UAV system sample collecting device, sample acquisition system and unmanned planeTechnical field
This utility model relates to unmanned vehicle field, particularly relates to a kind of UAV system sample collectionDevice, sample acquisition system based on unmanned plane and unmanned plane.
Background technology
Unmanned plane (also referred to as unmanned vehicle) is widely used in every field in recent years, fromInitial amusement of taking photo by plane develops into present commercial Application.By unmanned plane, in inconvenience, manually or other setThe scene of standby operation carries out sample collection and has become as research and the focus of application.
As a example by water body sample collection, present stage, China's monitoring water environment mainly uses personal monitoring's mode,Owing to water body sampling work has certain region and ageing, i.e. multiple spot is wanted to adopt in same watersCollection, to be also acquired at times in same place, manually gather very complicated, often need to be by boats and shipsOn the vehicles, cost is high and is limited greatly by physical geographic environment.
Unmanned vehicle as a example by many rotor wing unmanned aerial vehicles can hover over above the water surface in waters to be measuredRelatively closely highly carry out water body sampling, provide new scheme for water body sample collection.But, water body collectionThe Extracting Ability of equipment (such as water pump) is limited, is typically only capable at unmanned plane and water surface distance certainCould work in altitude range, but this scheme based on unmanned plane is but faced with and cannot accurately control nothingThe problem of the height (or hovering height) of the man-machine distance water surface.
The Position Fixing Navigation System of unmanned plane includes GPS (Global Positioning System, global locationSystem) satellite navigation, inertial navigation unit, barometer etc., its synthesis precision is at about 3m, due to waterFace height changed with season and date, GIS (Geographic Information System, geography informationSystem) data cannot accurately predict, and therefore the height of the unmanned plane distance water surface is not included in map datum,Even if still cannot accurately obtain the height of the unmanned plane distance water surface under the subsidiary conditions such as barometer；And handsThe dynamic unmanned plane height that controls easily need to be affected by wind-force by barometrical altitude information, barometer, causesAir pressure numerical value is unstable and makes unmanned plane out of control, falls in water, causes heavy losses.
Utility model content
Technical problem
In view of this, the technical problems to be solved in the utility model is, proposes one and can accurately control unmannedThe UAV system sample collecting device of machine hovering height.
Solution
In order to solve above-mentioned technical problem, this utility model provides a kind of UAV system sample collection dressPut, it is characterised in that described UAV system sample collecting device includes: supersonic sounding parts, is used for surveyingDistance between amount unmanned plane and objective plane；Judge parts, be connected with described supersonic sounding parts, useIn judging that described distance is whether within the scope of predeterminable range；Control command generating unit, with described judgementParts connect, and for when described distance is within the scope of described predeterminable range, generate the first control commandWith the second control command；Described first control command is used for making described unmanned plane start hovering flight mode；Wireless transmission parts, for sending described second control command to ground remote control parts, to notify groundUnmanned plane described in remote control unit is ready for sample collection and prepares；Part of wireless receiver, is used for receiving describedThe sample collection order that ground remote control parts send；Acquisition controlling order generating unit, wireless connects with describedReceipts parts connect, and generate acquisition controlling order according to described sample collection order；Acquisition component, with describedAcquisition controlling order generating unit connects, according to described acquisition controlling order, to the sample below objective planeOriginally it is acquired.
In one example, described UAV system sample collecting device also includes: location navigation parts, withDescribed part of wireless receiver connects.
In one example, described location navigation parts are Big Dipper location navigation parts or GPS location navigationParts.
In one example, described acquisition component includes: pump, for sample drawn under objective plane；Relay, is connected with described pump and described acquisition controlling order generating unit respectively, for adopting described in basisCollection control command turns the pump on or closes.
In one example, the Enable Pin of described relay i.e. IN end receives and generates from acquisition controlling orderThe acquisition controlling order of parts, common port i.e. COM end connects the positive pole of the power interface of described pump, normally openedEnd i.e. ON end is connected as the positive pole of the power supply that described pump is powered.
In one example, described acquisition component also includes: the first specimen collection tube, with entering of described pumpMouth connects；Second specimen collection tube, is connected respectively with described delivery side of pump and sample storage；Sample is depositedReservoir, is connected with described second specimen collection tube, for storing the sample that described pump is extracted.
In one example, described predeterminable range scope is 1.2m～2m.
In order to solve above-mentioned technical problem, this utility model provides a kind of sample collection based on unmanned planeSystem, including: above-mentioned UAV system sample collecting device and ground remote control parts.
In order to solve above-mentioned technical problem, this utility model provides a kind of unmanned plane, and described unmanned plane is takenIt is loaded with above-mentioned UAV system sample collecting device.
Beneficial effect
The UAV system sample collecting device of this utility model embodiment can be by supersonic sounding parts essenceReally measure the distance between unmanned plane and objective plane, when meeting predeterminable range scope, make unmanned plane openDynamic hovering flight mode, and notify that unmanned plane described in ground remote control parts is ready for sample collection and prepares,After receiving the sample collection order that ground remote control parts send, control acquisition component and sample is adoptedCollection.Owing to the range accuracy of supersonic sounding parts is centimetres, overcomes and prior art utilizes air pressureMeasure the shortcoming bigger away from the range error easily produced by such environmental effects, improve unmanned plane and carry outThe safety of low latitude sample collection.
According to below with reference to the accompanying drawings to detailed description of illustrative embodiments, further feature of the present utility modelAnd aspect will be clear from.
Accompanying drawing explanation
The accompanying drawing of the part comprising in the description and constituting description together illustrates with descriptionExemplary embodiment of the present utility model, feature and aspect, and be used for explaining principle of the present utility model.
Fig. 1 illustrates the structure chart of the UAV system sample collecting device according to this utility model one embodiment；
Fig. 2 illustrates another structure of the UAV system sample collecting device according to this utility model one embodimentFigure；
Fig. 3 illustrates the knot of the sample acquisition system based on unmanned plane according to another embodiment of this utility modelComposition.
Detailed description of the invention
Various exemplary embodiments of the present utility model, feature and side is described in detail below with reference to accompanying drawingFace.Reference identical in accompanying drawing represents the same or analogous element of function.Although it is shown in the drawingsThe various aspects of embodiment, but unless otherwise indicated, it is not necessary to accompanying drawing drawn to scale.
The most special word " exemplary " means " as example, embodiment or illustrative ".Here asAny embodiment illustrated by " exemplary " should not necessarily be construed as preferred or advantageous over other embodiments.
It addition, in order to better illustrate this utility model, detailed description of the invention below gives crowdMany details.It will be appreciated by those skilled in the art that there is no some detail, this utility modelEqually implement.In some instances, for method well known to those skilled in the art, means, unitPart and circuit are not described in detail, in order to highlight purport of the present utility model.
Embodiment 1
Fig. 1 illustrates the structure of the UAV system sample collecting device 100 according to this utility model one embodimentFigure.As it is shown in figure 1, this UAV system sample collecting device 100 specifically includes that supersonic sounding parts 101,Can be used for measuring the distance between unmanned plane and objective plane；Judge parts 102, with supersonic sounding parts101 connect, and can be used for judging that described distance is whether within the scope of predeterminable range；Control command generating unitPart 103, and judges that parts 102 are connected, and can be used for when described distance is within the scope of predeterminable range, rawBecome the first control command and the second control command；First control command can be used for making unmanned plane start hovering and fliesLine mode；Wireless transmission parts 104, can be used for sending to ground remote control parts the second control command,It is ready for sample collection with unmanned plane described in notice ground remote control parts to prepare；Part of wireless receiver 105,Can be used for receiving the sample collection order that described ground remote control parts send；Acquisition controlling order generating unit106, it is connected with part of wireless receiver 105, acquisition controlling order can be generated according to sample collection order；AdoptCollection parts 107, be connected with acquisition controlling order generating unit 106, can according to described acquisition controlling order,Sample below objective plane is acquired.
The UAV system sample collecting device of this utility model embodiment can be by supersonic sounding parts essenceReally measure the distance between unmanned plane and objective plane, when meeting predeterminable range scope, make unmanned plane openDynamic hovering flight mode, and notify that unmanned plane described in ground remote control parts is ready for sample collection and prepares,After receiving the sample collection order that ground remote control parts send, control acquisition component and sample is adoptedCollection.Owing to the range accuracy of supersonic sounding parts is centimetres, overcomes and prior art utilizes air pressureMeasure away from the shortcoming that easily range error is bigger by such environmental effects, improve unmanned plane and carry out low latitude sampleSafety during this collection.
Fig. 2 shows the another of the UAV system sample collecting device 100 according to this utility model one embodimentOne structure chart.
In one example, as in figure 2 it is shown, acquisition component 107 comprises the steps that pump 1071, can be used for from targetSample drawn under plane；Relay 1072, can respectively with pump 1071 and acquisition controlling order generating unit106 connect, and can be used for making pump 1071 be turned on or off according to described acquisition controlling order.
In one example, as in figure 2 it is shown, the Enable Pin of relay 1072 i.e. IN end can receive from adoptingThe acquisition controlling order of collection control command generating unit 106, the common port of relay 1072 i.e. COM end canConnecting the positive pole of the power interface of pump 1071, the normally opened end i.e. ON end of relay 1072 can be connected as pumpThe positive pole of the power supply of 1071 power supplies.Other pins of relay and pump or interface can be according to conventional occupation modesBeing attached, such as relay power pin VCC can connect DC power anode, and grounding pin GND connects directlyStream power cathode, the negative pole of the power interface of pump can connect the negative pole of power supply.
It is presented above by relay and the example of pump composition acquisition component 107, but art technologyPersonnel should be understood that the concrete structure of acquisition component is not limited to this, as long as can be in acquisition controlling orderUnder control, start or terminate sample is acquired.
In one example, as in figure 2 it is shown, acquisition component 107 may also include that the first specimen collection tube1073, can be connected with the entrance of pump 1071；Second specimen collection tube 1074, can with the outlet of pump 1071 andSample storage 1075 connects respectively；Sample storage 1075, can be connected with the second specimen collection tube 1074,Can be used for storing the sample that pump 1071 is extracted.
In one example, as in figure 2 it is shown, described UAV system sample collecting device may also include that locationNavigation means 108, can be connected with part of wireless receiver 105.Location navigation parts 108 can be Big Dipper locationNavigation means or GPS location navigation parts.
As a example by GPS location navigation parts, GPS location navigation parts can receive part of wireless receiver 105The GPS location in the destination sample region that the ground remote control parts (such as earth station's beep box) forwarded sendInformation, GPS location navigation parts can be according to this GPS position information navigation unmanned plane during flying to destination sampleRegion, is ready for sample collection.
Carry out as a example by water body sample collection by unmanned plane, after unmanned plane flies to target waters, supersonic soundingParts 101 can measure the distance between unmanned plane and the target water surface, using sonac module as ultrasonicAs a example by distance member, sonac module can launch the pulse signal of 40KHz, and pulse signal gets to waterFace back reflection returns sonac module, and the receiving terminal of sonac module can receive and reflection be detectedSignal, the recordable transmitting of sonac module and receive process time interval t, according to distance L and timeBetween, the functional relationship (L=t*340/2) of speed, calculate distance L of unmanned plane and the water surface, ultrasonic biographyThe distance measured can be notified to judging parts 102 by sensor.Judge that parts 102 can determine whether unmanned plane and waterWhether the distance in face meets predeterminable range scope (can be 1.2m～2m, such as 1.5m), when distance meetsControl command generating unit 103 then can be notified during predeterminable range scope.Control command generating unit 103 receivesAfter notice, can generate the first control command (such as starting hovering order), this first control command is controlledUnmanned plane processed hovers.For example, unmanned plane is predeterminable hovering flight pattern, and first controls lifeOrder can be as the startup order of this offline mode.Control command generating unit 103 also can generate the second controlOrder (ready order of such as sampling), control command generating unit 103 can be by ready life of samplingOrder sends to wireless transmission parts 104 (such as WIFI radio transmitters), and radio transmitters can be adopted describedCalibration wirelessly sends for ready command to ground remote control parts (such as earth station's beep box).After earth station's beep box receives the ready order of described sampling, can by sample collection order wirelesslyIt is sent to part of wireless receiver (such as WIFI wireless receiver).Adopt with " opening water pump " this sampleAs a example by collection order, earth station's beep box can receive operator's triggering to " opening water pump " this option,Such as operator clicks on " opening water pump " button, the numbering of the relay that input unmanned plane is corresponding, clicks on" OK ", sends sample collection order " DO_SET_RELAY (0,1) ".Wireless receiver receives sampleCan notify after this acquisition to acquisition controlling order generating unit 106, acquisition controlling order generating unit106 can generate acquisition controlling order (such as high trigger signal) to control according to sample collection orderRelay 1072 closes, and carries out sample collection for pump 1071 power supply.Such as, acquisition controlling order generating unitPart 106 can export high trigger signal to the Enable Pin (IN end) of relay 1072, makes relay 1072Normally opened end (ON end) Guan Bi so that power supply be pump 1071 (such as water pump) power supply, on water pumpElectricity work, pump 1071 can be by extending into the first specimen collection tube 1073 (such as flexible pipe) below the water surfaceAbsorbing water body sample, water body sample can flow into through water pump, the second specimen collection tube 1074 (such as flexible pipe)To sample storage 1075 (such as water storage bottle).After sample collection completes, ground station control platform also can be sent outSend " DO_SET_RELAY (0,0) " this sample collection order to control water pump to close, stop hereinWater body sample collection work.Unmanned plane can make a return voyage, or fly to target waters at next and carry out water body sampleThis collecting work.
It will be understood by those skilled in the art that how by hardware (such as discrete hardware elements, integrated circuit,Digital circuit based on gate device, analog circuit components and parts, programmable hardware device (such as single-chip microcomputer,FPGA etc.) and the Circuits System etc. that constitutes of above combination in any) realize judging parts 102, controllingThe parts such as order generating unit 103 processed, acquisition controlling order generating unit 106.Such as, it is judged that parts 102Can be made up of comparator and gate device.Control command generating unit 103 can be made up of trigger.Gather controlOrder generating unit 106 processed can be made up of trigger.Again for example, it is possible to will determine that parts 102, control lifeThe hardware implementation mode making the parts such as generating unit 103, acquisition controlling order generating unit 106 is integrated in nothingMan-machine flies to control in circuit, by flying to control the function of the above-mentioned parts of circuit realiration.Those skilled in the art should manageSolve, it is also possible to realize above-mentioned each parts with arbitrarily other hardware modes well known by persons skilled in the art.
In one example, the hardware implementation mode judging parts 102 be integrated in unmanned plane fly control electricityIn the case of in road, sonac module can be connected with flying control by serial ports or I2C EBI, willThe unmanned plane measured notifies to judging parts 102 with the distance of the water surface.
Embodiment 2
Fig. 3 illustrates the sample acquisition system based on unmanned plane 300 according to another embodiment of this utility modelStructure chart.As it is shown on figure 3, sample acquisition system 300 based on unmanned plane includes: in embodiment 1UAV system sample collecting device 100 and ground remote control parts 301.
Embodiment 3
A kind of unmanned plane, this UAV flight has the UAV system sample collecting device 100 in embodiment 1.
The above, detailed description of the invention the most of the present utility model, but protection domain of the present utility modelIt is not limited thereto, the technology model that any those familiar with the art discloses at this utility modelIn enclosing, change can be readily occurred in or replace, all should contain within protection domain of the present utility model.CauseThis, protection domain of the present utility model should be as the criterion with described scope of the claims.