CN108469358A - UAV system and its method of sampling for the sampling of different depth water body - Google Patents
UAV system and its method of sampling for the sampling of different depth water body Download PDFInfo
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- 238000005070 sampling Methods 0.000 title claims abstract description 282
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 109
- 238000000034 method Methods 0.000 title claims abstract description 29
- 238000013135 deep learning Methods 0.000 claims abstract description 8
- 230000007246 mechanism Effects 0.000 claims description 39
- 238000002604 ultrasonography Methods 0.000 claims description 26
- 238000005259 measurement Methods 0.000 claims description 12
- 229910052751 metal Inorganic materials 0.000 claims description 11
- 239000002184 metal Substances 0.000 claims description 11
- 239000003643 water by type Substances 0.000 claims description 10
- 239000007788 liquid Substances 0.000 claims description 7
- 230000008569 process Effects 0.000 claims description 6
- 230000004888 barrier function Effects 0.000 claims description 5
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- 238000010586 diagram Methods 0.000 description 5
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- 230000007613 environmental effect Effects 0.000 description 4
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- 230000009471 action Effects 0.000 description 1
- 239000003905 agrochemical Substances 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 229910052785 arsenic Inorganic materials 0.000 description 1
- RQNWIZPPADIBDY-UHFFFAOYSA-N arsenic atom Chemical compound [As] RQNWIZPPADIBDY-UHFFFAOYSA-N 0.000 description 1
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 description 1
- 229910052793 cadmium Inorganic materials 0.000 description 1
- BDOSMKKIYDKNTQ-UHFFFAOYSA-N cadmium atom Chemical compound [Cd] BDOSMKKIYDKNTQ-UHFFFAOYSA-N 0.000 description 1
- 239000004568 cement Substances 0.000 description 1
- 229910052804 chromium Inorganic materials 0.000 description 1
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- 239000003344 environmental pollutant Substances 0.000 description 1
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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
- G01N1/16—Devices for withdrawing samples in the liquid or fluent state with provision for intake at several levels
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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
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
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- Automation & Control Theory (AREA)
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Abstract
The present invention discloses a kind of UAV system and its method of sampling for the sampling of different depth water body, which includes sampling module, airborne remote control module, camera shooting photo module, ground station module and control module；Control module is separately connected sampling module, airborne remote control module, camera shooting photo module and ground station module；Sampling module is used to carry out sampling operation to the water body of different depth；Larger water depths where the water body that ground station module is used to set the flight line of unmanned plane and sampling module need to sample；Camera shooting photo module, which is used to shoot sampled point ambient enviroment at picture, and by the pictorial information of shooting, is sent to control module；The pictorial information that Larger water depths information and camera shooting photo module where the need sampling water body that control module is sent according to ground station module are sent, in conjunction with deep learning or SVM methods, image recognition is carried out to the picture of spot sampling, judges environment whether there are obstacles where sampled point.
Description
Technical field
The present invention relates to water body sampling technique fields, more particularly to a kind of unmanned plane for the sampling of different depth water body
System and its method of sampling.
Background technology
Environmental protection is increasingly paid attention to by country, and environmental protection is classified as a fundamental state policy by China, resolutely
Environmental quality is grabbed, the water quality detection industry in field is segmented as environmental protection, also receives the attention of government agencies at all levels.In order to
The problem of administering water pollution, China formulates《Water prevention and cure of pollution action plan》, water quality detection is dirty in monitoring and measurement water body
Contaminate type, the concentration of various pollutants and the variation tendency of object, the process of evaluating water quality situation.Water quality detection predominantly detects item
Mesh can be divided into two major classes：One kind is to reflect the overall target of water quality condition, such as temperature, coloration, turbidity, pH value, conductivity, suspension
Object, dissolved oxygen, COD and BOD etc., another kind of is some noxious materials, as phenol, cyanogen, arsenic, lead, chromium, cadmium,
Mercury and organic agricultural chemicals etc..It needs to be flowed sometimes in addition to above-mentioned detection project for the situation of objective appraisal rivers and ocean water quality
The measurement of speed and flow.
The acquisition of water sample is the important link of water analysis when preserving.Accurate, comprehensive Water Quality Examination Data is gone for,
The correctly method of sampling and Methods To Preserve Water Sampless and in time sample presentation analytical test must be used.Traditional is manually main using method
It is driven into sampling waters by investigating ship etc., artificial sample is carried out by existing hydrophore；But traditional manual sampling methods
Efficiency it is low, and since sampling environment is various, it is greatly inconvenient often to be brought to artificial sample；It is especially special at some
In the environment of, or even artificial sample can not be carried out.
Invention content
The purpose of the present invention is for the inconvenient problem of existing water body sampling, provide it is a kind of can be to carrying out different depth water body
The UAV system and its method of sampling for the sampling of different depth water body of sampling and the object that can remove barriers.
A kind of UAV system for the sampling of different depth water body, including sampling module, airborne remote control module, camera shooting bat
Lighting module, ground station module and control module；The control module is separately connected the sampling module, airborne remote control module, takes the photograph
As photo module and ground station module；The sampling module is used to carry out sampling operation to the water body of different depth；It is described airborne
Remote control module is used to send the sampling instruction that control sampling module samples process to control module；The ground station module is for setting
Larger water depths where determining the flight line of unmanned plane and water body that sampling module need to sample, and detect and record unmanned plane flies
Row situation；The camera shooting photo module is used to shoot sampled point ambient enviroment at picture, and the pictorial information of shooting is sent
To control module；Larger water depths information where the water body for the required sampling that the control module is sent according to ground station module and
The pictorial information that photographing module is sent carries out image recognition to the picture of spot sampling, sentences in conjunction with deep learning or SVM methods
Break and sampled point place environment whether there are obstacles, prevents scene from occurring that surprisingly sampling task can not be completed.
The above-mentioned UAV system for the sampling of different depth water body, by imaging photo module by ring around sampled point
Border is shot into picture, and the picture of shooting is sent to control module, the required sampling that control module is sent according to ground station module
Water body where Larger water depths information and the pictorial information that sends of photographing module, in conjunction with deep learning or SVM methods, to existing
The picture of quarry sampling carries out image recognition, environment whether there are obstacles where sampled point is judged, so as to prevent scene
Cause unmanned plane that can not complete sampling operation there is a phenomenon where unexpected because barrier occurs, ensure that unmanned plane sample man
That makees is smoothed out.
In a wherein embodiment, the airborne remote control module includes remote controler and receiver, and the receiver connects respectively
Connect the control module and remote controler.
In a wherein embodiment, the sampling module includes fixed plate for being fixed on unmanned plane, is fixed on institute
State elevator motor and the ultrasound measuring device in fixed plate, the connection elevator motor output shaft hoisting mechanism, be wound in
Sampling rope on the hoisting mechanism, the sampling bottle of the connection sampling rope, the controlling of sampling plate in the elevator motor,
The stop block close to switch and on the sampling rope on the hoisting mechanism；The controlling of sampling plate and super
Cement bond logging measuring device connects the control module；The sampling bottle connects the controlling of sampling plate, institute with elevator motor close to switch
It states close to switch for incuding the stop block, the ultrasound measuring device is for measuring the distance between unmanned plane and the water surface；
The stop block position-adjustable is set on the sampling rope.
In a wherein embodiment, the stop block is metal derby.
In a wherein embodiment, the stop block is flexible and cylindrical metal derby.
In a wherein embodiment, the sampling rope is equipped with scale.
In a wherein embodiment, the sampling module includes fixed plate for being fixed on unmanned plane, is fixed on institute
State elevator motor and the ultrasound measuring device in fixed plate, the connection elevator motor output shaft hoisting mechanism, be wound in
Sampling rope on the hoisting mechanism, the sampling bottle of the connection sampling rope, the controlling of sampling plate in the elevator motor,
And the photoelectric encoder on the hoisting mechanism；The controlling of sampling plate connects the control mould with ultrasound measuring device
Block；The sampling bottle, photoelectric encoder and elevator motor are all connected with the controlling of sampling plate, and the photoelectric encoder is for measuring
The number of turns of hoisting mechanism rotation, the ultrasound measuring device are used to measure the vertical range between the unmanned plane and the water surface.
In a wherein embodiment, the sampling module includes fixed plate for being fixed on unmanned plane, is fixed on institute
State elevator motor and the ultrasound measuring device in fixed plate, the connection elevator motor output shaft hoisting mechanism, be wound in
The sampling bottle of sampling rope, the connection sampling rope on the hoisting mechanism, is set the barcode rods on the sampling rope
In the controlling of sampling plate in the elevator motor and the scanner in the elevator motor, the controlling of sampling plate and
Ultrasound measuring device connects the control module；The sampling bottle, elevator motor and scanner connect the controlling of sampling plate, institute
State scanner for by scan bar code tape measure described in sampling rope decline length, the ultrasound measuring device be used for survey
Measure the vertical range between unmanned plane and the water surface.
In a wherein embodiment, liquid level gauge is equipped in the sampling bottle, the liquid level gauge connects the controlling of sampling plate.
A kind of method of sampling for the above-mentioned UAV system for the sampling of different depth water body, including operate as follows
Flow：
The sampling route of unmanned plane is set by ground station module and the Larger water depths where water body, earth station's mould need to be sampled
Block will sample route information and water body sampling depth information is sent to control module；
After determining sampling route, unmanned plane is unlocked by airborne remote control module, and unmanned plane is switched to sampling operation mould
Formula, unmanned plane take off；
Unmanned plane acts the height and position flown to above sampled point according to fixed route；
It images photo module and shoots sampled point, and the pictorial information of shooting is sent to control module；
Waters sampling depth information where the required sampling water body that control module is sent according to ground station module and camera shooting
The pictorial information that photo module is sent carries out image recognition to the picture of shooting, judges in conjunction with deep learning or SVM methods
Whether the environment where sampled point has the barrier for hindering sampling module sampling, if so, information is fed back to ground by control module
It stands, local directed complete set is carried out to sampling location, then control sampling module and sampled to the water body of designated depth；If no, controlling
Module directly controls sampling module and is sampled to the water body of designated depth；
After sampling, control module controls unmanned plane and returns.
Description of the drawings
Fig. 1 is that the work of the UAV system for the sampling of different depth water body described in a preferred embodiment of the present invention is former
Manage schematic diagram；
Fig. 2 is the structure diagram of sampling module shown in FIG. 1；
Fig. 3 is structure diagram of the sampling module of the UAV system of the present invention in a wherein embodiment；
Fig. 4 is the structure diagram of the sampling module of the UAV system of the present invention in another embodiment；
Fig. 5 is the structure diagram of the sampling module of the UAV system of the present invention in another embodiment；
Fig. 6 is a kind of for the UAV system shown in FIG. 1 for the sampling of different depth water body shown in the present invention
The method of sampling.
The meaning of each label is in attached drawing：
10, sampling module；11, fixed plate；12, elevator motor；13, hoisting mechanism；14, sampling rope；15, sampling bottle；16、
Close to switch；17, controlling of sampling plate；18, photoelectric encoder；19, scanner；110, barcode rods；120, ultrasonic measurement
Device；130, camera model；
20, airborne remote control module；21, remote controler；22, receiver；
30, photo module is imaged；
40, ground station module；
50, control module.
Specific implementation mode
It to facilitate the understanding of the present invention, below will be to invention is more fully described.But the present invention can be to be permitted
Mostly different form is realized, however it is not limited to embodiment described herein.Make on the contrary, purpose of providing these embodiments is
It is more thorough and comprehensive to the understanding of the disclosure.
Unless otherwise defined, all of technologies and scientific terms used here by the article and belong to the technical field of the present invention
The normally understood meaning of technical staff is identical.Used term is intended merely to description tool in the description of the invention herein
The purpose of the embodiment of body, it is not intended that in the limitation present invention.
Referring to Fig. 1, it is a preferred embodiment of the present invention a kind of UAV system for the sampling of different depth water body,
Including sampling module 10, airborne remote control module 20, camera shooting photo module 30 and control module 50；Control module 50, which is separately connected, adopts
Egf block 10, airborne remote control module 20, camera shooting photo module 30 and ground station module 40；Wherein, sampling module 10 is used for not
Water body with depth carries out sampling operation；Airborne remote control module 20 is used to send control sampling module 10 to control module 50 and sample
The sampling of process instructs；The water body institute that ground station module 40 is used to set the flight line of unmanned plane and sampling module 10 need to sample
Larger water depths, and detect and record unmanned plane flight condition；Photo module 30 is imaged to be used for sampled point ambient enviroment
Picture is shot into, and the pictorial information of shooting is sent to control module 50；Control module 50 is sent according to ground station module 40
Required sampling water body where Larger water depths information and camera shooting photo module 30 send pictorial information, in conjunction with deep learning
Or SVM methods, image recognition is carried out to the picture of spot sampling, judges environment whether there are obstacles where sampled point, example
Such as water plant, ship prevent scene from occurring that surprisingly sampling task can not be completed, ensure that being smoothed out for unmanned plane sampling operation.
Airborne remote control module 20 includes remote controler 21 and receiver 22, and receiver 22 is set on unmanned plane, and is separately connected
Control module 50 and remote controler 21, the telecommand for receiving the transmission of remote controler 21, and telecommand is sent to control mould
Block 50.
As shown in Fig. 2, sampling module 10 includes fixed plate 11 for being fixed on unmanned plane, is fixed on fixed plate 11
Elevator motor 12 and ultrasound measuring device 120, connect elevator motor 12 output shaft hoisting mechanism 13, be wound in hoist engine
Sampling rope 14 on structure 13, the sampling bottle 15 on sampling rope 14, on motor close to switch 16 and set on sampling
Stop block on rope 14 and the controlling of sampling plate 17 in elevator motor 12；17 link control module 50 of controlling of sampling plate；
Elevator motor 12, sampling bottle 15 are all connected with controlling of sampling plate 17,120 link control module of ultrasound measuring device close to switch 16
50；Stop block position-adjustable is set on sampling rope 14.Wherein, it is used to determine by incuding stop block close to switch 16
Whether sampling rope 14 has declined specified length, and will sense that the information of stop block is sent to controlling of sampling plate 17；Ultrasound
Wave measurement device 120 is used to measure the vertical range of unmanned plane and the water surface, and the range information measured is sent to control module
50, and when unmanned plane main body generates inclination, ultrasound measuring device 120 can also be according to inclined angle to the measurement distance
It is calculated, calculates the vertical range of ultrasonic wave and the water surface.It is vertical that sampling depth=sampling rope declines length-ultrasonic measurement
Highly, before sampling, first according to the length and predetermined unmanned plane and sampling for needing the predetermined sampling rope of sampling depth 14 that need to decline
The vertical range of the water surface in waters, the length adjustment stop block that then need to be declined according to scheduled sampling rope 14 is on sampling rope 14
Position, then, the unmanned plane of length data and reservation that scheduled sampling rope 14 need to be declined it is vertical between the water surface away from
Control module 50 is delivered to by ground station module 40 from data, then then, control module 50 controls unmanned plane and flies to needing to sample
The top in waters, and sample information is sent to controlling of sampling plate 17, controlling of sampling plate 17 is controlled according to the sample information received
Elevator motor 12 drives the rotation release sampling rope 14 of hoisting mechanism 13, when limit switch senses stop block, controlling of sampling plate
17 control elevator motors 12 stop driving hoisting mechanism 13 and rotate, during hoisting mechanism 13 discharges sampling rope 14, ultrasound
Wave measurement device 120 measures the vertical range between unmanned plane and the water surface, and the range information measured is sent to control module 50,
Control module 50 needs the vertical range data between the water surface to be compared according to the range information received and scheduled unmanned plane,
And the vertical range between unmanned plane and the water surface is adjusted according to the result of comparison, when ultrasound measuring device 120 measures unmanned plane and water
When vertical range between face need to be with the vertical range of the water surface equal to scheduled unmanned plane, control module 50 controls unmanned plane and stops rising
Drop movement.Decline scheduled length in sampling rope 14, and after the vertical range of unmanned plane and the water surface is scheduled vertical range,
Just it can be sampled, after sampling, sampling bottle 15 sends information to controlling of sampling plate 17, and controlling of sampling plate 17 controls elevator
Motor 12 drives the rotation recycling sampling rope 14 of hoisting mechanism 13, and after sampling bottle 15 returns to origin-location, controlling of sampling plate 17 is controlled
Elevator motor 12 processed stops the driving rotation release sampling rope 14 of hoisting mechanism 13, while controlling of sampling plate 17 is sent out to control module 50
Unmanned plane is sent to make a return voyage information, control module 50 controls unmanned plane according to the information and returns.
In a wherein embodiment, liquid level gauge is equipped in sampling bottle 15, liquid level gauge connects controlling of sampling plate 17.Work as sampling bottle
When waterborne in 15 rises to the height where liquid level gauge, the control control elevator motor 12 of controlling of sampling plate 17 drives hoisting mechanism 13
Rotation to wind sampling rope 14 so that sampling rope 14 sampled the sampling bottle 15 of water and be lifted off waters.
In the present embodiment, stop block is metal derby, and the weight of metal derby is adopted generally all than heavier by the way that stop block is arranged
With metal derby, sampling bottle 15 can be helped to stretch sampling rope 14 so that sampling rope 14 is not easy to become inclined because of wind, contributes to sampling bottle 15
Specified Larger water depths can accurately be dropped to.Stop block influences to be wound in volume when not over close to switch 16 in order to prevent
The decline of the part of mechanism 13, and the winding convenient for 14 part of sampling rope of fixed metal derby on hoisting mechanism 13 are raised, it is excellent
Choosing, stop block is flexible and cylindrical metal derby, and metal derby is sheathed on sampling rope 14.
In a wherein embodiment, stop block is being incuded close to switch 16 to determine that the length that sampling rope declines is to sample to need
When the length of decline, scale is additionally provided on sampling rope 14.It, can be according to sampling depth need by the way that scale is arranged on sampling rope 14
The scale contrasted on the ground on sampling rope 14 is sought, position of the stop block on sampling rope is adjusted to precision, to make unmanned plane
The length that sampling rope 14 declines when carrying out water body sampling is the decline length specified.
In a wherein embodiment, as shown in figure 3, using the sampling rope 14 for indicating length scale value, camera model 130 takes
Pickup closely switch 16.Before sampling, sampling depth is first determined, the length that then need to decline according to the predetermined sampling rope of sampling depth 14
The vertical range of degree and predetermined unmanned plane and the water surface, the length data that then need to decline scheduled sampling rope 14 and predetermined
Unmanned plane and the water surface between vertical range data control module 50 is delivered to by ground station module 40, control module 50 will be pre-
The length data that the sampling rope 14 ordered need to decline is delivered to controlling of sampling plate 17.When sampling, control module 50 sends sample information
To controlling of sampling plate 17, controlling of sampling plate 17 controls elevator motor 12 and drives the rotation release sampling rope 14 of hoisting mechanism 13, meanwhile,
Camera model 130 mounted on side reads 14 high scale of sampling rope in real time, when camera model 130 reads the quarter of sampling rope scale
When angle value is equal to the length that scheduled sampling rope 14 declines, controlling of sampling plate 17 controls elevator motor 12 and stops driving hoisting mechanism
13 rotation release sampling ropes 14, meanwhile, control module 50 adjustment unmanned plane and water in the case where the measurement of ultrasound measuring device 120 helps
Vertical range between face is equal to scheduled unmanned plane when ultrasound measuring device 120 measures the vertical range between unmanned plane and the water surface
When vertical range between the water surface, control module 50 controls unmanned plane and stops elevating movement, declines scheduled length in sampling rope 14
Degree, and the vertical range of unmanned plane and the water surface is after scheduled vertical range, sampling bottle 15 just can be sampled.
In a wherein embodiment, as shown in figure 4, photoelectric encoder 18 replaces stop block and close to switch 16, photoelectricity is compiled
Code device 18 is set in elevator motor 12, and the number of turns for measuring the rotation of hoisting mechanism 13, photoelectric encoder 18 connects controlling of sampling
Plate 17, the turnning circle information for will measure are sent to controlling of sampling plate 17；Before sampling, hoisting mechanism 13 is measured
Diameter, when determining sampling depth, the length and unmanned plane that need to be declined according to the predetermined sampling rope of sampling depth 14 need to adopt
The vertical range of the water surface in sample waters, the length data that then need to decline scheduled sampling rope 14, scheduled unmanned plane need to be with
Vertical range data between the water surface and the diameter data for measuring hoisting mechanism 13 are delivered to control by ground station module 40
Module, control module 50 need to decline the diameter number of length data and the hoisting mechanism 13 measured according to scheduled sampling rope 14
According to calculating elevator motor 12 drives the number of turns that hoisting mechanism 13 need to rotate, and needs the number of turns to be delivered to controlling of sampling by calculated
Plate 17.When sampling, controlling of sampling plate 17 controls elevator motor 12 and hoisting mechanism 13 is driven to rotate corresponding number of turns release sampling
Rope 14, meanwhile, the control unmanned plane lifting in the case where the measurement of ultrasound measuring device 120 helps of control module 50, until ultrasound
Vertical range between the unmanned plane and the water surface that obtain is equal to the vertical range between scheduled unmanned plane and the water surface.Decline in sampling rope 14
Scheduled length, and the vertical range of unmanned plane and the water surface is after scheduled vertical range, sampling bottle 15 just can be sampled.
In a wherein embodiment, as shown in figure 5, barcode rods 110 and 19 substituted metal of barcode scanner are close
Switch 16 and stop block, scanner 19 are mounted on hoisting mechanism 13, and barcode rods 110 are arranged on sampling rope 14.It is adopting
Before sample, sampling depth is first determined, the length that then need to decline according to the predetermined sampling rope of sampling depth 14 and predetermined unmanned plane
With the vertical range of the water surface, between the length data that then need to decline scheduled sampling rope 14 and scheduled unmanned plane and the water surface
Vertical range data control module 50 is delivered to by ground station module 40, control module 50 will reservation sampling rope 14 need under
The length data of drop is delivered to sampling control module 50.When sampling, the transmission sample information of control module 50 to controlling of sampling plate 17,
Controlling of sampling plate 17 controls elevator motor 12 and drives the rotation release sampling rope 14 of hoisting mechanism 13, and barcode rods 110 are with adopting
The decline of sample rope 14 and decline, scanner 19 scan barcode rods 110, with determine sampling rope 14 decline length, work as scanning
When the height that instrument 19 reads the decline of bar shaped scale is equal to the length that scheduled sampling rope 14 declines, controlling of sampling plate 17 controls elevator
Motor 12 stops the driving rotation release sampling rope 14 of hoisting mechanism 13, meanwhile, survey of the control module 50 in ultrasound measuring device 120
Amount helps lower vertical range between adjustment unmanned plane and the water surface, when ultrasound measuring device 120 measures hanging down between unmanned plane and the water surface
When straight distance is equal to the vertical range between scheduled unmanned plane and the water surface, control module 50 controls unmanned plane and stops elevating movement,
Decline scheduled length in sampling rope 14, and the vertical range of unmanned plane and the water surface is sampling bottle after scheduled vertical range
15 just can be sampled.
As shown in fig. 6, also disclosing a kind of method of sampling for above system, including following operating process：
Step S01, the waters where the sampling route of unmanned plane being arranged and need to sample water body by ground station module 40 is deep
Degree, ground station module 40 will sample route information and water body sampling depth information is sent to control module 50；
Step S02, after determining sampling route, unmanned plane is unlocked by airborne remote control module 110, and unmanned plane is switched to
Sampling operation pattern, unmanned plane take off；
Step S03, unmanned plane acts the height and position flown to above sampled point according to fixed route；
Step S04, camera shooting photo module 30 shoots sampled point, and the pictorial information of shooting is sent to control module 50；
Step S05, the waters where the required sampling water body that control module 50 is sent according to ground station module 40 samples deep
Spend information and image the pictorial information that photo module 30 is sent, in conjunction with deep learning method or SVM methods, to the picture of shooting into
Whether row image recognition, the environment where judging sampled point have the barrier for hindering sampling module 10 to sample, if so, executing
S07 directly executes S06 if not having；
S06, control module 50 control sampling module 10 and are sampled to the water body of designated depth；
Information is fed back to ground station module 40 by S07, the control of control module 50, and local directed complete set is carried out to sampling location.
S08, control module 50 control unmanned plane and make a return voyage.
Each technical characteristic of embodiment described above can be combined arbitrarily, to keep description succinct, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, it is all considered to be the range of this specification record.
Several embodiments of the invention above described embodiment only expresses, the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the protection of the present invention
Range.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (10)
1. a kind of UAV system for the sampling of different depth water body, which is characterized in that including sampling module, airborne remote control mould
Block, camera shooting photo module, ground station module and control module；The control module is separately connected the sampling module, airborne distant
Control module, camera shooting photo module and ground station module；The sampling module is used to carry out sampling operation to the water body of different depth；
The airborne remote control module is used to send the sampling instruction that control sampling module samples process to control module；Earth station's mould
Larger water depths where the water body that block is used to set the flight line of unmanned plane and sampling module need to sample, and detect and record nothing
Man-machine flight condition；The camera shooting photo module is used to shoot sampled point ambient enviroment at picture, and by the picture of shooting
Information is sent to control module；Waters where the water body for the required sampling that the control module is sent according to ground station module is deep
The pictorial information for spending information and photographing module transmission carries out image in conjunction with deep learning or SVM methods to the picture of spot sampling
Identification, environment whether there are obstacles where judging sampled point prevent scene from occurring that surprisingly sampling task can not be completed.
2. the UAV system according to claim 1 for the sampling of different depth water body, which is characterized in that described airborne
Remote control module includes remote controler and receiver, and the receiver is separately connected the control module and remote controler.
3. the UAV system according to claim 1 for the sampling of different depth water body, which is characterized in that the sampling
Module includes for being fixed on the fixed plate on unmanned plane, the elevator motor being fixed in the fixed plate and ultrasonic measurement
Device, the sampling rope being wound on the hoisting mechanism, is adopted described in connection the hoisting mechanism of output shaft of the connection elevator motor
The sampling bottle of sample rope, the controlling of sampling plate in the elevator motor, on the hoisting mechanism close to switch and
Stop block on the sampling rope；The controlling of sampling plate connects the control module with ultrasound measuring device；It is described to adopt
Sample bottle is all connected with the controlling of sampling plate close to switch and elevator motor, and the close switch is for incuding the stop block, institute
Ultrasound measuring device is stated for measuring the distance between unmanned plane and the water surface；Being set to for the stop block position-adjustable is described
On sampling rope.
4. the UAV system according to claim 3 for the sampling of different depth water body, which is characterized in that the restriction
Block is metal derby.
5. the UAV system according to claim 4 for the sampling of different depth water body, which is characterized in that the restriction
Block is flexible and cylindrical metal derby.
6. the UAV system according to claim 3 for the sampling of different depth water body, which is characterized in that the sampling
Rope is equipped with scale.
7. the UAV system according to claim 1 for the sampling of different depth water body, which is characterized in that the sampling
Module includes for being fixed on the fixed plate on unmanned plane, the elevator motor being fixed in the fixed plate and ultrasonic measurement
Device, the sampling rope being wound on the hoisting mechanism, is adopted described in connection the hoisting mechanism of output shaft of the connection elevator motor
The sampling bottle of sample rope, the controlling of sampling plate in the elevator motor and the photoelectric coding on the hoisting mechanism
Device；The controlling of sampling plate connects the control module with ultrasound measuring device；The sampling bottle, photoelectric encoder and elevator electricity
Machine is all connected with the controlling of sampling plate, and the photoelectric encoder is used to measure the number of turns of hoisting mechanism rotation, the ultrasound
Measuring device is used to measure the vertical range between the unmanned plane and the water surface.
8. the UAV system according to claim 1 for the sampling of different depth water body, which is characterized in that the sampling
Module includes for being fixed on the fixed plate on unmanned plane, the elevator motor being fixed in the fixed plate and ultrasonic measurement
Device, the sampling rope being wound on the hoisting mechanism, is adopted described in connection the hoisting mechanism of output shaft of the connection elevator motor
The sampling bottle of sample rope, the barcode rods on the sampling rope, the controlling of sampling plate in the elevator motor and
Scanner in the elevator motor, the controlling of sampling plate connect the control module with ultrasound measuring device；It is described
Sampling bottle, elevator motor and scanner connect the controlling of sampling plate, and the scanner is used to survey by scanning barcode rods
The length that the sampling rope declines is measured, the ultrasound measuring device is used to measure the vertical range between unmanned plane and the water surface.
9. the UAV system according to claim 1 for the sampling of different depth water body, which is characterized in that the sampling
Liquid level gauge is equipped in bottle, the liquid level gauge connects the controlling of sampling plate.
10. a kind of adopting for the UAV system as described in any one of claim 1 to 9 for the sampling of different depth water body
Quadrat method, including following operating process：
The sampling route of unmanned plane is set by ground station module and the Larger water depths where water body need to be sampled, ground station module general
Sampling route information and water body sampling depth information are sent to control module；
After determining sampling route, unmanned plane is unlocked by airborne remote control module, and unmanned plane is switched to sampling operation pattern, nothing
It is man-machine to take off；
Unmanned plane acts the height and position flown to above sampled point according to fixed route；
It images photo module and shoots sampled point, and the pictorial information of shooting is sent to control module；
Waters sampling depth information and camera shooting where the required sampling water body that control module is sent according to ground station module are taken pictures
The pictorial information that module is sent carries out image recognition to the picture of shooting, judges to sample in conjunction with deep learning or SVM methods
Whether the environment where point has the barrier for hindering sampling module sampling, if so, information is fed back to earth station by control module, it is right
Sampling location carries out local directed complete set, then controls sampling module and sampled to the water body of designated depth；If no, control module is straight
Control sampling module is connect to sample the water body of designated depth；
After sampling, control module controls unmanned plane and returns.
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| CN113624930A (en) * | 2021-07-12 | 2021-11-09 | 武汉青绿山水科技有限公司 | Black and odorous water body analysis and evaluation system and method |
| CN115540817A (en) * | 2022-11-30 | 2022-12-30 | 江苏云幕智造科技有限公司 | Height determination method for mooring type unmanned aerial vehicle |
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