本文为美国克莱姆森大学（作者：Cengiz Koparan）的硕士论文，共93页。

水质评估计划要求采集水样进行物理、化学和细菌学分析。缺乏人员、水体的可获取性以及采样时间的限制，特别是在自然灾害和紧急情况发生后，是采样面临的一些挑战。为了克服这些挑战，开发了一种水样收集机制，并将其安装在多旋翼无人机（UAV）上，用于从水体中自动取样。利用室内试验台对无人机Hexacopter的有效载荷能力和续航力进行了验证。Hexacopter配备浮动泡沫，在紧急情况下进行水样采集时，利用电子元器件的保护防止水样被破坏。该系统能够从同一个池塘的73次自主飞行任务中完成48次水样采集。不成功的主要原因是水采集器触发机构中伺服电机的故障。通过更换伺服电机，以防止将来的使用中出现故障。无人机辅助自动水样采集是一种很有前途的水体水样采集方法，该系统将有助于从大型湖泊收集水样或采集难以获取的水源。本文详细介绍了所研制的水样采集机构、多旋翼无人机以及相关实验结果。

Water quality assessment programs require the collection of water samples for physical, chemical, and bacteriological analysis. Lack of personnel, accessibility of water bodies, and time constraints for water sampling, especially after natural disasters and emergencies, are some of the challenges of water sampling. To overcome these challenges, a water collection mechanism was developed and mounted on a multirotor unmanned aerial vehicle (UAV) for autonomous water sampling from water bodies. The payload capacity and endurance of the UAV (hexacopter) were verified using an indoor test station. The hexacopter was equipped with floating foam, and the electronic components were coated against water damage in case of landing on water due to emergencies or water sampling. The system was able to collect water samples 48 times out of 73 autonomous flight missions from a pond. The unsuccessful missions were mainly due to the malfunctions of the servo motor used in water sampler's triggering mechanism. The servo motor for the mechanism was replaced to prevent the future malfunctions. UAV-assisted autonomous water sampling is a promising method for collection of water from water bodies. The system would be useful for collection of water samples from large lakes or difficult to access water sources. The details of the developed water sampling mechanism and the multirotor UAV, and experiment results are reported in this thesis.

1 引言

2 文献回顾

3 设计材料与方法

4 结果与讨论

5 结论

6 未来研究展望

附录A 用于称重传感器校准和负载测量的LabVIEW®程序

附录B 微控制器自动通讯器释放的程序

附录C 自主飞行任务路径和水取样命令

附录D 现场水样采集与分析记录

附录E 取样深度分析的SAS输出

附录F 自动水取样前的飞行前检查表

附录G 自动水样采集地点及采样点边界

附录H 水样稠度分析的SAS输出 

下载英文原文地址：

http://page2.dfpan.com/fs/6lcj3221c291d66bae8/  

更多精彩文章请关注微信号：