CN214584115U - Grassland vegetation sample data acquisition unmanned aerial vehicle - Google Patents

Abstract

The utility model discloses an unmanned aerial vehicle is gathered to grassland vegetation sample side data, including unmanned aerial vehicle, the unmanned aerial vehicle support, the manipulator slide rail, left side manipulator, right side manipulator, shutdown mechanism, identification system and weighing system, unmanned aerial vehicle is including the unmanned aerial vehicle main part that has flight ability, the unmanned aerial vehicle camera, gather the integrated control module, a battery, radio signal transceiver, be fixed with the sideslip electric jar of weighing on the unmanned aerial vehicle support, manipulator slide rail lift electric jar, the manipulator slide rail includes the slide rail, left side manipulator fixed block, right side manipulator slider, manipulator sideslip electric jar, left side link and right link, left side manipulator includes left side semi-ring body, right side manipulator includes right semi-ring body, shutdown mechanism includes driving motor, the action wheel, the blade lead screw, from the driving wheel, the belt, blade slider and blade. The utility model discloses can make the discernment collection of the direct remote control grassland vegetation sample side of staff weigh, very big reduction intensity of labour on the staff stroke.

Description

Grassland vegetation sample data acquisition unmanned aerial vehicle

Technical Field

The utility model relates to an environmental detection's field, concretely relates to grassland vegetation sample data acquisition unmanned aerial vehicle.

Background

The grassland ecosystem of China is an important component of the grassland ecosystem in the temperate zone of the continental Eurasia. Its main body is northeast-inner Mongolia temperate grassland. The area where the grassland ecosystem is located has strong continental climate and less precipitation, the annual precipitation is generally 250-450 mm, and the variation range is large. The evaporation tends to exceed the precipitation. According to the difference between natural conditions and ecological systems, the grassland ecosystem of our country can be roughly divided into three types: meadow steppes, typical steppes, desert steppes. The desert grassland is the most difficult to control, and in China, the desert grassland is mainly distributed in the west area of Jing second line of inner Mongolia, such as West Suqi. Desert grassland group species are composed of dry-grown small grass clusters, often mixed with a large number of dry-grown shrubs.

The collection of the grassland vegetation sample is an important link of the detection and restoration of the ecological environment of the grassland, and at present, the method for collecting the grassland vegetation sample still adopts the manual work to separate the roots and stems of the plants in a calibration area by using tools such as a scraper knife and the like, then classifies and bags the plants, and brings the plants back to a laboratory for drying and weighing. The workload is large.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a grassland vegetation sample data acquisition unmanned aerial vehicle in order to solve the problem of mentioning among the background art.

In order to realize the technical purpose, the utility model discloses the technical scheme who takes does:

grassland vegetation appearance data acquisition unmanned aerial vehicle, wherein: comprises an unmanned aerial vehicle, an unmanned aerial vehicle bracket, a manipulator slide rail, a left manipulator, a right manipulator, a cutting mechanism, an identification system and a weighing system, wherein,

the unmanned aerial vehicle comprises an unmanned aerial vehicle main body with flight capability, an unmanned aerial vehicle camera, an acquisition comprehensive control module, a battery and a wireless signal receiving and transmitting device, wherein the unmanned aerial vehicle camera is used for acquiring lawn ground information and transmitting the information to a remote control end through the wireless signal receiving and transmitting device, and the remote control end transmits a signal to the wireless signal receiving and transmitting device to control the unmanned aerial vehicle main body to lift;

an unmanned aerial vehicle support is fixed below an unmanned aerial vehicle main body, a weighing transverse electric cylinder and a manipulator slide rail lifting electric cylinder are fixed on the unmanned aerial vehicle support, an electric cylinder shaft of the weighing transverse electric cylinder is horizontally arranged, the front end of the electric cylinder shaft of the weighing transverse electric cylinder is fixedly connected with a weighing system through a vertical weighing connecting rod, when the weighing transverse electric cylinder stretches, the weighing system can be driven to transversely move, an electric cylinder shaft of the manipulator slide rail lifting electric cylinder is vertically arranged, the lower end of the electric cylinder shaft of the manipulator slide rail lifting electric cylinder is fixedly connected with a manipulator slide rail, and when the manipulator slide rail lifting electric cylinder stretches, the manipulator slide rail, a left manipulator, a right manipulator, a cutting mechanism and an identification system can be driven to integrally move up and down;

the manipulator slide rail comprises an upper slide rail, a left manipulator fixed block, a right manipulator slide block, a manipulator transverse electric cylinder, a left connecting frame and a right connecting frame, the left manipulator fixed block is fixed at the lower end of an electric cylinder shaft of the manipulator slide rail lifting electric cylinder,

the upper slide rail is horizontally arranged, the left manipulator fixed block is fixed on the upper slide rail, the right manipulator sliding block is arranged on the upper slide rail in a sliding manner, one end of the manipulator transverse electric cylinder is fixed on the left manipulator fixed block, the other end of the manipulator transverse electric cylinder is fixed on the right manipulator sliding block, when the manipulator transverse electric cylinder stretches out and draws back, the right manipulator sliding block can be far away from or close to the left manipulator fixed block, the upper end of the left connecting frame is fixedly connected with the left manipulator fixed block, the upper end of the right connecting frame is fixedly connected with the right manipulator sliding block, and the left connecting frame and the right connecting frame are vertically arranged;

the left manipulator comprises a left hemicycle body, the left end of the left hemicycle body is fixedly connected with the lower end of the left connecting frame, the lower part of the left hemicycle body is provided with a horizontal left cutting groove,

the right manipulator comprises a right half ring body, the right end of the right half ring body is fixedly connected with the lower end of the right connecting frame, a horizontal right cutting groove is arranged at the lower part of the right half ring body,

the right end of the left half ring body and the left end of the right half ring body can be aligned and clasped with each other to form a complete ring body;

the cutting mechanism comprises a driving motor, a driving wheel, a blade screw rod, a driven wheel, a belt, a blade sliding block and a blade, wherein the driving motor is fixed at the right end of the right semi-ring body or the lower end of the right connecting frame, a rotating shaft of the driving motor is connected with the wheel center of the driving wheel, the left end of the blade screw rod is positioned on the right semi-ring body, the blade screw rod can rotate relative to the right semi-ring body, the wheel center of the driven wheel is fixed at the right end of the blade screw rod, the driving wheel and the driven wheel are in transmission connection through the belt, the blade sliding block is arranged on the blade screw rod, the right end of the blade is fixed on the blade sliding block, the left side surface of the blade is an acute sharp surface, and the left end of the blade is right opposite to the right cutting groove,

when the left half ring body and the right half ring body are encircled to form a complete ring body, the left cutting groove is aligned with the right cutting groove, the driving motor can drive the driving wheel to rotate, so that the blade sliding block slides leftwards, the blade moves leftwards and transversely enters the left cutting groove from the right cutting groove, and the complete ring body becomes an upper opening barrel body with the bottom composed of the blade body;

the recognition system comprises a transverse mounting plate, a white light lamp, a hyperspectral camera and a laser radar, the transverse mounting plate is mounted at the upper part of the right half-ring body, when the left half-ring body and the right half-ring body are encircled to form a complete ring body, the transverse mounting plate is positioned right above the ring body and can shield sunlight irradiating the inner side of the ring body, the white light lamp, the hyperspectral camera and the laser radar are all mounted on the transverse mounting plate,

the system comprises a white light lamp, a hyperspectral camera, a comprehensive acquisition control module, a signal transmitter, a signal acquisition comprehensive control module, a vegetation sample space and a vegetation sample space, wherein the white light lamp illuminates the space in the ring body to ensure that the ring body is filled with light rays with certain brightness, the hyperspectral camera acquires spectral information of the vegetation sample space in the ring body and transmits the information to the comprehensive acquisition control module through a signal line, the laser radar can downwards emit laser signals and receive the laser signals reflected by the vegetation sample space so as to obtain the height and the area of the vegetation sample space, the laser radar transmits the measured height and area information of the vegetation sample space to the comprehensive acquisition control module through the signal transmitter, the comprehensive acquisition control module can acquire vegetation to which the vegetation sample space in the ring body belongs by comparing the acquired spectral information of the vegetation sample space with known spectral information of various vegetation, and the growth state of the vegetation sample space in the ring body is acquired through the height and area information of the vegetation sample space in the ring body;

the weighing system comprises a collecting bowl with an opening at the upper end, a hot air drier, a weighing scale plate and a bowl bottom opening and closing electric cylinder, the collecting bowl is fixedly connected with the lower end of a weighing connecting rod, the cross section of a ring body formed by encircling a left half ring body and a right half ring body is adaptive to the cross section of the collecting bowl, the hot air drier is fixed on the side surface of the collecting bowl and can blow air into the collecting bowl to dry vegetation squares in the collecting bowl, the weighing scale plate is fixed on the upper surface of a bottom plate of the collecting bowl and can weigh the vegetation squares in the collecting bowl, the bottom plate of the collecting bowl is in hinged fit with a side plate of the collecting bowl, the bowl bottom opening and closing electric cylinder is fixedly connected with the weighing connecting rod, an electric cylinder shaft of the bowl bottom opening and closing electric cylinder is fixedly connected with the bottom plate of the collecting bowl, and when the bowl bottom opening and closing electric cylinder stretches, the bottom plate of the collecting bowl can be driven to open and close.

In order to optimize the technical scheme, the specific measures adopted further comprise:

foretell collection integrated control module possesses the storage unit, and collection integrated control module is connected with hyperspectral camera, laser radar and weighing scale simultaneously, and collection integrated control module can store, classify the vegetation side weight that the information that the vegetation side in the ring body belongs to which kind of vegetation, the vegetation side growth state in the ring body and weighing scale weigh, then saves in the storage unit.

The collection comprehensive control module is respectively connected with the weighing transverse moving electric cylinder, the manipulator sliding rail lifting electric cylinder, the manipulator transverse moving electric cylinder, the driving motor, the white light lamp, the hot air drier and the bowl bottom opening and closing electric cylinder, and controls the operation of the above structures.

The collection comprehensive control module, the weighing transverse electric cylinder, the manipulator slide rail lifting electric cylinder, the manipulator transverse electric cylinder, the driving motor, the white light lamp, the hot air drier, the bowl bottom opening and closing electric cylinder, the hyperspectral camera, the laser radar and the weighing scale plate are all connected with a battery, and electric energy is obtained from the battery.

The acquisition comprehensive control module is a microcomputer.

The blade is provided with a plurality of soil grain perforations which vertically penetrate through the blade body of the blade, the blade slider is a vibration motor and is connected with the acquisition comprehensive control module, the blade slider operates under the control of the acquisition comprehensive control module and is connected with the battery to obtain electric energy from the battery, and the blade slider can drive the blade to vibrate to enable soil on vegetation samples on the blade to leak from the soil grain perforations.

The utility model has the advantages of it is following:

1. have the grassland vegetation model discernment through unmanned aerial vehicle direct area and gather the vegetation model collection area of falling to of integrative device of weighing, gather vegetation model, can make the direct remote control of staff grassland vegetation model's discernment gather to weigh, very big reduction intensity of labour on the staff stroke.

2. The utility model discloses a device surrounds out a slice vegetation sample through gathering left manipulator of integrated control module control and right manipulator, cut off the vegetation sample through shutdown mechanism and collect, kind and the growing state through identification system discernment vegetation sample, weigh by the vegetation sample through weighing system, gather integrated control module with the plant kind, growing state, weight information classifies the arrangement, after a plurality of collection, can obtain a plant kind about this grassland, the big data sample of growing state and weight information, provide basic information for the ecological management of grassland.

3. The utility model discloses a be provided with a plurality of soil grains on the blade and perforate, the blade slider is shock dynamo, when the blade cuts off plant rhizome junction, can bring partial soil to blade upper portion into unavoidably, drives the blade vibrations through the blade slider, makes the soil that is located on the vegetation sample side on the blade perforate from the soil grain and leaks down, can effectively improve the degree of accuracy of weighing of plant sample.

4. The utility model discloses set up hot air drier in weighing system, can blow hot dry wind to the plant sample, prevent to be stained with the water droplet dew on the plant sample, effectively improve the degree of accuracy of weighing of plant sample.

Drawings

FIG. 1 is a block diagram of the present invention;

FIG. 2 is a front view of the grassland vegetation sampling identification, collection and weighing integrated device without collection;

FIG. 3 is a top plan view of the left hand, right hand, severing mechanism and weighing system of FIG. 2 in position;

FIG. 4 is a schematic view of the left and right manipulators surrounding after landing;

FIG. 5 is a top plan view of the left hand, right hand, severing mechanism and weighing system of FIG. 4 in position;

FIG. 6 is a schematic view of the blade cutting into left and right slots;

FIG. 7 is a top plan view of the left hand, right hand, severing mechanism and weighing system of FIG. 6 in position;

FIG. 8 is a schematic diagram of the left and right manipulators lifting after picking up the plant sample;

FIG. 9 is a top plan view of the left hand, right hand, severing mechanism and weighing system of FIG. 8 in position;

FIG. 10 is a schematic view of the knife blade of FIG. 8 with plant aspects dropped into the collection bowl;

fig. 11 is a schematic view of the collection bowl with the bottom open and the plant discarded.

The label names in the figure: unmanned aerial vehicle 1, unmanned aerial vehicle main part 11, unmanned aerial vehicle camera 12, gather integrated control module 13, battery 14, unmanned aerial vehicle support 2, the sideslip electric jar 21 of weighing, manipulator slide rail lift electric jar 22, the connecting rod 23 of weighing, manipulator slide rail 3, go up slide rail 31, left manipulator fixed block 32, right manipulator slider 33, manipulator sideslip electric jar 34, left link 35, right link 36, left manipulator 4, left hemicycle 41, left grooving 42, right manipulator 5, right hemicycle 51, right grooving 52, shutdown mechanism 6, driving motor 61, driving wheel 62, blade lead screw 63, follow driving wheel 64, belt 65, blade slider 66, blade 67, identification system 7, horizontal mounting panel 71, white light lamp 72, hyperspectral camera 73, laser radar 74, weighing system 8, collect bowl 81, hot air dryer 82, weighing scale 83, bowl bottom open and shut electric jar 84.

Detailed Description

Embodiments of the present invention are described in further detail below with reference to the accompanying drawings.

Grassland vegetation appearance data acquisition unmanned aerial vehicle, wherein: comprises an unmanned aerial vehicle 1, an unmanned aerial vehicle bracket 2, a manipulator slide rail 3, a left manipulator 4, a right manipulator 5, a cutting mechanism 6, an identification system 7 and a weighing system 8, wherein,

the unmanned aerial vehicle 1 comprises an unmanned aerial vehicle main body 11 with flight capability, an unmanned aerial vehicle camera 12, an acquisition comprehensive control module 13, a battery 14 and a wireless signal transceiving device, wherein the unmanned aerial vehicle camera 12 is used for acquiring lawn ground information and transmitting the information to a remote control end through the wireless signal transceiving device, and the remote control end transmits a signal to the wireless signal transceiving device to control the unmanned aerial vehicle main body 11 to lift;

an unmanned aerial vehicle support 2 is fixed below an unmanned aerial vehicle main body 11, a weighing transverse electric cylinder 21 and a manipulator sliding rail lifting electric cylinder 22 are fixed on the unmanned aerial vehicle support 2, an electric cylinder shaft of the weighing transverse electric cylinder 21 is horizontally arranged, the front end of the electric cylinder shaft of the weighing transverse electric cylinder 21 is fixedly connected with a weighing system 8 through a vertical weighing connecting rod 23, when the weighing transverse electric cylinder 21 is stretched, the weighing system 8 can be driven to transversely move, an electric cylinder shaft of the manipulator sliding rail lifting electric cylinder 22 is vertically arranged, the lower end of the electric cylinder shaft of the manipulator sliding rail lifting electric cylinder 22 is fixedly connected with a manipulator sliding rail 3, and when the manipulator sliding rail lifting electric cylinder 22 is stretched, the manipulator sliding rail 3, a left manipulator 4, a right manipulator 5, a cutting mechanism 6 and an identification system 7 can be driven to integrally move up and down;

the manipulator slide rail 3 comprises an upper slide rail 31, a left manipulator fixing block 32, a right manipulator slide block 33, a manipulator transverse electric cylinder 34, a left connecting frame 35 and a right connecting frame 36, the left manipulator fixing block 32 is fixed at the lower end of the electric cylinder shaft of the manipulator slide rail lifting electric cylinder 22,

the upper slide rail 31 is horizontally arranged, the left manipulator fixing block 32 is fixed on the upper slide rail 31, the right manipulator slide block 33 is slidably arranged on the upper slide rail 31, one end of the manipulator transverse electric cylinder 34 is fixed on the left manipulator fixing block 32, the other end of the manipulator transverse electric cylinder is fixed on the right manipulator slide block 33, when the manipulator transverse electric cylinder 34 extends and retracts, the right manipulator slide block 33 can be far away from or close to the left manipulator fixing block 32, the upper end of the left connecting frame 35 is fixedly connected with the left manipulator fixing block 32, the upper end of the right connecting frame 36 is fixedly connected with the right manipulator slide block 33, and the left connecting frame 35 and the right connecting frame 36 are vertically arranged;

the left manipulator 4 comprises a left hemicycle body 41, the left end of the left hemicycle body 41 is fixedly connected with the lower end of the left connecting frame 35, a horizontal left cutting groove 42 is arranged at the lower part of the left hemicycle body 41,

the right manipulator 5 comprises a right half ring body 51, the right end of the right half ring body 51 is fixedly connected with the lower end of the right connecting frame 36, a horizontal right cutting groove 52 is arranged at the lower part of the right half ring body 51,

the right end of the left half ring body 41 and the left end of the right half ring body 51 can be aligned and clasped with each other to form a complete ring body;

the cutting mechanism 6 comprises a driving motor 61, a driving wheel 62, a blade screw 63, a driven wheel 64, a belt 65, a blade sliding block 66 and a blade 67, wherein the driving motor 61 is fixed at the right end of the right half ring body 51 or the lower end of the right connecting frame 36, the rotating shaft of the driving motor 61 is connected with the wheel center of the driving wheel 62, the left end of the blade screw 63 is positioned on the right half ring body 51, the blade screw 63 can rotate relative to the right half ring body 51, the wheel center of the driven wheel 64 is fixed at the right end of the blade screw 63, the driving wheel 62 is in transmission connection with the driven wheel 64 through the belt 65, the blade sliding block 66 is arranged on the blade screw 63, the right end of the blade 67 is fixed on the blade sliding block 66, the left side surface of the blade 67 is a sharp surface, and the left end of the blade 67 is right opposite to the right cutting groove 52,

when the left half ring body 41 and the right half ring body 51 are encircled to form a complete ring body, the left cutting groove 42 is aligned with the right cutting groove 52, the driving motor 61 can drive the driving wheel 62 to rotate, so that the blade sliding block 66 slides leftwards, the blade 67 moves leftwards and transversely cuts from the right cutting groove 52 into the left cutting groove 42, and the complete ring body becomes an upper opening barrel body with the bottom composed of the blade bodies of the blade 67;

the recognition system 7 comprises a transverse mounting plate 71, a white light lamp 72, a hyperspectral camera 73 and a laser radar 74, the transverse mounting plate 71 is mounted at the upper part of the right half ring body 51, when the left half ring body 41 and the right half ring body 51 are encircled to form a complete ring body, the transverse mounting plate 71 is positioned right above the ring body and can shield sunlight irradiating the inner side of the ring body, the white light lamp 72, the hyperspectral camera 73 and the laser radar 74 are all mounted on the transverse mounting plate 71,

the white light lamp 72 illuminates the space in the ring body, so that the ring body is full of light with certain brightness, the hyperspectral camera 73 collects the spectral information of vegetation samples in the ring body and sends the information to the collection comprehensive control module 13 through signal lines, the laser radar 74 can emit laser signals downwards and receive the laser signals reflected by the vegetation samples so as to obtain the height and the area of the vegetation samples, the laser radar 74 sends the measured height and the area information of the vegetation samples to the collection comprehensive control module 13 through a signal transmitter, the collection comprehensive control module 13 can know what vegetation the vegetation samples in the ring body belong to by comparing the obtained spectral information of the vegetation samples with known spectral information of various vegetation, and the growth state of the vegetation samples is known through the height and the area information of the vegetation samples in the ring body;

the weighing system 8 comprises a collecting bowl 81 with an opening at the upper end, a hot air drier 82, a weighing scale plate 83 and a bowl bottom opening and closing electric cylinder 84, the collecting bowl 81 is fixedly connected with the lower end of the weighing connecting rod 23, the cross section of a ring body formed by the left half ring body 41 and the right half ring body 51 in a surrounding mode is adaptive to the cross section of the collecting bowl 81, the hot air drier 82 is fixed on the side surface of the collecting bowl 81 and can blow air into the collecting bowl 81, drying vegetation sample in the collection bowl 81, weighing the weighing plate 83 and fixing the bottom plate upper surface at the collection bowl 81, can weigh vegetation sample in the collection bowl 81 to being located, the bottom plate of collecting bowl 81 and the articulated cooperation of the curb plate of collecting bowl 81, the electric jar 84 that opens and shuts and the connecting rod 23 fixed connection that weighs at the bottom of the bowl, the electric jar 84 that opens and shuts at the bottom of the bowl's electric jar axle and the bottom plate fixed connection of collecting bowl 81, when the electric jar 84 that opens and shuts at the bottom of the bowl stretches out and draws back, the bottom plate that can drive collection bowl 81 opens and shuts.

In an embodiment, the collection integrated control module 13 includes a storage unit, the collection integrated control module 13 is simultaneously connected to the hyperspectral camera 73, the laser radar 74 and the weighing scale 83, and the collection integrated control module 13 can store and classify the information of what kind of vegetation the vegetation sample in the ring body belongs to, the growth state of the vegetation sample in the ring body and the weight of the vegetation sample weighed by the weighing scale 83, and then store the information in the storage unit.

In the embodiment, the collection integrated control module 13 is respectively connected with the weighing transverse electric cylinder 21, the manipulator slide rail lifting electric cylinder 22, the manipulator transverse electric cylinder 34, the driving motor 61, the white light lamp 72, the hot air drying fan 82 and the bowl bottom opening and closing electric cylinder 84, and controls the above structures to operate.

In the embodiment, the collection comprehensive control module 13, the weighing transverse electric cylinder 21, the manipulator slide rail lifting electric cylinder 22, the manipulator transverse electric cylinder 34, the driving motor 61, the white light lamp 72, the hot air drier 82, the bowl bottom opening and closing electric cylinder 84, the hyperspectral camera 73, the laser radar 74 and the weighing scale plate 83 are all connected with the battery 14, and electric energy is obtained from the battery 14.

In the embodiment, the acquisition integrated control module 13 is a microcomputer.

In the embodiment, a plurality of soil grain perforations are arranged on the blade 67, the soil grain perforations penetrate through the blade body of the blade 67 from top to bottom, the blade slider 66 is a vibration motor, the blade slider 66 is connected with the acquisition comprehensive control module 13, the blade slider 66 operates under the control of the acquisition comprehensive control module 13 and is connected with the battery 14, electric energy is obtained from the battery 14, and the blade slider 66 can drive the blade 67 to vibrate, so that soil on vegetation samples on the blade 67 leaks from the soil grain perforations.

The utility model discloses a use method as follows: staff need not go out at the office directly in grassland vegetation sample collection work, controls unmanned aerial vehicle at the office and carries out grassland vegetation sample collection work.

Remote control unmanned aerial vehicle 1 relies on unmanned aerial vehicle camera 12 to look for grassland vegetation sample collection area, confirms to gather regional back, descends unmanned aerial vehicle, opens the work of grassland vegetation sample discernment collection integral type of weighing, and the operation is controlled by gathering comprehensive control module 13 completely this moment.

As shown in fig. 2-3, the unmanned aerial vehicle 1 falls on the ground, and the manipulator slide rail lifting electric cylinder 22 moves down the manipulator slide rail 3, so that the left manipulator 4 and the right manipulator 5 synchronously descend to approach the ground;

as shown in fig. 4-5, the manipulator traversing electric cylinder 34 operates to slide the right manipulator sliding block 33 to the left manipulator fixing block 32, so that the whole right manipulator 5 moves left, the left half ring body 41 is butted with the right half ring body 51 to form a complete ring body in a closed manner, and the left cutting groove 42 is aligned with the right cutting groove 52; the plant sample in the ring body is the sample to be collected;

as shown in fig. 6-7, the driving motor 61 drives the driving wheel 62 to rotate, so that the blade slider 66 slides leftwards, the blade 67 moves leftwards and transversely enters the left cutting groove 42 from the right cutting groove 52, the plant sample in the ring body is cut off, the plant sample is located above the blade 67, the blade slider 66 drives the blade 67 to vibrate, so that soil particles on the blade 67 fall from soil particle perforations on the blade 67, the white light lamp 72 irradiates white light to the plant sample, the hyperspectral camera 73 and the laser radar 74 respectively collect spectral information and height and area information of the plant sample, and the collection comprehensive control module 13 compares the obtained spectral information of the vegetation sample with known spectral information of various vegetation to know what vegetation the vegetation sample in the ring body belongs to, and the growth state of the vegetation sample is known through the height and area information of the vegetation sample in the ring body;

as shown in fig. 8-9, the robot slide rail lifting electric cylinder 22 moves up the robot slide rail 3 to synchronously lift the left robot 4 and the right robot 5, and the weighing traverse electric cylinder 21 traverses the weighing system 8 to position the collecting bowl 81 right under the blade 67 and simultaneously align with the left half ring body 41 and the right half ring body 51;

as shown in fig. 10, the driving motor 61 drives the driving wheel 62 to rotate reversely, so that the blade sliding block 66 slides rightwards, the blade 67 exits from the ring body formed by the left half ring body 41 and the right half ring body 51, the plant sample falls into the collecting bowl 81, the hot air dryer 82 is started to dry the plant sample, the weighing scale 83 weighs the plant sample, and the weight information is sent to the collection comprehensive control module 13;

as shown in fig. 11, unmanned aerial vehicle 1 takes off, flies to next grassland vegetation sample collection area, and at this moment, the electric jar 84 that opens and shuts at the bottom of the bowl operates, opens and collects the bowl 81 bottom, discards the plant sample, and each structure returns to the state shown in fig. 1.

Above only the utility model discloses an it is preferred embodiment, the utility model discloses a scope of protection not only limits in above-mentioned embodiment, and the all belongs to the utility model discloses a technical scheme under the thinking all belongs to the utility model discloses a scope of protection. It should be noted that, for those skilled in the art, a plurality of modifications and decorations without departing from the principle of the present invention should be considered as the protection scope of the present invention.

Claims (6)

1. Grassland vegetation sample data acquisition unmanned aerial vehicle, characterized by: comprises an unmanned aerial vehicle (1), an unmanned aerial vehicle bracket (2), a manipulator slide rail (3), a left manipulator (4), a right manipulator (5), a cutting mechanism (6), an identification system (7) and a weighing system (8), wherein,

the unmanned aerial vehicle (1) comprises an unmanned aerial vehicle main body (11) with flight capability, an unmanned aerial vehicle camera (12), an acquisition comprehensive control module (13), a battery (14) and a wireless signal transceiving device, wherein the unmanned aerial vehicle camera (12) is used for acquiring lawn ground information and sending the information to a remote control end through the wireless signal transceiving device, and the remote control end sends a signal to the wireless signal transceiving device to control the unmanned aerial vehicle main body (11) to lift;

the unmanned aerial vehicle bracket (2) is fixed below the unmanned aerial vehicle main body (11), the unmanned aerial vehicle bracket (2) is fixed with a weighing transverse moving electric cylinder (21) and a manipulator slide rail lifting electric cylinder (22), the electric cylinder shaft of the weighing transverse electric cylinder (21) is horizontally arranged, the front end of the electric cylinder shaft of the weighing transverse electric cylinder (21) is fixedly connected with the weighing system (8) through a vertical weighing connecting rod (23), the weighing system (8) can be driven to transversely move when the weighing transverse electric cylinder (21) is stretched, the electric cylinder shaft of the manipulator slide rail lifting electric cylinder (22) is vertically arranged, the lower end of the electric cylinder shaft of the manipulator slide rail lifting electric cylinder (22) is fixedly connected with the manipulator slide rail (3), when the manipulator slide rail lifting electric cylinder (22) stretches, the manipulator slide rail (3), the left manipulator (4), the right manipulator (5), the cutting mechanism (6) and the recognition system (7) can be driven to move up and down integrally;

the manipulator slide rail (3) comprises an upper slide rail (31), a left manipulator fixed block (32), a right manipulator slide block (33), a manipulator transverse electric cylinder (34), a left connecting frame (35) and a right connecting frame (36), the left manipulator fixed block (32) is fixed at the lower end of an electric cylinder shaft of the manipulator slide rail lifting electric cylinder (22),

the upper sliding rail (31) is horizontally arranged, the left manipulator fixing block (32) is fixed on the upper sliding rail (31), the right manipulator sliding block (33) is arranged on the upper sliding rail (31) in a sliding mode, one end of the manipulator transverse electric cylinder (34) is fixed on the left manipulator fixing block (32), the other end of the manipulator transverse electric cylinder is fixed on the right manipulator sliding block (33), when the manipulator transverse electric cylinder (34) stretches, the right manipulator sliding block (33) can be far away from or close to the left manipulator fixing block (32), the upper end of the left connecting frame (35) is fixedly connected with the left manipulator fixing block (32), the upper end of the right connecting frame (36) is fixedly connected with the right manipulator sliding block (33), and the left connecting frame (35) and the right connecting frame (36) are vertically arranged;

the left manipulator (4) comprises a left hemicycle body (41), the left end of the left hemicycle body (41) is fixedly connected with the lower end of the left connecting frame (35), a horizontal left cutting groove (42) is arranged at the lower part of the left hemicycle body (41),

the right manipulator (5) comprises a right half ring body (51), the right end of the right half ring body (51) is fixedly connected with the lower end of the right connecting frame (36), a horizontal right cutting groove (52) is arranged at the lower part of the right half ring body (51),

the right end of the left half ring body (41) and the left end of the right half ring body (51) can be aligned with each other to form a complete ring body;

the cutting mechanism (6) comprises a driving motor (61), a driving wheel (62), a blade screw rod (63), a driven wheel (64), a belt (65), a blade sliding block (66) and a blade (67), wherein the driving motor (61) is fixed at the right end of a right half ring body (51) or the lower end of a right connecting frame (36), a rotating shaft of the driving motor (61) is connected with a wheel center of the driving wheel (62), the left end of the blade screw rod (63) is positioned on the right half ring body (51), the blade screw rod (63) can rotate relative to the right half ring body (51), the wheel center of the driven wheel (64) is fixed at the right end of the blade screw rod (63), the driving wheel (62) and the driven wheel (64) are in transmission connection through the belt (65), the blade sliding block (66) is installed on the blade screw rod (63), and the right end of the blade (67) is fixed on the blade sliding block (66), the left side surface of the blade (67) is a sharp point surface, the left end of the blade (67) is rightly opposite to the right cutting groove (52),

when the left half ring body (41) and the right half ring body (51) are encircled to form a complete ring body, the left cutting groove (42) is aligned with the right cutting groove (52), the driving motor (61) can drive the driving wheel (62) to rotate, so that the blade sliding block (66) slides leftwards, the blade (67) moves leftwards and transversely enters the left cutting groove (42) from the right cutting groove (52), and the complete ring body becomes an upper opening barrel body with the bottom formed by the blade bodies of the blade (67);

the identification system (7) comprises a transverse mounting plate (71), a white light lamp (72), a hyperspectral camera (73) and a laser radar (74), wherein the transverse mounting plate (71) is mounted on the upper part of the right half ring body (51), when the left half ring body (41) and the right half ring body (51) embrace to form a complete ring body, the transverse mounting plate (71) is positioned right above the ring body and can shield sunlight shining into the inner side of the ring body, the white light lamp (72), the hyperspectral camera (73) and the laser radar (74) are mounted on the transverse mounting plate (71),

a white light lamp (72) illuminates the space in the ring body, so that the ring body is filled with light rays with certain brightness;

weighing system (8) includes collection bowl (81), hot air drier (82), the weighing scale board (83) and the bowl end electric jar that opens and shuts (84) of upper end opening, collection bowl (81) and weighing connecting rod (23) lower extreme fixed connection, the ring body cross sectional shape that left hemicycle body (41), right hemicycle body (51) were embraced and are formed suits with the cross sectional shape who collects bowl (81), hot air drier (82) fix and collect bowl (81) side, can blow to collecting bowl (81) internal, dry to the vegetation appearance side that is located in collecting bowl (81), weighing scale board (83) fix the bottom plate upper surface at collection bowl (81), can weigh the vegetation appearance side that is located in collecting bowl (81), the bottom plate of collecting bowl (81) and the curb plate articulated cooperation of collecting bowl (81), bowl end electric jar (84) and the weighing connecting rod (23) fixed connection that opens and shuts, the electric cylinder shaft of the bowl bottom opening and closing electric cylinder (84) is fixedly connected with the bottom plate of the collecting bowl (81), and the bottom plate of the collecting bowl (81) can be driven to open and close when the bowl bottom opening and closing electric cylinder (84) stretches and retracts.

2. The grassland vegetation style data acquisition unmanned aerial vehicle of claim 1, which is characterized in that: gather comprehensive control module (13) and possess the storage unit, gather comprehensive control module (13) and be connected with hyperspectral camera (73), laser radar (74) and weighing scale board (83) simultaneously, gather comprehensive control module (13) can store, classify the vegetation sample weight that information, the vegetation sample side growth state and weighing scale board (83) of the vegetation sample side in the ring body called of which kind of vegetation belongs to, ring body, then store in the storage unit.

3. The grassland vegetation style data acquisition unmanned aerial vehicle of claim 2, which is characterized in that: the collection comprehensive control module (13) is respectively connected with the weighing transverse moving electric cylinder (21), the manipulator sliding rail lifting electric cylinder (22), the manipulator transverse moving electric cylinder (34), the driving motor (61), the white light lamp (72), the hot air drier (82) and the bowl bottom opening and closing electric cylinder (84), and controls the operation of the above structures.

4. The grassland vegetation style data acquisition unmanned aerial vehicle of claim 3, wherein: the collection comprehensive control module (13), the weighing transverse electric cylinder (21), the manipulator sliding rail lifting electric cylinder (22), the manipulator transverse electric cylinder (34), the driving motor (61), the white light lamp (72), the hot air drier (82), the bowl bottom opening and closing electric cylinder (84), the hyperspectral camera (73), the laser radar (74) and the weighing scale plate (83) are all connected with the battery (14) and obtain electric energy from the battery (14).

5. The grassland vegetation style data acquisition unmanned aerial vehicle of claim 4, which is characterized in that: the acquisition comprehensive control module (13) is a microcomputer.

6. The grassland vegetation style data acquisition unmanned aerial vehicle of claim 5, wherein: blade (67) on be provided with a plurality of soil grain perforation, soil grain perforation run through the blade of blade (67) from top to bottom, blade slider (66) be shock dynamo, blade slider (66) be connected with collection integrated control module (13), function under the control of gathering integrated control module (13), blade slider (66) are connected with battery (14) to obtain the electric energy from battery (14) department, blade slider (66) can drive blade (67) vibrations, make the soil that is located the vegetation sample side on blade (67) leak down from the soil grain perforation.

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