Seawater micro-surface layer acquisition method and system based on cooperation of multiple sensors and unmanned aerial vehicle

Abstract

The invention provides a seawater micro-surface layer acquisition method and system based on cooperation of multiple sensors and an unmanned aerial vehicle, and relates to the technical field of marine equipment technologies, and the system comprises an unmanned aerial vehicle platform, a multi-sensor module and a crawler-type full-automatic acquisition device; the crawler-type full-automatic collecting device is fixed below the unmanned aerial vehicle body and comprises two extension pipes, the two extension pipes are fixed to the unmanned aerial vehicle body, two rolling shafts are arranged between the extension pipes in parallel, the two rolling shafts are connected through a crawler belt, the rolling shafts rotate to drive the crawler belt to rotate, and the crawler belt is connected with the unmanned aerial vehicle body. The part, with the set height, of the crawler belt is immersed in seawater, so that the crawler belt slowly rotates at the set speed at the constant speed, the seawater micro-surface layer is continuously lifted and collected along with rotation of the crawler belt and stored in the sample storage bottle, and the collected seawater micro-surface layer is used for subsequent multi-parameter detection.

Description

Technical Field

[0001] The present disclosure relates to the field of marine equipment technology, and in particular to a method and system for collecting seawater micro-surface data based on the collaboration of multiple sensors and unmanned aerial vehicles. Background Art

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

[0003] The marine micro-surface layer refers to an extremely thin layer of seawater located at the top of the ocean surface with a thickness of about 1 to 1000 m. Because it is located at the ocean-atmosphere interface, it is enriched with a large number of surface-active or hydrophobic organic matter and microorganisms. The marine environment is one of the most important components of the earth's ecosystem. The collection of marine micro-surface samples is of great significance for studying marine ecology, climate change, and pollutant diffusion. Traditional marine micro-surface sample collection methods usually rely on ships and manpower. The collection process has problems such as complex operation, high operating and labor costs, and restrictions on environmental conditions. Especially in the marine surface environment, the water quality changes rapidly, and traditional sampling methods are difficult to obtain accurate micro-surface data in real time and effectively.

[0004] With the continuous development of science and technology, the application of drones in many fields has received widespread attention. Since drones can fly low and hover over the sea, they have flexible maneuverability and precise positioning capabilities, and can be used for efficient sample collection in the ocean surface. In addition, the flight altitude and range of drones can be flexibly adjusted as needed, allowing them to cover a wider range of sea areas, providing a new technical means for real-time micro-surface data collection.

[0005] However, existing drone sampling systems and methods still have the following limitations: 1) Traditional drone sample collection systems can only directly sample large volumes of seawater, but it is difficult to accurately obtain ocean micro-surface samples. They are often affected by sea surface fluctuations and meteorological conditions, making it difficult to ensure the representativeness and accuracy of the samples.

[0006] 2) The current UAV sampling system lacks optimization for the special needs of the ocean micro-surface in the design and operation of the sampling device, resulting in unsatisfactory collection results. Summary of the invention

[0007] In order to solve the above problems, the present invention proposes a seawater micro-surface collection method and system based on the collaboration of multiple sensors and unmanned aerial vehicles, using unmanned aerial vehicles as a lightweight integrated platform, combined with an automated ocean micro-surface collection module, an integrated multi-sensor meteorological monitoring module and a sea level height detection module, to improve the screening capability of sea areas where ocean micro-surface operations can be carried out and the stability during sampling operations.

[0008] According to some embodiments, the present disclosure adopts the following technical solutions: A seawater micro-surface collection system based on multi-sensor and UAV collaboration, including a UAV platform, a multi-sensor module, and a crawler-type fully automatic collection device; The drone platform includes a drone body, which is equipped with a high-definition camera, a GPS, and an inertial measurement unit, all of which are wirelessly connected to the drone platform; The crawler-type fully automatic data collection device is fixed under the drone body, and includes two extension tubes, the two extension tubes are fixed on the drone body, two rollers are arranged in parallel between the extension tubes, and the two rollers are connected by a crawler. The rotation of the roller drives the crawler to rotate, and the part of the crawler with a set height is immersed in seawater, so that the crawler rotates uniformly and slowly at a set speed. As the crawler rotates, the seawater micro-surface layer is continuously pulled up and collected and stored in a sample storage bottle, and the collected seawater micro-surface layer is used for subsequent multi-parameter detection.

[0009] Furthermore, the multi-sensor module is fixed under the drone body and is communicatively connected to the drone platform. The multi-sensor module includes an ultrasonic wind speed sensor and a laser altimeter radar. The ultrasonic wind speed sensor sends ultrasonic pulses to the outside world through a transmitting port, and calculates the wind direction and wind speed through the pulse phase difference of a receiving port; the laser altimeter radar measures sea surface changes through light signals reflected from the sea surface, obtains sea surface data in real time, monitors the distance between the drone's flight altitude and the sea level, and controls the drone's flight altitude.

[0010] Furthermore, the crawler-type fully-automatic collection device is arranged below the UAV body, and a multi-sensor module is arranged between the crawler-type fully-automatic collection device and the UAV body. The crawler-type fully-automatic collection device is a vertically downward extension of the UAV body, which is connected by two extension tubes. The two extension tubes are fixed on the UAV body and extend downward in parallel, and two rollers parallel to each other are horizontally arranged between the two extension tubes.

[0011] Furthermore, two rollers parallel to each other are connected by a crawler belt, which is made of silicone material and has a smooth outer surface. The rotation of the roller drives the rotation of the crawler belt.

[0012] Furthermore, a rubber scraper with an inclined angle is fixedly arranged on the side where the track rolls downward, and the contact portion of the rubber scraper with the track is elastic. A sample storage bottle is arranged on the side where the rubber scraper is inclined at a low height, and one end of the rubber scraper at a low height is inserted into the sample storage bottle. A gap of a set size is left between the opening of the sample storage bottle and the rubber scraper, so that the seawater micro-surface sample on the rubber scraper can flow in smoothly.

[0013] Furthermore, the sample storage bottle is made of polytetrafluoroethylene, and a liquid level sensor is arranged in the sample storage bottle. The liquid level sensor is communicatively connected to the crawler-type fully automatic collection device, the crawler-type fully automatic collection device is connected to the UAV platform, and the UAV platform is connected to the sampling control module. The sampling control module is a remote control platform and is also used for subsequent multi-parameter detection. When the collected seawater micro-surface layer reaches the specified liquid level, the sampling is controlled to stop.

[0014] According to some embodiments, the present disclosure adopts the following technical solutions: The seawater micro-surface collection method based on the seawater micro-surface collection system coordinated by multiple sensors and unmanned aerial vehicles includes: Determine the track's operating speed, track immersion volume, seawater micro-surface sampling volume scale, and the threshold for adaptive adjustment of the UAV's flight altitude; Obtain location information for collecting seawater micro-surface samples within the effective wind range and plan the flight route of the drone; The sampling control module remotely drives the UAV and tracked sampling device to work, drives the roller to roll, and drives the track to rotate. The rotation of the track continuously pulls up and collects the seawater micro-surface layer and stores it in the sample storage bottle. The liquid level sensor obtains the liquid height data of the seawater micro-surface layer. When the liquid level in the sample storage bottle reaches the preset value, the sampling stops and the UAV is controlled to return along the specified route.

[0015] According to some embodiments, the present disclosure adopts the following technical solutions: A computer program product comprises a computer program, wherein when the computer program is executed by a processor, the seawater micro-surface layer collection method of the seawater micro-surface layer collection system based on multi-sensor and unmanned aerial vehicle collaboration is implemented.

[0016] According to some embodiments, the present disclosure adopts the following technical solutions: A non-transitory computer-readable storage medium is used to store computer instructions. When the computer instructions are executed by a processor, the seawater micro-surface collection method of the seawater micro-surface collection system based on multi-sensor and unmanned aerial vehicle collaboration is implemented.

[0017] According to some embodiments, the present disclosure adopts the following technical solutions: An electronic device comprises: a processor, a memory and a computer program; wherein the processor is connected to the memory, the computer program is stored in the memory, and when the electronic device is running, the processor executes the computer program stored in the memory, so that the electronic device executes the seawater micro-surface collection method of the seawater micro-surface collection system based on multi-sensor and unmanned aerial vehicle collaboration.

[0018] Compared with the prior art, the present invention has the following beneficial effects: The disclosed seawater micro-surface collection system based on multi-sensor and UAV collaboration uses the UAV platform as a lightweight integrated platform and combines the automated multi-sensor module and the crawler-type fully automatic collection device, breaking through many limitations of traditional micro-surface collection and realizing efficient, simple and low-cost marine micro-surface collection operations in large areas of sea. At the same time, the platform also integrates a meteorological monitoring module and a sea level detection module, further improving the screening capability of sea areas where marine micro-surface operations can be carried out and the stability during sampling operations.

[0019] The disclosed seawater micro-surface collection system based on multi-sensor and UAV collaboration adopts six-wing or eight-wing UAVs, which not only have stronger flight stability, but also have greater lift and load, which can provide sufficient margin for subsequent transformation or improvement of the UAV platform. In addition, the UAV is equipped with a high-definition camera to facilitate visual observation of remote samplers during flight or sampling; the high-precision global positioning system GPS and inertial measurement unit are used to ensure that the UAV can accurately locate and navigate over the ocean, while solving problems such as weak signals or interference in the sea areas of some ocean voyage missions.

[0020] The disclosed seawater micro-surface collection system based on the collaboration of multiple sensors and drones has innovatively designed a new type of crawler-type fully automatic micro-surface collection device, which is a vertical downward extension of the drone, and two rollers are fixed on the downward extending tube. The two rollers are connected by a crawler with a smooth outer surface made of silicone material, and when the rollers rotate, the silicone crawler can be driven to rotate. When collecting the seawater micro-surface, it is only necessary to ensure that 1 / 5 to 1 / 4 of the crawler as a whole can be immersed in seawater. The crawler can rotate at a uniform and slow speed at a set speed, so that the seawater micro-surface can be continuously pulled up as the crawler rotates, which greatly saves the collection time and improves the collection efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The accompanying drawings constituting a part of the present disclosure are used to provide a further understanding of the present disclosure. The illustrative embodiments of the present disclosure and their descriptions are used to explain the present disclosure and do not constitute an improper limitation on the present disclosure.

[0022] Figure 1 This is an overall structural diagram of a seawater micro-surface acquisition system coordinated by multiple sensors and drones according to an embodiment of the present disclosure; Figure 2 This is a schematic diagram of the operation of the crawler-type fully automatic collection device according to an embodiment of the present disclosure; Figure 3 This is a diagram of the collaborative working architecture of various modules of the seawater micro-surface acquisition system using multiple sensors and drones in an embodiment of the present disclosure.

[0023] Among them, 1. UAV body; 2. Sampling control module; 3. Ultrasonic wind speed sensor; 4. Laser height radar; 5. Tracks; 6. Sample storage bottle; 7. Seawater multi-parameter monitoring device; 8. Rubber scraper; Among them, the arrow direction of the crawler represents the running direction of the crawler; DETAILED DESCRIPTION The present disclosure is further described below in conjunction with the accompanying drawings and embodiments.

[0024] It should be noted that the following detailed descriptions are all illustrative and are intended to provide further explanation of the present disclosure. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present disclosure belongs.

[0025] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present disclosure. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0026] Example 1 In one embodiment of the present disclosure, a seawater micro-surface collection system based on multi-sensor and UAV collaboration is provided, including a UAV platform, a multi-sensor module, and a crawler-type fully automatic collection device; The drone platform comprises a drone body 1, wherein the drone body 1 is equipped with a high-definition camera, a GPS and an inertial measurement unit, all of which are wirelessly connected to the drone platform; As an embodiment, the UAV platform must have a stable flight control system to ensure that it can fly stably in a marine environment with changing wind speeds and large sea surface fluctuations. In addition, considering that the marine micro-surface layer is easily damaged by seawater disturbances, the system should also have a stable, high-precision fixed-point hovering function during the micro-surface collection operation. Six-wing or eight-wing UAVs not only have stronger flight stability, but also have greater lift and load, which can provide sufficient margin for subsequent modification or improvement of the UAV platform. In addition, the UAV should also be equipped with a high-definition camera to facilitate visual observation of remote samplers during flight or sampling.

[0027] In addition, due to the influence of terrestrial input or plankton activity, the chemical composition and properties of the ocean microsurface vary significantly between different sea areas. In order to improve the accuracy of the sampling site and the traceability of subsequent analysis and detection, a high-precision global positioning system (GPS) and inertial measurement unit are needed to ensure that drones can accurately locate and navigate over the ocean. At the same time, considering the problems of weak signals or interference in the sea areas of some ocean-going voyage missions, it is necessary to consider an enhanced positioning system.

[0028] The drone may be a six-wing drone or an eight-wing drone. Figure 1 Shown is a six-wing drone.

[0029] Furthermore, the multi-sensor module is fixed under the UAV body 1 and is communicatively connected to the UAV platform. The multi-sensor module includes an ultrasonic wind speed sensor 3 and a laser altimeter radar 4. The ultrasonic wind speed sensor 3 sends ultrasonic pulses to the outside world through a transmitting port, and calculates the wind direction and wind speed through the pulse phase difference of a receiving port; the laser altimeter radar 4 measures sea surface changes through light signals reflected from the sea surface, obtains sea surface data in real time, monitors the distance between the UAV's flight altitude and the sea level, and controls the UAV's flight altitude.

[0030] As an embodiment, excessive wind speed will destroy the ocean micro-surface layer. It is generally believed that the upper limit of the wind speed that can form a stable ocean micro-surface layer is 8 to 10 m / s. When the wind speed exceeds 13 m / s, the surging waves will completely destroy the micro-surface layer in a certain sea area. In addition, excessive wind speed will have a significant impact on the stability of the drone flight. Therefore, it is very important to master the wind speed information when using drones to collect seawater micro-surface layers. This can not only help screen the sea areas where seawater micro-surface layers may exist, but also predict the probability of possible strong winds through real-time wind speed changes during hovering sampling, which can further improve the efficiency and safety of sampling. A small ultrasonic wind speed sensor is installed and fixed on the clamping plate below the drone. The sensor can send ultrasonic pulses to the outside world and calculate the wind direction and wind speed through the pulse phase difference of the receiving port. The equipment can usually work in a large wind speed range (0~40 m / s). It has low operating energy consumption, only requires 5V voltage to work, and the time resolution can reach 20 s. All measurement data can be transmitted to the drone platform through its built-in 4G network chip.

[0031] Furthermore, when collecting the micro-surface layer of seawater, the sea surface may fluctuate due to the effect of wind. If the sea level surges too much during the hovering operation of the drone, and the unmanned hovering height cannot be adjusted accordingly, the crawler-type automatic sampling device may be completely separated from the seawater and suspended in the air, and the seawater micro-surface layer cannot be effectively collected. It may also cause the seawater level to completely submerge the rubber scraper and the sample storage bottle, resulting in the seawater micro-surface layer sample being contaminated by seawater. Therefore, the present invention installs a small laser altimeter on the lower side of the plywood of the drone. The selected small laser radar has the advantages of small size and light weight, making it suitable for integration into the drone light platform. The laser altimeter can obtain sea surface data in real time and quickly and accurately measure sea surface changes through the light signal reflected from the sea surface. The device is mainly used to monitor the distance between the drone's flight altitude and the sea level, and it can provide measurement accuracy at the level of several millimeters to several centimeters. A threshold interval from the sea surface to the drone's flight altitude can be set artificially. When the surging degree of the sea surface exceeds this threshold, the drone can make adjustments in time and return to the appropriate height position.

[0032] Furthermore, since most of the current seawater micro-surface collection is done manually or semi-manually, the extraction method is a simple and effective method for collecting seawater micro-surface. The glass plate extraction method usually requires the sampler to slowly and vertically immerse a piece of glass into the seawater, and then slowly and vertically pull it up from the seawater, and use a clean scraper to scrape the seawater micro-surface adhered to both sides of the glass plate into the sampling bottle. Since the amount of sample adhered to the glass plate is very small, it often takes dozens or hundreds of repeated extraction processes to collect enough seawater micro-surface volume for subsequent experimental analysis. In fact, most of the time is wasted in the process of immersion and extraction. This extraction method is not suitable for the automated and efficient sampling goals of drones. Therefore, based on previous methods, the present invention innovatively designs a new type of crawler-type fully automatic collection device.

[0033] Specifically, the crawler-type fully automatic collection device is fixed under the drone body 1, and includes two extension tubes, which are fixed on the drone body, and two rollers are arranged in parallel between the extension tubes, and the two rollers are connected by a crawler 5, and the rotation of the roller drives the crawler 5 to rotate, and the part of the crawler with a set height is immersed in the seawater. When collecting the seawater micro-surface layer, it is only necessary to ensure that 1 / 5 to 1 / 4 of the crawler as a whole can be immersed in the seawater. The crawler is made to rotate at a uniform and slow speed at a set speed, and the seawater micro-surface layer is continuously pulled up and stored in a sample storage bottle as the crawler rotates, and the collected seawater micro-surface layer is used for subsequent multi-parameter detection.

[0034] The crawler-type fully automatic acquisition device is arranged below the drone body, and a multi-sensor module is arranged between the crawler-type fully automatic acquisition device and the drone body. The crawler-type fully automatic acquisition device is a vertical downward extension of the drone body, connected by two extension tubes, the two extension tubes are fixed on the drone body and extend downward in parallel, and two rollers parallel to each other are arranged horizontally between the two extension tubes. The roller located above belongs to the driving roller, and its power supply comes from the built-in battery in the sampling control module 2. The non-driving roller located below is connected to the driving roller by a transmission belt, and the power of the driving roller can be transmitted to the non-driving roller. The two parallel rollers are connected by a track with a smooth outer surface made of silicone material on the outside, and the silicone track can be driven to rotate when the roller rotates.

[0035] A rubber scraper 8 with an inclination angle (about 30° to the horizontal plane) is fixedly arranged on the side where the track rolls downward. The contact portion of the rubber scraper 8 with the track 5 is elastic, and the contact portion of the rubber scraper 8 with the track 5 has a certain softness and elasticity, which ensures that the micro-surface layer adhering to the track is effectively scraped off without interfering with the normal rotation of the track. A sample storage bottle 6 is arranged on the side where the rubber scraper is inclined at a low height, and one end of the rubber scraper at a low height is inserted into the sample storage bottle 6. A gap of a set size is left between the opening of the sample storage bottle 6 and the rubber scraper, so that the seawater micro-surface layer sample on the rubber scraper can flow in smoothly. After the seawater micro-surface layer is scraped off by the rubber scraper, it slowly flows along the inclined scraper due to gravity into the fixed, clean polytetrafluoroethylene sample storage bottle beside the track. In order to prevent the seawater from flowing back into the sample storage bottle due to the violent surging of the sea surface as much as possible, the present invention opens a small opening on the upper side of the sample storage bottle that is just enough to allow the rubber scraper to be inserted, and ensures that a gap of about 3 mm allows the seawater micro-surface sample on the rubber scraper to flow in smoothly. A liquid level sensor is provided in the sample storage bottle, and sampling is stopped when the collected seawater micro-surface reaches the specified liquid level. Furthermore, the liquid level sensor is communicatively connected to the tracked fully automatic collection device, the tracked fully automatic collection device is connected to the UAV platform, the UAV platform is connected to the sampling control module, the sampling control module is a remote control platform, and is also used for subsequent multi-parameter detection. When the collected seawater micro-surface layer reaches the specified liquid level, the sampling is controlled to stop.

[0036] Furthermore, it also includes a sampling control module 2, which can integrate the real-time signal data of the ultrasonic wind speed sensor, laser altimeter radar or other additionally installed sensors, and feed the information back to the flight control system of the UAV to dynamically adjust the flight strategy. The module can preset the operating speed, immersion volume, and flight altitude threshold of the crawler-type fully automatic sampling device in advance. The module will also be equipped with a high-energy density battery (power supply module) to provide the power required for crawler operation and laser altimeter radar operation. Through the coordinated work of multiple sensors, the module enables the UAV to not only maintain flight stability, but also ensure the accuracy and representativeness of sampling. In addition, the module also has data storage and transmission functions.

[0037] Furthermore, the collected seawater micro-surface is subjected to subsequent multi-parameter monitoring by a seawater multi-parameter monitoring device.

[0038] Example 2 In one embodiment of the present disclosure, a method for collecting seawater micro-surface layer based on a seawater micro-surface layer collection system coordinated by multiple sensors and unmanned aerial vehicles is provided, comprising: Determine the track's operating speed, track immersion volume, seawater micro-surface sampling volume scale, and the threshold for adaptive adjustment of the UAV's flight altitude; Obtain location information for collecting seawater micro-surface samples within the effective wind range and plan the flight route of the drone; The sampling control module remotely drives the UAV and tracked sampling device to work, drives the roller to roll, and drives the track to rotate. The rotation of the track continuously pulls up and collects the seawater micro-surface layer and stores it in the sample storage bottle. The liquid level sensor obtains the liquid height data of the seawater micro-surface layer. When the liquid level in the sample storage bottle reaches the preset value, the sampling stops and the UAV is controlled to return along the specified route.

[0039] Specifically, the specific process of the seawater micro-surface layer collection method based on the seawater micro-surface layer collection system coordinated by multiple sensors and unmanned aerial vehicles is as follows: the running speed of the crawler during the sampling operation, the crawler immersion volume, the seawater micro-surface layer sampling volume scale and the threshold value of the adaptive adjustment of the unmanned aerial vehicle flight altitude are pre-set through the sampling control module; Obtain location information for collecting seawater micro-surface samples within the effective flight distance and plan the flight route of the drone; When the drone flies to the sampling site and completes the deployment of the crawler sampling device, the sampling control module remotely drives the crawler sampling device to work. At this time, the driving roller rolls, driving the crawler to rotate. The crawler rotates and continuously pulls and collects the seawater micro-surface layer, and then scrapes the seawater micro-surface layer out through the rubber scraper and diverts it to the sample storage bottle. The liquid level sensor obtains the liquid height data of the seawater micro-surface layer. When the liquid level in the sample storage bottle reaches the preset value, the sampling is stopped, and the drone is remotely controlled to return along the specified route. During the sampling process, the ultrasonic wind speed sensor monitors the wind direction and wind speed in real time; the laser altimeter radar monitors and maintains the height between the drone and the sea surface in real time; the seawater multi-parameter monitoring device detects and records the physical and chemical properties of seawater at the sampling site, including chlorophyll fluorescence, dissolved oxygen and salinity.

[0040] Specifically, the working process of seawater micro-surface data collection based on multi-sensor and UAV collaboration is as follows: 1. Before the UAV is operated, set the track speed (recommended to be 1-2 cm / s), the immersion volume of the track sampling device (recommended to be between 1 / 5-1 / 4), the seawater micro-surface sampling volume, and the UAV flight altitude adaptive adjustment threshold.

[0041] 2. With the UAV operator as the center, determine the specific longitude and latitude location information for collecting seawater micro-surface samples within the effective flight distance, and plan a suitable UAV flight route to avoid no-fly zones and strong signal interference areas.

[0042] 3. When the UAV and crawler sampling device complete the deployment, remotely start sampling.

[0043] 4. When the liquid level in the sample storage bottle reaches the preset value, sampling stops and the drone returns along the specified route.

[0044] 5. Remove the sample storage bottle and transfer the sample into a suitable container and store it at -20℃. If the sampling workload is large, you can immediately replace it with a new sample storage bottle to continue sampling.

[0045] 6. When starting a new round of sampling, the smooth silicone track needs to be rinsed three times with methanol and ultrapure water to prevent mutual contamination of the seawater micro-surface between different sampling points. The drone body and the splint (with different sensors and crawler sampling devices installed) are detachable. If all sampling operations are completed, the two should be disassembled and stored separately.

[0046] Example 3 In one embodiment of the present disclosure, a computer program product is provided, including a computer program, which, when executed by a processor, implements the seawater micro-surface collection method of the seawater micro-surface collection system based on multi-sensor and unmanned aerial vehicle collaboration.

[0047] Example 4 In one embodiment of the present disclosure, a non-transitory computer-readable storage medium is provided, and the non-transitory computer-readable storage medium is used to store computer instructions. When the computer instructions are executed by a processor, the seawater micro-surface collection method of the seawater micro-surface collection system based on multi-sensor and unmanned aerial vehicle collaboration is implemented.

[0048] Example 5 In one embodiment of the present disclosure, an electronic device is provided, including: a processor, a memory, and a computer program; wherein the processor is connected to the memory, and the computer program is stored in the memory. When the electronic device is running, the processor executes the computer program stored in the memory, so that the electronic device executes the seawater micro-surface collection method of the seawater micro-surface collection system based on the collaboration of multiple sensors and unmanned aerial vehicles.

[0049] The present disclosure is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present disclosure. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of the processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0050] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0051] Although the above describes the specific implementation methods of the present disclosure in conjunction with the accompanying drawings, it is not intended to limit the scope of protection of the present disclosure. Technical personnel in the relevant field should understand that on the basis of the technical solution of the present disclosure, various modifications or variations that can be made by those skilled in the art without creative work are still within the scope of protection of the present disclosure.

Claims

1. The seawater micro-surface acquisition system based on multi-sensor and UAV collaboration is characterized by: It includes UAV platform, multi-sensor module and tracked fully automatic acquisition device; The drone platform includes a drone body, which is equipped with a high-definition camera, a GPS, and an inertial measurement unit, all of which are wirelessly connected to the drone platform; The crawler-type fully automatic data collection device is fixed under the drone body, and includes two extension tubes, the two extension tubes are fixed on the drone body, two rollers are arranged in parallel between the extension tubes, and the two rollers are connected by a crawler. The rotation of the roller drives the crawler to rotate, and the part of the crawler with a set height is immersed in seawater, so that the crawler rotates uniformly and slowly at a set speed. As the crawler rotates, the seawater micro-surface layer is continuously pulled up and collected and stored in a sample storage bottle, and the collected seawater micro-surface layer is used for subsequent multi-parameter detection.

2. The seawater micro-surface acquisition system based on multi-sensor and drone collaboration as claimed in claim 1 is characterized in that: include: The multi-sensor module is fixed under the drone body and is communicatively connected to the drone platform. The multi-sensor module includes an ultrasonic wind speed sensor and a laser altimeter radar. The ultrasonic wind speed sensor sends ultrasonic pulses to the outside world through a transmitting port and calculates wind direction and wind speed through a pulse phase difference at a receiving port. The laser altimeter radar measures sea surface changes through light signals reflected from the sea surface, obtains sea surface data in real time, monitors the distance between the drone's flight altitude and the sea level, and controls the drone's flight altitude.

3. The seawater micro-surface acquisition system based on multi-sensor and drone collaboration as claimed in claim 1 is characterized in that: The crawler-type fully automatic collection device is arranged below the drone body, and a multi-sensor module is arranged between the crawler-type fully automatic collection device and the drone body. The crawler-type fully automatic collection device is a vertically downward extension of the drone body, which is connected by two extension tubes. The two extension tubes are fixed on the drone body and extend downward in parallel, and two rollers parallel to each other are arranged horizontally between the two extension tubes.

4. The seawater micro-surface acquisition system based on multi-sensor and UAV collaboration as claimed in claim 3 is characterized in that: Two rollers parallel to each other are connected by a crawler belt, which is made of silicone material and has a smooth outer surface. The rotation of the roller drives the rotation of the crawler belt.

5. The seawater micro-surface acquisition system based on multi-sensor and drone collaboration as claimed in claim 1, characterized in that: A rubber scraper with an inclined angle is fixedly set on the side where the track rolls downward, and the contact part of the rubber scraper with the track is elastic. A sample storage bottle is set on the side of the rubber scraper at a low height, and one end of the rubber scraper at a low height is inserted into the sample storage bottle. A gap of a set size is left between the opening of the sample storage bottle and the rubber scraper, so that the seawater micro-surface sample on the rubber scraper can flow in smoothly.

6. The seawater micro-surface acquisition system based on multi-sensor and drone collaboration as claimed in claim 5 is characterized in that: The sample storage bottle is made of polytetrafluoroethylene and is provided with a liquid level sensor. The liquid level sensor is communicatively connected to a crawler-type fully automatic collection device, the crawler-type fully automatic collection device is connected to an unmanned aerial vehicle platform, and the unmanned aerial vehicle platform is connected to a sampling control module. The sampling control module is a remote control platform and is also used for subsequent multi-parameter detection. When the collected seawater micro-surface layer reaches a specified liquid level, sampling is stopped.

7. The method for collecting seawater micro-surface layer based on the seawater micro-surface layer collection system based on multi-sensor and unmanned aerial vehicle collaboration according to any one of claims 1 to 6, characterized in that: include: Determine the track's operating speed, track immersion volume, seawater micro-surface sampling volume scale, and the threshold for adaptive adjustment of the UAV's flight altitude; Obtain location information for collecting seawater micro-surface samples within the effective wind range and plan the flight route of the drone; The sampling control module remotely drives the UAV and tracked sampling device to work, drives the roller to roll, and drives the track to rotate. The rotation of the track continuously pulls up and collects the seawater micro-surface layer and stores it in the sample storage bottle. The liquid level sensor obtains the liquid height data of the seawater micro-surface layer. When the liquid level in the sample storage bottle reaches the preset value, the sampling stops and the UAV is controlled to return along the specified route.

8. A computer program product, comprising a computer program, characterized in that When the computer program is executed by the processor, the seawater micro-surface collection method of the seawater micro-surface collection system based on multi-sensor and unmanned aerial vehicle collaboration as described in claim 7 is implemented.

9. A non-transitory computer-readable storage medium, characterized in that: The non-transitory computer-readable storage medium is used to store computer instructions. When the computer instructions are executed by the processor, the seawater micro-surface collection method based on the seawater micro-surface collection system coordinated by multiple sensors and unmanned aerial vehicles as described in claim 7 is implemented.

10. An electronic device, characterized in that: include: A processor, a memory and a computer program; wherein the processor is connected to the memory, the computer program is stored in the memory, and when the electronic device is running, the processor executes the computer program stored in the memory so that the electronic device executes the seawater micro-surface collection method based on the seawater micro-surface collection system coordinated by multiple sensors and unmanned aerial vehicles as described in claim 7.

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