Seawater sampling device based on unmanned aerial vehicle and sampling control method

Abstract

The invention relates to the technical field of water sampling equipment, and provides a seawater sampling device based on an unmanned aerial vehicle and a sampling control method, the seawater sampling device comprises the unmanned aerial vehicle, a traction device, a liquid storage device and a sampling sub-device; the sampling sub-device is fixed below the unmanned aerial vehicle in a lifting manner through a traction device, and is used for landing to a set position area of seawater to realize seawater sampling; the liquid storage device is arranged on the unmanned aerial vehicle, and samples are taken from the sampling sub-device through a liquid taking pipe and stored; the liquid storage device is provided with a plurality of partitions, each partition is spaced to form an independent storage space, each partition is connected with an independent flow dividing pipe, and the upper end of the liquid taking pipe is connected with each flow dividing pipe through an arranged flow dividing bin; and a valve is arranged at the joint of the shunting bin and each shunting pipe. According to the device disclosed by the invention, water in different areas is separated and stored after being sampled, multi-point sampling in different areas in one flight is realized, the back-and-forth flight frequency of the unmanned aerial vehicle is reduced, and the sampling efficiency is improved.

Description

Technical Field

[0001] The present disclosure relates to the technical field related to water sampling equipment, and more specifically, to a seawater sampling device and method based on an unmanned aerial vehicle. Background Art

[0002] The statements in this section merely provide background information related to the present disclosure and do not necessarily constitute prior art.

[0003] The marine ecosystem is one of the most complex ecosystems on Earth. With the development of the economy, marine pollution is becoming increasingly serious. How to quickly and accurately detect the quality of seawater has become an issue worth considering. The traditional manual water sampling method is inefficient, and due to the diversity of the sampling environment, it often brings great inconvenience to manual sampling. In recent years, with the development of drone technology, the use of drones for rapid sampling and testing has become a development trend. Drones are not only small and flexible, but also more convenient to transfer. The method of using drones for sampling has become a general trend.

[0004] The inventors found in their research that the current seawater sampling using drones can only collect seawater quality samples once per flight. The seawater sample is sent to a recovery point (such as a ship or shore) for recovery before being flown to other seawater sampling points for sampling. In addition, during the collection process, due to the influence of buoyancy on the collection device, when the direct sampling component of the collection device is lowered, the seawater sampling operation is difficult due to the influence of the buoyancy or impact force of the seawater on the collection device. Summary of the invention

[0005] In order to solve the above problems, the present disclosure proposes a seawater sampling device and method based on a drone, which realizes multi-point sampling in a single flight and improves the sampling efficiency. At the same time, by improving the structure of the sampling device, the difficulty of sampling by the sampling device is reduced, and the sampling efficiency is further improved.

[0006] In order to achieve the above objectives, the present disclosure adopts the following technical solutions:

[0007] One or more embodiments provide a seawater sampling device based on a drone, comprising a drone, a traction device, a liquid storage device and a sampling sub-device; the sampling sub-device can be lifted and fixed under the drone through the traction device, and the sampling sub-device is used to land at a set position area of ​​the seawater to achieve seawater sampling; the liquid storage device is arranged on the drone, and samples are taken and stored from the sampling sub-device through a liquid collection tube;

[0008] The liquid storage device is provided with multiple partitions, each partition is separated to form an independent storage space, each partition is connected to a separate shunt pipe, and the upper end of the liquid collection pipe is connected to each shunt pipe through a shunt bin; a third electric valve is provided at the connection between the shunt bin and each shunt pipe.

[0009] One or more embodiments provide a sampling control method based on the above-mentioned drone-based seawater sampling device, comprising the following steps:

[0010] Control the UAV to fly to the set target area and control the traction device to lower the sampling sub-device;

[0011] The initial state of the sampling sub-device is controlled such that the second electric valve is open and the piston is in a compressed state;

[0012] When the water level sensor and the depth sensor on the sampling sub-device detect a signal, the piston is controlled to move the sampling sub-device to the unfolded state and the timing starts;

[0013] According to the signals obtained from the depth sensor and the water level sensor on the sampling sub-device, the second electric valve is closed, and the traction device is controlled to pull up the sampling sub-device to store the sampled water into the corresponding partition of the liquid storage device.

[0014] Compared with the prior art, the present invention has the following beneficial effects:

[0015] The present disclosure separates the sampling sub-device from the liquid storage device of the sample, and the sampling sub-device can realize sampling at multiple positions. After sampling, the sample is transported to the liquid storage device for storage through the liquid collection tube. After each sampling, the sampling sub-device can be emptied for the next sampling, and the liquid storage device for storing the sample is partitioned to form separate storage spaces, which can be separated and stored after sampling seawater in different areas, so that multi-point sampling in different areas can be realized in one flight, reducing the number of round-trip flights of the drone and improving the sampling efficiency. The advantages of the present disclosure and the advantages of additional aspects will be described in detail in the following specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The accompanying drawings constituting a part of the present disclosure are used to provide a further understanding of the present disclosure. The exemplary embodiments of the present disclosure and the description thereof are used to explain the present disclosure but do not constitute a limitation of the present disclosure.

[0017] Figure 1 is a structural schematic diagram of a seawater sampling device based on a drone according to Embodiment 1 of the present disclosure;

[0018] Figure 2 is an external schematic diagram of a liquid storage device and a traction device in Embodiment 1 of the present disclosure arranged in the same housing;

[0019] Figure 3 is a schematic diagram of the internal structure of the liquid storage device according to Embodiment 1 of the present disclosure from a top view;

[0020] Figure 4is a schematic diagram of a cross-sectional structure of a liquid storage device according to Embodiment 1 of the present disclosure from a front view angle;

[0021] Figure 5 is a first structural schematic diagram of a sampling sub-device according to Embodiment 1 of the present disclosure;

[0022] Figure 6 is a schematic diagram of a drone according to Embodiment 1 of the present disclosure provided with a photovoltaic panel 1;

[0023] Figure 7 is a second structural schematic diagram of the sampling sub-device of Embodiment 1 of the present disclosure;

[0024] Figure 8 is a schematic structural diagram of a traction device according to Embodiment 1 of the present disclosure;

[0025] Wherein: 1. photovoltaic panel, 2. upper chamber, 3. lower chamber, 4. support frame, 5. first traction rope, 6. piston, 7. piston rod, 8. lower plate of sampling device, 9. upper plate of sampling device, 10. traction device, 11. liquid collection tube, 12. diversion chamber, 13. diversion tube, 14. sample storage bottle, 15. water pump, 16. third electric valve, 17. pipe reinforcer, 18. alignment port, 19. traction device power supply, 20. partition, 21. water level sensor, 22. second traction rope, 23. alignment buckle, 24. connecting buckle, 25. retractable shell, 26. first electric valve, 27. depth sensor, 28. second electric valve, 29. secondary gear, 30. side traction gear, 31. winch, 32. secondary rotating shaft, 33. rotating shaft, 34. rotating shaft fixing hole, 35. secondary rotating shaft fixing hole. DETAILED DESCRIPTION

[0026] The present disclosure is further described below in conjunction with the accompanying drawings and embodiments.

[0027] It should be noted that the following detailed descriptions are exemplary and are intended to provide further explanation of the present disclosure. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present disclosure belongs.

[0028] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit exemplary embodiments according to the present disclosure. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof. It should be noted that, in the absence of conflict, the various embodiments in the present disclosure and the features in the embodiments can be combined with each other. The embodiments will be described in detail below in conjunction with the accompanying drawings.

[0029] Example 1

[0030] In the technical solutions disclosed in one or more embodiments, Figures 1 to 8 As shown, a seawater sampling device based on a drone comprises: a drone, a traction device 10, a liquid storage device and a sampling sub-device; the sampling sub-device can be lifted and fixed under the drone through the traction device 10, and the sampling sub-device is used to land at a set position area of ​​the seawater to realize seawater sampling; the liquid storage device is arranged on the drone, and samples are taken and stored from the sampling sub-device through a liquid collection pipe 11;

[0031] The liquid storage device is provided with a plurality of partitions, each partition is separated to form an independent storage space, each partition is connected to a separate shunt pipe 13, the upper end of the liquid taking pipe 11 is connected to each shunt pipe 13 through a shunt bin 12; a third electric valve 16 is provided at the connection between the shunt bin 12 and each shunt pipe 13;

[0032] In this embodiment, first, the sampling sub-device is separated from the liquid storage device for the sample. The sampling sub-device can realize sampling at multiple positions. After sampling, the sample is transported to the liquid storage device for storage through the liquid sampling tube 11. After each sampling, the sampling sub-device can be emptied for the next sampling, and the liquid storage device for storing the sample is partitioned to form separate storage spaces. Seawater samples from different areas can be sampled and stored separately, thereby realizing multi-point sampling in different areas in one flight, reducing the number of round-trip flights of the drone and improving the sampling efficiency.

[0033] In some embodiments, the liquid storage device is fixedly mounted on the drone, such as Figure 1 and Figure 3 As shown, the liquid storage device can be configured as a cylindrical cavity;

[0034] A feasible technical solution is that the interior of the cylindrical cavity of the liquid storage device is separated by a partition plate to form multiple partitions; when partitioning, it is necessary to perform isolation processing between the partitions to avoid the contamination of the seawater sample;

[0035] Another feasible technical solution is to respectively arrange a plurality of sample storage bottles 14 in the cylindrical cavity to store water samples from different regions; the sample storage bottles 14 are arranged as a fan-shaped column structure, and the fan-shaped surface of each sample storage bottle 14 is adapted to the inner wall of the cylindrical cavity; the sample storage bottles 14 are distributed in the cylindrical cavity according to a circular array;

[0036] In the above scheme in this embodiment, the sample storage bottle 14 is configured as a fan-shaped structure that is compatible with the cylindrical cavity of the liquid storage device, which can save space to the maximum extent and increase the number of sample storage bottles 14; and the sample storage bottles 14 are configured to be independently arranged, which can avoid infiltration between different samples, improve the effectiveness of the sampling operation, improve the accuracy of the samples, and can accurately reflect the water quality conditions in the designated area.

[0037] Specifically, eight fan-shaped sample storage bottles 14 are fixedly connected inside the liquid storage device in this embodiment;

[0038] Furthermore, after sampling is completed, the liquid in the liquid storage device needs to be taken out. The upper end of the sample storage bottle 14 is provided with an opening, and a sealing door that can be opened and closed is provided at the opening; the sealing door can be an electric door; the liquid in the liquid storage device can be taken out by opening the electric door;

[0039] Each sample storage bottle 14 is provided with a liquid inlet, which is connected to the diversion chamber 12 through a diversion tube 13. Each diversion tube 13 is provided with an electrically controlled electric door. After the sample is obtained in the diversion chamber 12, a corresponding electric door opens to allow the sample to flow into the sample storage bottle 14, while the other electric doors are closed to ensure that the sample will not be adulterated. A liquid collection tube 11 is provided below the diversion chamber 12, and the liquid collection tube 11 extends to below the lower chamber 3, and a certain length is reserved to facilitate the extraction of sample seawater from the sampling sub-device.

[0040] In a specific implementation scheme, the specific structure of the diversion chamber 12 is set as a cylindrical structure; the third electric valve 16 is respectively set at the position corresponding to each partition on the outer wall of the cylinder;

[0041] Optionally, in order to transport the water sample to the diversion chamber 12 through the liquid collection pipe 11, a water pump 15 is connected to the lower end of the diversion chamber, and the two ends of the water pump 15 are respectively connected to the liquid collection pipe 11 and the diversion chamber 12;

[0042] It is feasible that a pipe reinforcer 17 is provided at the upper end of the liquid extraction pipe 11, and the liquid extraction pipe 11 is fixedly connected to the lower end of the liquid storage device through the pipe reinforcer 17. The pipe reinforcer 17 strengthens the liquid extraction pipe 11, thereby ensuring the stability of the liquid extraction pipe 11 and reducing shaking during the stable rising of seawater;

[0043] In some embodiments, the power supply of the entire device can be photovoltaic power supply. Specifically, photovoltaic panels 1 are installed on the top and side of the drone, respectively, which can generate solar power to ensure its endurance. The photovoltaic panel 1 is connected to a power module, and the power module is connected to the power consumption device of the drone and the sampling device;

[0044] In view of the problem in the background technology, the existing sampling sub-device cannot smoothly fall below the sea surface due to the buoyancy when it is lowered into the seawater, thus making sampling difficult. This embodiment improves the structure of the sampling sub-device.

[0045] Furthermore, if Figure 1 and Figure 5 As shown, the sampling sub-device includes a retractable housing 25, and the two end surfaces of the retractable housing 25 are fixedly connected to the sampling device lower plate 8 and the sampling device upper plate 9 to form a compressible cavity; the sampling device lower plate 8 and the sampling device upper plate 9 are respectively provided with through holes, and one or more second electric valves 28 are respectively provided at the through holes;

[0046] Optionally, there may be multiple through holes provided on the lower plate 8 of the sampling device and the upper plate 9 of the sampling device. Preferably, the positions of the through holes on the two plates correspond to each other.

[0047] Through holes are provided on the upper and lower sampling device lower plates 8 and the sampling device upper plates 9, and the internal cavity is communicated with the outside by controlling the second electric valve 28 of the sampling sub-device. When the sampling sub-device is lowered, the through holes on the sampling device lower plates 8 and the sampling device upper plates 9 are opened, so that the influence of buoyancy on the lowering of the sampling sub-device can be reduced, so that the sampling sub-device can enter the water smoothly;

[0048] A feasible technical solution is a solution for realizing extension and retraction of the retractable shell 25. A piston rod 7 is arranged through the retractable shell 25, and a piston 6 is connected to the piston rod 7. The piston 6 and the piston rod 7 together constitute an electric piston. The piston 6 includes a plug structure and an electric drive mechanism. By controlling the movement of the piston 6, the piston rod 7 is extended and retracted, thereby controlling the extension and retraction of the retractable shell 25.

[0049] A first electric valve 26 is provided on the telescopic housing; when the first electric valve 26 is opened, the control device on the drone controls the piston 6 to move, driving the piston rod 7 to move, thereby compressing and extending the telescopic housing;

[0050] It can be realized that the first electric valve 26 is provided with an electric valve power device, and the electric valve power device can be a small steering gear provided on the first electric valve 26, and the first electric valve 26 is driven by the small steering gear provided on the first electric valve 26;

[0051] When in use, the electric piston is operated by power supply, and the piston 6 compresses or stretches the piston rod 7 to realize compression and opening of the sampling device.

[0052] The sampling sub-device is provided with a small hole with a second electric valve 28. During the sinking process, the electric door on the small hole opens, and seawater enters the sampling sub-device through the small hole. As a result, the inside and outside of the sampling sub-device are both seawater environments, overcoming the influence of buoyancy on the sampling sub-device and achieving rapid sinking of the sampling sub-device.

[0053] The sampling sub-device is a retractable structure. When it reaches the specified depth, the internal piston rod is activated to expand the sampling sub-device, and seawater flows into the sampling sub-device through the small hole of the second electric valve 28. When sampling, the first electric valve 26 and the second electric valve 28 are opened first, the piston 6 is controlled to move, and the piston rod 7 realizes the contraction of the retractable shell 25. When the entire sampling device enters the specified position in the water for sampling, the piston 6 is controlled to move, and the piston rod 7 is extended to extend the entire shell to ensure that the sample seawater can enter the collection device.

[0054] Specifically, the sampling sub-device is also provided with a water level sensor 21, and a depth sensor 27 is provided inside the sampling sub-device. The water level sensor 21 and the depth sensor 27 are respectively connected to the main controller provided on the drone for communication. When the water level sensor 21 and the depth sensor 27 both detect the presence of water, and the sampling sub-device is in the extended state, within a set time, the second electric valve 28 is closed to complete the sampling;

[0055] Specifically, the water level sensor 21 is a SI-U01 float liquid level sensor, and the depth sensor 27 is an IC-IMP-LR water depth sensor.

[0056] When the sampling sub-device is filled with seawater, that is, there are no bubbles in the sampling sub-device, the water level sensor 21 sends a signal, and when it reaches the specified depth, the depth sensor 27 sends a signal. The control device set on the drone receives two signals and controls the electric door to close, completing the sampling of seawater.

[0057] In this embodiment, the sampling sub-device is designed as a retractable structure to solve the influence of the buoyancy of the sampling sub-device on the sampling. Four small holes with second electric valves 28 can be opened on the upper and lower parts of the sampling sub-device, and a push-pull piston is arranged inside. The buoyancy effect is reduced by compression, thereby reducing energy consumption.

[0058] Furthermore, the retractable shell 25 is a lantern-like folding structure and can be made of soft materials such as rubber and silicone. The retractable shell 25 is alternately provided with inward folds and outward folds, and the surfaces in the middle of the folds are fitted together by compressing the sampling device lower plate 8 and the sampling device upper plate 9 at both ends, thereby achieving compression of the retractable shell 25.

[0059] Optionally, a control device is provided on the drone, and the control device includes a main controller. The second electric valve 28, the first electric valve 26, and the water level sensor 21 on the sampling sub-device are respectively connected to the main controller provided on the drone for communication, and the main controller controls the actions of the second electric valve 28 and the first electric valve 26, and collects the detection signal of the water level sensor 21;

[0060] The main controller is in communication connection with the third electric valve 16 and the water pump 15 on the liquid storage device, and is used to control the opening and closing of the third electric valve 16 and the operation of the water pump 15;

[0061] The main controller is in communication connection with the electric valve power device of the second electric valve 28 and the first electric valve 26 on the sampling sub-device;

[0062] The main controller is in communication connection with the traction device 10 and is used to control the operation of the traction device 10 .

[0063] The sampling sub-device provided in this embodiment can achieve buoyancy adjustment, reducing the difficulty of operation. Through the setting of the compressed shell and the setting of the upper and lower through holes, the sampling sub-device can reduce the influence of buoyancy during the sinking process, achieve rapid sinking, and reduce the energy consumption of the equipment.

[0064] A further technical solution is that a traction device 10 is provided on the UAV, and the sampling sub-device is hung on the traction device 10 through a first traction rope 5, and a plurality of second traction ropes 22 are symmetrically arranged on the upper end of the sampling sub-device, and the first traction rope 5 is connected to the second traction rope 22 through a connecting buckle 24; and the connecting buckle 24 is facing the center direction of the sampling sub-device.

[0065] Optionally, an alignment opening 18 is provided at the place where the traction device 10 is connected to the first traction rope 5, and when the first traction rope 5 is retracted into the traction device 10, the connection buckle 24 is inserted into the alignment opening 18;

[0066] Furthermore, an alignment buckle 23 is provided at the lower end of the connecting buckle 24. When the sampling sub-device is retracted to the top, the alignment buckle 23 is aligned with the alignment port 18, and the position of the liquid collection tube 11 is aligned with the second electric valve 28, so that the liquid collection tube 11 can be accurately extended into the valve port of the second electric valve 28 and enter the sampling sub-device.

[0067] In this embodiment, an alignment opening 18 is provided under the traction device 10, which can be combined with an alignment buckle 23. The alignment buckle 23 allows the sampling sub-device to be stably combined with the entire device without shaking, falling, etc., and can reduce the wear of the first traction rope 5 during the drone transportation process.

[0068] Preferably, three second traction ropes 22 are arranged at an edge of the upper plate 9 of the sampling device of the sampling sub-device in an equidistant and circumferentially symmetrical manner; the three second traction ropes 22 are connected by a connecting buckle 24, and after being pulled by the first traction rope 5, the connecting buckle 24 is directly above the center of the upper plate 9 of the sampling device;

[0069] In order to facilitate the loading of the UAV, the traction device 10 and the liquid storage device are arranged in the same housing, including an upper chamber 2 and a lower chamber 3, a partition 20 is arranged between the upper chamber 2 and the lower chamber 3 for separation, the traction device 10 is arranged in the lower chamber 3, and the liquid storage device is arranged in the upper chamber 2;

[0070] In some embodiments, the traction device 10 adopts a winch structure, including a winch 31, and a side traction gear 30, a secondary gear 29, a rotating shaft 33, and a secondary rotating shaft 32 that are transmission-connected;

[0071] The power output end of the winch 31 is connected to the side traction gear 30, driving the side traction gear 30 to rotate; the side traction gear 30 is meshed and connected with the sub-gear 29, and the rotation of the side traction gear 30 drives the sub-gear 29 to rotate, and at the same time drives the rotation shaft 33 to rotate; the sub-gear 29 is transmission-connected to the sub-rotation shaft 32, driving the sub-rotation shaft 32 to rotate;

[0072] The traction device power supply 19 is provided to provide electric energy for the winch 31. The winch 31 rotates to drive the first traction rope 5 to be wound around the drum connected to the rotating shaft 33 of the winch, thereby achieving traction and lowering of the collection device.

[0073] Specifically, the rotating shaft 33 and the auxiliary rotating shaft 32 are fixed at one end in the lower chamber 3 through the rotating shaft fixing hole 34 and the auxiliary rotating shaft fixing hole 35 respectively;

[0074] The auxiliary rotating shaft 32 provided in this embodiment can cooperate with the rotating shaft 33, so that the first traction rope 5 can fall and rise smoothly and steadily;

[0075] Optionally, the first traction rope 5 is wound around the rotating shaft 33;

[0076] Optionally, a support frame 4 is also provided on the bottom of the drone to provide stable support for the drone when it is docked;

[0077] The above-mentioned device of this embodiment can cooperate with drones to achieve long-distance and unmanned operation, greatly improving the sampling efficiency and flexibility. In view of the excessive energy consumption caused by the existing device's own buoyancy, which cannot support drones to perform multi-point, multiple, and multi-depth sampling, the sampling sub-device is set to a compressible structure, which reduces the buoyancy effect and thus reduces energy consumption through compression, and cooperates with the solar panels equipped on the drone to realize a long-endurance drone seawater sampling device.

[0078] The multi-point, multi-time, multi-depth and long-endurance unmanned aerial vehicle seawater sampling device of the present embodiment can sample seawater in different areas and store them separately, realizing multi-point sampling in different areas without repeated back-and-forth operations, and reducing buoyancy through compression to reduce energy consumption, and achieving long endurance in conjunction with solar panels.

[0079] Example 2

[0080] Based on Example 1, this embodiment provides a sampling control method for a seawater sampling device based on a drone based on Example 1, which can be implemented in a main controller on the drone, including the following steps:

[0081] Step 1: Control the UAV to fly to the set target area, and control the traction device 10 to lower the sampling sub-device;

[0082] Step 2, the initial state of the sampling sub-device is controlled such that the second electric valve 28 is open and the piston 6 is in a compressed state;

[0083] Step 3, obtaining signals from the water level sensor 21 and the depth sensor 27 on the sampling sub-device, and controlling the piston movement to put the sampling sub-device into an expanded state;

[0084] Step 4: According to the signals obtained from the depth sensor 27 and the water level sensor 21 on the sampling sub-device, the second electric valve 28 is closed, and the traction device 10 is controlled to pull up the sampling sub-device to store the sampled water into the corresponding partition of the liquid storage device;

[0085] Furthermore, before step 1, path planning is also performed based on the target area to obtain a planned path for multi-point sampling. The specific steps are:

[0086] Step A1, obtaining a map containing a target area;

[0087] Step A2: Mark each target location on the map according to the target location of multi-point sampling;

[0088] Step A3, connecting the target positions in pairs;

[0089] Step A4: connect the target positions in sequence, and the last target position is connected to the sample storage point to form multiple paths, and select the shortest path as the planned path.

[0090] Furthermore, the sampled water is stored in a partition corresponding to the liquid storage device, comprising the following steps:

[0091] Step B1, controlling the third electric valve 16 of the corresponding partition of the liquid storage device to open;

[0092] Step B2, insert the liquid collection tube 11 into the sampling sub-device, start the water pump 15 to transport the sampled liquid sample to the corresponding partition of the liquid storage device; then close the water pump 15 and the third electric valve 16 in sequence.

[0093] The above method of this embodiment includes various processes of path planning and sampling, and can cooperate with drones to achieve long-distance and unmanned operations, greatly improving sampling efficiency and flexibility.

[0094] The above description is only a preferred embodiment of the present disclosure and is not intended to limit the present disclosure. For those skilled in the art, the present disclosure may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present disclosure shall be included in the protection scope of the present disclosure.

[0095] Although the above describes the specific implementation methods of the present disclosure in conjunction with the accompanying drawings, it is not intended to limit the scope of protection of the present disclosure. Technical personnel in the relevant field should understand that on the basis of the technical solution of the present disclosure, various modifications or variations that can be made by those skilled in the art without creative work are still within the scope of protection of the present disclosure.

Claims

1. A seawater sampling device based on a drone, characterized by: The invention comprises an unmanned aerial vehicle, a traction device, a liquid storage device and a sampling sub-device; the sampling sub-device can be lifted and fixed under the unmanned aerial vehicle through the traction device, and the sampling sub-device is used to land at a set position area of ​​the seawater to realize seawater sampling; the liquid storage device is arranged on the unmanned aerial vehicle, and samples are taken and stored from the sampling sub-device through a liquid collection tube; The liquid storage device is provided with a plurality of partitions, each partition is separated to form an independent storage space, each partition is connected to a separate shunt pipe, and the upper end of the liquid extraction pipe is connected to each shunt pipe through a shunt bin; A third electric valve is arranged at the connection between the diversion chamber and each diversion pipe.

2. The seawater sampling device based on an unmanned aerial vehicle according to claim 1, characterized in that: The liquid storage device is configured as a cylindrical cavity, and the interior of the cylindrical cavity is separated by a partition plate to form a plurality of partitions.

3. The seawater sampling device based on an unmanned aerial vehicle according to claim 1, characterized in that: The liquid storage device is configured as a cylindrical cavity, and a plurality of sample storage bottles are respectively arranged in the cylindrical cavity. The sample storage bottles are configured as a fan-shaped column structure, and the fan-shaped surface of each sample storage bottle is adapted to the inner wall of the cylindrical cavity; the sample storage bottles are distributed in the cylindrical cavity in a circular array.

4. The seawater sampling device based on an unmanned aerial vehicle as claimed in claim 3, characterized in that: An opening is arranged at the upper end of the sample storage bottle, and a sealing door which can be opened and closed is arranged at the opening.

5. The seawater sampling device based on an unmanned aerial vehicle according to claim 1, characterized in that: The diversion chamber is set as a cylindrical structure; the third electric valve is respectively set at the position corresponding to each partition on the outer wall of the cylinder; A water pump is connected to the lower end of the diversion chamber, and the two ends of the water pump are respectively connected to the liquid extraction pipe and the diversion chamber; Alternatively, a tube reinforcer is provided at the upper end of the liquid collection tube, and the liquid collection tube is fixedly connected to the lower end of the liquid storage device through the tube reinforcer.

6. The seawater sampling device based on an unmanned aerial vehicle according to claim 1, characterized in that: The sampling sub-device includes a retractable shell, and the two end surfaces of the retractable shell are fixedly connected to the lower plate of the sampling device and the upper plate of the sampling device to form a compressible cavity; through holes are respectively arranged on the lower plate of the sampling device and the upper plate of the sampling device, and one or more second electric valves are respectively arranged at the through holes.

7. The seawater sampling device based on an unmanned aerial vehicle according to claim 6, characterized in that: A piston rod is arranged through the retractable housing, a piston is connected to the piston rod, the piston 6 and the piston rod 7 together form an electric piston, and the piston 6 includes a plug structure and an electric drive mechanism; a first electric valve is arranged on the retractable housing; when the first electric valve is opened, the control device on the drone controls the piston to drive the piston rod to move, so that the retractable housing is compressed and extended; Alternatively, the retractable shell is a lantern-like folding structure, and the retractable shell is alternately provided with inward folds and outward folds. The surfaces in the middle of the folds are fitted together by compressing the lower plate and the upper plate of the sampling device at both ends, thereby achieving compression of the retractable shell.

8. The seawater sampling device based on an unmanned aerial vehicle according to claim 1, characterized in that: The sampling sub-device is also provided with a water level sensor, and a depth sensor is provided inside the sampling sub-device. The water level sensor and the depth sensor are respectively connected to the main controller provided on the drone for communication; Alternatively, a traction device is provided on the drone, the sampling sub-device is hung on the traction device through a first traction rope, a plurality of second traction ropes are symmetrically provided on the upper end of the sampling sub-device, and the first traction rope and the second traction rope are connected through a connecting buckle; An alignment opening is provided at the place where the traction device is connected to the first traction rope, and when the first traction rope is retracted into the traction device, the connecting buckle is inserted into the alignment opening to achieve fixation; An alignment buckle is provided at the lower end of the connection buckle. When the sampling sub-device is retracted to the top, the alignment buckle is aligned with the alignment port, the position of the liquid collection tube is aligned with the second electric valve, and the liquid collection tube is extended into the valve port of the second electric valve to enter the sampling sub-device; Alternatively, the traction device includes a winch, and a side traction gear, a secondary gear, a rotating shaft and a secondary rotating shaft that are transmission-connected; The power output end of the winch is connected to the side traction gear, driving the side traction gear to rotate; the traction gear is meshed and connected with the sub-gear, and the rotation of the side traction gear drives the sub-gear to rotate, and at the same time drives the rotation of the rotating shaft; the sub-gear is connected to the sub-rotating shaft, driving the sub-rotating shaft to rotate; The rotation of the winch drives the first traction rope to be wound around a drum connected to the rotating shaft of the winch.

9. The sampling control method of the seawater sampling device based on a drone according to any one of claims 1 to 8, characterized in that: The steps include: Control the UAV to fly to the set target area and control the traction device to lower the sampling sub-device; The initial state of the sampling sub-device is controlled such that the second electric valve is open and the piston is in a compressed state; When the water level sensor and the depth sensor on the sampling sub-device detect a signal, the piston is controlled to move the sampling sub-device to the unfolded state and the timing starts; According to the signals obtained from the depth sensor and the water level sensor on the sampling sub-device, the second electric valve is closed, and the traction device is controlled to pull up the sampling sub-device to store the sampled water into the corresponding partition of the liquid storage device.

10. The sampling control method according to claim 9, characterized in that: Before controlling the UAV to fly, path planning is also required based on the target area to obtain a planned path for multi-point sampling. The specific steps are as follows: Get a map containing the target area; According to the target location of multi-point sampling, mark each target location on the map; Connect the two target positions; Connect the target locations in sequence, and the last target location is connected to the sample storage point to form multiple paths, and the shortest path is selected as the planned path; Alternatively, storing the sampled water in a corresponding partition of the liquid storage device comprises the following steps: Controlling the third electric valve of the corresponding partition of the liquid storage device to open; The liquid collection tube is extended into the sampling sub-device, and the water pump is started to transport the sampled liquid sample to the corresponding partition of the liquid storage device, and then the water pump and the third electric valve are closed in sequence.

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