Sampling device for ecological monitoring of seaweed bed based on unmanned aerial vehicle

Abstract

The invention discloses an unmanned aerial vehicle-based sampling device for sea grass bed ecological monitoring, and relates to the technical field of sea grass ecological monitoring, the unmanned aerial vehicle-based sampling device comprises an unmanned aerial vehicle assembly, a bottom mud sampling mechanism is arranged at the bottom of the unmanned aerial vehicle assembly, and the bottom mud sampling mechanism comprises a mud taking insertion pipe, an automatic mud discharging mechanism and a recycling mechanism; the sludge taking insertion pipe is used for being inserted into the seaweed bed sludge to sample the sludge, and the automatic sludge discharging mechanism extrudes and discharges the sludge whenever the sludge taking insertion pipe is lifted by the lifting and hoisting mechanism; the recycling mechanism is used for recycling the sludge sample. The remote control unmanned aerial vehicle assembly drives the mud taking insertion pipe for sampling the seaweed bed sludge to move in a water area, the mud taking insertion pipe is released by the lifting hoisting mechanism to descend, the mud taking insertion pipe is inserted into the sludge by means of gravity, the sludge can be conveniently extruded into the pipe, manual submerging into the water bottom for sampling is not needed, the operation convenience is improved, and the labor intensity is reduced. The labor intensity is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of seagrass ecological monitoring, and in particular to a sampling device for seagrass bed ecological monitoring based on an unmanned aerial vehicle. Background Art

[0002] Seagrass beds are large, continuous plant communities composed of one or more species of seagrass and are an important component of the marine ecosystem. In the process of seagrass bed ecological monitoring, sampling is an important step in obtaining key data to assess the health of seagrass beds and the function of the ecosystem. Seagrass bed mud is generally sampled to analyze the composition, texture, organic matter content, and small benthic species of the mud to understand the benthic ecosystem of the seagrass bed.

[0003] In the prior art, when sampling the seagrass bed sediment, it is generally necessary to manually carry a sediment sampler and dive into the water to reach the bottom of the seagrass bed, then manually take a certain amount of sediment through the sediment sampler and take it back for analysis and processing.

[0004] The shortcomings of the existing sampling devices for seagrass bed ecological monitoring are: in the prior art, when sampling the seagrass bed bottom mud, it is necessary to manually dive into the water and use the sampling equipment to manually sample, which is difficult to operate and not convenient enough. Especially when it is necessary to sample the bottom mud at multiple different locations, the sampling personnel are required to swim to multiple different locations in the water, which is labor-intensive and there is a certain risk in manually diving into the water. Summary of the invention

[0005] The purpose of the present invention is to provide a sampling device for seagrass bed ecological monitoring based on an unmanned aerial vehicle, so as to solve the technical problems that the seagrass bed ecological monitoring sampling device in the prior art is not convenient to operate and has high labor intensity when sampling seagrass bed bottom mud.

[0006] The technical problem to be solved by the present invention can be achieved by the following technical solutions:

[0007] A sampling device for seagrass bed ecological monitoring based on a drone comprises a drone component, a lifting and hoisting mechanism is provided at the bottom of the drone component, and the drone component is connected to a bottom mud sampling mechanism through the lifting and hoisting mechanism, and the bottom mud sampling mechanism comprises:

[0008] A mud sampling cannula, which is used to be inserted into the seaweed bed mud for mud sampling, and a counterweight mechanism connected to the lifting end of the lifting hoisting mechanism is provided on the top of the mud sampling cannula;

[0009] An automatic mud discharge mechanism and a recovery mechanism, wherein the automatic mud discharge mechanism is cooperatively arranged on the mud collecting plug, and the lifting and hoisting mechanism includes a bottom baffle plate that cooperates with the automatic mud discharge mechanism. Whenever the lifting and hoisting mechanism lifts the mud collecting plug, the automatic mud discharge mechanism is hindered by the bottom baffle plate and moves downward relative to the mud collecting plug to squeeze and discharge the sludge; the recovery mechanism includes a reciprocating mechanism and a storage cylinder, and the reciprocating mechanism is used to drive the storage cylinder to move horizontally to the bottom of the mud collecting plug or move away from the bottom of the mud collecting plug.

[0010] As a further solution of the present invention: the counterweight mechanism includes a lifting mounting plate and a counterweight sliding column; the lifting mounting plate is connected to the lifting end of the lifting and hoisting mechanism, and there are multiple counterweight sliding columns, which are circumferentially equidistantly distributed on the lifting mounting plate, and each of the counterweight sliding columns passes through the lifting mounting plate, and limit blocks are provided at both ends of the counterweight sliding column, and there are multiple mud extraction pipes, which are correspondingly fixedly connected to the bottom of the counterweight sliding column.

[0011] As a further solution of the present invention: the automatic mud discharge mechanism includes a push rod, a first spring and a push plate, the push rod passes through the mud extraction tube and the counterweight slide column in sequence, the top of the push rod is connected to the counterweight slide column through the first spring, the push plate is fixedly connected to the position of the push rod near the bottom, and the push plate is slidably matched with the mud extraction tube.

[0012] As a further solution of the present invention: the bottom of the mud extraction plug is spliced ​​with a bottom pipe, the bottom of the top rod is fixedly connected to the bottom pipe, and a one-way conduction mechanism is provided at the bottom of the bottom pipe.

[0013] As a further solution of the present invention: the one-way conduction mechanism includes an elastic rotating rod and a connecting barrier film. There are multiple elastic rotating rods and they are circumferentially distributed at the bottom of the bottom tube. The bottom end of each elastic rotating rod is movably connected to the inner wall of the bottom tube through a rebound hinge, and the top ends of all the elastic rotating rods are close to each other, and adjacent elastic rotating rods are connected by a connecting barrier film.

[0014] As a further solution of the present invention: the reciprocating motion mechanism includes a fixed frame, an elastic telescopic rod, a first inclined surface extrusion block and a second inclined surface extrusion block, the fixed frame is fixedly connected to the edge of the bottom baffle, the elastic telescopic rod is horizontally fixedly connected to the fixed frame, one end of the first inclined surface extrusion block is in contact with the end surface of the telescopic end of the elastic telescopic rod, and the upper side edge of the connecting end of the first inclined surface extrusion block is movably connected to the telescopic end of the elastic telescopic rod through a rebound hinge, a plurality of storage tubes are provided, the telescopic end of the elastic telescopic rod is also connected to a one-way rotating mechanism, and each storage tube rotates synchronously with the one-way rotating mechanism, and a second inclined surface extrusion block is fixedly connected to the bottom of each storage tube.

[0015] As a further solution of the present invention: the one-way rotation mechanism includes a suspension rod, a rotating column, a ratchet and a pawl, the suspension rod is vertically fixedly connected to the telescopic end of the elastic telescopic rod, the rotating column is rotatably connected to the bottom of the suspension rod, the ratchet is coaxially connected to the rotating column, the storage cylinder is fixedly connected to the rotating column, and the storage cylinders are equidistantly distributed around the rotating column, a mounting rod is fixedly connected to the bottom of the fixed frame, the pawl is movably connected to the end of the mounting rod through a rebound hinge, and the pawl cooperates with the ratchet.

[0016] As a further solution of the present invention: a guide rod is fixedly connected to the bottom of the bottom baffle, a through hole matching the guide rod is opened on the lifting installation plate, and a conical guide sleeve is fixedly arranged at the position of the through hole.

[0017] As a further solution of the present invention: the lifting and hoisting mechanism includes connecting side plates and a winding column, and the connecting side plates are provided with two and are symmetrically arranged on both sides of the bottom of the drone component, and the bottom baffle is fixedly connected to the bottom of the two connecting side plates, and the winding column is rotatably arranged between the two connecting side plates, and a motor for driving the winding column to rotate is fixedly installed on one of the connecting side plates, and a lifting rope is wound on the winding column, and the end of the lifting rope is fixedly connected to the lifting mounting plate.

[0018] As a further solution of the present invention: mounting sleeves are fixedly connected to both sides of the bottom of the drone component, plug blocks are fixedly connected to the tops of the two connecting side panels, and the plug blocks slide through the mounting sleeves accordingly, a second spring is also connected between the plug blocks and the mounting sleeves, a pressure sensing switch aligned with the plug blocks is fixedly installed under the mounting sleeve, and the drone component is equipped with a warning device electrically connected to the pressure sensing switch.

[0019] Beneficial effects of the present invention:

[0020] 1. The present invention drives the mud sampling tube to move in the water area through a remote-controlled drone component, and relies on a lifting and hoisting mechanism to release the mud sampling tube to descend. The mud sampling tube relies on gravity to insert into the silt, which is convenient for squeezing the silt into the tube, and then the mud sampling tube is lifted up. In the process of lifting the mud sampling tube, the provided lifting and mounting plate and other components can be squeezed with the inclined surfaces of the provided first inclined surface squeezing block and the second inclined surface squeezing block, so as to generate a lateral squeezing force component, thereby facilitating the contraction of the provided elastic telescopic rod, facilitating the storage tube to be effectively opened during the lifting and lowering process of the mud sampling tube, and the mud sampling tube can also be kept directly below when it is lifted and reset. After the mud sampling tube is lifted, the provided top rod is squeezed onto the bottom baffle due to the lifting movement, thereby driving the push plate to descend relative to the mud sampling tube to squeeze out the silt, so that the silt can fall into the storage tube conveniently, and the seagrass bed silt sampling and recovery can be realized, and there is no need to manually dive to the bottom of the water for sampling, thereby improving the convenience of operation and reducing the labor intensity.

[0021] 2. When the elastic telescopic rod of the present invention drives the storage cylinder to move laterally due to the squeezing action of the first inclined surface squeezing block and the second inclined surface squeezing block, since multiple storage cylinders are arranged and circumferentially distributed on the rotating column, the ratchet wheel coaxially arranged with the rotating column interacts with the arranged pawl during the lateral movement. Each time the mud sampling plug completes a whole set of descending and ascending actions, the deflection angle of the rotating column driven by the pawl is exactly the angle between two adjacent storage cylinders, so that the storage cylinder under the mud sampling plug can be replaced, thereby facilitating continuous sludge sampling at multiple different positions.

[0022] 3. The present invention is provided with a plurality of mud sampling tubes, and they are circumferentially distributed on the lifting mounting plate, that is, distributed in different directions. Each mud sampling tube is connected to a counterweight slide column that is slidably connected to the lifting mounting plate. When the lifting mounting plate descends to the bottom of the water with all the mud sampling tubes, if a mud sampling tube is blocked during the descent process, relative sliding can occur between the counterweight slide column connected to the corresponding mud sampling tube and the lifting mounting plate. In this way, the lifting mounting plate can also drive the mud sampling tubes at other positions to continue to descend, thereby facilitating the improvement of the success rate of a single sample collection.

[0023] 4. A detachable bottom tube is provided at the bottom of the mud sampling cannula of the present invention. A circle of elastic rotating rods are distributed circumferentially in the bottom tube. The tops of the elastic rotating rods are close together, and adjacent elastic rotating rods are connected by connecting retaining films. When the mud sampling cannula is inserted into the silt, the silt can push the gathered elastic rotating rods away. When the mud sampling cannula is raised, the distributed elastic rotating rods rotate and gather together again, which is convenient for preventing the silt entering the mud sampling cannula from falling out, thereby ensuring the sampling effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The present invention will be further described below in conjunction with the accompanying drawings.

[0025] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0026] Figure 2 It is a schematic structural diagram of the relative position distribution of the mud extraction plug pipe, the first inclined surface extrusion block and the bottom pipe in the raised storage state in the present invention;

[0027] Figure 3 yes Figure 2 A schematic diagram of the enlarged structure at A in the middle;

[0028] Figure 4 It is a structural schematic diagram of the lifting installation plate in the present invention when it is lifted and docked with the guide rod;

[0029] Figure 5 It is a schematic cross-sectional structure diagram of the connection between the mandrel, the mud extraction intubation pipe and the counterweight sliding column in the present invention;

[0030] Figure 6 yes Figure 5A schematic diagram of the enlarged structure at B in the middle;

[0031] Figure 7 yes Figure 5 Schematic diagram of the enlarged structure at C in the middle;

[0032] Figure 8 It is a schematic diagram of the top view of the structure of the connection between the elastic rotating rod and the bottom tube in the present invention;

[0033] Fig. 9 It is a schematic diagram of the state of the elastic rotating rod when the sludge is squeezed into the sludge extraction cannula in the present invention;

[0034] Fig.10 It is a schematic diagram of the structure of the ratchet and the pawl in the present invention;

[0035] Fig.11 It is a schematic diagram of the state when the mud sampling tube is lowered for sampling in the present invention.

[0036] In the figure: 1. UAV assembly; 2. Support leg; 3. Connecting side plate; 4. Connecting side plate; 5. Lifting rope; 6. Bottom baffle; 7. Lifting mounting plate; 8. Counterweight sliding column; 9. Fixed frame; 10. Elastic telescopic rod; 11. First inclined extrusion block; 12. Limit block; 13. Bottom tube; 14. Storage cylinder; 15. Mounting sleeve; 16. Insert block; 17. Second spring; 18. Pressure sensing switch; 19. Second inclined extrusion block; 20. Rotating column; 21. Hanging rod; 22. Push rod; 23. Guide rod; 24. Conical guide sleeve; 25. Perforation; 26. Push plate; 27. First spring; 28. Elastic rotating rod; 29. ​​Connecting baffle film; 30. Ratchet; 31. Mounting rod; 32. Ratchet; 33. Mud extraction plug. DETAILED DESCRIPTION

[0037] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0038] like Figure 1-Figure 11As shown, a sampling device for seagrass bed ecological monitoring based on a drone includes a drone component 1, both sides of the drone component 1 are symmetrically fixed with support legs 2, the support legs 2 are used to stably support the entire drone component 1 on the ground; and the drone component 1 includes a remote control device and a high-definition wide-angle camera, which is convenient for remote wireless control of flight and shooting pictures through the high-definition wide-angle camera; the bottom of the drone component 1 is equipped with a lifting and hoisting mechanism, and the drone component 1 is connected to a bottom mud sampling mechanism for collecting silt at the bottom of the water area where the seagrass bed is located through the lifting and hoisting mechanism, and the bottom mud sampling mechanism includes a mud sampling tube 33, an automatic mud discharge mechanism and a recovery mechanism; the mud sampling tube 33 is used to be inserted into the mud of the seagrass bed for mud sampling, and a counterweight mechanism connected to the lifting end of the lifting and hoisting mechanism is provided on the top of the mud sampling tube 33, and the counterweight mechanism is used to apply gravity to the mud sampling tube 33, so that it is convenient for it to be effectively inserted into the mud, and the mud is convenient for the mud to flow into the mud sampling tube 33 to achieve sampling;

[0039] The automatic mud discharge mechanism is arranged on the mud collecting plug 33, and the lifting and hoisting mechanism includes a bottom baffle 6 that cooperates with the automatic mud discharge mechanism. The bottom baffle 6 is fixed relative to the UAV component 1. Whenever the lifting and hoisting mechanism raises the mud collecting plug 33, the automatic mud discharge mechanism is blocked by the bottom baffle 6 and moves downward relative to the mud collecting plug 33, squeezing and discharging the sludge.

[0040] The recovery mechanism includes a reciprocating mechanism and a storage cylinder 14. The storage cylinder 14 is used to receive the sludge discharged from the mud collecting plug 33. The reciprocating mechanism is used to drive the storage cylinder 14 to move horizontally to the bottom of the mud collecting plug 33 or move away from the bottom of the mud collecting plug 33 to avoid the lifting movement of the mud collecting plug 33.

[0041] In some specific embodiments, such as Figure 2 As shown, the counterweight mechanism includes a lifting mounting plate 7 and a counterweight slide column 8; the lifting mounting plate 7 is connected to the lifting end of the lifting and hoisting mechanism, and a plurality of counterweight slide columns 8 are provided, and are circumferentially equidistantly distributed on the lifting mounting plate 7, each counterweight slide column 8 penetrates the lifting mounting plate 7, and can slide up and down relative to the lifting mounting plate 7, and both ends of the counterweight slide column 8 are provided with limit blocks 12, the limit blocks 12 are disc-shaped, and the limit blocks 12 prevent the counterweight slide column 8 from falling off the lifting mounting plate 7; a plurality of mud sampling tubes 33 are provided, and are correspondingly fixedly connected to the bottom of the counterweight slide column 8.

[0042] After the lifting and hoisting mechanism drives the distributed mud sampling tubes 33 to descend to the bottom of the water through the lifting and mounting plate 7, if there is a stone or other non-mud object below a mud sampling tube 33, which makes the mud sampling tube 33 at this position unable to descend and be inserted into the mud for sampling, the mud sampling tube 33 at the current position will stop, and the lifting and mounting plate 7 that continues to descend will slide down relative to the counterweight slide column 8 connected to the mud sampling tube 33 at the current position, and the mud sampling tubes 33 at other positions will continue to descend with the lifting and mounting plate 7. Since the distributed mud sampling tubes 33 are distributed in different directions, the probability of successful sampling can be increased, and it is avoided that only one mud sampling tube 33 is set and cannot be sampled when it is blocked during the descent process, and it is necessary to control the drone component 1 to move and drive the mud sampling tube 33 to reselect a position.

[0043] In some specific embodiments, such as Figure 5 and Figure 6 As shown, in the case where multiple mud collecting plugs 33 are provided, multiple groups of automatic mud discharging mechanisms can also be provided, and each group of automatic mud discharging mechanisms is respectively connected to the mud collecting plugs 33, and the automatic mud discharging mechanism includes a push rod 22, a first spring 27 and a push plate 26, the push rod 22 sequentially passes through the mud collecting plug 33 and the counterweight sliding column 8, and the diameter of the push rod 22 is much smaller than that of the mud collecting plug 33, and the push rod 22 can slide up and down smoothly relative to the counterweight sliding column 8, that is, a channel matching with the push rod 22 is opened in the center of the counterweight sliding column 8, and the top of the push rod 22 is pushed by the first spring 27. The spring 27 is connected to the counterweight slide column 8, the first spring 27 is compressible, the push plate 26 is fixedly connected to the top rod 22 near the bottom, and the push plate 26 is slidably matched with the mud extraction plug 33. When the first spring 27 is in the original state, the top of the push rod 22 is much higher than the top of the counterweight slide column 8, and at this time the push plate 26 is close to the top position of the mud extraction plug 33. In order to ensure that the push plate 26 can effectively slide inside the mud extraction plug 33, a through hole can be opened on the side close to the top position of the mud extraction plug 33 to balance the pressure in the upper and lower spaces of the push plate 26.

[0044] After the mud collecting tube 33 is inserted into the mud at the bottom of the seagrass bed to collect the mud, the mud collecting tube 33 begins to rise. When it rises close to the bottom baffle 6, the top of the push rod 22 contacts the bottom baffle 6. Then, due to the squeezing effect, the push rod 22 moves downward relative to the mud collecting tube 33, so that the push plate 26 also moves downward relative to the mud collecting tube 33. In this way, the push plate 26 pushes the mud in the mud collecting tube 33 downward, making it convenient to squeeze and discharge the mud.

[0045] In some specific embodiments, in order to prevent the mud sample from falling when the mud sampling cannula 33 is raised, and at the same time to ensure that the mud can be effectively discharged after the raising, refer to Figures 7 to 9As shown, the bottom of the mud extraction plug 33 is spliced ​​with a bottom pipe 13, the bottom of the bottom pipe 13 is shorter, equivalent to the end of the mud extraction plug 33, the bottom of the top rod 22 is fixedly connected to the bottom pipe 13 through a cross bar, and a unidirectional conduction mechanism is provided at the bottom of the bottom pipe 13.

[0046] Among them, the one-way conduction mechanism includes an elastic rotating rod 28 and a connecting baffle 29. There are multiple elastic rotating rods 28, which are circumferentially distributed at the bottom of the bottom tube 13. The bottom end of each elastic rotating rod 28 is movably connected to the inner wall of the bottom tube 13 through a rebound hinge, and the top ends of all the elastic rotating rods 28 are close together in the initial state to form a pyramid shape. Adjacent elastic rotating rods 28 are connected by connecting baffles 29, and the connecting baffles 29 are soft membranes.

[0047] When the mud extraction plug 33 is lowered and inserted into the mud, the mud squeezes and pushes the elastic rotating rods 28 to enter the mud extraction plug 33, that is, the elastic rotating rods 28 close together are deflected and separated. Fig. 9 As shown, when the mud extraction plug 33 is raised, the distributed elastic rotating rod 28 has no external squeezing force at this time, and it rotates and resets by relying on the rebound force, and recloses together again, thereby blocking the bottom of the bottom pipe 13, so that the bottom pipe 13 can only enter but not exit, thereby preventing the mud from falling out during the raising process of the mud extraction plug 33, and when the top rod 22 hits the bottom baffle 6 and descends relative to the mud extraction plug 33, the top rod 22 drives the bottom pipe 13 to descend, so that the bottom of the mud extraction plug 33 is opened, which is convenient for the mud to be discharged.

[0048] In some specific embodiments, when multiple mud extraction intubations 33 are provided, multiple groups of recovery mechanisms are provided correspondingly, and are equidistantly distributed around the edge of the bottom baffle 6. Figure 2 and Figure 5As shown, the reciprocating mechanism of each set of recovery mechanism includes a fixed frame 9, an elastic telescopic rod 10, a first inclined surface extrusion block 11 and a second inclined surface extrusion block 19. The fixed frame 9 is fixedly connected to the edge of the bottom baffle 6, and the elastic telescopic rod 10 is horizontally fixedly connected to the fixed frame 9. The elastic telescopic rod 10 is composed of a telescopic rod body and a spring connected to both ends of the telescopic rod body. When it shrinks, it will generate a rebound force. One end of the first inclined surface extrusion block 11 is in contact with the end surface of the telescopic end of the elastic telescopic rod 10, and the upper side edge of the connecting end of the first inclined surface extrusion block 11 is movably connected to the telescopic end of the elastic telescopic rod 10 through a rebound hinge, so that it can be ensured that the first inclined surface extrusion block 11 cannot be moved from the initial position to the It can only rotate upward, and the upper surface of the first inclined surface extrusion block 11 is an inclined surface, and is aligned with the edge of the lifting mounting plate 7 and the edge of the limit block 12 at the end of the counterweight sliding column 8. There are multiple storage cylinders 14, and the telescopic end of the elastic telescopic rod 10 is also connected to a one-way rotation mechanism, and multiple storage cylinders 14 rotate synchronously with the one-way rotation mechanism. A second inclined surface extrusion block 19 is fixedly connected to the bottom of each storage cylinder 14, and the lower surface of the second inclined surface extrusion block 19 is an inclined surface, and is aligned with the edge of the lifting mounting plate 7 and the edge of the limit block 12 at the end of the counterweight sliding column 8, and the higher side edge of the inclined surface of the second inclined surface extrusion block 19 is aligned with the outer wall of the storage cylinder 14.

[0049] Among them, combined Figure 5 and Fig.10 As shown, the unidirectional rotating mechanism includes a suspension rod 21, a rotating column 20, a ratchet 30 and a pawl 32. The suspension rod 21 is vertically fixedly connected to the telescopic end of the elastic telescopic rod 10, the rotating column 20 is rotatably connected to the bottom of the suspension rod 21, the ratchet 30 is coaxially connected to the rotating column 20, and the two rotate synchronously. The storage cylinder 14 is fixedly connected to the rotating column 20 and is equidistantly distributed around the rotating column 20. A mounting rod 31 is fixedly connected to the bottom of the fixed frame 9. The pawl 32 is movably connected to the end of the mounting rod 31 through a rebound hinge, and the pawl 32 cooperates with the ratchet 30. The connecting end of the pawl 32 is in contact with the end surface of the end of the mounting rod 31, and the rebound hinge is arranged on the side of the pawl 32 close to the ratchet 30, that is, the pawl 32 can only be deflected from the initial position in the direction close to the ratchet 30, and cannot be deflected from the initial position in the direction away from the ratchet 30.

[0050] It should be noted that, in order to prevent the rotating column 20 from rotating randomly, a non-slip rubber sleeve tightly covering the suspension rod 21 is fixedly connected to the rotating column 20 .

[0051] When the lifting installation plate 7 with the distributed mud extraction plug 33 is lifted, the edge of the lifting installation plate 7 and the edge of the limit block 12 at the end of the counterweight slide column 8 will squeeze the inclined surface of the second inclined surface extrusion block 19 below the corresponding storage tube 14, generating a lateral extrusion component force, thereby facilitating the contraction of the elastic telescopic rod 10, so that the storage tube 14 at the corresponding position will move synchronously and deviate, avoiding interference with the lifting of the lifting installation plate 7 with the mud extraction plug 33, and the outer wall of the mud extraction plug 33 is flat and smooth, even if the storage tube 14 is reset to contact the outer wall of the mud extraction plug 33, relative sliding can still occur, ensuring that the mud extraction plug 33 is finally lifted. When the lifting and lowering plate 7 is lifted up with the mud extraction plug 33, the edge of the lifting and lowering plate 7 is pressed through the first inclined surface squeezing block 11. Since the first inclined surface squeezing block 11 can be deflected upward from the initial position relative to the telescopic end of the elastic telescopic rod 10, the lifting and lowering plate 7 can be lifted up to the inclined surface position higher than the first inclined surface squeezing block 11. In this way, when the mud extraction plug 33 is discharged, the discharged silt can be conveniently dropped into the storage tube 14 aligned below, and the movable part can be stuck in the storage tube 14. The built-in cylinder is convenient for directly taking away the sludge sample later; and when the lifting mounting plate 7 is lowered again with the mud sampling plug 33 for sampling, the lifting mounting plate 7 first lowers with the counterweight slide column 8 to contact the inclined surface of the first inclined surface extrusion block 11. At this time, the counterweight slide column 8 has enough weight to squeeze the first inclined surface extrusion block 11, so that it generates a lateral extrusion component force, so that the elastic telescopic rod 10 contracts, and the counterweight slide column 8 does not slide relative to the lifting mounting plate 7. At this time, the bottom of the mud sampling plug 33 has been spliced ​​with the bottom tube 13, and its position is higher than the position of the aligned storage cylinder 14. When the elastic telescopic rod 10 contracts, the aligned The storage cylinder 14 below the bottom tube 13 is deflected, which facilitates the bottom tube 13 at the bottom of the mud extraction plug 33 to descend and pass through the location of the storage cylinder 14, and when the limit block 12 at the bottom of the counterweight slide column 8 has not yet contacted the storage cylinder 14, the edge of the lifting and mounting plate 7 again squeezes the inclined surface of the first inclined surface squeezing block 11, thereby causing the storage cylinder 14 to move laterally again, which facilitates the mud extraction plug 33 at the bottom of the counterweight slide column 8 to descend and pass through, and when the storage cylinder 14 contacts the outer wall of the mud extraction plug 33 due to the rebound force of the elastic telescopic rod 10, the edge of the limit block 12 at the bottom of the counterweight slide column 8 is just aligned with the side of the storage cylinder 14 below that is away from the rotating column 20;

[0052] The bottom edge of the limit block 12 at the bottom of the counterweight slide column 8 is set as an arc slope, so that the counterweight slide column 8 relies on the arc slope of the bottom edge of the limit block 12 to squeeze the outer edge of the storage tube 14, thereby generating a lateral squeezing force, which is convenient for pushing the storage tube 14 to move horizontally again;

[0053] The bottom of the edge of the lifting and mounting plate 7 is also provided with an arc inclined surface. When the storage cylinder 14 contacts the outer wall of the counterweight sliding column 8 due to the rebound force of the elastic telescopic rod 10, the outer edge of the storage cylinder 14 is aligned below the arc inclined surface at the bottom of the edge of the lifting and mounting plate 7. In this way, when the lifting and mounting plate 7 descends through the storage cylinder 14, the storage cylinder 14 can be squeezed by the arc inclined surface, so that the storage cylinder 14 is moved horizontally again, thereby facilitating the lifting and mounting plate 7 to drive the counterweight sliding column 8 and the mud extraction plug 33 to completely descend through the position of the storage cylinder 14.

[0054] Whenever the plurality of storage cartridges 14 circumferentially distributed on the rotating column 20 move laterally away from the mud extraction plug 33 by means of the elastic telescopic rod 10, the ratchet 30 moves laterally with the elastic telescopic rod 10 and squeezes through the pawl 32. During this process, the pawl 32 can deflect relative to the mounting rod 31, thereby preventing the ratchet 30 from rotating. When the elastic telescopic rod 10 rebounds, it brings the rotating column 20 and the storage cartridge 14 back to their original positions. During the resetting process, the ratchet 30 moves laterally synchronously. During this process, when the ratchet 30 passes through the pawl 32, since the pawl 32 cannot deflect relative to the mounting rod 31 in the direction away from the ratchet 30, under the action of the pawl 32, the ratchet 30 Deflection will occur, thereby driving the rotating column 20 to deflect, and the rotating column 20 will drive the distributed storage cylinders 14 to deflect. It should be noted that each time the lifting mounting plate 7 drives the mud sampling plug 33 to descend and then rise up and down, there will be multiple displacements of different degrees, which will cause the rotating column 20 to deflect multiple times. The accumulated deflection angle of the rotating column 20 in this process is just the angle between two adjacent storage cylinders 14. In this way, each time the mud sampling plug 33 takes the sludge sample and discharges it into the storage cylinder 14 directly below, the storage cylinder 14 can be automatically switched when the mud is taken next time, which is convenient for continuous sludge sampling at multiple locations.

[0055] In some specific embodiments, the bottom of the bottom baffle 6 is fixedly connected to a guide rod 23, and the guide rods 23 exist in pairs. A through hole 25 matching the guide rod 23 is opened on the lifting mounting plate 7, and a conical guide sleeve 24 is fixedly set at the position of the through hole 25. Before the lifting mounting plate 7 is raised and approaches the second inclined surface extrusion block 19, the bottom of the guide rod 23 is inserted into the area where the conical guide sleeve 24 is located, and then inserted into the through hole 25 under the guidance of the conical guide sleeve 24. In this way, the lifting mounting plate 7 can rise smoothly along the guide rod 23, thereby facilitating the effective extrusion transmission effect between the lifting mounting plate 7 and the second inclined surface extrusion block 19, and the conical guide sleeve 24 can be set to a corresponding size according to actual needs to ensure that the guide rod 23 can be effectively guided to pass into the through hole 25.

[0056] In some specific embodiments, in combination Figure 2 and Figure 3As shown, the lifting and hoisting mechanism includes a connecting side plate 3 and a winding column 4. There are two connecting side plates 3, which are symmetrically arranged on both sides of the bottom of the drone component 1, and the bottom baffle 6 is fixedly connected to the bottoms of the two connecting side plates 3. The winding column 4 is rotatably arranged between the two connecting side plates 3. A motor for driving the winding column 4 to rotate is fixedly installed on one of the connecting side plates 3. A lifting rope 5 is wound on the winding column 4, and the end of the lifting rope 5 passes through the center position of the bottom baffle 6 and is fixedly connected to the lifting installation plate 7. The winding column 4 is driven to rotate by the motor to release the wound lifting rope 5, so that the lifting rope 5 lowers the lifting installation plate 7; and because the lifting rope 5 passes through the center position of the bottom baffle 6, it is convenient for the lifting installation plate 7 to be directly below the bottom baffle 6.

[0057] In other specific implementation schemes, in order to facilitate timely stopping of the motor, mounting sleeves 15 are fixedly connected to both sides of the bottom of the drone component 1, plug blocks 16 are fixedly connected to the tops of the two connecting side panels 3, and the plug blocks 16 slide through the mounting sleeves 15 accordingly, and a compressible second spring 17 is also connected between the plug blocks 16 and the mounting sleeves 15, and a pressure sensing switch 18 aligned with the plug blocks 16 is fixedly installed below the mounting sleeve 15, and the drone component 1 is equipped with a warning device electrically connected to the pressure sensing switch 18.

[0058] When the entire lifting installation plate 7 is hung at the bottom of the lifting rope 5, its entire weight can act on the plug block 16, so that the plug block 16 is pressed on the pressure sensing switch 18. When the lifting installation plate 7 with the mud extraction plug tube 33 descends and is inserted into the mud of the seaweed bed and touches the bottom, the lifting rope 5 will be loosened, and the plug block 16 can rise up and disengage from the pressure sensing switch 18 by relying on the rebound force of the second spring 17. The sensing value of the pressure sensing switch 18 will be less than the set value, which will be fed back to the corresponding controller, and the controller will issue a command to control the alarm, so as to conveniently remind the operator to stop the motor in time.

[0059] In order to facilitate the understanding of the embodiments of this solution by those skilled in the art, the working principle of this solution is briefly described in combination with specific application scenarios:

[0060] First, the entire drone is remotely controlled to fly to the waters where the seagrass bed is located. After flying to the corresponding position, the motor is controlled to drive the winding column 4 to rotate and release the wound suspension rope 5, so that the suspension rope 5 lowers the lifting installation plate 7;

[0061] The lifting mounting plate 7 first brings the counterweight slide column 8 down to contact the inclined surface of the first inclined surface extrusion block 11. At this time, the counterweight slide column 8 has enough weight to squeeze the first inclined surface extrusion block 11. In this process, a lateral extrusion component force is generated, which causes the elastic telescopic rod 10 to shrink. At this time, the bottom of the mud taking plug 33 has been spliced ​​with the bottom tube 13, and the position is higher than the position of the aligned storage cylinder 14. When the elastic telescopic rod 10 shrinks, the storage cylinder 14 aligned below the bottom tube 13 is offset, which is convenient for the bottom tube at the bottom of the mud taking plug 33 13 descends and passes through the position of the storage cylinder 14, and when the limit block 12 at the bottom of the counterweight slide column 8 has not yet contacted the storage cylinder 14, the edge of the lifting and mounting plate 7 squeezes the inclined surface of the first inclined surface squeezing block 11 again, so that the storage cylinder 14 moves laterally again, which facilitates the mud extraction plug 33 at the bottom of the counterweight slide column 8 to descend and pass, and when the storage cylinder 14 contacts the outer wall of the mud extraction plug 33 due to the rebound force of the elastic telescopic rod 10, the edge of the limit block 12 at the bottom of the counterweight slide column 8 is just aligned with the side of the storage cylinder 14 below that is away from the rotating column 20;

[0062] Then, during the descent process, the counterweight slide column 8 presses the outer edge of the storage cylinder 14 by relying on the arc slope of the bottom edge of the limit block 12, thereby generating a lateral squeezing force, which facilitates pushing the storage cylinder 14 to move horizontally again;

[0063] The bottom of the edge of the lifting and mounting plate 7 is also provided with an arc inclined surface. When the storage cylinder 14 contacts the outer wall of the counterweight sliding column 8 due to the rebound force of the elastic telescopic rod 10, the outer edge of the storage cylinder 14 is aligned below the arc inclined surface at the bottom of the edge of the lifting and mounting plate 7. In this way, when the lifting and mounting plate 7 descends through the storage cylinder 14, the storage cylinder 14 can be squeezed by the arc inclined surface, so that the storage cylinder 14 is moved horizontally again, thereby facilitating the lifting and mounting plate 7 to drive the counterweight sliding column 8 and the mud extraction plug 33 to completely descend through the position of the storage cylinder 14.

[0064] Then the mud sampling tube 33 descends to the bottom of the water area where the seagrass bed is located. If there is a stone or other non-mud object below a mud sampling tube 33, the mud sampling tube 33 at that position cannot be lowered and inserted into the mud for sampling, then the mud sampling tube 33 at the current position will stop, and the lifting and mounting plate 7 that continues to descend will slide down relative to the counterweight slide column 8 connected to the mud sampling tube 33 at the current position, and the mud sampling tubes 33 at other positions will continue to descend with the lifting and mounting plate 7. Since the distributed mud sampling tubes 33 are distributed in different directions, the probability of successful sampling can be increased, and it is avoided that only one mud sampling tube 33 is set and cannot be sampled when it is blocked during the descent process, and it is necessary to control the drone component 1 to move and drive the mud sampling tube 33 to reselect a position.

[0065] When the mud extraction plug 33 is lowered and inserted into the mud, the mud squeezes and pushes the distributed elastic rotating rods 28 to enter the mud extraction plug 33, that is, the elastic rotating rods 28 close together are deflected and separated, and when the mud extraction plug 33 is raised, the distributed elastic rotating rods 28 have no external squeezing force at this time, and they rotate and reset by relying on the rebound force and close together again, thereby blocking the bottom of the bottom pipe 13, so that the bottom pipe 13 can only enter but not exit, thereby preventing the mud from falling out during the raising of the mud extraction plug 33;

[0066] When the lifting installation plate 7 with the distributed mud extraction plug 33 is lifted, the edge of the lifting installation plate 7 and the edge of the limit block 12 at the end of the counterweight slide column 8 will squeeze the inclined surface of the second inclined surface extrusion block 19 below the corresponding storage cylinder 14, generating a lateral extrusion component force, thereby facilitating the contraction of the elastic telescopic rod 10, so that the storage cylinder 14 at the corresponding position will move synchronously and deviate, avoiding obstruction of the lifting installation plate 7 with the mud extraction plug 33, and the outer wall of the mud extraction plug 33 is flat and smooth, even if the storage cylinder 14 is reset to abut against the outer wall of the mud extraction plug 33 , relative sliding can still occur, ensuring that the mud extraction plug 33 is finally raised to a height position higher than the storage tube 14, so that the storage tube 14 is located directly below the mud extraction plug 33 by relying on the elastic telescopic rod 10 to rebound, and when the lifting installation plate 7 is lifted up with the mud extraction plug 33 and higher than the storage tube 14, the edge of the lifting installation plate 7 is also squeezed through the first inclined surface squeezing block 11 at the same time. Since the first inclined surface squeezing block 11 can be deflected upward from the initial position relative to the telescopic end of the elastic telescopic rod 10, it is convenient to lift the lifting installation plate 7 to an inclined surface position higher than the first inclined surface squeezing block 11;

[0067] When the lifting mounting plate 7 is lifted up and approaches the bottom baffle plate 6, the top of the push rod 22 contacts the bottom baffle plate 6, and then due to the squeezing effect, the push rod 22 moves downward relative to the mud collecting plug 33, so that the push plate 26 also moves downward relative to the mud collecting plug 33, so that the push plate 26 pushes the silt in the mud collecting plug 33 downward, and at the same time, the push rod 22 drives the bottom pipe 13 to descend and separate from the mud collecting plug 33, so that the bottom of the mud collecting plug 33 is opened conveniently, thereby conveniently squeezing and discharging the silt, and the silt falls into the storage cylinder 14 just below.

[0068] Whenever the plurality of storage cartridges 14 circumferentially distributed on the rotating column 20 move laterally away from the mud extraction plug 33 by means of the elastic telescopic rod 10, the ratchet 30 coaxially connected to the rotating column 20 moves laterally with the elastic telescopic rod 10 and squeezes through the pawl 32. During this process, the pawl 32 can deflect relative to the mounting rod 31, thereby preventing the ratchet 30 from rotating. When the elastic telescopic rod 10 rebounds, it brings the rotating column 20 and the storage cartridges 14 back to their original positions. During the resetting process, the ratchet 30 moves laterally synchronously. During this process, when the ratchet 30 passes through the pawl 32, since the pawl 32 cannot deflect relative to the mounting rod 31 in the direction away from the ratchet 30, the ratchet 32 ​​is engaged. The ratchet 30 will deflect, thereby driving the rotating column 20 to deflect, and the rotating column 20 will drive the distributed storage cylinders 14 to deflect. It should be noted that each time the lifting mounting plate 7 drives the mud sampling plug 33 to descend and then rise up, there will be multiple displacements of different degrees, which will cause the rotating column 20 to deflect multiple times. The accumulated deflection angle of the rotating column 20 in this process is just the angle between two adjacent storage cylinders 14. In this way, each time the mud sampling plug 33 takes the mud sample and discharges it into the storage cylinder 14 directly below, the storage cylinder 14 can be automatically switched when the mud is taken next time, which is convenient for continuous mud sampling at multiple locations.

[0069] Several embodiments of the present invention are described in detail above, but the embodiments of the present invention are not limited thereto and cannot be considered to limit the scope of implementation of the present invention. All equivalent changes and improvements made within the scope of the present invention should still fall within the scope of the patent coverage of the present invention.

Claims

1. A sampling device for seagrass bed ecological monitoring based on an unmanned aerial vehicle, comprising an unmanned aerial vehicle component (1), wherein a lifting and hoisting mechanism is provided at the bottom of the unmanned aerial vehicle component (1), and the unmanned aerial vehicle component (1) is connected to a bottom mud sampling mechanism via the lifting and hoisting mechanism, characterized in that: The bottom mud sampling mechanism comprises: A mud sampling intubation tube (33), the mud sampling intubation tube (33) is used to be inserted into the mud of the seaweed bed to sample the mud, and a counterweight mechanism connected to the lifting end of the lifting and hoisting mechanism is arranged on the top of the mud sampling intubation tube (33); An automatic mud discharge mechanism and a recovery mechanism, wherein the automatic mud discharge mechanism is arranged on the mud collecting tube (33), and the lifting and hoisting mechanism comprises a bottom baffle (6) which cooperates with the automatic mud discharge mechanism. Whenever the lifting and hoisting mechanism lifts the mud collecting tube (33), the automatic mud discharge mechanism is blocked by the bottom baffle (6) and moves downward relative to the mud collecting tube (33), thereby squeezing out the mud; the recovery mechanism comprises a reciprocating mechanism and a storage cylinder (14), and the reciprocating mechanism is used to drive the storage cylinder (14) to move horizontally to the bottom of the mud collecting tube (33) or to move away from the bottom of the mud collecting tube (33).

2. A sampling device for seagrass bed ecological monitoring based on an unmanned aerial vehicle according to claim 1, characterized in that: The counterweight mechanism comprises a lifting installation plate (7) and a counterweight slide column (8); the lifting installation plate (7) is connected to the lifting end of the lifting hoisting mechanism, a plurality of counterweight slide columns (8) are provided, and are equidistantly distributed on the lifting installation plate (7) in the circumferential direction, each of the counterweight slide columns (8) passes through the lifting installation plate (7), and both ends of the counterweight slide column (8) are provided with limit blocks (12), and a plurality of mud extraction plugs (33) are provided, and are correspondingly fixedly connected to the bottom of the counterweight slide column (8).

3. The sampling device for seagrass bed ecological monitoring based on an unmanned aerial vehicle according to claim 1 is characterized in that: The automatic mud discharge mechanism comprises a push rod (22), a first spring (27) and a push plate (26); the push rod (22) passes through a mud extraction plug tube (33) and a counterweight slide column (8) in sequence; the top of the push rod (22) is connected to the counterweight slide column (8) via the first spring (27); the push plate (26) is fixedly connected to a position of the push rod (22) close to the bottom, and the push plate (26) is slidably matched with the mud extraction plug tube (33).

4. A sampling device for seagrass bed ecological monitoring based on an unmanned aerial vehicle according to claim 3, characterized in that: The bottom of the mud extraction plug pipe (33) is spliced ​​with a bottom pipe (13), the bottom of the top rod (22) is fixedly connected to the bottom pipe (13), and a one-way conduction mechanism is provided at the bottom of the bottom pipe (13).

5. A sampling device for seagrass bed ecological monitoring based on an unmanned aerial vehicle according to claim 4, characterized in that: The one-way conduction mechanism comprises an elastic rotating rod (28) and a connecting baffle (29). A plurality of the elastic rotating rods (28) are provided and circumferentially distributed at the bottom of the bottom tube (13). The bottom end of each elastic rotating rod (28) is movably connected to the inner wall of the bottom tube (13) via a rebound hinge. The top ends of all the elastic rotating rods (28) are close to each other, and adjacent elastic rotating rods (28) are connected via the connecting baffle (29).

6. The sampling device for seagrass bed ecological monitoring based on an unmanned aerial vehicle according to claim 1 is characterized in that: The reciprocating mechanism comprises a fixed frame (9), an elastic telescopic rod (10), a first inclined surface extrusion block (11) and a second inclined surface extrusion block (19); the fixed frame (9) is fixedly connected to the edge of the bottom baffle (6); the elastic telescopic rod (10) is horizontally fixedly connected to the fixed frame (9); one end of the first inclined surface extrusion block (11) is in contact with the end surface of the telescopic end of the elastic telescopic rod (10); and the upper side edge of the connecting end of the first inclined surface extrusion block (11) is movably connected to the telescopic end of the elastic telescopic rod (10) through a rebound hinge; a plurality of storage cylinders (14) are provided; the telescopic end of the elastic telescopic rod (10) is also connected to a one-way rotating mechanism, and each storage cylinder (14) rotates synchronously with the one-way rotating mechanism; and the bottom of each storage cylinder (14) is fixedly connected to a second inclined surface extrusion block (19).

7. A sampling device for seagrass bed ecological monitoring based on an unmanned aerial vehicle according to claim 6, characterized in that: The one-way rotating mechanism comprises a suspension rod (21), a rotating column (20), a ratchet (30) and a pawl (32); the suspension rod (21) is vertically fixedly connected to the telescopic end of the elastic telescopic rod (10); the rotating column (20) is rotatably connected to the bottom of the suspension rod (21); the ratchet (30) is coaxially connected to the rotating column (20); the storage cylinder (14) is fixedly connected to the rotating column (20), and the storage cylinder (14) is equidistantly distributed around the rotating column (20); a mounting rod (31) is fixedly connected below the fixing frame (9); the pawl (32) is movably connected to the end of the mounting rod (31) through a rebound hinge, and the pawl (32) cooperates with the ratchet (30).

8. The sampling device for seagrass bed ecological monitoring based on an unmanned aerial vehicle according to claim 2 is characterized in that: The bottom of the bottom baffle (6) is fixedly connected with a guide rod (23), the lifting installation plate (7) is provided with a through hole (25) matched with the guide rod (23), and a conical guide sleeve (24) is fixedly arranged at the position of the through hole (25).

9. The sampling device for seagrass bed ecological monitoring based on an unmanned aerial vehicle according to claim 2, characterized in that: The lifting and hoisting mechanism comprises a connecting side plate (3) and a winding column (4), wherein two connecting side plates (3) are provided and are symmetrically arranged on both sides of the bottom of the drone component (1), and the bottom baffle (6) is fixedly connected to the bottoms of the two connecting side plates (3), and the winding column (4) is rotatably arranged between the two connecting side plates (3), and a motor for driving the winding column (4) to rotate is fixedly installed on one of the connecting side plates (3), and a lifting rope (5) is wound on the winding column (4), and the end of the lifting rope (5) is fixedly connected to the lifting installation plate (7).

10. The sampling device for seagrass bed ecological monitoring based on an unmanned aerial vehicle according to claim 9, characterized in that: The bottom sides of the drone component (1) are fixedly connected with mounting sleeves (15), the tops of the two connecting side plates (3) are fixedly connected with plug blocks (16), and the plug blocks (16) slide through the mounting sleeves (15) accordingly, a second spring (17) is also connected between the plug blocks (16) and the mounting sleeves (15), a pressure sensing switch (18) aligned with the plug blocks (16) is fixedly installed below the mounting sleeve (15), and the drone component (1) is equipped with a warning device electrically connected to the pressure sensing switch (18).

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