Airborne multispectral imaging water pollution rapid tracing sampling device and method

Abstract

The present invention relates to the field of water sampling technology, specifically to an airborne multispectral imaging water pollution rapid tracing sampling device and method thereof, comprising a multispectral camera and a tracing unit installed below a drone body, the tracing unit consisting of a number of sampling groups, a drive group, and a drive control module, for controlling and driving the number of sampling groups to sequentially descend into waters of different pollution to sample water bodies; the sampling group comprises an inner tube and an outer tube that are sleeved in an inner and outer limit manner, and a reel for suspending the inner tube and the outer tube for lifting; the drive group comprises a servo motor and a micro motor. The present invention triggers a downward thrust by the water pressure difference triggered by the inner tube being filled with water and sinking, causing the outer tube to automatically descend to a preset depth to collect water, thereby achieving a single hovering to collect water samples at different depths at the same location; in addition, through the conversion of water pressure differential to mechanical energy, the power consumption of the traditional motor-driven sampling tube for lifting and lowering is eliminated, thereby extending the drone's flight time.

Description

Technical Field

[0001] The present invention relates to the technical field of water body sampling, and in particular to an airborne multi-spectral imaging water body pollution rapid source tracing sampling device and method. Background Art

[0002] To improve the efficiency of water pollution source tracing and provide high-precision, real-time technical support for the ecological protection of black and odorous water bodies, this system uses air-ground integration: drone wide-area screening and handheld device precise positioning to address traditional monitoring blind spots.

[0003] The invention patent with application number CN202210624596.7 discloses a water sampler for the eutrophication status of water bodies based on a multispectral drone, including a drone, which is a drone equipped with a multispectral camera and a winding device. The winding device winds up a pull rope extending downward from the center of the drone, and a top cover is fixed to the end of the pull rope. A cylindrical shell is detachably connected to the bottom of the top cover, and a plurality of sampling tubes detachably mounted thereon are distributed circumferentially below the shell. This sampler can evenly collect water from all directions and can take samples from different positions of the water body multiple times in one flight, thereby improving sampling efficiency and ensuring uniform sampling.

[0004] Although multi-position horizontal sampling is achieved in the existing technology, it has the following defects:

[0005] Insufficient depth sampling: The sampling tubes are distributed horizontally in a circular pattern, and can only collect water samples at the same depth, making it impossible to obtain the vertical gradient characteristics of pollutants; low energy efficiency: the entire sampler relies on a motor to retract and extend, and multiple sampling requires repeated lifting and lowering, which increases the power consumption of the drone; in addition, its complex structure will lead to problems such as short maintenance cycles and high maintenance costs. Summary of the Invention

[0006] In order to overcome the defects in the prior art, the purpose of the present invention is to provide an airborne multispectral imaging water pollution rapid tracing sampling device and method. In response to the above problems, the present invention proposes a tracing sampling device based on water pressure differential stratification and mechanical reel switching, which drives precise vertical sampling through multispectral data to solve the problem of missing depth dimension in pollution tracing.

[0007] To achieve the above objectives, the present invention provides, on the one hand, an airborne multispectral imaging water pollution rapid tracing sampling device, comprising a multispectral camera and a tracing unit installed below the drone body. The tracing unit is composed of several sampling groups, a drive group, and a drive control module, which is used to control and drive the several sampling groups to sequentially descend into waters with different levels of pollution to sample water bodies.

[0008] The sampling group includes an inner tube and an outer tube that are sleeved together in an inner and outer limiting manner, and a reel for suspending the inner tube and the outer tube. A water inlet hole is provided on the outer wall at the top of the inner tube, and a water guide groove is provided on the outer wall below the top of the inner tube along its axial direction to the bottom, for guiding water into the outer tube. A water inlet groove is provided on the top of the outer tube, and a limiting member is embedded in the outer wall of the top of the outer tube and located directly below the water inlet groove. The limiting member is inserted and slidably engaged with the water guide groove.

[0009] The drive group includes a servo motor and a micro motor, the output shaft end of the servo motor is coaxially connected to a transmission shaft, and a transmission block tangent to four sides is provided in the middle of the transmission shaft. The central hole of the reel is a square hole and is adapted to be matched with the transmission block. The output shaft end of the micro motor is coaxially connected to a screw rod, and a number of paddle covers are threadedly connected below the screw rod. The longitudinal section of the paddle cover is inverted U-shaped and is adapted to be connected with the top of the reel; the drive control module is provided with a dual-channel closed-loop controller and a photoelectric sensor, one of the dual channels is a PID position controller for controlling the rotation angle of the servo motor output shaft, and the other is a stepping pulse controller for controlling the working time of the micro motor. The photoelectric sensor confirms that the reel is connected to the transmission block, and triggers the servo motor to rotate at a low speed, and the transmission block drives the reel to rotate and release the sampling group to take samples in the water.

[0010] The above-mentioned setting, through the innovative combination of the water pressure differential stratification mechanism and the mechanical reel quick-cut system, has realized the closed loop of "spectral identification-deep tracing-low-consumption sampling" on an unmanned aerial vehicle platform for the first time, providing high-resolution vertical profile data for tracing the source of water pollution, and solving the industry pain point of unclear pollutant migration paths in eutrophication monitoring.

[0011] As a further improvement of the present technical solution, a nylon rope is wound inside the reel and a hanger is hung at the outer end of the nylon rope, and the hanger is adapted to be hung and connected with the top end of the inner tube.

[0012] This arrangement allows the inner tube to be quickly disassembled and assembled, and is convenient for removing to pour out the water and clean the tube wall.

[0013] As a further improvement of the present technical solution, a sealing rod is sleeved inside the inner tube, and the sealing rod is composed of a central axis and round blocks sleeved at both ends thereof, and a sealing ring is embedded in the side wall of the round block located above. The bottom of the sealing rod is connected to a flexible part, and the overall height of the sealing rod and the flexible part is greater than the height of the water inlet from the bottom of the inner tube. When the inner tube is filled with water, pressure is applied to the flexible part to deform, and then the sealing ring on the top of the sealing rod drops to the inside of the water inlet to block the seal.

[0014] This setting triggers the sealing rod to move downward through water pressure to close the water inlet, isolating water samples at different depths from mixing and reducing errors in pollutant concentration detection.

[0015] As a further improvement of this technical solution, the two inner side walls of the bottom end of the water guide trough are provided with limit platforms, and the inner side of the limit member is symmetrically inserted with limit columns, and the limit columns are in sliding contact with the inner side of the water guide trough and then in limiting contact with the limit platforms.

[0016] This setting prevents the outer tube from slipping off the outer wall of the inner tube under water pressure, ensuring the preservation of the water collected by the outer tube. At the same time, when the inner tube is lifted, the outer tube can be lifted synchronously through the limiting contact between the limit platform and the limit column.

[0017] As a further improvement of the present technical solution, a water pressure differential platform is provided on the outer wall of the top end of the outer tube, which is used to generate downward thrust in the water, control the automatic descent of the outer tube, and realize the conversion of hydrostatic potential energy into mechanical energy; the longitudinal section of the water pressure differential platform is wedge-shaped, and its inclined surface is set downward at an angle of 20-30 degrees.

[0018] This setting converts static water potential energy into kinetic energy through the conversion of water pressure differential mechanical energy. The sinking process of the outer tube is completely driven by water pressure. The servo motor only controls the initial release and recovery, thus eliminating the power consumption of traditional motor-driven sampling tube lifting and lowering throughout the entire process.

[0019] As a further improvement of the present technical solution, limit pins are symmetrically embedded between the bottoms of the reels to guide the nylon rope to pass between the two limit pins and suspend the sampling group in the center for vertical lifting.

[0020] This setting is to ensure that the center of gravity of the drone is concentrated on its axis, so that it can fly stably.

[0021] As a further improvement of this technical solution, the top surface of the hood is provided with a boss and a threaded hole is opened in the middle of the side wall of the boss. The screw is threadedly connected to the threaded hole. The side wall of the boss is symmetrically inserted with a guide rod, and the guide rod is fixed between the front and rear of the screw.

[0022] This setting specifically describes how the prying cover is threadedly connected to the bottom of the screw rod and is limited by the guide rod to guide the prying cover to move along the axial direction of the screw rod.

[0023] As a further improvement of this technical solution, the outside of the servo motor is provided with a bracket, which is fixedly connected to the bottom shell of the drone body. The front ends of the transmission shaft, screw rod and guide rod are all mounted on the bracket, which is fixedly connected to the bottom shell of the drone body.

[0024] As a further improvement of the present technical solution, the top side wall of the outer tube is provided with a limiting hole threadedly connected to the limiting piece, and the top side wall of the hanger is provided with a plurality of positioning holes for correspondingly connecting the screw rod and the guide rod.

[0025] On the other hand, the present invention provides an airborne multispectral imaging method for rapid tracing of water pollution sampling, based on the above-mentioned airborne multispectral imaging method for rapid tracing of water pollution sampling, comprising the following steps:

[0026] S1. Start the drone equipped with a multispectral camera and a source tracking unit to survey the river. When the multispectral camera takes a picture and identifies the polluted water area, the control system controls the drone to descend and hover above the water surface of the polluted water area.

[0027] S2. The drive control module first controls the micro motor to rotate forward to drive the screw to rotate and drive the cover to move several reels forward. When the previous reel is inserted into the transmission block, the photoelectric sensor confirms and triggers the servo motor to rotate forward. Then the transmission block drives the reel to rotate and release the sampling group to take water samples.

[0028] S3. When the inner tube is filled with water, it falls as a whole, causing the water pressure differential table to generate downward thrust under the pressure in the water, controlling the outer tube to automatically descend until the water inlet trough and the water guide trough are connected, and water of different depths is introduced into the outer tube;

[0029] The number of inner and outer pipes to be installed is selected based on the river depth and the height of the drone mast, so as to automatically collect water bodies at different depths by utilizing the drop in water pressure;

[0030] S4, restart the servo motor to reverse, lift the sampling group after collecting water, and continue the aerial survey of the river until the next polluted water area is encountered;

[0031] S5. Repeat steps S2-S4 to sample the next polluted water body, thereby collecting multiple polluted water bodies for testing and analysis to determine whether they are the same polluted water bodies, and then trace the source of the pollution.

[0032] Compared with the prior art, the present invention has the following beneficial effects:

[0033] 1. This airborne multi-spectral imaging water pollution rapid source tracing sampling device and method, through the cooperation of the inner and outer tube socket structure and the water pressure differential platform, completes the inner tube water injection and sinking, triggering the water pressure differential platform to generate downward thrust, so that the outer tube automatically descends to a preset depth. During the descent, water is collected from the connection position between the water guide trough and the water inlet trough, so that water samples of different depths at the same location can be collected in a single hover, and the vertical distribution characteristics of pollutants can be accurately captured. In addition, through the conversion of mechanical energy of water pressure differential, the servo motor only controls the initial release and recovery, thereby eliminating the power consumption of the traditional motor-driven sampling tube throughout the entire lifting and lowering, and extending the flight time of the drone.

[0034] 2. This airborne multispectral imaging water pollution rapid source tracing sampling device and method, through the mechanical switching design of the hood and reel, completes the micro-motor driving the lead screw axially moving the hood to sequentially connect the spare reel to the transmission block, achieving rapid and automatic switching of sampling groups, completing sampling at different depths in a single flight. In addition, it can also be used to collect polluted water from multiple locations for detection and analysis, thereby improving sampling efficiency.

[0035] 3. The airborne multispectral imaging water pollution rapid tracing sampling device and method enhance the system's scalability and adaptability. Through a modular casing design, it replicates the outer tube structure to increase the number of casing layers and dynamically adjusts the sampling depth to achieve the effect of being compatible with sampling in different water depths such as rivers, lakes, and reservoirs. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The drawings described herein are for illustrative purposes only and are not intended to limit the scope of the present invention in any way. In addition, the shapes and proportional dimensions of the various components in the drawings are merely illustrative and are used to help understand the present invention, and are not intended to specifically limit the shapes and proportional dimensions of the various components of the present invention. Those skilled in the art will select various possible shapes and proportional dimensions to implement the present invention according to the specific circumstances under the guidance of the present invention.

[0037] Figure 1 It is a schematic diagram of the overall assembly structure of the present invention;

[0038] Figure 2 For the present invention Figure 1 Side view of;

[0039] Figure 3 This is a schematic diagram of the assembly structure of the traceability unit of the present invention;

[0040] Figure 4 For the present invention Figure 3 Side view of;

[0041] Figure 5 A side view of the traceability portion of the present invention in a sampling state;

[0042] Figure 6 This is a schematic diagram of the assembly structure of the drive group of the present invention;

[0043] Figure 7 A partial exploded diagram of the sampling assembly of the present invention;

[0044] Figure 8 A partial cross-sectional view of the sampling assembly of the present invention;

[0045] Figure 9 For the present invention Figure 8 The main view;

[0046] Figure 10This is a disassembled diagram of the inner tube assembly of the present invention;

[0047] Figure 11 This is a disassembled diagram of the outer tube assembly of the present invention;

[0048] The meaning of each number in the figure is:

[0049] 100. UAV body; 110. Multispectral camera;

[0050] 200, traceability unit; 210, sampling group; 211, inner tube; 2111, water inlet; 2112, water guide trough; 2113, limiter platform; 212, outer tube; 2121, water pressure differential platform; 2122, water inlet trough; 2123, limiter hole; 213, reel; 2131, square hole; 2132, limiter pin; 214, hanging piece; 215, sealing rod; 2151, flexible part; 216, limiter; 2161, limiter column;

[0051] 220, drive group; 221, servo motor; 2211, transmission shaft; 2212, transmission block; 222, micro motor; 2221, screw rod; 2222, dial cover; 2223, threaded hole; 2224, guide rod; 230, bracket; 240, hanger; 241, positioning hole. DETAILED DESCRIPTION

[0052] The details of the present invention can be more clearly understood in conjunction with the accompanying drawings and the description of the specific embodiments of the present invention. However, the specific embodiments of the present invention described herein are for illustrative purposes only and are not to be construed as limiting the present invention in any way. Under the guidance of the present invention, any possible variations of the present invention conceived by skilled artisans should be considered within the scope of the present invention. The terms "mounted" and "connected" should be understood broadly, meaning direct connection as well as indirect connection through an intermediary.

[0053] The terms "central axis," "vertical," "horizontal," "front," "back," "up," "down," "left," "right," "top," "bottom," "inside," and "outside" used herein to indicate positions or location relationships are based on the positions or location relationships shown in the accompanying drawings and are intended solely to facilitate and simplify the description of the present invention. They do not indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limiting the present invention. Furthermore, in the description of the present invention, "several" means two or more, unless otherwise specifically defined.

[0054] See also Figures 1-11As shown, the present invention provides an airborne multispectral imaging water pollution rapid tracing sampling device, including a multispectral camera 110 installed under the drone body 100 and a tracing unit 200. The tracing unit 200 is composed of several sampling groups 210, a drive group 220 and a drive control module, which is used to control and drive the several sampling groups 210 to sequentially descend into different polluted waters to sample water bodies; the multispectral camera 110 is an airborne Specvision-W system, with technical parameters: 18-channel dual camera, covering 460-785nm m spectrum, 1020*1020 resolution, supports real-time inversion of 12 water quality indicators such as COD; functional features include 20m low-altitude monitoring capability, 45fps high-speed acquisition, automatic stitching imaging and model inversion with an error of <10%, and generation of Class IV-III water quality analysis reports (in accordance with GB3838-2002); the multispectral camera 110 uses a processor and a multispectral data analysis unit to analyze pollution characteristic bands, such as the chlorophyll a band and the characteristic bands of petroleum pollutants. This is existing technology and will not be repeated here.

[0055] The sampling group 210 includes an inner tube 211 and an outer tube 212 that are connected in an inner and outer limit sleeve, and a reel 213 for suspending the inner tube 211 and the outer tube 212 to raise and lower the reel 213; a nylon rope is wound inside the reel 213 and a hanger 214 is hung on the outer end of the nylon rope. The hanger 214 is adapted to be suspended and connected to the top end of the inner tube 211. The hanger 214 is threadedly connected or tightly sleeved to the top end of the inner tube 211 so that the inner tube 211 can be disassembled and assembled for pouring water.

[0056] Furthermore, a water inlet hole 2111 is provided on the outer wall of the top of the inner tube 211, and a water guide groove 2112 is provided on the outer wall below the top of the inner tube 211 along its axial direction to the bottom. The water guide groove 2112 is located below the water inlet hole 2111 and is used to guide water into the outer tube 212; a water inlet groove 2122 is provided at the top of the outer tube 212. When the outer tube 212 descends relative to the inner tube 211 until the water inlet groove 2122 is connected to the water guide groove 2112, water is guided into the outer tube 212; a limiting member 216 is embedded on the outer wall of the top of the outer tube 212 and located directly below the water inlet groove 2122. The limiting member 216 is inserted and slidably engaged with the water guide groove 2112; a limiting hole 2123 is provided on the top side wall of the outer tube 212, which is threadedly connected to the limiting member 216, so that the limiting member 216 can be easily disassembled and assembled to facilitate removing the outer tube 212 and pouring out the water.

[0057] Furthermore, the two inner side walls at the bottom end of the water guide groove 2112 are provided with a limit platform 2113, which is integrally formed with the inner tube 211 by injection molding; the inner side of the limit member 216 is symmetrically inserted with a limit column 2161, and the limit column 2161 is a stainless steel nail, which is corrosion-resistant, high-strength, and durable; the limit column 2161 is in sliding contact with the inner side of the water guide groove 2112, and then in limiting contact with the limit platform 2113, to prevent the outer tube 212 from being pressurized by water pressure and separated from the outside of the inner tube 211.

[0058] Furthermore, in order to seal the inner tube 211 from entering water bodies of different depths, a sealing rod 215 is sleeved inside the inner tube 211. The sealing rod 215 consists of a central axis and round blocks sleeved at both ends thereof, and a sealing ring is embedded in the side wall of the round block located above. The bottom of the sealing rod 215 is connected to a flexible part 2151. The overall height of the sealing rod 215 and the flexible part 2151 is greater than the height of the water inlet 2111 from the bottom of the inner tube 211. When the inner tube 211 is filled with water, pressure is applied to the flexible part 2151 to deform, and then the sealing ring on the top of the sealing rod 215 drops to the inside of the water inlet 2111 to block the seal.

[0059] It is worth noting that a water pressure differential platform 2121 is provided on the outer wall of the top end of the outer tube 212, which is used to generate downward thrust in the water, control the outer tube 212 to automatically descend, and realize the conversion of hydrostatic potential energy into mechanical energy; the longitudinal section of the water pressure differential platform 2121 is wedge-shaped, and its inclined surface is set downward at an angle of 20-30 degrees; the top surface and side surface of the wedge-shaped body of the water pressure differential platform 2121 are at different water depths, and downward thrust is generated by pressure difference; the top surface of the water pressure differential platform 2121 is subjected to water pressure to obtain downward force; the inclined surface of the water pressure differential platform 2121 is subjected to water pressure, which divides part of the force into upward force and downward force along the inclined surface, so that the downward force on the water pressure differential platform 2121 is greater than the upward force, and is transmitted to the top of the outer tube 212 through the water pressure differential platform 2121, pushing the outer tube 212 to sink, and the water is led into the outer tube 212 through the water guide trough 2112 for collection.

[0060] Furthermore, limit pins 2132 are symmetrically embedded between the bottom of the reel 213 to guide the nylon rope to pass through the two limit pins 2132 to suspend the sampling group 210 in the center and vertically lift it up and down, ensuring that the center of gravity of the drone is located on its central axis, allowing it to fly stably.

[0061] In addition, if Figure 6 and Figure 7 As shown, the drive group 220 includes a servo motor 221 and a micro motor 222. The output shaft end of the servo motor 221 is coaxially connected to a transmission shaft 2211. A transmission block 2212 tangent to four sides is provided in the middle of the transmission shaft 2211. The central hole of the reel 213 is a square hole 2131, which is adapted to be matched with the transmission block 2212. The output shaft end of the micro motor 222 is coaxially connected to a screw rod 2221. A plurality of paddle covers 2222 are threadedly connected below the screw rod 2221. The longitudinal section of the paddle cover 2222 is an inverted U-shape and is adapted to be connected to the top of the reel 213. The drive control module is provided with a dual-channel closed-loop controller and a photoelectric sensor. One of the dual channels is a PID position controller for controlling the rotation angle of the output shaft of the servo motor 221. The PID position controller is a very practical control device. It adjusts and controls the position of the system through the three links of proportional, integral and differential, so that the system can operate more accurately and stably. It is a prior art and will not be described here.

[0062] The second is a step pulse controller that controls the working time of the micro motor 222. The photoelectric sensor is installed on the bottom shell of the drone above the transmission block 2212. The photoelectric sensor confirms that the reel 213 is connected to the transmission block 2212, and triggers the servo motor 221 to rotate at a low speed. The transmission block 2212 drives the reel 213 to rotate and release the sampling group 210 to go into the water for sampling.

[0063] Furthermore, a boss is provided on the top surface of the shift cover 2222 and a threaded hole 2223 is provided in the middle of the side wall of the boss, the screw rod 2221 is threadedly connected to the threaded hole 2223, and the side wall of the boss is symmetrically inserted with a guide rod 2224, which is fixed between the front and rear of the screw rod 2221; the guide rod 2224 limits the axial movement of the shift cover 2222 along the screw rod 2221, plays a guiding role, and ensures that the shift cover 2222 drives the reel 213 to adjust the position, and the structure of the shift cover 2222 is engaged with the reel 213 without affecting its rotation to retract and release the nylon rope.

[0064] Furthermore, a bracket 230 is mounted on the exterior of the servo motor 221, which is fixedly connected to the bottom housing of the drone body 100. The front ends of the transmission shaft 2211, screw rod 2221, and guide rod 2224 are all mounted on a hanger 240, which is also fixedly connected to the bottom housing of the drone body 100. The top sidewall of the hanger 240 is provided with a plurality of positioning holes 241 for correspondingly receiving the screw rod 2221 and guide rod 2224, thereby stably supporting their ends for rotation.

[0065] The present invention also provides an airborne multispectral imaging water pollution rapid source tracing sampling method, based on the above-mentioned airborne multispectral imaging water pollution rapid source tracing sampling device, comprising the following steps:

[0066] S1. Start the drone body 100 equipped with the multispectral camera 110 and the source tracing unit 200 to conduct an aerial survey of the river. When the multispectral camera 110 takes a picture and identifies the polluted water area, the control system controls the drone body 100 to descend and hover above the surface of the polluted water area.

[0067] S2. The drive control module first controls the micro motor 222 to rotate forward, driving the screw rod 2221 to rotate and drive the shift cover 2222 to shift the plurality of reels 213 forward. When the previous reel 213 is inserted into the transmission block 2212, the photoelectric sensor confirms and triggers the servo motor 221 to rotate forward. Then, the transmission block 2212 drives the reel 213 to rotate and release the sampling group 210 to enter the water for sampling.

[0068] S3. When the inner tube 211 is filled with water, it falls as a whole, causing the water pressure differential platform 2121 to be subjected to pressure in the water and generate downward thrust, controlling the outer tube 212 to automatically descend until the water inlet groove 2122 is connected to the water guide groove 2112, and water of different depths is introduced into the outer tube 212. In this way, the hydrostatic potential energy is converted into mechanical energy through water pressure, replacing the work of the servo motor 221 to drive the reel 213 to release the sampling group 210 into the water, saving electricity and providing guarantee for the endurance monitoring of the drone.

[0069] The number of inner and outer tubes to be installed is selected based on the river depth and the height of the drone mast, thereby automatically collecting water at different depths by utilizing the drop in water pressure. By duplicating the structure of the inner tube 211 and the outer tube 212 and expanding the size of the outer tube, a plurality of outer tubes 212 can be added to collect water at more depths.

[0070] S4, restarting the servo motor 221 to reverse, lifting the sampling group 210 after collecting water, and continuing the aerial survey of the river until the next polluted water area is encountered;

[0071] S5. Repeat steps S2-S4 to sample the next polluted water body. This will collect samples from multiple polluted water bodies for testing and analysis to determine whether they are the same type of polluted water bodies, and then trace the source of the pollution. In this way, the drone can collect samples from multiple locations and at different depths in one go.

[0072] It should be noted that the fixed connection and fixed arrangement of the present invention are achieved using conventional fixing means such as bolt connections or welding. The above embodiments are merely illustrative of the technical concepts and features of the present invention. Their purpose is to enable those familiar with the art to understand the content of the present invention and implement it accordingly. They are not intended to limit the scope of protection of the present invention. Any equivalent changes or modifications made in accordance with the spirit and essence of the present invention are intended to be covered by the scope of protection of the present invention.

Claims

1. Airborne multispectral imaging water pollution rapid tracing sampling device, characterized by: It includes a multispectral camera and a tracing unit installed under the drone body. The tracing unit consists of several sampling groups, a driving group and a driving control module, which is used to control and drive the several sampling groups to sequentially descend into waters with different pollution levels to sample water bodies. The sampling group includes an inner tube and an outer tube that are sleeved together in an inner and outer limiting manner, and a reel for suspending the inner tube and the outer tube. A water inlet hole is provided on the outer wall at the top of the inner tube, and a water guide groove is provided on the outer wall below the top of the inner tube along its axial direction to the bottom, for guiding water into the outer tube. A water inlet groove is provided on the top of the outer tube, and a limiting member is embedded in the outer wall of the top of the outer tube and located directly below the water inlet groove. The limiting member is inserted and slidably engaged with the water guide groove. A water pressure differential platform is provided on the outer wall of the top end of the outer tube, which is used to generate downward thrust in the water, control the outer tube to automatically descend, and realize the conversion of hydrostatic potential energy into mechanical energy; the longitudinal section of the water pressure differential platform is wedge-shaped, and its inclined surface is set downward at an angle of 20-30 degrees; The drive group includes a servo motor and a micro motor, the output shaft end of the servo motor is coaxially connected to a transmission shaft, and a transmission block tangent to four sides is provided in the middle of the transmission shaft. The central hole of the reel is a square hole and is adapted to be matched with the transmission block. The output shaft end of the micro motor is coaxially connected to a screw rod, and a number of paddle covers are threadedly connected below the screw rod. The number of paddle covers corresponds to the number of reels. The longitudinal section of the paddle cover is an inverted U shape and is adapted to be connected with the top of the reel; the drive control module is provided with a dual-channel closed-loop controller and a photoelectric sensor, one of the dual channels is a PID position controller for controlling the rotation angle of the servo motor output shaft, and the other is a stepping pulse controller for controlling the working time of the micro motor. The photoelectric sensor confirms that the reel is connected to the transmission block, and triggers the servo motor to rotate at a low speed, and the transmission block drives the reel to rotate and release the sampling group to take samples in the water.

2. The airborne multispectral imaging water pollution rapid source tracing sampling device according to claim 1 is characterized by: A nylon rope is wound inside the reel and a hanging piece is hung on the outer end of the nylon rope. The hanging piece is adapted to be hung and connected with the top end of the inner pipe.

3. The airborne multispectral imaging water pollution rapid source tracing sampling device according to claim 2 is characterized by: The inner tube is internally sleeved with a sealing rod, which is composed of a central axis and round blocks sleeved at both ends thereof, and a sealing ring is embedded in the side wall of the round block located above. The bottom of the sealing rod is connected to a flexible part, and the overall height of the sealing rod and the flexible part is greater than the height of the water inlet from the bottom of the inner tube. When the inner tube is filled with water, pressure is applied to the flexible part to deform, and then the sealing ring on the top of the sealing rod drops to the inside of the water inlet to block the seal.

4. The airborne multispectral imaging water pollution rapid source tracing sampling device according to claim 3 is characterized by: The two inner side walls of the bottom end of the water guide groove are provided with limiting platforms, and the inner side of the limiting member is symmetrically inserted with limiting columns. The limiting columns are in sliding contact with the inner side of the water guide groove and then in limiting contact with the limiting platforms.

5. The airborne multispectral imaging water pollution rapid source tracing sampling device according to claim 4 is characterized by: Limit pins are symmetrically embedded between the bottoms of the reels, which are used to guide the nylon rope to pass through between the two limit pins and suspend the sampling group in the center to vertically rise and fall.

6. The airborne multispectral imaging water pollution rapid source tracing sampling device according to claim 5 is characterized by: The top surface of the shift cover is provided with a boss and the middle part of the boss side wall is provided with a threaded hole, the screw rod is threadedly connected with the threaded hole, the side wall of the boss is symmetrically plugged with guide rods, and the guide rods are fixed between the front and rear of the screw rod.

7. The airborne multispectral imaging water pollution rapid source tracing sampling device according to claim 6 is characterized by: The servo motor is externally sleeved with a bracket, which is fixedly connected to the bottom shell of the drone body. The front ends of the transmission shaft, the screw rod and the guide rod are all sleeved on the bracket, which is fixedly connected to the bottom shell of the drone body.

8. The airborne multispectral imaging water pollution rapid source tracing sampling device according to claim 7 is characterized by: The top side wall of the outer tube is provided with a limiting hole threadedly connected to the limiting piece, and the top side wall of the hanger is provided with a plurality of positioning holes for correspondingly sleeved on the screw rod and the guide rod.

9. The method for rapid tracing the source of water pollution using airborne multispectral imaging is based on the airborne multispectral imaging rapid tracing the source of water pollution sampling device according to claim 8, characterized in that: The following steps are involved: S1. Start the drone equipped with a multispectral camera and a source tracking unit to survey the river. When the multispectral camera takes a picture and identifies the polluted water area, the control system controls the drone to descend and hover above the water surface of the polluted water area. S2. The drive control module first controls the micro motor to rotate forward to drive the screw to rotate and drive the cover to move several reels forward. When the previous reel is inserted into the transmission block, the photoelectric sensor confirms and triggers the servo motor to rotate forward. Then the transmission block drives the reel to rotate and release the sampling group to take water samples. S3. When the inner tube is filled with water, it falls as a whole, causing the water pressure differential table to generate downward thrust under the pressure in the water, controlling the outer tube to automatically descend until the water inlet trough and the water guide trough are connected, and water of different depths is introduced into the outer tube; The number of inner and outer pipes to be installed is selected based on the river depth and the height of the drone mast, so as to automatically collect water bodies at different depths by utilizing the drop in water pressure; S4, restart the servo motor to reverse, lift the sampling group after collecting water, and continue the aerial survey of the river until the next polluted water area is encountered; S5. Repeat steps S2-S4 to sample the next polluted water body, thereby collecting multiple polluted water bodies for testing and analysis to determine whether they are the same polluted water bodies, and then trace the source of the pollution.

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