Movable gas collection system and method used in planting environment

Abstract

The invention relates to a movable gas collection system and method used in a planting environment, and the system comprises a three-dimensional moving device and gas collection equipment which is installed on a moving end of the three-dimensional moving device. The gas collecting equipment is configured to be capable of moving to any measuring point position under the driving of the three-dimensional moving device so as to collect gas; the device further comprises a base, the base is fixedly arranged around the measuring point position and used for being in butt joint with the gas collecting device moving vertically and downwards, and a closed environment is formed around the measuring point position through butt joint of the gas collecting device and the base. By means of the built closed environment, the gas concentration can be measured, the gas emission rate of the current measurement point can be measured and calculated, and the accumulated emission flux of different time scales can be calculated. According to the artificial closed gas production environment, disturbance of lower interfaces such as crops or soil can be contained in a sampling system, and contrast treatment is set to calibrate the influence of soil disturbance and whether the soil disturbance contains plants or not on the emission concentration of various gases.

Description

TECHNICAL FIELD

[0001] The present application relates to modern automated agricultural technology, in particular to the automated environmental monitoring technology in agricultural planting. BACKGROUND

[0002] Measuring the emission fluxes of soil greenhouse gases such as N2O, CH4, CO2, and NH3 polluting gases is a necessary means for environmental impact assessment of farmland, forest, garden and other ecological systems, and is of great significance for studying atmospheric environment, ecological environment and climate change.

[0003] At present, the most commonly used soil gas collection method in the field of agricultural scientific research or practical application is the conventional in-situ static box gas collection method, that is, a terminal laser analyzer is connected with multiple matching fixed-point fixed gas collection boxes for in-situ sampling. However, the fixed gas sampling box will interfere with the light, temperature, moisture and other conditions of the sampling area, which is easy to cause the accuracy of the collected data to decrease. Moreover, since the collection box is fixed, multiple collection boxes need to be equipped for multiple measurement points, and the simultaneous collection gas path needs to be switched, which also needs to be used in cooperation with a complex switching system, which makes the cost of the static box gas collection system very expensive. Taking an 18 complex switching system as an example, the current price is about 450,000 yuan, and the unit price of the gas collection box (0.5m x 0.5m x 0.5m) is about 200,000 yuan. Therefore, the price of the complex switching system and the automatic gas collection box for a 6 treatment 3 repetition field test is 810,000 yuan.

[0004] Therefore, a movable gas collection box for gas collection has appeared in the prior art, for example, patent CN114047305B, which uses a gas concentration measuring device that can move in three-dimensional space to measure the gas concentration in the greenhouse in three-dimensional space. However, this patent is only suitable for closed environments such as greenhouses, and measures the gas concentration at different three-dimensional positions in a closed environment, and cannot measure the gas emission flux and rate of a single measurement point (such as a single crop), especially cannot be applied to open scenarios such as forests, farmlands, grasslands, wetlands and water bodies for gas emission flux collection. Moreover, the patent cannot quantitatively analyze the influence of soil disturbance and plant activity on gas concentration, which has great limitations. SUMMARY

[0005] In view of the above problems, the present application provides a more optimized movable gas collection system and method for planting environment.

[0006] The present application adopts the following technical solutions:

[0007] The present application provides a movable gas collection system for planting environment, comprising:

[0008] A three-dimensional mobile device, which is erected in a planting environment, comprises a mobile end capable of three-dimensional orientation movement in the planting environment;

[0009] A gas collection device, which is installed on the mobile end of the three-dimensional mobile device, and a plurality of coordinate-different measuring points are provided in the planting environment, the gas collection device is configured to be moved to any measuring point under the driving of the three-dimensional mobile device to collect gas;

[0010] A base, which is fixedly arranged around the measuring point, is used to dock with the gas collection device moving vertically downward, and a closed environment is formed around the measuring point by the docking of the gas collection device and the base.

[0011] Preferably, the gas collection device comprises a downwardly open box structure and / or the base comprises an upwardly open box structure, which are used to cover the measuring point and delimit the closed environment.

[0012] Preferably, a sealing device provided on the gas collection device and / or the base is implemented to seal the docking interface of the gas collection device and the base after docking.

[0013] Preferably, the gas collection device comprises a downwardly open box structure, the sealing device comprises a water injection pipe and an annular water tank provided on the base, the water tank surrounds the measuring point, and the water tank and the lower end of the box structure of the gas collection device are oppositely arranged, so that the lower end of the box structure of the gas collection device can be inserted into the water tank and form the docking interface when the gas collection device and the base are docked, and the water injection pipe is used to inject water into the water tank to achieve sealing.

[0014] Preferably, the water injection pipe is installed on the box structure of the gas collection device and also serves as the gas suction collection pipe of the gas collection device.

[0015] Preferably, the base is detachable.

[0016] Preferably, the measuring point is crops and / or soil distributed in the planting environment.

[0017] Preferably, the system further comprises a positioning system, which comprises an image recognition module and a UWB positioning module, the image recognition module is arranged on the three-dimensional mobile device and is used for image recognition of the base in the direction of the bottom, so as to preliminarily position the horizontal position of the gas collection device; the UWB positioning module comprises a signal sending end and a signal receiving end, one of the signal sending end and the signal receiving end is arranged on the gas collection device, and the other is arranged on the base, so as to accurately position the horizontal position of the gas collection device.

[0018] Preferably, the system further comprises a gas analysis system, which is used for concentration determination and emission flux analysis on the gas data collected by the gas collection device.

[0019] Correspondingly, the application further provides a movable gas collection method in a planting environment, which comprises the following steps:

[0020] S1, obtaining measurement requirements and determining the coordinates of a target measurement point;

[0021] S2, transmitting the coordinates of the target measurement point to the three-dimensional mobile device and the gas collection device;

[0022] S3, moving the gas collection device to the target measurement point by the three-dimensional mobile device, and forming a closed environment around the target measurement point by the vertical downward movement of the gas collection device;

[0023] S4, the gas collection device collects gas, sends the collected gas to the gas analysis system, and the gas analysis system analyzes, processes and stores the collected gas data.

[0024] The movable gas collection system and method in a planting environment provided by the application can form a closed environment around the target measurement point by the downward movement of the gas collection device, so that the gas emission accumulation at the target measurement point over time can be calculated, the concentration determination and the calculation of the emission rate of the gas at the current measurement point can be performed in real time with high precision, and the cumulative emission flux of different time scales can be calculated. Meanwhile, the disturbance of the lower interface such as crops or soil can be included in the sampling system in the artificial closed gas collection environment, the influence of the soil disturbance and whether the plants are included on the emission concentration of the five gases (N2O, CH4, CO2, NH3 and water vapor) can be calibrated by setting a control treatment, and the application range of the application is wider because the closed environment is formed by the movement of the gas collection device and the application can be applied to the automatic collection of greenhouse type closed environment and open scenes such as forests, farmlands, grasslands, wetlands and water bodies. BRIEF DESCRIPTION OF DRAWINGS

[0025] Figure 1 is a schematic diagram of the movable gas collection system in a planting environment in the embodiment;

[0026] Figure 2 is a schematic diagram of the gas collection device moving downward toward the base in an embodiment;

[0027] Figure 3 is a schematic diagram of the gas collection device and the base docking in an embodiment;

[0028] Figure 4 is a schematic diagram of the water injection pipe injecting water into the water tank in an embodiment;

[0029] Figure 5 is a schematic diagram of an alternative solution of the sealing device in an embodiment;

[0030] Figure 6 is a schematic diagram of another alternative solution of the sealing device in an embodiment;

[0031] Figure 7 is a schematic diagram of the gas collection device and the base being positioned by the UWB positioning module in an embodiment. DETAILED DESCRIPTION

[0032] To further illustrate the embodiments, the present application provides accompanying drawings. These drawings are part of the disclosure of the present application, which mainly serve to illustrate the embodiments, and can be used to explain the operating principles of the embodiments in conjunction with the related descriptions in the specification. Those of ordinary skill in the art should be able to understand other possible implementations and advantages of the present application in conjunction with these. The components in the drawings are not drawn to scale, and similar component symbols are generally used to represent similar components.

[0033] The present application will be further described in conjunction with the accompanying drawings and specific embodiments.

[0034] Referring to Figure 1 As shown in the drawings, as a preferred embodiment of the present application, a movable gas collection system for a planting environment is provided, and the so-called planting environment can be a greenhouse, a forest, a farmland, a grassland, a wetland, a water body, etc. A plurality of coordinate different measurement points 100 are arranged in the planting environment, for example, the measurement points 100 can be crops and / or soil distributed in the planting environment.

[0035] The movable gas collection system comprises a three-dimensional moving device 1 erected in the planting environment. In this embodiment, the three-dimensional moving device 1 is a three-axis truss, comprising a vertical support 11, an X-axis sliding rail 12, a Y-axis sliding rail 13 and a lifting device 14. The X-axis sliding rail 12 is fixedly connected to the vertical support 11, the Y-axis sliding rail 13 is slidably connected to the X-axis sliding rail 12, the Y-axis sliding rail 13 is driven by an X-axis motor 121 to slide back and forth along the X-axis sliding rail 12, the lifting device 14 is slidably connected to the Y-axis sliding rail 13, the lifting device 14 is driven by a Y-axis motor 131 to slide back and forth along the Y-axis sliding rail 13, and the lifting device 14 is a linear stepper motor in this embodiment, comprising a telescopic rod, the end of which is fixed with a moving end 15. By driving and controlling the X-axis motor 121, the Y-axis motor 131 and the lifting device 14, the moving end 15 can be driven to move in three dimensions. The gas collection device 2 is installed on the moving end 15, and the gas collection device 2 is driven by the three-dimensional moving device 1 to move in three dimensions, so that the gas collection device 2 can move to any measurement point 100 to collect gas.

[0036] The moving end 15 is a plate-shaped structure in this embodiment, and in other embodiments, the lower end of the lifting device 14 can be directly used as the moving end 15, that is, the gas collection device 2 is directly connected to the lower end of the lifting device 14.

[0037] The three-dimensional moving device 1 can be replaced by other solutions in other embodiments, for example, the X-axis sliding rail 12 and the Y-axis sliding rail 13 can be replaced by a horizontal serpentine track, which cooperates with the lifting device 14 to move in three dimensions. Or the whole three-dimensional moving device 1 is replaced by a large multi-axis robot. In short, as long as the three-dimensional moving device 1 can drive the gas collection device 2 to move to the position corresponding to any measurement point 100, it is a feasible solution.

[0038] The displacement driving control of the moving end 15 and the gas collection device 2 can be realized by the existing automatic electrical control system, for example, a control terminal is configured to communicate and control the three-dimensional moving device 1, to plan and set the moving route and residence time of the gas collection device 2, so that the gas collection device 2 moves in sequence to complete the sampling and measurement task of the whole planting environment and returns to the original point to start the next round of work, which can realize all-weather uninterrupted automatic cruising and sampling measurement, and provide more sufficient real-time long-term data for users.

[0039] For example, Figures 2-4The base 3 is fixedly arranged around the measurement point 100, and is used to dock with the gas collection device 2 moving vertically downward. In addition, through the docking of the gas collection device 2 and the base 3, a closed environment is also formed around the measurement point 100. Specifically, in the embodiment, the gas collection device 2 comprises a box structure 21 which is open downward. In the embodiment, the box structure 21 is a box with a closed upper end, and in other embodiments, the box structure 21 can also be a box with an open upper end, but through the fixed connection of the box structure 21 and the plate-shaped moving end 15, the upper end of the box structure 21 is closed. In summary, the box structure 21 is only open downward. The base 3 is a disc-shaped structure in the embodiment, and a ring-shaped water tank 31 is arranged on the base 3. The water tank 31 surrounds the measurement point, and the water tank 31 and the lower end of the box structure 21 are oppositely arranged, so that when the gas collection device 2 and the base 3 are docked, the lower end of the box structure 21 can be inserted into the water tank 31. Therefore, only by pouring water into the water tank 31, the docking interface 20 between the lower end of the box structure 21 and the base 3 can be sealed, so that the base 3 and the gas collection device 2 are docked outside the target measurement point to form a closed environment. Then, the target measurement point is collected by the gas collection device 2.

[0040] The movable gas collection system of the embodiment has the following advantages:

[0041] 1. One gas collection device 2 can realize the cyclic collection of data of multiple plots and multiple measurement points, thereby reducing the number of sampling devices, and the channel switching system no longer increases the high cost due to the number of channels, so that the device cost and labor input are greatly reduced, and the utilization rate of the device is improved. The movable gas collection box system of the embodiment can replace the channel gas collection multi-path switching system and the automatic gas collection box, and the cost is reduced by at least 50%;

[0042] 2. Compared with the fixed gas sampling box, the movable gas collection system of the embodiment leaves the next measurement point after completing the work at one measurement point, thereby avoiding the interference of the fixed gas sampling box on the illumination, temperature, moisture and other conditions of the sampling area, and minimizing the influence on the microclimate of the sampling area, so that more reliable data close to the overall natural conditions can be obtained;

[0043] 3. The base 3 and the gas collection device 2 form a man-made closed gas collection environment, meet the conditions of soil-atmosphere interface or other systems such as water-atmosphere interface for gas emission accumulation over time, and can accurately and timely determine the concentration and calculate the emission rate of the current measurement point, so as to calculate the cumulative emission flux of different time scales. The system can automatically collect multiple soil-atmosphere interface emission gases, and cooperate with multiple gas analysis system terminals to collect and determine the concentration and emission flux of N2O, CH4, CO2, NH3 and water vapor, so as to meet the different use requirements of more users;

[0044] 4. The artificial closed gas collection environment formed by the base 3 and the gas collection device 2 can include the disturbance of the lower interface of crops or soil, etc. in the sampling system, and the influence of soil disturbance and whether or not to contain plants on the emission concentration of five gases (N2O, CH4, CO2, NH3 and water vapor) is calibrated by setting a control treatment;

[0045] 5. By moving the gas collection device 2 to form a closed environment, the gas collection system of the embodiment can be applied to automatic collection of greenhouse type closed environment and open scene such as forest, farmland, grassland, wetland and water body, and has a wider application range.

[0046] Among them, the base 3 can be set to be detachable, and the base 3 can be flexibly detached or installed around the selected measurement point according to the actual number of selected measurement targets.

[0047] For water injection of the water tank 31, the embodiment is realized by the water injection pipe 4, which is installed and arranged in the box structure 21 and penetrates into the inner cavity of the box structure 21. The water injection pipe 4 is controlled by the automatic electrical control system to control whether to inject water into the water tank 31 and the amount of water injection. The water tank 31 can be provided with an overflow port outward to avoid water overflowing into the measurement point. In other embodiments, the water injection pipe 4 can also be arranged on the base 3, and the water injection pipe 4 can also be replaced by a water tank that can supply water to the water tank. In short, a structure that can supply water to the water tank can be used. In the embodiment, the water injection pipe 4 is installed and arranged in the box structure 21 and penetrates into the inner cavity of the box structure 21, which has the advantage that the water injection pipe 4 can also be used as a gas collection pipe of the gas collection device 2, that is, after the water injection pipe 4 is injected and emptied, it is used as a subsequent gas collection pipe of the gas collection device 2. The function switching of water injection and gas extraction of the water injection pipe 4 can be controlled by the automatic electrical control system, and a switching system can also be provided to switch the connection of the water supply source or the gas extraction pump of the water injection pipe 4. Since the water injection pipe 4 will be stretched / shortened during the movement of the gas collection device 2, the water injection pipe 4 is preferably a flexible pipe wound in a spiral shape.

[0048] The water injection pipe 4 and the water tank 3 form a sealing device for sealing the butt joint interface 20 between the lower end of the box structure 21 and the base 3. The sealing device can be replaced by other structures as long as it can seal the butt joint interface between the gas collection device 2 and the base 3 after the butt joint. For example, Figure 5 An alternative sealing device is proposed, in which the sealing device is a rubber body 400 fixed on the gas collection device 2A. After the gas collection device 2A and the base 3A are engaged, the rubber body 400 is compressed and deformed to fill and seal the butt joint interface between the gas collection device 2A and the base 3A. Of course, the rubber body 400 can also be fixed on the base 3A.Figure 6 Another alternative sealing device is proposed, which comprises a first magnet 500 fixed on the gas collection device 2B and a second magnet 600 fixed on the base 3B, after the gas collection device 2B and the base 3B are joined together, the first magnet 500 and the second magnet 600 are magnetically connected together, and the two magnetic surfaces are tightly combined to achieve sealing.

[0049] The box structure 21 is used to cover the measurement point and delimit the closed environment. In other embodiments, the base 3 can be provided with a box structure with an upward opening, and the gas collection device 2 can only be provided with a plate body that seals the upward opening of the box structure of the base 3. Alternatively, the gas collection device 2 comprises a downwardly opening box structure, and the base 3 comprises an upwardly opening box structure, and the two box structures are joined together to form a closed environment.

[0050] The position accuracy of the gas collection device 2 driven by the three-dimensional mobile device 1 to the target measurement point is relatively important, so the gas collection device 2 can be configured with a positioning system to position its position. In this embodiment, the position system comprises an image recognition module and a UWB positioning module (UWB stands for Ultra Wide Band), the image recognition module is arranged on the three-dimensional mobile device 1 and is used for image recognition of the base 3 directly below, the image recognition module continuously takes pictures of the directly below, and stops image recognition when the base 3 is recognized, and then preliminarily positions the horizontal position of the gas collection device 2. Figure 7 The UWB positioning module comprises a signal sending end 62 and a signal receiving end 61, one of the signal sending end 62 and the signal receiving end 61 is arranged on the gas collection device 2, and the other is arranged on the base 3. In this embodiment, the signal sending end 62 and the signal receiving end 61 are correspondingly provided with a plurality of signal sending ends 62 and signal receiving ends 61. When the UWB positioning is started, the system calculates the distance between the signal sending end 62 and the signal receiving end 61 according to the information received by the signal receiving end 61, each signal receiving end 61 and signal sending end 62 has a corresponding number; each signal receiving end 61 receives the information of the corresponding end point, and the difference between the shortest path of any three of the four signal receiving ends 61 and the vertical distance can be calculated to determine the deviation direction and deviation distance of the gas collection device 2 and the base 3, and to fine-tune until the gas collection device 2 is directly above the base 3, thereby achieving accurate positioning of the horizontal position of the gas collection device 2. The positioning of the gas collection device 2 can also use Beidou high-precision positioning, laser positioning, infrared positioning and other systems to further improve the accuracy. Various positioning technologies can accurately position to ensure normal work under adverse weather, plant blocking and other unfavorable conditions.

[0051] To match the mobile gas collection system in the planting environment in the embodiments of the present application, the embodiments of the present application further include a mobile gas collection method for a planting environment, the method comprising the following steps:

[0052] S1, obtaining measurement requirements, and determining the coordinates of the target measurement point;

[0053] S2, transmitting the coordinates of the target measurement point to the three-dimensional mobile device and the gas collection equipment;

[0054] S3, moving the gas collection equipment to the target measurement point by the three-dimensional mobile device, and forming a closed environment around the target measurement point by the vertical downward movement of the gas collection equipment;

[0055] S4, the gas collection equipment collects gas, sends the collected gas to the gas analysis system, and the gas analysis system analyzes, processes and stores the collected gas data.

[0056] The mobile gas collection method for a planting environment used in the embodiments utilizes the downward movement of the gas collection equipment to create a closed environment around the target measurement point, so that the gas emission accumulation at the target measurement point over time can be calculated, the concentration determination and the current measurement point gas emission rate can be calculated in real time with high precision, and the cumulative emission flux of different time scales can be calculated. At the same time, the artificial closed gas collection environment can include the disturbance of the lower interface of crops or soil in the sampling system, and by setting a control treatment, the influence of soil disturbance and whether the plant is included on the emission concentration of five gases (N2O, CH4, CO2, NH3 and water vapor) can be calibrated. Moreover, the closed environment is formed by the movement of the gas collection equipment, so that the gas collection method of the embodiments can be applied to automatic collection in greenhouse type closed environments and open scenes such as forests, farmlands, grasslands, wetlands and water bodies, and the application range is wider.

[0057] Although the present application is specifically shown and described in connection with preferred embodiments, those skilled in the art should understand that various changes in form and details can be made to the present application without departing from the spirit and scope of the present application as defined in the appended claims.

Claims

1. A portable gas collection system for use in a planting environment, characterized in that, The application relates to a three-dimensional mobile device, a gas collection device, a base and a positioning system. The three-dimensional mobile device is arranged in a planting environment and comprises a mobile end capable of moving in three dimensions in the planting environment. The gas collection device is arranged on the mobile end of the three-dimensional mobile device. The planting environment is provided with a plurality of measuring points with different coordinates.

2. The mobile gas collection system for use in a growing environment of claim 1, wherein, The gas collection device is configured to be moved to any measuring point under the driving of the three-dimensional mobile device to collect gas.

3. The mobile gas collection system for use in a growing environment of claim 1 or 2, wherein: The base is fixedly arranged around the measuring point and is used for docking with the vertically downwardly moving gas collection device.

4. The mobile gas collection system for use in a growing environment of claim 3, wherein, The docking of the gas collection device and the base forms a closed environment around the measuring point.

5. The mobile gas collection system for use in a growing environment of claim 4, wherein, The gas collection device comprises a downwardly open box structure and / or the base comprises an upwardly open box structure, which are used for covering the measuring point and limiting the closed environment.

6. The mobile gas collection system for use in a growing environment of claim 1, wherein, The sealing device is arranged on the gas collection device and / or the base.

7. The mobile gas collection system for use in a growing environment of claim 1, wherein, The sealing device is implemented to seal the docking interface of the gas collection device and the base after the docking.

8. The mobile gas collection system for use in a growing environment of claim 1, wherein, The sealing device comprises a water injection pipe and a ring-shaped water tank arranged on the base.

9. The mobile gas collection system for use in a growing environment of claim 1, wherein, The water tank surrounds the measuring point.

10. A mobile gas collection method for use in a growing environment, comprising: The water tank and the lower end of the box structure of the gas collection device are oppositely arranged. The lower end of the box structure of the gas collection device can be inserted into the water tank to form the docking interface when the gas collection device and the base are docked. The water injection pipe is used for injecting water into the water tank to realize sealing. The water injection pipe is arranged on the box structure of the gas collection device and also serves as a gas suction collection pipe of the gas collection device. The base is detachable. The measuring point is a crop and / or soil distributed in the planting environment. The positioning system comprises an image recognition module and a UWB positioning module. The image recognition module is arranged on the three-dimensional mobile device and is used for image recognition of the base in the positive direction to preliminarily position the horizontal position of the gas collection device. The UWB positioning module comprises a signal sending end and a signal receiving end. One of the signal sending end and the signal receiving end is arranged on the gas collection device, and the other is arranged on the base. The gas analysis system is used for concentration determination and emission flux analysis of the collected gas data of the gas collection device. The application further relates to a method for collecting gas. The method comprises the following steps: S1, obtaining measuring requirements and determining the coordinates of a target measuring point; S2, transmitting the coordinates of the target measuring point to the three-dimensional mobile device and the gas collection device; S3, moving the gas collection device to the target measuring point through the three-dimensional mobile device and forming a closed environment around the target measuring point through the vertically downward movement of the gas collection device; S4, collecting gas through the gas collection device and transmitting the collected gas to the gas analysis system, and the gas analysis system analyzes, processes and stores the collected gas data.

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