Intertidal zone sediment sampling device based on unmanned aerial vehicle and sampling method thereof

Abstract

The sampling device comprises the unmanned aerial vehicle and a remote control end, the lower portion of the unmanned aerial vehicle is fixedly connected with an electric push rod, and the telescopic end of the electric push rod is fixedly connected with a sampling mechanism; the electric push rod inserts the sampling mechanism into the sediment in the intertidal zone or pulls the sampling mechanism out of the sediment in the intertidal zone in a pressing manner, the layered structure of the sample is not disturbed, the obtained sample retains the layered morphology information of the sample, the unmanned aerial vehicle is used for sampling the sediment in the intertidal zone, personnel are prevented from entering the intertidal zone to sample the sediment, and the sampling efficiency is improved. And the safety of personnel is ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of ecological environment monitoring equipment, and particularly relates to an intertidal zone sediment sampling device based on an unmanned aerial vehicle and a sampling method thereof. Background Art

[0002] The tidal flat (referred to as "intertidal zone" in geomorphology) is the tidal inundation zone distributed between the high tide level and the low tide level of the coastal spring tide. Affected by the periodic ebb and flow of the tide, this area presents unique dynamic characteristics: it is submerged by seawater during high tide and exposed above the water surface during low tide. As a typical coastal wetland ecosystem, the tidal flat has significant ecological value: its rich biodiversity covers various plant, animal and microbial communities; at the same time, it undertakes important ecological functions such as purifying water quality, resisting storm surges, and promoting carbon sequestration. These characteristics make the ecological monitoring of the tidal flat crucial for environmental protection, climate change response and coastal zone resource management.

[0003] In the tidal flat ecological investigation system, the collection of sediment (wet soil or sand with high water content) samples is a fundamental core task. Through laboratory analysis of indicators such as benthic biomass and organic matter content in the obtained samples, the current health status of the ecosystem can be effectively evaluated, and the evolution trend of the ecosystem can also be predicted. Traditional sampling methods mainly rely on manual operation with special instruments, but due to the low bearing capacity characteristics of tidal flat sediments caused by high water content, operators often face the risk of getting stuck in the mud.

[0004] To prevent the risk of operators getting stuck in the mud, some solutions are provided in the prior art. For example, in patent CN116902238A, a sampling unmanned aerial vehicle for the intertidal zone is provided. The collection device of the sampling unmanned aerial vehicle is provided with a stirring shaft, and the roller body on the stirring shaft adopts a rotary drill bit structure, and the soil sample is driven to rotate and enter onto the roller body; in patent CN119738211A, a sampling device for lake ecological environment monitoring is disclosed, and the sampling drill bit of its sampler also adopts a rotary drill bit structure; in CN117890148A, a sampling device for geological tidal flat environment detection is disclosed, and in CN117347108A, a multi-functional sampling device for the coastal zone is disclosed, and their drill bits also all adopt a rotary drill bit structure. The technical defect of the sampler with a rotary drill bit structure for sampling is that it disturbs the sample, and the obtained sample is difficult to restore the stratification information of the sample, and it cannot effectively evaluate the historical evolution of the intertidal zone ecosystem and the impact on the current health status of the ecosystem.

[0005] The present invention aims to overcome the above technical defects and proposes an intertidal zone sediment sampling device based on an unmanned aerial vehicle and a sampling method thereof. Summary of the Invention

[0006] The object of the present invention is to provide in the first aspect: an intertidal sediment sampling device based on an unmanned aerial vehicle, and the specific technical solution is as follows: An intertidal sediment sampling device based on an unmanned aerial vehicle includes an unmanned aerial vehicle and a remote control terminal wirelessly connected to the unmanned aerial vehicle. The unmanned aerial vehicle is configured with a battery pack, a high-definition camera unit and a control module. The high-definition camera unit integrates a GNSS navigation system and plans and monitors flights. An electric push rod is fixedly connected below the unmanned aerial vehicle, and a sampling mechanism is fixedly connected to the telescopic end of the electric push rod. The electric push rod is electrically connected to the battery pack through the control module, and the electric push rod is controlled by the control module to press the sampling mechanism into the sediment of the intertidal zone or pull out the sampling mechanism from the sediment of the intertidal zone.

[0007] Further, the sampling mechanism includes a pressure cylinder, a retraction and expansion regulator and a cover plate.

[0008] The pressure cylinder is used for excavating sediment samples in the intertidal zone. The pressure cylinder is a circular tubular structure with upper and lower openings surrounded by multiple arc-shaped cylinder pieces. A cutting edge is provided at the lower end of the cylinder piece. A connecting ear is fixedly connected to the center position of the outer side wall of each cylinder piece. The connecting ear is provided with a circumferential through hole, and all the through holes commonly penetrate a hoop. A flexible connecting piece made of an elastic material is connected between adjacent two cylinder pieces.

[0009] The retraction and expansion regulator includes an arc-shaped clamping piece, a connecting rod, a threaded connecting piece, a threaded rod and a servo motor; The number of arc-shaped clamping pieces and connecting rods is the same as the number of cylinder pieces. The arc-shaped clamping piece is adapted to the arc of the cylinder piece. The bottom surface of the arc-shaped clamping piece is recessed upward to form an arc-shaped clamping groove, and the arc-shaped clamping groove is adapted to the upper cross-section of the cylinder piece. The upper end of the cylinder piece is inserted and clamped in the arc-shaped clamping groove. A first ball head connecting seat is fixedly connected to the inner side surface of the arc-shaped clamping piece; A threaded through hole is opened at the center of the upper surface of the threaded connecting piece. A plurality of second ball head connecting seats are fixedly connected to the side surface of the threaded connecting piece. The number of second ball head connecting seats is the same as the number of cylinder pieces, and all the second ball head connecting seats are circumferentially and uniformly distributed around the central axis of the threaded connecting piece body; The connecting rod is composed of a rod portion and ball head portions at both ends of the rod portion. The ball head portions at both ends are respectively movably connected to the first ball head connecting seat and the second ball head connecting seat; The threaded rod is composed of a smooth rod section, an external thread section, and a limit block from top to bottom. A through hole is provided in the center of the cover plate, and the inner diameter of the through hole is slightly larger than the outer diameter of the smooth rod section of the threaded rod. The smooth rod section of the threaded rod passes through the through hole of the cover plate and extends to the upper surface of the cover plate. The servo motor is fixedly connected to the upper surface of the cover plate, and the output shaft of the servo motor is fixedly connected to the smooth rod section of the threaded rod. The motor cover covers the servo motor. The servo motor is electrically connected to the battery pack through the control module of the drone and is controlled by the control module. The lower opening of the motor cover is fixedly connected to the upper surface of the cover plate. The external thread section of the threaded rod passes through the internal thread through hole of the threaded connection member and is threadedly connected thereto. The height of the external thread section of the threaded rod is greater than the height of the internal thread through hole of the threaded connection member. The limit block is fixedly provided at the lower end of the threaded rod.

[0010] Further, the connection between the cylinder piece and the flexible connection piece adopts glue fixation connection or embedding connection. The flexible connection piece is a product made of elastic material, and pores are provided on the flexible connection piece.

[0011] When the servo motor rotates forward, the threaded rod drives the threaded connection member to rise. Through the arc-shaped clamping member and the connecting rod, the upper edge of the cylinder piece is pulled to rotate towards the direction close to the center of the pressing cylinder, so the upper opening of the pressing cylinder shrinks, and at the same time the lower opening expands; when the servo motor rotates in reverse, the threaded rod drives the threaded connection member to descend. Through the arc-shaped clamping member and the connecting rod, the upper edge of the cylinder piece is pulled to rotate away from the center of the pressing cylinder, so the upper opening of the pressing cylinder expands, and at the same time the lower opening shrinks.

[0012] The shrinkage of the lower opening increases the clamping force of the cylinder piece on the sediment sample, which is suitable for the drone to carry the sample and fly in the air. The expansion of the lower opening makes it easy for the sediment sample to enter or exit the pressing cylinder.

[0013] Further, a rubber sheet with grooves is pasted on the inner surface of the arc-shaped clamping groove.

[0014] The fabric with a high friction coefficient increases the clamping force of the arc-shaped clamping groove.

[0015] Further, the main body of the threaded connection member can be any one of a cuboid, a cube, or a cylinder.

[0016] Further, a wide-contact surface footrest is provided on the outer side of the bottom of the drone. The distance from the bottom of the drone to the lowest part of the sampling mechanism is less than the height of the footrest; a laser rangefinder for measuring height is fixedly connected to the bottom of the drone. The laser window of the laser rangefinder faces the ground. The laser rangefinder is electrically connected to the control module, is controlled by the control module, and transmits data to the control module.

[0017] The second aspect of the object of the present invention is to provide a sampling method using the intertidal zone sediment sampling device based on a drone in the first aspect. The specific technical solution is as follows: The control module includes an STM32 single-chip microcomputer, a memory, and a wireless transceiver. The wireless transceiver is connected to the remote control terminal for two-way wireless communication. The memory stores flight programs, landing programs, and tripod height data for the STM32 single-chip microcomputer to call. The sampling method steps are as follows: Step 1 S1 Preparation S1-1: Transmit the return target position coordinates to the high-definition camera unit through the remote control terminal. S1-2: Transmit the sampling target position coordinates to the high-definition camera unit through the remote control terminal. S1-3: Manually insert and snap the pressure cylinder into the arc-shaped clamping groove of the expansion and contraction regulator. Step 2 S2 Sampling S2-1: The remote control terminal issues a takeoff command to the control module of the UAV. The control module controls the execution of the flight program, and the UAV takes off and moves towards the sampling target position. S2-2: The control module compares the actual position coordinates with the sampling target position coordinates. If they are the same, the control module controls the execution of the landing program. S2-3: The control module activates the laser rangefinder to start working. The laser rangefinder measures the height from the bottom of the UAV to the ground and transmits data to the control module in real time. S2-4: The control module compares the measured height of the laser rangefinder in step S2-3 with the tripod height. If the measured height of the laser rangefinder is less than or equal to the tripod height, the control module controls the telescopic end of the electric push rod to extend. S2-5: The control module compares the measured height of the laser rangefinder in step S2-3 with the tripod height. If the measured height of the laser rangefinder is less than or equal to the tripod height, the control module controls the servo motor to rotate forward. S2-6: Delay for 20 seconds. S2-7: The control module controls the servo motor to rotate in the reverse direction. S2-8: The control module controls the telescopic end of the electric push rod to contract. S2-9: Delay for 20 seconds. Step 3 S3 Return S3-1: The control module controls the execution of the flight program, and the UAV takes off and moves towards the return target position. S3-2: The control module compares the actual position coordinates with the return target position coordinates. If they are the same, the control module controls the execution of the landing program. Step 4 S4 Sample unloading S4-1: Manually pull the pressure cylinder out of the arc-shaped clamping groove of the expansion and contraction regulator, and the sample remains in the pressure cylinder for analysis. S4-2: If it is necessary to transfer the sample in the pressing cylinder, manually press the ends of all cylinder pieces away from the cutting edge with both hands and vibrate slightly with a little force, then the sample will slide down from the pressing cylinder.

[0018] In the above method, the sampling target position coordinates in step S1-2 can be one or multiple. If there are multiple coordinates, after performing all the above steps, according to each sampling target position coordinate, steps S1-3 to S4-2 shall be repeatedly executed in sequence.

[0019] In the above method, steps S2-4 and S2-5 are executed synchronously.

[0020] In the above method, steps S4-1 and S4-2 are alternatively executed.

[0021] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. A positive pressure is applied to the sampling mechanism, which is inserted into the sediment of the intertidal zone under extrusion without disturbing the sample hierarchical structure, and the obtained sample retains the layered morphology information of the sample. 2. The size of the lower opening of the sampling mechanism can be changed. When the lower opening is narrowed, the clamping force of the cylinder pieces on the sediment sample is increased, which is suitable for the unmanned aerial vehicle to carry the sample and fly in the air. When the lower opening is enlarged, it is easy for the sediment sample to enter or leave the pressing cylinder. 3. Using the unmanned aerial vehicle for intertidal zone sediment sampling avoids personnel entering the intertidal zone to sample sediments and ensures the safety of personnel. Description of the Drawings

[0022] Figure 1 It is the overall schematic diagram of Embodiment 1, in which the double-headed arrow indicates a two-way wireless communication connection; Figure 2 It is the axonometric drawing of the sampling mechanism; Figure 3 It is for Figure 2 exploded view of; Figure 4 It is the structural schematic diagram of the pressing cylinder; Figure 5 It is the axonometric drawing of the expansion and contraction regulator; Figure 6 It is the axonometric drawing of the expansion and contraction regulator from another angle; In the figure: 1 unmanned aerial vehicle, 11 tripod, 2 sampling mechanism, 21 pressing cylinder, 211 cylinder piece, 212 connecting ear, 213 hoop, 214 flexible connecting piece, 22 expansion and contraction regulator, 221 arc-shaped clamping piece, 222 connecting rod, 223 threaded connecting piece, 224 threaded rod, 225 servo motor, 23 cover plate, 231 motor cover, 3 electric push rod, 10 remote control terminal Detailed Embodiments

[0023] Embodiments of the present invention will be described in detail below. Examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention and should not be construed as limiting the present invention. Embodiment 1

[0024] Please refer to Figures 1-6 , this embodiment provides a technical solution: As Figure 1 shown, an intertidal sediment sampling device based on a drone includes a drone 1, a sampling mechanism 2, an electric push rod 3, and a remote control terminal 10. The drone 1 is a dual-rotor drone. A wide-contact surface footrest 11 is provided on the outer side of the bottom of the drone 1. The wide-contact surface footrest 11 increases the contact area, reduces the pressure on the intertidal zone, and prevents the device from sinking into the tidal flat. A battery pack, a GNSS module, a high-definition camera unit, and a control module are arranged inside the drone body. The battery pack powers the mechanical activities of the device. The high-definition camera unit integrates a GNSS navigation system to realize the movement path planning of the device and real-time monitoring of the entire operation process. The control module includes an STM32 single-chip microcomputer, a memory, and a wireless transceiver. The wireless transceiver is in bidirectional wireless communication connection with the remote control terminal 10 for information interaction, and is used to allocate the movement and sampling activities of the device. The memory stores programs and data for the STM32 single-chip microcomputer to call. A laser rangefinder for measuring height is fixedly connected to the bottom of the drone 1. The laser window of the laser rangefinder faces the ground. The laser rangefinder is electrically connected to the control module, is controlled by the control module, and transmits data to the control module.

[0025] As Figures 1-3 shown, the sampling mechanism 2 is connected to the bottom of the drone 1. The distance from the bottom of the drone 1 to the lowest part of the sampling mechanism 2 is less than the height of the footrest 11. The sampling mechanism 2 includes a pressure cylinder 21, a retraction and expansion regulator 22, and a cover plate 23.

[0026] Please refer to Figures 2-4, the pressing cylinder 21 is used to excavate sediment samples in the intertidal zone. The pressing cylinder 21 is a circular tubular structure with upper and lower openings formed by multiple arc-shaped cylinder pieces 211. The cylinder pieces 211 are made of a transparent material, and the transparent material can observe the samples inside the pressing cylinder 21 without taking out the samples. A cutting edge is provided at the lower end of the cylinder piece 211, and the cutting edge facilitates the pressing cylinder 21 to enter the soil and cut the plant roots in the sand. In this embodiment, 4 arc-shaped cylinder pieces 211 are used. A connecting ear 212 is fixedly connected to the middle position of the outer side wall of each cylinder piece 211. The connecting ear 212 is provided with a circumferential through hole, and all the through holes commonly penetrate a hoop 213. A flexible connecting piece 214 is connected between adjacent two cylinder pieces 211. The connection between the cylinder piece 211 and the flexible connecting piece 214 is made by glue fixation or embedding connection. The flexible connecting piece 214 is a product made of an elastic material, such as a rubber or plastic material product. The flexible connecting piece 214 is provided with pores for the water in the pressing cylinder 21 to seep out.

[0027] After the multiple cylinder pieces 211 enclose the pressing cylinder 21, each cylinder piece 211 can rotate slightly with the hoop 213 as the rotation axis under the action of an external force. While the cylinder piece 211 rotates, the flexible connecting piece 214 undergoes elastic deformation. The combined result of the rotation of the cylinder piece 211 and the elastic deformation of the flexible connecting piece 214 is that the upper opening of the pressing cylinder 21 expands, and at the same time the lower opening shrinks. The shrinkage of the lower opening increases the clamping force of the cylinder piece 211 on the sediment sample. Coupled with the adhesion force between the sediment sample and the cylinder piece 211, when the pressing cylinder 21 is lifted, the sediment sample will not slip from the pressing cylinder 21; or the upper opening shrinks and the lower opening expands at the same time. The expansion of the lower opening makes it easy for the sediment sample to enter or leave the pressing cylinder 21.

[0028] Please refer to Figure 2 、 3 Figures 5 and 6. The expansion and contraction regulator 22 includes an arc-shaped clamping member 221, a connecting rod 222, a threaded connecting member 223, a threaded rod 224 and a servo motor 225.

[0029] The number of the arc-shaped clamping members 221 and the connecting rods 222 is the same as the number of the cylinder pieces 211. The arc-shaped clamping member 221 is adapted to the arc of the cylinder piece 211. The bottom surface of the arc-shaped clamping member 221 is recessed upward to form an arc-shaped clamping groove, and the arc-shaped clamping groove is adapted to the upper cross-section of the cylinder piece 211. The upper end of the cylinder piece 211 is inserted and clamped in the arc-shaped clamping groove. In order to enhance the clamping force, a fabric with a high friction coefficient, such as a rubber sheet with grooves, is pasted on the inner surface of the arc-shaped clamping groove; a first ball head connecting seat is fixedly connected to the inner side surface of the arc-shaped clamping member 221.

[0030] The main body of the threaded connector 223 can be any one of a cuboid, a cube or a cylinder. In this embodiment, the main body of the threaded connector 223 is a cube. An internally threaded through hole is provided at the center of the upper surface of the threaded connector 223. A plurality of second ball head connectors are fixedly connected to the side surface of the threaded connector 223. The number of the second ball head connectors is the same as that of the cylinder pieces 211. All the second ball head connectors are circumferentially and uniformly distributed around the central axis of the main body of the threaded connector 223.

[0031] The connecting rod 222 is composed of a rod portion and ball head portions at both ends of the rod portion. The ball head portions at both ends are respectively movably connected to the first ball head connector and the second ball head connector.

[0032] The threaded rod 224 is composed of a smooth rod section, an external thread section, and a limit block from top to bottom. A through hole is provided in the center of the cover plate 23, and the inner diameter of the through hole is slightly larger than the outer diameter of the smooth rod section of the threaded rod 224. The smooth rod section of the threaded rod 224 passes through the through hole of the cover plate 23 and extends to the upper surface of the cover plate 23. The servo motor 225 is fixedly connected to the upper surface of the cover plate 23, and the output shaft of the servo motor 225 is fixedly connected to the smooth rod section of the threaded rod 224. The motor cover 231 covers the servo motor 225. The servo motor 225 is electrically connected to the battery pack through the control module of the unmanned aerial vehicle 1 and is controlled by the control module. The lower opening of the motor cover 231 is fixedly connected to the upper surface of the cover plate 23, and heat dissipation slots are provided on the side wall of the motor cover 231. The external thread section of the threaded rod 224 passes through the internal thread through hole of the threaded connection member 223 and is threadedly connected thereto. The height of the external thread section of the threaded rod 224 is greater than the height of the internal thread through hole of the threaded connection member 223. The limit block is fixed to the lower end of the threaded rod 224 to prevent the threaded connection member 223 from slipping off the external thread section of the threaded rod 224. Under the control of the control module, the servo motor 225 rotates forward and backward to drive the threaded rod 224 to rotate forward and backward. The threaded rod 224 drives the threaded connection member 223 to rise or fall. For the convenience of description, in this application, the rotation of the servo motor 225 that causes the threaded connection member 223 to rise is defined as forward rotation, and the rotation of the servo motor 225 that causes the threaded connection member 223 to fall is defined as reverse rotation. When the threaded connection member 223 rises, the upper edge of the upper end of the cylinder piece 211 is pulled by the arc-shaped clamping member 221 and the connecting rod 222 to rotate towards the direction close to the center of the pressing cylinder 21, so that the upper opening of the pressing cylinder 21 is reduced and the lower opening is enlarged at the same time. When the threaded connection member 223 falls, the upper edge of the upper end of the cylinder piece 211 is pulled by the arc-shaped clamping member 221 and the connecting rod 222 to rotate away from the center of the pressing cylinder 21, so that the upper opening of the pressing cylinder 21 is enlarged and the lower opening is reduced at the same time. When the threaded connection member 223 is located in the middle section of the external thread section of the threaded rod 224, the upper opening and the lower opening of the pressing cylinder 21 are basically equal. The threaded connection member 223 being located in the middle section of the external thread section of the threaded rod 224 is the normal state. The above-mentioned pulling of the cylinder piece 211 to rotate can be regarded as an arc motion of the upper edge of the cylinder piece 211 with the second ball head connection seat as the center and the connecting rod 222 as the radius. The ball head is movably connected to the ball head connection seat, which is more adaptable to the arc motion.

[0033] An electric push rod 3 is fixedly connected to the lower part of the unmanned aerial vehicle 1. The telescopic end of the electric push rod 3 is fixedly connected to the upper top surface of the motor cover 231. The electric push rod 3 is electrically connected to the control module of the unmanned aerial vehicle 1 and is controlled by the control module. Its telescopic end extends or contracts. When the telescopic end of the electric push rod 3 extends, it pushes the pressing cylinder 21 of the sampling mechanism 2 to be inserted into the sediment of the intertidal zone in a pressing manner. When the telescopic end of the electric push rod 3 contracts, it pulls out the pressing cylinder 21 of the sampling mechanism 2 filled with sediment samples.

[0034] The "downward pressure type" described in this application refers to applying a positive pressure on the sampling mechanism 2 so that the pressure cylinder 21 is extruded and inserted into the sediment in the intertidal zone. Compared with the sampling method of rotary drilling, this sampling method does not disturb the sample, and the obtained sample retains the layered morphology information of the sample. Embodiment 2

[0035] This embodiment is a method for sampling intertidal zone sediments using the unmanned aerial vehicle-based intertidal zone sediment sampling device of Embodiment 1, and the steps are as follows: Step 1 S1 Preparation S1-1: Transmit the return target position coordinates to the high-definition camera unit through the remote control terminal 10; S1-2: Transmit the sampling target position coordinates to the high-definition camera unit through the remote control terminal 10; S1-3: Manually insert the pressure cylinder 21 and snap it into the arc-shaped clamping groove of the expansion and contraction regulator 22; Step 2 S2 Sampling S2-1: The remote control terminal 10 issues a takeoff command to the control module of the unmanned aerial vehicle 1, and the control module controls the execution of the flight program, and the unmanned aerial vehicle 1 takes off and moves towards the sampling target position; S2-2: The control module compares the actual position coordinates with the sampling target position coordinates. If they are the same, the control module controls the execution of the landing program; S2-3: The control module activates the laser rangefinder to start working. The laser rangefinder measures the height from the bottom of the unmanned aerial vehicle 1 to the ground and transmits data to the control module in real time; S2-4: The control module compares the measured height of the laser rangefinder in step S2-3 with the height of the tripod 11. If the measured height of the laser rangefinder is less than or equal to the height of the tripod 11, the control module controls the telescopic end of the electric push rod 3 to extend; S2-5: The control module compares the measured height of the laser rangefinder in step S2-3 with the height of the tripod 11. If the measured height of the laser rangefinder is less than or equal to the height of the tripod 11, the control module controls the servo motor 225 to rotate forward; S2-6: Delay for 20 seconds; S2-7: The control module controls the servo motor 225 to rotate in the reverse direction; S2-8: The control module controls the telescopic end of the electric push rod 3 to contract; S2-9: Delay for 20 seconds; Step 3 S3 Return S3-1: The control module controls the execution of the flight program, and the unmanned aerial vehicle 1 takes off and moves towards the return target position; S3-2: The control module compares the actual position coordinates with the return target position coordinates. If they are the same, the control module controls the execution of the landing program; Step 4 S4: Sample unloading S4-1: Manually pull out the pressure cylinder 21 from the arc-shaped clamping groove of the expansion and contraction regulator 22, and the sample remains in the pressure cylinder 21 for analysis; S4-2: If it is necessary to transfer the sample in the pressure cylinder 21, manually press the ends of all the cylinder pieces 211 away from the cutting edge with both hands and vibrate slightly, and the sample will slide down from the pressure cylinder 21.

[0036] In the above steps, The sampling target position coordinates in Step S1-2 can be one or multiple. If they are multiple, after performing all the above steps, according to each sampling target position coordinate, repeat the execution of S1-3 to S4-2 in sequence.

[0037] In the above steps, S2-4 and S2-5 are executed synchronously.

[0038] In the above steps, Either S4-1 or S4-2 is executed.

Claims

1. An intertidal zone sediment sampling device based on a drone, comprising a drone (1) and a remote control terminal (10) wirelessly connected to the drone (1), characterized in that: The unmanned aerial vehicle (1) is equipped with a battery pack, a high-definition camera unit and a control module. The high-definition camera unit integrates a GNSS navigation system and plans and monitors flight. An electric push rod (3) is fixedly connected to the bottom of the unmanned aerial vehicle (1). The telescopic end of the electric push rod (3) is fixedly connected to a sampling mechanism (2). The electric push rod (3) is electrically connected to the battery pack through the control module. The electric push rod (3) is controlled by the control module to push the sampling mechanism (2) downward into the mud and sand of the intertidal zone or to pull the sampling mechanism (2) out of the mud and sand of the intertidal zone.

2. The intertidal zone sediment sampling device based on a drone according to claim 1, characterized in that: The sampling mechanism (2) comprises a pressing cylinder (21), a contraction and expansion regulator (22) and a cover plate (23); The pressure cylinder (21) is used to collect intertidal zone sediment samples. The pressure cylinder (21) is a circular tubular structure with upper and lower openings formed by a plurality of circular arc-shaped cylinder sheets (211). A knife edge is provided at the lower end of the cylinder sheet (211). A connecting ear (212) is fixedly connected at a central position on the outer wall of each cylinder sheet (211). The connecting ear (212) is provided with a circumferential through hole. A hoop (213) is passed through all the through holes. A flexible connecting piece (214) made of elastic material is connected between two adjacent cylinder sheets (211). The expansion and contraction regulator (22) comprises an arc-shaped clamping member (221), a connecting rod (222), a threaded connection member (223), a threaded rod (224) and a servo motor (225); The number of arc-shaped clamping parts (221) and connecting rods (222) is the same as the number of cylinder pieces (211); the arc-shaped clamping parts (221) and the cylinder pieces (211) have arcs that match; the bottom surface of the arc-shaped clamping parts (221) is recessed upward to form an arc-shaped clamping groove; the arc-shaped clamping groove matches the cross section of the upper end of the cylinder piece (211); the upper end of the cylinder piece (211) is inserted into and clamped in the arc-shaped clamping groove; and the inner side surface of the arc-shaped clamping parts (221) is fixedly connected to a first ball head connection seat; An internal threaded through hole is provided at the center of the upper surface of the threaded connector (223); a plurality of second ball head connection seats are fixedly connected to the side surface of the threaded connector (223); the number of the second ball head connection seats is the same as the number of the cylinder sheets (211); and all the second ball head connection seats are evenly distributed in the circumferential direction around the central axis of the main body of the threaded connector (223); The connecting rod (222) is composed of a rod portion and ball heads at both ends of the rod portion, and the ball heads at both ends are movably connected to a first ball head connecting seat and a second ball head connecting seat respectively; The threaded rod (224) is composed of a polished rod section, an external threaded section and a stop block in order from top to bottom. A through hole is opened at the center of the cover plate (23). The inner diameter of the through hole is slightly larger than the outer diameter of the polished rod section of the threaded rod (224). The polished rod section of the threaded rod (224) is inserted into the through hole of the cover plate (23) and extends to the upper surface of the cover plate (23). The servo motor (225) is fixedly connected to the upper surface of the cover plate (23). The output shaft of the servo motor (225) is fixedly connected to the polished rod section of the threaded rod (224). The motor cover (231) is provided on the cover plate The servo motor (225) is electrically connected to a battery pack through a control module of the drone (1) and is controlled by the control module. The lower opening of the motor cover (231) is fixedly connected to the upper surface of the cover plate (23). The external thread section of the threaded rod (224) is inserted into the internal thread through hole of the threaded connector (223) and is threadedly connected thereto. The height of the external thread section of the threaded rod (224) is greater than the height of the internal thread through hole of the threaded connector (223). A limit block is fixedly arranged at the lower end of the threaded rod (224).

3. The intertidal zone sediment sampling device based on a drone according to claim 2, characterized in that: The connection between the cylinder sheet (211) and the flexible connection piece (214) is achieved by gluing or embedding. The flexible connection piece (214) is made of an elastic material and is provided with a hole. When the servo motor (225) rotates in the forward direction, the threaded rod (224) drives the threaded connector (223) to rise, and pulls the upper edge of the cylinder sheet (221) to rotate toward the center of the pressing cylinder (21) through the arc-shaped clamping member (221) and the connecting rod (222), so that the upper opening of the pressing cylinder (21) is reduced and the lower opening is expanded; when the servo motor (225) rotates in the reverse direction, the threaded rod (224) drives the threaded connector (223) to descend, and pulls the upper edge of the cylinder sheet (211) to rotate away from the center of the pressing cylinder (21) through the arc-shaped clamping member (221) and the connecting rod (222), so that the upper opening of the pressing cylinder (21) is expanded and the lower opening is reduced.

4. The intertidal zone sediment sampling device based on a drone according to claim 3, characterized in that: A rubber sheet with grooves is pasted on the inner surface of the arc-shaped clamping groove.

5. The intertidal zone sediment sampling device based on a drone according to claim 4, characterized in that: The main body of the threaded connector (223) may be any one of a cuboid, a cube or a cylinder.

6. The intertidal zone sediment sampling device based on a drone according to claim 5, characterized in that: A wide contact surface tripod (11) is provided on the outer side of the bottom of the drone (1), and the distance from the bottom of the drone (1) to the lowest part of the sampling mechanism (2) is less than the height of the tripod (11); a laser rangefinder for measuring height is fixedly connected to the bottom of the drone (1), a laser window of the laser rangefinder faces the ground, the laser rangefinder is electrically connected to a control module, the laser rangefinder is controlled by the control module, and transmits data to the control module.

7. A method for sampling intertidal zone sediments using the intertidal zone sediment sampling device based on a drone according to claim 6, characterized in that: The control module includes an STM32 single-chip microcomputer, a memory and a wireless transmitter and receiver. The wireless transmitter and receiver are connected to a remote control terminal (10) by two-way wireless communication. The memory stores flight programs, landing programs and height data of the tripod (11) for the STM32 single-chip microcomputer to call. The steps are as follows: Step 1 S1 Preparation S1-1: transmitting the coordinates of the target position to the high-definition camera unit through the remote control terminal (10); S1-2: transmitting the sampling target position coordinates to the high-definition camera unit through the remote control terminal (10); S1-3: manually inserting and snapping the pressing cylinder (21) into the arc-shaped snap-fitting groove of the expansion and contraction regulator (22); Step 2 S2 Sampling S2-1: the remote control terminal (10) issues a take-off command to the control module of the drone (1), the control module controls the execution of the flight program, and the drone (1) takes off and moves to the sampling target location; S2-2: The control module compares the actual position coordinates with the sampling target position coordinates. If they are the same, the control module controls the execution of the landing procedure; S2-3: The control module activates the laser rangefinder to start working. The laser rangefinder measures the height from the bottom of the drone (1) to the ground and transmits the data to the control module in real time; S2-4: the control module compares the height actually measured by the laser rangefinder in step S2-3 with the height of the tripod (11). If the height actually measured by the laser rangefinder is less than or equal to the height of the tripod (11), the control module controls the telescopic end of the electric push rod (3) to extend; S2-5: the control module compares the height actually measured by the laser rangefinder in step S2-3 with the height of the tripod (11). If the height actually measured by the laser rangefinder is less than or equal to the height of the tripod (11), the control module controls the servo motor (225) to rotate in the forward direction; S2-6: Delay 20 seconds; S2-7: The control module controls the servo motor (225) to rotate in the reverse direction; S2-8: The control module controls the telescopic end of the electric push rod (3) to retract; S2-9: Delay 20 seconds; Step 3 S3 Return to home S3-1: The control module controls the execution of the flight program, and the UAV (1) takes off and moves toward the return target position; S3-2: The control module compares the actual position coordinates with the returned target position coordinates. If they are the same, the control module controls the execution of the landing procedure; Step 4 S4 Unloading S4-1: manually pulling out the pressing cylinder (21) from the arc-shaped clamping groove of the expansion and contraction regulator (22), and the sample remains in the pressing cylinder (21) for analysis; S4-2: If the sample in the pressing cylinder (21) is to be transferred out, the end of all the cylinder pieces (211) away from the knife edge is pressed manually with both hands, and slightly vibrated, and the sample slides off the pressing cylinder (21).

8. The method for sampling intertidal zone sediments using the intertidal zone sediment sampling device based on an unmanned aerial vehicle according to claim 7, characterized in that: The sampling target position coordinate in step S1-2 can be one or more. If there are more than one, after executing all the above steps, S1-3 to S4-2 are repeatedly executed in sequence according to each sampling target position coordinate.

9. The method for sampling intertidal zone sediments using the intertidal zone sediment sampling device based on an unmanned aerial vehicle according to claim 7, characterized in that: Steps S2-4 and S2-5 are performed synchronously.

10. The method for sampling intertidal zone sediments using the intertidal zone sediment sampling device based on an unmanned aerial vehicle according to claim 7, characterized in that: Either step S4-1 or step S4-2 is performed.

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