A UAV-based surface water sampling, storage, and transportation system

Abstract

This invention relates to the field of sampling drone technology, and more particularly to a surface water sampling, storage, and transportation system based on a drone. The sampling unit includes a first multi-parameter water quality sensor for collecting profile data and components for collecting and transporting water samples; a refrigeration and storage unit for providing and regulating the refrigeration temperature for the stored water samples; and an analysis and control unit for dynamically identifying characteristic water quality types and determining water quality profile indices based on the first surface water profile dataset during the collection phase, thereby generating instructions to regulate the collection strategy; and for calculating a water sample fidelity index based on a second profile dataset of the stored water samples during the storage phase, thereby generating temperature instructions to regulate the refrigeration strategy. This invention, through the analysis and control unit, ensures fidelity control from identification and sampling to storage, overcoming the shortcomings of traditional sampling methods in terms of sample representativeness and overall fidelity, and significantly improving the reliability and scientific validity of water quality monitoring data.

Description

Technical Field

[0001] This invention relates to the field of sampling drone technology, and in particular to a surface water sampling, storage and transportation system based on drones. Background Technology

[0002] Currently, water quality sampling in water bodies mainly employs two methods: First, manual sampling by boat, where staff carry sampling containers to the target water area, manually collect surface water samples, and bring them back to the laboratory for testing. Second, fixed-site sampling, where fixed sampling devices are set up around the water area, and staff periodically collect surface water samples manually. In some scenarios, simple remote-controlled boats carrying sampling bottles are also used, but this requires manual remote control of the sampling process. Third, remote-controlled boats or drones equipped with sampling equipment achieve a certain degree of automated sampling through remote control, but most lack the ability to preserve samples at low temperatures, affecting the physicochemical stability of the water samples during transportation.

[0003] Chinese Patent Publication No. CN118275171A discloses an automatic water sampling device for unmanned aerial vehicles (UAVs). The related technical solution includes a UAV platform, a mounting plate, an electric winch, a traction rope, and a water collection device with filtration function. This technical solution, by using a UAV platform equipped with an electric winch, traction rope, and mechanical water collection device, achieves aerial delivery and automatic triggered sampling, reducing the frequency of manual intervention to some extent. However, the above solution still has the following problems:

[0004] Existing technical solutions rely heavily on preset depths or remote manual commands to trigger sampling, which cannot dynamically identify key hydrological features based on real-time water profile data, and also have the drawback of not being able to provide a dynamically adjustable cold chain environment based on the physicochemical properties of the water sample itself. Summary of the Invention

[0005] To address this, the present invention provides a surface water sampling, storage, and transportation system based on unmanned aerial vehicles (UAVs) to overcome the problems in existing technologies that cannot dynamically identify key hydrological features based on real-time water profile data and cannot provide a dynamically adjustable storage environment based on the physical and chemical properties of the water sample itself.

[0006] To achieve the above objectives, the present invention provides a surface water sampling, storage, and transportation system based on unmanned aerial vehicles (UAVs), comprising:

[0007] The sampling unit is used to collect surface water to obtain stored water samples and transport the stored water samples to a refrigerated storage unit, including a first multi-parameter water quality sensor for collecting a first profile dataset;

[0008] The refrigeration storage unit, which provides a refrigeration environment and regulates the refrigeration temperature for the stored water sample, includes a second multi-parameter water quality sensor for acquiring a second profile dataset.

[0009] Analysis and control unit, which is used to control the refrigeration temperature within a preset temperature range, control the lowering and raising of the sampling unit, and dynamically identify the characteristic water quality type and water quality profile index corresponding to the surface water based on the first profile dataset during the water sample collection stage, and generate collection control instructions based on the identification results to adjust the collection strategy of the sampling unit.

[0010] The analysis and control unit is also used to calculate the water sample fidelity index and cooling index based on the second profile dataset of the stored water sample during the water sample storage stage, and to generate a temperature control command based on the calculation results to adjust the cooling strategy of the cooling storage unit.

[0011] The water quality parameters in the first profile dataset and the second profile dataset include at least water temperature, water conductivity, dissolved oxygen, water turbidity, and water pH.

[0012] Furthermore, the analysis and control unit is also used to determine and generate the acquisition and control command based on the comparison result of the water quality profile index and the profile index threshold, wherein,

[0013] If the water quality profile index is greater than or equal to the corresponding profile index threshold, a first collection and control instruction for generating a surface water collection strategy is determined.

[0014] If the water quality profile index is less than the profile index threshold, a second collection and control instruction for regulating the surface water collection strategy is determined.

[0015] The profile index threshold is determined based on the characteristic water quality type, which includes thermocline, organic pollutant layer, salinity abrupt change layer, acid-base anomaly layer and eutrophication layer.

[0016] Furthermore, the analysis and control unit is also used to calculate the corresponding water quality assessment index based on the water quality profile index, and to determine the first collection control command as the corresponding first sampling quantity command, second sampling quantity command, or third sampling quantity command based on the comparison result between the water quality assessment index and the assessment index threshold.

[0017] In the surface water collection strategies corresponding to the first sampling quantity instruction, the second sampling quantity instruction, and the third sampling quantity instruction, the sampling quantity and the number of dispensing bottles increase sequentially.

[0018] Furthermore, the analysis and control unit is also used to control the sampling unit not to collect the currently identified surface water based on the second acquisition and control command, and to control the sampling unit to continue to descend to perform data detection or to control the sampling unit to rise.

[0019] Furthermore, the analysis and control unit is also used to determine the water sample fidelity index based on the changes in at least one water quality parameter in the second profile dataset.

[0020] Furthermore, the analysis and control unit is also used to determine the temperature control command based on the comparison result of the water sample fidelity index and the fidelity index threshold, wherein,

[0021] If the water sample fidelity index is greater than or equal to the fidelity index threshold, a first temperature control command for regulating the water sample storage strategy is generated.

[0022] If the water sample fidelity index is less than the fidelity index threshold, a second temperature control command is generated to regulate the water sample storage strategy.

[0023] Furthermore, the analysis and control unit is also used to determine whether to maintain the current refrigeration temperature based on the first temperature control command.

[0024] Furthermore, the analysis and control unit is also used to determine a fidelity difference value based on the difference between the fidelity index of the water sample and the fidelity index threshold, based on the second temperature control command, and to execute the corresponding cooling strategy based on the change of the fidelity difference value, wherein...

[0025] If the fidelity difference is greater than or equal to a preset fidelity difference, the stored water sample is discarded.

[0026] If the fidelity difference is less than the preset fidelity difference, the cooling index is calculated based on the fidelity difference.

[0027] Furthermore, the analysis and control unit is also used to adjust the cooling strategy of the cooling storage unit based on the cooling index, wherein,

[0028] If the cooling index is greater than the upper limit of the cooling index threshold range, determine to reduce the target set temperature of the refrigeration environment;

[0029] If the cooling index is less than the lower limit of the cooling index threshold range, the target set temperature of the refrigeration environment will be increased.

[0030] Furthermore, the refrigeration storage unit also includes a rinsing assembly;

[0031] The rinsing assembly is used to rinse and dry the fluid channels of the sampling unit and the delivery pipeline connected to the refrigeration storage unit after the sampling unit completes a sampling or before the stored water sample is delivered to the refrigeration storage unit.

[0032] Compared with existing technologies, the beneficial effects of the UAV-based surface water sampling, storage, and transportation system of this invention are that by integrating a sampling unit with real-time water quality monitoring function, a storage unit with active cooling capability, and an analysis and control unit, the system achieves accurate and accurate sampling and storage processes through dual closed-loop intelligent control. This is achieved by dynamically identifying water quality characteristics and generating adaptive sampling instructions based on a first profile dataset during the collection phase, and calculating the sample fidelity status in real time based on a second profile dataset and generating dynamic temperature control instructions during the storage phase. This solves the problems of insufficient sample representativeness and sample quality deterioration during storage and transportation in existing technologies.

[0033] Furthermore, this invention analyzes and processes in real-time profile data, including temperature, conductivity, dissolved oxygen, turbidity, and pH, acquired by the sampling unit. It dynamically identifies characteristic water quality types such as thermoclines and organic pollutant layers, and automatically generates instructions for controlling the sampling strategy based on quantified water quality profile indices. This avoids the shortcomings of existing technologies that rely on fixed depths, times, or remote manual triggering, ensuring that sampling actions accurately respond to the actual physicochemical structure and spatial distribution of pollutants in the water body, thus improving the scientific rigor and purposefulness of sampling operations.

[0034] Furthermore, this invention analyzes and continuously monitors the second profile dataset of water samples within the storage unit by the control unit. It then calculates parameters such as the water sample fidelity index to assess the physicochemical activity and degradation risk of the samples in real time, and dynamically generates temperature control commands to adjust the refrigeration strategy. This ensures that the refrigeration storage unit can adaptively adjust the temperature based on the actual state of the samples, enhancing refrigeration for highly active samples. This proactively maintains the original properties of the samples throughout storage and transportation, effectively solving the problem of sample quality degradation caused by rigid fidelity strategies in traditional methods. Attached Figure Description

[0035] Figure 1 This is a schematic diagram of the surface water sampling, storage and transportation system based on unmanned aerial vehicles (UAVs) in an embodiment of the present invention;

[0036] Figure 2 This is a structural block diagram of the surface water sampling, storage and transportation system based on unmanned aerial vehicles (UAVs) in an embodiment of the present invention;

[0037] Figure 3 This is a flowchart illustrating the logic control of the water sample collection stage of the surface water sampling, storage, and transportation system based on unmanned aerial vehicles (UAVs) in this embodiment of the invention.

[0038] Figure 4 This is a flowchart of the logic control for the water sample storage stage of the surface water sampling, storage and transportation system based on UAV in an embodiment of the present invention.

[0039] In the diagram, 1. Machine body; 2. Sample bottle; 3. Sampling cable; 4. Sample bottle; 5. Electric winch. Detailed Implementation

[0040] To make the objectives and advantages of the present invention clearer, the present invention will be further described below with reference to embodiments; it should be understood that the specific embodiments described herein are merely illustrative of the present invention and are not intended to limit the present invention.

[0041] Preferred embodiments of the present invention will now be described with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are merely illustrative of the technical principles of the present invention and are not intended to limit the scope of protection of the present invention.

[0042] It should be noted that in the description of this invention, the terms "upper", "lower", "left", "right", "inner", "outer", etc., which indicate directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings. This is only for the convenience of description and is not intended to indicate or imply that the device or element must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation of this invention.

[0043] Furthermore, it should be noted that, in the description of this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0044] Please see Figure 1 and Figure 2 As shown, Figure 1 This is a schematic diagram of the surface water sampling, storage and transportation system based on unmanned aerial vehicles (UAVs) in an embodiment of the present invention; Figure 2 This is a structural block diagram of a surface water sampling, storage, and transportation system based on unmanned aerial vehicles (UAVs) according to an embodiment of the present invention. The surface water sampling, storage, and transportation system based on UAVs according to an embodiment of the present invention includes:

[0045] The sampling unit is used to collect surface water to obtain stored water samples and transport the stored water samples to a refrigerated storage unit, including a first multi-parameter water quality sensor for collecting a first profile dataset;

[0046] The refrigeration storage unit, which provides a refrigeration environment and regulates the refrigeration temperature for storing water samples, includes a second multi-parameter water quality sensor for acquiring a second profile dataset, and a compressor or vortex tube for providing cooling capacity.

[0047] Analysis and control unit, which is used to control the refrigeration temperature within the preset temperature range, control the lowering and raising of the sampling unit, and dynamically identify the characteristic water quality type and water quality profile index of the surface water based on the first profile dataset during the water sample collection stage, and generate collection control instructions based on the identification results to adjust the collection strategy of the sampling unit.

[0048] The analysis and control unit is also used to calculate the water sample fidelity index and cooling index based on the second profile dataset of the stored water sample during the water sample storage stage, and to generate temperature control commands based on the calculation results to adjust the cooling strategy of the cooling storage unit.

[0049] The water quality parameters in both the first and second profile datasets include at least water temperature, water conductivity, dissolved oxygen, water turbidity, and water pH.

[0050] In one specific embodiment, the UAV-based surface water sampling, storage, and transportation system provided by this invention is integrated into a general-purpose multi-rotor UAV platform. It includes a fuselage 1, an energy supply unit, a BeiDou / GPS dual-mode positioning unit, a data transmission unit, a cooling and storage unit, a sampling unit, and an analysis and control unit. The energy supply unit is a high-capacity lithium battery pack that provides power to the flight platform and all mission payloads. The BeiDou / GPS dual-mode positioning unit is used to achieve high-precision autonomous hovering and waypoint flight, and the data transmission unit is used to transmit system status, collected data, and high-definition images back to the ground control station in real time.

[0051] In one specific embodiment, the sampling unit includes several sampling bottles 4 connected to the end of the sampling cable 3, a sampling pump for pumping surface water into the sampling bottles 4, a first multi-parameter water quality sensor for monitoring surface water profile data, and an electric winch 5 driven by an analysis and control unit. The analysis and control unit issues acquisition and control commands to control the movement of the electric winch 5, thereby realizing the lowering and lifting of the sampling bottles 4 and controlling the sampling bottles 4 to collect surface water.

[0052] Specifically, during the water sampling stage, the analysis and control unit controls the lowering of the sampling bottle 4 via an electric winch 5. During the lowering process, the first multi-parameter water quality sensor collects profile data of different depths of the surface water body in real time to obtain the first profile dataset. The analysis and control unit compares the first profile dataset with a preset profile dataset in a preset database used to determine the characteristic water quality type, dynamically identifies the characteristic water quality type, and calculates the water quality profile index based on the first profile dataset and compares it with the profile index threshold of the corresponding characteristic water quality type, thereby characterizing the significance of the characteristic water quality type.

[0053] When the sampling standard is met, the analysis and control unit makes a secondary decision based on the water quality assessment index, and generates different levels of collection and control instructions to control the electric winch 5 to hover at the corresponding depth, start the sampling pump to suck up the corresponding number of surface water samples and dispensing bottles, and transport the surface water to the cooling and storage unit as a stored water sample.

[0054] In one specific embodiment, the refrigeration storage unit is fixedly installed inside the UAV body 1. The main body has several independent compartments of insulated boxes. Each compartment constitutes an independent temperature-controlled storage chamber and is equipped with a sample bottle 2 for storing a single surface water sample. The refrigeration storage unit uses a compressor or vortex tube to provide cooling. The refrigeration storage unit is also equipped with a rinsing component (not shown in the figure), which includes an air pump, connecting pipes and a drain valve, to rinse and dry the connecting pipes before and after sampling. This allows for surface water flushing and sterile air purging of the fluid pipes connecting the sampling unit before and after each sampling to prevent cross-contamination between samples.

[0055] Specifically, when the analysis and control unit determines that water sample storage is necessary, to prevent cross-contamination between different samples or pipeline residues, the analysis and control unit automatically executes a rinsing procedure before the surface water is transported from the sampling bottle 4 located in the sampling unit to the retention bottle 2 located in the refrigeration storage unit.

[0056] The analysis and control unit controls the drain valve located on the connecting pipeline to draw a small amount of current surface water (about 100ml) to rinse and dry the emptied sampling bottle 4 and the connecting pipeline from sampling bottle 4 to retention bottle 2, in order to rinse the inner wall of the pipeline and remove the previous sample residue and any impurities that may be present.

[0057] After the liquid rinsing is completed, the analysis and control unit controls the sampling pump to shut down and starts the air pump to continuously fill the pipeline with sterile and dry air, so as to drain the residual rinsing surface water in the pipeline through the drain valve, ensuring that the inside of the pipeline is clean and dry, and providing a pure flow path for the surface water to be stored.

[0058] Specifically, each temperature-controlled storage chamber is equipped with a temperature sensor to monitor the internal temperature of the chamber in real time. During the water sample storage stage, the analysis and control unit calculates the water sample fidelity index and refrigeration index based on the second profile data of the stored water sample obtained in real time by the second multi-parameter water quality sensor, in order to generate a corresponding refrigeration strategy to control the compressor or vortex tube in the refrigeration storage unit to regulate the refrigeration temperature.

[0059] Please see Figure 3The diagram shows the logic control flowchart of the control unit for the water sampling stage of the surface water sampling, storage, and transportation system based on a drone in this embodiment of the invention. In this embodiment, during the water sampling stage, the analysis and control unit collects water quality parameters at different depths of the surface water body in real time using a first multi-parameter water quality sensor, obtaining a first profile dataset. The water quality parameters include at least water temperature, water conductivity, dissolved oxygen, turbidity, and pH value. Based on the water quality parameters in the first profile dataset, the analysis and control unit calculates the following results: the temperature change rate is ΔT / ΔL, which is the ratio of the temperature difference ΔT to the depth difference ΔL between adjacent sampling depths, representing the rate of change of water temperature T with depth L; the dissolved oxygen concentration change rate is ΔR / ΔL, which is the ratio of the dissolved oxygen concentration difference ΔR to the depth difference between adjacent sampling depths. The ratio ΔL represents the rate of change of dissolved oxygen concentration R with depth L; the rate of change of turbidity is ΔZ / ΔL, which is the ratio of the difference in turbidity values ​​ΔZ between adjacent sampling depths to the difference in depth ΔL, representing the rate of change of turbidity Z with depth L; the rate of change of electrical conductivity in the vertical direction is ΔC / ΔL, which is the ratio of the difference in conductivity ΔC between adjacent sampling depths to the difference in depth ΔL, representing the rate of change of electrical conductivity C with depth L; the pH value and specific nutrient index δ are comprehensive parameters representing the degree of eutrophication of the water body, calculated by weighted summation or exponential model from the measured values ​​of one or more nutrient parameters such as chlorophyll concentration, total phosphorus, and total nitrogen. The analysis and control unit dynamically identifies the current characteristic water quality type of surface water by comparing the calculated change parameters with preset profile datasets of various characteristic water quality types in the database. These types include thermoclines, organic pollutant layers, salinity abrupt change layers, acid-base anomaly layers, and eutrophic layers. The preset profile datasets are determined based on a large amount of historical monitoring data and classical hydrological models. For example, for thermoclines, if the temperature change rate at three consecutive sampling points is less than -0.5°C / m, then that depth range is identified as a thermocline. For organic pollutant layers, if the dissolved oxygen concentration changes at a certain depth... Depth ranges with a turbidity change rate less than -0.3 mg / (L·m) and a turbidity change rate greater than 15 NTU / m are identified as organic pollution layers; for salinity abrupt change layers, depth ranges with an absolute value of conductivity change rate greater than 200 μS / (cm·m) in vertical depth are identified as salinity abrupt change layers; for acid-base anomaly layers, continuous water layers with pH values ​​deviating from the regional background value by more than ±1.0 are identified as acid-base anomaly layers; for eutrophication layers, depth ranges with a change rate of chlorophyll a in a specific nutrient index δ greater than 5 μg / (L·m) in vertical depth are identified as eutrophication layers.

[0060] Specifically, the analysis and control unit calculates the water quality profile index Q corresponding to the characteristic water quality type to characterize the significance of that characteristic water quality type. For example, for an organic polluted layer, its water quality profile index Q is calculated by combining the rate of decrease of dissolved oxygen R and the rate of increase of turbidity Z: Q=W1*(-ΔR / ΔL)+W2*(ΔZ / ΔL), where W1 and W2 are preset weights determined based on the historical statistical importance of the corresponding water quality parameters in characterizing a specific polluted layer. For example, W1=0.6 and W2=0.4 can be set to reflect the importance of different parameters in pollution assessment; -ΔR / ΔL and ΔZ / ΔL respectively characterize the absolute change rate of dissolved oxygen R and turbidity Z with depth.

[0061] Specifically, the analysis and control unit compares the calculated water quality profile index Q with the corresponding characteristic water quality type profile index threshold Qth to determine and generate a data acquisition and control command.

[0062] If the water quality profile index Q is greater than or equal to the corresponding profile index threshold Qth, the water body characteristics at the current depth are determined to be significant, and the analysis and control unit determines to generate the first acquisition and control command.

[0063] If the water quality profile index Q is less than the corresponding profile index threshold Qth, it is determined that the water characteristics at the current depth do not meet the standards. The analysis and control unit generates a second acquisition control command and controls the sampling unit not to sample the surface water at the current depth. If the current depth has not reached the preset maximum detection depth, the sampling unit is controlled to continue descending to perform data detection at subsequent depths. If the current depth has reached the preset maximum detection depth, or if an acquisition control command has been generated during this round of descent, the sampling unit is controlled to rise, ending this round of profile acquisition operation. The profile index threshold is determined based on historical monitoring data statistics and environmental quality standards: Qth(T) = 0.5 for thermoclines; Q(C) = 10.0 for organic pollutant layers; Qth(S) = 200 for salinity abrupt change layers; Qth(P) = 1.0 for acid-base anomaly layers; and Qth(E) = 5.0 for eutrophic layers. The preset maximum detection depth is determined comprehensively based on the safe operating length of the sampling cable 3 of the sampling unit, the payload and endurance of the UAV platform, and the target water depth range of this sampling mission. For example, for most surface water sampling tasks in lakes, reservoirs and rivers, the preset maximum detection depth can be set between 30m and 50m.

[0064] In this embodiment, the analysis and control unit further calculates the water quality assessment index I based on the first acquisition and control command to assess the potential value and importance of the current surface water sample. The analysis and control unit determines the calculation formula of the water quality assessment index I by weighting and fusing all identified water quality profile indices Q that reach or exceed the corresponding profile index threshold Qth. The formula is I = α·Q1 + β·Q2 + γ·Q3 + δ·Q4 + ε·Q5, where Q1 to Q5 represent the thermocline, organic pollution layer, salinity abrupt change layer, acid-base anomaly layer, and eutrophic layer, respectively. The water quality profile index has a Q value of 0 for unidentified feature layers. When the Q value is 0, the analysis and control unit determines to generate a second acquisition and control command. α, β, γ, δ, and ε are preset weighting coefficients for the corresponding feature types, and their values ​​are preset according to the importance of each feature type to the overall water quality assessment. For example, α (thermocline layer) = 0.15, β (organic pollutant layer) = 0.30, γ (salinity abrupt change layer) = 0.20, δ (acid-base anomaly layer) = 0.15, and ε (eutrophication layer) = 0.20; and α + β + γ + δ + ε = 1. Among them, the thermocline layer, organic pollutant layer, salinity abrupt change layer, acid-base anomaly layer, and eutrophication layer are all key layers for surface water acquisition.

[0065] The analysis and control unit compares the calculated water quality assessment index I with the multi-level assessment index threshold Ith to determine the sampling quantity instructions corresponding to different sampling volumes and dispensing bottle numbers. The sampling quantity instructions are either the first sampling quantity instruction, the second sampling quantity instruction, or the third sampling quantity instruction.

[0066] The third sampling quantity command and the second sampling quantity command are used to execute a surface water collection strategy that increases the sampling quantity and the number of dispensing bottles sequentially based on the first sampling quantity command, and the increment corresponding to the third sampling quantity command is greater than the increment corresponding to the second sampling quantity command.

[0067] Furthermore, if the water quality assessment index I is greater than the first assessment index threshold Ith1 and less than the second assessment index threshold Ith2, a first sampling quantity instruction is generated to control the sampling unit to collect a basic sampling volume, which can be set to collect 500ml and store it in one sample bottle 2; wherein, the collection volume of 500ml is the initially set basic sampling volume.

[0068] If the water quality assessment index is greater than the second assessment index threshold Ith2 and less than the third assessment index threshold Ith3, a second sampling quantity instruction is generated to control the sampling unit to increase the sampling volume. For example, it can be set to collect 1500ml and store it equally in 3 sample bottles 2.

[0069] If the water quality assessment index is greater than the third assessment index threshold Ith3, a third sampling quantity instruction is generated, and based on the third sampling quantity instruction, the sampling unit is controlled to further increase the sampling volume, which can be set exemplarily to collect 6000 ml and sub-pack it into 6 sample bottles 2; among them, Ith1 < Ith2 < Ith3; the assessment index threshold Ith is comprehensively calculated based on the data quality requirements preset by the task and the minimum sample volume required for subsequent laboratory analysis methods. Exemplarily, Ith1 = 2, Ith2 = 5, and Ith3 = 8.

[0070] In a specific embodiment, the analysis control unit controls the electric winch 5 to hover at the target depth and starts the sampling pump to suck the corresponding amount of surface water into the sampling bottle 4 according to the instruction requirements.

[0071] Please refer to Figure 4 As shown, it is the logic control flow chart of the water sample storage stage control unit of the surface water sampling, storage and transportation system based on the unmanned aerial vehicle in the embodiment of the present invention. In this embodiment, after the surface water sample is transported to the sample bottle 2 by the sampling unit and used as the stored water sample, the analysis control unit enters the water sample fidelity stage, and based on the second multi-parameter water quality sensor, the second profile dataset of the water quality parameters of the stored water sample is obtained in real time. Among them, the water quality parameters at least include water body temperature, water body conductivity, water body dissolved oxygen, water body turbidity, and water body pH value; the analysis control unit selects the most critical core monitoring parameter according to the characteristic water quality type identified in the collection stage, and based on the change of the water quality parameters in the second profile dataset, calculates the water sample fidelity index P and compares it with the fidelity index threshold Pth. Among them, the water sample fidelity index P in different characteristic water quality types is different; the fidelity index threshold Pth is determined according to the characteristic type of the water sample identified and the recommended sample preservation conditions and maximum preservation time for different analytes.

[0072] For the water sample in the organic pollution layer, the core monitoring parameter of the corresponding water sample fidelity index P is the water body dissolved oxygen R, and its consumption rate directly reflects the microbial degradation activity. Exemplarily, the fidelity index corresponding to the water sample fidelity index P at this time is set to Pth1 = -0.5;

[0073] For the water sample in the acid-base abnormal layer, the core monitoring parameter of the corresponding water sample fidelity index P is the water body pH value, and its drift indicates the stability of the acid-base balance. Exemplarily, the fidelity index corresponding to the water sample fidelity index P at this time is set to Pth2 = ±0.1;

[0074] For the water sample in the eutrophic layer, the core monitoring parameter of the corresponding water sample fidelity index P is the chlorophyll a fluorescence value. Exemplarily, the fidelity index corresponding to the water sample fidelity index P at this time is set to Pth3 = 0.1;

[0075] For water samples in the thermocline, the core monitoring parameter for the corresponding water sample fidelity index P is the abnormal temperature change. For example, the fidelity index P corresponding to this water sample fidelity index P is set as Pth4=±0.2.

[0076] For water samples with a salinity abrupt change layer, the core monitoring parameter for the corresponding water sample fidelity index P is the abnormal change in conductivity. For example, the fidelity index P corresponding to this water sample fidelity index P is set as Pth5 = ±0.2.

[0077] For example, if the stored water sample is an organic polluted layer, dissolved oxygen (R) is used as the core evaluation parameter. The rate of decrease of R per unit time is used to characterize the sample's microbial activity and degradation risk. The calculation formula is: P1 = -ΔR / Δt. Here, ΔR is the dissolved oxygen concentration measured at two adjacent time points, and Δt is the corresponding time interval. The faster the dissolved oxygen decreases (i.e., the smaller the P value), the stronger the sample's microbial activity, indicating a greater degree of degradation in the current stored water sample.

[0078] For example, if the stored water sample is a water sample from an acid-base anomaly layer, the pH value of the water body is used as the core evaluation parameter. The stability of the sample's acid-base balance is characterized by calculating the absolute rate of change of the pH value per unit time. The calculation formula is: P2 = |ΔpH / Δt|. Where ΔpH is the change in pH value measured at two adjacent time points; Δt is the corresponding time interval; the faster the pH value drift rate (i.e., the larger the P value), the more unstable the sample's acid-base balance is, and the greater the degree of deterioration of the currently stored water sample.

[0079] Specifically, the analysis and control unit compares the calculated water sample fidelity index P with the fidelity index threshold Pth to determine the temperature control command. At this point, the calculated water sample fidelity index P determines the specific core monitoring parameters based on different water quality characteristics. The process of determining the temperature control command includes:

[0080] If the water sample fidelity index P is greater than or equal to the fidelity index threshold Pth, a first temperature control command is generated to regulate the water sample storage strategy. Based on the command, the refrigeration storage unit is controlled to maintain the current refrigeration environment temperature.

[0081] If the water sample fidelity index P is less than the fidelity index threshold Pth, a second temperature control command is generated to regulate the water sample storage strategy, and the fidelity difference ΔP is calculated based on the second temperature control command.

[0082] Specifically, for the second temperature control command, the analysis and control unit calculates the fidelity difference ΔP based on the difference between the water sample fidelity index P and the fidelity index threshold Pth. The fidelity difference ΔP characterizes the degree to which the current water sample deterioration rate deviates from the safety threshold. Based on the comparison between the fidelity difference ΔP and the preset fidelity difference ΔPth, the analysis and control unit determines the corresponding cooling strategy to execute.

[0083] If the fidelity difference ΔP is greater than or equal to the preset fidelity difference ΔPth, a strategy is generated to discard the stored water sample in the current retained sample in order to save power.

[0084] If the fidelity difference ΔP is less than the preset fidelity difference ΔPth, the analysis and control unit calculates the cooling index CI based on the fidelity difference ΔP. The calculation formula is CI=k·ΔP. Since the fidelity difference ΔP can be positive or negative, the cooling index CI can also be positive or negative. The sign of the cooling index CI indicates the direction of temperature rise and fall during adjustment. The absolute value of the cooling index CI represents the amount of cooling intensity adjustment required for effective fidelity. k is a preset proportional coefficient used to convert the fidelity difference into cooling control parameters, and is set to k=0.3 for example.

[0085] Specifically, the refrigeration storage unit uses temperature control as a key environmental control factor for the rates of various physical, chemical, and biological processes in the stored water sample. Lowering the temperature significantly reduces the reaction rate constant, thereby effectively inhibiting processes that lead to sample deterioration, such as microbial metabolism, chemical equilibrium shifts, and ion diffusion. Conversely, appropriately increasing the temperature without affecting sample fidelity can reduce system energy consumption. The analysis and control unit adjusts the refrigeration strategy of the refrigeration storage unit based on the comparison between the refrigeration index CI and the refrigeration index threshold range CIth.

[0086] If the cooling index CI is greater than the upper limit of the cooling index threshold range CIth, it indicates that the current stored water sample has a high risk of deterioration. Therefore, it is determined that the cooling efficiency needs to be enhanced, and the refrigeration storage unit is controlled by instructions to reduce the refrigeration temperature of the refrigeration environment.

[0087] If the cooling index CI is less than the lower limit of the cooling index threshold range CIth, it indicates that the current water sample is abnormally stable or the system cooling intensity is significantly excessive. In this case, it is determined that the cooling efficiency needs to be reduced, and the refrigeration storage unit is controlled by command to raise the refrigeration temperature of the refrigeration environment or enter the energy-saving mode.

[0088] In this embodiment, the initial preset temperature range of the refrigeration environment is determined based on the refrigeration storage temperature of most conventional water quality analysis projects. For example, the preset temperature range can be set to 0-4℃. The cooling index threshold range CIth is comprehensively set based on the characteristic water quality types identified during the water sample collection stage. The analysis and control unit determines the corresponding cooling index threshold range CIth according to the cooling index threshold range CIth mapping database, CIth∈[CIthmin, CIthmax], ensuring that the threshold range with high fidelity requirements is adopted for water samples with compound pollution or complex characteristics. For example, CIth∈[-0.4,+0.4]℃ is set.

[0089] All technologies not mentioned in the above embodiments are existing technologies.

[0090] The technical solution of the present invention has been described above with reference to the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will all fall within the scope of protection of the present invention.

Claims

1. A surface water sampling, storage, and transportation system based on unmanned aerial vehicles (UAVs), characterized in that, include: A sampling unit for collecting surface water to obtain stored water samples and transporting the stored water samples to a refrigerated storage unit, including a first multi-parameter water quality sensor for collecting a first profile dataset; The refrigeration storage unit, which provides a refrigeration environment and regulates the refrigeration temperature for the stored water sample, includes a second multi-parameter water quality sensor for acquiring a second profile dataset. Analysis and control unit, which is used to control the refrigeration temperature within a preset temperature range, control the lowering and raising of the sampling unit, and dynamically identify the characteristic water quality type and water quality profile index corresponding to the surface water based on the first profile dataset during the water sample collection stage, and generate collection control instructions based on the identification results to adjust the collection strategy of the sampling unit. The analysis and control unit is also used to calculate the water sample fidelity index and cooling index based on the second profile dataset of the stored water sample during the water sample storage stage, and to generate a temperature control command based on the calculation results to adjust the cooling strategy of the cooling storage unit. The water quality parameters in the first profile dataset and the second profile dataset include at least water temperature, water conductivity, dissolved oxygen, water turbidity, and water pH. The analysis and control unit is also used to determine and generate the acquisition and control command based on the comparison result of the water quality profile index and the profile index threshold, wherein, If the water quality profile index is greater than or equal to the corresponding profile index threshold, a first collection and control instruction for generating a surface water collection strategy is determined. If the water quality profile index is less than the profile index threshold, a second collection and control instruction for regulating the surface water collection strategy is determined. The profile index threshold is determined based on the characteristic water quality type, which includes thermocline, organic pollutant layer, salinity abrupt change layer, acid-base anomaly layer and eutrophication layer. The analysis and control unit is also used to calculate the corresponding water quality assessment index based on the water quality profile index, and to determine the first collection and control command as the corresponding first sampling quantity command, second sampling quantity command, or third sampling quantity command based on the comparison result between the water quality assessment index and the assessment index threshold. In the surface water collection strategies corresponding to the first sampling quantity instruction, the second sampling quantity instruction, and the third sampling quantity instruction, the sampling quantity and the number of dispensing bottles increase sequentially. The analysis and control unit is also used to determine the water sample fidelity index based on the change of at least one water quality parameter in the second profile dataset; The analysis and control unit is also used to determine the temperature control command based on the comparison result of the water sample fidelity index and the fidelity index threshold, wherein, If the water sample fidelity index is greater than or equal to the fidelity index threshold, a first temperature control command for regulating the water sample storage strategy is generated. If the water sample fidelity index is less than the fidelity index threshold, a second temperature control command is generated to regulate the water sample storage strategy. The analysis and control unit is further configured to determine a fidelity difference value based on the difference between the fidelity index of the water sample and the fidelity index threshold, based on the second temperature control command, and to execute the corresponding cooling strategy based on the change in the fidelity difference value. If the fidelity difference is greater than or equal to a preset fidelity difference, the stored water sample is discarded. If the fidelity difference is less than the preset fidelity difference, the cooling index is calculated based on the fidelity difference. The analysis and control unit obtains the water quality assessment index by weighting and fusing the water quality profile indices that are greater than or equal to the profile index threshold from all identified water quality characteristics.

2. The surface water sampling, storage, and transportation system based on unmanned aerial vehicles (UAVs) according to claim 1, characterized in that, The analysis and control unit is also used to control the sampling unit not to collect the currently identified surface water based on the second acquisition and control command, and to control the sampling unit to continue to descend to perform data detection or to control the sampling unit to rise.

3. The surface water sampling, storage, and transportation system based on unmanned aerial vehicles (UAVs) according to claim 1, characterized in that, The analysis and control unit is also used to determine, based on the first temperature control command, to maintain the current refrigeration temperature.

4. The surface water sampling, storage, and transportation system based on unmanned aerial vehicles (UAVs) according to claim 1, characterized in that, The analysis and control unit is also used to adjust the cooling strategy of the cooling storage unit based on the cooling index, wherein, If the cooling index is greater than the upper limit of the cooling index threshold range, determine to reduce the target set temperature of the refrigeration environment; If the cooling index is less than the lower limit of the cooling index threshold range, the target set temperature of the refrigeration environment will be increased.

5. The surface water sampling, storage, and transportation system based on unmanned aerial vehicles (UAVs) according to claim 1, characterized in that, The refrigeration storage unit also includes a rinsing assembly; The rinsing assembly is used to rinse and dry the fluid channels of the sampling unit and the delivery pipeline connected to the refrigeration storage unit after the sampling unit completes a sampling or before the stored water sample is delivered to the refrigeration storage unit.

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