to the top can be defined as the target position. Among them, the top of the limit block 3127 is movably connected with the positioning block 3125, and the bottom of the limit block 3127 is fixedly connected to the sampling bottle 313. The cable passes through the limit block 3127 and is fixed at the bottom of the limit block 3127. When the cable rises to the target position, the positioning block 3125 contacts the limit block 3127. The cable can drive the limit block 3127 to move up or down, and then drive the sampling bottle 313 to move up or down.

[0060] like Figure 4As shown, the sampling device 31 includes a sampling shell 314, the inner wall of the top of the sampling shell 314 is fixedly connected to the outer wall of the carbon plate 3121, the bottom of the sampling shell 314 is in contact with the limit block 3127, and a through hole is provided at the bottom of the sampling shell 314, the cable passes through the through hole, the outer wall of the fixing rod of the positioning block 3125 is fixedly connected to the inner wall of the through hole, and the sampling shell 314 is used to protect the driving device 312.

[0061] In the embodiment of the present application, the present application protects the driving device 312 by setting a sampling housing 314, and the sampling housing 314 can be made of waterproof material or plastic material to prevent water from entering the sampling housing 314. The bottom of the sampling housing 314 contacts the limit block 3127, and when the cable is descending, the limit block 3127 moves downward with the cable. When the cable rises, when the limit block 3127 contacts the bottom of the sampling housing 314, it means that the sampling bottle 313 rises to the target position, that is, rises to the top, and then the sampling bottle 313 will not continue to rise.

[0062] like Figure 5 As shown, the sampling housing 314 includes a first housing and a second housing, the height of the first housing is higher than the second housing, the second housing is connected to the first housing through an arc shell integrally formed, the second housing is provided with a camera 316 and a millimeter wave radar 317, the camera 316 and the millimeter wave radar 317 are located in the same straight line, the camera 316 and the millimeter wave radar 317 are respectively connected to the cable control system of the sampling device of the drone, and the camera 316 is used to take a video or picture of the sampling device 31 when sampling. The millimeter wave radar 317 is used to measure the height of the sampling bottle 313 from the water surface.

[0063] like Figure 4 As shown, a limit switch is provided on the fixed rod of the positioning block 3125, and the limit switch is electrically connected to the motor 3122. When the limit block 3127 contacts the limit switch, the limit switch is triggered and generates a trigger signal which is sent to the cable control system of the sampling device of the UAV. The cable control system of the sampling device of the UAV controls the motor 3122 to turn off.

[0064] In the embodiment of the present application, after the cable is raised to the position, if the motor 3122 is still running, it will cause damage to the driving device 312, so a limit switch is set at the bottom of the fixed rod of the positioning block 3125. When the limit block 3127 contacts the limit switch, the limit switch is triggered, and the trigger signal is sent to the cable control system of the sampling device of the drone, and the cable control system of the sampling device of the drone controls the motor 3122 to turn off. Alternatively, the trigger signal is directly sent to the motor 3122 to control the motor 3122 to turn off.

[0065] like Figure 4As shown, the sampling device 31 includes a connecting device 315, which includes a connecting block 3151 and a connecting hook 3152. The connecting hook 3152 is hinged to the connecting block 3151, the top of the connecting block 3151 is fixedly connected to the bottom of the limit block 3127, and the bottom of the connecting hook 3152 is fixedly connected to the sampling bottle 313.

[0066] In the embodiment of the present application, the connecting device 315 includes a connecting block 3151 and a connecting hook 3152. The connecting block 3151 can be square or rectangular. The connecting hook 3152 includes a fixed space, which can accommodate the connecting block 3151, and the connecting block 3151 matches the fixed space, that is, the top of the connecting block 3151 is fixedly connected to the limit block 3127.

[0067] The top of the connection block 3151 is fixedly connected to the bottom of the limit block 3127 by screws. A cylinder is provided on one side of the connection block 3151.

[0068] like Figure 4 As shown, the connecting device 315 includes a handle 3153, the bottom of the connecting hook 3152 is fixedly connected to the top of the handle 3153, and a first fixed block and a second fixed block are arranged on the top of the sampling bottle 313. The first fixed block and the second fixed block are arranged opposite to each other, the first fixed block is rotatably connected to one end of the handle 3153, and the second fixed block is rotatably connected to the other end of the handle 3153.

[0069] In the embodiment of the present application, when the sampling device 31 is sampling, in order to facilitate the sampling bottle 313 to collect liquid, the sampling bottle 313 can be stabilized by the handle 3153 to prevent the sampling bottle 313 from being subjected to greater resistance from the water surface when entering the water surface. Among them, a first fixed block and a second fixed block are arranged on the top of the sampling bottle 313, and the first fixed block and the second fixed block are arranged relative to each other. The first fixed block is rotatably connected to one end of the handle 3153, and the second fixed block is rotatably connected to the other end of the handle 3153. When the sampling bottle 313 just enters the water surface, the handle 3153 drives the sampling bottle 313 to rotate to absorb a portion of water, thereby reducing the buoyancy of the water, and can enter the bottom of the water more quickly. The bottom of the connecting hook 3152 is fixedly connected to the handle 3153 by a screw.

[0070] In one embodiment, a buffer pad is provided on the limit block, and the buffer pad is used to reduce the impact force when the limit block contacts the positioning block.

[0071] The present application provides a cable control device for a sampling device of an unmanned aerial vehicle, comprising: an acquisition module, used to acquire the actual rotation angle of the cable when the sampling device enters the water surface for sampling; a determination module, used to determine the rotation direction of the cable according to the actual rotation angle; a generation module, used to generate a first control torque according to the actual rotation angle if the rotation direction of the cable is the opposite direction of the preset direction, so as to control the cable to rotate in the preset direction; wherein the calculation formula of the first control torque is: ,in, is the first control torque, It is a control parameter used to adjust the rotation amplitude of the cable in the preset direction. is the actual rotation angle of the cable around its axis.

[0072] In one embodiment, the cable control device of the sampling device of the drone can be specifically configured to: obtain the rotation speed of the cable when it descends; if the rotation speed of the cable is greater than a preset speed threshold, generate a second control torque based on the rotation speed to reduce the rotation speed of the cable.

[0073] In one embodiment, before the acquisition module, the cable control device of the sampling device of the drone can be specifically configured as follows: when the sampling device descends to the water surface, the actual descending length of the cable is acquired; the number of pulses generated by the current motor is acquired; based on the correction formula , according to the number of pulses, calculate the target drop length corresponding to the number of pulses; where, is the target descent length, , , All are parameters. is the number of pulses; according to the drop length, correct the actual drop length of the cable.

[0074] Figure 6 A block diagram of an electronic device according to an embodiment of the present application is illustrated.

[0075] like Figure 6 As shown, the electronic device 10 includes one or more processors 11 and a memory 12 .

[0076] The processor 11 may be a central processing unit (CPU) or other forms of processing units having data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device 10 to perform desired functions.

[0077] The memory 12 may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and / or cache memory (cache), etc. The non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 11 may run the program instructions to implement the cable control method of the sampling device of the drone of each embodiment of the present application described above and / or other desired functions. Various contents such as input signals, signal components, noise components, etc. may also be stored in the computer-readable storage medium.

[0078] In one example, the electronic device 10 may further include: an input device 13 and an output device 14 , and these components are interconnected via a bus system and / or other forms of connection mechanisms (not shown).

[0079] When the electronic device is a stand-alone device, the input device 13 may be a communication network connector, which is used to receive the collected input signals from the first device and the second device.

[0080] In addition, the input device 13 may also include, for example, a keyboard, a mouse, and the like.

[0081] The output device 14 can output various information to the outside, including the determined distance information, direction information, etc. The output device 14 can include, for example, a display, a speaker, a printer, a communication network and a remote output device connected thereto, and the like.

[0082] Of course, to simplify, Figure 6 Only some of the components related to the present application in the electronic device 10 are shown, and components such as a bus, an input / output interface, etc. are omitted. In addition, according to specific application situations, the electronic device 10 may also include any other appropriate components.

[0083] The computer program product may be written in any combination of one or more programming languages ​​to write program codes for performing the operations of the embodiments of the present application, including object-oriented programming languages, such as Java, C++, etc., and conventional procedural programming languages, such as "C" language or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as an independent software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0084] The computer readable storage medium can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium can include, for example, but is not limited to, a system, device or device of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination of the above. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0085] The above description has been given for the purpose of illustration and description. In addition, this description is not intended to limit the embodiments of the present application to the forms disclosed herein. Although multiple example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, changes, additions and sub-combinations thereof.

Claims

1. A cable control method for a sampling device of an unmanned aerial vehicle, characterized in that: include: When the sampling device enters the water surface for sampling, obtaining the actual rotation angle of the cable when it descends; Determining a rotation direction of the cable according to the actual rotation angle; If the rotation direction of the cable is opposite to the preset direction, a first control torque is generated according to the actual rotation angle to control the cable to rotate in the preset direction; wherein the calculation formula of the first control torque is: ,in, is the first control torque, is a control parameter used to adjust the rotation amplitude of the cable in the preset direction, is the actual rotation angle of the cable around the axis.

2. The cable control method of the sampling device of the drone according to claim 1, characterized in that: When the sampling device enters the water surface for sampling, before obtaining the rotation angle of the cable when it descends, it also includes: When the sampling device descends to the water surface, obtaining the actual descending length of the cable; Get the number of pulses currently generated by the motor; Based on the correction formula , according to the number of pulses, calculate the target drop length corresponding to the number of pulses; wherein, is the target descent length, , , All are parameters. is the number of pulses; The actual drop length of the cable is corrected according to the target drop length.

3. The cable control method of the sampling device of the drone according to claim 1, characterized in that: Also includes: Obtaining the rotation speed of the cable when it descends; If the rotation speed of the cable is greater than a preset speed threshold, a second control torque is generated according to the rotation speed to reduce the rotation speed of the cable.

4. A cable control system for a sampling device of an unmanned aerial vehicle, characterized in that: include: A control module, the control module is used to execute the cable control method of the sampling device of the drone according to any one of claims 1 to 3 above; A communication module, wherein the communication module is respectively connected to the UAV and the control module for communication; A collection module is communicatively connected with the control module, and is used to collect the length of the cable of the sampling device.

5. A sampling device for an unmanned aerial vehicle, characterized in that: include: Drones; as well as A sampling device (31), the sampling device (31) comprising a fixing device (311), a driving device (312) and a sampling bottle (313), one end of the fixing device (311) being fixedly connected to the bottom of the drone, the driving device (312) comprising a carbon plate (3121), a motor (3122), a wire wheel (3123), a PCB board (3124) and a positioning block (3125), the PCB board (3124) comprising a cable control system of the sampling device of the drone according to claim 4, the top of the carbon plate (3121) being fixedly connected to the other end of the fixing device (311), the bottom of the carbon plate (3121) being fixedly connected to the motor (3122), the wire wheel (3123), the The PCB board (3124) is provided. The cable control system of the sampling device of the drone is communicatively connected with the motor (3122). The cable control system of the sampling device of the drone is electrically connected with the power supply end of the drone. The output shaft of the motor (3122) is transmission-connected with the wire wheel (3123). The cable control system of the sampling device of the drone is used to turn on the motor (3122) to drive the wire wheel (3123) to rotate. A cable is wound around the wire wheel (3123). One end of the cable passes through the positioning block (3125) and is fixed to the bottom of the positioning block (3125). The bottom of the positioning block (3125) is fixedly connected to the sampling bottle (313). The sampling bottle (313) is used to sample liquid.

6. The sampling device for an unmanned aerial vehicle according to claim 5, characterized in that: The driving device (312) comprises a reduction box (3126), the reduction box (3126) is communicatively connected to a cable control system of a sampling device of the drone, the output shaft of the motor (3122) is transmission-connected to the wire wheel (3123) via the reduction box (3126), the reduction box (3126) is fixed to the bottom of the carbon plate (3121), the worm of the reduction box (3126) is transmission-connected to the output shaft of the motor (3122), the worm wheel shaft of the reduction box (3126) is meshingly connected to a plurality of protrusions on the inner wall of a groove of the wire wheel (3123), and the motor (3122) drives the reduction box (3126) to reduce the rotation speed of the wire wheel (3123).

7. The sampling device for an unmanned aerial vehicle according to claim 6, characterized in that: The driving device (312) comprises a limit block (3127), the top of the limit block (3127) is movably connected to the positioning block (3125), the bottom of the limit block (3127) is fixedly connected to the sampling bottle (313), and the cable passes through the limit block (3127) and is fixed to the bottom of the limit block (3127).

8. The sampling device for an unmanned aerial vehicle according to claim 7, characterized in that: The sampling device (31) comprises a sampling housing (314), the inner wall of the top of the sampling housing (314) is fixedly connected to the outer wall of the carbon plate (3121), the bottom of the sampling housing (314) is in contact with the limit block (3127), a through hole is provided at the bottom of the sampling housing (314), the cable passes through the through hole, the outer wall of the fixing rod of the positioning block (3125) is fixedly connected to the inner wall of the through hole, and the sampling housing (314) is used to protect the driving device (312).

9. The sampling device for an unmanned aerial vehicle according to claim 8, characterized in that: A limit switch is provided at the bottom of the fixing rod of the positioning block (3125), and the limit switch is electrically connected to the motor (3122). When the limit block (3127) contacts the limit switch, the limit switch is triggered and generates a trigger signal which is sent to the cable control system of the sampling device of the drone, and the cable control system of the sampling device of the drone controls the motor (3122) to turn off.

10. The sampling device for an unmanned aerial vehicle according to claim 8, characterized in that: The sampling device (31) comprises a connecting device (315), wherein the connecting device (315) comprises a connecting block (3151) and a connecting hook (3152), wherein the connecting hook (3152) is hinged to the connecting block (3151), the top of the connecting block (3151) is fixedly connected to the bottom of the limiting block (3127), and the bottom of the connecting hook (3152) is fixedly connected to the sampling bottle (313).

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