Design And Development Of UAV-Based Automatic Surface Water Quality Sampling System

Surface water quality sampling is an important tool for monitoring the water quality of rivers,lakes and reservoirs,which can effectively grasp the changes in water quality and is of great significance for the scientific protection of water security.In this thesis,through the research and analysis of the current situation of water quality sampling technology at home and abroad,the UAV-based upright and pumping water quality sampling system is proposed for different water environments,which eliminates the interference brought by human intervention on water samples in the sampling process,solves the problem of water quality sampling in water environments that are inaccessible to humans and boats,and improves the efficiency,safety and representativeness of water quality sampling.Through the field experiment evaluation,the water quality sampling system based on the UAV can greatly improve the spatial and temporal resolution of obtaining water samples and reduce the cost and workload.The main research content of this thesis includes the following aspects:(1)Based on industry specifications and demand analysis of water quality sampling,the overall solution of the UAV-based upright and pumped water quality sampling system is designed.(2)Airborne upright water quality sampling device is designed.The airborne upright water quality sampling device was developed for still water and open water sampling points.Through the mechanical design of the water quality sampling device,the hardware circuit design based on PIC32 series microcontroller and the software program design based on Free RTOS operating system,the water samples are collected at fixed points,quantitatively and at variable depths.(3)Airborne pumped water quality sampling device is designed.The airborne pumping type water quality sampling device was developed for waters with high sampling point depth requirements and small space around the sampling point.Through the mechanical design,hardware circuit design and software programme design of the water quality sampling device,a mission to obtain water samples from three sampling points at quantitatively variable depths has been achieved.(4)Water quality sampling ground stations are designed.The hardware circuit design and software program design of the ground station control board and the interface design of the HMI human-machine interaction screen are carried out on the basis of the requirement analysis for the ground station.In the HMI interface,sampling depth can be set,sampling bottles can be selected,various task commands can be sent,and the current status of sampling tasks can be displayed.A variety of functions are available to meet the diversified needs of users.(5)In this thesis,through sampling tests,field sampling experiments and analysis of the physical and chemical parameters of the water samples,this paper shows that the two systems designed in this paper can be used to obtain more representative water samples safely and efficiently,and have practical application value.