CN103983474A - Water sampling multi-rotor type aircraft - Google Patents
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Abstract
本发明属于多旋翼飞行器领域，涉及可以应用于江河、湖泊、浅海等远离岸边人工不易进行水质采样的场合的一种水质采样多旋翼飞行器。本发明包括自身装载有自驾仪系统和取水系统，自驾仪系统由传感系统、微处理器、动力系统构成，取水系统由舵机和水质采样装置组成，安装于水质采样多旋翼飞行器下方；传感系统包括惯性导航传感器由陀螺仪和加速度计组成，完成对水质采样多旋翼飞行器的姿态检测；导航定位传感器由电子罗盘和GPS组成，得到水质采样多旋翼飞行器的航向信息和空间位置、速度信息。本发明提供一种水质采样多旋翼飞行器，成本较低，多旋翼飞行器操作方便快捷，省时省力，而且保证了采样地点水质不被破坏。
The invention belongs to the field of multi-rotor aircraft, and relates to a water quality sampling multi-rotor aircraft that can be applied to occasions such as rivers, lakes, shallow seas, etc. that are far away from shore and difficult to manually sample water quality. The invention includes self-loading autopilot system and water intake system, the autopilot system is composed of sensing system, microprocessor and power system, the water intake system is composed of steering gear and water quality sampling device, and is installed under the water quality sampling multi-rotor aircraft; The sensing system includes an inertial navigation sensor composed of a gyroscope and an accelerometer to complete the attitude detection of the multi-rotor aircraft for water quality sampling; the navigation positioning sensor is composed of an electronic compass and GPS to obtain the course information and spatial position and speed information of the water quality sampling multi-rotor aircraft . The invention provides a multi-rotor aircraft for water quality sampling, which has low cost, is convenient and quick to operate, saves time and labor, and ensures that the water quality of the sampling site is not damaged.
Description
技术领域technical field
本发明属于多旋翼飞行器领域，涉及可以应用于江河、湖泊、浅海等远离岸边人工不易进行水质采样的场合的一种水质采样多旋翼飞行器。The invention belongs to the field of multi-rotor aircraft, and relates to a water quality sampling multi-rotor aircraft that can be applied to occasions such as rivers, lakes, shallow seas and the like that are far away from the shore and are difficult to manually sample water quality.
背景技术Background technique
在环境污染的监测和水体污染的调查工作中，要真实地反映水质污染状况，必须采集具有代表性的水样，而水质采样器就起到了这种效果。水质采样器是采集水质样品的一种装置，分为水质人工采样器和水质自动采样器两种。水质人工采样器的材料必须对水样的组成不产生影响，且易于洗涤，对先前的样品不能有任何残留。水质自动采样器是适合于与流量成比例的斗式采样器，它是一种智能化多功能吸入式水样分瓶采样装置，可以根据水样采样要求实现多种采样方式(定量采样、定时定量采样、定时流量比例采样、定流定量采样和远程控制采样)及多种装瓶方式(每瓶单次采样--单采和每瓶多次采样--混采)。上述的两种传统的水质采样方式较为适用于企业排放水等人员可在岸边操作的场合，远离岸边人工不易进行水质采样的场合则需采样人员乘船或汽艇至采样地点进行水质采样，但这种方法的弊端也很明显，一方面采样人员乘船或汽艇耗时又耗力，有时还需要多人合作才能完成任务；另一方面采样人员所乘的船或汽艇驶向采样地点，很可能破坏采样地点水质，导致研究结果不准确。近年来小型多旋翼飞行器成为国内外各大高校及科研机构研究的热点，已被应用于航空拍摄、电路巡线、森林防火、资源勘探等领域，具有广阔的应用前景。将水质采样装置设计为机械臂装置悬挂于小型多旋翼飞行器上，可以应用于江河、湖泊、浅海等远离岸边人工不易进行水质采样的场合，用以自动采集水面水质样品。使用起来方便简单快捷，在应用该设备进行水质采样时，可根据需要迅速采集不同地点水面水质样品，是未来环保、科研等水质采样时所必备的用具。In the monitoring of environmental pollution and the investigation of water pollution, to truly reflect the status of water pollution, it is necessary to collect representative water samples, and the water quality sampler has this effect. The water quality sampler is a device for collecting water quality samples, which can be divided into two types: water quality manual sampler and water quality automatic sampler. The material of the water quality artificial sampler must not affect the composition of the water sample, be easy to wash, and must not have any residue on the previous sample. The water quality automatic sampler is a bucket sampler that is suitable for proportional flow. It is an intelligent multi-functional suction water sample bottle sampling device, which can realize various sampling methods (quantitative sampling, timing sampling) according to the requirements of water sample sampling. Quantitative sampling, timing flow proportional sampling, constant flow quantitative sampling and remote control sampling) and multiple bottling methods (single sampling per bottle - single sampling and multiple sampling per bottle - mixed sampling). The above two traditional water quality sampling methods are more suitable for the occasions where the enterprise discharges water and other personnel can operate on the shore. In the occasions where it is difficult to conduct water quality sampling manually far away from the shore, the sampling personnel need to take a boat or motorboat to the sampling site for water quality sampling. However, the disadvantages of this method are also obvious. On the one hand, it is time-consuming and labor-intensive for the sampling personnel to take a boat or motorboat, and sometimes it requires the cooperation of multiple people to complete the task; It is likely to damage the water quality of the sampling site, resulting in inaccurate research results. In recent years, small multi-rotor aircraft has become a research hotspot in universities and scientific research institutions at home and abroad. It has been used in aerial photography, circuit inspection, forest fire prevention, resource exploration and other fields, and has broad application prospects. The water quality sampling device is designed as a mechanical arm device suspended on a small multi-rotor aircraft, which can be used in rivers, lakes, shallow seas and other places far away from the shore where manual water quality sampling is difficult to collect automatically to collect water quality samples on the water surface. It is convenient, simple and fast to use. When using this equipment for water quality sampling, it can quickly collect water quality samples at different locations according to needs. It is a necessary tool for water quality sampling in environmental protection and scientific research in the future.
发明内容Contents of the invention
本发明的目的在于提供一种解决江河、湖泊、浅海等远离岸边人工不易进行水质采样的问题的水质采样多旋翼飞行器。The purpose of the present invention is to provide a water quality sampling multi-rotor aircraft that solves the problem that rivers, lakes, shallow seas, etc. are far away from the shore and it is difficult to perform water quality sampling manually.
本发明的目的是这样实现的：The purpose of the present invention is achieved like this:
本发明包括自身装载有自驾仪系统和取水系统，自驾仪系统由传感系统、微处理器、动力系统构成，取水系统由舵机和水质采样装置组成，安装于水质采样多旋翼飞行器下方；传感系统包括惯性导航传感器由陀螺仪和加速度计组成，完成对水质采样多旋翼飞行器的姿态检测；导航定位传感器由电子罗盘和GPS组成，得到水质采样多旋翼飞行器的航向信息和空间位置、速度信息；所述的微处理器接收传感系统的数据确定水质采样多旋翼飞行器的飞行姿态、飞行位置及方向；接收人工发送控制舵机信号，发送PWM控制信号控制舵机；接收水位检测装置反馈的水位检测信号，当水位达到设定值时，再次发送PWM控制信号控制舵机；舵机用以控制水质采样装置的高度，舵机正转，使得水质采样装置下降；舵机反转，使得水质采样装置上升，水质采样装置内部装有水位检测装置实时监测水质采样装置水位。The invention includes self-loading autopilot system and water intake system, the autopilot system is composed of sensing system, microprocessor and power system, the water intake system is composed of steering gear and water quality sampling device, and is installed under the water quality sampling multi-rotor aircraft; The sensing system includes an inertial navigation sensor composed of a gyroscope and an accelerometer to complete the attitude detection of the water quality sampling multi-rotor aircraft; a navigation positioning sensor is composed of an electronic compass and GPS to obtain the heading information, spatial position, and speed information of the water quality sampling multi-rotor aircraft The microprocessor receives the data of the sensor system to determine the flight attitude, flight position and direction of the water quality sampling multi-rotor aircraft; receives the manual transmission control steering gear signal, sends the PWM control signal to control the steering gear; receives the feedback from the water level detection device Water level detection signal, when the water level reaches the set value, the PWM control signal is sent again to control the steering gear; the steering gear is used to control the height of the water quality sampling device, and the steering gear rotates forward to make the water quality sampling device drop; the steering gear reverses to make the water quality The sampling device rises, and a water level detection device is installed inside the water quality sampling device to monitor the water level of the water quality sampling device in real time.
本发明的有益效果在于：The beneficial effects of the present invention are:
传统的水质采样方式是采样人员乘船或汽艇至采样地点进行水质采样，但这种方法的弊端也很明显，一方面采样人员乘船或汽艇耗时又耗力，有时还需要多人合作才能完成任务；另一方面采样人员所乘的船或汽艇驶向采样地点，很可能破坏采样地点水质，导致研究结果不准确。本发明提供一种水质采样多旋翼飞行器，完全可以避免以上弊端，由一位采样人员就可以完成水质采样任务，成本较低，多旋翼飞行器操作方便快捷，省时省力，而且保证了采样地点水质不被破坏。该水质采样多旋翼飞行器特别适用于江河、湖泊、浅海等远离岸边人工不易进行水质采样的场合。The traditional water quality sampling method is that the sampling personnel go to the sampling site by boat or motorboat to sample the water quality, but the disadvantages of this method are also obvious. Complete the task; on the other hand, the boat or motorboat taken by the sampling personnel sailed to the sampling site, which is likely to damage the water quality of the sampling site, resulting in inaccurate research results. The invention provides a multi-rotor aircraft for water quality sampling, which can completely avoid the above disadvantages, and only one sampling person can complete the water quality sampling task, the cost is low, the multi-rotor aircraft is convenient and quick to operate, saves time and effort, and ensures the water quality of the sampling site not destroyed. The multi-rotor aircraft for water quality sampling is especially suitable for occasions such as rivers, lakes, shallow seas, etc., which are far away from the shore and difficult to perform water quality sampling manually.
附图说明Description of drawings
图1水质采样多旋翼飞行器总体原理图Figure 1 The overall schematic diagram of the water quality sampling multi-rotor aircraft
具体实施方式Detailed ways
下面结合附图对本发明作进一步详细描述。The present invention will be described in further detail below in conjunction with the accompanying drawings.
本发明公开一种水质采样多旋翼飞行器，涉及多旋翼无人机及液体采样工具领域。本发明提供的一种水质采样多旋翼飞行器，自身装载有自驾仪系统和取水系统，自驾仪系统包括传感系统、微处理器和动力系统，主要用于保证水质采样多旋翼飞行器的稳定性和精确性；取水系统由舵机和水质采样装置组成，并在水质采样装置内部安装有水位检测装置实时监测水位，主要完成水质采样任务。水质采样多旋翼飞行器操作方便快捷，省时省力，而且保证了采样地点水质不被破坏，可用于江河、湖泊、浅海等远离岸边人工不易进行水质采样的场合。The invention discloses a water quality sampling multi-rotor aircraft, and relates to the field of multi-rotor drones and liquid sampling tools. A kind of water quality sampling multi-rotor aircraft provided by the present invention is self-loaded with an autopilot system and a water intake system. The autopilot system includes a sensor system, a microprocessor and a power system, and is mainly used to ensure the stability and stability of the water quality sampling multi-rotor aircraft. Accuracy; the water intake system consists of a steering gear and a water quality sampling device, and a water level detection device is installed inside the water quality sampling device to monitor the water level in real time, mainly to complete the water quality sampling task. The water quality sampling multi-rotor aircraft is convenient and quick to operate, saves time and effort, and ensures that the water quality of the sampling site will not be damaged. It can be used in rivers, lakes, shallow seas and other occasions far away from the shore where manual water quality sampling is difficult.
图中：1自驾仪系统、11传感系统、12微处理器、13动力系统、2取水系统、21舵机、22水质采样装置。In the figure: 1 autopilot system, 11 sensor system, 12 microprocessor, 13 power system, 2 water intake system, 21 steering gear, 22 water quality sampling device.
传统的水质采样方式是采样人员乘船或汽艇至采样地点进行水质采样，但这种方法的弊端也很明显，一方面采样人员乘船或汽艇耗时又耗力，有时还需要多人合作才能完成任务；另一方面采样人员所乘的船或汽艇驶向采样地点，很可能破坏采样地点水质，导致研究结果不准确。水质采样多旋翼飞行器可以避免以上弊端，由一位采样人员完全可以完成水质采样任务，成本较低，多旋翼飞行器操作方便快捷，省时省力，而且保证了采样地点水质不被破坏。The traditional water quality sampling method is that the sampling personnel go to the sampling site by boat or motorboat to sample the water quality, but the disadvantages of this method are also obvious. Complete the task; on the other hand, the boat or motorboat taken by the sampling personnel sailed to the sampling site, which is likely to damage the water quality of the sampling site, resulting in inaccurate research results. The multi-rotor aircraft for water quality sampling can avoid the above disadvantages. The task of water quality sampling can be completed by one sampling personnel, and the cost is low.
本发明采用的技术方法是：The technical method that the present invention adopts is:
本发明提供一种水质采样多旋翼飞行器，自身装载有自驾仪系统和取水系统，自驾仪系统主要用于保证水质采样多旋翼飞行器的稳定性和精确性；取水系统主要完成水质采样任务。The invention provides a water quality sampling multi-rotor aircraft, which is equipped with an autopilot system and a water intake system. The autopilot system is mainly used to ensure the stability and accuracy of the water quality sampling multi-rotor aircraft; the water intake system is mainly used to complete the water quality sampling task.
上述的自驾仪系统进一步由传感系统、微处理器、动力系统构成。所述的传感系统具体包括：惯性导航传感器由陀螺仪和加速度计组成，完成对水质采样多旋翼飞行器的姿态检测；导航定位传感器由电子罗盘和GPS组成，得到水质采样多旋翼飞行器的航向信息和空间位置、速度信息，从而使其精确到达目的地完成定点水质采样任务。The above-mentioned autopilot system is further composed of a sensing system, a microprocessor, and a power system. The sensing system specifically includes: the inertial navigation sensor is composed of a gyroscope and an accelerometer to complete the attitude detection of the water quality sampling multi-rotor aircraft; the navigation positioning sensor is composed of an electronic compass and GPS to obtain the course information of the water quality sampling multi-rotor aircraft And spatial position, speed information, so that it can reach the destination accurately to complete the fixed-point water quality sampling task.
上述的微处理器完成对传感系统的数据处理，确定水质采样多旋翼飞行器的飞行姿态、飞行位置及方向，最终实现水质采样多旋翼飞行器的稳定飞行；接收人工发送控制舵机信号，信号处理后发送PWM控制信号控制舵机；接收水位检测装置反馈的水位检测信号，当水位达到设定值时，再次发送PWM控制信号控制舵机。The above-mentioned microprocessor completes the data processing of the sensing system, determines the flight attitude, flight position and direction of the water quality sampling multi-rotor aircraft, and finally realizes the stable flight of the water quality sampling multi-rotor aircraft; receives the artificially sent control servo signal, and processes the signal Then send PWM control signals to control the steering gear; receive the water level detection signal fed back by the water level detection device, and when the water level reaches the set value, send the PWM control signal again to control the steering gear.
上述的动力系统由电子调速器和直流无刷电机组成，其接收经过微处理器处理后输出的控制命令，实时调节水质采样多旋翼飞行器的飞行姿态、飞行位置及方向，安全准确的到达目的地。The above-mentioned power system is composed of an electronic governor and a brushless DC motor, which receives the control commands output after being processed by the microprocessor, and adjusts the flight attitude, flight position and direction of the multi-rotor aircraft for water quality sampling in real time, so as to reach the goal safely and accurately land.
所述的取水系统由舵机和水质采样装置组成，安装于水质采样多旋翼飞行器下方。The water intake system is composed of a steering gear and a water quality sampling device, and is installed under the water quality sampling multi-rotor aircraft.
上述的水质采样装置，主要用于水质采样，内部装有水位检测装置，实时监测水位。The above-mentioned water quality sampling device is mainly used for water quality sampling, and a water level detection device is installed inside to monitor the water level in real time.
上述的舵机用以控制水质采样装置的高度。舵机正转，使得水质采样装置下降；舵机反转，使得水质采样装置上升。The steering gear mentioned above is used to control the height of the water quality sampling device. The forward rotation of the steering gear makes the water quality sampling device go down; the reverse rotation of the steering gear makes the water quality sampling device rise.
参照图1一种水质采样多旋翼飞行器，自身装载有自驾仪系统1和取水系统2，自驾仪系统1主要用于保证水质采样多旋翼飞行器的稳定性和精确性；取水系统2主要完成水质采样任务。Referring to Figure 1, a water quality sampling multi-rotor aircraft is equipped with an autopilot system 1 and a water intake system 2. The autopilot system 1 is mainly used to ensure the stability and accuracy of the water quality sampling multi-rotor aircraft; the water intake system 2 is mainly used to complete water quality sampling. Task.
所述的自驾仪系统1进一步由传感系统11、微处理器12、动力系统13构成。所述的传感系统11具体包括：惯性导航传感器由陀螺仪和加速度计组成，加速度计在短时间内数据不准确，但是在经过长时间的测量之后，数据将变得准确，而陀螺仪的测量结果却与加速度计效果相反，鉴于上述情况，为获得比较精确的测量结果，将加速度计和陀螺仪结合使用，并将其获得的数据进行数据融合，完成对水质采样多旋翼飞行器的姿态检测；导航定位传感器由电子罗盘和GPS组成，GPS虽然在导航、定位等方面能起重要作用，但在其上方被遮蔽的环境中使用，如在桥梁下方进行水质采样，由于GPS的数据是接收卫星数据进行解算得到，若处于桥梁下方等相对密闭的环境中或者在干扰较强的环境中，GPS获取数据误差较大，因此常常将GPS与电子罗盘组合使用，组合后测得的数据进行数据融合将比单一传感器更准确，从而得到水质采样多旋翼飞行器的航向信息和空间位置、速度信息，从而使其精确到达目的地完成定点水质采样任务。The autopilot system 1 is further composed of a sensing system 11 , a microprocessor 12 and a power system 13 . The sensing system 11 specifically includes: the inertial navigation sensor is made up of a gyroscope and an accelerometer, and the data of the accelerometer is inaccurate in a short period of time, but after a long period of measurement, the data will become accurate, while the gyroscope's The measurement result is opposite to the effect of the accelerometer. In view of the above situation, in order to obtain more accurate measurement results, the accelerometer and gyroscope are used in combination, and the data obtained by them are fused to complete the attitude detection of the water quality sampling multi-rotor aircraft The navigation and positioning sensor is composed of an electronic compass and GPS. Although GPS can play an important role in navigation and positioning, it is used in a sheltered environment above it, such as water quality sampling under a bridge. Since GPS data is received from satellites The data is calculated and obtained. If it is in a relatively closed environment such as under a bridge or in an environment with strong interference, the error of GPS acquisition data is relatively large. Therefore, GPS and electronic compass are often used in combination, and the combined measured data is used for data Fusion will be more accurate than a single sensor, so as to obtain the heading information, spatial position, and speed information of the multi-rotor aircraft for water quality sampling, so that it can accurately reach the destination to complete the fixed-point water quality sampling task.
所述的微处理器12接收传感系统11的数据并做相应数据处理，确定水质采样多旋翼飞行器的飞行姿态、飞行位置及方向，最终实现水质采样多旋翼飞行器的稳定飞行；接收人工发送控制舵机信号，信号处理后发送PWM控制信号控制舵机21；接收水位检测装置反馈的水位检测信号，当水位达到设定值时，再次发送PWM控制信号控制舵机21。The microprocessor 12 receives the data of the sensing system 11 and performs corresponding data processing to determine the flight attitude, flight position and direction of the water quality sampling multi-rotor aircraft, and finally realizes the stable flight of the water quality sampling multi-rotor aircraft; Steering gear signal, send PWM control signal to control steering gear 21 after signal processing; receive the water level detection signal fed back by the water level detection device, when the water level reaches the set value, send PWM control signal to control steering gear 21 again.
所述的动力系统13由电子调速器和直流无刷电机组成，其接收经过微处理器12处理后输出的控制命令，实时调节水质采样多旋翼飞行器的飞行姿态及飞行方向。The power system 13 is composed of an electronic governor and a DC brushless motor, which receives control commands outputted after being processed by the microprocessor 12, and adjusts the flight attitude and flight direction of the water quality sampling multi-rotor aircraft in real time.
所述的取水系统2由舵机21和水质采样装置22组成，属于一种机械臂装置，安装于水质采样多旋翼飞行器下方。进一步所述的舵机21，用以控制水质采样装置22的高度。由人工遥控或自主导航的水质采样多旋翼飞行器飞至水质采样地点，悬停于水面之上，微处理器12向舵机21发送PWM控制信号，舵机21正转，使得水质采样装置22下降至水中；所述的水质采样装置22，内部装有水位检测装置，实时检测水质采样装置22内部水位，当水位达到设定值时，将发送取样成功信号至微处理器12，由微处理器12发送PWM控制信号控制舵机21，舵机21反转，使得水质采样装置22上升，水质采样完成，由人工遥控或自主导航水质采样多旋翼飞行器返回。The water intake system 2 is composed of a steering gear 21 and a water quality sampling device 22, which belongs to a mechanical arm device and is installed under the water quality sampling multi-rotor aircraft. Further, the steering gear 21 is used to control the height of the water quality sampling device 22 . The multi-rotor aircraft for water quality sampling by manual remote control or autonomous navigation flies to the water quality sampling site, hovers above the water surface, and the microprocessor 12 sends a PWM control signal to the steering gear 21, and the steering gear 21 rotates forward, causing the water quality sampling device 22 to descend. In the water; the water quality sampling device 22 is equipped with a water level detection device inside to detect the internal water level of the water quality sampling device 22 in real time. When the water level reaches the set value, a sampling success signal will be sent to the microprocessor 12, and the microprocessor will 12 Send a PWM control signal to control the steering gear 21, and the steering gear 21 reverses to make the water quality sampling device 22 rise, and the water quality sampling is completed, and the water quality sampling multi-rotor aircraft returns by manual remote control or autonomous navigation.
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