CN108313289B - Unmanned aerial vehicle environment monitoring device - Google Patents
Unmanned aerial vehicle environment monitoring device Download PDFInfo
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- CN108313289B CN108313289B CN201810017083.3A CN201810017083A CN108313289B CN 108313289 B CN108313289 B CN 108313289B CN 201810017083 A CN201810017083 A CN 201810017083A CN 108313289 B CN108313289 B CN 108313289B
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- 238000012806 monitoring device Methods 0.000 title claims abstract description 19
- 230000007613 environmental effect Effects 0.000 claims description 15
- 230000005284 excitation Effects 0.000 claims description 15
- 238000004891 communication Methods 0.000 claims description 12
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims description 6
- 235000017166 Bambusa arundinacea Nutrition 0.000 claims description 3
- 235000017491 Bambusa tulda Nutrition 0.000 claims description 3
- 241001330002 Bambuseae Species 0.000 claims description 3
- 235000015334 Phyllostachys viridis Nutrition 0.000 claims description 3
- 239000011425 bamboo Substances 0.000 claims description 3
- 210000005069 ears Anatomy 0.000 claims description 3
- 210000005056 cell body Anatomy 0.000 claims 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 28
- 238000012544 monitoring process Methods 0.000 abstract description 4
- 239000013505 freshwater Substances 0.000 abstract description 3
- 230000007246 mechanism Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 229920000049 Carbon (fiber) Polymers 0.000 description 2
- 239000004917 carbon fiber Substances 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000000737 periodic effect Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000005070 sampling Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 230000006866 deterioration Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- ZZUFCTLCJUWOSV-UHFFFAOYSA-N furosemide Chemical group C1=C(Cl)C(S(=O)(=O)N)=CC(C(O)=O)=C1NCC1=CC=CO1 ZZUFCTLCJUWOSV-UHFFFAOYSA-N 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
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- 230000005622 photoelectricity Effects 0.000 description 1
- 239000002352 surface water Substances 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/10—Devices for withdrawing samples in the liquid or fluent state
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/10—Devices for withdrawing samples in the liquid or fluent state
- G01N2001/1031—Sampling from special places
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Hydrology & Water Resources (AREA)
- Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Monitoring And Testing Of Nuclear Reactors (AREA)
- Sampling And Sample Adjustment (AREA)
Abstract
The invention discloses an unmanned aerial vehicle environment monitoring device which comprises an unmanned aerial vehicle body, a balancing part, a wire releasing part, a supporting part, a rotating part, a traction collecting part, a jacking part and a control part. The balance part is fixed in the lower extreme of unmanned aerial vehicle body, and the supporting part is fixed in unmanned aerial vehicle body lower extreme, and the unwrapping wire portion is fixed with the supporting part, and the rotation portion is fixed with the supporting part, draws the collection portion to be connected with the rotation portion, and the jack-up portion is fixed in the below of supporting part, and the control part is fixed with the supporting part. The invention is suitable for automatically collecting water samples of different depths in fresh water lakes, rivers and offshore areas. One place is set, water samples with different depths are automatically collected, and multiple places can be sampled in one flight task. The working efficiency of environment monitoring personnel can be greatly improved, and the working intensity is reduced.
Description
Technical Field
The invention relates to a monitoring device, in particular to an unmanned aerial vehicle environment monitoring device.
Background
China is a country with serious drought and water shortage. The total amount of fresh water resources in China is 28000 billion cubic meters, which accounts for 6 percent of the global water resources and is second only to Brazil, Russia and Canada, the fourth place in the famous world. However, the per capita water resource of China is only 2300 cubic meters, which is only 1/4 on the average level in the world, and is one of the most scarce countries in the per capita water resource of the world. However, China is the country with the most water consumption in the world. The protection of water resources relates to the environments of rivers, lakes, oceans and the like. With the continuous promotion of the industrialization process of China, the environment pollution phenomenon is increasingly serious, and the monitoring of water quality is an important basis for the management and treatment of environmental protection departments and organizations. Current quality of water sampling still takes traditional boats and ships collection as the owner. The working strength is high, the collection environment is severe, and the efficiency is low. Especially for the collection of different degree of depth water samples, it is particularly loaded down with trivial details. Most hydrology environmental monitoring automation equipment all faces surface water at present, can't satisfy the automatic acquisition needs to the different degree of depth waters water sample. The problems of water sample deterioration and the like caused by the old technology and low efficiency and overlong time from sampling to inspection are urgently solved.
Disclosure of Invention
The invention aims to overcome the defects and provide an unmanned aerial vehicle environment monitoring device to solve the problems.
Unmanned aerial vehicle environmental monitoring device, including unmanned aerial vehicle body, balancing part, unwrapping wire portion, supporting part, rotation portion, pull collection portion, jack-up portion and control part.
The balance part is fixed in the lower extreme of unmanned aerial vehicle body, and the supporting part is fixed in unmanned aerial vehicle body lower extreme, and the unwrapping wire portion is fixed with the supporting part, and the rotation portion is connected with the supporting part, draws the collection portion to be connected with the rotation portion, and the jack-up portion is fixed in the below of supporting part, and the control part is fixed with the supporting part.
The unmanned aerial vehicle body is rotor type unmanned aerial vehicle.
The balancing part comprises a balancing motor, a connecting rod and a balancing ball.
The balance motor is a stepping motor and is connected with a flight control system of the unmanned aerial vehicle body. The connecting rod is rod-shaped, one end of the connecting rod is fixed with an output shaft of the balance motor, and the other end of the connecting rod is fixed with the balance ball. The balance ball is spherical, and weights are arranged in the balance ball
The wire releasing part comprises a wire releasing motor, a roller and a traction wire.
And a paying-off motor and a roller of the paying-off part are fixed at one end of the top plate of the supporting part.
And a photoelectric coded disc is arranged on the side surface of the roller. The code reader of the photoelectric code disc is connected with the control part.
One end of the traction wire is fixed on an output shaft of the paying-off motor, and then is wound on the roller and connected with the traction collection part.
The supporting part is fixed with the unmanned aerial vehicle body, is located the below of balancing unit.
The supporting part comprises a top plate, a bottom plate and a fixing rod. The top plate is in a straight line shape, and two ends of the top plate are respectively fixed with a fixed rod. And a traction collection part is connected below the center of the top plate. One end of the top plate is connected with a rotating part below, and the other end of the top plate is fixed with a wire releasing part. The fixed rod is rod-shaped, the upper end of the fixed rod is fixed with the top plate, and the lower end of the fixed rod is fixed with the bottom plate. The fixing rod is made of carbon fiber materials. The bottom plate center is discoid, and both ends are equipped with two protruding ears. The base plate disc is provided with a guide-out hole which is in clearance fit with the collection cylinder of the traction collection part. The lower end of the lug boss close to the guide-out hole is fixed with a jacking portion, the lower end of the lug boss at the position is provided with a groove, the width of the groove is larger than the thickness of the thimble of the jacking portion, and meanwhile, the jacking pressure sensor of the jacking portion is fixed on the groove surface of the lug boss at the position. The upper surface of the base plate disc is provided with an annular groove. The annular groove is in clearance fit with the hemispherical bulge at the lower end of the traction collecting part. The circle center of the bottom plate leading-out hole is located on the annular groove.
The rotating part comprises a rotating motor, a driving plate, a grooved wheel and a hole seat.
The rotating part is of a grooved wheel structure.
The rotating motor is fixed with the top plate of the supporting portion, the driving plate is fixed with an output shaft of the rotating motor, the upper end of the grooved wheel is hinged with the top plate of the supporting portion, and the lower end of the grooved wheel is fixed with the hole seat. The rotating motor is a direct current motor and is connected with the control part, and an output shaft of the direct current motor is fixed with the upper end of the drive plate. The driving plate is provided with a cylindrical pin and a crescent protrusion. The drive plate is fixed with an output shaft of the rotating motor. The grooved wheel is disc-shaped, the surface of the grooved wheel is provided with a strip-shaped groove and a crescent groove, the strip-shaped groove is in clearance fit with the cylindrical pin of the driving plate, and the radius of the crescent groove is the same as that of the crescent bulge of the driving plate. The upper end of the grooved pulley is hinged with the top plate, and the lower end of the grooved pulley is fixedly connected with the upper end of the hole seat. The hole seat is divided into an upper circular plate and a lower circular plate which are fixedly connected through an upright post. The upper circular plate and the lower circular plate are respectively provided with at least three circular through holes, the circular through holes of the upper circular plate are circumferentially arrayed around the axial lead of the upper circular plate at equal included angles, and the circular through holes of the lower circular plate are circumferentially arrayed around the axial lead of the lower circular plate at equal included angles. The axes of the circular through holes of the upper circular plate and the lower circular plate are superposed, and the hole diameters are the same. The aperture of the round through hole of the hole seat is the same as that of the leading-out hole of the bottom plate. The round through hole of the hole seat is in clearance fit with the collection cylinder of the traction collection part. The circle center line of the upper circular plate where the circle center of the circular through hole of the upper circular plate is located is the same as the circle center line of the lower circular plate where the circle center of the circular through hole of the lower circular plate is located and the diameter of the circle center line of the annular groove of the bottom plate. The number of the round through holes of the upper circular plate is the same as that of the strip grooves of the grooved wheel.
The traction collection part comprises a fixed cylinder, a pressure sensor, a traction head and a collection cylinder. The fixed cylinder is fixed with the supporting part, the pressure sensor is arranged in the fixed cylinder, the traction head is connected with the fixed cylinder, and the collection cylinder is positioned in a hole seat of the rotating part. The upper end of the fixed cylinder is fixed at the lower end of the center of the top plate. The fixed cylinder is cylindrical, a conical groove is formed in the lower end of the fixed cylinder, a pressure sensor is arranged on the wall of the groove, and the pressure sensor is connected with the control portion. The traction wire of the paying-off part penetrates through the fixed cylinder and is fixed with the upper end of the traction head.
The upper end of the traction head is conical, the lower end of the traction head is cylindrical, the diameter of the cylinder is the same as the aperture of the leading-out hole, and the upper end of the traction head and the leading-out hole are in clearance fit. The lower part of the traction head is provided with a triangular groove, the upper end of the triangular groove is a triangular pyramid groove, and the lower end of the triangular pyramid groove is a triangular prism groove. Three side surfaces of the triangular prism groove are respectively fixed with a fixing unit. The lower surface of the traction head is fixed with three cylindrical bulges, and electromagnetic columns of the excitation unit are arranged in the cylindrical bulges. The cylindrical protrusion is in clearance fit with the positioning hole of the positioning plate of the collecting cylinder. A fixing unit and an excitation unit are arranged in the traction head.
The fixing unit of the traction head and the fixing inserting plate of the collecting cylinder form a pressing, inserting and popping structure.
The excitation unit comprises a control module, a communication module, a power supply, an electromagnet driving module and an electromagnetic column. The control module is connected with the communication module, the power supply and the electromagnet driving module, and the electromagnet driving module is connected with the electromagnetic column. The electromagnetic column is a columnar electromagnet.
The collecting cylinder is columnar and comprises a triangular protrusion, a fixed inserting plate, a positioning plate, a cylinder cover, a cylinder body, a spring, a magnetic block and a socket. The upper part of the triangular protrusion is a triangular pyramid, and the lower part of the triangular protrusion is a triangular prism. The triangular bulge is fixed in the center of the upper surface of the positioning plate. And the centers of three side surfaces of the triangular protrusion are respectively fixed with a fixed inserting plate. And three cylinder covers are fixed at the lower end of the positioning plate. The locating plate is provided with three locating holes. The electromagnetic column of the traction head is inserted into the positioning hole.
The cylinder cover is a columnar sheet and is provided with a through hole, and the aperture of the cylinder cover is the same as that of the positioning hole of the positioning plate. The upper end of the cylinder cover is fixed with the positioning plate, and the lower end of the cylinder cover is fixed with the cylinder body. Three cylinder bodies are arranged in one collecting cylinder. The barrel is in an open column shape, and the lower end of the barrel is fixed with the socket. A cylindrical groove body is arranged in the barrel body, a spring is fixed in the cylindrical groove body, and a magnetic block is fixed at the upper end of the spring. The upper end of the cylinder body is provided with a through hole. The polarity of the upper surface of the magnetic block is the same as that of the lower end of the traction head electromagnetic column after being electrified. The socket is disc-shaped, and the lower extreme is equipped with the hemisphere arch, and the hemisphere arch inserts in the annular groove of bottom plate.
The jacking portion comprises a jacking pressure sensor, a jacking motor and a thimble. The jacking part is fixed at the lower end of the bottom plate. Meanwhile, a groove is formed in the lower end of the protruding lug at the position of the fixed jacking portion of the bottom plate, the width of the groove is larger than the thickness of the ejector pin of the jacking portion, and the jacking pressure sensor is fixed in the groove at the lower end of the protruding lug close to the guide-out hole. The jacking motor is fixed at the lower end of the protruding lug close to the guide-out hole. The jacking pressure sensor is connected with the control part, and the jacking motor is connected with the control part. The thimble is L shape, and one end is fixed with the output shaft of jack-up motor connection, and the other end is equipped with worker's shape head, and the first upper surface of worker's shape is equipped with the rubber ball.
The control part is fixed on the unmanned aerial vehicle body, and the inside communication module that is equipped with communicates with the flight control system of unmanned aerial vehicle body and the excitation unit of traction head.
The invention has the beneficial effects that:
the invention is suitable for automatically collecting water samples of different depths in fresh water lakes, rivers and offshore areas. One place is set, water samples with different depths are automatically collected, and multiple places can be sampled in one flight task. The working efficiency of environment monitoring personnel can be greatly improved, and the working intensity is reduced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is an overall schematic view of the present invention;
FIG. 2 is a schematic view of the lower structure of the unmanned aerial vehicle body of the present invention;
fig. 3 is a schematic perspective view of the lower structure of the unmanned aerial vehicle body of the invention;
FIG. 4 is a schematic view of a rotating portion of the present invention;
FIG. 5 is a partial schematic view of a tractor collection section of the present invention;
FIG. 6 is a schematic view of the structure of the socket of the present invention;
FIG. 7 is a schematic view of a collection cartridge of the present invention;
FIG. 8 is a top view of a collection cartridge of the present invention;
FIG. 9 is a schematic view of a tractor collection canister attachment of the present invention;
FIG. 10 is a schematic view of the jacking portion of the present invention;
FIG. 11 is a partial view of the present invention in use.
Illustration of the drawings:
1. an unmanned aerial vehicle body; 2. a balancing section; 201. a balancing motor; 202. a connecting rod; 203. a balance ball; 3. a wire releasing part; 301. paying off a motor; 302. a drum; 4. a support portion; 401. a top plate; 402. a base plate; 402a, a raised ear; 402b, a lead-out hole; 402c, an annular groove; 403. fixing the rod; 5. a rotating part; 501. rotating the motor; 502. a dial; 502a, a cylindrical pin; 502b, a crescent bump; 503. a grooved wheel; 503a, strip-shaped grooves; 503b, a crescent groove; 504. a hole seat; 504a, an upper circular plate; 504b, a lower circular plate; 6. a traction collection part; 601. a fixed cylinder; 602. a traction head; 602a, triangular pyramid grooves; 602b, triangular prism grooves; 602c, a fixing unit; 602d1, electromagnetic pole; 603. a collection cylinder; 6031. three-edged bulges; 6032. fixing the inserting plate; 6033. positioning a plate; 6033a, positioning holes; 6034. a cylinder cover; 6035. a barrel; 6036. a spring; 6037. a magnetic block; 6038. a socket; 6038a, hemispherical bumps; 7. a jack-up portion; 701. jacking up the motor; 702. a thimble; 702a, an I-shaped head.
Detailed Description
The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings so that the advantages and features of the present invention can be more easily understood by those skilled in the art, and the scope of the present invention will be more clearly and clearly defined.
Referring to fig. 1 to 11, unmanned aerial vehicle environmental monitoring device, including unmanned aerial vehicle body 1, balancing unit 2, unwrapping wire portion 3, supporting part 4, rotation portion 5, pull collection portion 6, jack-up portion 7 and control part. Balance part 2 is fixed in the lower extreme of unmanned aerial vehicle body 1, and supporting part 4 is fixed in 1 lower extreme of unmanned aerial vehicle body, and unwrapping wire portion 3 is fixed with supporting part 4, and rotation portion 5 is connected with supporting part 4, draws collection portion 6 to be connected with rotation portion 5, and jacking portion 7 is fixed in the below of supporting part 4, and the control division is fixed with supporting part 4.
Unmanned aerial vehicle body 1 is rotor type unmanned aerial vehicle.
The balancing part 2 includes a balancing motor 201, a link 202, and a balancing ball 203. Balance motor 201 is step motor, and balance motor 201 is connected with the flight control system of unmanned aerial vehicle body 1. The connecting rod 202 is rod-shaped, one end of which is fixed with the output shaft of the balance motor 201, and the other end of which is fixed with the balance ball 203. The balance ball 203 is globular, and inside is equipped with the weight, and unmanned aerial vehicle body 1 is when flight status, and the flight control system in the unmanned aerial vehicle body 1 controls balance motor 201, and then rotates balance ball 203, makes unmanned aerial vehicle body 1 keep the stability of flight gesture.
The pay-off part 3 includes a pay-off motor 301, a drum 302, and a pull wire. The pay-off motor 301 and the drum 302 of the pay-off part 3 are fixed to one end of the top plate 401 of the support part 4. The side of the roller 302 is provided with a photoelectric code disc. The code reader of the photoelectric code disc is connected with the control part. One end of the traction wire is fixed on the output shaft of the paying-off motor 301, and further wound on the roller 302 and connected with the traction collection part 6. The traction wire drags and pulls the collection part 6, specifically, the paying-off motor 301 rotates to wind or release the traction wire, the traction wire passes through the roller 302, and the roller 302 measures the length of the wound or released traction wire. When a predetermined winding or releasing length is reached, the control part controls the pay-off motor 301 to stop rotating. The photoelectric code disk is made of optical glass, on the upper surface several concentric code channels are carved, and on every code channel several light-transmitting and light-non-transmitting portions are set, which are arranged according to a certain rule. When the code wheel rotates at different positions, the combination of the output signals of the photosensitive elements reflects a certain regular digital quantity and represents the angular displacement of the code wheel shaft. Encoders can be classified into an incremental type and an absolute type according to their operation principles. The incremental code disc converts displacement into periodic electric signal, and converts the electric signal into counting pulse, and the number of the pulse is used to express the magnitude of the displacement. Each position of the absolute code disk corresponds to a specific digital code, so that its representation is dependent only on the start and end positions of the measurement and not on the intermediate course of the measurement. The invention adopts an incremental code disc and a code reader matched with the incremental code disc. And then realize the accurate measurement to cylinder 302 accumulative total turned angle, finally realize the accurate control of unwrapping wire distance. Compare in directly being connected cylinder 302 and step motor, the mode of unwrapping wire distance control is realized to turned angle control through step motor, and the control mode of photoelectricity code wheel is faster, more accurate.
Supporting part 4 is fixed with unmanned aerial vehicle body 1, is located the below of balancing unit 2. The support portion 4 includes a top plate 401, a bottom plate 402, and a fixing rod 403. The top plate 401 is in a linear shape, and a fixing rod 403 is fixed to each end. A traction collection unit 6 is connected to the lower center of the top plate 401. A rotating portion 5 is connected to a lower portion of one end of the top plate 401, and a wire releasing portion 3 is fixed to the other end. The fixing rod 403 is rod-shaped, and has an upper end fixed to the top plate 401 and a lower end fixed to the bottom plate 402. The fixing rod 403 is made of carbon fiber material. The bottom plate 402 has a disk shape at the center and two protruding ears 402a at both ends. The disc of the bottom plate 402 is provided with an outlet hole 402b, and the outlet hole 402b is in clearance fit with the collecting cylinder 603 of the traction collecting part 6. The lower end of the lug 402a close to the outlet hole 402b is fixed with a jacking portion 7, and the lower end of the lug 402a at the position is provided with a groove, the width of the groove is larger than the thickness of the thimble 702 of the jacking portion 7, and the jacking pressure sensor of the jacking portion 7 is fixed on the groove surface of the lug 402a at the position. The upper surface of the disk of the base plate 402 is provided with an annular groove 402 c. The annular groove 402c is in clearance fit with the hemispherical protrusion 6038a at the lower end of the pulling collection part 6. The center of the bottom plate 402 exit hole 402b falls within the annular recess 402 c. The base plate 402 has at least one through hole in the center of the disk to reduce the overall mass of the base plate 402.
The rotating portion 5 includes a rotating motor 501, a dial 502, a sheave 503, and a socket 504. The rotating portion 5 has a sheave 503 structure. The rotating motor 501 is fixed with the top plate 401 of the support part 4, the dial 502 is fixed with the output shaft of the rotating motor 501, the upper end of the grooved wheel 503 is hinged with the top plate 401 of the support part 4, and the lower end of the grooved wheel 503 is fixed with the upper end of the hole seat 504. The rotation motor 501 is a dc motor, and is connected to the control unit, and an output shaft of the dc motor is fixed to an upper end of the dial 502. The dial 502 is provided with a cylindrical pin 502a and a crescent 502 b. The dial 502 is fixed to an output shaft of the rotation motor 501. The grooved wheel 503 is disc-shaped, the surface of the grooved wheel 503 is provided with a strip-shaped groove 503a and a crescent 503b, the strip-shaped groove 503a is in clearance fit with the cylindrical pin 502a of the dial 502, and the crescent 503b is the same as the circular radius of the crescent 502b of the dial 502. The upper end of the grooved wheel 503 is hinged with the top plate 401, and the lower end of the grooved wheel 503 is fixedly connected with the hole seat 504. The socket 504 is divided into an upper circular plate 504a and a lower circular plate 504b, which are connected and fixed by a column. The upper circular plate 504a and the lower circular plate 504b are respectively provided with at least three circular through holes, the circular through holes of the upper circular plate 504a are circumferentially arrayed around the axial lead of the upper circular plate 504a at equal included angles, and the circular through holes of the lower circular plate 504b are circumferentially arrayed around the axial lead of the lower circular plate 504b at equal included angles. The circular through holes of the upper circular plate 504a and the lower circular plate 504b have the same diameter and the same axial line. The hole diameter of the circular through hole of the socket 504 is the same as the hole diameter of the lead-out hole 402b of the base plate 402. The round through hole of the hole seat 504 is in clearance fit with the collection cylinder 603 of the traction collection part 6. The circle center line of the circular through hole of the upper circular plate 504a is located on the circle center line of the upper circular plate 504a, and the circle center line of the circular through hole of the lower circular plate 504b is located on the circle center line of the lower circular plate 504b, and the circle center line diameter of the annular groove 402c of the bottom plate 402 is the same. The number of circular through holes of the upper circular plate 504a is the same as the number of strip grooves 503a of the sheave 503. The geneva drive 503 structure (GenevaDrive) is a unidirectional intermittent motion mechanism which is composed of a driving dial 502 provided with a cylindrical pin 502a, a geneva 503 and a frame, and is also called as a malta mechanism. It is often used to convert continuous rotation of a driving member into unidirectional periodic rotation of a driven member with dwell. When a water sample needs to be collected, the rotating part 5 rotates, and the collecting cylinder 603 to be released rotates to the lower end of the traction head 602.
The traction collection unit 6 includes a fixed cylinder 601, a pressure sensor, a traction head 602, and a collection cylinder 603. The fixed cylinder 601 is fixed with the support part 4, the pressure sensor is arranged in the fixed cylinder 601, the traction head 602 is connected with the fixed cylinder 601, and the collection cylinder 603 is positioned in the hole seat 504 of the rotating part 5. The upper end of the fixed cylinder 601 is fixed to the central lower end of the top plate 401. The fixed cylinder 601 is cylindrical, a conical groove is formed in the lower end of the fixed cylinder 601, a pressure sensor is arranged on the wall of the groove, and the pressure sensor is connected with the control portion. The traction wire of the paying-off part 3 passes through the fixed cylinder 601 and is fixed with the upper end of the traction head 602. The paying-off part 3 accurately winds or releases the traction wire under the control of the control part, and then the traction head 602 is lifted or lowered. The control part controls the paying-off part 3 to lift the traction head 602 until the upper end of the traction head 602 enters the conical groove of the fixed cylinder 601, the upper end of the traction head 602 extrudes the pressure sensor in the fixed cylinder 601, the pressure sensor transmits a signal to the control part, and the control part controls the paying-off part 3 to stop lifting the traction head 602.
The upper end of the drawing head 602 is conical, the lower end is cylindrical, the diameter of the cylinder is the same as the aperture of the leading-out hole 402b, and the two are in clearance fit. The lower part of the traction head 602 is provided with a triangular groove, the upper end of which is a triangular pyramid groove 602a and the lower end is a triangular prism groove 602 b. Three sides of the triangular prism groove 602b are fixed with one fixing unit 602c, respectively. Three cylindrical protrusions are fixed on the lower surface of the traction head 602, and electromagnetic columns 602d1 of the excitation unit are arranged in the cylindrical protrusions. The cylindrical protrusion is in clearance fit with a positioning hole 6033a of a positioning plate 6033 of the collecting cylinder 603. A stationary unit 602c and an excitation unit are provided in the traction head 602. The triangular protrusion 6031 of the collection cylinder 603 is inserted into the triangular groove of the traction head 602, and the collection cylinder 603 and the traction head 602 are positioned in a mode that the triangular pyramid is in contact with the triangular pyramid groove 602a and the triangular prism is in contact with the triangular prism groove 602 b. And the electromagnetic pillar 602d1 of the drawing head 602 is inserted into the positioning hole 6033a of the positioning plate 6033 of the collecting barrel 603.
The fixing unit 602c of the drawing head 602 and the fixing insertion plate 6032 of the collecting barrel 603 form a pressing, inserting and ejecting structure. The collection cylinder 603 is pressed, and the collection cylinder 603 is pressed again by connecting the fixed inserting plate 6032 of the collection cylinder 603 with the fixed unit 602c of the drawing head 602, so that the collection cylinder 603 is separated from the drawing head 602. Typically a push-to-insert ejection mechanism such as an SD card slot mechanism. And pressing the SD card, and inserting the SD card into the card slot for connection and fixation. The SD card is pressed again, and the SD card is separated from the card slot. The excitation unit comprises a control module, a communication module, a power supply, an electromagnet driving module and an electromagnetic column 602d 1. The control module is connected with the communication module, the power supply and the electromagnet driving module, and the electromagnet driving module is connected with the electromagnetic column 602d 1. The electromagnet leg 602d1 is a cylindrical electromagnet. The control module realizes the communication with the control part through the communication module. The control module in turn energizes and de-energizes the solenoid strut 602d1 through the solenoid drive module.
The collecting cylinder 603 is columnar, and the collecting cylinder 603 comprises a triangular protrusion 6031, a fixed inserting plate 6032, a positioning plate 6033, a cylinder cover 6034, a cylinder 6035, a spring 6036, a magnetic block 6037 and a socket 6038. The upper part of the triangular protrusion 6031 is triangular pyramid, and the lower part is triangular prism. The triangular protrusion 6031 is fixed to the center of the upper surface of the positioning plate 6033. The centers of three side surfaces of the triangular protrusion 6031 are respectively fixed with a fixed inserting plate 6032. Three cylinder covers 6034 are fixed on the lower end of the positioning plate 6033. The positioning plate 6033 is provided with three positioning holes 6033 a. The positioning hole 6033a is inserted into the electromagnetic pillar 602d1 of the drawing head 602. The collection cylinder 603 comprises a triangular protrusion 6031 which is matched with a triangular groove of the traction head 602, so that the triangular protrusion 6031 of the collection cylinder 603 can be automatically adjusted in the process of inserting the traction head 602 at any angle, accurate butt joint is realized, a fixed inserting plate 6032 of the collection cylinder 603 is inserted into a fixed unit 602c of the traction head 602, and an electromagnetic column 602d1 of the traction head 602 is inserted into a positioning hole 6033a of the collection cylinder 603. The cylinder cover 6034 is a columnar sheet provided with a through hole having the same diameter as that of the positioning hole 6033a of the positioning plate 6033. The upper end of the cylinder cover 6034 is fixed to the positioning plate 6033, and the lower end of the cylinder cover 6034 is fixed to the cylinder 6035. Three cartridges 6035 are provided in one collection cartridge 603. The cylinder 6035 is open-columnar, and the lower end of the cylinder 6035 is fixed to the socket 6038. A cylindrical groove body is arranged in the cylinder body 6035, a spring 6036 is fixed in the cylindrical groove body, and a magnetic block 6037 is fixed at the upper end of the spring 6036. The upper end of the cylinder 6035 is provided with a through hole. The polarity of the upper surface of the magnetic block 6037 is the same as the polarity of the lower end of the electromagnetic pillar 602d1 of the drawing head 602 after being electrified. The socket 6038 has a disk shape, and a hemispherical protrusion 6038a is provided at a lower end, and the hemispherical protrusion 6038a is inserted into the annular groove 402c of the base plate 402. When the control part controls the paying-off part 3 to pay off the pulling wire to a preset length L1, the pulling head 602 and the collection cylinder 603 are located at a water depth h1, the control part communicates with the pulling head 602 excitation unit, the electromagnetic column 602d1 of the excitation unit is electrified for t1 time, and then the magnetic block 6037 is pushed to move downwards, the collected water sample enters the cylinder 6035 of the collection cylinder 603, after the t1 time is finished, the electromagnetic column 602d1 of the excitation unit is powered off, the magnetic block 6037 resets under the action of the spring 6036, and the water sample collection action of one place and one depth is completed. After all water samples are collected, the socket 6038 is pulled out, and the water samples can be obtained by separating the cylinder 6035 from the collecting cylinder 603. Each collection cylinder 603 may take three samples.
The jack-up portion 7 includes a jack-up pressure sensor, a jack-up motor 701, and a jack-up pin 702. The jack-up portion 7 is fixed to the lower end of the bottom plate 402. Meanwhile, the lower end of the protruding lug 402a at the position where the bottom plate 402 fixes the jacking portion 7 is provided with a groove, and the jacking pressure sensor with the width larger than the thickness of the thimble 702 of the jacking portion 7 is fixed in the groove at the lower end of the protruding lug 402a close to the leading-out hole 402 b. The jack-up motor 701 is fixed to the lower end of the boss lug 402a near the lead-out hole 402 b. The jack-up pressure sensor is connected to the control unit, and the jack-up motor 701 is connected to the control unit. The thimble 702 is L-shaped, one end of the thimble is fixedly connected with an output shaft of the jacking motor 701, the other end of the thimble is provided with an I-shaped head 702a, and the upper surface of the I-shaped head 702a is provided with a rubber ball. When the jack-up portion 7 is in the bottom-up state, the i-shaped head 702a of the thimble 702 abuts against the lower end of the collection cylinder 603 at the position of the guide-out hole 402b of the support portion 4, so that the collection cylinder 603 at the position is prevented from falling. When the jacking portion 7 is in a jacking state, the control portion controls the jacking motor 701 to rotate positively, the thimble 702 penetrates through the leading-out hole 402b of the bottom plate 402 of the supporting portion 4 to jack up the collecting cylinder 603 at the position of the leading-out hole 402b upwards, the collecting cylinder 603 and the traction head 602, under the action of the thimble 702, the fixed inserting plate 6032 of the collecting cylinder 603 is connected with the fixing unit 602c of the traction head 602, the collecting cylinder 603 is connected with the traction head 602, at this time, the thimble 702 touches the jacking pressure sensor, and the control portion controls the jacking motor 701 to rotate reversely to a bottom supporting state angle. When the jack-up unit 7 is in the release state, the control unit controls the jack-up motor 701 to rotate in reverse from the bottom-supported state, so that the collection cylinder 603 and the drawing head 602 can be released from the lead-out hole 402 b. When not in operation, the jack-up portion 7 is in a bottom-up state.
The control part is fixed in on the unmanned aerial vehicle body 1, and inside is equipped with communication module, carries out the communication with the excitation unit of the flight control system of unmanned aerial vehicle body 1 and traction head 602.
The specific working steps are as follows:
(1) when the unmanned aerial vehicle body 1 reaches the designated position, the control part controls the jacking part 7 to be in a jacking state, and the thimble 702 of the jacking part 7 presses and connects the traction head 602 and the collection cylinder 603. The control part pays off L1 through the pay-off part 3, namely the traction head 602 and the collection cylinder 603 reach the position of the water depth h1, and the control part enables the collection cylinder 603 to start collecting water samples at the position and the depth through the excitation unit of the traction head 602 and stops collecting after a certain time. The control part is paid off to L2 again through the pay-off part 3, namely the traction head 602 and the collection cylinder 603 reach the position of water depth h2, the control part enables the collection cylinder 603 to start collecting water samples at the position and the depth through the excitation unit of the traction head 602, and the collection is stopped after a certain time. Water samples of three depths can be collected.
(2) After collection is completed, the control part pulls back the traction head 602 and the collection cylinder 603 through the pay-off part 3, the traction head 602 extrudes the pressure sensor in the fixed cylinder 601, the control part controls the pay-off part 3 to stop taking up wires, controls the ejector pin 702 of the jacking part 7 to enter a jacking state, and separates the sampled collection cylinder 603 from the traction head 602. After time t, the rotating portion 5 is controlled to rotate the new collecting cylinder 603 to the position of the outlet hole 402b of the supporting portion 4, and at this time, the thimble 702 holds the new collecting cylinder 603 to prevent falling.
(3) Accomplish the water sample collection of a position, unmanned aerial vehicle body 1 flies into next assigned position after, gets into step (1).
(4) All gather a section of thick bamboo 603 and have all gathered the water sample, unmanned aerial vehicle body 1 flies back.
The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may occur to those skilled in the art without departing from the principle of the invention, and are considered to be within the scope of the invention.
Claims (11)
1. Unmanned aerial vehicle environmental monitoring device, including unmanned aerial vehicle body (1), balancing part (2), unwrapping wire portion (3), supporting part (4), rotation portion (5), pull collection portion (6), jack-up portion (7) and control part, its characterized in that: the unmanned aerial vehicle comprises an unmanned aerial vehicle body (1), a balance part (2), a support part (4), a pay-off part (3), a rotating part (5), a traction acquisition part (6), a jacking part (7), a control part and a support part (4), wherein the balance part (2) is fixed at the lower end of the unmanned aerial vehicle body (1), the support part (4) is fixed with the support part (4), the traction acquisition part (6) is connected with the rotating part (5), the jacking part (7) is fixed below the support part (4), the control part is fixed with the support part (4), the support part (4) is positioned below the balance part (2), the support part (4) comprises a top plate (401), a bottom plate (402) and fixing rods (403), two ends of the top plate (401) are respectively fixed with one fixing rod (403), the rotating part (5) is connected below one end of the top plate (401), the pay-off part (3) is fixed at the other end, the traction acquisition, the rotating part (5) comprises a rotating motor (501), a dial plate (502), a grooved wheel (503) and a hole seat (504), the traction collection part (6) comprises a fixed cylinder (601), a pressure sensor, a traction head (602) and a collection cylinder (603), the fixed cylinder (601) is fixed with the supporting part (4), the pressure sensor is arranged in the fixed cylinder (601), the traction head (602) is connected with the fixed cylinder (601), the collection cylinder (603) is positioned in the hole seat (504) of the rotating part (5), the upper end of the fixed cylinder (601) is fixed at the lower end of the center of the top plate (401), the fixed cylinder (601) is cylindrical, a conical groove is formed in the lower end of the fixed cylinder (601), the groove wall is provided with the pressure sensor, the pressure sensor is connected with the control part, a traction line of the pay-off part (3) penetrates through the fixed cylinder (601) and is fixed with the upper end of the traction head (602), the upper end of the traction head (602) is conical, the lower end of the traction head is cylindrical, the diameter of the cylinder is the same as the aperture of the guide-out hole (402b), and the traction head and the guide-out hole are in clearance fit.
2. The unmanned aerial vehicle environmental monitoring device of claim 1, wherein: two protruding ears (402a) are arranged at two ends of the top plate (401), a guide-out hole (402b) is formed in the disc of the bottom plate (402), the guide-out hole (402b) is in clearance fit with a collection cylinder (603) of the traction collection part (6), a jacking part (7) is fixed at the lower end of the protruding ear (402a) close to the guide-out hole (402b), a groove is formed in the lower end of the protruding ear (402a) at the position, the width of the groove is larger than the thickness of a thimble (702) of the jacking part (7), a jacking pressure sensor of the jacking part (7) is fixed on the groove surface of the protruding ear (402a) at the position, an annular groove (402c) is formed in the upper surface of the disc of the bottom plate (402), and the annular groove (402c) is in clearance fit with a hemispherical protrusion (6038a) at the lower end.
3. The unmanned aerial vehicle environmental monitoring device of claim 1, wherein: the rotary motor (501) is fixed with a top plate (401) of the supporting portion (4), the dial plate (502) is fixed with an output shaft of the rotary motor (501), the upper end of the grooved wheel (503) is hinged with the top plate (401) of the supporting portion (4), the lower end of the grooved wheel (503) is fixed with the hole seat (504), the rotary motor (501) is connected with the control portion, the output shaft of the rotary motor (501) is fixed with the upper end of the dial plate (502), and the lower end of the grooved wheel (503) is connected and fixed with the upper end of the hole seat (504).
4. The unmanned aerial vehicle environmental monitoring device of claim 1, wherein: the hole seat (504) is divided into an upper circular plate (504a) and a lower circular plate (504b) which are fixedly connected through a vertical column, the upper circular plate (504a) and the lower circular plate (504b) are respectively provided with at least three circular through holes, the aperture of the circular through hole of the hole seat (504) is the same as that of the guide-out hole (402b) of the bottom plate (402), the circular through hole of the hole seat (504) is in clearance fit with the collection cylinder (603) of the traction collection part (6), and the number of the circular through holes of the upper circular plate (504a) is the same as that of the strip grooves (503a) of the grooved wheel (503).
5. The unmanned aerial vehicle environmental monitoring device of claim 1, wherein: be equipped with fixed unit (602c) and arouse the unit in traction head (602), the lower part of traction head (602) is equipped with three prismatic groove, and the upper end of three prismatic groove is triangular pyramid groove (602a), and the lower extreme is triangular prism groove (602b), and the three side of triangular prism groove (602b) is fixed with a fixed unit (602c) respectively, the lower fixed surface of traction head (602) has three cylinder arch, is equipped with in the cylinder arch and arouses electromagnetic column (602d1) of unit, and the cylinder arch is clearance fit with locating hole (6033a) of collection section of thick bamboo (603) locating plate (6033).
6. The unmanned aerial vehicle environmental monitoring device of claim 5, wherein: the excitation unit comprises a control module, a communication module, a power supply, an electromagnet driving module and an electromagnetic column (602d1), wherein the control module is connected with the communication module, the power supply and the electromagnet driving module, the electromagnet driving module is connected with the electromagnetic column (602d1), and the electromagnetic column (602d1) is a columnar electromagnet.
7. The unmanned aerial vehicle environmental monitoring device of claim 1, wherein: the collection cylinder (603) is columnar, and the collection cylinder (603) comprises a triangular protrusion (6031), a fixed inserting plate (6032), a positioning plate (6033), a cylinder cover (6034), a cylinder body (6035), a spring (6036), a magnetic block (6037) and a socket (6038), wherein the upper part of the triangular protrusion (6031) is triangular pyramid, the lower part is triangular prism, the triangular protrusion (6031) is fixed in the upper surface center of the positioning plate (6033), the three side center of the triangular protrusion (6031) is respectively fixed with one fixed inserting plate (6032), the lower end of the positioning plate (6033) is fixed with three cylinder covers (6034), the positioning plate (6033) is provided with three positioning holes (6033a), the electromagnetic columns (602d1) of the traction head (602) are inserted into the positioning holes (6033a), the cylinder cover (6034) is columnar slice, is provided with a through hole, and the aperture of the positioning holes (6033) is the same as the aperture of the positioning holes (60, cover (6034) upper end is fixed with locating plate (6033), cover (6034) lower extreme is fixed with barrel (6035), be equipped with three barrel (6035) in an acquisition section of thick bamboo (603), barrel (6035) lower extreme is fixed with socket (6038), be equipped with the cylinder cell body in barrel (6035), the cylinder cell body internal fixation has spring (6036), the upper end of spring (6036) is fixed with magnetic block (6037), the upper surface polarity of magnetic block (6037) is the same with pull head (602) electromagnetism post (602d1) lower extreme polarity after the circular telegram, socket (6038) lower extreme is equipped with hemisphere arch (6038a), and hemisphere arch (6038a) inserts in annular groove (402c) of bottom plate (402).
8. The unmanned aerial vehicle environmental monitoring device of claim 1, wherein: unmanned aerial vehicle body (1) is rotor type unmanned aerial vehicle.
9. The unmanned aerial vehicle environmental monitoring device of claim 1, wherein: the side surface of the roller (302) of the paying-off part (3) is provided with a photoelectric code disc.
10. The unmanned aerial vehicle environmental monitoring device of claim 1, wherein: jacking portion (7) are including jacking pressure sensor, jack-up motor (701) and thimble (702), jacking portion (7) are fixed in bottom plate (402) lower extreme, jacking pressure sensor is connected with the control part, jack-up motor (701) are connected with the control part, thimble (702) are the L shape, and one end is fixed with the output shaft of jack-up motor (701), and the other end is equipped with worker's shape head (702a), and worker's shape head (702a) upper surface is equipped with the rubber ball.
11. The unmanned aerial vehicle environmental monitoring device of claim 1, wherein: the control part is provided with a communication module which is communicated with a flight control system of the unmanned aerial vehicle body (1) and an excitation unit of the traction head (602).
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| CN109238446B (en) * | 2018-08-29 | 2020-10-16 | 国网山东省电力公司电力科学研究院 | Transmission tower vibration characteristic detection device |
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| CN109163933B (en) * | 2018-09-26 | 2020-11-10 | 合肥学院 | Sludge sampling equipment based on unmanned aerial vehicle |
| CN110410631B (en) * | 2019-07-22 | 2020-12-25 | 王懋 | Quick monitoring and positioning system and positioning equipment for atmospheric pollution source |
| CN110441090A (en) * | 2019-08-14 | 2019-11-12 | 江苏江达生态科技有限公司 | A kind of unmanned plane water quality sampling device and its application method |
| CN110702457B (en) * | 2019-10-11 | 2021-12-14 | 宁夏翼航智控科技有限公司 | Environment protection unmanned aerial vehicle convenient to sample quality of water |
| CN110672371B (en) * | 2019-11-02 | 2022-06-28 | 浙江华圭环境检测有限公司 | Unmanned aerial vehicle environment detecting device |
| CN111717384A (en) * | 2020-05-28 | 2020-09-29 | 河北柒壹壹玖工业自动化技术有限公司 | Water quality sampling device based on solar unmanned aerial vehicle |
| CN112985916B (en) * | 2021-04-02 | 2022-06-07 | 安徽国泰众信检测技术有限公司 | Sampling device for food detection |
| CN113063625B (en) * | 2021-04-02 | 2022-05-17 | 福建汇仟航空科技有限公司 | Automatic seawater sampling unmanned aerial vehicle and working method thereof |
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