Air-ground cooperative unmanned aerial vehicle water quality sampling device and method

Abstract

The invention relates to the technical field of unmanned aerial vehicle water quality sampling, in particular to an air-ground cooperative unmanned aerial vehicle water quality sampling device and method. The cooperation assembly comprises mobile detection equipment, a sampling box, a sealing bottom plate, an ejection spring, a loading component and an opening component; the cruise console is fixedly arranged at the top of the mobile detection equipment, the sampling box is installed at the bottom of the sampling unmanned aerial vehicle through the loading component, the multiple sealing bottom plates are slidably installed at the bottom of the sampling box, the two sides of the ejection spring are connected with the sealing bottom plates and the sampling box respectively, the loading component is installed at the bottom of the sampling unmanned aerial vehicle, and the opening component is installed in the cruise console. The limitation of traditional single-point monitoring and existing unmanned aerial vehicle application can be overcome by combining the arranged unmanned aerial vehicle control platform with the water quality monitoring equipment and a multi-point automatic sampling structure carried on the unmanned aerial vehicle.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned aerial vehicle water quality sampling, in particular to an air-ground cooperative unmanned aerial vehicle water quality sampling device and method. BACKGROUND

[0002] Traditional aquatic ecological environment monitoring mainly relies on fixed automatic monitoring stations, and the single-point layout mode is difficult to effectively capture the spatial heterogeneity of water quality distribution of large-scale water bodies such as rivers (linear) or lakes, reservoirs, and oceans (planar), and there are significant coverage blind spots, and the multi-point station building cost is high.

[0003] Manual sampling and monitoring ships / cars and other mobile means can be supplemented, but the efficiency is low, the cost is high, the timeliness is poor, and it is difficult to meet the needs of high-frequency, automation, and large-scale monitoring.

[0004] The existing unmanned aerial vehicle technology in water quality monitoring is mainly concentrated in non-contact remote sensing, which can only invert limited surface layer parameters, and the precision is easy to be disturbed, and cannot obtain key physicochemical indexes (such as COD, ammonia nitrogen, and total phosphorus) that need laboratory analysis or contact parameters (such as pH and dissolved oxygen). Although there are attempts to use unmanned aerial vehicles for sampling, the function is single, only fixed-point water sampling is completed, and the water sample still needs to be manually recovered and sent to the laboratory for analysis, and the data is seriously delayed. SUMMARY

[0005] The purpose of the present application is to provide an air-ground cooperative unmanned aerial vehicle water quality sampling device and method, which can overcome the limitations of traditional single-point monitoring and existing unmanned aerial vehicle applications by setting up an unmanned aerial vehicle control platform combined with water quality monitoring equipment and a multi-point automatic sampling structure carried on the unmanned aerial vehicle. One fixed monitoring station can automatically sample and analyze water quality at multiple discrete points in a wide linear (river) or planar (lake, reservoir, and ocean) water area.

[0006] To achieve the above purpose, the present application provides an air-ground cooperative unmanned aerial vehicle water quality sampling device and method, which comprises a sampling unmanned aerial vehicle and a cruise console, the sampling unmanned aerial vehicle is arranged on the cruise console, and further comprises a cooperative assembly;

[0007] The cooperative assembly comprises a mobile detection device, a sampling box, a sealing bottom plate, an ejection spring, a loading member, and an opening member; the cruise console is fixedly arranged on the top of the mobile detection device, the sampling box is installed at the bottom of the sampling unmanned aerial vehicle through the loading member, a plurality of sealing bottom plates are slidably arranged at the bottom of the sampling box, the back side of each sealing bottom plate is provided with the ejection spring, the two sides of the ejection spring are connected with the sealing bottom plate and the sampling box respectively, the loading member is installed at the bottom of the sampling unmanned aerial vehicle and is used for limiting and clamping the sampling box, and the opening member is installed in the cruise console and is used for opening the sealing bottom plate at the bottom of the sampling box.

[0008] The loading member comprises the clamping slide plates, driving tooth belts, driving gears and a driving motor, two clamping slide plates are slidingly installed on both sides of the bottom of the sampling unmanned aerial vehicle; the driving tooth belts are fixedly arranged on the side edges of each clamping slide plate; the two driving tooth belts are respectively engaged with both sides of the driving gear which is rotatably installed on the bottom of the sampling unmanned aerial vehicle; the output shaft of the driving motor is connected with the driving gear, and the driving motor is fixedly installed on the bottom of the sampling unmanned aerial vehicle.

[0009] The opening member comprises a transposition support, a pushing support and a driving component, the transposition support is slidingly installed in the cruise console; the pushing support is slidingly installed on the transposition support; the driving component is arranged in the cruise console and is used for driving the transposition support and the pushing support.

[0010] The driving component comprises a screw adjusting mechanism and a screw pushing mechanism, the screw adjusting mechanism is connected with the transposition support and is used for driving the transposition support; the screw pushing mechanism is connected with the pushing support and is used for driving the pushing support.

[0011] The cooperative assembly further comprises a liquid inlet frame, a sliding block, a screw sliding mechanism, an extracting member and a detecting member, the liquid inlet frame is fixedly installed on one side of the sampling unmanned aerial vehicle close to the sampling box; the sliding block is slidingly arranged on one side of the liquid inlet frame; the screw sliding mechanism is arranged on the liquid inlet frame and is used for driving the sliding block; the extracting member is arranged in the sampling unmanned aerial vehicle and is used for completing extraction of water samples; the detecting member is arranged on the sampling unmanned aerial vehicle and is used for feeding back environmental conditions of the sampling unmanned aerial vehicle, so as to facilitate control of the sampling unmanned aerial vehicle.

[0012] The extracting member comprises a liquid extraction cylinder, a pushing plug rod, a pushing air cylinder, an adapter component and a receiving and releasing component, the liquid extraction cylinder is communicated with the sliding block through a hose and is fixedly arranged in the sampling unmanned aerial vehicle; the pushing plug rod is slidingly installed on the liquid extraction cylinder; the output end of the pushing air cylinder is connected with the pushing plug rod, and the pushing air cylinder is fixedly installed in the sampling unmanned aerial vehicle; the adapter component is arranged on the side edge of the liquid extraction cylinder and is used for guiding water samples; the receiving and releasing component is arranged on the outside of the sampling unmanned aerial vehicle and is used for receiving and releasing control of the water sample guiding pipe.

[0013] The detecting member comprises a monitoring camera instrument and a position detecting radar, the monitoring camera instrument is installed on the outside of the sampling unmanned aerial vehicle and is used for collecting environmental data around the sampling unmanned aerial vehicle; the position detecting radar is installed on the bottom of the sampling unmanned aerial vehicle and is used for judging the flight height of the sampling unmanned aerial vehicle.

[0014] The adapter component includes an adapter frame, a rotating motor, a connecting pipe, a falling hose, a filter joint and a positioning sink, the adapter frame is rotatably installed in the liquid pumping cylinder; the output shaft of the rotating motor is connected with the adapter frame, and the rotating motor is fixedly installed on one side of the liquid pumping cylinder; the connecting pipe is connected with the liquid pumping cylinder and extends out from the side of the sampling unmanned aerial vehicle; the falling hose is connected with the connecting pipe; the filter joint is fixedly arranged at the end of the falling hose; and the positioning sink is fixedly installed at the bottom of the filter joint.

[0015] The expansion component includes expansion brackets, opening guide columns, limiting bottom frames, bottom guide columns and bidirectional driving mechanisms, two expansion brackets are slidably installed on one side of the sampling unmanned aerial vehicle close to the falling hose; a plurality of opening guide columns are rotatably installed on each expansion bracket, and the falling hose is wound around the opening guide columns; the limiting bottom frame is fixedly installed at the bottom of the sampling unmanned aerial vehicle; the bottom guide column is rotatably arranged on the limiting bottom frame, and the end of the falling hose is wound around the bottom guide column; and the bidirectional driving mechanism is arranged on one side of the sampling unmanned aerial vehicle close to the expansion bracket, and is used for driving the two expansion brackets to move relative to each other.

[0016] The air-ground cooperative unmanned aerial vehicle water quality sampling method adopts the air-ground cooperative unmanned aerial vehicle water quality sampling device, and includes the following steps:

[0017] The cruise control console issues a multi-point sampling task, and then controls the sampling unmanned aerial vehicle to fly to a specified sampling area based on the set automatic cruise control module, and then hovers at a set point;

[0018] The sampling unmanned aerial vehicle hovers at the set point and collects water samples of a specified depth at the set point through the automatic sampling mechanism;

[0019] After the multi-point water sample collection is completed, the sampling unmanned aerial vehicle returns according to the flight path set by the automatic cruise control module;

[0020] After the sampling unmanned aerial vehicle returns to the cruise control console, the opening member arranged on the mobile detection equipment can open the plurality of sealing bottom plates at the bottom of the sampling box one by one, so as to sequentially guide the collected multi-point water samples into the water sample detection instrument in the mobile detection equipment;

[0021] The water sample detection instrument arranged on the mobile detection equipment completes the one-by-one monitoring of the multi-point water samples, and finally uploads all data to the control platform in real time for processing, display and application.

[0022] The unmanned aerial vehicle water quality sampling device and method of air-ground cooperation of the application, in actual operation, the cruise control console issues a multi-point sampling task, and then the automatic cruise control module controls the sampling unmanned aerial vehicle to fly to the specified sampling area based on the setting, and then hovers at the set point. After hovering, the sampling unmanned aerial vehicle collects water samples of a specified depth at the specified point through the automatic sampling mechanism carried, after completing the collection of multi-point water samples, the sampling unmanned aerial vehicle returns according to the flight path set by the automatic cruise control module, after the sampling unmanned aerial vehicle returns to the docking of the cruise control console, the opening member provided on the mobile detection equipment can open the plurality of sealing bottom plates at the bottom of the sampling box one by one, thereby sequentially guiding the collected multi-point water samples into the water sample detection instrument inside the mobile detection equipment, and the mobile detection equipment is provided with a water sample detection instrument to complete the one-by-one monitoring of the multi-point water samples. Finally, all data are uploaded to the control platform in real time for processing, display and application, which realizes that the unmanned aerial vehicle control platform, the water quality monitoring equipment and the multi-point automatic sampling structure carried on the unmanned aerial vehicle can overcome the limitations of traditional single-point monitoring and existing unmanned aerial vehicle applications, and a fixed monitoring site can be used to automatically and frequently sample and analyze water quality at multiple discrete points in a wide linear (river) or planar (lake, reservoir, ocean) water area. BRIEF DESCRIPTION OF DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or prior art description will be briefly introduced.

[0024] Figure 1 is a structural schematic view of the unmanned aerial vehicle water quality sampling device of air-ground cooperation of the application.

[0025] Figure 2 is a schematic view of the installation structure of the monitoring camera instrument of the application.

[0026] Figure 3 is a schematic view of the cruise control console of the application.

[0027] Figure 4 is an enlarged view of A of the application. Figure 3

[0028] Figure 5 is a schematic view of the installation structure of the sampling box of the application.

[0029] Figure 6 is an enlarged view of B of the application. Figure 5

[0030] Figure 7 is a schematic view of the installation structure of the falling hose of the application.

[0031] ​​Figure 8 is the structure schematic diagram of the sampling unmanned plane of the present application.

[0032] Figure 9 is the structure schematic diagram of the liquid inlet frame of the present application.

[0033] Figure 10 is the structure schematic diagram of the top of the sampling unmanned plane of the present application.

[0034] Figure 11 is the structure schematic diagram of the liquid extraction cylinder of the present application.

[0035] Figure 12 is the flow chart of the air-ground coordinated unmanned plane water quality sampling method of the present application.

[0036] In the figure: 101-sampling unmanned plane, 102-cruise control console, 103-mobile detection equipment, 104-sampling box, 105-sealing bottom plate, 106-ejecting spring, 201-locating slide plate, 202-driving tooth belt, 203-driving gear, 204-driving motor, 301-position changing support, 302-pushing support, 303-screw adjusting mechanism, 304-screw pushing mechanism, 401-liquid inlet frame, 402-sliding block, 403-screw sliding mechanism, 501-liquid extraction cylinder, 502-extraction plug rod, 503-extraction air cylinder, 601-monitoring camera instrument, 602-position detection radar, 701-adapting frame, 702-rotating motor, 703-connection pipe, 704-falling hose, 705-filtering joint, 706-positioning sinking piece, 801-expanding support, 802-opening guide column, 803-limiting base frame, 804-bottom guide column, 805-bidirectional driving mechanism. DETAILED DESCRIPTION

[0037] The embodiments of the present application are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference signs represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the accompanying drawings are exemplary and are intended to explain the present application, and cannot be understood as a limitation of the present application.

[0038] In the description of the present application, it is understood that the meaning of "a plurality of" is two or more than two, unless otherwise explicitly and specifically limited.

[0039] Please refer to Figures 1 to 11The unmanned aerial vehicle water quality sampling device and method provided by the application can solve the problems of the prior art unmanned aerial vehicle technology in water quality monitoring, such as the fact that the application of the prior art unmanned aerial vehicle technology in water quality monitoring is mostly concentrated in non-contact remote sensing, only limited surface parameters can be inversed, the precision is easily disturbed, and key physicochemical indexes (such as COD, ammonia nitrogen and total phosphorus) or contact parameters (such as pH and dissolved oxygen) that need to be analyzed in a laboratory cannot be obtained, although there is an attempt to use an unmanned aerial vehicle for sampling, the function is single, only fixed-point water sampling can be completed, water samples still need to be manually recovered and sent to a laboratory for analysis, and data is seriously delayed.

[0040] Further, the sampling unmanned aerial vehicle 101 is arranged on the cruise control console 102, the cruise control console 102 is fixedly arranged on the top of the mobile detection device 103, the sampling box 104 is installed at the bottom of the sampling unmanned aerial vehicle 101 through the loading member, and a plurality of sealing bottom plates 105 are slidably arranged at the bottom of the sampling box 104.

[0041] Specifically, the cruise control console 102 is provided with a cruising module for charging the sampling unmanned aerial vehicle 101, and is also provided with a cruise control module for controlling the sampling unmanned aerial vehicle 101. By combining a satellite navigation system (such as GPS and Beidou) with a ground reference station, errors are eliminated through carrier phase difference, and centimeter-level positioning accuracy is achieved. Based on Dijkstra algorithm and the like, the optimal flight route is planned in combination with map data and task targets. The environment can be sensed in real time through the set laser radar and visual sensor, and the flight attitude is adjusted by using PID control, LQR control and the like. For example, in power inspection, the unmanned aerial vehicle can automatically bypass obstacles on a power transmission line to ensure safe flight, so as to realize flexible and automatic control of the sampling unmanned aerial vehicle 101.

[0042] The cruise control platform 102 is fixed with the movement detection device 103, the bottom of the movement detection device 103 is provided with a pulley for movement, and the water quality detection mechanism is also carried inside the movement detection device 103. The water inlet of the water quality detection mechanism is arranged at the top of the entire device, and the docking position of the cruise control platform 102 is also provided with a corresponding water inlet groove. Meanwhile, the position of the water inlet groove on the top of the cruise control platform 102 is also provided with a supporting groove frame for cooperating with the sampling box 104 at the bottom of the sampling unmanned aerial vehicle 101, so that after the sampling unmanned aerial vehicle 101 realizes docking and returns, the sampling box 104 arranged at the bottom of the sampling unmanned aerial vehicle 101 can be matched with the supporting groove frame on the top of the cruise control platform 102.

[0043] The sampling box 104 is a multi-cavity structure, and the sampling box 104 is made of light material to reduce its own weight. Each cavity of the sampling box 104 is provided with a group of sealing bottom plates 105 and ejecting springs 106 at the bottom. Under normal circumstances, the ejecting spring 106 will resist the sealing bottom plate 105 by its own elastic force, so that the sealing bottom plate 105 can block the opening at the bottom of the corresponding cavity. When the water sample needs to be discharged, the sealing bottom plate 105 will slide under the driving of the opening member, thereby extruding the corresponding ejecting spring 106 to deform, so as to open the opening at the bottom of the corresponding cavity, so that the water sample collected in the corresponding cavity can flow into the water quality detection mechanism through the water inlet groove arranged on the cruise control platform 102 and the water inlet arranged on the top of the movement detection device 103 to complete the water quality detection.

[0044] In actual operation, the cruise control console 102 issues a multi-point sampling task, and then controls the sampling unmanned aerial vehicle 101 to fly to the specified sampling area based on the automatic cruise control module, and then hovers at the set point. After hovering, the sampling unmanned aerial vehicle 101 collects water samples of a specified depth at the specified point by carrying an automatic sampling mechanism. After completing the collection of multi-point water samples, the sampling unmanned aerial vehicle 101 returns according to the flight path set by the automatic cruise control module. After the sampling unmanned aerial vehicle 101 docks with the cruise control console 102, the opening member provided on the mobile detection device 103 can open the plurality of sealing bottom plates 105 at the bottom of the sampling box 104 one by one, thereby sequentially guiding the collected multi-point water samples into the water sample detection instrument inside the mobile detection device 103. The water sample detection instrument provided by the mobile detection device 103 completes the monitoring of the multi-point water samples one by one. Finally, all data are uploaded to the control platform in real time for processing, display and application. The unmanned aerial vehicle control platform, water quality monitoring equipment and multi-point automatic sampling structure carried by the unmanned aerial vehicle can overcome the limitations of traditional single-point monitoring and existing unmanned aerial vehicle applications. A fixed monitoring site can be used to automatically and frequently sample and analyze water quality at multiple discrete points in a wide linear (river) or planar (lake, reservoir, ocean) water area.

[0045] Please refer to Figure 8 Further, two clamping sliding plates 201 are slidingly installed at the bottom of the sampling unmanned aerial vehicle 101 on both sides; each side of the clamping sliding plate 201 is fixedly provided with a driving tooth belt 202; two driving tooth belts 202 are respectively engaged with both sides of the driving gear 203 rotatingly installed at the bottom of the sampling unmanned aerial vehicle 101; the output shaft of the driving motor 204 is connected with the driving gear 203, and the driving motor 204 is fixedly installed at the bottom of the sampling unmanned aerial vehicle 101.

[0046] When the embodiment is used, the sampling box 104 is provided with side tables on both sides, and the sampling unmanned aerial vehicle 101 is provided with a slot for cooperating with the sampling box 104 at the bottom. The sampling unmanned aerial vehicle 101 is also slidingly provided with two clamping sliding plates 201, and the two clamping sliding plates 201 are fixedly provided with driving tooth belts 202 on one side. The two driving tooth belts 202 are respectively engaged with both sides of the driving gear 203, and the driving gear 203 is driven by the driving motor 204.

[0047] When the sampling box 104 is matched with the slot at the bottom of the sampling UAV 101, the driving motor 204 drives the driving gear 203 to rotate, and then drives the driving toothed belts 202 and the clamping sliding plates 201 on both sides to slide through the rotation of the driving gear 203. The clamping sliding plates 201 on both sides move relative to each other to clamp the side tables on both sides of the sampling box 104 in the slot, thereby completing the installation of the sampling box 104. When the sampling box 104 needs to be disassembled subsequently, the driving motor 204 reversely drives the driving gear 203 to expand the clamping sliding plates 201 on both sides, so that the sampling box 104 can be directly pulled out from the bottom of the sampling UAV 101, making the installation and disassembly of the sampling box 104 more convenient. The driving motor 204 is controlled by the main control module arranged on the sampling UAV 101.

[0048] Please refer to Figure 3 and Figure 4 Further, the transposition support 301 is slidingly installed in the cruise console 102; the dialing support 302 is slidingly installed on the transposition support 301; the driving component is arranged in the cruise console 102 and is used to drive the transposition support 301 and the dialing support 302.

[0049] Further, the lead screw adjusting mechanism 303 is connected with the transposition support 301 and is used to drive the transposition support 301; the lead screw dialing mechanism 304 is connected with the dialing support 302 and is used to drive the dialing support 302.

[0050] In use, the transposition support 301 is arranged in the sliding guide groove on the inner side of the cruise console 102, the dialing support 302 is slidingly arranged on the side of the transposition support 301, the dialing support 302 is provided with corresponding dialing vertical tables which are adapted to the moving grooves of the sealing bottom plates 105 arranged at the bottom of the sampling box 104, and the moving grooves of the sealing bottom plates 105 which are matched with each other are connected through the transverse grooves, so that the dialing support 302 can move forward and backward under the driving of the transposition support 301 when the dialing support 302 is matched with the bottom of the sampling box 104, and then the sealing bottom plate 105 at a suitable position is selected and dialled.

[0051] The transposition support 301 and the dialing support 302 are respectively driven by the lead screw adjusting mechanism 303 and the lead screw dialing mechanism 304, and the lead screw adjusting mechanism 303 and the lead screw dialing mechanism 304 have the same structure principle, that is, a motor is arranged to drive a lead screw to rotate, thereby driving the corresponding plate.

[0052] When the sampling unmanned aerial vehicle 101 is docked with the cruise console 102, the sampling box 104 is matched with the slot provided on the cruise console 102, and after the sampling box 104 is completely embedded into the slot, the toggle vertical tower of the toggle support 302 is matched with the mounting groove of the sealing bottom plate 105 installed at the bottom of the sampling box 104, so that the toggle support 302 is driven to move by the lead screw toggle mechanism 304, thereby driving the sealing bottom plate 105 to move, and the opening at the bottom of the corresponding cavity is opened by the movement of the sealing bottom plate 105, so that the water sample in the specified cavity is discharged. Since the sampling box 104 is provided with a plurality of cavities for collecting water samples at different points, the user can also drive the transposition support 301 to move by the lead screw adjustment member to sequentially discharge the water samples at different points in different cavities. When sampling, the cruise console 102 can record a plurality of sampling points of the sampling unmanned aerial vehicle 101, and then mark the sampling position data of the water samples in the plurality of cavities in the sampling box 104, so that the sampling information can be corresponded to the detection data one by one when the multiple points are sequentially detected.

[0053] Please refer to Figure 8 and Figure 9 Preferably, the cooperative assembly provided by the application further comprises a liquid inlet frame 401, a sliding block 402, a lead screw sliding mechanism 403, an extraction member and a detection member. The extraction member comprises a liquid extraction cylinder 501, a liquid extraction rod 502, a liquid extraction cylinder 503, an adapter component and a retractable component. The detection member comprises a monitoring camera 601 and a position detection radar 602. The adapter component comprises an adapter frame 701, a rotating motor 702, a connecting pipe 703, a falling hose 704, a filter joint 705 and a positioning sinking part 706. The retractable component comprises an unfolding support 801, an opening guide column 802, a limiting base frame 803, a bottom guide column 804 and a bidirectional driving mechanism 805.

[0054] Further, the liquid inlet frame 401 is fixedly installed on one side of the sampling unmanned aerial vehicle 101 close to the sampling box 104. The sliding block 402 is slidingly arranged on one side of the liquid inlet frame 401. The lead screw sliding mechanism 403 is arranged on the liquid inlet frame 401 and is used to drive the sliding block 402. The extraction member is arranged inside the sampling unmanned aerial vehicle 101 and is used to complete the extraction of the water sample. The detection member is arranged on the sampling unmanned aerial vehicle 101 and is used to feedback the environmental conditions of the sampling unmanned aerial vehicle 101, so as to facilitate the control of the sampling unmanned aerial vehicle 101.

[0055] In use, the liquid inlet frame 401 is arranged in the body of the sampling unmanned aerial vehicle 101, the bottom of the liquid inlet frame 401 is attached to the top of the sampling box 104, the liquid inlet frame 401 is provided with a plurality of guide cavities corresponding to the water sample collection cavities arranged in the sampling box 104, the side of the liquid inlet frame 401 is slidably provided with the sliding block 402, the sliding block 402 is driven by the lead screw sliding mechanism 403, the lead screw sliding mechanism 403 has the same structure as the lead screw driving mechanism 304, the sliding block 402 is further provided with a through groove, so that the outlet position of the water sample in the liquid inlet frame 401 can be changed by adjusting the position of the sliding block 402, thereby realizing the collection of water samples at different positions in the multiple cavities of the sampling box 104.

[0056] Please refer to Figure 10 and Figure 11 Further, the liquid suction cylinder 501 is in communication with the sliding block 402 through a hose and is fixedly arranged in the sampling unmanned aerial vehicle 101; the liquid suction rod 502 is slidably arranged on the liquid suction cylinder 501; the output end of the liquid suction cylinder 503 is connected with the liquid suction rod 502, and the liquid suction cylinder 503 is fixedly arranged in the sampling unmanned aerial vehicle 101; the adapter component is arranged on the side of the liquid suction cylinder 501 and is used for guiding the water sample; the retracting component is arranged on the outside of the sampling unmanned aerial vehicle 101 and is used for controlling the retracting and extending of the pipe for guiding the water sample.

[0057] Further, the adapter frame 701 is rotatably arranged in the liquid suction cylinder 501; the output shaft of the rotating motor 702 is connected with the adapter frame 701, and the rotating motor 702 is fixedly arranged on one side of the liquid suction cylinder 501; the connecting pipe 703 is connected with the liquid suction cylinder 501 and extends out from the side of the sampling unmanned aerial vehicle 101; the falling hose 704 is connected with the connecting pipe 703; the filter connector 705 is fixedly arranged at the end of the falling hose 704; and the positioning sinking member 706 is fixedly arranged at the bottom of the filter connector 705.

[0058] Further, two expansion supports 801 are slidably arranged on one side of the sampling unmanned aerial vehicle 101 close to the falling hose 704; a plurality of opening guide columns 802 are rotatably arranged on each expansion support 801, and the falling hose 704 is arranged around the opening guide columns 802; the limiting bottom bracket is fixedly arranged at the bottom of the sampling unmanned aerial vehicle 101; the bottom guide column 804 is rotatably arranged on the limiting bottom bracket, and the end of the falling hose 704 is arranged around the bottom guide column 804; and the bidirectional driving mechanism 805 is arranged on one side of the sampling unmanned aerial vehicle 101 close to the expansion supports 801 and is used for driving the two expansion supports 801 to move relative to each other.

[0059] In use, the side of the liquid extraction cylinder 501 is communicated with the guide groove arranged in the sliding block 402 through a hose, and the bottom of the liquid extraction cylinder 501 is connected with the connecting pipe 703. The two positions connected by the liquid extraction cylinder 501 are arranged in the same annular chamber, and the adapter frame 701 is arranged to rotate in the annular chamber. The adapter frame 701 is driven by the rotating motor 702, and the adapter frame 701 is provided with a corresponding shielding plate. By rotating the adapter frame 701 at different angles, one of the interfaces in the annular chamber can be blocked, thereby realizing the regulation and control of the two interfaces.

[0060] The liquid extraction cylinder 501 is also provided with the extraction plug rod 502, which is driven by the extraction air cylinder 503. When the extraction air cylinder 503 drives the extraction plug rod 502 to be extracted from the liquid extraction cylinder 501, the liquid extraction cylinder 501 is in a liquid extraction state. When the extraction air cylinder 503 drives the extraction plug rod 502 to enter the liquid extraction cylinder 501, the liquid extraction cylinder 501 is in a liquid discharge state. In the liquid extraction state, the adapter frame 701 blocks the interface between the liquid extraction cylinder 501 and the sliding block 402, so that the water sample can be guided from the connecting pipe 703 into the liquid extraction cylinder 501 by the negative pressure generated. When in the liquid discharge state, the adapter frame 701 blocks the interface between the liquid extraction cylinder 501 and the connecting pipe 703, so that the water sample extracted into the liquid extraction cylinder 501 can be guided into the sampling box 104 through the sliding block 402 and the liquid inlet frame 401.

[0061] The lower end of the connecting pipe 703 is provided with the falling hose 704, and the end of the falling hose 704 is provided with the filter joint 705. The filter joint 705 is provided with a fine groove, which can prevent large impurities and water organisms from entering during water sampling. The bottom of the filter joint 705 is also fixed with the positioning sinker 706, which has a certain weight. The positioning sinker 706 is internally embedded with a positioning chip. The sampling unmanned aerial vehicle 101 can judge the position of the actual sampling point through the positioning chip of the positioning sinker 706, and can analyze and calculate the distance between the actual sampling point and the body of the sampling unmanned aerial vehicle 101, so as to control the depth of sampling in combination with the subsequent sensing structure.

[0062] The falling hose 704 arranged at the end of the connecting pipe 703 is arranged around the opening guide column 802 arranged on the two unfolding supports 801, and the two unfolding supports 801 are driven by the bidirectional driving mechanism 805, which is composed of a screw rod with opposite thread directions and a motor driving the screw rod to rotate. When the motor drives the screw rod with opposite thread directions to rotate, the unfolding supports 801 connected to the screw rod on both sides will be simultaneously close or unfolded, thereby realizing corresponding driving of the two unfolding supports 801.

[0063] The bottom of the falling hose 704 is arranged around the bottom guide column 804 arranged on the limiting chassis 803, and the limiting chassis 803 is provided with an intercepting cross frame for limiting the end of the arranged falling hose 704, so as to avoid the falling hose 704 from being separated from the limiting chassis 803. The outer sides of the opening guide column 802 and the bottom guide column 804 are also provided with a larger limiting disc for limiting the falling hose 704.

[0064] When the water body is sampled, the sampling unmanned aerial vehicle 101 flies and hovers over the specified water surface according to the set flight route, and then the two unfolding supports 801 on both sides are driven by the bidirectional driving mechanism 805 to close to each other. At this time, the falling hose 704 will continuously fall due to the weight of the filter connector 705 and the positioning sinker 706 at the end, and the sliding of the opening guide column 802 and the bottom guide column 804 can reduce the friction that needs to be overcome during the falling of the falling hose 704 to a certain extent, so that the falling hose 704 can continuously and stably fall. When the two unfolding supports 801 on both sides close to each other to the limit position, the falling hose 704 can completely fall, and at this time, the filter connector 705 and the positioning sinker 706 at the bottom of the falling hose 704 are pulled away from the sampling unmanned aerial vehicle 101 by a certain height. Then, the height judgment module of the sampling unmanned aerial vehicle 101 analyzes and judges the water surface distance of the sampling unmanned aerial vehicle 101 in the sampling area, and then combines the distance data fed back by the positioning sinker 706 to control the sampling depth, so that the positioning sinker 706 at the bottom of the falling hose 704 can collect water samples through the corresponding mechanism installed on the liquid pumping cylinder 501 after sinking to the specified depth, and finally realize automatic water sampling at the specified point.

[0065] After the water sample collection of a point is completed, the two deployment supports 801 can be continuously deployed under the bidirectional driving mechanism 805 to facilitate the lifting of the falling hose 704 that is falling to achieve the recovery of the falling hose 704. It should be noted that in actual operation, the falling degree of the falling hose 704 can be adjusted according to the actual sampling environment and the sampling water depth, and after sampling at a point is completed, the liquid cylinder 501 can enter the pipeline water sample cleaning mode. When the pipeline water sample cleaning mode is running, the blocking sequence of the adapter frame 701 is opposite to that in the normal case, so that the liquid cylinder 501 can continuously move the pulling plug rod 502 to discharge the excess water sample in the connecting pipe 703 and the falling hose 704, avoiding the influence of the residual water sample on the quality of the subsequent water sample when a new point water sample collection is performed. The entire pipeline water sample cleaning can be performed when the sampling unmanned aerial vehicle 101 changes position to ensure the efficiency of the entire multi-point sampling.

[0066] By adopting the above sampling structure and water sample collection structure, multi-point sampling can be realized in one operation, avoiding the need for repeated operations when multi-point sampling in a certain range is performed, making the actual multi-point sampling more flexible and convenient.

[0067] Please refer to Figure 2 Further, the monitoring camera instrument 601 is installed outside the sampling unmanned aerial vehicle 101 and is used to collect environmental data around the sampling unmanned aerial vehicle 101; the position detection radar 602 is installed at the bottom of the sampling unmanned aerial vehicle 101 and is used to determine the flight height of the sampling unmanned aerial vehicle 101.

[0068] In use, the monitoring camera instrument 601 is arranged at the bottom of the sampling unmanned aerial vehicle 101, and the monitoring camera instrument 601 can capture the sampling environmental data of the sampling unmanned aerial vehicle 101, so as to better determine the specific position of the sampling unmanned aerial vehicle 101 in combination with the positioning module of the sampling unmanned aerial vehicle 101, and also to avoid obstacles in combination with the obstacle avoidance system.

[0069] The position detection radar 602 is used to detect the actual flight height of the sampling unmanned aerial vehicle 101, and measures the reflection time by emitting a laser beam to achieve centimeter-level precision (such as ASTRALiTe EDGE system error ≤ 3 cm), which is suitable for low-altitude or complex environments, and then the positioning chip in the positioning sink 706 is combined to flexibly adjust the sampling depth and other data.

[0070] Please refer to Figure 12 A kind of unmanned aerial vehicle water quality sampling method of air-ground cooperation, adopts the unmanned aerial vehicle water quality sampling device of air-ground cooperation described herein, comprising the following steps,

[0071] S1: A multi-point sampling task is issued through the cruise control console 102, and then the sampling unmanned aerial vehicle 101 is controlled to fly to the specified sampling area based on the set automatic cruise control module, and then hovers at the set point;

[0072] S2: The sampling unmanned aerial vehicle 101 hovers at the set point and collects water samples of the specified depth at the specified point through the automatic sampling mechanism carried thereon;

[0073] S3: After completing the collection of multi-point water samples, the sampling unmanned aerial vehicle 101 returns according to the flight path set by the automatic cruise control module;

[0074] S4: After the sampling unmanned aerial vehicle 101 returns and docks with the set cruise control console 102, the opening member provided on the mobile detection device 103 can open the plurality of sealing bottom plates 105 at the bottom of the sampling box 104 one by one, so as to sequentially guide the collected multi-point water samples into the water sample detection instrument inside the mobile detection device 103;

[0075] S5: The water sample detection instrument provided by the mobile detection device 103 completes the one-by-one monitoring of the multi-point water samples, and finally uploads all the data to the control platform in real time for processing, display and application.

[0076] The above only discloses one or more preferred embodiments of the present application, and cannot limit the scope of the rights of the present application. Those skilled in the art can understand that all or part of the above-mentioned embodiments can be implemented, and equivalent changes made according to the claims of the present application still belong to the scope covered by the present application.

Claims

1. An air-ground coordinated unmanned aerial vehicle (UAV) water quality sampling device, comprising a sampling UAV and a cruise control console, wherein the sampling UAV is mounted on the cruise control console, characterized in that, It also includes collaborative components; The collaborative components include a mobile detection device, a sampling box, a sealing base plate, an ejection spring, a loading component, and an opening component. The cruise control console is fixedly mounted on the top of the mobile detection device. The sampling box is mounted on the bottom of the sampling drone via the loading component. Multiple sealing base plates are slidably mounted on the bottom of the sampling box. Each sealing base plate has an ejection spring on its back side. The ejection spring is connected to the sealing base plate and the sampling box on both sides, respectively. The loading component is mounted on the bottom of the sampling drone and is used to limit and clamp the sampling box. The opening component is mounted inside the cruise control console and is used to open the sealing base plate at the bottom of the sampling box.

2. The air-ground collaborative UAV water quality sampling device as described in claim 1, characterized in that, The loading component includes a positioning slide plate, a drive belt, a drive gear, and a drive motor. Two positioning slide plates are slidably installed on both sides of the bottom of the sampling drone. Each positioning slide plate has a drive belt fixedly installed on its side. The two drive belts respectively mesh with the two sides of the drive gear rotatably installed on the bottom of the sampling drone. The output shaft of the drive motor is connected to the drive gear, and the drive motor is fixedly installed on the bottom of the sampling drone.

3. The air-ground collaborative UAV water quality sampling device as described in claim 1, characterized in that, The opening component includes a shift bracket, a toggle bracket, and a driving component. The shift bracket is slidably installed inside the cruise control console; the toggle bracket is slidably installed on the shift bracket; and the driving component is disposed inside the cruise control console for driving the shift bracket and the toggle bracket.

4. The air-ground collaborative UAV water quality sampling device as described in claim 3, characterized in that, The driving component includes a lead screw adjustment mechanism and a lead screw actuation mechanism. The lead screw adjustment mechanism is connected to the shift bracket and is used to drive the shift bracket. The lead screw actuation mechanism is connected to the actuation bracket and is used to drive the actuation bracket.

5. The air-ground collaborative UAV water quality sampling device as described in claim 1, characterized in that, The collaborative components also include a liquid inlet frame, a sliding block, a lead screw sliding mechanism, an extraction component, and a detection component. The liquid inlet frame is fixedly installed on the side of the sampling drone near the sampling box. The sliding block is slidably disposed on one side of the liquid inlet frame. The lead screw sliding mechanism is disposed on the liquid inlet frame and is used to drive the sliding block. The extraction component is disposed inside the sampling drone and is used to extract water samples. The detection component is disposed on the sampling drone and is used to provide feedback on the environmental conditions of the sampling drone, facilitating the control of the sampling drone.

6. The air-ground collaborative UAV water quality sampling device as described in claim 5, characterized in that, The extraction component includes a liquid extraction cylinder, a pumping rod, a pumping cylinder, a connecting component, and a take-up and release component. The liquid extraction cylinder is connected to the sliding block via a hose and is fixedly installed inside the sampling drone. The pumping rod is slidably mounted on the liquid extraction cylinder. The output end of the pumping cylinder is connected to the pumping rod, and the pumping cylinder is fixedly installed inside the sampling drone. The adapter is located on the side of the liquid extraction cylinder and is used to guide the water sample; the retraction and extension component is located on the outside of the sampling drone and is used to control the retraction and extension of the tubing that guides the water sample.

7. The air-ground collaborative UAV water quality sampling device as described in claim 5, characterized in that, The detection components include a monitoring camera and a position detection radar. The monitoring camera is installed on the outside of the sampling drone and is used to collect environmental data around the sampling drone. The position detection radar is installed on the bottom of the sampling drone and is used to determine the flight altitude of the sampling drone.

8. The air-ground collaborative UAV water quality sampling device as described in claim 6, characterized in that, The adapter includes an adapter frame, a rotating motor, a connecting pipe, a drop hose, a filter connector, and a positioning and sinking component. The adapter frame is rotatably installed inside the liquid extraction cylinder. The output shaft of the rotary motor is connected to the adapter frame, and the rotary motor is fixedly installed on one side of the liquid extraction cylinder; the connecting pipe is connected to the liquid extraction cylinder and extends out from the side of the sampling drone; the falling hose is connected to the connecting pipe; the filter connector is fixedly installed at the end of the falling hose; and the positioning sinking part is fixedly installed at the bottom of the filter connector.

9. The air-ground collaborative UAV water quality sampling device as described in claim 8, characterized in that, The deployment and retraction components include a deployment bracket, an opening guide post, a limiting base frame, a bottom guide post, and a bidirectional drive mechanism. Two deployment brackets are slidably mounted on the side of the sampling drone near the drop hose. Multiple opening guide posts are rotatably mounted on each deployment bracket, and the drop hose is wound around the opening guide post. The limiting base frame is fixedly mounted on the bottom of the sampling drone. The bottom guide post is rotatably mounted on the limiting base frame, and the end of the drop hose is wound around the bottom guide post. The bidirectional drive mechanism is located on the side of the sampling drone near the deployment bracket and is used to drive the two deployment brackets to move relative to each other.

10. A method for air-ground coordinated UAV water quality sampling, employing the air-ground coordinated UAV water quality sampling device as described in claim 1, characterized in that, Includes the following steps, The system issues multi-point sampling tasks through the cruise control console, and then controls the sampling drone to fly to the designated sampling area based on the set automatic cruise control module, and then hovers at the set points. After hovering, the sampling drone, equipped with an automatic sampling mechanism, collects water samples at a specified depth at a designated location. After collecting water samples from multiple points, the sampling drone returns to its home location according to the flight path set by the automatic cruise control module. After the sampling drone docks with the cruise control console and returns to base, the opening component on the mobile detection device can open the multiple sealing plates at the bottom of the sampling box one by one, thereby sequentially introducing the collected water samples from multiple points into the water sample detection instrument inside the mobile detection device. The mobile detection device uses water sample testing instruments to monitor multiple water samples one by one, and finally uploads all data to the control platform in real time for processing, display and application.

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