CN107063755B - Unmanned aerial vehicle water sample collection method - Google Patents
Unmanned aerial vehicle water sample collection methodDownload PDFInfo
- Publication number
- CN107063755B CN107063755BCN201710394474.2ACN201710394474ACN107063755BCN 107063755 BCN107063755 BCN 107063755BCN 201710394474 ACN201710394474 ACN 201710394474ACN 107063755 BCN107063755 BCN 107063755B
- Authority
- CN
- China
- Prior art keywords
- water
- unmanned aerial
- aerial vehicle
- hub
- sample collection
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- XLYOFNOQVPJJNP-UHFFFAOYSA-NwaterSubstancesOXLYOFNOQVPJJNP-UHFFFAOYSA-N0.000titleclaimsabstractdescription150
- 238000000034methodMethods0.000titleclaimsabstractdescription33
- 238000001514detection methodMethods0.000claimsabstractdescription4
- 238000004064recyclingMethods0.000claimsdescription4
- 239000002184metalSubstances0.000claimsdescription3
- 230000007613environmental effectEffects0.000description4
- 238000012544monitoring processMethods0.000description4
- 238000011084recoveryMethods0.000description3
- 241000196324EmbryophytaSpecies0.000description2
- 230000005540biological transmissionEffects0.000description2
- 238000010586diagramMethods0.000description2
- 230000007774longtermEffects0.000description2
- 238000012876topographyMethods0.000description2
- 238000004804windingMethods0.000description2
- 238000013459approachMethods0.000description1
- 230000001174ascending effectEffects0.000description1
- 230000007547defectEffects0.000description1
- 238000011161developmentMethods0.000description1
- 230000005484gravityEffects0.000description1
- 238000005070samplingMethods0.000description1
- 239000010902strawSubstances0.000description1
- 238000012795verificationMethods0.000description1
Images
Classifications
- 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
- 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
- G01N1/14—Suction devices, e.g. pumps; Ejector devices
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Hydrology & Water Resources (AREA)
- Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Sampling And Sample Adjustment (AREA)
Abstract
Description
Technical Field
The invention belongs to the field of unmanned aerial vehicles, relates to unmanned aerial vehicle application, and in particular relates to an unmanned aerial vehicle water sample collection method.
Background
With the rapid development of domestic economy, environmental protection is becoming more and more important, and environmental monitoring protection on water resources is a serious issue. The water sample collection of the water area is an important work task of water resource environment monitoring work, and a renter is required to travel to the central position of the water area in the past, and a water taking barrel is manually thrown into water for water sample collection. But this approach has the problems of inconvenience, inefficiency, and inaccuracy.
Disclosure of Invention
The invention discloses an unmanned aerial vehicle water sample collection method, which aims to overcome the technical defects existing in the existing water sample collection process.
The unmanned aerial vehicle water sample collection method comprises the following steps:
Preferably, the flight parameters instep 1 include a flight speed and a flight altitude.
Preferably and lowering the water intake to the calculated drop height.
Preferably, in thestep 3, the rotation thread of the hub when the water collector is recovered is identical to the rotation thread when the water collector is discharged in thestep 2.
Preferably, in the process of collecting a water sample by the unmanned aerial vehicle, the whole process is collected by a camera and is transmitted back to an image in real time.
Preferably, in thestep 3, the method further includes a safety control process, where the safety control process is: and the water taking system automatically returns after completing the recovery thread according to the setting.
Preferably, in thestep 3, the method further includes a safety control process, where the safety control process is: be provided with the pinch-off device on unmanned aerial vehicle, when water intaking system drive concentrator reversal, detect that the water intaking ware can't normally be retrieved, then remote control or according to the judgement standard that sets for in advance start the pinch-off device and cut off the water intaking ware and go up the link, the judgement standard that sets for in advance is: the motor does not rotate after receiving the recycling instruction.
Preferably, the water collector comprises a flexible suction pipe wound on the hub and a suction pump connected with one end of the flexible suction pipe and arranged on the unmanned aerial vehicle, and the other end of the flexible suction pipe is connected with a counterweight with density greater than that of water; the water sample collection by the water collector in thestep 3 is specifically as follows: when one end of the flexible suction pipe, on which the counterweight is hung, sinks below the water surface, the suction pump is started to suck water back to the unmanned aerial vehicle through the suction pipe.
The unmanned aerial vehicle water sample collection method provided by the invention has the following advantages:
firstly, an unmanned aerial vehicle is adopted to collect water samples, so that the speed is high and the efficiency is high; the unmanned aerial vehicle flies directly above the target water area, and is not restricted by environmental conditions such as topography, wide water surface, aquatic weed growth and the like.
Secondly, remote unmanned aerial vehicle control can be realized, workers do not need to face the water bank or other complex terrain areas, and personal safety is greatly ensured; and can realize accurate fixed point water intaking, provide effective guarantee for long-term monitoring data's contrast analysis.
Thirdly, the automation degree of water collection operation is high, and the method is simple and efficient.
Drawings
Fig. 1 is a schematic structural diagram of an embodiment of a water collecting system of an unmanned aerial vehicle according to the present invention, and fig. 2 is a schematic structural diagram of an embodiment of a water collecting system of the present invention, wherein the reference numerals of the drawings are 1-unmanned aerial vehicle, 2-water collecting system, 3-ground station and 4-remote controller; 21-controller, 22-image acquisition transmission system, 23-concentrator, 24-battery, 25-motor, 5-water sampler.
Detailed Description
The following describes the embodiments of the present invention in further detail with reference to the accompanying drawings.
The unmanned aerial vehicle water sample collection method comprises the following steps:
And 2, hovering the unmanned aerial vehicle, driving the hub to rotate according to a preset instruction or a received remote control instruction, putting down the water collector, and determining the falling height of the water collector by a rotating thread of the hub.
After the unmanned aerial vehicle flies to the upper air of the appointed coordinate, the water collector is put down, and the falling height of the water collector is generally determined according to the water level, the flying height of the unmanned aerial vehicle and the depth required by water collection. The motor drives the hub to rotate, the rotation number of the hub is calculated and controlled, and the falling height of the water collector can be controlled.
The recovery thread of the water collector is generally the same as the thread length when the water collector is lowered, and the hub is reversed to recover the water collector to the original position.
The whole operation process can be realized by remote control, and when the remote control is realized, the image acquisition andtransmission system 22 can be installed on the unmanned aerial vehicle, the flight video information and the water acquisition working information of the unmanned aerial vehicle are acquired in real time, the acquired images are transmitted back to theground station 3 or theremote controller 4 in real time, and an operator carries out corresponding control operation on the unmanned aerial vehicle to fly, hover, acquire water, recover and the like according to the images. The singlechip can also be arranged in the water taking system and realized by programming according to a preset program.
In fig. 2, a specific embodiment of the water intake system according to the present invention is shown, the water intake system includes acontroller 21, abattery 24 located below the controller and supplying power to the controller and the motor, and amotor 25 and a hub mounted below the battery, wherein a power output shaft of the motor is connected to a rotating shaft of thehub 23, and a winding wire on the hub is connected to thewater intake device 5 suspended below the hub.
When the unmanned aerial vehicle is used, the unmanned aerial vehicle is controlled to fly to the upper air of the target water area and then begins to hover; then the controller of the water taking system pays out the water by the motor driving hub according to a preset program or according to a ground remote controller instruction, the water taking device tied on the winding wire is put into the water from the high altitude, and after the water taking device reaches the underwater designated depth, the controller controls the motor to stop rotating; then the controller controls the motor to reversely rotate to drive the hub to take up the water, the water taking device is pulled out of the water surface, and the water returns to the unmanned plane; then the unmanned aerial vehicle executes an automatic return and automatic landing program to bring back the sampled water sample, and the descending and ascending of the water collector are realized by adopting a forward rotation and reverse rotation mode of the concentrator, so that the motor control is conveniently realized; in order to keep the unmanned aerial vehicle stable in flying and hovering in the process of flying and water collection, a heavier water sample collecting device is arranged at the geometric center projection positions of a plurality of rotors; four or six rotors are generally provided so that unmanned aerial vehicles moving in any direction are not susceptible to the gravity of the water collector.
Another arrangement mode for the water collector is as follows: the water taking device comprises a flexible suction pipe wound on the hub and a suction pump connected with one end of the flexible suction pipe and arranged on the unmanned aerial vehicle, and the other end of the flexible suction pipe is connected with a counterweight with density greater than that of water; the counter weight may be a metal ring or a metal tube attached to the end of the flexible straw, etc. The water sample collection by the water collector in thestep 3 is specifically as follows: when one end of the flexible suction pipe, on which the counterweight is hung, sinks below the water surface, the suction pump is started to suck water back to the unmanned aerial vehicle through the suction pipe. The water sucking mode can control the water sucking quantity by controlling the working time of the suction pump, can realize quantitative water sampling and reduce the load of the unmanned aerial vehicle.
The invention is provided with a safety control process for ensuring the safe fly-back of the unmanned plane when being wound by underwater or water objects in the water taking process of the water taking device. The safety control process comprises the following steps: be provided with the pinch-off device on unmanned aerial vehicle, when water intaking system drive concentrator reversal, detect that the water intaking ware can't normally be retrieved, then remote control or according to the judgement standard that sets for in advance start the pinch-off device and cut off the water intaking ware and go up the link, the judgement standard that sets for in advance is: the motor does not rotate after receiving the recycling instruction; or a safety knot is connected in series on the hub, when the water taking system drives the hub to rotate reversely, the safety knot breaks when the stress of the safety knot is larger than a threshold value, and the water taking system automatically returns after finishing the recovery thread according to the setting.
The unmanned aerial vehicle water sample collection method provided by the invention has the following advantages:
firstly, an unmanned aerial vehicle is adopted to collect water samples, so that the speed is high and the efficiency is high; the unmanned aerial vehicle flies directly above the target water area, and is not restricted by environmental conditions such as topography, wide water surface, aquatic weed growth and the like.
Secondly, remote unmanned aerial vehicle control can be realized, workers do not need to face the water bank or other complex terrain areas, and personal safety is greatly ensured; and can realize accurate fixed point water intaking, provide effective guarantee for long-term monitoring data's contrast analysis.
Thirdly, the automation degree of water collection operation is high, and the method is simple and efficient.
The foregoing description of the preferred embodiments of the present invention is not obvious contradiction or on the premise of a certain preferred embodiment, but all the preferred embodiments can be used in any overlapped combination, and the embodiments and specific parameters in the embodiments are only for clearly describing the invention verification process of the inventor and are not intended to limit the scope of the invention, and the scope of the invention is still subject to the claims, and all equivalent structural changes made by applying the specification and the content of the drawings of the present invention are included in the scope of the invention.
Claims (5)
1. The unmanned aerial vehicle water sample collection method is characterized by comprising the following steps of:
step 1, setting a water area coordinate, a flight route and flight parameters of a flight destination for an unmanned aerial vehicle, and enabling the unmanned aerial vehicle to fly to the destination according to the set parameters; or the ground remote control is used for directly flying to a destination;
step 2, hovering by the unmanned aerial vehicle, driving the hub to rotate according to a preset instruction or a received remote control instruction, putting down a water collector wound on the hub, and determining the falling height of the water collector by a rotating thread of the hub;
step 3, stopping rotating the hub until the water collector collects water samples, driving the hub to rotate reversely by the water collecting system, pulling the water collector out of the water surface for recycling, and returning the unmanned aerial vehicle to a departure place or a detection destination according to a preset route, wherein the water collecting system further comprises a safety control process, and specifically comprises the following steps: be provided with the pinch-off device on the unmanned aerial vehicle, when water intaking system drive concentrator reversal, detect that the water intaking ware can't normally be retrieved, then start the pinch-off device according to preset's judgement standard and cut off the water intaking ware upper wiring, preset's judgement standard is: the motor does not rotate after receiving the recycling instruction;
the water taking system comprises a controller, a battery, a motor, a hub, a motor power output shaft and a hub rotating shaft, wherein the battery is positioned below the controller and supplies power to the controller and the motor;
in addition, the water collector comprises a flexible suction pipe wound on the hub and a suction pump connected with one end of the flexible suction pipe and arranged on the unmanned aerial vehicle, and the other end of the flexible suction pipe is connected with a counterweight with density greater than that of water; the water sample collection by the water collector in the step 3 is specifically as follows: when one end of the flexible suction pipe, which is hung with a counterweight, is submerged below the water surface, the suction pump is started to suck water back to the unmanned aerial vehicle through the suction pipe, and the counterweight is a metal pipe connected to the tail end of the flexible suction pipe.
2. The unmanned aerial vehicle water sample collection method of claim 1, wherein the flight parameters in step 1 comprise flight speed and flight altitude.
3. The unmanned aerial vehicle water sample collection method according to claim 1, wherein in the step 2, the unmanned aerial vehicle calculates the falling height of the water collector according to the flying height and the water surface height, and lowers the water collector to the calculated falling height.
4. The unmanned aerial vehicle water sample collection method of claim 1, wherein in the step 3, the rotation thread of the hub when the water collector is recovered is identical to the rotation thread when the water collector is placed in the step 2.
5. The unmanned aerial vehicle water sample collection method of claim 1, wherein the unmanned aerial vehicle collects and transmits back images in real time through a camera throughout the process of collecting the water sample.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710394474.2ACN107063755B (en) | 2017-05-29 | 2017-05-29 | Unmanned aerial vehicle water sample collection method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710394474.2ACN107063755B (en) | 2017-05-29 | 2017-05-29 | Unmanned aerial vehicle water sample collection method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107063755A CN107063755A (en) | 2017-08-18 |
| CN107063755Btrue CN107063755B (en) | 2023-05-05 |
Family
ID=59615518
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710394474.2AActiveCN107063755B (en) | 2017-05-29 | 2017-05-29 | Unmanned aerial vehicle water sample collection method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107063755B (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108594682A (en)* | 2018-04-16 | 2018-09-28 | 江苏启飞应用航空科技有限公司 | A kind of water sampling system on unmanned plane |
| CN108469769A (en)* | 2018-05-08 | 2018-08-31 | 江苏启飞应用航空科技有限公司 | A kind of increasingly automated water fetching device and control circuit |
| CN109000982A (en)* | 2018-07-24 | 2018-12-14 | 烟台伺维特智能科技有限公司 | A kind of unmanned aerial vehicle platform water surface sampler, system and method |
| CN110194265B (en)* | 2019-05-31 | 2023-12-22 | 深圳创壹通航科技有限公司 | Long-range unmanned aerial vehicle for automatic marine water body collection and control method thereof |
| 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 |
| CN114132502A (en)* | 2021-12-23 | 2022-03-04 | 中水三立数据技术股份有限公司 | An automatic water collection device based on unmanned aerial vehicle and its safety protection method |
| CN118583566B (en)* | 2024-08-05 | 2024-11-29 | 自然资源部第二海洋研究所 | A water collection device for unmanned aerial vehicle |
Citations (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3977479A (en)* | 1971-01-15 | 1976-08-31 | Airsamplex Corporation | Geological exploration method and apparatus |
| EP0149918A2 (en)* | 1983-12-22 | 1985-07-31 | Cocksedge Engineering Limited | Crop sampling apparatus |
| JPH07143628A (en)* | 1993-11-20 | 1995-06-02 | Sato Kensetsu Kogyo Kk | Wire drawing method and equipment by unmanned helicopter |
| US6463801B1 (en)* | 1998-12-02 | 2002-10-15 | Marsco, Inc. | Apparatus, method and system for measurement of sea-floor soil characteristics |
| DE102005025309B3 (en)* | 2005-06-02 | 2006-12-28 | Eads Deutschland Gmbh | Sampling system, for elucidating of aerosol clouds, comprises two or more units arranged symmetrical to aircraft axle for admission of air sample, whereby units are discarded over base station |
| CN201440118U (en)* | 2009-06-03 | 2010-04-21 | 北京北分麦哈克分析仪器有限公司 | Gas sampling and handling device of novel coke oven |
| CN103646444A (en)* | 2013-11-28 | 2014-03-19 | 陕西千山航空电子有限责任公司 | A Water Floating Flight Parameter Recorder |
| CN103901892A (en)* | 2014-03-04 | 2014-07-02 | 清华大学 | Control method and system of unmanned aerial vehicle |
| WO2015076886A2 (en)* | 2013-08-26 | 2015-05-28 | Google Inc. | Mechanisms for lowering a payload to the ground from a uav |
| CN105424410A (en)* | 2015-11-12 | 2016-03-23 | 浙江省海洋水产研究所 | Automatic water collecting equipment with water surface points fixed |
| CN105699125A (en)* | 2016-03-09 | 2016-06-22 | 武汉博感空间科技有限公司 | Suspension type UAV (unmanned aerial vehicle) water sampler system |
| CN205381411U (en)* | 2016-02-17 | 2016-07-13 | 沈阳天颐联和科技有限责任公司 | Born alarm device of unmanned aerial vehicle |
| CN205580791U (en)* | 2016-04-20 | 2016-09-14 | 北京博瑞空间科技发展有限公司 | Unmanned aerial vehicle carries sample collection device, Sample collection system and unmanned aerial vehicle |
| US9545991B1 (en)* | 2015-11-11 | 2017-01-17 | Area-I Inc. | Aerial vehicle with deployable components |
| US9580173B1 (en)* | 2014-08-28 | 2017-02-28 | X Development Llc | Translational correction of payload-release device based on tracked position |
| CN106525493A (en)* | 2016-11-25 | 2017-03-22 | 广州飞创智能科技有限公司 | Unmanned aerial vehicle for taking water sample and water taking method |
| CN206095700U (en)* | 2016-10-09 | 2017-04-12 | 中交遥感载荷（北京）科技有限公司 | Water resource detects mechanism that fetches water with unmanned aerial vehicle |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB339401A (en)* | 1928-10-02 | 1930-12-11 | Manuel Castro | |
| JP5961160B2 (en)* | 2010-04-09 | 2016-08-02 | コーニンクレッカ フィリップス エヌ ヴェＫｏｎｉｎｋｌｉｊｋｅ Ｐｈｉｌｉｐｓ Ｎ．Ｖ． | Mechanical fuse, neck cord with mechanical fuse, and method of connecting the mechanical fuse to the neck cord |
| GB201107228D0 (en)* | 2011-04-29 | 2011-06-15 | Hathaway Mark | Sail release safety mechanism to prevent capsize or demasting |
| US8534608B1 (en)* | 2012-09-04 | 2013-09-17 | William Cleveland Cox, IV | Aerial emergency load release mechanism |
| CA2927096C (en)* | 2013-10-26 | 2023-02-28 | Amazon Technologies, Inc. | Unmanned aerial vehicle delivery system |
| US9606028B2 (en)* | 2014-02-14 | 2017-03-28 | Nutech Ventures | Aerial water sampler |
| CN104932518A (en)* | 2015-05-15 | 2015-09-23 | 厦门大学 | Underwater robot sea search system |
| CN105571904B (en)* | 2016-03-07 | 2019-02-22 | 武汉博感空间科技有限公司 | The automatic sampler of water quality sampling unmanned plane |
| CN205527304U (en)* | 2016-04-05 | 2016-08-31 | 如皋市顺源电力绳网带织造有限公司 | Flexible suspender of annular |
- 2017
- 2017-05-29CNCN201710394474.2Apatent/CN107063755B/enactiveActive
Patent Citations (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3977479A (en)* | 1971-01-15 | 1976-08-31 | Airsamplex Corporation | Geological exploration method and apparatus |
| EP0149918A2 (en)* | 1983-12-22 | 1985-07-31 | Cocksedge Engineering Limited | Crop sampling apparatus |
| JPH07143628A (en)* | 1993-11-20 | 1995-06-02 | Sato Kensetsu Kogyo Kk | Wire drawing method and equipment by unmanned helicopter |
| US6463801B1 (en)* | 1998-12-02 | 2002-10-15 | Marsco, Inc. | Apparatus, method and system for measurement of sea-floor soil characteristics |
| DE102005025309B3 (en)* | 2005-06-02 | 2006-12-28 | Eads Deutschland Gmbh | Sampling system, for elucidating of aerosol clouds, comprises two or more units arranged symmetrical to aircraft axle for admission of air sample, whereby units are discarded over base station |
| CN201440118U (en)* | 2009-06-03 | 2010-04-21 | 北京北分麦哈克分析仪器有限公司 | Gas sampling and handling device of novel coke oven |
| WO2015076886A2 (en)* | 2013-08-26 | 2015-05-28 | Google Inc. | Mechanisms for lowering a payload to the ground from a uav |
| CN105658519A (en)* | 2013-08-26 | 2016-06-08 | 谷歌公司 | Mechanisms for lowering payloads from unmanned aerial vehicles to the ground |
| CN103646444A (en)* | 2013-11-28 | 2014-03-19 | 陕西千山航空电子有限责任公司 | A Water Floating Flight Parameter Recorder |
| CN103901892A (en)* | 2014-03-04 | 2014-07-02 | 清华大学 | Control method and system of unmanned aerial vehicle |
| US9580173B1 (en)* | 2014-08-28 | 2017-02-28 | X Development Llc | Translational correction of payload-release device based on tracked position |
| US9545991B1 (en)* | 2015-11-11 | 2017-01-17 | Area-I Inc. | Aerial vehicle with deployable components |
| CN105424410A (en)* | 2015-11-12 | 2016-03-23 | 浙江省海洋水产研究所 | Automatic water collecting equipment with water surface points fixed |
| CN205381411U (en)* | 2016-02-17 | 2016-07-13 | 沈阳天颐联和科技有限责任公司 | Born alarm device of unmanned aerial vehicle |
| CN105699125A (en)* | 2016-03-09 | 2016-06-22 | 武汉博感空间科技有限公司 | Suspension type UAV (unmanned aerial vehicle) water sampler system |
| CN205580791U (en)* | 2016-04-20 | 2016-09-14 | 北京博瑞空间科技发展有限公司 | Unmanned aerial vehicle carries sample collection device, Sample collection system and unmanned aerial vehicle |
| CN206095700U (en)* | 2016-10-09 | 2017-04-12 | 中交遥感载荷（北京）科技有限公司 | Water resource detects mechanism that fetches water with unmanned aerial vehicle |
| CN106525493A (en)* | 2016-11-25 | 2017-03-22 | 广州飞创智能科技有限公司 | Unmanned aerial vehicle for taking water sample and water taking method |
Non-Patent Citations (4)
| Title |
|---|
| Unmanned Aerial Vehicle (UAV) assisted water sampling;Cengiz Koparan 等;《2016 ASABE Annual International Meeting》;第162461157 1-12页* |
| 大容量飞行器模拟仿真系统研究与设计;胡文娟;《实验科学与技术》;第14卷(第1期);第82-84页* |
| 直升机探测与采样装置的研制;张静 等;《海洋技术》;第24卷(第2期);第1-5页* |
| 飞机防治在林业有害生物综合防治中的应用;于爱萍 等;《河北林业科技》(第5期);第97-98页* |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107063755A (en) | 2017-08-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107063755B (en) | Unmanned aerial vehicle water sample collection method | |
| CN107300486A (en) | A kind of water quality sampling method and system based on unmanned plane | |
| CN114296483B (en) | Intelligent inspection method and electronic equipment for wind driven generator in non-stop state | |
| CN105814431B (en) | Unmanned plane and its water sampling method | |
| CN112506214B (en) | Operation flow of unmanned aerial vehicle autonomous fan inspection system | |
| CN108168930A (en) | A kind of soil sampling monitoring system and method based on construction | |
| CN108153333B (en) | The flight base of the ecological civilization monitoring device | |
| CN103612756A (en) | Multi-rotor aircraft for patrolling power line, and system based on same | |
| CN110631866A (en) | A multi-point fixed-depth intelligent water quality sampling device based on a multi-rotor UAV | |
| CN106719230A (en) | Aquatic products cultivates unmanned plane automatically | |
| CN109164827B (en) | Data acquisition system based on unmanned aerial vehicle | |
| CN106848922A (en) | A kind of intelligent electric power line walking device and method | |
| JP7300437B2 (en) | Processing system, unmanned flightable aircraft, and method for estimating dust conditions | |
| CN206480981U (en) | A kind of intelligent electric power line walking equipment | |
| CN106741894A (en) | A kind of UAS for clearing up garbage on water | |
| CN205958565U (en) | Blowdown forensics system | |
| CN220859244U (en) | Amphibious net capturing system | |
| CN109060442A (en) | Autonomous fixed point depthkeeping formula water body sampling system and its method based on unmanned plane | |
| CN115290398A (en) | Unmanned aerial vehicle-mounted layered water quality sampling and depth-setting substrate sampling method | |
| CN206629757U (en) | Aquatic products cultivates unmanned plane automatically | |
| CN116420689A (en) | A method of netting | |
| CN114489113B (en) | Emasculation unmanned aerial vehicle control method and system | |
| CN112212881A (en) | Flight navigator based on big dipper is used | |
| CN114162317B (en) | An airport foreign body monitoring system | |
| CN112416020A (en) | Multispectral unmanned aerial vehicle acquisition control system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |