CN109932210B - Device based on unmanned aerial vehicle water environment is automatic to be sampled - Google Patents
Device based on unmanned aerial vehicle water environment is automatic to be sampled Download PDFInfo
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- CN109932210B CN109932210B CN201811615703.XA CN201811615703A CN109932210B CN 109932210 B CN109932210 B CN 109932210B CN 201811615703 A CN201811615703 A CN 201811615703A CN 109932210 B CN109932210 B CN 109932210B
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Abstract
An apparatus based on unmanned aerial vehicle water environment automatic sampling includes: the main body is used for accommodating modules of unmanned aerial vehicle navigation, positioning, image acquisition and analysis, height and depth calculation and adjustment, lifting calculation and control, power supply management, data storage, data transmission and reception; the rotor wings are used for changing the speed of the propellers by adjusting the rotating speed of the motor of each rotor wing and controlling the posture, the advancing direction, the speed and the space position of the unmanned aerial vehicle; the telescopic device is used for enabling the sampling container to ascend or descend for a certain distance according to the calculated ascending and descending height and the control command; and the sampling container is used for acquiring a water environment sample of the target area according to the preset sampling position and depth and sealing the water sample. The automatic sampling device can obtain the automatic sampling of the water environment efficiently, timely, accurately, precisely and at low investment, is convenient for improving the water environment monitoring efficiency, and enhances the control strength of a water environment pollution source or the monitoring of the water environment which is inconvenient for manual monitoring.
Description
Technical Field
The invention relates to the field of water environment supervision, in particular to a device for automatically sampling water environment based on an unmanned aerial vehicle.
Background
With the rapid development of social economy, the pollution and monitoring problems of the water environment gradually become the focus of social attention; in addition, due to the rapid development of the aquaculture industry, the detection requirement on the water environment is more and more large; in addition, in the construction of "beautiful china", each level of institution needs to regularly acquire biochemical parameters of lakes, rivers, water sources and the like. In scenarios such as those described above, the water environment needs to be sampled and analyzed. However, in practice, for example, the pollution and monitoring of the water environment are often performed by two modes, namely manual monitoring and on-line monitoring. Wherein, manual monitoring often gets into the target area through driving ship or yacht and carries out the manual sampling, however adopt this kind of mode sampling cycle long, intensity of labour is big, inefficiency, with high costs, need consume a large amount of manpower and materials, and because the complexity of target sampling region (for example there is surface of water/waterborne floater or barrier, or because the surface of water has the pollutant to ship or yacht corruption, or because there is the shoal, or because there is pasture and water, or especially, when there is environmental radioactive pollutant or dangerous biology/chemical in target sampling region), the degree of difficulty of sampling has further been aggravated, has worsened the sampling effect. The on-line monitoring is carried out according to a fixed on-line monitoring station to monitor the water environment in real time, however, the method can only collect the water quality condition of a fixed region, has extremely high cost, has no random dynamic property and cannot be widely applied in a large range. In particular, the conventional method in the prior art has the defects of hysteresis, low accuracy and precision and the like in the monitoring of the sudden change of the water environment.
Nowadays, the rapid development of the avionics technology makes it possible to apply the unmanned aerial vehicle to water environment monitoring. The unmanned aerial vehicle is an unmanned aerial vehicle operated by utilizing a radio remote control device and a self-contained program control device, and has the advantages of simple structure, small volume, light weight, good maneuverability, long flight time, low cost, no need of an airport runway, repeated recycling and the like. The unmanned aerial vehicle takes the flat water surface of lakes, rivers and the like as a take-off and landing field or hovers above the water surface. Compared with the traditional water environment sampling means, the unmanned aerial vehicle technology can provide more convenience and advantages, the high efficiency of water environment sampling monitoring is facilitated, and the water environment sampling monitoring precision and accuracy are improved.
Disclosure of Invention
One of the purposes of the invention is to provide an unmanned aerial vehicle-based automatic water environment sampling device, which can efficiently, timely, accurately, precisely and low-investment obtain automatic water environment sampling, has better convenience and wide field adaptability, is convenient to improve the water environment monitoring efficiency, enhances the control strength of a water environment pollution source or monitors water environments inconvenient to manual monitoring, and monitors water environments with radiation or corrosion, improves the maneuverability, flexibility and emergency monitoring capability of water environment monitoring, and greatly reduces the waste of manpower and energy.
The technical scheme adopted by the invention to solve the technical problems is as follows: an apparatus based on unmanned aerial vehicle water environment automatic sampling includes: the main body is used for accommodating modules of unmanned aerial vehicle navigation, positioning, image acquisition and analysis, height and depth calculation and adjustment, lifting calculation and control, power supply management, data storage, data transmission and reception; the four rotors are used for changing the speed of the propeller by adjusting the rotating speed of the motor of each rotor so as to control the posture, the advancing direction, the speed and the spatial position of the unmanned aerial vehicle; the telescopic device is used for connecting the main body and the sampling container and enabling the sampling container to ascend or descend for a certain distance according to the calculated ascending and descending height and a control command; and the sampling container is used for obtaining a water environment sample of a target area according to a preset sampling position and depth and sealing a water sample, and the sampling container is either a metal sampling container with an inner wall coated or electroplated with an anti-corrosion material or a glass sampling container with an outer protective shell.
In one embodiment, the body comprises: a navigation positioning and height determining module; an image acquisition and analysis module; a depth calculation and adjustment module; a power management module; a data storage module; a data transmitting and receiving module; and a central processing module; wherein: the navigation positioning and height determining module is used for acquiring the geographical position information of the unmanned aerial vehicle through the data transmitting and receiving module, determining the height of the unmanned aerial vehicle above the water surface, sending the geographical position information and the height to the central processing module, processing and comparing the difference between the geographical position information of the unmanned aerial vehicle and the geographical position information of the target area through the central processing module, sending the geographical position information and the height of the unmanned aerial vehicle and the difference obtained through comparison to the ground control platform through the transmitting and receiving module, controlling the unmanned aerial vehicle to land in the vertical direction through the central processing module when the height of the unmanned aerial vehicle above the water surface determined by the navigation positioning and height determining module is greater than a first threshold value, and comparing whether the difference is smaller than or equal to a second threshold value through the central processing module when the height of the unmanned aerial vehicle is not greater than the first threshold value; the image acquisition and analysis module is used for triggering the image acquisition and analysis module to acquire the image information of a first area including the target area below the unmanned aerial vehicle after the central processing module compares the difference between the geographical position information of the unmanned aerial vehicle and the geographical position information of the target area and determines that the difference is smaller than or equal to a second threshold value, and when the difference is larger than the second threshold value, the central processing module sends a control signal to the rotor wing so as to adjust the posture, the traveling direction and the speed of the unmanned aerial vehicle to advance towards the direction of the target area, and then the information is fed back to the central processing module through the navigation positioning and height determining module until the difference is smaller than or equal to the second threshold value; the image acquisition and analysis module is further used for extracting an image of the target area according to the acquired image information of a first area including the target area below the unmanned aerial vehicle, and determining whether the water surface floater or the obstacle exists in the target area according to comparison of a sequence of pixels of the static image and correlation calculation; the depth calculation and adjustment module is used for calculating the lifting angle and/or distance of the telescopic device 3 based on the control of the central processing module and the preset depth requirement; the power management module is used for providing power for all other modules in the main body; the data storage module is coated with waterproof materials, and is used for storing the parameters of the change of the geographical position of the unmanned aerial vehicle and the lifting of the telescopic device; the data transmitting and receiving module is used for acquiring the geographical position information of the unmanned aerial vehicle through a radio link, transmitting the difference between the geographical position information of the unmanned aerial vehicle and the geographical position information of the target area and the height information of the unmanned aerial vehicle to the ground control platform under the control of the processing of the central processing module, and receiving the central control information and the operation parameter updating information of the ground control platform; and the central processing module is used for storing the geographic information of the target area and the operating parameters of water environment sampling and controlling the operation of the rotor wing, the navigation positioning and height determining module, the image acquisition and analysis module, the depth calculation and adjustment module, the data storage module and the data transmitting and receiving module.
In one embodiment, the step of the navigational positioning and altitude determination module determining the altitude of the drone above the water surface comprises: an optical transmitter and an optical receiver which are included in the navigation positioning and height determining module are arranged right below the main body 1; optical transmitter is with certain angle transmission optical signal, and optical receiver receives first reflection signal, and wherein unmanned aerial vehicle is at the height of surface of water top: h ═ V · (t)e-tr) Cos α ÷ 2, where V is the speed of travel of the optical signal above the water surface, teAnd trThe time when the optical transmitter transmits the optical signal and the time when the optical receiver receives the first reflected signal, respectively, and α is an angle between the time when the optical transmitter transmits the optical signal and the vertical direction.
In one embodiment, the image capture and analysis module extracts an image of the target area from captured image information of a first area below the drone that includes the target area, and determining whether a water surface float or obstacle is present in the target area from a comparison of a sequence of pixels of the static image and a correlation calculation further comprises: extracting each column of pixels of the image of the target area to form a pixel sequence [ I11，I12，…，I1p，…，I1q]，[I21，I22，…，I2p，…，I2q]，……，[I(m-1)1，I(m-1)2，…，I(m-1)p，…，I(m-1)q]，[Im1，Im2，…，Imp，…，Imq]Where m is the number of pixel columns of the image and q is the number of pixel rows of the image; calculating the nth correlation degree of the first column of pixels and the nth column of pixels according to the following formula:
wherein n is more than 1 and less than or equal to m; and when the nth correlation degree is smaller than the threshold value, obtaining the correlation degrees of the next r pixel columns according to a formula, and when the correlation degrees of a plurality of the correlation degrees from n to the n + r columns are smaller than the threshold value, indicating that the floating object or the obstacle exists on the water surface, wherein r is more than or equal to 1 and less than m-1.
In one embodiment, the telescopic device 3 is used for connecting the body 1 and the sampling container 4, and comprises: a rotatable wheel 31, a rope 32, a motor 33; wherein the rotatable wheel is wound with the rope 32, and the winding or releasing of the rope 32 is realized by the rotation of the motor 33; the control signal of the motor 32 comes from a depth calculating and adjusting module which calculates the lifting angle and/or distance of the telescopic device 3 and the winding or releasing angle and/or the number of turns of the rope 32 based on the control of the central processing module and the preset depth requirement, thereby realizing the lifting or the descending of the sampling container 4 for a certain distance; when the predetermined depth is a meter down from the bottom of the body and the diameter of the rotatable wheel 31 is B meters, the angle of release of the rotation of the rotatable wheel 31 is 360 a/(π B), and the number of released turns is a/(π B).
In one embodiment, the telescopic device 3 comprises a deformable parallelogram 31 and a rope 32, wherein the parallelogram 31 is formed by four sides 311, 312, 313, 314, wherein the length of sides 311 and 313 is a, the length of sides 312 and 314 is b, and the angle between sides 311 and 312 is β; two sides 311 and 312 of the parallelogram 31 are fixed on the bottom surface of the main body 1, a motor is arranged between every two sides of the parallelogram 31 to realize that the two adjacent sides can move mutually, and a conducting wire of the motor is arranged inside the hollow side; cord 32 is attached to the intersection of sides 313 and 314, and cord 32 has a length c; the depth calculation and adjustment module calculates the lifting angle and/or distance of the telescopic device 3 based on the control of the central processing module and the preset depth requirement, so that the sampling container 4 is lifted or lowered for a certain distance; wherein when the preset depth is required to be a meter down from below the body, the motor between sides 311 and 312 is rotated so that the angle between sides 311 and 312 is β, which is arccos [ (a-c)/b ].
In one embodiment, the telescopic device 3 may further comprise a plurality of separate parallelograms uniformly distributed on the bottom surface of the main body 1, each having the structure as described in claim 5 or 6, a rope 32 being connected to the bottom of each parallelogram, and a sampling container 4 being connected to the other end of each rope 32.
In one embodiment, the sampling container 4 comprises: an electrically operated valve 41 for, under the control of the central processing module, when it is desired to collect a water sample of the water environment, being configured to be activated so that the flap 42 is opened, and after the collection of the sampling container 4 is completed, to control the change 42 to be closed; the cover plate 42 is used for opening to collect a water environment water sample and closing to finish water environment sampling; a rubber pad 43 disposed at the opening of the sampling container 4 for enhancing the sealing level of the water environment sampling; a filter screen 44 for filtering impurities in the water; a housing 46 for mounting a protective housing to protect the sampling container from damage; and the inner wall 45 is coated or electroplated with an anti-corrosion material to prevent the sampling container 4 from being corroded by the water environment sampling.
In one embodiment, the sampling container 4 comprises: the water suction pump 401 is used for pumping water environment samples at a fixed depth below the water surface through a water suction pipe 402; a suction pipe 402 for inputting the extracted water environment sample; a cover plate 403 for sealing to protect water environment sampling; a water discharge pipe 404, which is used for stopping working when the water suction pump 401 is working to prevent water environment sampling from flowing out, and is used for discharging water environment sampling inside the sampling container 4 to facilitate resampling when the water environment sampling is not ideal or not meet the sampling requirement when the water suction pump 401 is stopped working; a water discharge pipe 405 for discharging the water environment sample in the sampling container 4; a housing 406 for mounting a protective housing to protect the sampling container from damage; and an inner wall 407 for coating or plating with a corrosion resistant material to prevent corrosion of the sampling container 4 by the aqueous environment sample.
The invention also discloses an unmanned aerial vehicle-based water environment automatic sampling method, which comprises the following steps: the navigation positioning and height determining module acquires the geographical position information of the unmanned aerial vehicle through the data transmitting and receiving module, determines the height of the unmanned aerial vehicle above the water surface, and transmits the geographical position information and the height to the central processing module, so that the central processing module processes and compares the difference between the geographical position information of the unmanned aerial vehicle and the geographical position information of a target area, the geographical position information and the height of the unmanned aerial vehicle and the difference obtained by comparison are transmitted to the ground control platform through the transmitting and receiving module, when the height of the unmanned aerial vehicle above the water surface determined by the navigation positioning and height determining module is greater than a first threshold value, the central processing module controls the unmanned aerial vehicle to land in the vertical direction, and when the height of the unmanned aerial vehicle above the water surface is not greater than the first threshold value, the central processing module compares whether the difference is smaller than or; after the central processing module compares the difference between the geographical position information of the unmanned aerial vehicle and the geographical position information of the target area, and then determines that the difference is smaller than or equal to a second threshold value, the image acquisition and analysis module is triggered to acquire the image information of a first area including the target area below the unmanned aerial vehicle, and when the difference is larger than the second threshold value, the central processing module sends a control signal to the rotor wing so as to adjust the posture, the traveling direction and the speed of the unmanned aerial vehicle to advance towards the direction of the target area, and then the information is fed back to the central processing module through the navigation positioning and height determining module until the difference is smaller than or equal to the second threshold value; the image acquisition and analysis module is further used for extracting an image of the target area according to the acquired image information of a first area including the target area below the unmanned aerial vehicle, and determining whether the water surface floater or the obstacle exists in the target area according to comparison of a sequence of pixels of the static image and correlation calculation; the depth calculation and adjustment module calculates the lifting angle and/or distance of the telescopic device 3 based on the control of the central processing module and the preset depth requirement; the data transmitting and receiving module acquires the geographical position information of the unmanned aerial vehicle through a radio link, sends the difference between the geographical position information of the unmanned aerial vehicle and the geographical position information of the target area and the height information of the unmanned aerial vehicle to the ground control platform under the control of processing of the central processing module, and receives the central control information and the operation parameter updating information of the ground control platform.
Drawings
Embodiments of the invention are illustrated by way of example, and not by way of limitation, in the figures of the accompanying drawings and in which like reference numerals refer to similar elements and in which:
fig. 1 illustrates a structural diagram of an apparatus for automatic sampling of water environment based on an unmanned aerial vehicle according to an exemplary embodiment of the present invention.
Fig. 2 illustrates a functional block diagram of a main body 1 of the apparatus for unmanned aerial vehicle-based automatic sampling of water environment, according to an exemplary embodiment of the present invention.
Fig. 3 illustrates a schematic structural diagram of a telescoping device 3 of an unmanned aerial vehicle water environment automatic sampling device according to an exemplary embodiment of the present invention.
Fig. 4 illustrates a schematic structural diagram of an alternative solution of the telescoping device 3 based on the device for automatic sampling of the unmanned aerial vehicle water environment, according to an exemplary embodiment of the present invention.
Fig. 5 illustrates a schematic structural diagram of a sampling container 4 of an apparatus for automatic sampling of water environment based on unmanned aerial vehicles, according to an exemplary embodiment of the present invention.
Fig. 6 illustrates a schematic structural diagram of an alternative solution of the sampling container 4 of the device for automatic sampling of the water environment based on unmanned aerial vehicles, according to an exemplary embodiment of the present invention.
Detailed Description
Before proceeding with the following detailed description, it may be advantageous to set forth definitions of certain words and phrases used throughout this patent document: the terms "include" and "comprise," as well as derivatives thereof, mean inclusion without limitation; the term "or" is inclusive, meaning and/or; the phrases "associated with," "associated with," and derivatives thereof may mean to include, be included within, with, interconnect with, contain, be included within, be connected to, or be connected with, be coupled to, or be coupled with, be communicable with, cooperate with, interleave, juxtapose, be proximate to, be bound to, or be bound with, have properties of, etc.; while the term "controller" means any device, system or component thereof that controls at least one operation, such a device may be implemented in hardware, firmware or software, or some combination of at least two of the same. It should be noted that: the functionality associated with any particular controller may be centralized or distributed, whether locally or remotely. Definitions for certain words and phrases are provided throughout this patent document, as those skilled in the art will understand: in many, if not most instances, such definitions apply to prior as well as future uses of such defined words and phrases.
In the following description, reference is made to the accompanying drawings that show, by way of illustration, several specific embodiments. It will be understood that: other embodiments are contemplated and may be made without departing from the scope or spirit of the present disclosure. The following detailed description is, therefore, not to be taken in a limiting sense.
Fig. 1 illustrates a structural diagram of an apparatus for automatic sampling of water environment based on an unmanned aerial vehicle according to an exemplary embodiment of the present invention. The device includes: the main body 1 is used for accommodating modules of unmanned aerial vehicle navigation, positioning, image acquisition and analysis, height and depth calculation and adjustment, lifting calculation and control, power supply management, data storage, data transmission and reception; the four rotor wings 2 are used for changing the speed of the propeller by adjusting the rotating speed of the motor of each rotor wing, so as to control the posture, the advancing direction, the speed and the space position of the unmanned aerial vehicle; a telescopic device 3 for connecting the main body 1 and the sampling container 4 and making the sampling container 4 ascend or descend for a certain distance according to the calculated ascending and descending height and a control command; the sampling container 4 is used for obtaining a water environment sample of a target area according to a preset sampling position and depth and sealing a water sample, and the sampling container 4 is either a metal sampling container with an inner wall coated or electroplated with an anti-corrosion material or a glass sampling container with an outer protective shell.
Fig. 2 illustrates a functional block diagram of a main body 1 of the apparatus for unmanned aerial vehicle-based automatic sampling of water environment, according to an exemplary embodiment of the present invention. Main part 1 of device based on automatic sampling of unmanned aerial vehicle water environment includes:
the navigation positioning and height determining module is used for acquiring the geographical position information of the unmanned aerial vehicle through the data transmitting and receiving module, determining the height of the unmanned aerial vehicle above the water surface, sending the geographical position information and the height to the central processing module, processing and comparing the difference between the geographical position information of the unmanned aerial vehicle and the geographical position information of the target area through the central processing module, sending the geographical position information and the height of the unmanned aerial vehicle and the difference obtained through comparison to the ground control platform through the transmitting and receiving module, controlling the unmanned aerial vehicle to land in the vertical direction through the central processing module when the height of the unmanned aerial vehicle above the water surface determined by the navigation positioning and height determining module is greater than a first threshold value, and comparing whether the difference is smaller than or equal to a second threshold value through the central processing module when the height of the unmanned aerial vehicle is not greater than the first threshold value;
the image acquisition and analysis module is used for triggering the image acquisition and analysis module to acquire the image information of a first area including the target area below the unmanned aerial vehicle after the central processing module compares the difference between the geographical position information of the unmanned aerial vehicle and the geographical position information of the target area and determines that the difference is smaller than or equal to a second threshold value, and when the difference is larger than the second threshold value, the central processing module sends a control signal to the rotor wing so as to adjust the posture, the traveling direction and the speed of the unmanned aerial vehicle to advance towards the direction of the target area, and then the information is fed back to the central processing module through the navigation positioning and height determining module until the difference is smaller than or equal to the second threshold value; the image acquisition and analysis module is further used for extracting an image of the target area according to the acquired image information of a first area including the target area below the unmanned aerial vehicle, and determining whether the water surface floater or the obstacle exists in the target area according to comparison of a sequence of pixels of the static image and correlation calculation;
the depth calculation and adjustment module is used for calculating the lifting angle and/or distance of the telescopic device 3 based on the control of the central processing module and the preset depth requirement;
the power management module is used for providing power for all other modules in the main body 1;
the data storage module is coated with waterproof materials, and is used for storing the parameters of the change of the geographical position of the unmanned aerial vehicle and the lifting of the telescopic device;
the data transmitting and receiving module is used for acquiring the geographical position information of the unmanned aerial vehicle through a radio link, transmitting the difference between the geographical position information of the unmanned aerial vehicle and the geographical position information of the target area and the height information of the unmanned aerial vehicle to the ground control platform under the control of the processing of the central processing module, and receiving the central control information and the operation parameter updating information of the ground control platform; and
and the central processing module is used for storing geographic information of a target area and operating parameters of water environment sampling and controlling the operation of the rotor wing, the navigation positioning and height determining module, the image acquisition and analysis module, the depth calculation and adjustment module, the data storage module and the data transmitting and receiving module.
According to an exemplary embodiment of the invention, the step of the navigation positioning and altitude determination module determining the altitude of the drone above the water surface comprises: an optical transmitter and an optical receiver which are included in the navigation positioning and height determining module are arranged right below the main body 1; optical transmitter is with certain angle transmission optical signal, and optical receiver receives first reflection signal, and wherein unmanned aerial vehicle is at the height of surface of water top: h ═ V · (t)e-tr) Cos α ÷ 2, where V is the speed of travel of the optical signal above the water surface, teAnd trThe time when the optical transmitter transmits the optical signal and the time when the optical receiver receives the first reflected signal, respectively, and α is an angle between the time when the optical transmitter transmits the optical signal and the vertical direction. Since the optical signal is reflected by the water surface or by a float/obstacle on the water surface, the optical receiver captures the reflected signal in a very short time. Although the optical signal transmitted by the optical transmitter is refracted through the water surface, enters the water, is reflected, and is refracted out of the water surface, so as to be captured by the optical receiver again, the optical receiver takes the time of the first obtained/received reflection signal as the reflection time calculated by the water surface height in the period from the start of the optical signal transmitted by the optical transmitter.
According to an exemplary embodiment of the present invention, the image collecting and analyzing module extracts an image of the target area according to the collected image information of a first area including the target area under the drone, and the determining whether there is a water surface float or obstacle in the target area according to the comparison of the sequence of pixels of the still image and the correlation calculation further comprises: extracting each column of pixels of the image of the target area to form a pixel sequence [ I11，I12，…，I1p，…，I1q]，[I21，I22，…，I2p，…，I2q]，……，[I(m-1)1，I(m-1)2，…，I(m-1)p，…，I(m-1)q]，[Im1，Im2，…，Imp，…，Imq]Where m is the number of pixel columns of the image and q is the number of pixel rows of the image; calculating the nth correlation degree of the first column of pixels and the nth column of pixels according to the following formula:
wherein n is more than 1 and less than or equal to m; and when the nth correlation degree is smaller than the threshold value, obtaining the correlation degrees of the next r pixel columns according to a formula, and when the correlation degrees of a plurality of the correlation degrees from n to the n + r columns are smaller than the threshold value, indicating that the floating object or the obstacle exists on the water surface, wherein r is more than or equal to 1 and less than m-1.
Fig. 3 illustrates a schematic structural diagram of a telescoping device 3 of an unmanned aerial vehicle water environment automatic sampling device according to an exemplary embodiment of the present invention. The telescopic device 3 is used for connecting the main body 1 and the sampling container 4, and comprises: a rotatable wheel 31, a rope 32, a motor 33; wherein the rotatable wheel is wound with the rope 32, and the winding or releasing of the rope 32 is realized by the rotation of the motor 33; the control signal of the motor 32 comes from a depth calculation and adjustment module which calculates the lifting angle and/or distance of the telescopic device 3 and the winding or releasing angle and/or the number of turns of the rope 32 based on the control of the central processing module and the preset depth requirement, thereby realizing the lifting or lowering of the sampling container 4 for a certain distance. For example, when the preset depth is required to be a meter down from the bottom of the body and the diameter of the rotatable wheel 31 is B meters, the angle of release of the rotation of the rotatable wheel 31 is 360 a/(π B) and the number of released turns is a/(π B).
Fig. 4 illustrates a schematic structural diagram of an alternative solution of the telescoping device 3 based on the device for automatic sampling of the unmanned aerial vehicle water environment, according to an exemplary embodiment of the present invention. The telescopic device 3 comprises a deformable parallelogram 31 and a rope 32, wherein the parallelogram 31 is formed by four sides 311, 312, 313, 314, wherein the length of the sides 311 and 313 is a, the length of the sides 312 and 314 is b, and the included angle between the sides 311 and 312 is beta; two sides 311 and 312 of the parallelogram 31 are fixed on the bottom surface of the main body 1, a motor is arranged between every two sides of the parallelogram 31 to realize that the two adjacent sides can move mutually, and a conducting wire of the motor is arranged inside the hollow side; cord 32 is attached to the intersection of sides 313 and 314, and cord 32 has a length c; the depth calculation and adjustment module calculates the lifting angle and/or distance of the telescopic device 3 based on the control of the central processing module and a preset depth requirement, so as to realize the lifting or lowering of the sampling container 4 for a certain distance, wherein when the preset depth requirement is a meter lowering from the lower side of the body, the motor between the sides 311 and 312 rotates so that the included angle between the sides 311 and 312 is β, which is arccos [ (a-c)/b ].
Preferably, the retracting device 3 may further include an electromagnet 33 which is disposed in a groove at the bottom of the body 1, and the bottom of the electromagnet 33 is flush with the bottom of the body 1, and when the sampling container 4 is not dropped, the electromagnet 33 is energized to make the suction edge 312; and when a command is received to cause the sampling container 4 to fall, the electromagnet 33 is de-energized to cause the release edge 312. From this can be so that telescoping device 3 firmly is fixed in main part 1 below when not sampling for unmanned aerial vehicle can comparatively rise and fall balancedly or fly.
Preferably, the telescopic device 3 may further comprise a plurality of interconnected parallelograms, each parallelogram having a common edge length a, i.e. one and the same parallelogram may be extended to the left at 313, which may effectively extend the length of the parallelogram.
Preferably, the telescopic device 3 may further include a plurality of separated parallelograms uniformly distributed on the bottom surface of the main body 1, each parallelogram having the structure as described above in fig. 4, a rope 32 being connected to the bottom of each parallelogram, and a sampling container 4 being connected to the other end of each rope 32. Through this kind of special configuration, can realize the sampling of a plurality of target areas, because the evenly distributed of the parallelogram of a plurality of separations moreover, can be so that unmanned aerial vehicle's load is comparatively balanced, and then can comparatively rise and fall in a balanced ground or fly.
In particular, the sampling position of the sampling container 4 connected with the telescopic device 3 must be a fixed depth under the water surface, so as to prevent the water environment sampling from contacting with air and influencing the collection of the dissolved gas in water.
Fig. 5 illustrates a schematic structural diagram of a sampling container 4 of an apparatus for automatic sampling of water environment based on unmanned aerial vehicles, according to an exemplary embodiment of the present invention. The sampling container 4 includes: an electrically operated valve 41 for, under the control of the central processing module, when it is desired to collect a water sample of the water environment, being configured to be activated so that the flap 42 is opened, and after the collection of the sampling container 4 is completed, to control the change 42 to be closed; the cover plate 42 is used for opening to collect a water environment water sample and closing to finish water environment sampling; a rubber pad 43 disposed at the opening of the sampling container 4 for enhancing the sealing level of the water environment sampling; a filter screen 44 for filtering impurities in the water; a housing 46 for mounting a protective housing to protect the sampling container from damage; and the inner wall 45 is coated or electroplated with an anti-corrosion material to prevent the sampling container 4 from being corroded by the water environment sampling. In particular, the upper part of the sampling container 4 in fig. 5 is a "herringbone" part, and the height of the triangle formed by the lower bifurcated part and the top of the sampling container 4 in the vertical direction is a part of the length of the rope 32.
Fig. 6 illustrates a schematic structural diagram of an alternative solution of the sampling container 4 of the device for automatic sampling of the water environment based on unmanned aerial vehicles, according to an exemplary embodiment of the present invention. The sampling container 4 includes: the water suction pump 401 is used for pumping water environment samples at a fixed depth below the water surface through a water suction pipe 402; a suction pipe 402 for inputting the extracted water environment sample; a cover plate 403 for sealing to protect water environment sampling; a water discharge pipe 404, which is used for stopping working when the water suction pump 401 is working to prevent water environment sampling from flowing out, and is used for discharging water environment sampling inside the sampling container 4 to facilitate resampling when the water environment sampling is not ideal or not meet the sampling requirement when the water suction pump 401 is stopped working; a water discharge pipe 405 for discharging the water environment sample in the sampling container 4; a housing 406 for mounting a protective housing to protect the sampling container from damage; and an inner wall 407 for coating or plating with a corrosion resistant material to prevent corrosion of the sampling container 4 by the aqueous environment sample. In particular, the upper part of the sampling container 4 in fig. 6 is a "herringbone" part, and the height of the triangle formed by the lower bifurcated part and the top of the sampling container 4 in the vertical direction is a part of the length of the rope 32.
Preferably or alternatively, the sampling container 4 may also be a container of polytetrafluoroethylene or polyethylene material.
Preferably or alternatively, the inner wall of the sampling container 4 is coated with an epoxy, teflon or nylon coating.
According to an exemplary embodiment of the invention, the invention also discloses an unmanned aerial vehicle-based water environment automatic sampling method, which comprises the following steps:
the navigation positioning and height determining module acquires the geographical position information of the unmanned aerial vehicle through the data transmitting and receiving module, determines the height of the unmanned aerial vehicle above the water surface, and transmits the geographical position information and the height to the central processing module, so that the central processing module processes and compares the difference between the geographical position information of the unmanned aerial vehicle and the geographical position information of a target area, the geographical position information and the height of the unmanned aerial vehicle and the difference obtained by comparison are transmitted to the ground control platform through the transmitting and receiving module, when the height of the unmanned aerial vehicle above the water surface determined by the navigation positioning and height determining module is greater than a first threshold value, the central processing module controls the unmanned aerial vehicle to land in the vertical direction, and when the height of the unmanned aerial vehicle above the water surface is not greater than the first threshold value, the central processing module compares whether the difference is smaller than or equal to a second threshold value or not;
after the central processing module compares the difference between the geographical position information of the unmanned aerial vehicle and the geographical position information of the target area, and then determines that the difference is smaller than or equal to a second threshold value, the image acquisition and analysis module is triggered to acquire the image information of a first area including the target area below the unmanned aerial vehicle, and when the difference is larger than the second threshold value, the central processing module sends a control signal to the rotor wing so as to adjust the posture, the traveling direction and the speed of the unmanned aerial vehicle to advance towards the direction of the target area, and then the information is fed back to the central processing module through the navigation positioning and height determining module until the difference is smaller than or equal to the second threshold value; the image acquisition and analysis module is further used for extracting an image of the target area according to the acquired image information of a first area including the target area below the unmanned aerial vehicle, and determining whether the water surface floater or the obstacle exists in the target area according to comparison of a sequence of pixels of the static image and correlation calculation;
the depth calculation and adjustment module calculates the lifting angle and/or distance of the telescopic device 3 based on the control of the central processing module and the preset depth requirement;
the data transmitting and receiving module acquires the geographical position information of the unmanned aerial vehicle through a radio link, sends the difference between the geographical position information of the unmanned aerial vehicle and the geographical position information of the target area and the height information of the unmanned aerial vehicle to the ground control platform under the control of processing of the central processing module, and receives the central control information and the operation parameter updating information of the ground control platform.
In addition, the unmanned aerial vehicle-based water environment automatic sampling method can further comprise the steps executed by the sub-modules of the components in the figures 2-6. The description thereof is omitted here only to reduce repetition of the same description, but a person skilled in the art can directly and unambiguously ascertain that the above steps can be taken from the above apparatus description.
The above-mentioned technical terms are conventional technical terms having ordinary meanings in the art, and are not further explained herein in order not to obscure the point of the present invention.
In conclusion, in the technical scheme of the invention, by adopting the device based on the automatic sampling of the water environment of the unmanned aerial vehicle, the automatic sampling of the water environment can be efficiently, timely, accurately, highly precisely and low-investment, the device has better convenience and wide field adaptability, is convenient for improving the monitoring efficiency of the water environment, enhances the control strength of a water environment pollution source or the monitoring of the water environment which is inconvenient for manual monitoring, improves the maneuverability, flexibility and emergency monitoring capability of the water environment monitoring for the monitoring of the water environment with radiation or corrosion, and greatly reduces the waste of manpower and energy.
It will be understood that: the examples and embodiments of the invention may be implemented in hardware, software, or a combination of hardware and software. As mentioned above, any body performing this method may be stored, for example, in the form of volatile or non-volatile storage, for example, a storage device, like a ROM, whether erasable or rewritable or not, or in the form of memory, such as for example a RAM, a memory chip, a device or an integrated circuit, or on an optically or magnetically readable medium, such as for example a CD, a DVD, a magnetic disk or a magnetic tape. It will be understood that: storage devices and storage media are examples of machine-readable storage suitable for storing one or more programs that, when executed, implement examples of the present invention. Examples of the present invention may be conveyed electronically via any medium, such as a communications signal carried by a wired or wireless coupling, and the examples contain the same where appropriate.
It should be noted that: the invention solves the technical problems of obtaining the automatic sampling of the water environment efficiently, timely, accurately, precisely and with low investment, having better convenience and wide field adaptability, being convenient for improving the water environment monitoring efficiency, strengthening the control strength of a water environment pollution source or monitoring the water environment which is inconvenient for manual monitoring, improving the maneuverability, flexibility and emergency monitoring capability of water environment monitoring for monitoring the water environment with radiation or corrosion, and greatly reducing the waste of manpower and energy. Furthermore, the solution claimed in the appended claims has utility since it can be manufactured or used in industry.
The above description is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Unless expressly stated otherwise, each feature disclosed is one example only of a generic series of equivalent or similar features. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (7)
1. Device based on unmanned aerial vehicle water environment automatic sampling, its characterized in that includes
A body, wherein the body comprises: the system comprises a navigation positioning and height determining module, an image collecting and analyzing module, a depth calculating and adjusting module, a power supply management module, a data storage module, a data transmitting and receiving module and a central processing module;
the four rotors are used for changing the speed of the propeller by adjusting the rotating speed of the motor of each rotor so as to control the posture, the advancing direction, the speed and the spatial position of the unmanned aerial vehicle;
the telescopic device is used for connecting the main body and the sampling container and enabling the sampling container to ascend or descend for a certain distance according to the calculated ascending and descending height and a control command; and
the sampling container is used for obtaining a water environment sample of a target area according to a preset sampling position and depth and sealing a water sample, and the sampling container is either a metal sampling container with an inner wall coated or electroplated with an anti-corrosion material or a glass sampling container with an outer protective shell;
the navigation positioning and height determining module is used for acquiring the geographical position information of the unmanned aerial vehicle through the data transmitting and receiving module, determining the height of the unmanned aerial vehicle above the water surface, sending the geographical position information and the height to the central processing module, processing and comparing the difference between the geographical position information of the unmanned aerial vehicle and the geographical position information of the target area through the central processing module, sending the geographical position information and the height of the unmanned aerial vehicle and the difference obtained through comparison to the ground control platform through the transmitting and receiving module, and when the height of the unmanned aerial vehicle above the water surface determined by the navigation positioning and height determining module is greater than a first threshold value,controlling the unmanned aerial vehicle to land in the vertical direction by the central processing module, and comparing whether the difference is smaller than or equal to a second threshold value by the central processing module when the difference is not larger than the first threshold value; wherein the step of navigation location and height determination module confirming the height of unmanned aerial vehicle above the surface of water includes: an optical transmitter and an optical receiver which are included in the navigation positioning and height determining module are arranged right below the main body; optical transmitter is with certain angle transmission optical signal, and optical receiver receives first reflection signal, and wherein unmanned aerial vehicle is at the height of surface of water top: h = V (t)e-tr) Cos α ÷ 2, where V is the speed of travel of the optical signal above the water surface, teAnd trThe time when the optical transmitter transmits the optical signal and the time when the optical receiver receives the first reflected signal are respectively, and alpha is an angle between the time when the optical transmitter transmits the optical signal and the vertical direction;
the image acquisition and analysis module is used for triggering the image acquisition and analysis module to acquire the image information of a first area including a target area below the unmanned aerial vehicle after the central processing module compares the difference between the geographical position information of the unmanned aerial vehicle and the geographical position information of the target area and determines that the difference is smaller than or equal to a second threshold value, and when the difference is larger than the second threshold value, the central processing module sends a control signal to the rotor wing so as to adjust the posture, the traveling direction and the speed of the unmanned aerial vehicle and advance towards the direction of the target area, and then the information is fed back to the central processing module through the navigation positioning and height determining module until the difference is smaller than or equal to the second threshold value; the image acquisition and analysis module is further used for extracting an image of the target area according to the acquired image information of a first area including the target area below the unmanned aerial vehicle, and determining whether the water surface floater or the obstacle exists in the target area according to comparison of a sequence of pixels of the static image and correlation calculation; the image acquisition and analysis module extracts an image of a target area according to acquired image information of a first area including the target area below the unmanned aerial vehicle, and determines whether a water surface floating object or an obstacle is present in the target area or not according to comparison of sequences of pixels of static images and correlation calculationThe method comprises the following steps: extracting each column of pixels of the image of the target area to form a pixel sequence [ I11，I12，…，I1p，…，I1q]，[I21，I22，…，I2p，…，I2q]，……，[I(m-1)1，I(m-1)2，…，I(m-1)p，…，I(m-1)q]，[Im1，Im2，…，Imp，…，Imq]Where m is the number of pixel columns of the image and q is the number of pixel rows of the image; calculating the nth correlation degree of the first column of pixels and the nth column of pixels according to the following formula:
wherein n is more than 1 and less than or equal to m; and when the nth correlation degree is smaller than the threshold value, obtaining the correlation degrees of the next r pixel columns according to a formula, and when the correlation degrees of a plurality of the correlation degrees from n to the n + r columns are smaller than the threshold value, indicating that the floating object or the obstacle exists on the water surface, wherein r is more than or equal to 1 and less than m-1.
2. The unmanned aerial vehicle-based water environment automatic sampling device of claim 1, wherein:
the depth calculating and adjusting module is used for calculating the lifting angle and/or distance of the telescopic device based on the control of the central processing module and the preset depth requirement;
the power management module is used for providing power for all other modules in the main body;
the data storage module is coated with waterproof materials outside and used for storing the parameters of the change of the geographical position of the unmanned aerial vehicle and the lifting of the telescopic device;
the data transmitting and receiving module is used for acquiring the geographical position information of the unmanned aerial vehicle through a radio link, transmitting the difference between the geographical position information of the unmanned aerial vehicle and the geographical position information of the target area and the height information of the unmanned aerial vehicle to the ground control platform under the control of the processing of the central processing module, and receiving the central control information and the operation parameter updating information of the ground control platform; and
the central processing module is used for storing geographic information of a target area and operating parameters of water environment sampling and controlling the operation of the rotor wing, the navigation positioning and height determining module, the image acquisition and analysis module, the depth calculation and adjustment module, the data storage module and the data transmitting and receiving module.
3. The unmanned aerial vehicle-based water environment automatic sampling device of claim 2, wherein:
the telescopic device is used for connecting the main body and the sampling container and comprises: rotatable wheels, ropes, motors; the rotatable wheel is wound with a rope, and the rope is wound or released under the rotation of the motor; the control signal of the motor comes from a depth calculating and adjusting module, and the depth calculating and adjusting module calculates the lifting angle and/or distance of the telescopic device and the winding or releasing angle and/or the number of turns of the rope based on the control of the central processing module and the preset depth requirement, so that the sampling container is lifted or lowered for a certain distance; when the predetermined depth is a meter down from the bottom of the body and the diameter of the rotatable wheel is B meters, the angle of release of the rotatable wheel from rotation is 360 a/(π B) and the number of released turns is a/(π B).
4. The unmanned aerial vehicle-based water environment automatic sampling device of claim 3, wherein:
the telescopic device comprises a deformable parallelogram and a rope, wherein the parallelogram is formed by four sides, namely a side I, a side II, a side III and a side IV, the length of the side I and the side III is a, the length of the side II and the side IV is b, and an included angle between the side I and the side II is beta; two sides I and II of the parallelogram are fixed on the bottom surface of the main body, a motor is arranged between every two sides of the parallelogram to realize that the two adjacent sides can move mutually, and a lead of the motor is arranged in the hollow side; the rope is connected to the intersection point of the side III and the side IV, and the length of the rope is c; the depth calculation and adjustment module calculates the lifting angle and/or distance of the telescopic device based on the control of the central processing module and the preset depth requirement, so that the sampling container is lifted or lowered for a certain distance; wherein when the preset depth is required to be a meter down from below the body, the motor rotates between the side I and the side II such that an angle between the side I and the side II is β, and β = arccos [ (A-a-c)/b ].
5. The unmanned aerial vehicle-based water environment automatic sampling device of claim 4, wherein:
the telescopic device can further comprise a plurality of separated parallelograms which are uniformly distributed on the bottom surface of the main body, the bottom of each parallelogram is respectively connected with a rope, and the other end of each rope is respectively connected with a sampling container.
6. The unmanned aerial vehicle-based water environment automatic sampling device of claim 5, wherein:
the sampling container includes: the electric valve is used for starting to enable the cover sheet to be opened when a water sample of the water environment needs to be collected under the control of the central processing module, and controlling the cover sheet to be closed after the collection of the sampling container is completed; the cover plate is used for opening to collect a water environment water sample and closing to finish water environment sampling; the rubber pad is arranged at the opening of the sampling container and used for enhancing the sealing level of water environment sampling; the filter screen is used for filtering impurities in water; a housing for mounting a protective housing to protect the sampling container from damage; and the inner wall is coated or electroplated with an anti-corrosion material to prevent the sampling container from being corroded by the water environment sampling.
7. The unmanned aerial vehicle-based water environment automatic sampling device of claim 5, wherein:
the sampling container includes: the water suction pump is used for pumping water environment samples at a fixed depth under the water surface through the water suction pipe; the water suction pipe is used for inputting the extracted water environment for sampling; the cover plate is used for sealing to protect the water environment for sampling; the water discharge pump is used for stopping working when the water suction pump works to prevent water environment samples from flowing out, and is used for discharging the water environment samples in the sampling container to be convenient for resampling when the water environment samples are not ideal or not meet the sampling requirement and the water suction pump stops working; the water discharge pipe is used for discharging water environment samples in the sampling container; a housing for mounting a protective housing to protect the sampling container from damage; and the inner wall is coated or electroplated with an anti-corrosion material to prevent the sampling container from being corroded by the water environment sampling.
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| CN110320163A (en) * | 2019-06-26 | 2019-10-11 | 深圳市宇驰检测技术股份有限公司 | Online water quality monitoring method, system and the storage medium of unmanned plane |
| CN110908394A (en) * | 2019-11-25 | 2020-03-24 | 桂林航天工业学院 | Maritime water pollution supervision unmanned aerial vehicle system and supervision method |
| CN111024449B (en) * | 2019-12-26 | 2022-05-17 | 温州大学 | Unmanned aerial vehicle water sampling equipment |
| CN111176319B (en) * | 2020-02-11 | 2020-10-27 | 数字鹰电子（湖北）有限公司 | Method for collecting sample water by using unmanned aerial vehicle |
| CN114062037B (en) * | 2020-07-31 | 2024-05-31 | 力合科技（湖南）股份有限公司 | Automatic sampling device and method |
| CN112161840A (en) * | 2020-09-30 | 2021-01-01 | 山东科技大学 | Polyvinyl alcohol-based sponge water sampling device, use method of device and application of device |
| CN112649338A (en) * | 2020-12-22 | 2021-04-13 | 安徽配隆天环保科技有限公司 | Unmanned aerial vehicle automatic sampling analysis system |
| CN113050667B (en) * | 2021-02-05 | 2022-02-08 | 广东国地规划科技股份有限公司 | Unmanned aerial vehicle sampling control method, controller and system |
| CN113624930B (en) * | 2021-07-12 | 2024-03-15 | 武汉青绿山水科技有限公司 | Black and odorous water body analysis and evaluation system and method |
| CN114279762A (en) * | 2021-12-31 | 2022-04-05 | 深圳市可飞科技有限公司 | Liquid sample collection system, method and device applied to aircraft |
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