Unmanned aerial vehicle water quality sampling system and method

Abstract

The invention provides an unmanned aerial vehicle water quality sampling system and method. The unmanned aerial vehicle water quality sampling system comprises an unmanned aerial vehicle, a visual acquisition module, a data transmission module and a ground terminal, a water taking module is carried on the unmanned aerial vehicle; the visual acquisition module is used for acquiring a water area image of a target water area and identifying the water area image of the target water area based on the obstacle identification module; the data transmission module is used for transmitting the water area image of the target water area acquired by the visual acquisition module to a ground terminal and receiving a control instruction from the ground terminal; the unmanned aerial vehicle comprises a flight control module. According to the invention, by constructing an intelligent architecture in which "front-end automatic sensing obstacle avoidance" and "rear-end manual accurate interpretation" are coordinated, the accuracy and high reliability of sampling decision making are ensured; and meanwhile, flight safety responsibilities needing to be quickly responded are submitted to the visual acquisition module and the flight control module at the front end, so that the flight safety of the unmanned aerial vehicle in a complex water area environment and the continuity of a sampling task are greatly guaranteed.

Description

Technical Field

[0001] This invention relates to the field of water quality monitoring technology, and more specifically, to a UAV water quality sampling system and method. Background Technology

[0002] The content in this section only provides background information related to this invention and may not constitute prior art.

[0003] Water quality monitoring is a crucial foundation for environmental protection and aquatic ecosystem research. Currently, the use of drones for water sampling has been applied to overcome the limitations of traditional manual sampling, such as low efficiency and high safety risks. Existing drone sampling methods primarily employ two technical approaches: Firstly, aerial sampling relies on operators visually or at pre-set locations. While this method can replace manual labor, it makes it difficult for operators to quickly and accurately identify specific areas of abnormal water quality from high altitudes, resulting in a significant degree of blindness in the sampling operation and hindering precise source tracing of pollution points.

[0004] Secondly, while some solutions attempt to integrate automatic identification functions into drones, water pollution manifests in diverse ways in complex aquatic environments. Algorithm-based automatic identification technologies are not yet reliable and accurate enough to handle all situations, posing a risk of misjudgment or missed detection. More importantly, existing solutions often focus only on how the drone reaches the sampling point, lacking the ability to cope with dynamic obstacles during flight (such as suddenly appearing floating objects or temporary vessels), thus exposing autonomous flight to safety risks. Summary of the Invention

[0005] In view of this, the first objective of the present invention is to provide a UAV water quality sampling system to at least overcome the technical problems of existing solutions in accurately identifying areas of abnormal water quality and lacking the ability to cope with dynamic obstacles during flight.

[0006] The second objective of this invention is to provide a method for water quality sampling using a drone that applies the above-mentioned drone water quality sampling system.

[0007] The objective of this invention is achieved through the following technical solution: On one hand, the present invention provides a drone water quality sampling system, comprising: A drone, which is equipped with a water collection module; A visual acquisition module, installed on the UAV, is used to acquire images of the target water area and selectively issue obstacle avoidance signals based on the obstacle recognition module's identification of the water images of the target water area. The data transmission module is used to transmit the water area image of the target water area acquired by the visual acquisition module to the ground terminal, and to receive control commands from the ground terminal. The drone includes a flight control module; the flight control module is configured to: The system receives the control command transmitted via the data transmission module, which is issued by the ground terminal based on the interpretation of the water area image of the target water area, and controls the UAV to fly over the target sampling area. Furthermore, upon receiving the obstacle avoidance signal from the visual acquisition module, the drone's flight path is dynamically adjusted to avoid obstacles. Specifically, after the drone arrives above the target sampling area, the water sampling module is triggered to perform a water quality sampling action.

[0008] Optionally, the obstacle recognition model is the YOLOv11 model.

[0009] Optionally, when the proportion of the obstacle pixel area identified by the visual acquisition module in the water image of the target water area exceeds a preset threshold, the obstacle avoidance signal is issued.

[0010] Optionally, the preset threshold is 10%.

[0011] Optionally, the flight control module is configured to: after receiving the obstacle avoidance signal from the vision acquisition module, dynamically adjust the flight path of the UAV based on the improved A* algorithm; The improved A* algorithm is expressed as follows: Cost = g(n) + 1.2 * h(n); In the above formula, Cost is the total estimated cost of the current node n; g(n) is the actual cost from the drone's flight start point to the current node n; and h(n) is the Manhattan distance.

[0012] Optionally, the flight control module is further configured to: generate an initial cruise path for the UAV based on the UAV grid center patrol method, and control the UAV to cruise along the initial cruise path to patrol the target water area.

[0013] Optionally, the water intake module includes a sampler, a retraction mechanism, and a locking mechanism; The sampler is located below the drone and is connected to the take-up and take-down mechanism via a connecting rope; the take-up and take-down mechanism is located on the drone and is used to take up and take down the connecting rope, so that the sampler can move vertically in a locked position close to the drone and in an unlocked position away from the drone. The locking mechanism is configured to selectively lock the sampler when it is in the locked position.

[0014] Optionally, the sampler includes a container with an open top, and an annular partition is provided at the bottom of the container, the partition dividing the interior of the container into an inner cavity and an outer cavity that are in communication with each other; the height of the partition is less than the height of the container. The bottom of the container is provided with a flow channel that communicates with the outer cavity.

[0015] Optionally, the locking mechanism includes a locking hole and a locking drive assembly corresponding to each locking hole; The locking hole is formed on the sampler; the locking drive assembly is fixedly disposed on the bottom of the UAV and includes a locking post, an elastic element and an electromagnet; The locking post is movably disposed at the bottom of the drone so that the locking post can move in a first position inserted into the locking hole and in a second position withdrawn from the locking hole; The elastic element is sleeved on the outer wall of the locking post to bias the locking post toward the first position. The electromagnet is disposed on the side of the locking post opposite to the locking hole and is configured to apply an electromagnetic force to the locking post in an energized state, forcing the locking post to move to the second position.

[0016] On the other hand, the present invention provides a method for water quality sampling using a drone, employing the aforementioned drone water quality sampling system, characterized by comprising the following steps: Control the drone to cruise over the target waters; During the cruise flight, images of the target water area are acquired and transmitted to the ground terminal. The system receives control commands from the ground terminal based on the interpretation of water area images of the target water area, and controls the UAV to fly towards the target sampling area. During the flight of the drone, the drone's flight path is dynamically adjusted to avoid obstacles based on the received obstacle avoidance signals. After the drone arrives over the target sampling area, it performs water quality sampling.

[0017] The technical solutions of the embodiments of the present invention have at least the following advantages and beneficial effects: The UAV water quality sampling system and method provided by this invention constructs an intelligent architecture that coordinates "front-end automatic obstacle avoidance" with "back-end precise human interpretation." This architecture delegates the complex, knowledge-dependent task of identifying polluted areas to back-end personnel, fully utilizing human judgment and flexibility to ensure the accuracy and high reliability of sampling decisions. Simultaneously, the flight safety responsibility requiring rapid response is assigned to the front-end visual acquisition and flight control modules. Through obstacle recognition based on an obstacle recognition model and dynamic path planning using an improved A* algorithm, real-time, autonomous avoidance of sudden obstacles is achieved. This greatly ensures the flight safety of the UAV in complex aquatic environments and the continuity of sampling tasks, providing a reliable system solution for achieving efficient, safe, and accurate intelligent water quality sampling. Attached Figure Description

[0018] Figure 1 Electrical principle block diagram of an unmanned aerial vehicle (UAV) water quality sampling system provided for embodiments of the present invention; Figure 2 A flowchart of a UAV water quality sampling method provided for embodiments of the present invention; Figure 3 A schematic diagram of the structure of the drone and water sampling module provided for an embodiment of the present invention; it shows the sampler in the unlocked position; Figure 4 A schematic diagram of the sampler provided in an embodiment of the present invention; Figure 5 for Figure 4 A cross-sectional view of the sampler is shown; Figure 6 A schematic diagram of the internal structure of the outer casing provided for an embodiment of the present invention; Figure 7 A partial structural cross-sectional view of a water sampling module provided for an embodiment of the present invention; it shows the sampler in the locked position and the locking mechanism locking the sampler. Figure 8 for Figure 7 Enlarged view of the local structure at point A in the middle.

[0019] Icons: 100-UAV, 101-Flight Control Module, 200-Water Intake Module, 300-Visual Acquisition Module, 301-Image Acquisition Unit, 302-Image Processing Unit, 400-Data Transmission Module, 500-Ground Terminal, 10-Sampler, 11-Container, 12-Divider, 13-Inner Cavity, 14-Outer Cavity, 15-Flow Channel, 16-Connecting Hole, 20-Retraction Mechanism, 21-Shell, 22-Drive Motor, 23-Winding Component, 30-Connecting Rope, 40-Locking Mechanism, 41-Locking Hole, 42-Locking Drive Assembly, 421-Locking Post, 422-Limit Seat, 423-Elastic Component, 424-Electromagnet, 50-Control Board, 60-Power Supply. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below in conjunction with specific embodiments. The same reference numerals in the accompanying drawings represent the same components. It should be noted that the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the described embodiments of this invention without creative effort are within the scope of protection of this invention.

[0021] Compared to the embodiments shown in the accompanying drawings, feasible embodiments within the scope of protection of this invention may have fewer components, other components not shown in the drawings, different components, components with different arrangements, or components with different connections, etc. Furthermore, two or more components in the drawings may be implemented in a single component, or a single component shown in the drawings may be implemented as multiple separate components.

[0022] Unless otherwise defined, the technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention pertains. The terms "first," "second," and similar terms used in this specification and claims do not indicate any order, quantity, or importance, but are merely used to distinguish different components.

[0023] Example 1 Please refer to Figures 1 to 3 As shown, Embodiment 1 of the present invention provides a water quality sampling system for unmanned aerial vehicles (UAVs).

[0024] According to Embodiment 1 of the present invention, the UAV water quality sampling system includes a UAV 100, a water sampling module 200, a visual acquisition module 300, a data transmission module 400, and a ground terminal 500.

[0025] As one of the core components of the entire system, the drone 100 is equipped with a water sampling module 200 for acquiring water samples. Preferably, the drone 100 can be a quadcopter to ensure its stability during flight under heavy loads. For example, the drone 100 can be a quadcopter of model F450. The drone 100 includes a flight control module 101 for controlling its flight, turning, takeoff, and landing maneuvers.

[0026] Both the visual acquisition module 300 and the data transmission module 400 are installed on the UAV 100. The visual acquisition module 300 is communicatively connected to the data transmission module 400 and the flight control module 101, respectively. The data transmission module 400 is communicatively connected to the flight control module 101 and the ground terminal 500, respectively.

[0027] The visual acquisition module 300 is used to acquire images of the target water area and can selectively issue obstacle avoidance signals based on the obstacle recognition model to identify the images of the target water area. In this embodiment, the target water area can be a suitable body of water such as a lake of a specific size.

[0028] Specifically, the visual acquisition module 300 may include an image acquisition unit 301 and an image processing unit 302. The image acquisition unit 301 is used to acquire water images of the target water area and is communicatively connected to the image processing unit 302. The image processing unit 302 integrates an obstacle recognition model and is used to send the water images of the target water area to the data transmission module 400, and to recognize the water images of the target water area based on the obstacle recognition model.

[0029] Specifically, when the proportion of obstacle pixel area identified by the image processing unit 302 of the visual acquisition module 300 in the water area image of the target water area exceeds a preset threshold, an obstacle avoidance signal is issued to indicate the presence of an obstacle (such as aquatic plants, garbage, or other floating debris) that the drone 100 cannot cross in the current water area image. Preferably, the preset threshold is 10%. That is, when the ratio of the obstacle pixel area identified in the water area image of the target water area to the total area of ​​the water area image of the target water area is greater than 10%, an obstacle avoidance signal is issued. This method is beneficial for accurately identifying obstacles that the drone 100 cannot cross, while ignoring smaller obstacles that the drone 100 can cross.

[0030] For example, the image acquisition unit 301 can be a camera mounted on the drone 100, and the camera's mounting height must be horizontal with the drone 100's fuselage. Furthermore, the center of the camera lens and the center of the sampler 10 of the water sampling module 200, which will be described below, should be on the same vertical line to ensure that the acquired water area image is not offset. The image processing unit 302 can use a Raspberry Pi 4B motherboard to ensure the reliability of the image processing unit 302.

[0031] The data transmission module 400 is mainly used to transmit the water area images of the target water area acquired by the visual acquisition module 300 to the ground terminal 500, and to receive control commands from the ground terminal 500. The ground terminal 500 includes a display for showing the water area images of the target water area. For example, the data transmission module 400 can be a WIFI module or a Bluetooth module, etc.

[0032] Specifically, after the data transmission module 400 transmits the water area image of the target water area acquired by the visual acquisition module 300 to the ground terminal 500, the user can view the water area image of the target water area on the display of the ground terminal 500, identify the abnormal water quality area based on the water area image and manual interpretation, and use this abnormal water quality area as the target sampling area for collecting water samples, and issue control commands to control the drone 100 to fly to the target sampling area.

[0033] The flight control module 101 of the UAV 100 is configured to: receive control commands transmitted via the data transmission module 400 and issued by the ground terminal 500 based on the interpretation of the water area image of the target water area, and control the UAV 100 to fly over the target sampling area; and, after receiving the obstacle avoidance signal issued by the visual acquisition module 300, dynamically adjust the flight path of the UAV 100 based on the improved A* algorithm to avoid obstacles.

[0034] After the drone 100 arrives over the target sampling area, the water sampling module 200 is triggered to perform water quality sampling.

[0035] In Embodiment 1 of the present invention, the aforementioned obstacle recognition model is a YOLOv11 model. This YOLOv11 model is obtained by training on a training dataset, which includes at least 5000 images of water containing obstacles. Using this YOLOv11 model helps improve the accuracy of obstacle recognition.

[0036] In Embodiment 1 of the present invention, the flight control module 101 of the UAV 100 is further configured to: generate an initial cruise path for the UAV 100 based on the UAV grid center patrol method, and control the UAV 100 to cruise along the initial cruise path to patrol the target water area.

[0037] The UAV grid-center patrol method, as a highly efficient and accurate patrol algorithm, operates on the principle of dividing the area to be patrolled into multiple uniformly sized, clearly defined grids, thus forming a regular grid system. Each grid can be considered an independent patrol unit, with its center point being the key patrol location. By using the UAV grid-center patrol method to generate the initial cruise path of the UAV 100, before sampling, the UAV 100 can accurately locate the center point of each patrol unit obtained after decomposing the target water area according to the initial cruise path. The UAV 100 then pauses at the center point of each patrol unit for an appropriate period of time to acquire the water area image of each patrol unit. Thus, by transmitting all the water area images of each patrol unit to the ground terminal 500, a complete water area image of the target water area can be obtained. In other words, the water area image of the target water area described in this embodiment is actually composed of water area images from multiple patrol units.

[0038] This sampling method helps ensure that the target water area is inspected evenly and without omission, and improves the efficiency and quality of the inspection. It also provides a reliable guarantee for the ground terminal 500 to interpret the water area image of the target water area and identify areas with abnormal water quality.

[0039] In Embodiment 1 of the present invention, the aforementioned improved A* algorithm is a variant of the classic A* algorithm, and its calculation formula is expressed as follows: Cost = g(n) + 1.2 * h(n); In the above formula, Cost is the total estimated cost of the current node n; g(n) is the actual cost from the flight start point of UAV 100 to the current node n; and h(n) is the Manhattan distance. It is worth noting that the nodes mentioned in this embodiment are the patrol units obtained after decomposing the target water area using the UAV grid center patrol method, and each patrol unit can be regarded as a node.

[0040] By regenerating the flight path of UAV 100 using the improved A* algorithm, it is possible to minimize the flight distance of UAV 100 while ensuring that UAV 100 avoids obstacles, thereby ensuring that UAV 100 can complete sampling within a limited flight time.

[0041] In addition, Embodiment 1 of the present invention also provides a method for water quality sampling using a drone, which employs the aforementioned drone water quality sampling system. Specifically, the drone water quality sampling method includes the following steps: Step S10. The user at the ground terminal 500 first inputs the target water area parameter information into the flight control module 101 of the UAV 100. The parameter information includes the size parameter, coordinate parameter, etc. of the target water area.

[0042] The flight control module 101 of the UAV 100 generates the initial cruise path of the UAV 100 based on the parameter information of the target water area and the UAV grid center patrol method.

[0043] Step S20. Launch the drone 100. The flight control module 101 of the drone 100 controls the drone 100 to fly along the initial cruise path to patrol the target water area. During the patrol, the drone 100 collects water area images of the target water area through the visual acquisition module 300 and transmits the water area images of the target water area to the ground terminal 500 via the data transmission module 400.

[0044] Step S30. The user of the ground terminal 500 interprets the water image of the target water area to identify the water quality anomaly area that is the target sampling area, and sends a control command to the data transmission module 400 to make the UAV 100 fly toward the target sampling area.

[0045] Subsequently, the data transmission module 400 sends control commands to the flight control module 101 of the UAV 100. After receiving the control commands issued by the ground terminal 500 based on the interpretation of the water area image of the target water area, the flight control module 101 controls the UAV 100 to fly towards the target sampling area.

[0046] It should be noted that during the entire flight of the UAV 100, the visual acquisition module 300 identifies the acquired target water area images. If obstacles are present, it sends an obstacle avoidance signal to the flight control module 101. Based on the received obstacle avoidance signal, the flight control module 101 dynamically adjusts the flight path of the UAV 100 using an improved A* algorithm, so that the UAV 100 can avoid obstacles and successfully reach the target sampling area.

[0047] Step S40. After the UAV 100 arrives over the target sampling area, the water sampling module 200 is controlled to perform water sampling to obtain water samples from the target sampling area. Afterwards, the UAV 100 returns to its home base to complete the single sampling.

[0048] In step S30, after the user on the ground terminal 500 interprets the water image of the target water area to find the water quality abnormal area that is the target sampling area, the method further includes: calculating the horizontal distance from the current position of the UAV 100 to the target sampling area based on the flight altitude of the UAV 100 and the coordinate parameters of the target sampling area.

[0049] It is worth noting that by calculating the horizontal distance from the current position of the drone 100 to the target sampling area, it is possible to determine whether the remaining flight time of the drone 100 supports its flight to the target sampling area and its return. Therefore, if it is determined that the drone 100 cannot fly to the target sampling area and return, no control command is sent to the flight control module 101 to control the drone 100 to fly to the target sampling area; instead, the drone 100 is directly controlled to return. This design helps to avoid situations where the drone 100 cannot return smoothly, improving the reliability of the entire sampling process.

[0050] The formula for calculating the horizontal distance from the current location of UAV 100 to the target sampling area is as follows: D=h*tan(α / 2)*{x(target)-x(center)} / {x(max) / 2}; In the above formula, D is the horizontal distance from the current position of the UAV 100 to the target sampling area; h is the flight altitude of the UAV 100; α is the horizontal field of view of the camera that serves as the image acquisition unit 301; x(target) is the horizontal coordinate of the target sampling area; x(center) is the horizontal coordinate of the center of the water image corresponding to the current position of the UAV 100; and x(max) is the maximum horizontal pixel value of the water image corresponding to the current position of the UAV 100.

[0051] In summary, the UAV water quality sampling system and method provided in Embodiment 1 of this invention, by constructing an intelligent architecture that coordinates "front-end automatic obstacle avoidance" and "back-end manual precise interpretation," delegates the complex task of identifying polluted areas, which relies on professional knowledge, to back-end personnel. This fully utilizes human judgment and flexibility, ensuring the accuracy and high reliability of sampling decisions. Simultaneously, the flight safety responsibility requiring rapid response is delegated to the front-end visual acquisition module 300 and flight control module 101. Through obstacle recognition based on an obstacle recognition model and dynamic path planning using an improved A* algorithm, real-time, autonomous avoidance of sudden obstacles is achieved. This greatly ensures the flight safety of the UAV 100 in complex aquatic environments and the continuity of sampling tasks, providing a reliable system solution for achieving efficient, safe, and accurate intelligent water quality sampling.

[0052] Example 2 Based on Embodiment 1, Embodiment 2 of the present invention provides another UAV water quality sampling system. Unlike Embodiment 1, Embodiment 2 further defines the structure of the water sampling module 200.

[0053] According to Embodiment 2 of the present invention, referring to Figures 3 to 8 As shown, the water intake module 200 includes a sampler 10, a take-up and release mechanism 20, and a locking mechanism 40.

[0054] like Figure 3 As shown, the sampler 10 is located below the drone 100 and is connected to the take-up and take-down mechanism 20 via a connecting rope 30. The take-up and take-down mechanism 20 is located on the drone 100 (e.g., at the bottom) and is used to take up and take down the connecting rope 30, so that the sampler 10 can move vertically in a locked position close to the drone 100 and in an unlocked position away from the drone 100.

[0055] The locking mechanism 40 is configured to selectively lock the sampler 10 when it is in the locked position. That is, when the sampler 10 moves to the locked position under the drive of the take-up and take-down mechanism 20, the locking mechanism 40 can be used to lock the sampler 10 to prevent it from shaking or even falling.

[0056] In accordance with the description in Embodiment 1, when the UAV 100 arrives at the target sampling area and needs to collect samples, the deployment and take-up mechanism 20 first releases the connecting rope 30, allowing the sampler 10, which is in the locked position, to descend under its own gravity until the sampler 10 enters the water in the target sampling area and collects a water sample. Then, the deployment and take-up mechanism 20 rewinds the connecting rope 30, using the connecting rope 30 to lift the sampler 10, which has collected a water sample, to the locked position. The locking mechanism 40 then locks the sampler 10 in the locked position. Finally, the UAV 100 returns to its home base to complete a single sampling operation.

[0057] In summary, Embodiment 2 of the present invention provides a vertical water sampling mechanism. By mounting it on a drone 100, it can quickly and automatically acquire water samples after the drone 100 arrives at the target sampling area, thereby improving sampling efficiency. Simultaneously, the locking mechanism 40 reduces the risk of the sampler 10 shaking or falling due to drone 100 shaking or broken connecting rope 30 when the drone 100 returns carrying the water sample. This provides a reliable guarantee for the safe return of the drone 100 carrying the water sample to the ground terminal 500, effectively improving the reliability of the entire sampling process.

[0058] In Embodiment 2 of the present invention, referring to Figure 4 and Figure 5 As shown, the sampler 10 includes a container 11 with an open top. An annular partition 12 is fixedly provided at the bottom of the container 11, dividing the interior of the container 11 into an inner cavity 13 and an outer cavity 14 that are in communication with each other. Furthermore, the height of the partition 12 is less than the height of the container 11, which keeps the inner cavity 13 and the outer cavity 14 connected at the top of the partition 12. The aforementioned sampler 10 is driven to the take-up and take-down mechanism 20 via a connecting rope 30; specifically, the container 11 is driven to the take-up and take-down mechanism 20 via the connecting rope 30.

[0059] In addition, the bottom of the container 11 is provided with several flow channels 15 that communicate with the outer cavity 14, and these flow channels 15 are used for water to enter and exit the outer cavity 14. Furthermore, when the sampler 10 is in the locked position, the top of the container 11 is in contact with and fits against the bottom of the outer shell 21.

[0060] Based on the above settings, the general process for obtaining water samples using sampler 10 is as follows: When the release mechanism 20 releases the connecting rope 30 to allow the sampler 10 to descend and enter the water, the water will flow directly into the outer cavity 14 from the flow channel 15 because the top of the container 11 is open and its bottom is provided with a flow channel 15. This will quickly expel the air in the outer cavity 14, greatly reducing the buoyancy of the sampler 10 when it enters the water, so that the sampler 10 can enter the water smoothly without additional counterweight.

[0061] As the sampler 10 descends, the water flowing into the outer cavity 14 will eventually enter the inner cavity 13. After the sampler 10 descends to the target depth, it stops descending and remains stationary for a preset time to ensure that the inner cavity 13 and the outer cavity 14 are completely filled with water.

[0062] The retraction mechanism 20 then winds up the connecting rope 30 to raise the sampler 10. After the sampler 10 leaves the water surface, the water in the outer cavity 14 will flow out through the flow channel 15, while the water in the inner cavity 13 will be retained as a water sample for subsequent testing.

[0063] The above-described improvements to the structure of the sampler 10 in Embodiment 2 of the present invention effectively reduce the buoyancy of the sampler 10 when it enters the water, allowing the sampler 10 to enter the water smoothly without additional counterweight. Compared with setting counterweight on the sampler 10 to ensure that the sampler 10 can sink into the water, the method adopted in Embodiment 2 of the present invention helps to reduce the load of the drone 100 and improve the stability and endurance of the drone 100 during flight.

[0064] Meanwhile, since only a small portion of the water in the inner cavity 13 is retained as a water sample after the sampler 10 exits, the load on the UAV 100 during return can be minimized, thus providing a reliable guarantee for the stable flight of the UAV 100 during return.

[0065] In some possible embodiments, both the partition 12 and the container 11 can be cylindrical structures, and the partition 12 and the container 11 are arranged coaxially. This design helps to ensure the symmetry of the inner cavity 13 and the outer cavity 14, so that the sampler 10 is subjected to more uniform force during the water influx process.

[0066] In some possible embodiments, the partition 12 is integrally formed with the container 11 to eliminate gaps at the connection between the partition 12 and the container 11, enhance the overall structural strength of the sampler 10, and simplify the manufacturing process of the sampler 10.

[0067] In some possible embodiments, refer to Figure 4 As shown, there can be multiple flow channels 15, which are evenly distributed around the circumference of the container 11. By setting multiple evenly distributed flow channels 15, not only is the water inflow of the sampler 10 increased when it enters the water, thus further reducing the buoyancy of the sampler 10 and enabling the sampler 10 to enter the water faster, but the uniformity of the force on the sampler 10 when it enters the water is also improved, thereby enhancing the stability of the sampler 10 when it enters the water.

[0068] Preferably, the flow channel 15 can be a circular through hole opened at the bottom of the container 11, so as to simplify the processing technology of the flow channel 15 as much as possible.

[0069] In some possible embodiments, the sampler 10 is made of either PETG (polyethylene terephthalate) or PTFE (polytetrafluoroethylene). Using PETG or PTFE to make the sampler 10 improves its toughness and corrosion resistance, enabling it to better adapt to complex aquatic environments and ensuring its service life. Furthermore, when the target water area to be sampled is a low-pollution water area, a sampler 10 made of PETG is used; when the target water area to be sampled is a high-pollution water area, a sampler 10 made of PTFE, which has higher corrosion resistance, is used.

[0070] In some possible embodiments, refer to Figure 5 As shown, multiple connection holes 16 for connecting the connecting rope 30 can be opened on the side wall of the container 11 near its top. The multiple connection holes 16 are evenly distributed along the circumference of the container 11 to improve the stability when the connecting rope 30 pulls the sampler 10 upward. In addition, the vertical position of each connection hole 16 is higher than the top of the partition 12 to ensure that water in the outer cavity 14 can smoothly enter the inner cavity 13.

[0071] In some possible embodiments, refer to Figure 3 , Figure 6 and Figure 7 As shown, the take-up and take-down mechanism 20 includes a closed housing 21, a drive motor 22, and a winding component 23.

[0072] The outer shell 21 is fixedly installed at the bottom of the UAV 100, and it is mainly used to provide a mounting carrier and protection for components such as the drive motor 22 and the winding component 23.

[0073] The sampler 10 is connected to the winding member 23 via a connecting rope 30. Specifically, one end of the connecting rope 30 is connected to the container 11, and the other end of the connecting rope 30 is wound around the winding member 23. Preferably, the winding member 23 can be a winding reel.

[0074] The drive motor 22 is fixedly installed inside the outer shell 21 at the bottom of the drone 100 and is used to drive the winding member 23 located inside the outer shell 21 to rotate, so as to wind and unwind the connecting rope 30 by rotating the winding member 23.

[0075] Based on the above settings, when the drive motor 22 drives the winding member 23 to rotate forward, the winding member 23 will release the connecting rope 30 so that the sampler 10 can descend under its own gravity; conversely, when the drive motor 22 drives the winding member 23 to rotate in reverse, the winding member 23 will wind up the connecting rope 30 so that the sampler 10 can rise.

[0076] By adopting the above method to achieve the lifting and lowering of the sampler 10, not only is the structure simple and the cost low, but it can also provide a reliable guarantee for the stable lifting and lowering of the sampler 10.

[0077] In some possible embodiments, the drive motor 22 may be a motor with an encoder. The encoder is capable of outputting a feedback signal characterizing the number of rotations of the output shaft of the drive motor 22.

[0078] Reference Figure 6 As shown, the water intake module 200 may further include a control board 50 electrically connected to the drive motor 22. This control board 50 is configured to calculate the release length of the connecting rope 30 based on feedback signals from the encoder, thereby controlling the lowering depth of the sampler 10. Preferably, the control board 50 may be housed within the housing 21 to provide protection for the control board 50.

[0079] Specifically, when the drive motor 22 drives the winding member 23 to rotate forward to release the connecting rope 30, the encoder of the drive motor 22 will send a feedback signal to the control board 50 in real time, representing the number of rotations of the output shaft of the drive motor 22. The control board 50 can calculate the release length of the connecting rope 30 based on the feedback signal and a preset calculation formula, thereby determining the lowering depth of the sampler 10. When the release length of the connecting rope 30 calculated by the control board 50 is equal to the preset release length, the control board 50 controls the drive motor 22 to stop, so that the sampler 10 can be lowered to the preset depth to reach the target sampling depth.

[0080] The formula for calculating the release length of the connecting rope 30 is expressed as: H=2πrN / (500i); where π is pi; H is the release length of the connecting rope 30; r is the radius of the winding member 23; N is the total number of pulses of the feedback signal output by the encoder; and i is the reduction ratio.

[0081] It is understandable that by using a motor with an encoder as the drive motor 22, and making the drive motor 22 and the control board 50 form a closed-loop control system, the lowering depth of the sampler 10 can be calculated and controlled in real time with precision, which effectively improves the accuracy of sampling.

[0082] Furthermore, the control board 50 can be communicatively connected to the Raspberry Pi 4B motherboard, which serves as the image processing unit 302, so that the control board 50 can receive water collection commands from the Raspberry Pi 4B motherboard and control the drive motor 22 to work based on the water collection commands, thereby realizing automated water sample acquisition.

[0083] In some possible embodiments, refer to Figure 6 As shown, the water intake module 200 also includes a power supply 60 fixedly mounted on the drone 100. The power supply 60 is electrically connected to the control board 50 to provide power to components such as the control board 50 and the drive motor 22.

[0084] Alternatively, the power supply 60 can also be located inside the housing 21 to provide protection for the power supply 60 through the housing 21, and to achieve the integrated design of the water intake module 200.

[0085] In Embodiment 2 of the present invention, referring to Figure 7 and Figure 8 As shown, the locking mechanism 40 includes a locking hole 41 and a locking drive assembly 42 corresponding to the locking hole 41. The locking hole 41 is formed on the sampler 10, specifically on the side wall of the container 11 near its top.

[0086] The locking drive assembly 42 is fixedly installed at the bottom of the drone 100, specifically at the bottom of the outer shell 21, and includes a locking post 421, an elastic element 423, and an electromagnet 424.

[0087] The locking pin 421 is movably disposed at the bottom of the drone 100 (specifically, the bottom of the outer shell 21) so that the locking pin 421 can move in a first position inserted into the locking hole 41 and a second position withdrawn from the locking hole 41. Specifically, a limiting seat 422 is fixedly disposed at the bottom of the outer shell 21 to slide with the locking pin 421 so that the locking pin 421 can slide between the first position and the second position.

[0088] The elastic element 423 is sleeved on the outer wall of the locking post 421. One end of the elastic element 423 is fixedly connected to the limiting seat 422, and the other end of the elastic element 423 is fixedly connected to the locking post 421, so as to bias the locking post 421 toward the first position through the elastic element 423.

[0089] An electromagnet 424 is disposed on the side of the locking pin 421 opposite to the locking hole 41. It is configured to apply an electromagnetic force to the locking pin 421 in the energized state, forcing the locking pin 421 to move to the second position, thereby causing the locking pin 421 to move from the first position to the second position.

[0090] Based on the above settings, assuming that in the initial state, sampler 10 is in the following condition: Figure 7In the locked position shown, the electromagnet 424 is de-energized. At this time, the locking pin 421, under the bias of the elastic element 423, extends into the locking hole 41 and is in the first position to lock the sampler 10. To unlock the sampler 10, simply energize the electromagnet 424 to apply the electromagnetic force to the locking pin 421, causing it to move to the second position, withdrawing from the locking hole 41. Conversely, when the sampler 10 is in the locked position and the locking mechanism 40 is needed to lock it, simply de-energize the electromagnet 424. The bias of the elastic element 423 will then allow the locking pin 421 to extend into the locking hole 41 to lock the sampler 10.

[0091] By employing the locking mechanism 40 with the above-described structure, the electromagnet 424 is only energized when it is necessary to unlock the sampler 10, thus saving energy and enabling the sampler 10 to be locked or unlocked quickly.

[0092] In some possible embodiments, the electromagnet 424 can be electrically connected to the aforementioned control board 50 so that the control board 50 can automatically control the electromagnet 424 to turn on and off, thereby automatically locking and unlocking the sampler 10.

[0093] In some possible embodiments, refer to Figure 7 As shown, multiple locking mechanisms 40 can be set, and the multiple locking mechanisms 40 are arranged evenly in sequence along the circumference of the sampler 10 to ensure that even if the connecting rope 30 breaks, the sampler 10 will not tilt or even fall, further improving the stability of the sampler 10 after it is locked.

[0094] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A water quality sampling system for unmanned aerial vehicles (UAVs), characterized in that, include: A drone, which is equipped with a water collection module; A visual acquisition module, installed on the UAV, is used to acquire images of the target water area and selectively issue obstacle avoidance signals based on the obstacle recognition module's identification of the water images of the target water area. The data transmission module is used to transmit the water area image of the target water area acquired by the visual acquisition module to the ground terminal, and to receive control commands from the ground terminal. The drone includes a flight control module; the flight control module is configured to: The system receives the control command transmitted via the data transmission module, which is issued by the ground terminal based on the interpretation of the water area image of the target water area, and controls the UAV to fly over the target sampling area. Furthermore, upon receiving the obstacle avoidance signal from the visual acquisition module, the drone's flight path is dynamically adjusted to avoid obstacles. Specifically, after the drone arrives above the target sampling area, the water sampling module is triggered to perform a water quality sampling action.

2. The UAV water quality sampling system according to claim 1, characterized in that, The obstacle recognition model is the YOLOv11 model.

3. The UAV water quality sampling system according to claim 1 or 2, characterized in that, When the proportion of the obstacle pixel area identified by the visual acquisition module in the water image of the target water area exceeds a preset threshold, the obstacle avoidance signal is issued.

4. The UAV water quality sampling system according to claim 3, characterized in that, The preset threshold is 10%.

5. The UAV water quality sampling system according to claim 1, characterized in that, The flight control module is configured to dynamically adjust the flight path of the UAV based on the improved A* algorithm after receiving the obstacle avoidance signal from the vision acquisition module. The improved A* algorithm is expressed as follows: Cost = g(n) + 1.2 * h(n); In the above formula, Cost is the total estimated cost of the current node n; g(n) is the actual cost from the drone's flight start point to the current node n; and h(n) is the Manhattan distance.

6. The UAV water quality sampling system according to claim 1, characterized in that, The flight control module is also configured to: generate an initial cruise path for the UAV based on the UAV grid center patrol method, and control the UAV to cruise along the initial cruise path to patrol the target water area.

7. The UAV water quality sampling system according to claim 1, characterized in that, The water intake module includes a sampler, a retraction mechanism, and a locking mechanism; The sampler is located below the drone and is connected to the take-up and take-down mechanism via a connecting rope; the take-up and take-down mechanism is located on the drone and is used to take up and take down the connecting rope, so that the sampler can move vertically in a locked position close to the drone and in an unlocked position away from the drone. The locking mechanism is configured to selectively lock the sampler when it is in the locked position.

8. The UAV water quality sampling system according to claim 7, characterized in that, The sampler includes a container with an open top, and an annular partition is provided at the bottom of the container, which divides the interior of the container into an inner cavity and an outer cavity that are in communication with each other; the height of the partition is less than the height of the container. The bottom of the container is provided with a flow channel that communicates with the outer cavity.

9. The UAV water quality sampling system according to claim 7, characterized in that, The locking mechanism includes a locking hole and a locking drive component corresponding to each locking hole; The locking hole is formed on the sampler; the locking drive assembly is fixedly disposed on the bottom of the UAV and includes a locking post, an elastic element and an electromagnet; The locking post is movably disposed at the bottom of the drone so that the locking post can move in a first position inserted into the locking hole and in a second position withdrawn from the locking hole; The elastic element is sleeved on the outer wall of the locking post to bias the locking post toward the first position. The electromagnet is disposed on the side of the locking post opposite to the locking hole and is configured to apply an electromagnetic force to the locking post in an energized state, forcing the locking post to move to the second position.

10. A method for water quality sampling using a drone, employing the drone water quality sampling system according to any one of claims 1 to 9, characterized in that, Includes the following steps: Control the drone to cruise over the target waters; During the cruise flight, images of the target water area are acquired and transmitted to the ground terminal. The system receives control commands from the ground terminal based on the interpretation of water area images of the target water area, and controls the UAV to fly towards the target sampling area. During the flight of the drone, the drone's flight path is dynamically adjusted to avoid obstacles based on the received obstacle avoidance signals. After the drone arrives over the target sampling area, it performs water quality sampling.

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