CN114323747B - Unmanned aerial vehicle-based soil-vegetation-atmosphere water collection system - Google Patents
Unmanned aerial vehicle-based soil-vegetation-atmosphere water collection system Download PDFInfo
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- CN114323747B CN114323747B CN202111491902.6A CN202111491902A CN114323747B CN 114323747 B CN114323747 B CN 114323747B CN 202111491902 A CN202111491902 A CN 202111491902A CN 114323747 B CN114323747 B CN 114323747B
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 55
- 238000005070 sampling Methods 0.000 claims abstract description 242
- 239000002689 soil Substances 0.000 claims abstract description 36
- 238000012544 monitoring process Methods 0.000 claims abstract description 25
- 238000004891 communication Methods 0.000 claims abstract description 24
- IJGRMHOSHXDMSA-UHFFFAOYSA-N Atomic nitrogen Chemical compound N#N IJGRMHOSHXDMSA-UHFFFAOYSA-N 0.000 claims description 68
- 239000007788 liquid Substances 0.000 claims description 34
- 229910052757 nitrogen Inorganic materials 0.000 claims description 34
- 238000009833 condensation Methods 0.000 claims description 27
- 230000005494 condensation Effects 0.000 claims description 27
- 238000010438 heat treatment Methods 0.000 claims description 17
- 210000000078 claw Anatomy 0.000 claims description 16
- 238000005192 partition Methods 0.000 claims description 6
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- 238000001514 detection method Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 5
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- 238000002309 gasification Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 238000011160 research Methods 0.000 description 5
- 239000001307 helium Substances 0.000 description 4
- 229910052734 helium Inorganic materials 0.000 description 4
- SWQJXJOGLNCZEY-UHFFFAOYSA-N helium atom Chemical compound [He] SWQJXJOGLNCZEY-UHFFFAOYSA-N 0.000 description 4
- 238000007789 sealing Methods 0.000 description 4
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- 239000004744 fabric Substances 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
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- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
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- BRPQOXSCLDDYGP-UHFFFAOYSA-N calcium oxide Chemical compound [O-2].[Ca+2] BRPQOXSCLDDYGP-UHFFFAOYSA-N 0.000 description 1
- ODINCKMPIJJUCX-UHFFFAOYSA-N calcium oxide Inorganic materials [Ca]=O ODINCKMPIJJUCX-UHFFFAOYSA-N 0.000 description 1
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- 238000007710 freezing Methods 0.000 description 1
- 238000011065 in-situ storage Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
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- 229910052751 metal Inorganic materials 0.000 description 1
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- 239000000700 radioactive tracer Substances 0.000 description 1
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Abstract
The invention provides a soil-vegetation-atmosphere water collection 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; the sampling unit is used for collecting moisture of soil, atmosphere and vegetation parts; the monitoring unit is used for measuring the temperature, humidity and air pressure values 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 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 the 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, unmanned intelligent acquisition of different gradient water vapor in places with great manual sampling difficulty can be realized, the data acquisition range and breadth are increased, and the sampled data is more reliable.
Description
Technical Field
The invention relates to the field of environmental monitoring, in particular to a soil-vegetation-atmosphere moisture acquisition system based on an unmanned aerial vehicle.
Background
The water circulation is an important component of the material circulation of the ecological system, influences and drives the growth, development and reproduction of individuals, and is often subjected to isotope tracing. The stable isotope of water comprises H 2 18O、H2 17 O, HDO and the like, the content of the stable isotope changes in the hydrologic cycle processes of evaporation, condensation, vegetation respiration, photosynthesis, atmospheric convection and the like, and the stable isotope is a tracer for the hydrologic cycle processes, and provides important information for hydrologic cycle research.
Because of the limitation of sampling means, the water vapor sampling is mostly manual in-situ sampling or ground fixed measuring point sampling. The field sampling is time-consuming and labor-consuming, and some areas such as mountains, canyons and the like are not easy to sample, so that the data in the areas are lack; and the fixed measuring point sampling also needs personnel maintenance, and often influences the research result. In recent years, unmanned plane methods related to atmospheric water vapor sampling are proposed successively, but the solutions are limited to atmospheric water vapor sampling, and can not realize continuous and uninterrupted sampling of soil, vegetation and atmosphere with different gradients in the whole ecological system, so that a new device for collecting water vapor with different gradients in different gradient ecological systems is necessary.
Disclosure of Invention
In order to solve the defects in the prior art, the steps of sampling soil, atmosphere and plants are integrated, and a soil-vegetation-atmosphere water collecting system based on an unmanned aerial vehicle is designed. The quality of the system can be controlled within 5kg, the acquisition of different gradient water vapor in places with great manual sampling difficulty is realized, the cost is greatly reduced, the data acquisition range and the breadth are increased, the sampled data are more reliable, and the research of researchers is facilitated.
A soil-vegetation-atmosphere water collection 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 used for collecting moisture of soil, atmosphere and vegetation parts respectively;
the monitoring unit is used for measuring the temperature, humidity and air pressure values 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 and sending a control instruction to the control unit to control the sampling unit to sample, and simultaneously receiving and storing the sampling data.
Further, 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 an exhaust assembly for exhausting is arranged in the upper layer box and the lower layer box; the upper layer box is internally provided with a sampling drill bit, a driving assembly for driving the sampling drill bit and a sampling bottle with an opening at the top, and the size of the sampling bottle is matched with that of the sampling drill bit; the sampling bottle is also provided with a first heating coil for heating the soil sample in the sampling drill bit, and a first sampling tube connected with the sampling bottle through a first conduit, and a first condenser is arranged at the connection part of the first conduit and the tube orifice of the first sampling tube and used for condensing water vapor.
Further, the atmospheric moisture sampling device comprises a second condenser, wherein the second condenser adopts an internal condensation mode, and is of a double-layer structure, an outer-layer structure is an air channel to be detected, and an 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 for sucking air to be detected, the top of the outer layer structure is provided with a first air outlet pipe for discharging condensed air to be detected, the bottom of the outer layer structure is provided with a second guide pipe for flowing out of condensed water, and the second guide pipe is connected with a second sampling pipe.
Further, the condensing channel 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 up the condensation ring canal to set up many condensation straight tubes in 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, the vegetation water sampling device comprises a sampling container, wherein the sampling container comprises a container cover which is opened and closed in a flip-open mode, a second heating coil which is wound on the side face, and a third conduit which is used for water vapor to flow out, the third conduit is connected with a third sampling pipe, and a third condenser is arranged at the end part of the third conduit, which is connected with the third sampling pipe.
Further, the vegetation water 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 vegetation, the sampling claw comprises a gripping apparatus, an outer shaft and an inner shaft sleeved in 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 axle one end of the telescoping inner axle sets up first connection structure to set up second connection structure in interior axle one end of homonymy, the gripping apparatus does not snatch the end and sets up connecting rod part, connecting rod part is connected with second connection structure, and does not snatch the end and is connected with first connection structure, still is provided with the spring on the interior axle, and the spring is fixed between first connection structure and second connection structure.
Further, the sampling device further comprises a liquid nitrogen condensing device, wherein 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 penetrates into the liquid nitrogen bottle and is used for introducing air when the slow air supply of 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 opening of the liquid nitrogen bottle, and the other end of the third air outlet pipe is used for gasifying the output of liquid nitrogen and condensing water vapor.
Further, the monitoring unit comprises a temperature sensor, a humidity sensor, a pressure sensor and a GPS (global positioning system) positioner, and the temperature sensor, the humidity sensor, the pressure sensor and the GPS positioner are respectively used for measuring the temperature, the humidity and the pressure and the position of the unmanned aerial vehicle.
Further, 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, wherein the control chip is respectively connected with the soil moisture sampling control end, the atmospheric moisture sampling control end and the vegetation moisture sampling control end, and the control chip respectively controls the corresponding sampling devices through the three sampling control ends.
Further, the communication unit comprises a signal receiver and a ground communication base station, wherein the signal receiver and the ground communication base station are arranged on the unmanned aerial vehicle, and the signal receiver is connected with the control chip and is communicated with the terminal through the ground communication base station.
Compared with the prior art, the invention has the following beneficial effects:
(1) By using the 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, unmanned intelligent acquisition of different gradient water vapor in places with great manual sampling difficulty can be realized, the data acquisition range and breadth are increased, the sampled data are more reliable, and the research of researchers is facilitated;
(2) The design of integrating soil, atmosphere and vegetation water collection is adopted, and the convenience and the collection efficiency of water collection under different collection environments are improved through liquid nitrogen condensation, and meanwhile, the whole weight of the unmanned aerial vehicle can be reduced due to the small volume and light weight of liquid nitrogen condensation, so that the cost is greatly reduced;
(3) The exhaust assemblies are arranged in the upper layer box and the lower layer box, so that air interfering with the interior can be exhausted during sampling, and the acquisition accuracy of the soil moisture acquisition device is improved;
(4) The second condenser is designed into an outer layer channel to be detected and an inner layer condensing channel, so that the sucked air to be detected can be condensed by internal gasified liquid nitrogen and external air at the same time when the moisture in the atmosphere is collected, and meanwhile, the inner condensing channel is designed into a combination of an upper condensing ring pipe, a lower condensing ring pipe and a plurality of condensing straight pipes, so that the condensing efficiency of the moisture in the air to be detected is improved;
(5) The sampling claw is controlled to grasp the branch and leaf parts of the fabric and enter the closed sampling container, and the branch and leaf parts of the fabric are dehydrated in a direct heating mode, so that the device is simple in design and high in working efficiency.
Drawings
FIG. 1 is a schematic diagram 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 connections of the various components of the present invention;
FIG. 4 is a diagram showing the arrangement of the sampling units 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 diagram of an atmospheric moisture sampling device according to the present invention;
FIG. 7 is a schematic view of a sampling vessel of a vegetation water sampling device according to the present invention;
FIG. 8 is a schematic view of a sampling claw of a vegetation water sampling device according to the present invention;
fig. 9 is a view showing an inner and outer axis structure of a vegetation water sampling device according to the present invention.
Fig. 10 is a diagram showing a gripper structure of a vegetation water sampling device according to 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 driving motor 1051; 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 cylinder 115; an atmospheric moisture 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 duct 208; a condenser loop 209; a condensing straight tube 210; a fixing ring 211; a third intake pipe 212; a liquid nitrogen bottle 213; a third outlet duct 214; a drying duct 215; a venting 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 307; a mounting hole 308; a sampling claw 309; an outer shaft 310; the first connection structure 311; an inner shaft 312; a second connection 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 end 32; an atmospheric moisture sampling control end 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 more clearly illustrating the technical aspects of the present invention, and are not intended to limit the scope of the present invention.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first", "a second", etc. may explicitly or implicitly include one or more such feature. In the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication 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 in a specific case.
As shown in fig. 1 to 4, a soil-vegetation-atmosphere moisture collecting system based on an unmanned aerial vehicle comprises a sampling unit 1, a monitoring unit 2, a control unit 3, a communication unit 4 and a terminal 5. The sampling unit 1 includes a soil moisture sampling device 101, an atmospheric moisture sampling device 201, and a vegetation moisture sampling device 301, which are respectively used for collecting moisture of soil, atmosphere, and vegetation parts. And the monitoring unit 2 is used for measuring the temperature, humidity and 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 is used for controlling the monitoring unit 2 to operate and controlling the sampling unit 1 to perform sampling work. And a communication unit 4 connected with the control unit 3 and the terminal 5 for transmitting signals between the control unit 3 and the terminal 5. And the terminal 5 is used for receiving the monitoring data and sending a control instruction to the control unit 3 to control the sampling unit 1 to sample, and simultaneously 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 position of the drone, respectively. The control unit 3 comprises a control chip 31, a soil moisture sampling control end 32, an atmospheric moisture sampling control end 33 and a vegetation moisture sampling control end 34, wherein the control chip 31 is respectively connected with the soil moisture sampling control end 32, the atmospheric moisture sampling control end 33 and the vegetation moisture sampling control end 34, the control chip 31 respectively controls the corresponding sampling devices to perform sampling work through the three sampling control ends, and the control chip adopts an STM32F373RCT accurate measurement type singlechip. The communication unit 4 includes a signal receiver 41 provided on the unmanned aerial vehicle and a ground communication base station 42, and the signal receiver 41 is connected to 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 within the signal receiver 41 and may communicate using 4/5G signals or WLAN signals.
In one embodiment, as shown in fig. 5, the soil moisture sampling device 101 includes an upper tank 102 and a lower tank 112, the lower tank 112 is opened at the bottom and is 10cm in height, and a partition 113 is provided between the upper tank 102 and the lower tank 112. The upper layer box 102 is internally provided with a sampling drill 103, a driving assembly 105 for driving the sampling drill 103 and a sampling bottle 106 with an opening at the top, and a sampling hole 114 is arranged on a baffle plate 113 and used as a sampling passage of the sampling drill 103. The size of the sampling drill bit 103 is matched with that of the sampling bottle 106, a sealing ring 104 is arranged on the upper portion of the sampling drill bit 103, the sampling drill bit 103 is placed into the sampling bottle 106 through a driving assembly 105 after sampling is completed, the sampling bottle 106 can be sealed by the sealing ring 104, and the lower portion of the sampling drill bit 103 can be disassembled into two sections, and each section is 10cm. The outside of the sampling bottle 106 is wound with a first heating coil 107, the first heating coil 107 is connected with a first storage battery 108 and is used for heating the soil sample to be tested sealed in the sampling bottle 106, so that moisture in the soil sample to be tested is gasified into steam, and the temperature is raised to 200 ℃ after the power is turned on for 60 seconds. The upper 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 to prevent 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 tube 111. The driving assembly 105 comprises a driving motor 1051 and an axle 1052, the driving motor 1051 is spirally fixed on the axle 1052 and can horizontally rotate along the axle 1052, one end of the driving motor 1051 is connected to the top of the sampling drill 103, the sampling drill 103 is driven to move downwards by the driving motor 1051, the sampling drill 103 is lifted upwards after sampling, and then the sampling drill 103 is placed into the sampling bottle 106 along the horizontal rotation of the axle 1052.
In order to prevent the original air in the upper and lower tanks 102, 112 from affecting the sampling, an exhaust assembly is provided for evacuating the original air in the upper and lower tanks 102, 112 prior to sampling. The exhaust assembly comprises a compressed helium cylinder 115 and a valve, the compressed helium cylinder 115 is connected to the side surface of the lower layer box 112 through an air duct, the valve is arranged at the middle section of the air duct and used for controlling opening and closing, and meanwhile, the same air duct and valve are arranged at the top of the upper layer box 102 and used for exhausting air. During sampling, the lower layer box 112 is closely attached to the surface sampling position, and sealing among the upper layer box 102, the lower layer box 112 and the surface is guaranteed, so that sampling and measurement are performed, and experimental errors are reduced.
In one embodiment, as shown in fig. 6, the atmospheric moisture sampling device 201 includes a second condenser 202, where the second condenser 202 adopts an internal condensation manner, and has a double-layer structure, an outer-layer structure is an air channel to be measured, and an 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 guide pipe 205 for flowing out condensed water, and the second guide pipe 205 is connected with a second sampling pipe 206. The inner layer structure is a 'cage' condensation 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 condensation pipe.
The first air inlet pipe 203 is also provided with a valve and a suction pump for sucking air to be tested. The first air outlet pipe 204 is provided with a check valve to prevent outside air from being sucked back into the second condenser 202. The condensing tube comprises an upper portion and a lower portion which are both arranged into a condensing annular tube 209, and a plurality of condensing straight tubes 210 are arranged in the middle, the condensing straight tubes 210 are circumferentially arranged along the condensing annular tube 209, and a plurality of fixing rings 211 are arranged on the condensing straight tubes 210 and used for fixing the condensing straight tubes 210.
In one embodiment, as shown in fig. 7 to 10, the vegetation water sampling device 301 includes a sampling container including a container cover 303 opened and closed in a flip-type, a second heating coil 306 wound around a side, and a third duct 304 for water vapor outflow, an end of the third duct 304 is provided with a check valve to prevent external air from being sucked backward, the third duct 304 is connected with a third sampling tube 305, and a third condenser 302 is provided at an end of the third duct 304 connected with the third sampling tube 305. The second heating coil 306 is connected with the second storage battery 307, and is used for heating the branches and leaves of the plant to be detected sealed in the sampling container, so that the moisture in the branches and leaves of the plant to be detected is gasified into water vapor, and the temperature is raised to 200 ℃ after the power is turned on for 60 seconds.
The vegetation moisture sampling device 301 further includes a sampling claw 309, the sampling claw 309 is mounted in the sampling container by an outer shaft 310, a mounting hole 308 is provided on a side of the sampling container opposite to the container cover 303 for mounting the outer shaft 310 so as to mount the sampling claw 309 in the sampling container, and the vegetation moisture sampling device 301 is integrally sealed after the container cover 303 is closed. Sampling claw 309 further includes an inner shaft 312 movably coupled to the other end of outer shaft 310, and a gripper 314, inner shaft 312 being sleeved on outer shaft 310, inner shaft 312 being slidable within outer shaft 310 in the axial direction of outer shaft 310. The first connecting structure 311 is arranged at one end of the outer shaft 310 sleeved with the inner shaft 312, the second connecting structure 313 is arranged at one end of the inner shaft 312 on the same side, the connecting rod part 315 is arranged at the non-grabbing end of the gripping tool 314, 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, a spring is further arranged on the inner shaft 312, and the spring is fixed between the first connecting structure 311 and the second connecting structure 313. The first connecting structure 311 is arranged at one end of the outer shaft 310 sleeved with the inner shaft 312, the second connecting structure 313 is arranged at one end of the inner shaft 312 on the same side, the connecting rod part 315 is arranged at the non-grabbing end of the gripping 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. When the inner shaft 312 is pressed inwards relative to the axial direction of the outer shaft 310, 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, and on the other hand, the gripping apparatus 314 can be closed when the outer shaft stretches 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 plant moisture, the vegetation moisture sampling device 301 adopts an inert metal original, and is resistant to high temperature, corrosion and oxidation.
In one embodiment of the present invention, the first condenser 110, the second condenser 202 and the third condenser 302 all use liquid nitrogen for condensation, specifically, a liquid nitrogen condensing device is arranged at the atmospheric moisture condensing device, the liquid nitrogen condensing device comprises a third air inlet pipe 212, a liquid nitrogen bottle 213 and a third air outlet pipe 214, the third air inlet pipe 212 extends into the liquid nitrogen bottle 213, and a suction pump and a valve are arranged for introducing air when the slow air supply of the liquid nitrogen gasification is insufficient so as to accelerate the liquid nitrogen gasification. In order to prevent water from entering the liquid nitrogen bottle 213 and freezing, a drying pipe 215 is further arranged at the other end of the third air inlet pipe 212, a valve is arranged at the other end of the drying tank, and calcium oxide is arranged in the drying pipe 215 and used for absorbing water entering the air. One end of the third air outlet pipe 214 is arranged at the bottleneck position of the liquid nitrogen bottle 213, and the other end is used for outputting gasified liquid nitrogen which is respectively connected with air 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 battery 108 is not on, all valves are closed, and the first condenser 110 is not on 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 grounded, two valves of the exhaust assembly are opened, the compressed helium bottle 115 ventilates and discharges air into the lower layer box 112, after 30 seconds of ventilation, the driving motor 1051 is started and slowly descends along the wheel axle 1052, and the sampling drill bit 103 is driven to drill into soil through a sampling port.
After the sampling drill 103 has been driven into the soil for 20cm, the drive motor 1051 initiates a retraction mode to raise along the axle 1052.
After the head of the sampling drill 103 is higher than the bottle mouth of the sampling bottle 106, the driving motor 1051 rotates around the wheel shaft 1052 to align with the sampling bottle 106.
The motor 1051 is driven to descend along the axle 1052 until the sealing ring 104 plugs the sampling bottle 106, and the exhaust assembly is closed to finish the soil sampling.
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 rises, the sampling bottle 106 is heated, moisture in the soil in the sampling bottle 106 after the soil is heated is condensed and liquefied along the first guide pipe 109 through the first condenser 110, and the moisture is finally collected to the first sampling pipe 111.
The working principle mode of the atmospheric moisture sampling device is as follows:
All valves were closed prior to sampling.
During sampling, the atmospheric moisture sampling control end 33 controls the atmospheric moisture sampling device 201, opens the suction pump and the valve at the first air inlet pipe 203, sucks air into the second condenser 202, condenses gasified liquid nitrogen in the liquid nitrogen bottle 213, liquefies and falls water in the air into the second sampling pipe 206, opens the one-way valve at the first air outlet pipe 204, discharges dehumidified air, and completes the collection.
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, a suction pump at the drying pipe 215 is started, and the sucked dehumidified air accelerates the liquid nitrogen gasification to perform condensation operation.
The working principle of the vegetation water sampling device is as follows:
the sampling claw 309 of the vegetation moisture sampling device is located in the container of the vegetation moisture sampling module before sampling, and the container lid 303 is closed.
At the beginning of sampling, the vegetation water sampling control end 34 controls the vegetation water sampling device 301, the container cover 303 is opened, the sampling claw 309 of the vegetation water sampling device is pushed out from the container of the vegetation branch and leaf water sampling module, and the claw is opened.
After contacting with the plant branches and leaves, the sampling claw 309 of the vegetation water sampling device is pulled into the container of the plant branch and leaf water sampling module by the shaft, the blade at the front end of the sampling claw 309 shears the plant branches and leaves, and the container cover 303 is closed around the connecting shaft.
After sampling, the third condenser 302 starts to introduce nitrogen, the second storage battery 307 is powered on, the temperature of the second heating coil is increased, the container is heated, the plant branches and leaves in the container are heated, and the water is evaporated. The water vapor enters the condensing section and is liquefied when meeting cold, and the third sampling tube 305 collects the condensed water.
The application method of the water collection system comprises the following steps:
The signal receiver 41 receives the control and observation command of the terminal 5, and then transmits the command to the control chip 31.
The control chip 31 receives the observation instruction and then sends the instruction to the temperature sensor 21, the humidity sensor 22, the air pressure sensor 23 and the GPS positioner 24 to monitor the environmental data, the result is fed back to the control chip 31, the control chip 31 processes the observation result and then transmits the observation result to the signal receiver, and the signal receiver 41 transmits the monitoring data to the terminal 5 controlled by the ground through the ground communication base station 42.
After receiving the soil, atmosphere or plant moisture collection instruction, the control chip 31 will control the corresponding sampling device according to the predetermined program steps, and when the moisture collection step is completed, the controller will feed the completion information back to the terminal 5 controlled by the ground through the signal receiver 41, and the terminal 5 can generate the TXT file from the measurement result.
The invention is based on an unmanned aerial vehicle sampling system, the quality of the sampling system can be controlled within 5kg, and the sampling of water vapor with different gradients in places with high manual sampling difficulty can be realized, so that the cost is greatly reduced, the data acquisition range and the breadth are increased, the sampled data are more reliable, and the research of researchers is facilitated.
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that modifications and variations could be made by those skilled in the art without departing from the technical principles of the present invention, and such modifications and variations should also be regarded as being within the scope of the invention.
Claims (7)
1. The unmanned aerial vehicle-based soil-vegetation-atmosphere water collection system 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 used for collecting moisture of soil, atmosphere and vegetation parts respectively;
the vegetation water sampling device comprises a sampling container, wherein the sampling container comprises a container cover which is opened and closed in a flip-open mode, a second heating coil which is wound on the side surface and a third conduit which is used for water vapor to flow out, the third conduit is connected with a third sampling pipe, and a third condenser is arranged at the end part of the third conduit, which is connected with the third sampling pipe;
The soil moisture sampling device and the atmospheric moisture sampling device are respectively provided with a first condenser and a second condenser; one end of a third air outlet pipe is arranged at the bottleneck position of the liquid nitrogen bottle, and the other end of the third air outlet pipe is respectively connected with air inlet pipelines of the first condenser, the second condenser and the third condenser; the third air inlet pipe penetrates into the liquid nitrogen bottle, and is provided with an air suction pump and a valve;
The vegetation water sampling device also comprises a sampling claw which is arranged in the sampling container and used for grabbing plant branches and leaves, the sampling claw comprises a grabbing device, an outer shaft and an inner shaft which is sleeved in one end of the outer shaft, and the inner shaft can slide in the outer shaft along the axial direction of the outer shaft; a first connecting structure is arranged at one end of the outer shaft sleeved with the inner shaft, a second connecting structure is arranged at one end of the inner shaft at the same side, a connecting rod component is arranged at the non-grabbing end of the gripping apparatus, the connecting rod component 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;
the monitoring unit is used for measuring the temperature, humidity and air pressure values 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 and sending a control instruction to the control unit to control the sampling unit to sample, and simultaneously receiving and storing the sampling data.
2. The unmanned aerial vehicle-based soil-vegetation-atmosphere moisture collection system according to claim 1, wherein the soil moisture sampling device comprises an upper tank and a lower tank with an opening at the bottom, a partition plate is arranged between the upper tank and the lower tank, sampling holes for communicating the upper tank and the lower tank are arranged on the partition plate, and an exhaust assembly for exhausting is arranged in the upper tank and the lower tank; the upper layer box is internally provided with a sampling drill bit, a driving assembly for driving the sampling drill bit and a sampling bottle with an opening at the top, and the size of the sampling bottle is matched with that of the sampling drill bit; the sampling bottle is also provided with a first heating coil for heating the soil sample in the sampling drill bit, and a first sampling tube connected with the sampling bottle through a first conduit, and a first condenser is arranged at the connection part of the first conduit and the tube orifice of the first sampling tube and used for condensing water vapor.
3. The unmanned aerial vehicle-based soil-vegetation-atmosphere moisture collection system according to claim 1, wherein the second condenser adopts an internal condensation mode, and has a double-layer structure, an outer-layer structure is an air channel to be detected, and an 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 for sucking air to be detected, the top of the outer layer structure is provided with a first air outlet pipe for discharging condensed air to be detected, the bottom of the outer layer structure is provided with a second guide pipe for flowing out of condensed water, and the second guide pipe is connected with a second sampling pipe.
4. The unmanned aerial vehicle-based soil-vegetation-atmosphere moisture collection system according to 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 inlet pipe and the second air outlet pipe, the condensation pipe comprises an upper part and a lower part which are both arranged into a condensation loop, a plurality of condensation straight pipes are arranged in the middle part and are arrayed along the circumference of the condensation loop, and a plurality of fixing rings are arranged on the condensation straight pipes and are used for fixing the condensation straight pipes.
5. The unmanned aerial vehicle-based soil-vegetation-atmospheric moisture collection system of claim 1, wherein the monitoring unit comprises a temperature sensor, a humidity sensor, a pressure sensor, and a GPS locator for measuring temperature, humidity, pressure, and unmanned aerial vehicle position, respectively.
6. The unmanned aerial vehicle-based soil-vegetation-atmosphere moisture collection system of claim 1, wherein the control unit comprises a control chip, a soil moisture sampling control end, an atmosphere moisture sampling control end and a vegetation moisture sampling control end, the control chip is respectively connected with the soil moisture sampling control end, the atmosphere moisture sampling control end and the vegetation moisture sampling control end, and the control chip respectively controls the corresponding sampling devices through the three sampling control ends.
7. The unmanned aerial vehicle-based soil-vegetation-atmosphere moisture collection system of claim 1, wherein the communication unit comprises a signal receiver and a ground communication base station disposed on the unmanned aerial vehicle, the signal receiver being connected to the control chip and communicating with the terminal through the ground communication base station.
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