A sampling drone for aquatic plants

Abstract

The present invention relates to the technical field of unmanned aerial vehicles, and in particular to a sampling unmanned aerial vehicle for aquatic plants, comprising an unmanned aerial vehicle, a sampling rack installed at the bottom of the unmanned aerial vehicle, and a plurality of grabbing mechanisms arranged in the sampling rack; a sampling rack mounting top frame is arranged on the top of the sampling rack, the sampling rack mounting top frame is fixedly installed on the rack of the hanging rack through a hanging rack, side wing brackets are arranged on both sides of the sampling rack, grabbing member positioning seats are arranged on the side wing brackets, grabbing member mounting seats are installed at the bottom of the grabbing member positioning seats, and the grabbing mechanism is installed on the grabbing member mounting seats through a horizontal adjustment seat; the grabbing mechanisms on both sides are arranged in upper and lower positions, and form a staggered layout in the vertical direction. The present invention ensures the normalization and standardization of the sampling process, improves the accuracy of sample collection, and minimizes the damage to aquatic plants during the sampling process.

Description

Technical Field

[0001] The invention relates to the technical field of unmanned aerial vehicles, in particular to a sampling unmanned aerial vehicle for aquatic plants. Background Art

[0002] As an important part of the aquatic ecosystem, the growth status, species distribution and relationship of aquatic plants with the water environment play a vital role in maintaining the balance of the entire ecosystem. However, traditional aquatic plant sampling methods mainly rely on manual operations, which are not only inefficient but also difficult to fully cover complex water environments. Compared with manual operations, drones can cover large areas of water in a short time, significantly improving sampling efficiency, and through autonomous flight or remote control, drones can easily reach areas that are difficult to reach with traditional methods.

[0003] The existing drone sampling includes a body and a control and operating system; the body includes: a fuselage, multiple propellers, a basket, and a mechanical scissor hand; the control and operating system includes a controller, a signal processor, an imaging device, a flight memory, an obstacle avoidance sensor, a distance sensor, a driving device, a communication device, etc. However, there are certain defects in its actual operation. Aquatic plants grow on the water surface, which is in a fluid state. Aquatic plants often shake with the water flow, which makes the accuracy of drone sampling low, and often damages aquatic plants during the sampling process, affecting their own growth. Summary of the invention

[0004] The object of the present invention is to provide a sampling drone for aquatic plants to solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A sampling drone for aquatic plants comprises a drone aircraft, a sampling rack installed at the bottom of the drone aircraft, and a plurality of grabbing mechanisms arranged in the sampling rack; a drone chassis and a hanging rack installed on the drone chassis are arranged at the bottom of the drone aircraft, and the sampling rack is installed below the rack of the hanging rack; a sampling rack installation top frame is arranged on the top of the sampling rack, and the sampling rack installation top frame is fixedly installed on the rack of the hanging rack through the hanging rack, and side wing supports are arranged on both sides of the sampling rack The frame and the side brackets are each provided with a grabbing piece positioning seat, a grabbing piece mounting seat is installed at the bottom of the grabbing piece positioning seat, and the grabbing mechanism is installed on the grabbing piece mounting seat through a horizontal adjustment seat; the grabbing mechanisms on both sides are arranged in upper and lower positions, and form a staggered layout in the vertical direction; a lifting frame is also provided on the side bracket, and the grabbing piece positioning seat is installed in a lifting manner through the lifting frame, and a sampling pusher is also provided on the grabbing piece positioning seat, and the sampling pusher drives the grabbing piece mounting seat to be slidably installed on the grabbing piece positioning seat.

[0007] As a further solution of the present invention: the grasping mechanism includes a moving machine frame, a driving cylinder arranged at the top of the moving machine frame and grasping arms installed on both sides of the bottom of the moving machine frame, and the arm ends of the grasping arms are installed with clamping parts; the clamping parts include a clamping base plate and a counterweight plate arranged at the plate end of the clamping base plate, the inner end of the clamping base plate is provided with a guide notch, and an introduction interval is formed between the guide notches, and a sampling tool is also provided on the inner side of the clamping base plate, and the sampling tool is located behind the introduction interval; an induction head is provided on the plate body of the clamping base plate through an opening, and the sensing end of the induction head is connected to the working end of the sampling tool; the signal feedback end of the induction head 46 is electrically connected to the lifting frame 23.

[0008] As a further solution of the present invention: a fine-tuning installation groove is provided on the clamping substrate, and the clamping substrate is slidably installed on the grabbing arm through the fine-tuning installation groove.

[0009] As a further solution of the present invention: the mobile machine frame includes a machine frame top seat and a machine frame plate installed on the machine frame top seat, and the arm end of the grabbing arm is installed with an arm guide frame, and the arm guide frame is installed on the frame body of the machine frame plate through a rotating support tube.

[0010] As a further solution of the present invention: the driving cylinder is installed at the top of the machine frame top seat, the driving end of the driving cylinder is provided with a cylinder driving rod, and an inner push frame is installed on the cylinder driving rod through a mounting bolt, the inner push frame is located at the inner frame center line position of the action machine frame, and the frame corners on both sides of the inner push frame are installed with linkage inner arms through folding bolts, and the linkage inner arms are connected to the arm guide frames at corresponding positions.

[0011] As a further solution of the present invention: the lifting frame includes a fixed support plate arranged on the side wing bracket frame, a lifting frame on the fixed support plate and a vertical rail installed on the lifting frame, a positioning seat installation frame is arranged on the vertical rail, and both ends of the grabbing piece positioning seat are mounted on the corresponding positioning seat installation frames.

[0012] As a further solution of the present invention: the grabbing member positioning seat includes a transverse support beam installed between the positioning seat mounting frame and a triangular support frame arranged on the transverse support beam, and a mounting base plate is arranged at the bottom of the triangular support frame; the grabbing member mounting seat includes a mounting base plate, a fixed panel is arranged at the bottom of the mounting base plate, the horizontal adjustment seat is fixedly installed on the fixed panel, a lifting card frame is arranged on the top of the mounting base plate, a positioning base plate is arranged on the plate surface of the mounting base plate, a sliding rail is installed on the positioning base plate, and the lifting card frame is clamped and installed on the sliding rail.

[0013] As a further solution of the present invention: the sampling pusher includes a fixed base plate arranged on the side wing bracket and a push cylinder installed on the fixed base plate, an adjustment push plate is arranged between the installation base plates, and the pushing end of the push cylinder is connected to the adjustment push plate.

[0014] As a further solution of the present invention: the horizontal adjustment seat includes a vertical support frame, a transverse support profile fixed on the vertical support frame, and a grabbing piece installation box installed on the transverse support profile, the transverse support profile is hoisted and installed on the fixed panel, the grabbing mechanism is fixedly installed in the shell of the grabbing piece installation box, a horizontal adjustment module is horizontally arranged on the transverse support profile, a horizontal displacement block is arranged on the shell wall of the grabbing piece installation box, and the horizontal displacement block is slidably installed on the horizontal adjustment module.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] 1. The drone sampling system of the present invention can adapt to the sampling needs of aquatic plants of different water depths and types. By adjusting the position of the lifting frame and the horizontal adjustment seat, it can easily cope with various complex sampling environments. The number and layout of the grabbing parts can also be flexibly configured according to actual needs to meet the needs of different sampling tasks.

[0017] Second, the grabbing parts on both sides are arranged in a staggered manner, located in the upper and lower positions, forming a stable structure for applying force on the left and right sides. This layout not only helps to grab plant samples more stably on the surface of the water body, but also effectively copes with adverse factors such as water flow fluctuations, reduces jitter and deviation during sampling, and ensures accurate cutting and clamping positioning of the grabbing end.

[0018] 3. It ensures the regularization and standardization of the sampling process, improves the accuracy of sample collection, protects aquatic plants, minimizes the damage to aquatic plants caused by operational errors, and provides strong technical support for aquatic plant resource surveys and ecological research.

[0019] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The drawings herein are incorporated into and constitute a part of the specification to illustrate embodiments consistent with the present application and are used together with the specification to explain the principles of the present application. At the same time, these drawings and text descriptions are not intended to limit the scope of the concept of the present application in any way, but to illustrate the concept of the present application for those skilled in the art by referring to specific embodiments.

[0021] Figure 1 A schematic diagram of the overall structure of a sampling drone for aquatic plants provided in an embodiment of the present invention.

[0022] Figure 2 A schematic diagram of the structure of a sampling rack provided in an embodiment of the present invention.

[0023] Figure 3 A schematic diagram of the structure of a gripping mechanism provided in an embodiment of the present invention.

[0024] Figure 4 A schematic structural diagram of a clamping member provided in an embodiment of the present invention.

[0025] Figure 5 A schematic diagram of the installation of a grabbing arm provided in an embodiment of the present invention.

[0026] Figure 6 A schematic structural diagram of a side wing bracket provided in an embodiment of the present invention.

[0027] Figure 7 A schematic diagram of the installation of a grabbing member positioning seat provided in an embodiment of the present invention.

[0028] Figure 8 A schematic structural diagram of a horizontal adjustment seat provided in an embodiment of the present invention.

[0029] In the figure: 11, UAV aircraft; 12, UAV chassis; 13, lifting frame; 14, sampling frame; 15, grabbing mechanism; 16, horizontal adjustment seat; 21, side wing bracket; 22, grabbing member positioning seat; 23, lifting frame; 24, grabbing member mounting seat; 25, sampling pusher; 26, sampling frame mounting top frame; 27, lifting frame; 31, driving cylinder; 32, action frame; 33, grabbing arm; 34, clamping member; 41, clamping base plate; 42, guide notch; 43, introduction section; 44, sampling tool; 45, counterweight plate; 46, induction head; 47, fine-tuning mounting slot; 51, arm guide frame; 52, rotating support cylinder; 53. Cylinder drive rod; 54. Mounting bolt; 55. Inner push frame; 56. Folding bolt; 57. Linkage inner arm; 58. Machine frame top seat; 59. Machine frame plate; 61. Fixed support plate; 62. Lifting frame; 63. Vertical track; 64. Positioning seat mounting frame; 71. Horizontal support beam; 72. Triangular support frame; 73. Mounting bottom plate; 74. Mounting base plate; 75. Fixed panel; 76. Lifting card frame; 77. Positioning base plate; 78. Sliding track; 81. Fixed base plate; 82. Push cylinder; 83. Adjusting push plate; 91. Vertical support frame; 92. Horizontal support profile; 93. Horizontal adjustment module; 94. Horizontal displacement block; 95. Grab piece mounting box. DETAILED DESCRIPTION

[0030] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention, and examples thereof are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements.

[0031] Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0032] The specific implementation of the present invention is described in detail below in conjunction with specific embodiments.

[0033] For example, see Figure 1 and Figure 2, provides a sampling drone for aquatic plants, including a drone aircraft 11, a sampling rack 14 installed at the bottom of the drone aircraft 11, and a plurality of grabbing mechanisms 15 arranged in the sampling rack 14; the bottom of the drone aircraft 11 is provided with a drone chassis 12 and a hanging rack 13 erected on the drone chassis 12, and the sampling rack 14 is erected below the rack of the hanging rack 13; the top of the sampling rack 14 is provided with a sampling rack mounting top frame 26, and the sampling rack mounting top frame 26 is fixedly mounted on the rack of the hanging rack 13 through a hanging rack 27, The sampling rack 14 is provided with side wing brackets 21 on both sides, and a grabbing piece positioning seat 22 is provided on the side wing brackets 21. A grabbing piece mounting seat 24 is installed at the bottom of the grabbing piece positioning seat 22, and the grabbing mechanism 15 is installed on the grabbing piece mounting seat 24 through a horizontal adjustment seat 16; a lifting frame 23 is also provided on the side wing bracket 21, and the grabbing piece positioning seat 22 is installed in a lifting manner through the lifting frame 23. A sampling pusher 25 is also provided on the grabbing piece positioning seat 22, and the sampling pusher 25 drives the grabbing piece mounting seat 24 to be slidably installed on the grabbing piece positioning seat 22.

[0034] This embodiment combines drone technology with a precise sampling mechanical structure, and is committed to efficiently and accurately collecting aquatic plant samples in different waters. The drone aircraft 11 is constructed of lightweight and high-strength carbon fiber materials to ensure flight stability and endurance. The core components of the drone include a high-performance battery pack, a flight control system, a GPS navigation module, and a high-definition camera for real-time monitoring of flight status and water environment. The drone chassis 12 and the hoisting frame 13 provide sufficient hoisting support for the sampling frame 14. The sampling frame 14 is the main structural component for sampling. The sampling frame installation top frame 26 installed on the top of the sampling frame 14 is closely connected to the hoisting frame 13 through a high-strength hoisting frame 27 to ensure stability during the sampling process. The sampling frame 14 is made of a lightweight but sturdy aluminum alloy material to ensure that the overall weight is optimized while carrying the grabbing mechanism 15 and other equipment.

[0035] The wing brackets 21 are symmetrically arranged on both sides, and the grabbing parts 15 are independently installed. The grabbing parts 15 on both sides are arranged in upper and lower positions, and the grabbing ends of the grabbing parts 15 are arranged in a corresponding manner in the vertical direction; the wing brackets 21 are made of high-strength aluminum alloy, with a stable structure and light weight. A grabbing part positioning seat 22 is installed on each wing bracket 21, and the lifting frame 23 can drive the grabbing part positioning seat 22 to freely rise and fall in the vertical direction, thereby adjusting the working height of the grabbing part 15. The grabbing parts are all installed on the grabbing part mounting seat 24 through the horizontal adjustment seat 16, and can be adjusted to the preset grabbing area during operation; the grabbing part 15 is the sampling implementation component of this embodiment, and the sampling pusher 25 is installed on the grabbing part positioning seat 22, and a linear drive is used to drive the grabbing part mounting seat 24 to slide on the slide rail. This sliding design allows the grabbing ends of the grabbing parts 15 to be accurately arranged in the vertical direction, ensuring that the target plants can be accurately clamped during the sampling process. A plurality of gripping members 15 can be provided on each side, and the gripping members 15 on both sides cooperate with each other and are respectively located at upper and lower positions to form a staggered layout. This layout design is helpful to more stably grasp plant samples on the surface of the water body.

[0036] This embodiment can effectively improve the sampling efficiency. Through the design of the grabbing mechanism 15 arranged in upper and lower positions on both sides, the drone can collect multiple samples at the same time, which greatly improves the sampling efficiency. At the same time, the precise adjustment and rapid response of the grabbing mechanism 15 also ensure the rapid completion of the sampling action. The sampling flexibility is higher. The coordinated use of the lifting frame 23 and the horizontal adjustment seat 16 enables the grabbing mechanism 15 to move and adjust freely in three-dimensional space to meet the sampling needs of aquatic plants at different heights and positions. The grabbing mechanisms 15 cooperate with each other to form a staggered layout, applying force on the left and right sides respectively, and synchronously clamping and positioning the upper and lower positions of the samples, which helps to more stably grab plant samples on the surface of the water body.

[0037] For example 2, please refer to Figure 2 , Figure 6 and Figure 7 This embodiment is a further design of the above embodiment. On the basis of the above embodiment, the specific implementation structure of the side wing bracket 21 is designed as follows;

[0038] The lifting frame 23 includes a fixed support plate 61 arranged on the frame of the side wing bracket 21, a lifting frame 62 on the fixed support plate 61, and a vertical rail 63 installed on the lifting frame 62. A positioning seat mounting frame 64 is arranged on the vertical rail 63, and both ends of the grabbing piece positioning seat 22 are mounted on the corresponding positioning seat mounting frames 64.

[0039] The fixed support plate 61 is fastened to the frame 21 of the side wing bracket by high-strength bolts. The lifting frame 62 is made of light alloy material and is designed as a rectangular frame structure. The vertical track 63 is installed on the lifting frame 62. The lifting frame 62 is integrated with an electric lifting mechanism (such as a screw transmission mechanism) and can be controlled by a remote control or a built-in program of the drone to move up and down to achieve height adjustment of the grabber. The positioning seat installation frame 64 is designed with a slide groove that matches the vertical track to ensure that the grabber positioning seat 22 can be firmly installed and move along the track.

[0040] The grabbing member positioning seat 22 includes a transverse support beam 71 installed between the positioning seat mounting frame 64 and a triangular support frame 72 arranged on the transverse support beam 71, and a mounting base plate 73 is arranged at the bottom of the triangular support frame 72; the grabbing member mounting seat 24 includes a mounting base plate 74, a fixed panel 75 is arranged at the bottom of the mounting base plate 74, the horizontal adjustment seat 16 is fixedly installed on the fixed panel 75, and a hanging card frame 76 is arranged on the top of the mounting base plate 74, and a positioning base plate 77 is arranged on the plate surface of the mounting base plate 73, and a sliding rail 78 is installed on the positioning base plate 77, and the hanging card frame 76 is snap-fitted and installed on the sliding rail 78.

[0041] The sampling pusher 25 includes a fixed base plate 81 arranged on the side wing bracket 21 and a pusher cylinder 82 installed on the fixed base plate 81 . An adjustment pusher plate 83 is arranged between the installation base plates 74 . The pusher end of the pusher cylinder 82 is connected to the adjustment pusher plate 83 .

[0042] The cross beam 71 is made of high-strength aluminum alloy material, spanning between the two positioning seat mounting frames 64, and cooperating with the triangular support frame 72 to provide a stable support structure for the entire grabbing member positioning seat 22. The mounting base plate 73 is provided with a positioning substrate 77 on its plate surface for installing the sliding track 78. The grabbing member mounting seat 24 is a sliding lifting structure through a lifting card frame 76. The lifting card frame 76 is a metal frame with an opening, and its shape matches the sliding track 78. The lifting card frame 76 is installed on the sliding track 78 by a snap-fitting manner, so that the grabbing member mounting seat 24 can be adjusted and slid along the track. The sampling pusher 25 uses a pushing cylinder 82 as the driving body. The pushing cylinder 82 is a linear actuator driven by an electric or hydraulic drive. Its pushing end is connected to the adjusting push plate 83 through a connecting rod or a pin shaft. The adjusting push plate 83 drives the same-side mounting substrate 74 to move along the sliding track 78, thereby driving the same-side grabbing mechanism 15 to the operating position.

[0043] This embodiment ensures the stability and reliability of the gripping member positioning seat 22 during the sampling process by using a stable structure such as a cross beam 71 and a triangular support frame 72. The horizontal and vertical positions of the gripping member 15 can be adjusted according to actual needs, thereby enhancing the flexibility and adaptability of the system.

[0044] For example 3, please refer to Figure 1 and Figure 8 This embodiment is a further design of the above embodiment. On this basis, the specific implementation structure of the horizontal adjustment seat 16 is designed as follows;

[0045] The horizontal adjustment seat 16 includes a vertical support frame 91, a transverse support profile 92 fixed on the vertical support frame 91, and a grabbing piece installation box 95 installed on the transverse support profile 92. The transverse support profile 92 is hoisted and installed on the fixed panel 75. The grabbing mechanism 15 is fixedly installed in the shell of the grabbing piece installation box 95. A horizontal adjustment module 93 is horizontally arranged on the transverse support profile 92. A horizontal displacement block 94 is arranged on the shell wall of the grabbing piece installation box 95. The horizontal displacement block 94 is slidably installed on the horizontal adjustment module 93.

[0046] The vertical support frame 91 is vertically fixed on the fixed panel 75, providing a solid foundation for the entire horizontal adjustment system. The top of the grabbing mechanism 15 is fixed to the shell of the grabbing member installation box 95 by bolts or other fasteners. The horizontal adjustment module 93 is a horizontal short-distance adjustment component, which is composed of a motor, a reducer, a lead screw and a guide rail. It can realize fine-tuning of the grabbing mechanism 15 in the horizontal direction. This adjustment capability helps the drone to accurately locate and grab the target plants in complex water environments, thereby improving the accuracy and success rate of sampling.

[0047] Example 4, please refer to Figure 1 to Figure 5 This embodiment is a further design of the above embodiment. On this basis, the specific implementation structure of the grabbing mechanism 15 is designed as follows;

[0048] The grabbing mechanism 15 includes an action frame 32, a drive cylinder 31 disposed at the top of the action frame 32, and grabbing arms 33 installed on both sides of the bottom of the action frame 32, and the arm ends of the grabbing arms 33 are installed with clamps 34. The action frame 32 serves as the main frame of the grabbing mechanism 15 and is made of a light but strong material, such as aluminum alloy or carbon fiber. It is responsible for carrying the entire grabbing system, including the drive cylinder 31, the grabbing arm 33 and the clamp 34. The drive cylinder 31 is the main power source of the grabbing arm 33. The grabbing arms 33 are arranged on both sides of the bottom of the action frame 32 and are symmetrically distributed. The ends of the grabbing arms 33 are installed with clamps 34 for actually performing the grabbing action.

[0049] The action machine frame 32 includes a machine frame top seat 58 and a machine frame plate 59 installed on the machine frame top seat 58. The arm end of the grab arm 33 is installed with an arm guide frame 51, and the arm guide frame 51 is installed on the frame body of the machine frame plate 59 through a rotating support tube 52. The driving cylinder 31 is installed on the top of the machine frame top seat 58. The driving end of the driving cylinder 31 is provided with a cylinder driving rod 53. The cylinder driving rod 53 is installed with an inner push frame 55 through a mounting bolt 54. The inner push frame 55 is located at the inner frame center line position of the action machine frame 32. The frame corners on both sides of the inner push frame 55 are installed with linkage inner arms 57 through folding bolts 56. The linkage inner arms 57 are connected to the arm guide frame 51 at the corresponding position.

[0050] The drone flies above the target water area and locates the target aquatic plants through a camera or other sensors. The control system adjusts the height of the lifting frame 23 and the direction of the horizontal adjustment seat 16 according to the water depth and position information, so that the sampling device is aimed at the target. The control system issues a command, the drive cylinder 31 starts to work, and the cylinder drive rod 53 pushes the inner push frame 55 to move in the action frame 32. The movement of the inner push frame 55 drives the linkage inner arm 57 to fold through the folding bolt 56, and then drives the arm guide frame 51 and the grabbing arm 33 to open and close. When the grabbing arm 33 is fully opened, the clamping member 34 contacts the aquatic plants. After the sampling is completed, the drive cylinder 31 works in the reverse direction, driving the inner push frame 55 and the linkage inner arm 57 to move in the reverse direction, so that the grabbing arm 33 and the clamping member 34 are closed, and the sampled aquatic plants are brought back to the drone.

[0051] In view of the shaking problem of aquatic plants caused by the influence of water flow, this embodiment optimizes the clamping member 34 and its related components to improve the stability and success rate of sampling.

[0052] The clamping member 34 includes a clamping base plate 41 and a counterweight plate 45 disposed at the end of the clamping base plate 41. As the main part of the clamping member 34, the clamping base plate 41 is made of high-strength, corrosion-resistant materials to cope with the water environment. The counterweight plate 45 is disposed at the end of the plate, which can significantly increase the weight of the clamping base plate 41. In the case of resisting external interference (water flow impact, etc.), increasing the weight helps to improve the stability and anti-disturbance ability of the clamping base plate 41.

[0053] The inner end of the clamping substrate 41 is provided with a guide notch 42, and an introduction interval 43 is formed between the guide notches 42; the inner side of the clamping substrate 41 is also provided with a sampling tool 44, and the sampling tool 44 is located behind the introduction interval 43. The guide notches 42 are symmetrically distributed, and can also be designed as a "V"-shaped structure from the outside to the inside, and cooperate with the sampling pusher 25 to push the grabbing mechanism 15 to move, and at the same time, the grabbing arm 33 drives the clamping member 34 to expand, so that the introduction interval 43 between the guide notches 42 first contacts the sampled plant with a larger clamping area, so that the floating and shaking sampled plants are first included in the introduction interval 43, and then as the grabbing arm 33 drives the clamping member 34 to close, and the sampling pusher 25 drives the grabbing mechanism 15 to move, the activity range of the sampled plant is reduced and cut into the rear sampling tools 44, and finally can be smoothly and stably clamped between the sampling tools 44. This effectively ensures the smoothness of sampling and prevents the clamping member 34 from hitting and damaging the aquatic plants.

[0054] As a mechanism design method of this embodiment, the grasping mechanisms 15 on both sides are arranged in upper and lower positions to form a staggered layout. The sampling tool 44 of the grasping mechanism 15 located at the top adopts a clamping plate with a gasket on the inner side, and the sampling tool 44 of the grasping mechanism 15 located at the bottom adopts a clamping plate with cutting teeth on the inner side. In this way, the sampling tool 44 above is used to fix aquatic plants, and the sampling tool 44 below cuts the aquatic plants while clamping and fixing them, thereby completing the separation of the sampling part from the plant body.

[0055] The plate body of the clamping substrate 41 is provided with a sensing head 46 through an opening, and the sensing end of the sensing head 46 is connected to the working end of the sampling tool 44. The signal feedback end of the sensing head 46 is connected to the lifting frame 23 in an electrical signal manner. In this embodiment, the sensing head 46 uses a pressure sensor as an implementation tool, and its sensing end is closely connected to the working end of the sampling tool 44. The sensing head 46 can monitor the force, position and other parameters in the sampling process in real time. For the sampling tool 44 located below, the cutting stress will disappear after the cutting is completed. Once the sensing head 46 detects the sampling completion condition, the lifting frame 23 can be immediately triggered to rise. In this way, the timing of sampling completion can be accurately judged, and the lifting frame 23 can be prevented from pulling the plant body and causing damage to the plant body during the sampling process.

[0056] The clamping base plate 41 is provided with a fine-tuning mounting groove 47, which is slidably mounted on the grabbing arm 33. The design of the fine-tuning mounting groove 47 allows the position of the clamping member 34 to be fine-tuned to accommodate aquatic plants of different shapes and sizes, ensuring that the sampling tool 44 can accurately act on the sampling target.

[0057] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be considered exemplary and non-restrictive in all respects, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims be included in the present invention.

[0058] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A sampling drone for aquatic plants, comprising a drone aircraft (11), a sampling rack (14) mounted on the bottom of the drone aircraft (11), and a plurality of grabbing mechanisms (15) arranged in the sampling rack (14); characterized in that: The bottom of the unmanned aerial vehicle (11) is provided with an unmanned aerial vehicle chassis (12) and a hanging frame (13) mounted on the unmanned aerial vehicle chassis (12), and the sampling frame (14) is mounted below the frame of the hanging frame (13); A sampling rack mounting top frame (26) is provided on the top of the sampling rack (14), and the sampling rack mounting top frame (26) is fixedly mounted on the rack of the hanging rack (13) via a hanging rack (27); side wing brackets (21) are provided on both sides of the sampling rack (14), and grabbing member positioning seats (22) are provided on the side wing brackets (21); a grabbing member mounting seat (24) is installed at the bottom of the grabbing member positioning seat (22); and the grabbing mechanism (15) is mounted on the grabbing member mounting seat (24) via a horizontal adjustment seat (16); The grabbing mechanisms (15) on both sides are arranged in upper and lower positions and form a staggered layout in the vertical direction; The side wing bracket (21) is also provided with a lifting frame (23), and the grabbing piece positioning seat (22) is installed in a lifting manner through the lifting frame (23). The grabbing piece positioning seat (22) is also provided with a sampling pusher (25), and the sampling pusher (25) drives the grabbing piece mounting seat (24) to be installed in a sliding manner on the grabbing piece positioning seat (22); The grabbing mechanism (15) comprises a moving machine frame (32), a driving cylinder (31) arranged at the top of the moving machine frame (32), and grabbing arms (33) installed at both sides of the bottom of the moving machine frame (32), and the arm ends of the grabbing arms (33) are both installed with clamping members (34); The clamping member (34) comprises a clamping base plate (41) and a counterweight plate (45) arranged at the end of the clamping base plate (41); the inner end of the clamping base plate (41) is provided with a guide notch (42); an introduction section (43) is formed between the guide notches (42); a sampling tool (44) is also arranged on the inner side of the clamping base plate (41); the sampling tool (44) is located behind the introduction section (43); A sensing head (46) is provided on the plate body of the clamping base plate (41) through an opening, and a sensing end of the sensing head (46) is connected to an operating end of the sampling tool (44); The signal feedback end of the induction head (46) is connected to the lifting frame (23) in the form of an electrical signal; The clamping substrate (41) is provided with a fine-tuning installation groove (47), and the clamping substrate (41) is slidably mounted on the grabbing arm (33) via the fine-tuning installation groove (47); The lifting frame (23) comprises a fixed support plate (61) arranged on the frame of the side wing support (21), a lifting frame (62) on the fixed support plate (61), and a vertical track (63) installed on the lifting frame (62), a positioning seat installation frame (64) is arranged on the vertical track (63), and both ends of the grabbing member positioning seat (22) are mounted on the corresponding positioning seat installation frames (64); The grabbing member positioning seat (22) comprises a transverse support beam (71) installed between the positioning seat mounting frames (64) and a triangular support frame (72) arranged on the transverse support beam (71), wherein a mounting base plate (73) is arranged at the bottom of the triangular support frame (72); The grabbing member mounting seat (24) comprises a mounting base plate (74), a fixed panel (75) is arranged at the bottom of the mounting base plate (74), the horizontal adjustment seat (16) is fixedly mounted on the fixed panel (75), a hanging card frame (76) is arranged at the top of the mounting base plate (74), a positioning base plate (77) is arranged on the plate surface of the mounting bottom plate (73), a sliding track (78) is installed on the positioning base plate (77), and the hanging card frame (76) is mounted on the sliding track (78) in a snap-fitting manner.

2. The sampling drone for aquatic plants according to claim 1, characterized in that: The mobile machine frame (32) comprises a machine frame top seat (58) and a machine frame plate (59) mounted on the machine frame top seat (58); an arm guide frame (51) is mounted on the arm end of the grabbing arm (33); and the arm guide frame (51) is mounted on the frame body of the machine frame plate (59) via a rotating support tube (52).

3. The sampling drone for aquatic plants according to claim 2, characterized in that: The driving cylinder (31) is mounted on the top of the frame top seat (58). The driving end of the driving cylinder (31) is provided with a cylinder driving rod (53). An inner push frame (55) is mounted on the cylinder driving rod (53) via a mounting bolt (54). The inner push frame (55) is located at the inner frame center line of the moving frame (32). Linkage inner arms (57) are mounted on both side frame corners of the inner push frame (55) via folding bolts (56). The linkage inner arms (57) are connected to the arm guide frame (51) at the corresponding position.

4. The sampling drone for aquatic plants according to claim 1, characterized in that: The sampling pusher (25) comprises a fixed base plate (81) arranged on the side wing bracket (21) and a pusher cylinder (82) mounted on the fixed base plate (81), an adjustment push plate (83) is arranged between the mounting base plates (74), and a push end of the pusher cylinder (82) is connected to the adjustment push plate (83).

5. The sampling drone for aquatic plants according to claim 4, characterized in that: The horizontal adjustment seat (16) comprises a vertical support frame (91), a transverse support profile (92) fixed on the vertical support frame (91), and a grabbing member installation box (95) installed on the transverse support profile (92); the transverse support profile (92) is hoisted and installed on the fixed panel (75); the grabbing mechanism (15) is fixedly installed in the shell of the grabbing member installation box (95); a horizontal adjustment module (93) is horizontally arranged on the transverse support profile (92); a horizontal displacement block (94) is arranged on the shell wall of the grabbing member installation box (95); and the horizontal displacement block (94) is slidably installed on the horizontal adjustment module (93).

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