Rapid sampling method and system

Abstract

The invention discloses a rapid sampling method and system, and relates to the technical field of water quality detection, and the method comprises the following steps: determining a to-be-detected area, and obtaining sampling points in the to-be-detected area; based on the to-be-inspected area and the sampling points in the to-be-inspected area, planning an optimal flight route of the unmanned aerial vehicle; the unmanned aerial vehicle flies to the position above the sampling points according to the optimal flight route, the carried sampling box is put into water, and water samples at different depths are collected; the sampling box is moved upwards to the unmanned aerial vehicle support, the unmanned aerial vehicle is controlled to return, water samples at different depths are placed into different sampling test tubes, and water source sampling is completed. Water samples at different depths can be obtained through one-time sampling operation, the sampling time is shortened, the sampling efficiency is improved, the diversity of collected samples is increased, the limitation of manual sampling is avoided, and the accuracy of later water quality detection can be further ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of water quality detection, and more particularly to a rapid sampling method and system. Background Art

[0002] Water is the source of life, an important medium for the transfer of matter, information and energy, and an irreplaceable resource for the survival of organisms on the earth's surface. With the rapid growth of the global population and the rapid development of industry, on the one hand, the demand for water resources by human beings is expanding at an alarming rate, and on the other hand, the increasingly serious water pollution is eroding a large amount of water resources available for consumption. The deterioration of the ecosystem and the destruction of biodiversity caused by the water crisis will also seriously threaten human survival.

[0003] Therefore, water quality testing is of great significance to controlling water pollution, protecting water resources and maintaining water health. People usually monitor and measure the quality of water sources regularly or irregularly, detect the content of various substances in the water and record them, and judge whether the material index exceeds the standard according to the type, quantity and harmfulness of different substances. In water quality analysis, most pollutants are sampled on site and then sent back to the laboratory for analysis and determination. In order to truly reflect the quality of the water body, in addition to using precise instruments and accurate analysis techniques, special attention should also be paid to the collection and preservation of water samples.

[0004] As far as the existing technology is concerned, when sampling water sources, the staff needs to put the sampling equipment into the water source to be tested at a certain depth according to relevant regulations to collect water sources. The manual sampling method will have problems such as low sampling efficiency and environmental influences. The diversity of samples is insufficient and the accuracy of subsequent water quality testing cannot be guaranteed. Therefore, how to solve the shortcomings of the above sampling methods and improve the automation, precision and information level of water quality monitoring is a technical problem that technicians in this field need to solve urgently. Summary of the invention

[0005] In view of this, the present invention provides a fast sampling method and system to solve the problems existing in the background technology.

[0006] In order to achieve the above object, the present invention provides the following technical solutions:

[0007] A rapid sampling method comprises the following steps:

[0008] Determine the area to be inspected and obtain sampling points within the area to be inspected;

[0009] Plan the best flight route for the drone based on the area to be inspected and the sampling points within the area to be inspected;

[0010] The drone is flown over the sampling point according to the best flight route, and the sampling box carried is dropped into the water to collect water samples at different depths;

[0011] Move the sampling box upwards to the drone bracket, control the drone to return, place water samples at different depths into different sampling tubes, and complete water source sampling.

[0012] Optionally, determining the area to be inspected specifically includes the following steps:

[0013] Acquire multispectral remote sensing images or hyperspectral remote sensing images within a preset range of the water source area as original remote sensing image data;

[0014] Perform radiation calibration, atmospheric correction, and geometric correction on the original remote sensing image data to obtain the corrected remote sensing image data;

[0015] Separate the land and water from the corrected remote sensing image data to obtain a remote sensing image of the water body that is preliminarily determined;

[0016] A mask operation is performed on the edge of the remote sensing image of the water body portion that is initially determined, and the area to be inspected is determined based on the remote sensing image of the water body portion that is finally obtained.

[0017] Optionally, obtaining sampling points within the area to be inspected specifically includes the following steps:

[0018] Based on the remote sensing images of the area to be inspected, a digital elevation model of a regular grid is established, and depressions and flat areas in the digital elevation model are eliminated;

[0019] The D8 algorithm is used to obtain the flow direction and cumulative flow of each grid in the digital elevation model, and the water network is preliminarily determined based on the preset threshold.

[0020] The preliminarily determined water system network is classified, and points are preliminarily arranged in the first water system after classification and density detection is performed. If the density of the preliminarily arranged points is less than the preset sampling point density, encrypted points are arranged in the second water system, and the preliminarily arranged points are combined with the encrypted points to form sampling points, so that the sampling point density in the area to be inspected is greater than or equal to the preset sampling point density.

[0021] Optionally, plan the best flight path for the drone, including the following steps:

[0022] Divide the area to be inspected into multiple sub-areas, so that the number of sub-areas is equal to the number of drones;

[0023] Determine whether there are obstacles when the drone is above the sampling point. If so, move the current sampling point by a preset distance according to the preset rules as an alternative sampling point until there are no obstacles at the location of the alternative sampling point. Generate a sampling order for multiple sampling points based on the final determined sampling point to complete the path planning.

[0024] Optionally, water samples at different depths are collected, specifically including the following steps:

[0025] The support component is bolted to the drone, and the support component is connected to the sampling box through a linear motor. A number of collection chambers are equidistantly arranged in the sampling box; a telescopic motor, an extrusion cavity connected to the telescopic end of the telescopic motor, a first water pipe connected to the extrusion cavity and extending from the lower surface of the collection chamber, a first water valve on the first water pipe, a storage cavity with an opening on the upper surface, a cover body buckled on the storage cavity, a second water pipe connected to the extrusion cavity and connected to the upper surface of the cover body, and a second water valve on the second water pipe are arranged in each collection chamber;

[0026] The telescopic end of the linear motor is controlled to move downward, so that the wide-mouthed collecting hood provided on the first water pipe extends into the water surface; when the liquid level sensor installed on one side of the sampling box detects that the sampling box reaches a preset depth, the first water valve in the corresponding collection chamber is opened and the telescopic end of the telescopic motor moves downward, and the water sucked from the wide-mouthed collecting hood flows into the extrusion cavity through the first water pipe; the telescopic end of the telescopic motor is controlled to move upward and close the first water valve, and the second water valve is opened, so that the water in the extrusion cavity flows into the storage cavity through the second water pipe;

[0027] The telescopic end of the linear motor is controlled to continue to move downward, and the above method is used to complete the collection of water samples at different depths.

[0028] Optionally, control the drone to return home, including the following steps:

[0029] Get the straight-line distance from the drone's hovering position to the return destination, and detect the drone's current remaining power;

[0030] Determine whether the current remaining power of the drone is sufficient to fly to the destination. If so, fly in a straight line to the destination; otherwise, if the current remaining power of the drone is less than the minimum power required to fly in a straight line to the destination, take the difference between the two and compare it with the preset threshold to determine the time and number of times to shut down the flight rotor.

[0031] A fast sampling system for implementing the fast sampling method as described above, comprising:

[0032] A confirmation module is used to determine the area to be inspected and obtain sampling points within the area to be inspected;

[0033] A planning module is used to plan the best flight route of the UAV through the area to be inspected and the sampling points within the area to be inspected;

[0034] The collection module is used to fly the drone over the sampling point according to the best flight route and drop the carried sampling box into the water to collect water samples at different depths;

[0035] The transfer module is used to move the sampling box upwards to the drone bracket, control the drone to return, and place water samples at different depths into different sampling tubes to complete water source sampling.

[0036] Optionally, a support component is bolted to the drone, the support component is connected to the sampling box via a linear motor, and a plurality of collection chambers are equidistantly arranged in the sampling box;

[0037] Each collection chamber is provided with a telescopic motor, an extrusion cavity, a first water pipe, a first water valve, a storage cavity, a cover body, a second water pipe, and a second water valve; wherein the extrusion cavity is connected to the telescopic end of the telescopic motor, one end of the first water pipe is connected to the extrusion cavity, and the other end extends from the lower surface of the collection chamber, and the first water valve is arranged on the first water pipe; an opening is arranged on the upper surface of the storage cavity, and the cover body is buckled on the storage cavity, one end of the second water pipe is connected to the extrusion cavity, and the other end is connected to the upper surface of the cover body, and the second water valve is arranged on the second water pipe;

[0038] One end of the first water pipe extending out of the lower surface of the collection chamber is provided with a wide-mouth collection cover, and a liquid level sensor is installed on one side of the sampling box.

[0039] It can be seen from the above technical solutions that compared with the prior art, the present invention provides a rapid sampling method and system. On the basis of traditional sampling equipment, through the combination of an unmanned aerial vehicle and a uniquely designed sampling box, the sampling box can be lowered to different depths. A single sampling operation can be performed to obtain water samples of different depths through multiple collection chambers designed in the sampling box, thereby reducing the sampling time, increasing the diversity of collected samples, avoiding the limitations of manual sampling, and improving the sampling efficiency, thereby ensuring the accuracy of subsequent water quality testing. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0041] Figure 1 A flowchart of the fast sampling method provided by the present invention;

[0042] Figure 2A structural diagram of the sampling box provided by the present invention;

[0043] Figure markings: 1-support component, 2-linear motor, 3-sampling box, 4-collection chamber, 5-telescopic motor, 6-extrusion cavity, 7-first water pipe, 8-first water valve, 9-storage cavity, 10-cover body, 11-second water pipe, 12-second water valve, 13-wide-mouth collection cover. DETAILED DESCRIPTION

[0044] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only 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.

[0045] To solve the problem pointed out in the background technology, the embodiment of the present invention discloses a fast sampling method, such as Figure 1 As shown, the following steps are included:

[0046] Determine the area to be inspected and obtain sampling points within the area to be inspected;

[0047] Plan the best flight route for the drone based on the area to be inspected and the sampling points within the area to be inspected;

[0048] The drone is flown over the sampling point according to the best flight route, and the sampling box carried is dropped into the water to collect water samples at different depths;

[0049] Move the sampling box upwards to the drone bracket, control the drone to return, place water samples at different depths into different sampling tubes, and complete water source sampling.

[0050] based on Figure 1 The method shown in this embodiment combines a drone with a sampling box, which enables the sampling box to dive to different depths and collect water samples at multiple depths in the water source at one time, thereby increasing the diversity of collected samples and improving the accuracy of water quality testing. In addition, by determining the actual situation of the area to be tested and planning the optimal flight route of the drone, the sampling efficiency can be further improved.

[0051] Further, determining the area to be inspected specifically includes the following steps:

[0052] Obtain multispectral remote sensing images or hyperspectral remote sensing images within a preset range of the water source area as original remote sensing image data; wherein, multispectral remote sensing images are remote sensing images containing multiple bands, the number of bands is generally several to more than ten, and the number of hyperspectral bands is generally hundreds. In specific use, multispectral remote sensing images can be obtained by imaging spectrometers carried on satellites, etc.;

[0053] The original remote sensing image data is subjected to radiometric calibration, atmospheric correction, and geometric correction to obtain the corrected remote sensing image data, which can eliminate the effects of image distortion, geometric distortion, and errors caused by atmospheric scattering;

[0054] The corrected remote sensing image data is separated into land and water to obtain a remote sensing image of the water body that is preliminarily determined; in the specific implementation, the image is edge detected using information from a specific band to detect the contours of islands and reefs and land, and the land and water separation is completed by cropping;

[0055] A mask operation is performed on the edge of the remote sensing image of the water body portion that is initially determined, and the area to be inspected is determined based on the remote sensing image of the water body portion that is finally obtained.

[0056] Further, obtaining sampling points within the area to be inspected specifically includes the following steps:

[0057] Based on the remote sensing image of the area to be inspected, a digital elevation model of a regular grid is established, and depressions and flat areas in the digital elevation model are eliminated; in the specific implementation, a single cell with an elevation value lower than the eight surrounding neighborhoods is taken as the center of the depression and gradually expanded to the periphery, and cells higher than the depression are added to the depression. The sliding pane processing method is used to smooth all raster data in the digital elevation model, modify the original elevation data, and eliminate depressions and flat areas;

[0058] The D8 algorithm is used to obtain the water flow direction and cumulative flow of each grid in the digital elevation model, and the water system network is preliminarily determined based on the preset threshold. In the specific implementation, the cells above the preset threshold are regarded as part of the water system network, and all cells below the preset threshold are discarded to construct a preliminary water system network.

[0059] The preliminarily determined water system network is classified, and points are preliminarily arranged in the first water system after classification and density detection is performed. If the density of the preliminarily arranged points is less than the preset sampling point density, encrypted points are arranged in the second water system, and the preliminarily arranged points are combined with the encrypted points to form sampling points, so that the sampling point density in the area to be inspected is greater than or equal to the preset sampling point density.

[0060] The sampling points set by the above method can fully utilize the advantage of fast computer speed, solve the problem of low efficiency of manual arrangement, improve the efficiency of sampling point setting, and have great practical value.

[0061] Furthermore, the optimal flight route of the drone is planned, which specifically includes the following steps:

[0062] Divide the area to be inspected into multiple sub-areas, so that the number of sub-areas is equal to the number of drones;

[0063] Determine whether there are obstacles when the drone is above the sampling point. If so, move the current sampling point by a preset distance according to the preset rules as an alternative sampling point until there are no obstacles at the location of the alternative sampling point. Generate a sampling order for multiple sampling points based on the final determined sampling point to complete the path planning.

[0064] In specific implementation, one or more drones can be used to complete water sample collection. The identity of the drone can be identified through the identification mark on each drone, and the number of drones used can be determined; when the area to be inspected is divided into multiple sub-areas, it can be divided evenly or according to specific shapes, so that multiple drones can work together to improve sampling efficiency. This embodiment only obtains the sampling order of multiple sampling points. The moving path between two sampling points can be a straight line, or the drone can plan the moving path according to the terrain, which is not limited here.

[0065] Drones have been widely used in atmospheric environment monitoring, water environment monitoring, ecological monitoring, emergency warning and command, etc. Sampling by drones has great advantages over traditional manual sampling. It is not restricted by natural geographical conditions. Even in areas that are difficult for people to reach, it can still locate and sample. It not only saves manpower and material resources, but also has good stability and practical controllability, and is flexible, convenient and fast to take off and land. When using drones to complete water sample collection, it is necessary to pay attention to: choose drones with high load capacity, long flight endurance, and professional satellite positioning systems, so that they can meet the requirements of accurate positioning and sample demand for water sample collection; try to choose an open flight field to ensure that the drone can search for enough satellite signals; pay attention to algae and plants in the water to avoid the sampling box being restrained, causing the drone to be unable to fly normally, causing unnecessary losses; choose a suitable sampling time to avoid safety hazards.

[0066] Further, through Figure 2 The structure shown in the figure collects water samples at different depths, and specifically includes the following steps:

[0067] The support component 1 is bolted to the drone, and the support component 1 is connected to the sampling box 3 through the linear motor 2. A plurality of collection chambers 4 are arranged at equal intervals in the sampling box 3; in each collection chamber 4, a telescopic motor 5, an extrusion cavity 6 connected to the telescopic end of the telescopic motor 5, a first water pipe 7 connected to the extrusion cavity 6 and extending from the lower surface of the collection chamber 4, a first water valve 8 on the first water pipe 7, and a storage cavity 9 with an opening on the upper surface, a cover body 10 buckled on the storage cavity 9, a second water pipe 11 connected to the extrusion cavity 6 and connected to the upper surface of the cover body 10, and a second water valve 12 on the second water pipe 11 are arranged;

[0068] The telescopic end of the linear motor 2 is controlled to move downward, so that the wide-mouthed collecting hood 13 provided on the first water pipe 7 extends into the water surface; when the liquid level sensor installed on one side of the sampling box 3 detects that the sampling box 3 reaches a preset depth, the first water valve 8 in the corresponding collection chamber 4 is opened and the telescopic end of the telescopic motor 5 moves downward, and the water sucked from the wide-mouthed collecting hood 13 flows into the extrusion cavity 6 through the first water pipe 7; the telescopic end of the telescopic motor 5 is controlled to move upward and close the first water valve 8, and the second water valve 12 is opened, so that the water in the extrusion cavity 6 flows into the storage cavity 9 through the second water pipe 11;

[0069] The telescopic end of the linear motor 2 is controlled to continue to move downward, and the above method is used to complete the collection of water samples at different depths.

[0070] Furthermore, controlling the drone to return home includes the following steps:

[0071] Get the straight-line distance from the drone's hovering position to the return destination, and detect the drone's current remaining power;

[0072] Determine whether the current remaining power of the drone is sufficient to fly to the destination. If so, fly in a straight line to the destination; otherwise, if the current remaining power of the drone is less than the minimum power required to fly in a straight line to the destination, take the difference between the two and compare it with the preset threshold to determine the time and number of times to shut down the flight rotor.

[0073] In another embodiment, when the current remaining power of the drone is less than the minimum power required for a straight-line flight to the destination, the normal flight distance can be obtained based on the current remaining power. With the current docking position as the center, the nearest docking point to the current position is confirmed. If the vertical distance to the docking point is less than the normal flight distance, the nearest docking point is selected for docking, otherwise the return is manually controlled.

[0074] In addition, the drone needs to be cleaned after sampling is completed: wipe foreign objects on the propeller with a towel wet with clean water, use a small soft cleaning brush to remove dust and dirt that may be stuck in the corners and crevices of the drone, use canned compressed air to remove dust and dirt next to the motor or circuit board, and use cleaning agents such as isopropyl alcohol to remove various stubborn stains such as dirt and grass stains on the outer shell.

[0075] and Figure 1 Corresponding to the method described above, the embodiment of the present invention also provides a fast sampling system for Figure 1 The specific implementation of the method in the embodiment of the present invention is a fast sampling system that can be applied to a computer terminal or various mobile devices, specifically including:

[0076] A confirmation module is used to determine the area to be inspected and obtain sampling points within the area to be inspected;

[0077] A planning module is used to plan the best flight route of the UAV through the area to be inspected and the sampling points within the area to be inspected;

[0078] The collection module is used to fly the drone over the sampling point according to the best flight route and drop the carried sampling box into the water to collect water samples at different depths;

[0079] The transfer module is used to move the sampling box upwards to the drone bracket, control the drone to return, and place water samples at different depths into different sampling tubes to complete water source sampling.

[0080] Furthermore, if Figure 2 As shown, a support component 1 is bolted to the drone, and the support component 1 is connected to a sampling box 3 via a linear motor 2, and a plurality of collection chambers 4 are equidistantly arranged in the sampling box 3;

[0081] Each collection chamber 4 is provided with a telescopic motor 5, an extrusion cavity 6, a first water pipe 7, a first water valve 8, a storage cavity 9, a cover 10, a second water pipe 11, and a second water valve 12; wherein the extrusion cavity 6 is connected to the telescopic end of the telescopic motor 5, one end of the first water pipe 7 is connected to the extrusion cavity 6, and the other end extends from the lower surface of the collection chamber 4, and the first water valve 8 is arranged on the first water pipe 7; an opening is arranged on the upper surface of the storage cavity 9, and the cover 10 is buckled on the storage cavity 9, one end of the second water pipe 11 is connected to the extrusion cavity 6, and the other end is connected to the upper surface of the cover 10, and the second water valve 12 is arranged on the second water pipe 11;

[0082] One end of the first water pipe 7 extending out of the lower surface of the collection chamber 4 is provided with a wide-mouthed collection cover 13, and a liquid level sensor is installed on one side of the sampling box 3. Specifically, the liquid level sensor can be a JYB-KO-L submersible static pressure level transmitter. When the liquid level sensor detects that the sampling box 3 dives to a preset position, the water sample at the depth is collected through the corresponding collection chamber 4. Several collection chambers 4 are used to collect water samples at different depths at one time, thereby improving the sampling efficiency.

[0083] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the system disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0084] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A rapid sampling method, characterized in that: The following steps are involved: Determine the area to be inspected and obtain sampling points within the area to be inspected; Plan the best flight route for the drone based on the area to be inspected and the sampling points within the area to be inspected; The drone is flown over the sampling point according to the best flight route, and the sampling box carried is dropped into the water to collect water samples at different depths; Move the sampling box upwards to the drone bracket, control the drone to return, place water samples at different depths into different sampling tubes, and complete water source sampling.

2. A rapid sampling method according to claim 1, characterized in that: Determine the area to be inspected, including the following steps: Acquire multispectral remote sensing images or hyperspectral remote sensing images within a preset range of the water source area as original remote sensing image data; Perform radiation calibration, atmospheric correction, and geometric correction on the original remote sensing image data to obtain the corrected remote sensing image data; Separate the land and water from the corrected remote sensing image data to obtain a remote sensing image of the water body that is preliminarily determined; A mask operation is performed on the edge of the remote sensing image of the water body portion that is initially determined, and the area to be inspected is determined based on the remote sensing image of the water body portion that is finally obtained.

3. A rapid sampling method according to claim 1, characterized in that: Obtaining sampling points within the area to be inspected includes the following steps: Based on the remote sensing images of the area to be inspected, a digital elevation model of a regular grid is established, and depressions and flat areas in the digital elevation model are eliminated; The D8 algorithm is used to obtain the flow direction and cumulative flow of each grid in the digital elevation model, and the water network is preliminarily determined based on the preset threshold. The preliminarily determined water system network is classified, and points are preliminarily arranged in the first water system after classification and density detection is performed. If the density of the preliminarily arranged points is less than the preset sampling point density, encrypted points are arranged in the second water system, and the preliminarily arranged points are combined with the encrypted points to form sampling points, so that the sampling point density in the area to be inspected is greater than or equal to the preset sampling point density.

4. A rapid sampling method according to claim 1, characterized in that: Planning the best flight path for a drone includes the following steps: Divide the area to be inspected into multiple sub-areas, so that the number of sub-areas is equal to the number of drones; Determine whether there are obstacles when the drone is above the sampling point. If so, move the current sampling point by a preset distance according to the preset rules as an alternative sampling point until there are no obstacles at the location of the alternative sampling point. Generate a sampling order for multiple sampling points based on the final determined sampling point to complete the path planning.

5. A rapid sampling method according to claim 1, characterized in that: Collecting water samples at different depths includes the following steps: The support component is bolted to the drone, and the support component is connected to the sampling box through a linear motor. A number of collection chambers are equidistantly arranged in the sampling box; a telescopic motor, an extrusion cavity connected to the telescopic end of the telescopic motor, a first water pipe connected to the extrusion cavity and extending from the lower surface of the collection chamber, a first water valve on the first water pipe, a storage cavity with an opening on the upper surface, a cover body buckled on the storage cavity, a second water pipe connected to the extrusion cavity and connected to the upper surface of the cover body, and a second water valve on the second water pipe are arranged in each collection chamber; The telescopic end of the linear motor is controlled to move downward, so that the wide-mouthed collecting hood provided on the first water pipe extends into the water surface; when the liquid level sensor installed on one side of the sampling box detects that the sampling box reaches a preset depth, the first water valve in the corresponding collection chamber is opened and the telescopic end of the telescopic motor moves downward, and the water sucked from the wide-mouthed collecting hood flows into the extrusion cavity through the first water pipe; the telescopic end of the telescopic motor is controlled to move upward and close the first water valve, and the second water valve is opened, so that the water in the extrusion cavity flows into the storage cavity through the second water pipe; The telescopic end of the linear motor is controlled to continue to move downward, and the above method is used to complete the collection of water samples at different depths.

6. A rapid sampling method according to claim 1, characterized in that: To return the drone, the following steps are included: Get the straight-line distance from the drone's hovering position to the return destination, and detect the drone's current remaining power; Determine whether the current remaining power of the drone is sufficient to fly to the destination. If so, fly in a straight line to the destination; otherwise, if the current remaining power of the drone is less than the minimum power required to fly in a straight line to the destination, take the difference between the two and compare it with the preset threshold to determine the time and number of times to shut down the flight rotor.

7. A fast sampling system for implementing the fast sampling method according to any one of claims 1 to 6, characterized in that: include: A confirmation module is used to determine the area to be inspected and obtain sampling points within the area to be inspected; A planning module is used to plan the best flight route of the UAV through the area to be inspected and the sampling points within the area to be inspected; The collection module is used to fly the drone over the sampling point according to the best flight route and drop the carried sampling box into the water to collect water samples at different depths; The transfer module is used to move the sampling box upwards to the drone bracket, control the drone to return, and place water samples at different depths into different sampling tubes to complete water source sampling.

8. A rapid sampling system according to claim 7, characterized in that: A supporting component is bolted to the drone, and the supporting component is connected to the sampling box through a linear motor. A number of collection chambers are equidistantly arranged in the sampling box. Each collection chamber is provided with a telescopic motor, an extrusion cavity, a first water pipe, a first water valve, a storage cavity, a cover body, a second water pipe, and a second water valve; wherein the extrusion cavity is connected to the telescopic end of the telescopic motor, one end of the first water pipe is connected to the extrusion cavity, and the other end extends from the lower surface of the collection chamber, and the first water valve is arranged on the first water pipe; an opening is arranged on the upper surface of the storage cavity, and the cover body is buckled on the storage cavity, one end of the second water pipe is connected to the extrusion cavity, and the other end is connected to the upper surface of the cover body, and the second water valve is arranged on the second water pipe; One end of the first water pipe extending out of the lower surface of the collection chamber is provided with a wide-mouth collection cover, and a liquid level sensor is installed on one side of the sampling box.

Images