Intelligent cruising and sampling equipment for soil general survey unmanned aerial vehicle

Abstract

The invention relates to the technical field of soil sampling, in particular to soil general survey unmanned aerial vehicle intelligent cruising and sampling equipment which comprises an unmanned aerial vehicle, a sampling device and a cruising system. An automatic unhooking assembly is arranged at the bottom of the unmanned aerial vehicle; the sampling device comprises a fixed seat, a controller and a first supporting rod, a shackle is arranged at the top of the supporting rod, a first sliding block vertically slides laterally and is hinged to a scissor frame, and a second sliding block and a second supporting rod are hinged to the other end of the scissor frame; the scissor frame is formed by hinging an upper fork rod and a lower fork rod and is respectively connected with the supporting rod and the sliding block; electric telescopic rods are arranged at the bottoms of part of the upper fork rods and controlled by a controller, and an output shaft of the electric telescopic rods carries a ground soil collecting assembly to sample ground soil; a sampling box is arranged on the outer side of the first sliding block, internally provided with a deep soil collecting assembly and used for underground soil sampling. A driving assembly is installed at the bottom of the second supporting rod to drive the scissor frame. The unmanned aerial vehicle and the sampling devices are separated, and the multiple sampling devices can be deployed at different sampling points at the same time, so that the sampling efficiency can be greatly improved.

Description

Technical Field

[0001] The present invention relates to the technical field of soil sampling, and in particular to a soil survey unmanned aerial vehicle (UAV) intelligent cruising and sampling device. Background Art

[0002] In traditional soil surveys, manual field surveys and sampling methods are usually used. This method not only requires a lot of human and material resources, but also has extremely low work efficiency and is difficult to cover a wide geographical area in a short period of time. In addition, during the manual sampling process, there may be subjective errors due to differences in operator experience and judgment criteria, which will greatly affect the accuracy and reliability of soil survey data.

[0003] With the rapid development of science and technology, especially the continuous progress of drone technology and intelligent technology, new possibilities have been provided to solve the shortcomings of traditional soil survey methods. Drones have the characteristics of fast flight speed, wide coverage, and flexible operation. They can quickly reach difficult-to-reach or dangerous areas for operations. At the same time, combined with advanced image recognition, machine learning and other intelligent technologies, drones can also realize automatic identification of soil types, intelligent planning of sampling points, and accurate collection of soil samples, thereby greatly improving the efficiency and accuracy of soil surveys; in the existing technology, a single or multiple collection devices are usually fixed on the bottom of the drone, and the drone is flown to the sampling point for single-point sampling. This process is relatively complicated to operate, and it is difficult to sample the soil at multiple points. In the face of a large range of soil, the sampling efficiency is low.

[0004] To sum up, how to fix a single or multiple collection devices on the bottom of the drone and fly the drone to the sampling point for single-point sampling is a complicated process, and it is difficult to sample the soil at multiple points. Faced with a large range of soil, the problem of low sampling efficiency has become a difficult problem that needs to be solved urgently in this field. Therefore, it is necessary to propose a soil survey drone intelligent cruising and sampling equipment. Summary of the invention

[0005] In order to solve the above problems, the present invention provides a soil survey UAV intelligent cruising and sampling equipment, which is used to separate the UAV and the sampling device, and use the UAV to transport the sampling device to the sampling point, and then retrieve it after the sampling is completed. Each sampling device can perform sampling operations independently without waiting for the UAV to return to the base to replace the battery or charge; multiple sampling devices can be deployed at different sampling points at the same time, which can greatly improve the sampling efficiency.

[0006] In order to achieve the above-mentioned purpose, the technical scheme of the present invention is as follows: a soil survey UAV intelligent cruising and sampling equipment, comprising a UAV, a plurality of sampling devices and a cruising system; an automatic unhooking component for automatically dropping the sampling device is provided at the bottom of the UAV; the sampling device comprises a fixed seat and a controller, a first support rod is fixedly connected to the top of the fixed seat, and a hook ring is fixedly connected to the top of the first support rod; a first slider is vertically slidably matched on the first support rod, a scissor frame is symmetrically and hingedly connected on the side wall of the first slider, a second slider is hingedly connected to the scissor frame at one end away from the first slider, a second support rod is provided on the second slider, and the second slider is vertically slidably matched with the second support rod.

[0007] The scissor frames include a plurality of upper fork rods and lower fork rods, and the upper fork rods are hinged to the lower fork rods adjacent thereto. The upper fork rods and the lower fork rods at one end of the scissor frames close to the first support rod are hinged to the first support rod and the first slider respectively; the upper fork rods and the lower fork rods at one end of the scissor frames close to the second support rod are hinged to the second slider and the second support rod respectively.

[0008] A plurality of support rods are arranged between adjacent scissor-fork frames, and both ends of the support rods are rotatably connected with the hinged joints of the upper fork rod and the lower fork rod adjacent thereto.

[0009] An electric telescopic rod is fixedly connected to the bottom of one of the upper fork rods, and a controller is used to control the extension and retraction of an output shaft of the electric telescopic rod; a ground soil collecting assembly for sampling surface soil is provided on the output shaft of the electric telescopic rod;

[0010] A sampling box is fixedly connected to the outer wall of the first sliding block, a deep soil collecting assembly for sampling the soil below the ground is arranged at the bottom of the sampling box, and a driving assembly for driving the scissor frame to extend and retract is arranged at the bottom of the second supporting rod.

[0011] The technical principles of the above scheme are as follows:

[0012] The UAV transports the sampling device to the preset sampling point through the cruise system. After arriving at the sampling point, the UAV can accurately release and separate the sampling device from it through the automatic unhooking component at the bottom, and then continue to perform other tasks or return to the base. When the sampling device is sampling, the controller first drives the scissor frame through the driving component. The scissor frame is hinged by a number of upper fork rods and lower fork rods to form a stable parallelogram structure. When the scissor frame is extended, the ground soil collection component and the deep soil collection component can be lifted. When the scissor frame is contracted, the ground soil collection component and the deep soil collection component can be lowered. At this time, the deep soil collection component and the ground soil collection component begin to sample the surface and deep of the surface soil at the same time. When the sampling is completed, the controller drives the scissor frame in the opposite direction again through the driving component, so that it drives the second support rod and the sampling component to rise to the original position. At this time, the UAV can return to the sampling point, reconnect with the sampling device through the automatic unhooking component, and bring it back to the base for sample processing and data analysis.

[0013] The above scheme has the following beneficial effects:

[0014] 1. The design of separating the drone and the sampling device of the present invention allows multiple sampling devices to be deployed at different sampling points at the same time to perform independent operations, which can significantly improve the sampling efficiency of soil surveys.

[0015] 2. Through the telescopic mechanism of the scissor frame, the present invention can flexibly adjust the height of the ground soil collection component and the deep soil collection component, thereby realizing the synchronous sampling of the surface soil and the soil below the ground, which can more comprehensively reflect the characteristics of the soil and provide richer information for subsequent soil analysis and data processing.

[0016] 3. In the present invention, since the sampling process is mainly automatically controlled by the controller and the drive assembly, the manual operation link is reduced, thus greatly reducing the subjective errors caused by differences in operator experience and different judgment standards; at the same time, the precise control and positioning capabilities of the drone and the sampling device also ensure the accuracy and consistency of the sampling points, thereby improving the accuracy and reliability of the soil survey data.

[0017] Furthermore, the ground soil collecting assembly comprises a soil shovel arranged in an inclined manner, and the top of the soil shovel is fixedly connected to the output shaft of the electric telescopic rod.

[0018] Beneficial effects: The ground soil collection assembly includes a soil shovel that is arranged at an angle, so that the soil shovel can more easily cut into the soil and collect samples when it contacts the soil, thereby improving the efficiency and accuracy of sampling.

[0019] Furthermore, the deep soil collection assembly includes a sampling tube, the top of which passes through the bottom of the sampling box and extends into the sampling box; a first driving member is fixedly connected to the top of the sampling tube, and a controller is used to control the rotation of the output shaft of the first driving member; the output shaft of the first driving member extends into the sampling tube, and a soil drill is coaxially fixedly connected to the output shaft of the first driving member, and the soil drill extends outside the sampling tube away from one end of the first driving member; a plurality of through holes are opened at the position of the sampling tube located in the sampling box.

[0020] Beneficial effects: The deep soil collection component adopts the design of sampling tube and soil auger. Driven by the first driving member, when the first slider drives the deep soil collection component downward, the soil auger can penetrate deep into the soil for sampling. At the same time, the through hole design in the sampling tube enables the soil sample to smoothly enter the sampling box, which is convenient for the collection of deep soil samples.

[0021] Furthermore, the driving assembly includes a base, a second driving member is fixedly connected to the bottom of the base, and the controller is used to control the rotation of the output shaft of the second driving member; the first driving wheel is coaxially fixedly connected to the output shaft of the second driving member, and the second driving wheel is rotatably connected to the side wall of the base away from the first driving wheel.

[0022] Beneficial effect: The driving assembly includes a second driving member, a first driving wheel and a second driving wheel. By controlling the rotation of the output shaft of the second driving member, the first driving wheel and the second driving wheel can be driven to rotate, thereby driving the scissors frame to extend and retract. At the same time, the extension and retraction of the scissors frame can drive the soil shovel and the deep soil collection assembly downward to collect soil samples.

[0023] Furthermore, a plurality of ground nails are fixedly connected to the bottom of the fixing seat.

[0024] Beneficial effect: The ground nail can be inserted into the soil surface under the action of the gravity of the sampling device, so that the base can be more stable when the scissor frame is extended and retracted.

[0025] Furthermore, a plurality of rake rods are fixedly connected to the first driving wheel and the second driving wheel.

[0026] Beneficial effect: The design of the rake rod can prevent the first driving wheel and the second driving wheel from slipping during the rotation on the soil surface, thereby affecting the effect of soil sampling.

[0027] Furthermore, the automatic unhooking component includes a U-shaped hook, a connecting rod is fixedly connected to the top of the U-shaped hook, the top of the connecting rod is fixedly connected to the bottom of the drone, a sliding hole is opened at one end of the U-shaped hook, a locking rod is slidably fitted in the sliding hole, and the length of the locking rod is greater than the width of the U-shaped hook; a bracket is fixedly connected to one side wall of the U-shaped hook, a third driving member is fixedly connected to the bracket, and the controller is used to drive the output shaft of the third driving member to rotate; a rocker arm is coaxially fixedly connected to the output shaft of the third driving member, a pull rod is hinged at one end of the rocker arm away from the third driving member, and the pull rod is hinged at one end of the rocker arm away from the third driving member and one end of the locking rod.

[0028] Beneficial effect: By driving the third driving member, the locking rod can be easily extended and retracted, thereby realizing the grabbing and releasing operations of the hook ring on the sampling device, so that the drone can accurately release and separate the sampling device from it after reaching the sampling point.

[0029] Furthermore, a temperature and humidity sensor is fixedly connected to the top of the second support rod, and the controller is used to receive temperature and humidity signals sent by the temperature and humidity sensor.

[0030] Beneficial effect: The temperature and humidity sensor fixedly connected to the top of the second support rod can monitor the temperature and humidity information of the sampling point in real time, which is of great significance for subsequent soil analysis and data processing, and can improve the accuracy and reliability of soil surveys.

[0031] Furthermore, a GPS positioning sensor is fixedly connected to the top of the second support rod, and the controller is used to receive a position signal sent by the GPS positioning sensor.

[0032] Beneficial effect: The GPS positioning sensor fixedly connected to the top of the second support rod can monitor the location information of the sampling point in real time, which is of great significance for subsequent soil analysis and data processing, and can improve the accuracy and reliability of soil surveys.

[0033] Further, the cruise system includes:

[0034] Flight control system module, used to control the flight of the drone;

[0035] The GPS positioning and navigation module generates the location information of the UAV, and generates the flight altitude information and speed information of the UAV, and inputs the location information, flight altitude information and speed information of the UAV into the flight control system module to jointly control the flight of the UAV;

[0036] The image recognition module is used to use the camera to capture real-time images of the soil area under the drone during the drone's cruising process, and apply image processing and machine learning algorithms to identify soil types, vegetation coverage, and soil erosion levels to automatically generate sampling points; at the same time, the soil surface of the sampling point is photographed to generate soil surface image information of the sampling point;

[0037] The inspection route management module is used to automatically generate an inspection route using the location information of the drone and the sampling points generated by the image recognition module, and input the inspection route into the flight control system module to control the drone to fly along the inspection route and transport the sampling device to the sampling point for sampling;

[0038] A soil sampling control module is used to send a control signal to the controller, and the controller controls the sampling device to perform a soil sampling operation;

[0039] The recording module is used to record the location information of the sampling point and the soil surface image information of the sampling point.

[0040] Beneficial effects: The image recognition module is used to identify soil types and generate sampling points, the inspection route management module is used to automatically generate inspection routes, and the soil sampling control module sends control signals to the controller for sampling operations. Finally, the recording module records the location information of the sampling points and the soil surface image information, thereby improving the efficiency and accuracy of soil surveys.

[0041] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 4 is a front view of the UAV in an embodiment of the present invention.

[0043] Figure 2 It is an axonometric diagram of the sampling device in an embodiment of the present invention.

[0044] Figure 3 It is a front cross-sectional view of the soil shovel in the embodiment of the present invention.

[0045] Figure 4 It is a front cross-sectional view of a deep soil collection assembly in an embodiment of the present invention.

[0046] Figure 5 2 is a structural diagram of a cruise system in an embodiment of the present invention.

[0047] The figure marks in the drawings of the specification include: 1. UAV; 2. Fixed seat; 3. First support rod; 4. Hook; 5. First slider; 6. Scissors frame; 7. Second slider; 8. Second support rod; 9. Upper fork rod; 10. Lower fork rod; 11. Support rod; 12. Electric telescopic rod; 13. Sampling box; 14. Soil shovel; 15. Sampling tube; 16. First driving member; 17. Soil drill; 18. Through hole; 19. Base; 20. First driving wheel; 21. Second driving wheel; 22. Ground nail; 23. U-shaped grab hook; 24. Connecting rod; 25. Lock rod; 26. Bracket; 27. Third driving member; 28. Rocker arm; 29. ​​Pull rod; 30. Temperature and humidity sensor; 31. GPS positioning sensor. DETAILED DESCRIPTION

[0048] The following is further described in detail through specific implementation methods:

[0049] Embodiment 1:

[0050] As attached Figure 1Shown: A soil survey UAV intelligent cruising and sampling device, including a UAV 1, a plurality of sampling devices and a cruising system.

[0051] The cruise system includes:

[0052] The flight control system module is used to control the flight of the UAV 1.

[0053] The GPS positioning and navigation module is used to generate the location information of the drone 1, and to generate the flight altitude information and speed information of the drone 1, and then input the location information, flight altitude information and speed information of the drone 1 into the flight control system module to jointly control the flight of the drone 1.

[0054] The image recognition module is used to use the camera to capture real-time images of the soil area below the drone 1 during the cruising process of the drone 1, and apply image processing and machine learning algorithms to identify the soil type, vegetation coverage and soil erosion degree to automatically generate sampling points; at the same time, the soil surface of the sampling point is photographed to generate soil surface image information of the sampling point.

[0055] The inspection route management module is used to automatically generate an inspection route using the location information of the drone 1 and the sampling points generated by the image recognition module, and input the inspection route into the flight control system module to control the drone 1 to fly along the inspection route and transport the sampling device to the sampling point for sampling.

[0056] The soil sampling control module is used to send a control signal to the controller, and the controller controls the sampling device to perform a sampling operation on the soil.

[0057] The recording module is used to record the location information of the sampling point and the soil surface image information of the sampling point.

[0058] An automatic unhooking component for automatically dropping a sampling device is provided at the bottom of the drone 1 by bolts; the sampling device comprises a fixing seat 2 and a controller, a first support rod 3 is fixedly connected to the top of the fixing seat 2 by bolts, a hook ring 4 is fixedly connected to the top of the first support rod 3 by bolts; a first slider 5 is vertically slidably matched on the first support rod 3, a scissor frame 6 is symmetrically and hingedly provided on the side wall of the first slider 5, a second slider 7 is hingedly provided at one end of the scissor frame 6 away from the first slider 5, a second support rod 8 is provided on the second slider 7, and the second slider 7 is vertically slidably matched with the second support rod 8.

[0059] The scissors frame 6 includes a plurality of upper fork rods 9 and lower fork rods 10, and the upper fork rods 9 are hinged to the lower fork rods 10 adjacent thereto. The upper fork rods 9 and the lower fork rods 10 at one end of the scissors frame 6 close to the first support rod 3 are hinged to the first support rod 3 and the first slider 5 respectively; the upper fork rods 9 and the lower fork rods 10 at one end of the scissors frame 6 close to the second support rod 8 are hinged to the second slider 7 and the second support rod 8 respectively.

[0060] A plurality of support rods 11 are provided between adjacent scissor frames 6, and both ends of the support rods 11 are rotatably connected to the hinged joints of the upper fork rod 9 and the lower fork rod 10 adjacent thereto.

[0061] The bottom of one of the upper fork rods 9 is fixedly connected to an electric telescopic rod 12 by bolts, and the controller is used to control the extension and retraction of the output shaft of the electric telescopic rod 12; the output shaft of the electric telescopic rod 12 is provided with a ground soil collecting component for sampling the surface soil.

[0062] A sampling box 13 is fixedly connected to the outer wall of the first sliding block 5 by bolts. A deep soil collecting assembly for sampling the soil below the ground is provided at the bottom of the sampling box 13. A driving assembly for driving the scissor frame to extend and retract is provided at the bottom of the second support rod 8.

[0063] The ground soil collecting assembly comprises a soil taking shovel 14 which is arranged in an inclined manner, and the top end of the soil taking shovel 14 and the output shaft of the electric telescopic rod 12 are fixedly connected by bolts.

[0064] The deep soil collection assembly includes a sampling tube 15, the top of which passes through the bottom of the sampling box 13 and extends into the sampling box 13 and is fixedly welded to the bottom of the sampling box 13; the top of the sampling tube 15 is fixedly connected to a first driving member 16 by bolts, and a controller is used to control the rotation of the output shaft of the first driving member 16; the output shaft of the first driving member 16 extends into the sampling tube 15, and a soil drill 17 is coaxially fixedly welded on the output shaft of the first driving member 16, and the soil drill 17 extends out of the sampling tube 15 away from one end of the first driving member 16; a plurality of through holes 18 are opened at the portion of the sampling tube 15 located in the sampling box 13.

[0065] The driving assembly includes a base 19, and a second driving member is fixedly connected to the bottom of the base 19 by bolts. The controller is used to control the rotation of the output shaft of the second driving member; a first driving wheel 20 is coaxially fixedly welded on the output shaft of the second driving member, and a second driving wheel 21 is rotatably connected to the side wall of the base 19 away from the first driving wheel 20.

[0066] The automatic unhooking component includes a U-shaped hook 23, the top of the U-shaped hook 23 is fixedly connected to a connecting rod 24 by bolts, the top of the connecting rod 24 and the bottom of the drone 1 are fixedly connected by bolts, a sliding hole is opened at one end of the U-shaped hook 23, a locking rod 25 is slidably fitted in the sliding hole, and the length of the locking rod 25 is greater than the width of the U-shaped hook 23; a bracket 26 is fixedly connected to one side wall of the U-shaped hook 23 by bolts, a third driving member 27 is fixedly connected to the bracket 26 by bolts, and the controller is used to drive the output shaft of the third driving member 27 to rotate; a rocker arm 28 is coaxially fixedly connected to the output shaft of the third driving member 27 by bolts, and a pull rod 29 is hinged at one end of the rocker arm 28 away from the third driving member 27, and the pull rod 29 is hinged to one end of the locking rod 25 at one end away from the rocker arm 28.

[0067] The specific implementation process is as follows:

[0068] The drone 1 is operated to take off and fly according to the preset cruise route; through the cruise system, the drone 1 can accurately locate the preset sampling point; when the drone 1 reaches above the sampling point, the drone 1 places the sampling device above the soil at the sampling point with the U-shaped grab hook 23; at this time, the controller sends a control signal to control the third driving member 27 on the U-shaped grab hook 23 to rotate counterclockwise. In this embodiment, the third driving member 27 is a stepping motor; since the output shaft of the stepping motor and the rocker arm 28 are coaxially fixedly connected by bolts, the end of the rocker arm 28 away from the stepping motor is hinged to the pull rod 29, and the end of the pull rod 29 away from the rocker arm 28 is hinged to the end of the locking rod 25, at this time, the counterclockwise rotation of the output shaft of the stepping motor can drive the locking rod 25 to slide outward of the U-shaped grab hook 23, and at this time, the U-shaped grab hook 23 can release the grip of the hook ring 4 on the first support rod 3, and at this time, the drone 1 completes the task of placing the sampling device on the sampling point.

[0069] In this embodiment, the initial state of the scissors frame 6 in the sampling device is unfolded, at which time the first slider 5 is in the middle of the first support rod 3, and the sampling tube 15 is above the soil and not in contact with the soil; when the sampling device performs soil sampling, the fixing seat 2 at the bottom of the first support rod 3 is fixed on the soil surface; then, the controller sends a control signal to control the rotation of the output shaft of the second driving member. In this embodiment, the second driving member is the first forward and reverse motor; when the output shaft of the first forward and reverse motor rotates, the first driving wheel 20 coaxially fixed and welded on the output shaft of the first forward and reverse motor can drive the base 19 and then drive the second support rod 8 to move toward the direction close to the first support rod 3. At this time, the scissors frame 6 can be contracted. Since the upper fork rod 9 and the lower fork rod 10 are hinged, the upper fork rod 9 and the lower fork rod 10 can be unfolded at this time. Since the upper fork rod 9 and the first support rod 3 are hinged, the lower fork rod 10 and the side wall of the first slider 5 are hinged. At this time, a slider 5 can move downward on the first support rod 3 driven by the lower fork rod 10. The sampling tube 15 is fixedly connected to the sampling box 13, and the first slider 5 moves downward on the first support rod 3, thereby being able to drive the sampling tube 15 at the bottom of the sampling box 13 downward to contact the soil. At this time, the controller sends a control signal to control the first driving member 16 to rotate forward. In this embodiment, the first driving member 16 is a second forward and reverse motor; when the second forward and reverse motor rotates forward, since the soil drill 17 penetrates the sampling tube 15 away from one end of the second forward and reverse motor and extends to the outside of the sampling tube 15, the soil drill 17 coaxially fixedly welded to the output shaft of the second forward and reverse motor can contact the soil under the drive of the sampling tube 15 and drill the soil as the sampling tube 15 continues to move downward. As the sampling tube 15 penetrates into the soil, since the soil drill 17 is a spiral structure, the soil drill 17 can drill the deep soil and transport it to the top of the sampling tube 15. Since a through hole 18 is opened at the top of the sampling tube 15, the deep soil sample can enter the sampling box 13 from the through hole 18 for collection, thereby completing the collection of deep soil.

[0070] At the same time, when the scissors-type frame 6 is retracted, since the top of the soil shovel 14 and the output shaft of the electric telescopic rod 12 are fixedly connected by bolts, the electric telescopic rod 12 and the bottom of one of the upper fork rods 9 are fixedly connected by bolts. Since the soil shovel 14 is arranged at an angle, when the scissors-type frame 6 is retracted, the soil shovel 14 can shovel the surface soil into the soil shovel 14. At the same time, the controller sends a control signal to control the retraction of the output shaft of the electric telescopic rod 12 to lift the soil shovel 14, so as to avoid continuing the surface soil sampling operation to affect the retraction operation of the scissors-type frame 6, and at the same time, it can also avoid the spillage of the surface soil sample in the soil shovel 14; when the scissors-type frame 6 is fully retracted, the controller sends a control signal to control the first forward and reverse motors to stop, and then completes the surface soil sampling operation.

[0071] When the sampling device needs to be recovered, the drone 1 flies to the top of the hook 4 of the sampling device at the sampling point, and the drone 1 aligns the U-shaped hook 23 with the hook 4 and descends until the U-shaped hook 23 is engaged with the hook 4. At this time, the controller sends a control signal to control the stepper motor output shaft to rotate clockwise. The clockwise rotation of the stepper motor output shaft can drive the locking rod 25 to slide into the U-shaped hook 23 and then lock the hook 4, so that the sampling device can be transported to the laboratory for analysis.

[0072] The UAV 1 locates the next sampling point through the cruise system and repeats the above sampling process; the design of separating the UAV 1 and the sampling device of the present invention allows multiple sampling devices to be deployed at different sampling points at the same time to perform independent operations, which can significantly improve the sampling efficiency of the soil survey.

[0073] Embodiment 2:

[0074] As attached Figure 1 As shown, the difference from the embodiment 1 is that a plurality of ground nails 22 are fixedly welded to the bottom of the fixing base 2 .

[0075] The specific implementation process is as follows:

[0076] The ground spikes 22 can be inserted into the soil surface under the action of the gravity of the sampling device, so that the base 19 can be more stable when the scissor frame 6 is extended or retracted.

[0077] Embodiment 3:

[0078] As attached Figure 1 As shown, the difference from Example 2 is that a plurality of rake rods are fixedly welded to the first driving wheel 20 and the second driving wheel 21 .

[0079] The specific implementation process is as follows:

[0080] The design of the rake rod can prevent the first driving wheel 20 and the second driving wheel 21 from slipping during the rotation on the soil surface, thereby preventing the soil sampling effect from being affected.

[0081] Embodiment 4:

[0082] As attached Figure 1 As shown, the difference from Example 3 is that a temperature and humidity sensor 30 is fixedly connected to the top of the second support rod 8 by bolts, and the controller is used to receive the temperature and humidity signals sent by the temperature and humidity sensor 30; a GPS positioning sensor 31 is also fixedly connected to the top of the second support rod 8 by bolts, and the controller is used to receive the position signal sent by the GPS positioning sensor 31.

[0083] The specific implementation process is as follows:

[0084] The temperature and humidity sensor 30 and the GPS positioning sensor 31 fixedly connected by bolts at the top of the second support rod 8 can monitor the temperature and humidity information and location information of the sampling point in real time, which is of great significance for subsequent soil analysis and data processing, and can improve the accuracy and reliability of soil surveys.

[0085] Obviously, the above embodiments are merely examples for the purpose of clear explanation, and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the invention.

Claims

1. A soil survey UAV intelligent cruising and sampling device, comprising a UAV (1), a plurality of sampling devices and a cruising system, characterized in that: An automatic release component for automatically dropping the sampling device is provided at the bottom of the drone (1); The sampling device comprises a fixed seat (2) and a controller, wherein a first support rod (3) is fixedly connected to the top of the fixed seat (2), and a hook ring (4) is fixedly connected to the top of the first support rod (3); a first slider (5) is vertically slidably matched on the first support rod (3), a scissor frame (6) is symmetrically and hingedly connected on the side wall of the first slider (5), a second slider (7) is hingedly connected at one end of the scissor frame (6) away from the first slider (5), a second support rod (8) is provided on the second slider (7), and the second slider (7) and the second support rod (8) are vertically slidably matched; The scissor frame (6) comprises a plurality of upper fork rods (9) and lower fork rods (10), and the upper fork rods (9) are hinged to the lower fork rods (10) adjacent thereto. The upper fork rods (9) and the lower fork rods (10) at one end of the scissor frame (6) close to the first support rod (3) are hinged to the first support rod (3) and the first slider (5) respectively; the upper fork rods (9) and the lower fork rods (10) at one end of the scissor frame (6) close to the second support rod (8) are hinged to the second slider (7) and the second support rod (8) respectively. A plurality of support rods (11) are arranged between adjacent scissor frames (6), and both ends of the support rods (11) are rotatably matched with the hinged joints of the upper fork rod (9) and the lower fork rod (10) adjacent thereto; An electric telescopic rod (12) is fixedly connected to the bottom of one of the upper fork rods (9), and a controller is used to control the extension and retraction of an output shaft of the electric telescopic rod (12); a ground soil collection component for sampling surface soil is provided on the output shaft of the electric telescopic rod (12); A sampling box (13) is fixedly connected to the outer wall of the first sliding block (5); a deep soil collection assembly for sampling soil below the ground is provided at the bottom of the sampling box (13); and a driving assembly for driving the scissor frame (6) to extend and retract is provided at the bottom of the second supporting rod (8).

2. The soil survey UAV intelligent cruising and sampling equipment according to claim 1 is characterized in that: The ground soil collection component comprises a soil shovel (14) arranged in an inclined manner, and the top end of the soil shovel (14) is fixedly connected to the output shaft of the electric telescopic rod (12).

3. The soil survey UAV intelligent cruising and sampling equipment according to claim 2 is characterized in that: The deep soil collection assembly comprises a sampling tube (15), the top of which passes through the bottom of the sampling box (13) and extends into the sampling box (13); A first driving member (16) is fixedly connected to the top of the sampling tube (15), and a controller is used to control the rotation of an output shaft of the first driving member (16); the output shaft of the first driving member (16) extends into the sampling tube (15), and a soil auger (17) is coaxially fixedly connected to the output shaft of the first driving member (16), and the soil auger (17) extends out of the sampling tube (15) away from one end of the first driving member (16); and a plurality of through holes (18) are formed at a portion of the sampling tube (15) located in the sampling box (13).

4. The soil survey UAV intelligent cruising and sampling equipment according to claim 3 is characterized in that: The driving assembly comprises a base (19), a second driving member is fixedly connected to the bottom of the base (19), and a controller is used to control the rotation of an output shaft of the second driving member; a first driving wheel (20) is coaxially fixedly connected to the output shaft of the second driving member, and a second driving wheel (21) is rotatably connected to a side wall of the base (19) away from the first driving wheel (20).

5. The soil survey UAV intelligent cruising and sampling equipment according to claim 4 is characterized in that: A plurality of ground nails (22) are fixedly connected to the bottom of the fixing seat (2).

6. The soil survey UAV intelligent cruising and sampling equipment according to claim 5 is characterized in that: A plurality of rake rods are fixedly connected to the first driving wheel (20) and the second driving wheel (21).

7. The soil survey UAV intelligent cruising and sampling equipment according to claim 6 is characterized in that: The automatic unhooking component comprises a U-shaped hook (23), the top of the U-shaped hook (23) is fixedly connected to a connecting rod (24), and the top of the connecting rod (24) is fixedly connected to the bottom of the drone (1); A sliding hole is formed at one end of the U-shaped grab hook (23), a locking rod (25) is slidably fitted in the sliding hole, and the length of the locking rod (25) is greater than the width of the U-shaped grab hook (23); a bracket (26) is fixedly connected to one side wall of the U-shaped grab hook (23), a third driving member (27) is fixedly connected to the bracket (26), and the controller is used to drive the output shaft of the third driving member (27) to rotate; A rocker arm (28) is coaxially fixedly connected to the output shaft of the third driving member (27); a pull rod (29) is hingedly connected to one end of the rocker arm (28) away from the third driving member (27); and an end of the pull rod (29) away from the rocker arm (28) is hingedly connected to one end of the locking rod (25).

8. The soil survey UAV intelligent cruising and sampling equipment according to claim 7 is characterized in that: A temperature and humidity sensor (30) is fixedly connected to the top of the second support rod (8), and the controller is used to receive temperature and humidity signals sent by the temperature and humidity sensor (30).

9. The soil survey UAV intelligent cruising and sampling equipment according to claim 8 is characterized in that: A GPS positioning sensor (31) is also fixedly connected to the top of the second support rod (8), and the controller is used to receive a position signal sent by the GPS positioning sensor (31).

10. The soil survey UAV intelligent cruising and sampling equipment according to claim 9 is characterized in that: The cruise system includes: A flight control system module, used to control the flight of the UAV (1); A GPS positioning and navigation module is used to generate the position information of the drone (1), and to generate the flight altitude information and speed information of the drone (1), and to input the position information, flight altitude information and speed information of the drone (1) into the flight control system module to jointly control the flight of the drone (1); The image recognition module is used to use a camera to capture real-time images of the soil area below the drone (1) while the drone (1) is cruising, and to apply image processing and machine learning algorithms to identify the soil type, vegetation coverage and soil erosion degree to automatically generate sampling points; and to simultaneously photograph the soil surface at the sampling point to generate soil surface image information at the sampling point; The inspection route management module is used to automatically generate an inspection route using the location information of the drone (1) and the sampling points generated by the image recognition module, and input the inspection route into the flight control system module to control the drone (1) to fly along the inspection route and transport the sampling device to the sampling point for sampling; A soil sampling control module is used to send a control signal to the controller, and the controller controls the sampling device to perform a soil sampling operation; The recording module is used to record the location information of the sampling point and the soil surface image information of the sampling point.

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