Unmanned aerial vehicle-based seawater sampling device and sampling control method

Abstract

The present disclosure relates to the technical field of water body sampling equipment, and proposes a seawater sampling device based on a UAV and a sampling control method, which comprises a UAV, a traction device, a liquid storage device and a sampling device; the sampling device is fixed under the UAV through the traction device and can be lowered, the sampling device is used to land in a set position area of seawater to realize seawater sampling; the liquid storage device is arranged on the UAV and stores the sample from the sampling device through a liquid taking pipe; the liquid storage device is provided with multiple partitions, each partition is spaced apart to form an independent storage space, each partition is connected to a separate shunt pipe, the upper end of the liquid taking pipe is connected to each shunt pipe through a shunt bin, and a valve is arranged at the connection between the shunt bin and each shunt pipe. The device of the present disclosure stores the water samples from different areas separately, realizes multi-point sampling in different areas in one flight, reduces the number of round trips of the UAV, and improves the sampling efficiency.

Description

Technical Field

[0001] This disclosure relates to the technical field of water sampling equipment, specifically to a seawater sampling device and method based on an unmanned aerial vehicle (UAV). Background Technology

[0002] The statements in this section are merely background information relating to this disclosure and do not necessarily constitute prior art.

[0003] Marine ecosystems are among the most complex ecosystems on Earth, making the rapid and accurate detection of seawater quality a critical issue. Traditional manual water sampling methods are inefficient and often present significant inconveniences due to the diverse sampling environments. In recent years, with the development of unmanned aerial vehicle (UAV) technology, the use of UAVs for rapid sampling and detection has become a growing trend. UAVs are not only small and flexible but also easier to relocate, making UAV sampling an inevitable approach.

[0004] The inventors discovered in their research that current methods of using drones for seawater sampling can only collect one seawater sample per flight. The seawater sample must be delivered to a recovery point (such as on a ship or on the shore) for retrieval before flying to other seawater sampling points. Furthermore, during the collection process, the buoyancy of the collection device affects the sampling device. When the direct sampling component of the collection device is lowered, the buoyancy or impact of the seawater on the collection device makes the seawater sampling operation difficult. Summary of the Invention

[0005] To address the aforementioned issues, this disclosure proposes a seawater sampling device and method based on unmanned aerial vehicles (UAVs), which enables multi-point sampling in a single flight, thereby improving sampling efficiency. Furthermore, by improving the structure of the sampling device, the difficulty of sampling is reduced, further enhancing sampling efficiency.

[0006] To achieve the above objectives, the present disclosure adopts the following technical solution:

[0007] One or more embodiments provide a seawater sampling device based on a drone, including a drone, a towing device, a liquid storage device, and a sampling sub-device; the sampling sub-device is raised and lowered and fixed under the drone by the towing device, and the sampling sub-device is used to land in a set location area of ​​seawater to collect seawater samples; the liquid storage device is set on the drone and collects and stores samples from the sampling sub-device through a liquid collection tube.

[0008] The liquid storage device is equipped with multiple partitions, each partition forming an independent storage space. Each partition is connected to a separate distribution pipe. The upper end of the liquid extraction pipe is connected to each distribution pipe through a distribution chamber. A third electric valve is installed at the connection between the distribution chamber and each distribution pipe.

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

[0010] Control the drone to fly to the designated target area, and control the traction device to lower the sampling sub-device;

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

[0012] When the water level sensor and depth sensor on the sampling sub-device detect signals, they control the piston to move the sampling sub-device into the deployed state and start timing.

[0013] Based on the signals from the depth sensor and 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, storing the sampled water into the corresponding compartment of the liquid storage device.

[0014] Compared with the prior art, the beneficial effects of this disclosure are as follows:

[0015] This disclosure separates the sampling sub-device from the liquid storage device for the samples. The sampling sub-device can perform sampling at multiple locations. After sampling, the samples are transported to the liquid storage device for storage via a liquid collection tube. After each sampling, the sampling sub-device can be emptied for the next sampling. The liquid storage device for sample storage is partitioned, forming separate storage spaces. This allows for the separate storage of seawater samples taken from different areas, enabling multi-point sampling in different areas during a single flight. This reduces the number of round trips required by the UAV and improves sampling efficiency. The advantages and additional benefits of this disclosure will be described in detail in the following specific embodiments. Attached Figure Description

[0016] The accompanying drawings, which form part of this disclosure, are used to provide a further understanding of this disclosure. The illustrative embodiments of this disclosure and their descriptions are used to explain this disclosure and do not constitute a limitation thereof.

[0017] Figure 1 This is a schematic diagram of the structure of the seawater sampling device based on an unmanned aerial vehicle (UAV) according to Embodiment 1 of this disclosure;

[0018] Figure 2 This is an external schematic diagram of the liquid storage device and the traction device disposed in the same housing according to Embodiment 1 of this disclosure;

[0019] Figure 3 This is a top view of the internal structure of the liquid storage device according to Embodiment 1 of this disclosure;

[0020] Figure 4This is a frontal view of the cross-sectional structure of the liquid storage device of Embodiment 1 of this disclosure;

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

[0022] Figure 6 This is a schematic diagram of the installation of photovoltaic panel 1 on a drone according to Embodiment 1 of this disclosure;

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

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

[0025] The components are as follows: 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 reinforcement; 18. Alignment port; 19. Traction device power supply; 20. Partition plate; 21. Water level sensor; 22. Second traction rope; 23. Alignment buckle; 24. Connecting buckle; 25. Telescopic 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 Implementation

[0026] The present disclosure will be further described below with reference to the accompanying drawings and embodiments.

[0027] It should be noted that the following detailed descriptions are exemplary and intended to provide further illustration of this disclosure. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure pertains.

[0028] It should be noted that the terminology used herein is for descriptive purposes only and is not intended to limit the exemplary embodiments according to this disclosure. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof. It should be noted that, without conflict, the various embodiments and features within those embodiments can be combined with each other. The embodiments will now be described in detail with reference to the accompanying drawings.

[0029] Example 1

[0030] In one or more of the technical solutions disclosed in the embodiments, such as Figures 1 to 8 As shown, a seawater sampling device based on a drone includes: a drone, a traction device 10, a liquid storage device, and a sampling sub-device; the sampling sub-device can be raised and lowered and fixed under the drone by the traction device 10, and the sampling sub-device is used to land in a set location area of ​​seawater to collect seawater samples; the liquid storage device is installed on the drone and takes samples from the sampling sub-device for storage through a liquid collection tube 11.

[0031] The liquid storage device is equipped with multiple partitions, each partition forming an independent storage space. Each partition is connected to a separate distribution pipe 13. The upper end of the liquid extraction pipe 11 is connected to each distribution pipe 13 through a distribution chamber 12. A third electric valve 16 is installed at the connection between the distribution chamber 12 and each distribution pipe 13.

[0032] In this embodiment, the sampling sub-device and the liquid storage device for the sample are first separated. The sampling sub-device can sample from multiple locations. After sampling, the sample is transported to the liquid storage device for storage through the liquid collection tube 11. After each sampling, the sampling sub-device can be emptied for the next sampling. The liquid storage device for storing the sample is divided into partitions to form separate storage spaces. Seawater samples from different areas can be sampled and stored separately, thereby enabling multi-point sampling in different areas in one flight, reducing the number of round trips of the UAV and improving 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] One feasible technical solution is that the cylindrical cavity of the liquid storage device is divided into multiple partitions by a partition plate; when partitioning, isolation treatment is required between each partition to avoid contamination of seawater samples.

[0035] Another feasible technical solution is to set multiple sample storage bottles 14 in a cylindrical cavity to store water samples from different areas; the sample storage bottles 14 are set as fan-shaped cylindrical structures, 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 a circumferential array in the cylindrical cavity.

[0036] 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. Furthermore, the sample storage bottles 14 are configured to be set independently, which can avoid the penetration between different samples, improve the effectiveness of the sampling operation, improve the accuracy of the samples, and accurately reflect the water quality of the designated area.

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

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

[0039] Each sample storage bottle 14 is equipped with a liquid inlet, which is connected to the distribution chamber 12 via a distribution pipe 13. Each distribution pipe 13 is equipped with an electrically controlled electric door. After the sample is obtained in the distribution chamber 12, one corresponding electric door opens to allow the sample to flow into the sample storage bottle 14, while the other electric doors close to ensure that the sample is not contaminated. A liquid extraction pipe 11 is provided below the distribution chamber 12, extending below the lower chamber 3 and with a certain length reserved to facilitate the extraction of seawater samples from the sampling sub-device.

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

[0041] Optionally, in order to transport water samples 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 connected to the liquid collection pipe 11 and the diversion chamber 12 respectively.

[0042] It is feasible to install a pipe reinforcement 17 at the upper end of the liquid intake pipe 11, which fixes the liquid intake pipe 11 to the lower end of the liquid storage device. The pipe reinforcement 17 strengthens the liquid intake pipe 11, thereby improving its stability during the steady rise of seawater and reducing swaying.

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

[0044] In view of the problems in the background art, the existing sampling sub-devices cannot smoothly fall below the sea surface during the process of being lowered into the sea due to the buoyancy, which makes sampling difficult. This embodiment improves the structure of the sampling sub-device in response to the above-mentioned problems.

[0045] Furthermore, such as Figure 1 and Figure 5 As shown, the sampling sub-device includes a retractable outer shell 25, with the two ends of the retractable outer shell 25 fixedly connected to the lower plate 8 and the upper plate 9 of the sampling device, forming a compressible cavity; the lower plate 8 and the upper plate 9 of the sampling device 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 on the lower plate 8 and the upper plate 9 of the sampling device. Preferably, the positions of the through holes on the two plates are corresponding.

[0047] Through holes are provided on the lower plate 8 and upper plate 9 of the two sampling devices. The internal cavity is connected to the outside by controlling the second electric valve 28 of the sampling sub-device. During the lowering process of the sampling sub-device, the through holes on the lower plate 8 and upper plate 9 of the sampling device are opened, which reduces the impact of buoyancy on the lowering of the sampling sub-device and allows the sampling sub-device to enter the water smoothly.

[0048] One feasible technical solution is a telescopic housing 25 that enables telescopic movement. A piston rod 7 is installed through the telescopic housing 25, and a piston 6 is connected to the piston rod 7. The piston 6 and the piston rod 7 together form 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 extends and retracts, thereby controlling the telescopic movement of the telescopic housing 25.

[0049] A first electric valve 26 is provided on the retractable outer shell; when the first electric valve 26 is opened, the control device on the UAV controls the piston 6 to move, which drives the piston rod 7 to move, thereby compressing and extending the retractable outer shell.

[0050] It is possible. The first electric valve 26 is equipped with an electric valve power unit, which can be driven by a small servo motor built into the first electric valve 26.

[0051] In use, the electric piston operates when powered by a power source. Piston 6 compresses or extends piston rod 7 to compress and open the sampling device.

[0052] The sampling sub-device is equipped 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. Thus, the inside and outside are both seawater environments, which overcomes the influence of buoyancy on the sampling sub-device and realizes the rapid sinking of the sampling sub-device.

[0053] The sampling sub-device is a telescopic structure. When it reaches a designated depth, its internal piston rod activates, expanding the sampling sub-device and allowing seawater to flow into it in large quantities through the small orifice of the second electric valve 28. During sampling, the first electric valve 26 and the second electric valve 28 first open, controlling the piston 6 to move, and the piston rod 7 to retract the telescopic outer shell 25. When the entire sampling device is submerged at the designated location in the water for sampling, the piston 6 is activated, and the piston rod 7 extends, causing the entire outer shell to extend and ensuring that the seawater sample can enter the sampling device.

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

[0055] Specifically, the water level sensor 21 is an SI-U01 float 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, i.e., there are no air bubbles in the sampling sub-device, the water level sensor 21 sends a signal and reaches the specified depth, the depth sensor 27 sends a signal. The control device set on the UAV receives the two signals and controls the electric door to close, thus completing the seawater sampling.

[0057] In this embodiment, the sampling sub-device is designed as a telescopic structure, which solves the problem of the sampling sub-device's own buoyancy affecting sampling. It has four small holes, each with a second electric valve 28, at both the top and bottom, and an internal push-pull piston. Compression reduces buoyancy, thereby reducing energy consumption.

[0058] Furthermore, the retractable outer shell 25 has a lantern-shaped folding structure and can be made of soft materials such as rubber and silicone. The retractable outer shell 25 has alternating inward and outward creases. By compressing the lower plate 8 and upper plate 9 of the sampling device at both ends, the surfaces in the middle of the creases are brought together, thereby achieving the compression of the retractable outer shell 25.

[0059] Optionally, the UAV is equipped with a control device, which 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 on the UAV. The main controller controls the action 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 communicatively connected to 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 communicatively connected to the electric valve power units of the second electric valve 28 and the first electric valve 26 on the sampling sub-device;

[0062] The main controller is communicatively connected to the traction device 10 and is used to control the operation of the traction device 10.

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

[0064] A further technical solution involves installing a traction device 10 on the drone, with the sampling sub-device suspended on the traction device 10 via a first traction rope 5. Multiple second traction ropes 22 are symmetrically arranged at the upper end of the sampling sub-device, and the first traction rope 5 and the second traction ropes 22 are connected by a connecting buckle 24, with the connecting buckle 24 facing the center of the sampling sub-device.

[0065] Optionally, an alignment port 18 is provided at the connection point of the traction device 10 and the first traction rope 5. When the first traction rope 5 is retracted into the traction device 10, the connecting buckle 24 is inserted into the alignment port 18.

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

[0067] In this embodiment, the traction device 10 is provided with an alignment port 18, which can be combined with the alignment buckle 23. The alignment buckle 23 makes the sampling sub-device stably combined with the whole device without shaking or falling off, and can reduce the wear of the first traction rope 5 during the transport of the UAV.

[0068] Preferably, the upper plate 9 of the sampling device of the sampling sub-device is provided with three second traction ropes 22 arranged in an equidistant circular symmetrical pattern on its edge; 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] To facilitate the mounting of the drone, the traction device 10 and the liquid storage device are housed in the same housing, including an upper chamber 2 and a lower chamber 3. A partition 20 is provided between the upper chamber 2 and the lower chamber 3 for separation. The traction device 10 is located in the lower chamber 3, and the liquid storage device is located 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 connected in a transmission.

[0071] The power output end of the winch 31 is connected to the side traction gear 30, which drives the side traction gear 30 to rotate. The side traction gear 30 is meshed with a secondary gear 29. The rotation of the side traction gear 30 drives the secondary gear 29 to rotate, which in turn drives the rotating shaft 33 to rotate. The secondary gear 29 is connected to the secondary rotating shaft 32, which drives the secondary rotating shaft 32 to rotate.

[0072] The traction device power supply 19 provides power to the winch 31. The rotation of the winch 31 drives the first traction rope 5 to wind around the drum connected to the rotating shaft 33 of the winch, thereby realizing the traction and lowering of the collecting device.

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

[0074] The secondary rotating shaft 32 provided in this embodiment can cooperate with the rotating shaft 33 to make the first traction rope 5 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 when the drone is docked;

[0077] The device described in this embodiment can work with drones to achieve long-distance and unmanned operation, significantly improving sampling efficiency and flexibility. Addressing the issue that existing devices consume excessive energy due to their own buoyancy, making it impossible to support multi-point, multi-depth sampling by drones, the sampling sub-device is designed as a compressible structure. Compression reduces buoyancy and thus energy consumption, and this design, combined with solar panels on the drone, enables a high-endurance drone-based seawater sampling device.

[0078] This embodiment of a multi-point, multi-depth, long-endurance UAV seawater sampling device can sample seawater from different areas and store it separately, achieving multi-point sampling in different areas without repeated back-and-forth operations. It also reduces energy consumption by compressing to reduce buoyancy and works in conjunction with solar panels to achieve long endurance.

[0079] Example 2

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

[0081] Step 1: Control the drone 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 so that the second electric valve 28 is open and the piston 6 is in a compressed state;

[0083] Step 3: Obtain the signals from the water level sensor 21 and the depth sensor 27 on the sampling sub-device, and control the piston to move the sampling sub-device to the deployed state;

[0084] Step 4: Based on the signals from the depth sensor 27 and the water level sensor 21 on the sampling sub-device, close the second electric valve 28, control the traction device 10 to pull up the sampling sub-device, and store the sampled water into the corresponding partition of the liquid storage device.

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

[0086] Step A1: Obtain a map containing the target area;

[0087] Step A2: Based on the target locations sampled from multiple points, mark each target location on the map;

[0088] Step A3: Connect the two target positions together;

[0089] Step A4: Connect the target locations sequentially, and connect the last target location to the sample storage point to form multiple paths. Select the shortest path as the planned path.

[0090] Furthermore, the sampled water is stored in the corresponding compartment of the liquid storage device, including the following steps:

[0091] Step B1: Open the third electric valve 16 of the corresponding zone of the control liquid storage device;

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

[0093] The method described in this embodiment includes various processes such as path planning and sampling, and can be used in conjunction with drones to achieve long-distance and unmanned operation, greatly improving sampling efficiency and flexibility.

[0094] The above description is merely a preferred embodiment of this disclosure and is not intended to limit this disclosure. Various modifications and variations can be made to this disclosure by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this disclosure should be included within the scope of protection of this disclosure.

[0095] While the specific embodiments of this disclosure have been described above in conjunction with the accompanying drawings, this is not intended to limit the scope of protection of this disclosure. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art without creative effort based on the technical solutions of this disclosure are still within the scope of protection of this disclosure.

Claims

1. A sampling control method for a seawater sampling device based on an unmanned aerial vehicle (UAV), characterized in that: The sampling device includes a drone, a towing device, a liquid storage device, and a sampling sub-device. The sampling sub-device can be raised and lowered and fixed below the drone via the towing device. The sampling sub-device is used to land in a designated area of ​​seawater to collect seawater samples. The liquid storage device is mounted on the drone and collects and stores samples from the sampling sub-device through a liquid collection tube. The liquid storage device is equipped with multiple partitions, each partition is separated to form an independent storage space, and each partition is connected to a separate distribution pipe. The upper end of the liquid extraction pipe is connected to each distribution pipe through a distribution chamber. A third electric valve is installed at the connection between the diversion chamber and each diversion pipe; Photovoltaic panels are installed on the top and sides of the drone, and power modules are connected to the photovoltaic panels. The power modules are connected to the power supply devices of the drone and the sampling device. The sampling control method includes the following steps: controlling the UAV to fly to the set target area, and controlling the traction device to lower the sampling sub-device; The sampling sub-device includes a telescopic outer shell, with the lower plate and the upper plate of the sampling device fixedly connected to both ends of the telescopic outer shell to form a compressible cavity; the lower plate and the upper plate of the sampling device are respectively provided with through holes, and one or more second electric valves are respectively provided at the through holes; The initial state of the control sampling sub-device is that the second electric valve is open and the piston is in a compressed state; When the water level sensor and depth sensor on the sampling sub-device detect signals, they control the piston to move the sampling sub-device into the deployed state and start timing. Based on the signals from the depth sensor and 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, storing the sampled water into the corresponding compartment of the liquid storage device. The sampling sub-device can collect samples from multiple locations. After sampling, the sample is transported to a liquid storage device for storage through a liquid collection tube. After each sampling, the sampling sub-device is emptied to prepare for the next sampling. Before controlling the drone's flight, path planning based on the target area is also performed to obtain a planned path that undergoes multi-point sampling. The specific steps are as follows: Get a map containing the target area; Based on the target locations sampled from multiple points, mark each target location on the map; Connect the two target locations together; The target locations are connected sequentially, and the last target location is connected to the sample storage point to form multiple paths. The shortest path is selected as the planned path. Alternatively, the sampled water can be stored in the corresponding compartment of a liquid storage device, including the following steps: The third electric valve of the corresponding section of the control liquid storage device is opened; Insert the liquid sampling tube into the sampling sub-device, start the water pump to transport the sampled liquid to the corresponding section of the liquid storage device, and then turn off the water pump and the third electric valve in sequence.

2. The sampling control method for the UAV-based seawater sampling device as described in claim 1, characterized in that: The liquid storage device is configured as a cylindrical cavity, and the interior of the cylindrical cavity is divided into multiple partitions by partition plates.

3. The sampling control method for the UAV-based seawater sampling device as described in claim 1, characterized in that: The liquid storage device is configured as a cylindrical cavity, and multiple sample bottles are respectively arranged in the cylindrical cavity. The sample bottles are configured as fan-shaped cylindrical structures, and the fan-shaped surface of each sample bottle is adapted to the inner wall of the cylindrical cavity. The sample bottles are distributed in a circumferential array in the cylindrical cavity.

4. The sampling control method for the UAV-based seawater sampling device as described in claim 3, characterized in that: The sample storage bottle has an opening at the top, and a sealable door that can be opened and closed is provided at the opening.

5. The sampling control method for the UAV-based seawater sampling device as described in claim 1, characterized in that: The diversion chamber is designed as a cylindrical structure; a third electric valve is installed on the outer wall of the cylinder corresponding to the location of each partition. A water pump is connected to the lower end of the diversion chamber, and the two ends of the water pump are connected to the liquid intake pipe and the diversion chamber, respectively. Alternatively, a tube reinforcement device can be installed at the upper end of the liquid extraction tube to fix the liquid extraction tube to the lower end of the liquid storage device.

6. The sampling control method for the UAV-based seawater sampling device as described in claim 1, characterized in that: A piston rod is installed through the retractable outer shell, and a piston is connected to the piston rod. The piston and piston rod together form an electric piston. The piston includes a plug structure and an electric drive mechanism. A first electric valve is installed on the retractable outer shell. When the first electric valve is opened, the control device on the UAV controls the piston, which drives the piston rod to move, thereby compressing and extending the retractable outer shell. Alternatively, the retractable shell can be a lantern-shaped folding structure with alternating inward and outward creases. Compression of the retractable shell is achieved by pressing the lower and upper plates of the sampling devices at both ends together to bring the surfaces in the middle of the creases together.

7. The sampling control method for the UAV-based seawater sampling device as described in claim 1, characterized in that: The sampling sub-device is also equipped with a water level sensor and a depth sensor. The water level sensor and the depth sensor are respectively connected to the main controller installed on the UAV. Alternatively, a traction device can be installed on the drone, and the sampling sub-device can be hung on the traction device by a first traction rope. Multiple second traction ropes are symmetrically arranged on the upper end of the sampling sub-device, and the first traction rope and the second traction rope are connected by a connecting buckle. An alignment slot is provided at the connection point of the traction device to the first traction rope. When the first traction rope is retracted into the traction device, the connecting buckle is inserted into the alignment slot to achieve fixation. The lower end of the connecting buckle is equipped with an alignment buckle. When the top of the sampling sub-device is retracted, the alignment buckle is aligned with the alignment port, and the position of the liquid collection tube is aligned with the second electric valve. The liquid collection tube is then inserted into the valve port of the second electric valve and enters 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 connected in a transmission. The power output end of the winch is connected to the side traction gear, which drives the side traction gear to rotate; the traction gear is meshed with a secondary gear, and the rotation of the side traction gear drives the secondary gear to rotate, which in turn drives the rotating shaft to rotate; the secondary gear is connected to the secondary rotating shaft, which drives the secondary rotating shaft to rotate. The rotation of the winch causes the first traction rope to wind around the drum connected to the rotating shaft of the winch.

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