Grassland carbon flux spatiotemporal monitoring device integrating unmanned aerial vehicle and ground internet of things

Abstract

This invention discloses a grassland carbon flux monitoring device integrating unmanned aerial vehicles (UAVs) and ground-based Internet of Things (IoT) in the field of grassland carbon flux monitoring technology. The device includes a UAV monitoring module, a ground-based IoT monitoring module, and a monitoring terminal. The UAV monitoring module collects remote sensing data of the monitoring area, the ground-based IoT monitoring module collects grassland carbon flux data of the monitoring area, and the monitoring terminal processes and generates a spatiotemporal map of carbon flux in the monitoring area. The UAV monitoring module is equipped with a loading mechanism, which houses several ground-based IoT monitoring modules. This invention achieves monitoring operations through the collaboration of the UAV monitoring module and the ground-based IoT monitoring module, and utilizes the loading mechanism integrated on the UAV to realize automated and precise deployment of the ground-based monitoring modules, effectively overcoming the problems of low efficiency and high labor intensity associated with traditional methods that rely on manual deployment.

Description

Technical Field

[0001] This invention relates to the field of grassland carbon flux monitoring, specifically to a grassland carbon flux spatiotemporal monitoring device that integrates drones and ground-based Internet of Things. Background Technology

[0002] In the context of addressing global climate change and promoting ecological sustainability, accurate monitoring of carbon flux in grassland ecosystems is crucial for assessing carbon sink functions, understanding carbon cycle processes, and developing scientific management policies.

[0003] Currently, grassland carbon flux monitoring mainly relies on two types of technologies: ground sensor network measurement and UAV remote sensing data acquisition. However, the existing technology system generally suffers from the limitation of separating "air" and "ground". That is, UAVs are difficult to deploy ground sensor networks efficiently and accurately, and the deployment of ground sensor networks mostly depends on manual labor, which is labor-intensive and inefficient. To address this, we propose a grassland carbon flux spatiotemporal monitoring device that integrates UAVs and ground IoT. Summary of the Invention

[0004] The purpose of this invention is to provide a spatiotemporal monitoring device for grassland carbon flux that integrates drones and ground-based Internet of Things (IoT). This device solves the limitations of existing technologies that generally separate "air" and "ground" technologies. Specifically, drones are difficult to deploy ground sensor networks efficiently and accurately, and the deployment of ground sensor networks largely relies on manual labor, resulting in high labor intensity and low efficiency.

[0005] The present invention achieves the above objectives through the following technical solutions:

[0006] A spatiotemporal monitoring device for grassland carbon flux integrating drones and ground-based Internet of Things (IoT) includes a drone monitoring module, a ground-based IoT monitoring module, and a monitoring terminal for communicating with the drone monitoring module and the ground-based IoT monitoring module.

[0007] The UAV monitoring module is used to collect remote sensing data of the monitoring area, the ground IoT monitoring module is used to collect grassland carbon flux data of the monitoring area, and the monitoring terminal is used to receive remote sensing data and grassland carbon flux data and process them to generate a spatiotemporal map of carbon flux in the monitoring area.

[0008] The drone monitoring module is equipped with a feeding mechanism, which contains several ground IoT monitoring modules. These ground IoT monitoring modules are installed within the monitoring area by the feeding mechanism.

[0009] A further improvement is that the monitoring terminal includes a processing module for receiving remote sensing data and grassland carbon flux data and processing them to generate a carbon flux spatiotemporal map. The processing module is also electrically connected to a display module and a control module, and the control module is also bidirectionally electrically connected to a ground-based Internet of Things (IoT) monitoring module.

[0010] A further improvement is that the feeding mechanism includes a housing mounted on the UAV monitoring module. An outlet for discharging the ground IoT monitoring module is opened on one side of the bottom of the housing. Multiple ground IoT monitoring modules are placed sequentially inside the housing along the direction of the outlet. A limiting push plate is provided on the outside of the ground IoT monitoring module furthest from the outlet. The limiting push plate is driven by a telescopic device 1 mounted on the housing to push the multiple ground IoT monitoring modules one by one to align with the outlet. A sealing plate is provided on the outside of the outlet. The sealing plate is driven by a telescopic device 3 mounted on the housing to open or close the outlet.

[0011] A further improvement is that the ground IoT monitoring module includes a housing, a detection chamber at the bottom of the housing, an assembly chamber above the detection chamber, a micro pump inside the assembly chamber, an air inlet of the micro pump connected to the detection chamber, and an air outlet of the micro pump passing through the housing via a pipe. A data acquisition device for collecting grassland carbon flux data is installed on the pipe, and a fixed sealing part is also provided on the housing.

[0012] A further improvement is that the fixed sealing part includes an annular cavity opened inside the outer shell and surrounding the detection cavity. An annular plate is movably arranged inside the annular cavity. The bottom of the annular plate is provided with a plurality of insertion rods for inserting into the soil of the monitoring area. The bottom of the outer shell is provided with an opening for the insertion rods to pass through. The top of the annular plate is connected to a contact ring located above the outer shell through a connecting rod. An elastic reset member is provided between the connecting rod and the outer shell. An annular sealing airbag is embedded in the inner side of the bottom of the detection cavity. The sealing airbag is connected to the air outlet of a miniature fan located in the assembly cavity through a pipeline.

[0013] A push plate is provided on the inner wall of the top of the housing at the position corresponding to the outlet. The push plate is driven by a telescopic device 2 on the UAV monitoring module and is used to press down the contact ring after the ground IoT monitoring module is discharged.

[0014] A further improvement is that a contact sensor is provided on the inner wall of the annular cavity, a T-shaped magnetic pin is inserted into the side wall of the assembly cavity corresponding to the position of the connecting rod, an elastic element is provided between the magnetic pin and the inner wall of the assembly cavity, an electromagnetic ring is embedded in the side wall of the assembly cavity to attract the magnetic pin to move horizontally, and an insertion hole is opened on the outer wall of the connecting rod for the magnetic pin to be inserted.

[0015] When the annular plate descends to the preset position, the contact sensor contacts the annular plate to control the micro fan to start so that the sealing airbag expands. At the same time, it controls the electromagnetic ring to be energized to attract the magnetic pin and move it horizontally so that the magnetic pin can be inserted into the socket.

[0016] A further improvement is that the UAV monitoring module is also equipped with a foreign object removal detection unit. The foreign object removal detection unit includes two electric guide rails symmetrically arranged on both sides of the housing and extending along the length of the housing. A connecting frame is connected to the slider of the electric guide rail. A rotating shaft is arranged between the two connecting frames. One end of the rotating shaft is connected to the output end of a rotating device arranged on one of the connecting frames. Two fixed frames are fixedly sleeved on the outer wall of the rotating shaft. A U-shaped movable frame is slidably connected to the inner side of the two fixed frames. An elastic connecting member is arranged between the movable frame and the fixed frame. The movable frame is sleeved on the outside of the outlet, and a removal component for removing foreign objects from the surface of the monitoring area is provided on the movable frame.

[0017] A further improvement is that the control module is electrically connected to the early warning module, the cleaning component is a scraper, the cleaning component is rotatably mounted on the movable frame via an elastic rotating shaft, one side of the cleaning component is connected to an arc-shaped rod, and the other end of the arc-shaped rod is connected to the detection end of a detection sensor mounted on the movable frame. The detection sensor is used to detect the pressure caused by the cleaning component flipping over and squeezing the arc-shaped rod during the removal of foreign objects. When the pressure reaches a preset threshold, a signal is sent to the control module, and the control module controls the early warning module to issue a warning.

[0018] A further improvement is that the UAV monitoring module includes a UAV body and a data acquisition device for collecting remote sensing data, which is installed on the UAV body, and the feeding mechanism is located at the bottom of the UAV body.

[0019] A further improvement is that the bottom of the housing is equipped with a sensor for collecting data on the distance between the housing and the ground in the monitoring area.

[0020] The beneficial effects of this invention are as follows:

[0021] This invention enables monitoring operations through the collaboration of a drone monitoring module and a ground-based IoT monitoring module. The automated and precise deployment of the ground monitoring module is achieved using a loading mechanism integrated on the drone, effectively overcoming the inefficiencies and high labor intensity of traditional methods that rely on manual deployment. Furthermore, the ground monitoring module is anchored to the monitoring area and its connection to the monitoring area is sealed with a sealing airbag, ensuring a stable and reliable sealed connection between the ground monitoring module and the surface of the monitoring area. This effectively isolates external interference, guarantees long-term and high-precision carbon flux data acquisition, and improves monitoring quality. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the device of the present invention;

[0023] Figure 2 This is a schematic diagram of the structure of the UAV monitoring module of the present invention;

[0024] Figure 3 For the present invention Figure 2 Another perspective structural diagram;

[0025] Figure 4 This is a cross-sectional view of the feeding mechanism structure of the present invention;

[0026] Figure 5 This is a schematic diagram of the ground-based Internet of Things (IoT) monitoring module of the present invention;

[0027] Figure 6 For the present invention Figure 5 Structural sectional view.

[0028] In the diagram: 1. UAV main body; 2. Data acquisition device one; 3. Shell; 4. Exit; 5. Ground IoT monitoring module; 51. Outer shell; 52. Micro pump; 53. Data acquisition device two; 54. Insert rod; 55. Connecting rod; 56. Electromagnetic ring; 57. Contact ring; 58. Sealing airbag; 59. Micro fan; 510. Magnetic pin; 6. Foreign object removal and detection unit; 61. Electric guide rail; 62. Connecting frame; 63. Fixed frame; 64. Movable frame; 65. Elastic connector; 66. Rotating device; 67. Removal component; 68. Detection sensor; 69. Arc rod; 7. Telescopic device one; 8. Limiting push plate; 9. Telescopic device two; 10. Telescopic device three; 11. Sealing plate. Detailed Implementation

[0029] The present application will now be described in further detail with reference to the accompanying drawings. It should be noted that the following specific embodiments are only used to further illustrate the present application and should not be construed as limiting the scope of protection of the present application. Those skilled in the art can make some non-essential improvements and adjustments to the present application based on the above application content.

[0030] Example 1

[0031] Please see the appendix Figure 1-3 A spatiotemporal monitoring device for grassland carbon flux integrating drones and ground-based Internet of Things (IoT) includes a drone monitoring module, a ground-based IoT monitoring module 5, and a monitoring terminal for communicating with the drone monitoring module and the ground-based IoT monitoring module 5, which can be connected wirelessly.

[0032] The UAV monitoring module is used to collect remote sensing data of the monitoring area, and the ground IoT monitoring module 5 is used to collect grassland carbon flux data of the monitoring area. In this embodiment, there are several ground IoT monitoring modules 5 so that they can be deployed at different locations in the monitoring area to collect grassland carbon flux data.

[0033] The monitoring terminal is used to receive remote sensing data and grassland carbon flux data and process them to generate a spatiotemporal map of carbon flux in the monitored area.

[0034] Preferably, the monitoring terminal in this embodiment includes a processing module for receiving remote sensing data and grassland carbon flux data and processing them to generate a carbon flux spatiotemporal map. Optionally, the processing module in this embodiment processes the data as follows: 1. Based on the grassland carbon flux data collected over a long period by the ground IoT monitoring module 5, the high temporal resolution carbon flux time series of each monitoring point is calculated using existing micrometeorological models or soil respiration models; 2. Based on the remote sensing data collected by the UAV monitoring module, the spatial distribution maps of vegetation index, leaf area index, surface temperature, and vegetation height of the monitoring area are retrieved; 3. Using the carbon flux time series of each monitoring point as training samples and the remote sensing retrieval parameters of the corresponding points as features, a system is established... 4. Apply the machine learning prediction model to the spatial distribution map of remote sensing inversion parameters of the entire monitoring area, calculate and generate the spatial distribution map of carbon flux in the monitoring area at different times pixel by pixel, and then obtain the carbon flux spatiotemporal map. Of course, the above processing module is not limited to the above method. The processing module is also electrically connected to the display module and the control module. In this embodiment, the display module is like a display screen, which is used to display grassland carbon flux data, remote sensing data and carbon flux spatiotemporal map and other information. The control module is also bidirectionally electrically connected to the ground IoT monitoring module 5. The control module is like a controller, which is used to control the ground IoT monitoring modules 5 and receive the data collected by the electrical equipment in the ground IoT monitoring modules 5.

[0035] The drone monitoring module is equipped with a feeding mechanism, which contains several ground IoT monitoring modules 5. The ground IoT monitoring modules 5 are installed in the monitoring area by the feeding mechanism. This method eliminates the need for manual deployment of the ground IoT monitoring modules 5 in the monitoring area, reduces labor intensity, and improves the efficiency of grassland carbon flux spatiotemporal monitoring.

[0036] As a preferred embodiment, the drone monitoring module includes a drone body 1 and a data acquisition device 2 for collecting remote sensing data, which is installed on the drone body 1. The feeding mechanism is located at the bottom of the drone body 1. The data acquisition device 2 in this embodiment includes a multispectral imager, a thermal infrared imager, and a lidar, etc.

[0037] Example 2

[0038] Please see the appendix Figure 2-4 Based on Embodiment 1, the feeding mechanism of this embodiment includes a housing 3 mounted on the UAV monitoring module. The housing 3 in this embodiment is rectangular, with a cover on one side. An outlet 4 for discharging the ground IoT monitoring module 5 is opened on one side of the bottom of the housing 3. Multiple ground IoT monitoring modules 5 are placed sequentially inside the housing 3 along the direction of the outlet 4. A limiting push plate 8 is provided on the outer side of the ground IoT monitoring module 5 furthest from the outlet 4. The limiting push plate 8 in this embodiment has an arc-shaped cross-section to better fit the outer wall of the ground IoT monitoring module 5 and push it to move horizontally within the housing 3. The limiting push plate 8 is driven by a telescopic device 7 mounted on the housing 3 to push the multiple ground IoT monitoring modules 5 one by one to align with the outlet 4. A sealing plate 11 is provided on the outer side of the outlet 4. The sealing plate 11 is driven by a telescopic device 30 mounted on the housing 3 to open or close the outlet 4. In this embodiment, the telescopic device 7 and the telescopic device 30 are, for example, electric telescopic rods, and the sealing plate 11 is L-shaped.

[0039] When deploying the ground IoT monitoring module 5 at a preset monitoring point in the monitoring area, first control the drone monitoring module to fly and hover precisely above the target point, then descend to the preset drop height, then activate the telescopic device 7 to drive the limit push plate 8, so that the foremost ground IoT monitoring module 5 enters the inner cavity of the outlet 4, then the telescopic device 3 10 drives the sealing plate 11 to move horizontally to open the outlet 4, so that the ground IoT monitoring module 5 falls vertically and stably to the monitoring point below under the action of gravity, completing the automated fixed-point deployment.

[0040] Please see the appendix Figure 4-6 Preferably, the ground IoT monitoring module 5 in this embodiment includes a housing 51, which is cylindrical. A detection cavity is provided at the bottom of the housing 51, and an assembly cavity is provided above the detection cavity. A micro pump 52 is provided in the assembly cavity. The air inlet of the micro pump 52 is connected to the detection cavity, and the air outlet of the micro pump 52 passes through the housing 51 through a pipe. In this embodiment, both the air outlet and the air inlet of the micro pump 52 can be equipped with a filter structure to prevent pipe blockage. A data acquisition device 2 53 for collecting grassland carbon flux data is provided on the pipe. In this embodiment, the data acquisition device 2 53 includes a carbon dioxide concentration sensor, etc. A fixed sealing part is also provided on the housing 51. The fixed sealing part is used to seal and fix the housing 51 to the ground of the monitoring area. The micro pump 52 can continuously pump the gas in the detection cavity and deliver it to the data acquisition device 2 53, ensuring that the gas in the cavity is updated in real time and the sampling airflow is stable. Combined with the reliable seal between the fixed sealing part and the ground of the monitoring area, the accuracy and continuity of carbon flux data detection are guaranteed.

[0041] Optionally, in this embodiment, a vent (not shown in the figure) connected to the detection chamber is also provided on one side of the outer shell 51. A solenoid valve is provided in the vent. The operator can remotely control the solenoid valve to open at regular intervals through the control module, so that the detection chamber is connected to the outside. This will not be described in detail here.

[0042] Please see the appendix Figure 4-6 As a preferred embodiment, the fixed sealing part includes an annular cavity opened inside the outer shell 51 and surrounding the detection cavity. An annular plate is movably arranged inside the annular cavity. The bottom of the annular plate is provided with a plurality of insertion rods 54 for inserting into the soil of the monitoring area. The bottom of the outer shell 51 is provided with an opening for the insertion rods 54 to pass through. The top of the annular plate is connected to a contact ring 57 located above the outer shell 51 through a connecting rod 55. An elastic reset member is provided between the connecting rod 55 and the outer shell 51. The elastic reset member is, for example, a spring. One end of the spring is connected to the inner wall of the outer shell 51, and the other end is connected to the outer wall of the connecting rod 55. An annular sealing airbag 58 made of flexible material is embedded in the inner side of the bottom of the detection cavity. The annular sealing airbag 58 can be made of rubber material. The sealing airbag 58 is connected to the air outlet of a miniature fan 59 located in the assembly cavity through a pipeline.

[0043] A push plate is provided on the inner wall of the top of the housing 3 at the position corresponding to the outlet 4. The push plate is driven by the telescopic device 2 9 on the UAV monitoring module and is used to press down the contact ring 57 after the ground IoT monitoring module 5 is discharged. In this embodiment, the telescopic device 2 9 is an electric telescopic rod.

[0044] After the ground IoT monitoring module 5 falls vertically and stably to the monitoring point below under the action of gravity, the push plate driven by the telescopic device 2 9 descends and presses down on the contact ring 57 in the ground IoT monitoring module 5. Then, through the connecting rod 55, the ring plate is forced to overcome the resistance of the elastic reset member and move downward in the ring cavity, driving the insertion rod 54 to pass through the opening and insert into the soil to complete the anchoring. Then, by controlling the micro fan 59 in the ground IoT monitoring module 5, the micro fan 59 starts and inflates the annular sealing airbag 58, thereby squeezing and filling the gap between the bottom edge of the outer shell 51 and the grass surface of the monitoring area, forming a reliable pneumatic sealing ring, ensuring the stability and airtightness of the detection cavity, and providing a reliable foundation for long-term in-situ monitoring.

[0045] Please see the appendix Figure 4-6Preferably, the inner wall of the annular cavity in this embodiment is provided with a contact sensor. The contact sensor in this embodiment can be a pressure sensor. A T-shaped magnetic pin 510 is inserted into the side wall of the assembly cavity corresponding to the position of the connecting rod 55. Optionally, the straight rod section of the magnetic pin 510 in this embodiment can be made of non-magnetic material, and its head can be made of magnetic material. An elastic element is provided between the magnetic pin 510 and the inner wall of the assembly cavity. In this embodiment, the elastic element is a spring, one end of which is connected to the head of the magnetic pin 510 and the other end of which is connected to the inner wall of the assembly cavity. An electromagnetic ring 56 is embedded in the side wall of the assembly cavity to attract the magnetic pin 510 to move horizontally. An insertion hole for the magnetic pin 510 is opened on the outer wall of the connecting rod 55.

[0046] When the annular plate descends to the preset position, the contact sensor contacts the annular plate to start the micro fan 59, causing the sealing airbag 58 to inflate. At the same time, the electromagnetic ring 56 is energized to attract the magnetic pin 510, causing it to move horizontally over the resistance of the elastic element and finally insert the magnetic pin 510 into the insertion hole. The magnetic pin 510 can effectively lock the position of the connecting rod 55 and the annular plate, preventing them from retracting under the action of the elastic reset element. This ensures the anchoring depth of the insertion rod 54 and the continuous compression and sealing of the sealing airbag 58, improving the deployment stability and sealing reliability of the ground IoT monitoring module 5.

[0047] When the push plate presses down on the contact ring 57, it causes the annular plate to descend. The descent of the annular plate triggers the contact sensor, which sends a signal to the control module. The control module then activates the micro fan 59 and the electromagnetic ring 56. The micro fan 59 inflates, causing the sealing airbag 58 to expand and adhere to the ground. Simultaneously, the electromagnetic force attracts the magnetic locking pin 510 to move horizontally and engage with the insertion hole of the connecting rod 55. It should be noted that, optionally, a pressure detection sensor is installed on the connecting pipe between the air outlet of the micro fan 59 and the sealing airbag 58 in this embodiment. Through the real-time monitoring and feedback of the inflation pressure by this pressure detection sensor, the degree of expansion of the sealing airbag 58 can be precisely controlled, effectively preventing the sealing airbag 58 from rupturing, sealing failure, or equipment lifting due to over-inflation, thereby ensuring the reliability of the seal.

[0048] Please see the appendix Figure 4 Preferably, the bottom of the housing 3 in this embodiment is equipped with a sensor for collecting distance data between the housing 3 and the ground in the monitoring area. This sensor can be any one or a combination of ultrasonic sensors, laser rangefinders, or millimeter-wave radar sensors. By acquiring altitude information in real time through the sensor and combining it with the control drone monitoring module, hovering positioning and safe altitude assurance can be achieved before deployment. This ensures that the ground IoT monitoring module 5 can accurately reach the target location at the most suitable height after being released from the outlet 4, greatly improving the safety and accuracy of the deployment process and facilitating the subsequent work of the foreign object removal and detection unit 6.

[0049] Example 3

[0050] Please see the appendix Figure 3-4 Based on Embodiment 1, the UAV monitoring module in this embodiment is further provided with a foreign object removal detection unit 6. The foreign object removal detection unit 6 includes two electric guide rails 61 symmetrically arranged on both sides of the housing 3 and extending along the length of the housing 3. The electric guide rails 61 are conventional devices in the art, including slide rails, sliders, and drive devices, etc., which will not be described in detail here. A connecting frame 62 is connected to the slider of the electric guide rail 61, and a rotating shaft is provided between the two connecting frames 62. One end of the rotating shaft is connected to the output end of a rotating device 66 provided on one of the connecting frames 62. In this embodiment, the rotating device 66 includes a servo motor and a reducer. Two fixing frames 63 are fixedly sleeved on the outer wall of the rotating shaft. The rotating device 66 can drive the rotating shaft. The fixed frame 63 can be rotated to a horizontal position to retract or rotated to a vertical position for operation. A U-shaped movable frame 64 is slidably connected to the inner side of the two fixed frames 63. An elastic connector 65 is provided between the movable frame 64 and the fixed frame 63. In this embodiment, the movable frame 64 is slidably connected to the guide block by a guide block and a guide groove opened on the fixed frame 63. The elastic connector 65 may include a guide rod set in the guide groove and moving through the guide block, and a spring sleeved on the outer wall of the guide rod. One end of the spring is connected to the inner wall of the guide groove, and the other end is connected to the guide block. The movable frame 64 is sleeved on the outside of the outlet 4, without interfering with the ground IoT monitoring module 5 discharging material from the outlet 4. The movable frame 64 is provided with a cleaning component 67 for removing foreign objects from the surface of the monitoring area.

[0051] Through the coordinated action of the electric guide rail 61, connecting frame 62, rotating device 66, fixed frame 63, movable frame 64, elastic connector 65, and cleaning component 67, foreign objects such as gravel on the surface of the monitoring point can be removed before the ground IoT monitoring module 5 is deployed. This ensures the flatness of the surface of the monitoring point where the ground IoT monitoring module 5 is deployed, prevents foreign objects from damaging the sealing airbag 58, and affects the sealing performance of the ground IoT monitoring module 5 in contact with the monitoring point, thereby improving the reliability of subsequent measurements.

[0052] Please see the appendix Figure 3-4 Preferably, in this embodiment, the control module and the early warning module are electrically connected. The cleaning component 67 is a scraper, which is rotatably mounted on the movable frame 64 via an elastic rotating shaft. In this embodiment, the elastic rotating shaft includes a shaft body and a torsion spring. An arc-shaped rod 69 is connected to one side of the cleaning component 67, and the other end of the arc-shaped rod 69 is connected to the detection end of the detection sensor 68 mounted on the movable frame 64. In this embodiment, the detection sensor 68 can be a pressure detection sensor. The detection sensor 68 is used to detect the pressure caused by the cleaning component 67 flipping over and squeezing the arc-shaped rod 69 during the removal of foreign objects. When the pressure reaches a preset threshold, a signal is sent to the control module, and the control module controls the early warning module to issue a warning.

[0053] When the scraper encounters an immovable hard obstacle (such as buried rock) during the cleaning process, the obstacle's reaction force forces the cleaning component 67 to rotate around the elastic axis, causing the arc-shaped rod 69 to squeeze the detection sensor 68. Once the pressure value exceeds the preset threshold, the detection sensor 68 sends a signal to the control module and triggers an alarm from the early warning module, thus promptly reminding the operator. This allows the operator to remotely control the drone monitoring module to adjust its flight attitude and deployment location, thereby avoiding the deployment of the ground IoT monitoring module 5 to invalid locations containing hard objects such as rocks. This prevents problems such as sealing failure, equipment damage, or data acquisition interruption caused by the rupture of the sealing airbag 58 during subsequent deployment, improving the overall deployment success rate and operational safety of the device.

[0054] The embodiments described above are merely examples of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention.

Claims

1. A spatiotemporal monitoring device for grassland carbon flux integrating unmanned aerial vehicles (UAVs) and ground-based Internet of Things (IoT), characterized in that, It includes a drone monitoring module, a ground IoT monitoring module (5), and a monitoring terminal for communicating with the drone monitoring module and the ground IoT monitoring module (5); The UAV monitoring module is used to collect remote sensing data of the monitoring area, the ground IoT monitoring module (5) is used to collect grassland carbon flux data of the monitoring area, and the monitoring terminal is used to receive remote sensing data and grassland carbon flux data and process them to generate a spatiotemporal map of carbon flux in the monitoring area. The drone monitoring module is equipped with a feeding mechanism, and a number of ground IoT monitoring modules (5) are placed inside the feeding mechanism. The ground IoT monitoring modules (5) are installed in the monitoring area by the feeding mechanism. The monitoring terminal includes a processing module for receiving remote sensing data and grassland carbon flux data and processing them to generate a carbon flux spatiotemporal map. The processing module is also electrically connected to a display module and a control module. The control module is also bidirectionally electrically connected to a ground-based Internet of Things monitoring module (5). The feeding mechanism includes a housing (3) on the drone monitoring module. The bottom side of the housing (3) has an outlet (4) for discharging the ground IoT monitoring module (5). Multiple ground IoT monitoring modules (5) are placed sequentially inside the housing (3) along the direction of the outlet (4). A limiting push plate (8) is provided on the outside of the ground IoT monitoring module (5) furthest from the outlet (4). The limiting push plate (8) is driven by a telescopic device (7) on the housing (3) to push the multiple ground IoT monitoring modules (5) one by one to align with the outlet (4). A sealing plate (11) is provided on the outside of the outlet (4). The sealing plate (11) is driven by a telescopic device (10) on the housing (3) to open or close the outlet (4). The ground IoT monitoring module (5) includes a housing (51), a detection cavity is provided at the bottom of the housing (51), and an assembly cavity is provided above the detection cavity. A micro pump (52) is provided in the assembly cavity. The air inlet of the micro pump (52) is connected to the detection cavity. The air outlet of the micro pump (52) passes through the housing (51) through a pipeline. A data acquisition device (53) for collecting grassland carbon flux data is provided on the pipeline. A fixed sealing part is also provided on the housing (51). The UAV monitoring module is also provided with a foreign object removal detection unit (6). The foreign object removal detection unit (6) includes two electric guide rails (61) symmetrically arranged on both sides of the housing (3) and extending along the length of the housing (3). A connecting frame (62) is connected to the slider of the electric guide rail (61). A rotating shaft is provided between the two connecting frames (62). One end of the rotating shaft is connected to the output end of a rotating device (66) provided on one of the connecting frames (62). Two fixed frames (63) are fixedly sleeved on the outer wall of the rotating shaft. A U-shaped movable frame (64) is slidably connected to the inner side of the two fixed frames (63). An elastic connecting piece (65) is provided between the movable frame (64) and the fixed frame (63). The movable frame (64) is sleeved on the outside of the outlet (4), and a removal piece (67) for removing foreign objects from the surface of the monitoring area is provided on the movable frame (64). The control module is electrically connected to the early warning module. The cleaning component (67) is a scraper. The cleaning component (67) is rotatably mounted on the movable frame (64) via an elastic rotating shaft. An arc-shaped rod (69) is connected to one side of the cleaning component (67). The other end of the arc-shaped rod (69) is connected to the detection end of a detection sensor (68) mounted on the movable frame (64). The detection sensor (68) is used to detect the pressure caused by the cleaning component (67) flipping over and squeezing the arc-shaped rod (69) during the removal of foreign objects. When the pressure reaches a preset threshold, a signal is sent to the control module. The control module controls the early warning module to issue a warning.

2. The grassland carbon flux spatiotemporal monitoring device integrating UAV and terrestrial IoT as described in claim 1, characterized in that, The fixed sealing part includes an annular cavity opened inside the outer shell (51) and surrounding the detection cavity. An annular plate is movably arranged inside the annular cavity. The bottom of the annular plate is provided with a plurality of insertion rods (54) for inserting into the soil of the monitoring area. The bottom of the outer shell (51) is provided with an opening for the insertion rods (54) to pass through. The top of the annular plate is connected to a contact ring (57) located above the outer shell (51) through a connecting rod (55). An elastic reset member is provided between the connecting rod (55) and the outer shell (51). An annular sealing airbag (58) is embedded in the inner side of the bottom of the detection cavity. The sealing airbag (58) is connected to the air outlet of a miniature fan (59) located in the assembly cavity through a pipeline. A push plate is provided on the inner wall of the top of the housing (3) at the position corresponding to the outlet (4). The push plate is driven by the telescopic device 2 (9) provided on the UAV monitoring module and is used to press down the contact ring (57) after the ground IoT monitoring module (5) is discharged.

3. The grassland carbon flux spatiotemporal monitoring device integrating UAV and terrestrial IoT as described in claim 2, characterized in that, A contact sensor is provided on the inner wall of the annular cavity. A magnetic pin (510) is inserted into the side wall of the assembly cavity at the position corresponding to the connecting rod (55). An elastic element is provided between the magnetic pin (510) and the inner wall of the assembly cavity. An electromagnetic ring (56) is embedded in the side wall of the assembly cavity to attract the magnetic pin (510) to move horizontally. A socket for inserting the magnetic pin (510) is opened on the outer wall of the connecting rod (55). When the annular plate descends to the preset position, the contact sensor contacts the annular plate to control the micro fan (59) to start so that the sealing airbag (58) expands. At the same time, the electromagnetic ring (56) is energized to attract the magnetic pin (510) to move horizontally so that the magnetic pin (510) can be inserted into the socket.

4. The grassland carbon flux spatiotemporal monitoring device integrating UAV and terrestrial IoT as described in claim 1, characterized in that, The UAV monitoring module includes a UAV body (1) and a data acquisition device (2) installed on the UAV body (1) for collecting remote sensing data. The feeding mechanism is located at the bottom of the UAV body (1).

5. A grassland carbon flux spatiotemporal monitoring device integrating UAV and terrestrial IoT as described in claim 1, characterized in that, The bottom of the housing (3) is equipped with a sensor for collecting distance data between the housing (3) and the ground in the monitoring area.

Images