CN106841152A - A kind of unmanned plane chlorophyll fluorescence instrument measurement of water plant is taken a sample to research device - Google Patents

A kind of unmanned plane chlorophyll fluorescence instrument measurement of water plant is taken a sample to research device Download PDF

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CN106841152A
CN106841152A CN201710167984.6A CN201710167984A CN106841152A CN 106841152 A CN106841152 A CN 106841152A CN 201710167984 A CN201710167984 A CN 201710167984A CN 106841152 A CN106841152 A CN 106841152A
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water
plant
luminoscope
miniature
unmanned plane
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不公告发明人
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Chengdu University
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Chengdu University
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/62—Systems in which the material investigated is excited whereby it emits light or causes a change in wavelength of the incident light
    • G01N21/63—Systems in which the material investigated is excited whereby it emits light or causes a change in wavelength of the incident light optically excited
    • G01N21/64—Fluorescence; Phosphorescence
    • G01N21/6428—Measuring fluorescence of fluorescent products of reactions or of fluorochrome labelled reactive substances, e.g. measuring quenching effects, using measuring "optrodes"
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/04—Helicopters
    • B64C27/08—Helicopters with two or more rotors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • 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
    • G01N1/04—Devices for withdrawing samples in the solid state, e.g. by cutting
    • G01N1/08—Devices for withdrawing samples in the solid state, e.g. by cutting involving an extracting tool, e.g. core bit
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/20—Remote controls
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/62—Systems in which the material investigated is excited whereby it emits light or causes a change in wavelength of the incident light
    • G01N21/63—Systems in which the material investigated is excited whereby it emits light or causes a change in wavelength of the incident light optically excited
    • G01N21/64—Fluorescence; Phosphorescence
    • G01N21/6428—Measuring fluorescence of fluorescent products of reactions or of fluorochrome labelled reactive substances, e.g. measuring quenching effects, using measuring "optrodes"
    • G01N2021/6432—Quenching

Abstract

A kind of unmanned plane chlorophyll fluorescence instrument measurement the present invention relates to water plant is taken a sample to research device, be related to water plant Photosynthetic Characteristics and its with water environment relation research, belong to G01 classes.Its device is mainly made up of three parts：Remotely pilotless machine, miniature luminoscope underwater robot integrated apparatus and foilcraft.The present invention is adapted to high mountain lake etc. and is difficult to measure the regional work of herborization, for complex water areas, is applicable different operating modes；Long-range measurement in real time, sampling, monitoring, experiment are capable of achieving, the working environment of Scientific Research Workers is substantially improved, operating efficiency is improve.

Description

A kind of unmanned plane chlorophyll fluorescence instrument measurement of water plant is taken a sample to research device
(1) technical field：
A kind of unmanned plane chlorophyll fluorescence instrument measurement the present invention relates to water plant is taken a sample to research device, is related to aquatic plant Thing Photosynthetic Characteristics and its with water environment relation research, belong to G01 classes.
(2) background technology：
Substantially, lakes and swamps problem is serious for some lake Sediment Siltations of current Jiu Zhaigou.Along with lake Sediment Siltation The input of also a large amount of nutritive salt materials, water plant raised growth.The rush for having scholar's research East Taihu Lake water plant is become silted up and is imitated Should, as a result showing, biological organic matter causes the sedimentary effect of drift more notable, accounts for drift mean depth 20.8%-64%, it is very significant that water plant promotes sedimentary effect.So shoal scope progressively expands, and area of lake becomes Small, water plant raised growth can accelerate the process of bogginess, and lake and scenic spot are had adverse effect on, also will be direct Have influence on the protection and sustainable use of scenery and landscape resource.Therefore, it is necessary to understand the upgrowth situation of Jiu Zhaigou water plant, It is that Jiu Zhaigou lake sediment control and ecological and environmental protection provide scientific basis and basic data.But, current Jiu Zhaigou Research object is concentrated mainly on the aspects such as geology and geomorphology, mountain region disaster, the hydrology, soil, the landscape origin cause of formation, tourism, plant, for nine The research of the water plant enriched in Zhai Gou nature reserve areas is also little.
Plant leaf blade the Photosynthetic Response of environment is provided plant survived under different optical conditions and the ability that grows and The information of the environmental condition adaptability to being continually changing.Chlorophyll fluorescence kinetics technology is determining leaf photosynthesis process Middle photosystem to the absorption of luminous energy, transmit, be quenched, the aspect such as distribute there is unique effect, the gas exchanges with " apparent property " Index is compared, and chlorophyll fluorescence parameters are with more reflection " internality " feature.Therefore, chlorophyll fluorescence kinetics technology can be quick Delicately reflect plant physiology state and its relation with environment, be a kind of preferable photosystem probe, can be directly or indirectly Understand photosynthesis.Photosynthetic diurnal course is to maintain different component response and adaptation environmental condition in Photosynthetic Apparatus in Plant a kind of The reflection of balanced capacity, chlorophyll fluorescence parameters then reflect a series of important adaptation regulation processes of Photosynthetic.At present, with reference to Chlorophyll fluorescence parameters reaction Jiu Zhaigou water plant photosynthesis Diurnal Variation there is no report.Therefore, the present invention is used The method that line monitoring is combined with lab analysis, with Jiu Zhaigou advantage water plant Hippurisvulgaris and water speedwell as experiment material, visits Different Life-form Plants are begged for give birth to Water Environment In Lakes the otherness of Water Environment In Lakes ecologic adaptation and submerged plant not of the same race The otherness that state is adapted to.
(3) content of the invention：
1. the unmanned plane chlorophyll fluorescence instrument measurement of a kind of water plant is taken a sample to research device, and its device is main by three portions It is grouped into：Remotely pilotless machine, miniature luminoscope underwater robot integrated apparatus and foilcraft.
2. Fig. 1 is seen, for complex water areas work, gathered to water plant region or the very fast waters of flow rate of water flow --- it is common Ship and the bad entrance of unmanned electronics ship, if water plant is gathered and the water flows gently that region can drop to the water surface is surveyed A kind of amount sampling operation, the unmanned plane chlorophyll fluorescence instrument measurement of water plant described in the content of the invention 1 device of taking a sample to research sets distant Control unmanned plane 1.1, underwater robot Master Control Center 1.2, foilcraft 1.3, mechanical arm 1.4, miniature luminoscope 1.5, collecting cassette 1.6th, camera 1.7, magnetic leaf folder 1.8, temperature measurement probe 1.9, unmanned controller 1.10, underwater robot remote control 1.11；
3. see Fig. 2, for complex water areas work, if flow velocity waters then can be by unmanned plane hovering faster Sampling operation is measured, a kind of unmanned plane chlorophyll fluorescence instrument measurement of water plant described in the content of the invention 1 is taken a sample to research dress Install remotely pilotless machine 2.1, underwater robot Master Control Center 2.2, mechanical arm 2.3, miniature luminoscope 2.4, collecting cassette 2.5, Camera 2.6, magnetic leaf folder 2.7, temperature measurement probe 2.8, unmanned controller 2.9, underwater robot remote control 2.10；
4. Fig. 3 seen, miniature luminoscope underwater robot integrated apparatus set underwater robot Master Control Center 3.1, miniature glimmering Light instrument 3.2, lithium battery 3.3, mechanical arm 3.4, magnetic leaf folder 3.5, camera 3.6, temperature measurement probe 3.7, collecting cassette 3.8th, support 3.9, optical fiber cable 3.10, plant leaf blade 3.11；It is characterized in that installing miniature luminoscope machine under water in unmanned plane lower end A collecting cassette 3.8 is installed in device people's integrated apparatus, the appliance stand front end, behind be the miniature luminoscope 3.2 of waterproof, Upper end connects mechanical arm 3.4 and magnetic leaf folder 3.5, carries out the experiment of plant chlorophyll fluorescent characteristic measure.
5. Fig. 4 is seen, miniature luminoscope sets switch 4.1, usb interfaces 4.2, charging socket 4.3, optical fiber socket 4.4, power supply and refers to Show lamp 4.5, wifi indicator lamps 4.6, wireless control chip 4.7, it is characterized in that：
A. it is very compact, 15cm long, 10cm wide, 5cm high, weight 400g；
B. with wireless control chip, energy wirelessly transmitting data simultaneously receives instruction.
6. Fig. 5 is seen, collecting cassette sets seal box 5.1, black shadow shield 5.2, it is characterized in that the plant of collecting cassette storage collection Sample, 10cm long, 10cm wide, deep 5cm, water 100g, black lucifuge.
7. Fig. 6, underwater robot schematic diagram are seen：Underwater robot Master Control Center 6.1, lithium battery 6.2, mechanical arm 6.3, Camera 6.4, temperature measurement probe 6.5, fibre-optical probe 6.6, magnetic leaf folder 6.7, it is characterized in that：
A. mechanical arm 6.3 is very light, end be magnetic leaf folder 6.7, weight 4g, except plant chlorophyll fluorescence can be determined Characteristic, moreover it is possible to win during plant sample is put into collecting cassette and store.
B., temperature measurement probe 6.5 is installed, the wherein measurement range of temperature measurement probe is -10 DEG C -85 after magnetic leaf folder DEG C, precision is ± 0.5 DEG C.The temperature data of measurement is stored in miniature luminoscope, while being wirelessly transmitted to operator Hand-held panel computer, be easy to real-time observed data.
C. the magnetic leaf folder of mechanical arm nearby installs camera 6.4 and can shoot the video of 720P resolution ratio, built-in 16GB SD card, convenient record video data-plant growth environment, waters clarity, away from the test of water surface elevation, depth under water and water temperature The data such as position, and can synchronous transfer video image information to control panel computer or mobile phone on, facilitate accurate remote metering to take Sample.
8. Fig. 7, the detachable foilcraft that unmanned plane is used, 45cm long, 15cm wide, 8cm high, deadweight 200g, its feature are seen It is：
A. single ship can bear a heavy burden 4kg, double ship 8kg；
B. unmanned plane installs foilcraft in the water surface floating effectively save electricity of work energy and can prevent unmanned plane from hitting the drink.
9. Chlorophyll Fluorescence is determined to be wirelessly connected on HPC by miniature luminoscope and carried out, by software control, Miniature luminoscope is equipped with measurement light, far-red light, endogenous actinic light and saturation pulse light, wherein measurement luminous intensity is 0.1 μm of ol m-2·s-1, maximum endogenous actinic light is 1500 μm of olm-2·s-1, saturation pulse luminous intensity is more than 10000 μm of olm-2·s-1.Selection sinks water Hippurisvulgaris, heavy water water speedwell and the very mature leaf of water Hippurisvulgaris as experiment material, using miniature luminoscope The diurnal variation of Chlorophyll Fluorescence is determined, from 7:00-17:00, determine once within every 2 hours.Randomly choosed in sample plot and grown Consistent plant, often selects good strains in the field for seed and selects blade below top as determining leaf.
10. Chlorophyll Fluorescence is determined and includes Photochemical quenching (photochemical quenching, qP) and non-light Chemistry is quenched (non-photochemical quenching, NPQ), it is characterized in that：
A. by blade dark adaptation 20min, later on measurement light (0.1 μm of olm-2·s-1) determine minimum fluorescence (Fo), Saturation pulse light (10000 μm of olm opened once again-2·s-1) determine maximum fluorescence (Fm).Then irradiate 190 μm of olm-2·s-1Endogenous actinic light 10min after open saturation pulse light, determine light under steady-state fluorescence (Fs) and illumination conditions under maximum Fluorescence (Fm'), endogenous actinic light is closed, the minimum fluorescence (F under light is determined with a far-red lighto′).Calculated using these parameters Go out：Photochemical quenching photochemical quenching (qP)=(Fm′-Fs)/(Fm′-Fo′)；Non- Photochemical quenching non- Photochemical quenching (NPQ)=(Fm-Fm′)/Fm′。
B. fluorescence induction curves are determined under low light intensity and light intensity high, 7:00-8:00, endogenous actinic light sets one respectively Low light (190 μm of olm-2·s-1) and high light (1150 μm of olm-2·s-1) under carry out Photochemical quenching qP and non-photochemical Be quenched the measure of NPQ.
11. data are counted and charted using Origin7.5 and Spss17.0.Divided using single factor analysis method Analysis, significance is P ＜ 0.05.
Beneficial effect of the present invention：
1) long-range measurement in real time, sampling, monitoring, experiment are realized, the working environment of Scientific Research Workers is substantially improved, is carried High workload efficiency；
2) for complex water areas, different operating modes are applicable；
3) device is motor-driven, informative data, method rationally, analysis is thorough, figure is attractive in appearance；
4) miniature luminoscope and collecting cassette and mechanical arm keep center of gravity system all installed in the positive axis center of gravity of unmanned plane One, the landing of taking off of remotely pilotless machine floats on the surface work, it is to avoid unmanned plane causes damage because various factors hits the drink, and Energy content of battery consumption is reduced by reducing power；
5) aquatic unmanned aerial vehicle that can measure collection water plant of present invention design, is adapted to high mountain lake etc. no Easily measure the local work of herborization.
(4) illustrate：
1. a kind of Fig. 1, the unmanned plane chlorophyll fluorescence instrument measurement of water plant is taken a sample to research device overall schematic：Remote control Unmanned plane 1.1, underwater robot Master Control Center 1.2, foilcraft 1.3, mechanical arm 1.4, miniature luminoscope 1.5, collecting cassette 1.6th, camera 1.7, magnetic leaf folder 1.8, temperature measurement probe 1.9, unmanned controller 1.10, underwater robot remote control 1.11；
2. a kind of Fig. 2, the unmanned plane chlorophyll fluorescence instrument measurement of water plant is taken a sample to research device hovering instrumentation plan： Remotely pilotless machine 2.1, underwater robot Master Control Center 2.2, mechanical arm 2.3, miniature luminoscope 2.4, collecting cassette 2.5, shooting First 2.6, magnetic leaf folder 2.7, temperature measurement probe 2.8, unmanned controller 2.9, underwater robot remote control 2.10；
3. Fig. 3, miniature luminoscope underwater robot integrated apparatus schematic diagram：It is underwater robot Master Control Center 3.1, miniature Luminoscope 3.2, lithium battery 3.3, mechanical arm 3.4, magnetic leaf folder 3.5, camera 3.6, temperature measurement probe 3.7, collecting cassette 3.8th, support 3.9, optical fiber cable 3.10, plant leaf blade 3.11；
4. Fig. 4, miniature luminoscope schematic diagram：Switch 4.1, usb interfaces 4.2, charging socket 4.3, optical fiber socket 4.4, electricity Source indicator lamp 4.5, wifi indicator lamps 4.6, wireless control chip 4.7；
5. Fig. 5, collecting cassette schematic diagram：Seal box 5.1, black shadow shield 5.2；
6. Fig. 6, underwater robot schematic diagram：Underwater robot Master Control Center 6.1, lithium battery 6.2, mechanical arm 6.3, take the photograph As first 6.4, temperature measurement probe 6.5, fibre-optical probe 6.6, magnetic leaf folder 6.7；
7. Fig. 7, foilcraft schematic diagram；
8. Fig. 8, three Photochemical quenchings (A) and non-Photochemical quenching (B) daily variation diagram of the heavy water Hippurisvulgaris in lakes：It is photochemical Be quenched 8.1, non-Photochemical quenching 8.2, time 8.3, fragrant grass sea 8.4, arrow bamboo sea 8.5, five and spend sea 8.6；
9. Fig. 9, the fragrant grass two kinds of Photochemical quenchings of submerged plant (A) in sea and non-Photochemical quenching (B) daily variation diagram：It is photochemical Be quenched 9.1, non-Photochemical quenching 9.2, time 9.3, heavy water Hippurisvulgaris 9.4, heavy water water speedwell 9.5；
10. Figure 10, under low light and light intensity high, the Photochemical quenching (A) and non-photochemistry of three heavy water Hippurisvulgaris in lakes (B) figure is quenched：Photochemical quenching 10.1, non-Photochemical quenching 10.2, low light intensity 10.3, light intensity high 10.4, fragrant grass sea 10.5, arrow Spend sea 10.7 in bamboo sea 10.6, five；
11. Figure 11, under low light and light intensity high, fragrant grass sea two kinds of Photochemical quenchings of submerged plant (A) and non-photochemistry (B) figure is quenched：Photochemical quenching 11.1, non-Photochemical quenching 11.2, low light intensity 11.3, light intensity high 11.4, heavy water Hippurisvulgaris 11.5th, heavy water water speedwell 11.6；
Endure the Photochemical quenching (A) and non-Photochemical quenching (B) daily variation diagram of water Hippurisvulgaris in 12. Figure 12, two lakes：Light Chemistry is quenched 12.1, non-Photochemical quenching 12.2, time 12.3, arrow bamboo sea 12.4, five and spends sea 12.5；
13. Figure 13, under low light and light intensity high, the Photochemical quenching (A) and non-photochemistry of water Hippurisvulgaris are endured in two lakes (B) figure is quenched：Photochemical quenching 13.1, non-Photochemical quenching 13.2, low light intensity 13.3, light intensity high 13.4, arrow bamboo sea 13.5, five Spend sea 13.6.
(5) specific embodiment：
A kind of unmanned plane chlorophyll fluorescence instrument measurement of water plant proposed by the present invention is taken a sample to research device, its specific reality Apply mode as follows：
1. the unmanned plane chlorophyll fluorescence instrument measurement of a kind of water plant is taken a sample to research device, and its device is main by three portions It is grouped into：Remotely pilotless machine, miniature luminoscope underwater robot integrated apparatus and foilcraft.
2. Fig. 1 is seen, for complex water areas work, gathered to water plant region or the very fast waters of flow rate of water flow --- it is common Ship and the bad entrance of unmanned electronics ship, if water plant is gathered and the water flows gently that region can drop to the water surface is surveyed A kind of amount sampling operation, the unmanned plane chlorophyll fluorescence instrument measurement of water plant described in the content of the invention 1 device of taking a sample to research sets distant Control unmanned plane 1.1, underwater robot Master Control Center 1.2, foilcraft 1.3, mechanical arm 1.4, miniature luminoscope 1.5, collecting cassette 1.6th, camera 1.7, magnetic leaf folder 1.8, temperature measurement probe 1.9, unmanned controller 1.10, underwater robot remote control 1.11；
3. see Fig. 2, for complex water areas work, if flow velocity waters then can be by unmanned plane hovering faster Sampling operation is measured, a kind of unmanned plane chlorophyll fluorescence instrument measurement of water plant described in the content of the invention 1 is taken a sample to research dress Install remotely pilotless machine 2.1, underwater robot Master Control Center 2.2, mechanical arm 2.3, miniature luminoscope 2.4, collecting cassette 2.5, Camera 2.6, magnetic leaf folder 2.7, temperature measurement probe 2.8, unmanned controller 2.9, underwater robot remote control 2.10；
4. Fig. 3 seen, miniature luminoscope underwater robot integrated apparatus set underwater robot Master Control Center 3.1, miniature glimmering Light instrument 3.2, lithium battery 3.3, mechanical arm 3.4, magnetic leaf folder 3.5, camera 3.6, temperature measurement probe 3.7, collecting cassette 3.8th, support 3.9, optical fiber cable 3.10, plant leaf blade 3.11；It is characterized in that installing miniature luminoscope machine under water in unmanned plane lower end A collecting cassette 3.8 is installed in device people's integrated apparatus, the appliance stand front end, behind be the miniature luminoscope 3.2 of waterproof, Upper end connects mechanical arm 3.4 and magnetic leaf folder 3.5, carries out the experiment of plant chlorophyll fluorescent characteristic measure.
5. Fig. 4 is seen, miniature luminoscope sets switch 4.1, usb interfaces 4.2, charging socket 4.3, optical fiber socket 4.4, power supply and refers to Show lamp 4.5, wifi indicator lamps 4.6, wireless control chip 4.7, it is characterized in that：
A. it is very compact, 15cm long, 10cm wide, 5cm high, weight 400g；
B. with wireless control chip, energy wirelessly transmitting data simultaneously receives instruction.
6. Fig. 5 is seen, collecting cassette sets seal box 5.1, black shadow shield 5.2, it is characterized in that the plant of collecting cassette storage collection Sample, 10cm long, 10cm wide, deep 5cm, water 100g, black lucifuge.
7. Fig. 6, underwater robot schematic diagram are seen：Underwater robot Master Control Center 6.1, lithium battery 6.2, mechanical arm 6.3, Camera 6.4, temperature measurement probe 6.5, fibre-optical probe 6.6, magnetic leaf folder 6.7, it is characterized in that：
A. mechanical arm 6.3 is very light, end be magnetic leaf folder 6.7, weight 4g, except plant chlorophyll fluorescence can be determined Characteristic, moreover it is possible to win during plant sample is put into collecting cassette and store.
B., temperature measurement probe 6.5 is installed, the wherein measurement range of temperature measurement probe is -10 DEG C -85 after magnetic leaf folder DEG C, precision is ± 0.5 DEG C.The temperature data of measurement is stored in miniature luminoscope, while being wirelessly transmitted to operator Hand-held panel computer, be easy to real-time observed data.
C. the magnetic leaf folder of mechanical arm nearby installs camera 6.4 and can shoot the video of 720P resolution ratio, built-in 16GB SD card, convenient record video data-plant growth environment, waters clarity, away from the test of water surface elevation, depth under water and water temperature The data such as position, and can synchronous transfer video image information to control panel computer or mobile phone on, facilitate accurate remote metering to take Sample.
8. Fig. 7, the detachable foilcraft that unmanned plane is used, 45cm long, 15cm wide, 8cm high, deadweight 200g, its feature are seen It is：
A. single ship can bear a heavy burden 4kg, double ship 8kg；
B. unmanned plane installs foilcraft in the water surface floating effectively save electricity of work energy and can prevent unmanned plane from hitting the drink.
9. the unmanned plane chlorophyll fluorescence instrument measurement of a kind of water plant is taken a sample to research device, is suitable for high mountain lake etc. no The easily regional work of measurement herborization, it has the following two kinds working method：
A. miniature luminoscope underwater robot integrated apparatus can the heavy water of in-site detecting and emergent aquactic plant chlorophyll fluorescence Characteristic；
B. submerged plant and emergent aquactic plant sample can be gathered, is stored in collecting cassette and is transported back.
10. Chlorophyll Fluorescence is determined to be wirelessly connected on HPC by miniature luminoscope and carried out, by software control, Miniature luminoscope is equipped with measurement light, far-red light, endogenous actinic light and saturation pulse light, wherein measurement luminous intensity is 0.1 μm of ol m-2·s-1, maximum endogenous actinic light is 1500 μm of olm-2·s-1, saturation pulse luminous intensity is more than 10000 μm of olm-2·s-1.The presented bogginess of the Some Lakes of Jiu Zhaigou, it is final to choose fragrant grass sea, arrow Zhu Hai, five flowers by multiple field study Sea is used as research sample ground.Selection Jiu Zhaigou advantage water plant sinks water Hippurisvulgaris, heavy water water speedwell and very water Hippurisvulgaris to test Material, the diurnal variation of Chlorophyll Fluorescence is determined using miniature luminoscope, from 7:00-17:00, determine once within every 2 hours.In The sample plot random selection consistent plant of growth, often selects good strains in the field for seed and selects top using lower blade as determining leaf.
11. Chlorophyll Fluorescences are determined and include Photochemical quenching (photochemical quenching, qP) and non-light Chemistry is quenched (non-photochemical quenching, NPQ), it is characterized in that：
A. by blade dark adaptation 20min, later on measurement light (0.1 μm of olm-2·s-1) determine minimum fluorescence (Fo), Saturation pulse light (10000 μm of olm opened once again-2·s-1) determine maximum fluorescence (Fm).Then irradiate 190 μm of olm-2·s-1Endogenous actinic light 10min after open saturation pulse light, determine light under steady-state fluorescence (Fs) and illumination conditions under maximum Fluorescence (Fm'), endogenous actinic light is closed, the minimum fluorescence (F under light is determined with a far-red lighto′).Calculated using these parameters Go out：Photochemical quenching photochemical quenching (qP)=(Fm′-Fs)/(Fm′-Fo′)；Non- Photochemical quenching non- Photochemical quenching (NPQ)=(Fm-Fm′)/Fm′。
B. fluorescence induction curves are determined under low light intensity and light intensity high, 7:00-8:00, endogenous actinic light sets one respectively Low light (190 μm of olm-2·s-1) and high light (1150 μm of olm-2·s-1) under carry out Photochemical quenching qP and non-photochemical Be quenched the measure of NPQ.
12. data are counted and charted using Origin7.5 and Spss17.0.Divided using single factor analysis method Analysis, significance is P ＜ 0.05.
A kind of unmanned plane chlorophyll fluorescence instrument measurement of 13. water plants is taken a sample to research device, and concrete operation step is as follows：
The first step：See Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, experimenter assembles a kind of unmanned plane of water plant Chlorophyll fluorescence instrument measurement is taken a sample to research device, and test ensures that each part wireless remote control signals are normal, and communication interaction is normal.Experiment Personnel are according to two kinds of mode of operations of working environment different choice：One is the waters that water plant is gathered and the water flows gently, by nobody Machine is fitted together with foilcraft, and such equipment can be docked in water general work, it is possible to reduce hovering power power consumption.Two are The waters that The turbulent river crashes its way through, the bad stop of electric ship, unmanned plane can hovering measure sampling work.
Second step：It is remotely controlled by unmanned controller, by the measurement sampler movement of unmanned plane chlorophyll fluorescence instrument To Suitable assays position, and the image passed back by camera, the mechanical arm of underwater robot is moved into waterborne or water The lower water plant leaf position to be measured, the unlatching of remote control magnetic leaf folder and closure, clamp blade.
3rd step：Open miniature luminoscope, change of the measurement water plant under the conditions of the irradiation of various fluorescence, measurement data It is directly stored in the storage card of miniature luminoscope, wirelessly passes on laboratory technician's HPC on bank, sees in real time Survey data.
4th step：Fluorescence observation is finished, and laboratory technician closes miniature luminoscope, opens underwater robot sampling mode, is won Plant sample is stored into collecting cassette, completes sampling operation.
5th step：Measurement is finished, and the unmanned plane chlorophyll fluorescence instrument measurement that laboratory technician withdraws water plant is taken a sample to research dress Put, data analysis is carried out according to chip record data.
14. data results are as follows：
A. submerged plant fluorescent quenching research
1) diurnal variation of photochemistry and non-Photochemical quenching
See Fig. 8, marine in fragrant grass sea and arrow bamboo from Fig. 8 A, the diurnal variation of heavy water Hippurisvulgaris Photochemical quenching (qP) Single peak type curve is, qP gradually increases with the rising of light intensity, the Electron Transport Activities of PSII gradually increase, and qP is 13: 00 reaches peak value, and afterwards with the decrease of light intensity, qP is gradually reduced.But five spend the diurnal variation of extra large qP for bimodal pattern curve, and qP exists 9:00 reaches peak value in a day, gradually reduces afterwards, and at noon 13:00 minimizes value, and the electronics that high light limits PSII is passed Pass activity；Afterwards with the decrease of light intensity, 15:00 there is rise by a small margin.The top of heavy water Hippurisvulgaris qP diurnal variations There were significant differences between 3 lakes for value, and five spend the qP diurnal variation peak-peaks in sea to be significantly higher than other two lake.
Fig. 8 is seen, from Fig. 8 B, 3 diurnal variation laws of the non-Photochemical quenching (NPQ) of the heavy water Hippurisvulgaris in lake, virtue The top of careless sea and arrow bamboo sea NPQ is both present in 7:00, peak value is respectively 0.74 and 0.43；Afterwards, due to light intensity enhancing and The rising of temperature, NPQ is gradually reduced, respectively 13:00 and 9:00 is down to low ebb, and all 15:00 goes out occurrence peak.But five flowers Extra large NPQ is obvious single peak type curve, and Changing Pattern is：From 7:00 starts, and increases as light intensity strengthens, 15:00 reaches Peak value 0.74, it is on a declining curve afterwards.
See Fig. 9, show from Fig. 9 A, the qP diurnal variations of the heavy water Hippurisvulgaris in fragrant grass sea and water speedwell are substantially in single peak type curve, Heavy water Hippurisvulgaris qP is 13:00 there is peak value, sinks water water speedwell 11:00 reaches maximum, and peak value is respectively 0.72 and 0.75, It can be seen that two kinds of peak values of water plant qP diurnal variations there was no significant difference.
See Fig. 9, from Fig. 9 B, heavy water Hippurisvulgaris NPQ tops appear in 7:00, peak value is respectively 0.74, afterwards, because Light intensity strengthens the rising with temperature, and NPQ is gradually reduced, and 13:00 is down to low ebb, and 15:00 goes out occurrence peak.7:00-9:00, Water speedwell NPQ is raised rapidly, and 9:00 there is peak value for 1.99；It is on a declining curve afterwards, 11:00 there is low ebb；11:00-17: 00 slow rise again.It can be seen that, the peak value of heavy water water speedwell NPQ diurnal variations is significantly higher than heavy water Hippurisvulgaris.
2) fluorescence induction curves under low light intensity and light intensity high
See Figure 10, no matter in low light (190 μm of olm-2·s-1) or bloom (1150 μm of olm-2·s-1) it is strong under, five The qP and NPQ of the heavy water Hippurisvulgaris in sea is spent all to be significantly higher than other two lake, but without conspicuousness between fragrant grass sea and arrow bamboo sea Difference.
See Figure 11, no matter under low light or light intensity high, the heavy water water speedwell NPQ in fragrant grass sea is noticeably greater than heavy water Hippurisvulgaris, But without significant difference between two kinds of qP of submerged plant.
B. emergent aquactic plant fluorescent quenching research
1) diurnal variation of photochemistry and non-Photochemical quenching
See Figure 12, qP the and NPQ diurnal variations that water Hippurisvulgaris is endured in arrow bamboo sea are in single peak type curve, with the change of envirment factor Change and constantly rise, respectively 11:00 and 15:00 reaches peak value, and respectively 0.95 and 0.52, it is on a declining curve afterwards.17:00 QP relative to 11:00 peak value reduces 26.89%.
See Figure 12, five spend sea to endure qP the and NPQ diurnal variation curves of water Hippurisvulgaris in bimodal pattern, from 7:00 starts gradually to go up Rise, 9:00 reaches first peak value, respectively 0.90 and 0.53；It is on a declining curve afterwards, 15:00 there is second peak value, point Wei 0.85 and 0.67.17:00 qP is relative to 9:00 peak value reduces 16.49%.
2) fluorescence induction curves under low light intensity and light intensity high
See Figure 13, (190 μm of olm under low light intensity-2·s-1), five spend sea to endure the qP noticeably greater than arrow bamboos of water Hippurisvulgaris Sea, but without significant difference between NPQ.In addition, under light intensity high (1150 μm of olm-2·s-1), five spend sea to endure water Hippurisvulgaris QP and NPQ be noticeably greater than arrow bamboo sea.

Claims (6)

1. the unmanned plane chlorophyll fluorescence instrument measurement of a kind of water plant is taken a sample to research device, and its device is main by remotely pilotless Machine, miniature luminoscope underwater robot integrated apparatus, three parts of foilcraft constitute, it is characterized in that：
A. for complex water areas work, to water plant gather region or the very fast waters of flow rate of water flow --- ordinary ships and nobody The bad entrance of electronics ship, water plant is gathered and the water flows gently, and region can drop to the water surface measures sampling operation, right It is required that a kind of unmanned plane chlorophyll fluorescence instrument measurement of water plant described in 1 is taken a sample to research, device sets remotely pilotless machine (1.1), water Lower robot Master Control Center (1.2), foilcraft (1.3), mechanical arm (1.4), miniature luminoscope (1.5), collecting cassette (1.6), Camera (1.7), magnetic leaf folder (1.8), temperature measurement probe (1.9), unmanned controller (1.10), underwater robot remote control Device (1.11)；
B. worked for complex water areas, waters then can measure sampling behaviour to flow velocity by unmanned plane hovering faster Make, a kind of unmanned plane chlorophyll fluorescence instrument measurement of water plant described in claim 1 device of taking a sample to research sets remotely pilotless machine (2.1), underwater robot Master Control Center (2.2), mechanical arm (2.3), miniature luminoscope (2.4), collecting cassette (2.5), shooting Head (2.6), magnetic leaf folder (2.7), temperature measurement probe (2.8), unmanned controller (2.9), underwater robot remote control (2.10)。
2. miniature luminoscope underwater robot integrated apparatus described in claim 1 set underwater robot Master Control Center (3.1), micro- Type luminoscope (3.2), lithium battery (3.3), mechanical arm (3.4), magnetic leaf folder (3.5), camera (3.6), temperature survey are visited Head (3.7), collecting cassette (3.8), support (3.9), optical fiber cable (3.10), plant leaf blade (3.11)；It is characterized in that under unmanned plane Miniature luminoscope underwater robot integrated apparatus are installed at end, and a collecting cassette (3.8) is installed in the appliance stand front end, behind be One miniature luminoscope (3.2) of waterproof, upper end connects mechanical arm (3.4) and magnetic leaf folder (3.5), carries out plant chlorophyll The experiment that fluorescent characteristic is determined.
3. miniature luminoscope described in claim 2 sets switch (4.1), usb interfaces (4.2), charging socket (4.3), optical fiber socket (4.4), power supply indicator (4.5), wifi indicator lamps (4.6), wireless control chip (4.7), it is characterized in that：
A. it is very compact, 15cm long, 10cm wide, 5cm high, weight 400g；
B. with wireless control chip, energy wirelessly transmitting data simultaneously receives instruction.
4. collecting cassette described in claim 2 sets seal box (5.1), black shadow shield (5.2), it is characterized in that collecting cassette storage collection Plant sample, 10cm long, 10cm wide, deep 5cm, water 100g, black lucifuge.
5. underwater robot described in claim 1 sets underwater robot Master Control Center (6.1), lithium battery (6.2), mechanical arm (6.3), camera (6.4), temperature measurement probe (6.5), fibre-optical probe (6.6), magnetic leaf folder (6.7), it is characterized in that：
A. mechanical arm described in claim 1 (6.3) is very light, end be magnetic leaf folder (6.7), weight 4g, except that can determine Plant chlorophyll fluorescent characteristic, moreover it is possible to win during plant sample is put into collecting cassette and store；
B. temperature measurement probe (6.5), the wherein measurement range of temperature measurement probe are installed after magnetic leaf folder described in claim 1 It it is -10 DEG C -85 DEG C, precision is ± 0.5 DEG C；The temperature data of measurement is stored in miniature luminoscope, while wirelessly passing The defeated hand-held panel computer to operator, is easy to real-time observed data；
C. the magnetic leaf folder of mechanical arm described in claim 1 nearby installs camera (6.4) and can shoot regarding for 720P resolution ratio Frequently, the SD card of built-in 16GB, convenient record video data-plant growth environment, waters clarity, away from water surface elevation, it is deep under water Degree and the data such as water temperature test position, and can synchronous transfer video image information on control panel computer or mobile phone, convenient essence Quasi- remote metering sampling.
6. foilcraft described in claim 1,45cm long, 15cm wide, 8cm high, conduct oneself with dignity 200g, it is characterized in that：
A. it is detachable；
B. single ship can bear a heavy burden 4kg, and double ships can bear a heavy burden 8kg；
C. unmanned plane installs foilcraft in the water surface floating effectively save electricity of work energy and can prevent unmanned plane from hitting the drink.
CN201710167984.6A 2017-03-21 2017-03-21 A kind of unmanned plane chlorophyll fluorescence instrument measurement of water plant is taken a sample to research device Pending CN106841152A (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2019072442A1 (en) * 2017-10-10 2019-04-18 Basf Se Method for monitoring at least one aquaculture pond and aquaculture pond monitoring system
CN111609814A (en) * 2020-06-02 2020-09-01 惠安建设监理有限公司 Project progress auxiliary robot applied to construction supervision and supervision detection method

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
高丽楠: "九寨沟沉水杉叶藻的叶绿素荧光参数日变化研究", 《河南农业科学》 *

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2019072442A1 (en) * 2017-10-10 2019-04-18 Basf Se Method for monitoring at least one aquaculture pond and aquaculture pond monitoring system
CN111432634A (en) * 2017-10-10 2020-07-17 巴斯夫欧洲公司 Method for monitoring at least one aquaculture pond and aquaculture pond monitoring system
JP2020536556A (en) * 2017-10-10 2020-12-17 ビーエーエスエフ ソシエタス・ヨーロピアＢａｓｆ Ｓｅ Methods and systems for monitoring at least one pond
JP7301820B2 (en) 2017-10-10 2023-07-03 ビーエーエスエフ ソシエタス・ヨーロピア Method and system for monitoring at least one pond
US11793175B2 (en) 2017-10-10 2023-10-24 Basf Se Method for monitoring at least one aquaculture pond and aquaculture pond monitoring system
CN111609814A (en) * 2020-06-02 2020-09-01 惠安建设监理有限公司 Project progress auxiliary robot applied to construction supervision and supervision detection method

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Application publication date: 20170613