CN114323747A - Soil-vegetation-atmospheric moisture collection system based on unmanned aerial vehicle - Google Patents
Soil-vegetation-atmospheric moisture collection system based on unmanned aerial vehicle Download PDFInfo
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- IJGRMHOSHXDMSA-UHFFFAOYSA-N Atomic nitrogen Chemical compound N#N IJGRMHOSHXDMSA-UHFFFAOYSA-N 0.000 claims description 81
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- 229910052757 nitrogen Inorganic materials 0.000 claims description 40
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- 210000000078 claw Anatomy 0.000 claims description 14
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- 239000001307 helium Substances 0.000 description 4
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- ODINCKMPIJJUCX-UHFFFAOYSA-N calcium oxide Inorganic materials [Ca]=O ODINCKMPIJJUCX-UHFFFAOYSA-N 0.000 description 1
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Abstract
The invention provides a soil-vegetation-atmospheric moisture acquisition system based on an unmanned aerial vehicle, which is characterized by comprising a sampling unit, a monitoring unit, a control unit, a communication unit and a terminal, wherein the sampling unit is used for sampling soil moisture; the sampling unit is used for collecting moisture of soil, atmosphere and vegetation parts; the monitoring unit is used for measuring the temperature, the humidity and the air pressure value of the environment and accurately positioning the unmanned aerial vehicle; the control unit is respectively connected with the sampling unit and the monitoring unit and is used for controlling the sampling unit and the sampling unit to perform sampling work; the communication unit is connected with the control unit and the terminal and is used for transmitting signals between the control unit and the terminal. By using an unmanned aerial vehicle to carry the sampling unit, the detection unit and the control unit, and carrying out data storage and debugging control through the communication unit and the terminal, the unmanned intelligent acquisition of different gradients of water vapor at places with higher difficulty in manual sampling can be realized, the data acquisition range and the data acquisition range are enlarged, and the sampling data are more reliable.
Description
Technical Field
The invention relates to the field of environmental monitoring, in particular to a soil-vegetation-atmospheric moisture acquisition system based on an unmanned aerial vehicle.
Background
Water circulation is an important component of the substance circulation of an ecological system, influences and drives the growth, development and propagation of individuals, and the research on water circulation usually adopts isotope tracing. The stable isotope of water comprises H2 18O、H2 17O, HDO and the like, the content of which changes in the hydrologic cycle processes of evaporation, condensation, vegetation respiration, photosynthesis, atmospheric convection and the like, are tracers of the hydrologic process, and provide important information for hydrologic cycle research.
Due to the limitation of sampling means, water vapor sampling is mostly manual sampling on the spot or sampling at a fixed measuring point on the ground. The field sampling is time-consuming and labor-consuming, and some regions such as mountains, canyons and the like are not easy to sample, so that the data of the regions are lack; and fixed measurement point sampling also needs personnel to maintain, and often influences research results. In recent years, unmanned aerial vehicle methods related to atmospheric water vapor sampling are proposed successively, but the solutions are only limited to atmospheric water vapor sampling and cannot achieve continuous sampling of soil, vegetation and atmosphere with different gradients in the whole ecological system, so that a novel device for collecting water vapor from different gradient water sources in different gradient ecological systems is needed.
Disclosure of Invention
In order to overcome the defects in the prior art, the steps of sampling soil, atmosphere and plants are integrated, and a soil-vegetation-atmosphere moisture acquisition system based on an unmanned aerial vehicle is designed. The quality of the system can be controlled within 5kg, the collection of local different gradient water vapor with high difficulty in manual sampling is realized, the cost is greatly reduced, the data acquisition range and the data acquisition range are increased, the sampling data are more reliable, and the research of researchers is facilitated.
A soil-vegetation-atmospheric moisture acquisition system based on an unmanned aerial vehicle comprises a sampling unit, a monitoring unit, a control unit, a communication unit and a terminal;
the sampling unit comprises a soil moisture sampling device, an atmospheric moisture sampling device and a vegetation moisture sampling device, and is respectively used for collecting moisture of soil, atmosphere and vegetation;
the monitoring unit is used for measuring the temperature, the humidity and the air pressure value of the environment and accurately positioning the unmanned aerial vehicle;
the control unit is respectively connected with the sampling unit and the monitoring unit and is used for controlling the monitoring unit to operate and controlling the sampling unit to perform sampling work;
the communication unit is connected with the control unit and the terminal and is used for transmitting signals between the control unit and the terminal;
and the terminal is used for receiving the monitoring data, sending a control instruction to the control unit to control the sampling unit to sample, and receiving and storing the sampling data.
Furthermore, the soil moisture sampling device comprises an upper layer box and a lower layer box with an opening at the bottom, a partition plate is arranged between the upper layer box and the lower layer box, sampling holes for communicating the upper layer box and the lower layer box are formed in the partition plate, and exhaust assemblies for exhausting are arranged in the upper layer box and the lower layer box; a sampling drill bit, a driving component for driving the sampling drill bit and a sampling bottle with an opening at the top are arranged in the upper layer box, and the size of the sampling bottle is matched with that of the sampling drill bit; the sampling bottle is provided with a first heating coil for heating a soil sample in the sampling drill bit, and is provided with a first sampling pipe connected with the sampling bottle through a first pipe, and a first condenser is arranged at the connection part of the first pipe and the pipe opening of the first sampling pipe for condensing water vapor.
Furthermore, the atmospheric water sampling device comprises a second condenser which adopts an internal condensation mode and is of a double-layer structure, the outer layer structure is an air channel to be detected, and the inner layer structure is a condensation channel; the outer structure bottom side sets up the first intake pipe that is used for inhaling the air that awaits measuring, and the top sets up the first outlet duct that is used for discharging the air that awaits measuring after the condensation to set up the second pipe that is used for the condensate water to flow in the bottom, second pipe and second sampling union coupling.
Furthermore, condensation passage includes second intake pipe, second outlet duct and the condenser pipe of being connected with the second outlet duct of second intake pipe, and the condenser pipe includes that upper portion and lower part all set to the condensation ring canal to set up many condensation straight tubes at the middle part, the condensation straight tube is arranged along condensation ring canal circumference, sets up many solid fixed rings on the condensation straight tube, is used for fixed condensation straight tube.
Further, vegetation moisture sampling device includes the sampling container, the sampling container includes that flip form opens and closed container lid, winding are on the second heating coil of side and be used for the third pipe that vapor flows out, and the third pipe is connected with third sampling pipe to set up the third condenser at the tip that third pipe and third sampling pipe are connected.
Furthermore, the vegetation moisture sampling device also comprises a sampling claw which is arranged in the sampling container and used for grabbing the branch and leaf parts of the plants, the sampling claw comprises a gripping apparatus, an outer shaft and an inner shaft which is sleeved inside one end of the outer shaft, and the inner shaft can slide in the outer shaft along the axial direction of the outer shaft; the outer shaft end of the inner shaft is sleeved with a first connecting structure, one end of the inner shaft at the same side is provided with a second connecting structure, the non-grabbing end of the gripping apparatus is provided with a connecting rod part, the connecting rod part is connected with the second connecting structure, the non-grabbing end is connected with the first connecting structure, the inner shaft is further provided with a spring, and the spring is fixed between the first connecting structure and the second connecting structure.
Furthermore, the sampling device also comprises a liquid nitrogen condensing device, the liquid nitrogen condensing device comprises a third air inlet pipe, a liquid nitrogen bottle and a third air outlet pipe, and the third air inlet pipe extends into the liquid nitrogen bottle and is used for introducing air when the slow air supply of the liquid nitrogen gasification is insufficient so as to accelerate the liquid nitrogen gasification; one end of the third air outlet pipe is arranged at the bottle mouth of the liquid nitrogen bottle, and the other end of the third air outlet pipe is used for outputting gasified liquid nitrogen and condensing steam.
Further, the monitoring unit includes temperature sensor, humidity transducer, pressure sensor and GPS locator, is used for the measurement to temperature, humidity, pressure and unmanned aerial vehicle position respectively.
Further, the control unit includes control chip, soil moisture sampling control end, atmospheric water sampling control end and vegetation moisture sampling control end, and control chip is connected with soil moisture sampling control end, atmospheric water sampling control end and vegetation moisture sampling control end respectively, and control chip controls corresponding sampling device respectively through three sampling control end.
Further, the communication unit is including setting up signal receiver and the ground communication basic station on unmanned aerial vehicle, and signal receiver is connected with control chip to communicate with the terminal through ground communication basic station.
Compared with the prior art, the invention has the following beneficial effects:
(1) by using an unmanned aerial vehicle to carry the sampling unit, the detection unit and the control unit, and carrying out data storage and debugging control through the communication unit and the terminal, the unmanned intelligent acquisition of different gradients of water vapor at places with higher difficulty in manual sampling can be realized, the data acquisition range and the data acquisition range are enlarged, the sampling data are more reliable, and the research of researchers is facilitated;
(2) by adopting the design of integrating soil, atmosphere and vegetation moisture collection and condensing through liquid nitrogen, the convenience and the collection efficiency of collecting moisture under different collection environments are improved, and meanwhile, the integral weight of the unmanned aerial vehicle can be reduced due to the small volume and light weight of the liquid nitrogen condensation, so that the cost is greatly reduced;
(3) the upper layer box and the lower layer box are internally provided with the exhaust assemblies, so that air interfered inside can be exhausted during sampling, and the accuracy of the soil moisture acquisition device is improved;
(4) the second condenser is designed into an outer-layer channel to be measured and an inner-layer condensation channel, so that when moisture in the atmosphere is collected, the sucked air to be measured can be condensed by the internal gasified liquid nitrogen and the external air at the same time, and meanwhile, the internal condensation channel is designed into the combination of an upper condensation ring pipe, a lower condensation ring pipe and a plurality of condensation straight pipes, so that the condensation efficiency of the moisture in the air to be measured is improved;
(5) the fabric branch and leaf part is grabbed by the control sampling claw to enter the closed sampling container, and the plant branch and leaf is dehydrated by directly heating, so that the device is simple in design and high in working efficiency.
Drawings
FIG. 1 is a schematic view of an embodiment of the apparatus of the present invention;
fig. 2 is a layout of an unmanned aerial vehicle carrying the present invention;
FIG. 3 is a block diagram of the connection of parts of the present invention;
FIG. 4 is a layout diagram of parts of a sampling unit according to the present invention;
FIG. 5 is a schematic view of a soil moisture sampling apparatus according to the present invention;
FIG. 6 is a schematic view of an atmospheric water vapor sampling apparatus according to the present invention;
FIG. 7 is a schematic view of a sampling vessel of the vegetation water sampling device of the present invention;
FIG. 8 is a schematic view of a sampling claw of the vegetation water sampling device of the present invention;
fig. 9 is a view showing the inner and outer axis structure of the vegetation water sampling apparatus of the present invention.
Fig. 10 is a view showing the structure of a gripper of the vegetation water sampling device of the present invention.
In the figure: a sampling unit 1; a soil moisture sampling device 101; an upper tank 102; a sampling drill 103; a seal ring 104; a drive assembly 105; a drive motor 1051; an axle 1052; a sample bottle 106; a first heating coil 107; a first battery 108; a first conduit 109; a first condenser 110; a first sampling tube 111; a lower tank 112; a partition 113; a sampling hole 114; a compressed helium tank 115; an atmospheric water sampling device 201; a second condenser 202; a first intake pipe 203; a first outlet pipe 204; a second conduit 205; a second sampling tube 206; a second intake pipe 207; a second outlet pipe 208; a condensing loop 209; a straight condensing tube 210; a fixing ring 211; a third intake pipe 212; a liquid nitrogen bottle 213; a third outlet tube 214; a drying tube 215; a gas release needle 216; a vegetation water sampling device 301; a third condenser 302; a container cover 303; a third conduit 304; a third sampling tube 305; a second heating coil 306; a second battery cell 307; mounting holes 308; a sampling claw 309; an outer shaft 310; a first connection structure 311; an inner shaft 312; a second connecting structure 313; a gripper 314; a link member 315; a monitoring unit 2; a temperature sensor 21; a humidity sensor 22; an air pressure sensor 23; a GPS locator 24; a control unit 3; a control chip 31; a soil moisture sampling control terminal 32; an atmospheric water sampling control terminal 33; a vegetation water sampling control end 34; a communication unit 4; a signal receiver 41, a ground communication base station 42; and a terminal 5.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.
As shown in fig. 1-4, an unmanned aerial vehicle-based soil-vegetation-atmospheric moisture collection system comprises a sampling unit 1, a monitoring unit 2, a control unit 3, a communication unit 4 and a terminal 5. Wherein, sampling unit 1, including soil moisture sampling device 101, atmosphere moisture sampling device 201 and vegetation moisture sampling device 301, be used for respectively gathering the moisture of soil, atmosphere and vegetation part. And the monitoring unit 2 is used for measuring the temperature, the humidity and the air pressure value of the environment and accurately positioning the unmanned aerial vehicle. And the control unit 3 is respectively connected with the sampling unit 1 and the monitoring unit 2 and used for controlling the monitoring unit 2 to operate and controlling the sampling unit 1 to perform sampling work. And the communication unit 4 is connected with the control unit 3 and the terminal 5 and is used for transmitting signals between the control unit 3 and the terminal 5. And the terminal 5 is used for receiving the monitoring data, sending a control instruction to the control unit 3 to control the sampling unit 1 to sample, and receiving and storing the sampling data.
In one embodiment, the monitoring unit 2 comprises a temperature sensor 21, a humidity sensor 22, an air pressure sensor 23 and a GPS locator 24 for measuring temperature, humidity, pressure and drone position, respectively. The control unit 3 includes control chip 31, soil moisture sampling control end 32, atmospheric water sampling control end 33 and vegetation moisture sampling control end 34, control chip 31 respectively with soil moisture sampling control end 32, atmospheric water sampling control end 33 and vegetation moisture sampling control end 34 are connected, control chip 31 controls corresponding sampling device respectively through three sampling control end and carries out the sampling work, control chip adopts STM32F373RCT accurate measurement type singlechip. The communication unit 4 comprises a signal receiver 41 and a ground communication base station 42 which are arranged on the unmanned aerial vehicle, wherein the signal receiver 41 is connected with the control chip 31 and communicates with the terminal 5 through the ground communication base station 42. In one embodiment, a SIM card is provided in the signal receiver 41, which can communicate using 4/5G signals or WLAN signals.
In one embodiment, as shown in FIG. 5, soil moisture sampling device 101 comprises an upper tank 102 and a lower tank 112, wherein the bottom of lower tank 112 is open and 10cm high, and a partition 113 is arranged between upper tank 102 and lower tank 112. The upper box 102 is provided with a sampling drill 103, a driving assembly 105 for driving the sampling drill 103, and an open-top sampling bottle 106, and a sampling hole 114 is provided on a partition 113 to serve as a sampling passage for the sampling drill 103. Wherein, sample drill bit 103 size and sampling bottle 106 size phase-match, sample drill bit 103 upper portion is provided with sealing washer 104 for after the sample is accomplished, put into sampling bottle 106 with sample drill bit 103 through drive assembly 105, sampling bottle 106 can be sealed to sealing washer 104, and sample drill bit 103 lower part can be dismantled into two sections, every section 10 cm. A first heating coil 107 is wound on the outer side of the sampling bottle 106, the first heating coil 107 is connected with a first storage battery 108 and used for heating a soil sample to be detected sealed in the sampling bottle 106, so that water in the soil sample to be detected is gasified into water vapor, and the temperature is increased to 200 ℃ after 60s after the power is switched on. The upper portion of the side of the sampling bottle 106 is connected with a first conduit 109, the end of the first conduit 109 is provided with a one-way valve for preventing external air from entering the first conduit 109, and the end of the first conduit 109 is provided with a first condenser 110 for condensing water vapor flowing out of the sampling bottle 106 and receiving the condensed liquid water by a first sampling pipe 111. The driving assembly 105 comprises a driving motor 1051 and an axle 1052, the driving motor 1051 is screwed on the axle 1052 and can rotate horizontally along the axle 1052, one end of the driving motor 1051 is connected to the top of the sampling bit 103, the sampling bit 103 is driven by the driving motor 1051 to move downwards, the sampling bit 103 is lifted upwards after sampling, and then the sampling bit 103 is placed in the sampling bottle 106 by rotating horizontally along the axle 1052.
To prevent the presence of air in the upper and lower tanks 102, 112 from affecting the sampling, an exhaust assembly is provided for evacuating the presence of air in the upper and lower tanks 102, 112 prior to sampling. The exhaust assembly comprises a compressed helium tank 115 and a valve, the compressed helium tank 115 is connected to the side surface of the lower tank 112 through an air guide pipe, the valve is arranged in the middle section of the air guide pipe and used for controlling opening and closing, and meanwhile the same air guide pipe and valve are arranged at the top of the upper tank 102 and used for exhausting air. During sampling, the lower box 112 is tightly attached to the ground surface sampling position, and the upper box 102, the lower box 112 and the ground surface are sealed, so that sampling measurement is performed, and experimental errors are reduced.
In one embodiment, as shown in fig. 6, the atmospheric water sampling device 201 includes a second condenser 202, the second condenser 202 adopts an internal condensation mode and is a double-layer structure, the outer layer structure is an air channel to be measured, and the inner layer structure is a condensation channel. The side of the bottom of the outer layer structure is provided with a first air inlet pipe 203 for sucking air to be tested, the top of the outer layer structure is provided with a first air outlet pipe 204 for discharging condensed air to be tested, the bottom of the outer layer structure is provided with a second conduit 205 for discharging condensed water, and the second conduit 205 is connected with a second sampling pipe 206. The inner layer structure is a cage-shaped condensing channel, the lower part is a second air inlet pipe 207, the upper part is provided with a second air outlet pipe 208, and the middle part is a condensing pipe.
The first air inlet pipe 203 is further provided with a valve and an air suction pump for sucking air to be measured. A check valve is disposed on the first air outlet pipe 204 to prevent external air from being sucked back into the second condenser 202. The condensation pipe comprises an upper part and a lower part which are both arranged into a condensation loop 209, a plurality of condensation straight pipes 210 are arranged in the middle, the condensation straight pipes 210 are arranged along the circumference of the condensation loop 209, and a plurality of fixing rings 211 are arranged on the condensation straight pipes 210 and used for fixing the condensation straight pipes 210.
In one embodiment, as shown in fig. 7 to 10, the vegetation moisture sampling device 301 includes a sampling container including a container cover 303 opened and closed in a flip-open manner, a second heating coil 306 wound around the side, and a third conduit 304 for outflow of water vapor, the end of the third conduit 304 is provided with a check valve to prevent external air from being sucked back, the third conduit 304 is connected with a third sampling tube 305, and a third condenser 302 is provided at the end where the third conduit 304 and the third sampling tube 305 are connected. The second heating coil 306 is connected with the second storage battery 307 and used for heating the plant branches and leaves to be detected sealed in the sampling container, so that water in the plant branches and leaves to be detected is gasified into steam, and the temperature is increased to 200 ℃ after the power supply is switched on after 60 s.
Vegetation moisture sampling device 301 still includes sampling claw 309, and sampling claw 309 passes through outer axle 310 and installs in the sampling container, is provided with mounting hole 308 in the sampling container and the relative one side of container lid 303 for thereby install outer axle 310 and install sampling claw 309 in the sampling container, and after container lid 303 closed, vegetation moisture sampling device 301 is whole sealed. The sampling jaw 309 further includes an inner shaft 312 movably connected to the other end of the outer shaft 310, the inner shaft 312 is sleeved on the outer shaft 310, and the inner shaft 312 is slidable in the outer shaft 310 along the axial direction of the outer shaft 310. One end of an outer shaft 310 sleeved with the inner shaft 312 is provided with a first connecting structure 311, one end of the inner shaft 312 on the same side is provided with a second connecting structure 313, the non-grabbing end of the grabbing tool 314 is provided with a connecting rod part 315, the connecting rod part 315 is connected with the second connecting structure 313, the non-grabbing end is connected with the first connecting structure 311, and the inner shaft 312 is further provided with a spring which is fixed between the first connecting structure 311 and the second connecting structure 313. A first connecting structure 311 is arranged at one end of an outer shaft 310 sleeved on an inner shaft 312, a second connecting structure 313 is arranged at one end of the inner shaft 312 on the same side, a connecting rod part 315 is arranged at the non-grabbing end of the grabbing tool 314, the connecting rod part 315 is connected with the second connecting structure 313, and the non-grabbing end is connected with the first connecting structure 311. By the structure, when the inner shaft 312 is extruded inwards relative to the outer shaft 310 in the axial direction, the first connecting structure 311 and the second connecting structure 313 enable the gripping apparatus 314 to be opened through the connecting rod part 315, on the other hand, the gripping apparatus 314 can be closed when the inner shaft is stretched outwards, and a semicircular knife edge is arranged at the opening and closing end of the gripping apparatus 314, so that the fabric branches and leaves can be cut and sampled conveniently.
In order to improve the sampling efficiency of the plant moisture, the vegetation moisture sampling device 301 is made of an inert metal element, and is resistant to high temperature, corrosion and oxidation.
In an embodiment of the present invention, the first condenser 110, the second condenser 202, and the third condenser 302 all use liquid nitrogen for condensation, and specifically, a liquid nitrogen condensation device is disposed at the atmospheric moisture condensation device, and the liquid nitrogen condensation device includes a third air inlet pipe 212, a liquid nitrogen bottle 213, and a third air outlet pipe 214, and the third air inlet pipe 212 extends into the liquid nitrogen bottle 213, and is provided with an air suction pump and a valve for introducing air when the slow supply air of the liquid nitrogen gasification is insufficient, so as to accelerate the gasification of the liquid nitrogen. In order to prevent moisture from entering the liquid nitrogen bottle 213 and freezing, a drying tube 215 is further provided at the other end of the third gas inlet tube 212, and a valve is provided at the other end of the drying tank, and calcium oxide is provided in the drying tube 215 for absorbing moisture of the inlet air. One end of a third gas outlet pipe 214 is arranged at the bottle opening of the liquid nitrogen bottle 213, the other end of the third gas outlet pipe is used for outputting gasified liquid nitrogen, and the output of the gasified liquid nitrogen is respectively connected with the gas inlet pipelines of the first condenser 110, the second condenser 202 and the third condenser 302. The top of the liquid nitrogen bottle 213 is also provided with an air release needle 216 for balancing the air pressure in the liquid nitrogen bottle 213.
The working principle of the soil moisture sampling device is as follows:
before sampling, the first storage battery 108 is not connected, all valves are closed, and the first condenser 110 is not connected with liquid nitrogen.
During sampling, the soil moisture sampling control end 32 controls the soil moisture sampling device 101, the lower layer box 112 is attached to the ground, two valves of the exhaust assembly are opened, the compressed helium tank 115 exhausts air into the lower layer box 112, and after the air is exhausted for 30s, the driving motor 1051 is started and slowly descends along the wheel axle 1052, so that the sampling drill bit 103 is driven to drill into the soil through the sampling port.
After the sampling drill 103 has drilled 20cm into the soil, the drive motor 1051 initiates the retraction mode to move up the axle 1052.
After the head of the sampling drill 103 is higher than the mouth of the sampling bottle 106, the driving motor 1051 rotates around the axle 1052 to align with the sampling bottle 106.
The drive motor 1051 is lowered along the axle 1052 until the seal 104 plugs the sample bottle 106, the vent assembly is closed, and soil sampling is completed.
After sampling, the first storage battery 108 is connected, the first condenser 110 is connected with liquid nitrogen, all valves are closed, the temperature of the first heating coil is increased, the sampling bottle 106 is heated, moisture in the heated soil in the sampling bottle 106 is condensed and liquefied along the first guide pipe 109 through the first condenser 110, and finally the moisture is collected to the first sampling pipe 111.
The first working principle mode of the atmospheric moisture sampling device is as follows:
before sampling, all valves are closed.
During sampling, atmospheric moisture sampling control end 33 controls atmospheric moisture sampling device 201, opens the aspirator pump and the valve of first intake pipe 203 department, inhales the air in second condenser 202, through the condensation of the interior gasification liquid nitrogen of liquid nitrogen bottle 213, and the moisture liquefaction whereabouts in the air gets into second sampling pipe 206, opens the check valve of first outlet duct 204 department simultaneously, and the collection is accomplished to the air after the discharge dehumidification.
If the liquid nitrogen is gasified too slowly to meet the air supply requirement, all valves in the liquid nitrogen condensing device are opened during sampling, the air suction pump at the position of the drying pipe 215 is started, and dehumidified air is sucked to accelerate the gasification of the liquid nitrogen for condensing operation.
The working principle of the vegetation moisture sampling device is as follows:
before sampling, the sampling claw 309 of the vegetation water sampling device is positioned in the container of the plant branch and leaf water sampling module, and the container cover 303 is closed.
When sampling starts, the vegetation moisture sampling control end 34 controls the vegetation moisture sampling device 301, the container cover 303 is opened, the sampling claw 309 of the vegetation moisture sampling device is pushed out of the container of the plant branch and leaf moisture sampling module, and the gripper is opened.
After contacting with the plant branches and leaves, the sampling claw 309 of the vegetation water sampling device is pulled into a container of the plant branch and leaf water sampling module through a shaft, the plant branches and leaves are cut off by a knife edge positioned at the front end of the sampling claw 309, and the container cover 303 is closed around the connecting shaft.
After sampling, nitrogen gas is introduced into the third condenser 302, the second storage battery 307 is powered on, the temperature of the second heating coil rises, the container is heated, the plant branches and leaves in the container are heated, and water is evaporated. The water vapor enters the condensation section and is liquefied when meeting cold, and the third sampling pipe 305 collects the condensed water.
The use method of the moisture acquisition system comprises the following steps:
the signal receiver 41 receives a control and observation command from the terminal 5, and transmits the command to the control chip 31.
After receiving the observation instruction, the control chip 31 sends an instruction to the temperature sensor 21, the humidity sensor 22, the air pressure sensor 23 and the GPS locator 24 to monitor environmental data, and feeds back the result to the control chip 31, the control chip 31 processes the observation result and transmits the observation result to the signal receiver, and the signal receiver 41 transmits the monitoring data to the ground control terminal 5 through the ground communication base station 42.
After receiving the soil, atmosphere or plant moisture collection instruction, the control chip 31 controls the corresponding sampling device according to the preset program steps to collect moisture, when the collection step is completed, the controller feeds back the completion information to the ground-controlled terminal 5 through the signal receiver 41, and the terminal 5 can generate a TXT file according to the measurement result.
The invention is based on the unmanned aerial vehicle sampling system, the quality of the system can be controlled within 5kg, and the acquisition of different gradient water vapor in places with higher difficulty in manual sampling can be realized, the cost is greatly reduced, the data acquisition range and the data acquisition range are enlarged, so that the sampling data is more reliable, and the research of researchers is facilitated.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (10)
1. A soil-vegetation-atmospheric moisture acquisition system based on an unmanned aerial vehicle is characterized by comprising a sampling unit, a monitoring unit, a control unit, a communication unit and a terminal;
the sampling unit comprises a soil moisture sampling device, an atmospheric moisture sampling device and a vegetation moisture sampling device, and is respectively used for collecting moisture of soil, atmosphere and vegetation;
the monitoring unit is used for measuring the temperature, the humidity and the air pressure value of the environment and accurately positioning the unmanned aerial vehicle;
the control unit is respectively connected with the sampling unit and the monitoring unit and is used for controlling the monitoring unit to operate and controlling the sampling unit to perform sampling work;
the communication unit is connected with the control unit and the terminal and is used for transmitting signals between the control unit and the terminal;
and the terminal is used for receiving the monitoring data, sending a control instruction to the control unit to control the sampling unit to sample, and receiving and storing the sampling data.
2. The unmanned aerial vehicle-based soil-vegetation-atmospheric moisture collection system of claim 1, wherein the soil moisture sampling device comprises an upper tank and a lower tank with an open bottom, a partition is arranged between the upper tank and the lower tank, sampling holes for communicating the upper tank with the lower tank are arranged on the partition, and exhaust assemblies for exhausting are arranged in the upper tank and the lower tank; a sampling drill bit, a driving component for driving the sampling drill bit and a sampling bottle with an opening at the top are arranged in the upper layer box, and the size of the sampling bottle is matched with that of the sampling drill bit; the sampling bottle is provided with a first heating coil for heating a soil sample in the sampling drill bit, and is provided with a first sampling pipe connected with the sampling bottle through a first pipe, and a first condenser is arranged at the connection part of the first pipe and the pipe opening of the first sampling pipe for condensing water vapor.
3. The unmanned aerial vehicle-based soil-vegetation-atmospheric moisture collection system of claim 1, wherein the atmospheric moisture sampling device comprises a second condenser, the second condenser adopts an internal condensation mode and is of a double-layer structure, the outer layer structure is an air channel to be measured, and the inner layer structure is a condensation channel; the outer structure bottom side sets up the first intake pipe that is used for inhaling the air that awaits measuring, and the top sets up the first outlet duct that is used for discharging the air that awaits measuring after the condensation to set up the second pipe that is used for the condensate water to flow in the bottom, second pipe and second sampling union coupling.
4. The unmanned aerial vehicle-based soil-vegetation-atmosphere moisture collection system of claim 3, wherein the condensation channel comprises a second air inlet pipe, a second air outlet pipe and a condensation pipe connected with the second air outlet pipe of the second air inlet pipe, the condensation pipe comprises a condensation ring pipe arranged on the upper portion and the lower portion, a plurality of condensation straight pipes are arranged in the middle portion, the condensation straight pipes are arranged along the circumference of the condensation ring pipe, and a plurality of fixing rings are arranged on the condensation straight pipes and used for fixing the condensation straight pipes.
5. The drone-based soil-vegetation-atmosphere moisture collection system of claim 1, wherein the vegetation moisture sampling device comprises a sampling container comprising a lid that is open and closed in a flip style, a second heating coil wound on the side, and a third conduit for water vapor to flow out, the third conduit being connected to a third sampling pipe, and a third condenser being provided at an end of the third conduit connected to the third sampling pipe.
6. The unmanned aerial vehicle-based soil-vegetation-atmosphere moisture collection system of claim 5, wherein the vegetation moisture sampling device further comprises a sampling claw mounted in the sampling container for grasping plant branches and leaves, the sampling claw comprises a grasping tool, an outer shaft and an inner shaft sleeved inside one end of the outer shaft, and the inner shaft can slide in the outer shaft along the axial direction of the outer shaft; the outer shaft end of the inner shaft is sleeved with a first connecting structure, one end of the inner shaft at the same side is provided with a second connecting structure, the non-grabbing end of the gripping apparatus is provided with a connecting rod part, the connecting rod part is connected with the second connecting structure, the non-grabbing end is connected with the first connecting structure, the inner shaft is further provided with a spring, and the spring is fixed between the first connecting structure and the second connecting structure.
7. The unmanned aerial vehicle-based soil-vegetation-atmospheric moisture collection system of claim 1, wherein the sampling device further comprises a liquid nitrogen condensing device, the liquid nitrogen condensing device comprises a third air inlet pipe, a liquid nitrogen bottle and a third air outlet pipe, the third air inlet pipe extends into the liquid nitrogen bottle and is used for introducing air when slow air supply is insufficient during liquid nitrogen gasification so as to accelerate liquid nitrogen gasification; one end of the third air outlet pipe is arranged at the bottle mouth of the liquid nitrogen bottle, and the other end of the third air outlet pipe is used for outputting gasified liquid nitrogen and condensing steam.
8. The drone-based soil-vegetation-atmosphere moisture collection system of claim 1, wherein the monitoring unit includes a temperature sensor, a humidity sensor, a pressure sensor, and a GPS locator for measuring temperature, humidity, pressure, and drone position, respectively.
9. The unmanned aerial vehicle-based soil-vegetation-atmospheric moisture collection system of claim 1, wherein the control unit comprises a control chip, a soil moisture sampling control end, an atmospheric moisture sampling control end and a vegetation moisture sampling control end, the control chip is connected with the soil moisture sampling control end, the atmospheric moisture sampling control end and the vegetation moisture sampling control end respectively, and the control chip controls the corresponding sampling devices through the three sampling control ends respectively.
10. The soil-vegetation-atmosphere moisture collection system based on the unmanned aerial vehicle of claim 1, wherein the communication unit comprises a signal receiver and a ground communication base station which are arranged on the unmanned aerial vehicle, and the signal receiver is connected with the control chip and communicates with the terminal through the ground communication base station.
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