Movable gas collection system used in planting environment

Abstract

The utility model relates to a movable gas collecting system used in a planting environment, which comprises a three-dimensional moving device and gas collecting equipment arranged on a moving end of the three-dimensional moving device, and 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 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. The artificial closed gas production environment can also contain disturbance of lower interfaces such as crops or soil in the sampling system, and contrast treatment is set to calibrate the influence of soil disturbance and whether the soil contains plants or not on the emission concentration of various gases.

Description

Technical Field

[0001] The utility model relates to modern automated agricultural technology, in particular to automated environmental monitoring technology in agricultural planting. Background Art

[0002] Measuring the emission flux of greenhouse gases such as soil N2O, CH4, CO2 and NH3 pollutant gases is a necessary means of environmental impact assessment for ecosystems such as farmland, forests, and gardens, and is of great significance for studying the atmospheric environment, ecological environment, and climate change.

[0003] At present, in the field of agricultural scientific research or practical applications, the most commonly used soil gas collection method is the conventional in-situ static box gas collection method, that is, connecting multiple matching fixed-point fixed gas collection boxes through the laser analyzer terminal for in-situ sampling. The fixed gas sampling box will have certain interference with the conditions of light, temperature, moisture, etc. in 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 are required for multiple measurement points. At the same time, the collection gas path needs to be switched, and it also needs to be used with the loop switching system, which makes the cost of the static box gas collection system very expensive. Taking the 18 loop switching system as an example, the current price is about 450,000 yuan, and the unit price of the gas collection box (0.5m×0.5m×0.5m) is about 20,000 yuan. The price of the loop switching system and the automatic gas collection box for a 6-treatment 3-repetition field test is 810,000 yuan.

[0004] Therefore, there are schemes of using movable gas collection boxes for gas collection in the prior art, such as patent CN114047305B, which uses a gas concentration measurement device that can be moved in three-dimensional space to perform three-dimensional measurement of gas concentration in a greenhouse. However, this patent is only applicable to closed environments such as greenhouses, and measures gas concentrations at different three-dimensional positions in a closed environment. It is impossible to measure the gas emission flux and rate of a single measurement point (such as a single crop), especially it cannot be applied to the collection of gas emission flux in open scenes such as forests, farmlands, grasslands, wetlands and water bodies. In addition, this patent cannot quantitatively analyze the impact of soil disturbance and plant activities on gas concentration, and has great limitations. Utility Model Content

[0005] In view of the above problems, the utility model proposes a more optimized movable gas collection system for use in a planting environment.

[0006] The utility model is implemented by the following technical solutions:

[0007] The utility model provides a movable gas collection system for use in a planting environment, comprising:

[0008] A three-dimensional mobile device, which is set up in a planting environment and includes a mobile terminal capable of three-dimensional azimuth movement in the planting environment;

[0009] A gas collection device, wherein the gas collection device is installed on a mobile end of a three-dimensional mobile device, wherein a plurality of measuring points with different coordinates are provided in the planting environment, and the gas collection device is configured to be able to move to any of the measuring points under the drive of the three-dimensional mobile device to collect gas;

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

[0011] Preferably, the gas collection device comprises a box structure opening downward and / or the base comprises a box structure opening upward, which is used to cover the measurement point and confine the closed environment.

[0012] Preferably, it also includes a sealing device arranged on the gas collecting device and / or the base, and the sealing device is implemented to be able to seal the docking interface between the gas collecting device and the base after the gas collecting device and the base are docked.

[0013] Among them, preferably, the gas collecting device includes a box structure opening downward, the sealing device includes a water injection pipe and an annular water trough arranged on the base, the water trough surrounds the measuring point, the water trough and the lower end of the box structure of the gas collecting device are arranged relative to each other, so that when the gas collecting device and the base are docked, the lower end of the box structure can be inserted into the water trough and form the docking interface, and the water injection pipe is used to inject water into the water trough to achieve sealing.

[0014] Wherein, preferably, the water injection pipe is installed on the box structure of the gas collection device, and also serves as a gas extraction and collection pipe of the gas collection device.

[0015] Wherein, preferably, the base is detachable.

[0016] Preferably, the measurement points are crops and / or soil distributed in the planting environment.

[0017] Preferably, a positioning system is also included, which includes an image recognition module and a UWB positioning module. The image recognition module is arranged on the three-dimensional mobile device, and is used to perform image recognition on the base directly downward, so as to preliminarily locate the horizontal position of the gas collection device; the UWB positioning module includes a signal transmitting end and a signal receiving end, one of the signal transmitting end and the signal receiving end is arranged on the gas collection device, and the other is arranged on the base, and is used to accurately locate the horizontal position of the gas collection device.

[0018] Preferably, it also includes a gas analysis system for performing concentration measurement and emission flux analysis on the gas data collected by the gas collection equipment.

[0019] The utility model has the following beneficial effects: the movable gas collection system for planting environment proposed by the utility model utilizes the downward movement of the gas collection device to create a closed environment around the target measurement point, so that the gas emission accumulation of the target measurement point can be calculated over time, the concentration can be measured and the emission rate of the gas at the current measurement point can be measured in real time with high precision, and the cumulative emission flux at different time scales can be calculated. At the same time, the artificial closed gas collection environment can include the disturbance of the lower interface such as crops or soil in the sampling system, and the influence of soil disturbance and whether plants are included on the emission concentration of five gases (N2O, CH4, CO2, NH3 and water vapor) can be calibrated by setting a control treatment. Moreover, the closed environment is formed by the movement of the gas collection device, so that the utility model can be applied to the automatic collection of closed environments such as greenhouses and open scenes such as forests, farmlands, grasslands, wetlands and water bodies, and the application range is wider. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is a schematic diagram of a movable gas collection system used in a planting environment in an embodiment;

[0021] Figure 2 is a schematic diagram of a gas collection device in an embodiment moving downward toward a base;

[0022] Figure 3 is a schematic diagram of the gas collection device and the base docking in the embodiment;

[0023] Figure 4 is a schematic diagram of a water injection pipe injecting water into a water tank in an embodiment;

[0024] Figure 5 is a schematic diagram of an alternative solution of the sealing device in the embodiment;

[0025] Figure 6 is a schematic diagram of another alternative solution of the sealing device in the embodiment;

[0026] Figure 7 It is a schematic diagram of positioning the gas collection device and the base through the UWB positioning module in the embodiment. DETAILED DESCRIPTION

[0027] To further illustrate the various embodiments, the present invention provides drawings. These drawings are part of the disclosure of the present invention, which are mainly used to illustrate the embodiments and can be used in conjunction with the relevant descriptions in the specification to explain the operating principles of the embodiments. With reference to these contents, a person of ordinary skill in the art should be able to understand other possible implementations and advantages of the present invention. The components in the figures are not drawn to scale, and similar component symbols are generally used to represent similar components.

[0028] The utility model is now further described in conjunction with the accompanying drawings and specific implementation methods.

[0029] See also Figure 1 As shown, as a preferred embodiment of the utility model, a movable gas collection system for use in a planting environment is provided, and the so-called planting environment may be a greenhouse, a forest, a farmland, a grassland, a wetland, a water body, etc. A plurality of measuring points 100 with different coordinates are arranged in the planting environment, for example, the measuring points 100 may be crops and / or soil distributed in the planting environment.

[0030] The movable gas collection system includes a three-dimensional mobile device 1 set up in the planting environment. The three-dimensional mobile device 1 in this embodiment is a three-axis truss, including a vertical support 11 and an X-axis slide rail 12, a Y-axis slide rail 13 and a lifting device 14. The X-axis slide rail 12 is fixedly connected to the vertical support 11, the Y-axis slide rail 13 is slidably connected to the X-axis slide rail 12, and the Y-axis slide rail 13 is driven to slide back and forth along the X-axis slide rail 12 by the X-axis motor 121. The lifting device 14 is slidably connected to the Y-axis slide rail 13, and the lifting device 14 is driven to slide back and forth along the Y-axis slide rail 13 by the Y-axis motor 131. The lifting device 14 is a linear stepping motor in this embodiment, including a telescopic rod, and a mobile end 15 is fixed at the end of the telescopic rod. By driving and controlling the X-axis motor 121, the Y-axis motor 131 and the lifting device 14, the mobile end 15 can be driven to perform three-dimensional azimuth movement. The gas collecting device 2 is installed on the mobile terminal 15, and the three-dimensional moving device 1 drives the gas collecting device 2 to move three-dimensionally, so that the gas collecting device 2 can be moved to any measuring point 100 to collect gas.

[0031] The movable end 15 is a plate-shaped structure in this embodiment. In other embodiments, the lower end of the lifting device 14 can also be directly used as the movable end 15, that is, the gas collection device 2 is directly connected to the lower end of the lifting device 14.

[0032] The three-dimensional moving device 1 can be replaced by other solutions in other embodiments, such as replacing the X-axis slide rail 12 and the Y-axis slide rail 13 with a horizontal serpentine track, and cooperating with the lifting device 14 to perform three-dimensional movement. Or the three-dimensional moving device 1 is completely replaced by a large multi-axis manipulator. In short, as long as the three-dimensional moving device 1 can drive the gas collection device 2 to move to a position corresponding to any measurement point 100, it is a feasible solution.

[0033] The displacement drive control of the mobile terminal 15 and the gas collection device 2 can be achieved through the existing automated electrical control system, for example, by configuring a control terminal and a three-dimensional mobile device 1 for communication and control, planning and setting the moving route, residence time, etc. of the gas collection device 2, so that the gas collection device 2 can move to multiple points in sequence, return to the starting point after completing the sampling and measurement tasks of the entire planting environment, and start the next round of work, which can realize all-weather uninterrupted automatic cruising and sampling measurement, and provide users with more sufficient real-time long-term data.

[0034] like Figure 2-4 The base 3 is fixedly arranged around the measuring point 100, and is used to dock with the gas collecting device 2 that moves vertically downward. In addition, by docking the gas collecting device 2 and the base 3, a closed environment is also formed around the measuring point 100. Specifically, in this embodiment, the gas collecting device 2 includes a box structure 21 that opens downward. In this embodiment, the box structure 21 is a box with a closed upper end. In other embodiments, the box structure 21 can also be a box with an open upper end, but the upper end of the box structure 21 is closed by fixedly connecting the box structure 21 and the plate-shaped moving end 15. In short, the box structure 21 is open only at the bottom. In this embodiment, the base 3 is a disc-shaped structure, and an annular water tank 31 is provided on the base 3. The water tank 31 surrounds the measuring point, and the water tank 31 and the lower end of the box structure 21 are arranged relative to each other, 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, so that the docking interface 20 between the lower end of the box structure 21 and the base 3 can be sealed by simply filling the water tank 31, so that the base 3 and the gas collection device 2 are docked outside the target measuring point to form a closed environment. Then, the gas collection device 2 is used to collect gas at the target measuring point.

[0035] The portable gas collection system of this embodiment has the following advantages:

[0036] 1. Only one gas collection device 2 is needed to realize the cyclic mobile data collection of multiple plots and multiple measurement points, thereby reducing the number of sampling devices deployed. Thus, the channel switching system no longer increases the high cost due to the number of channels, greatly reducing the equipment cost and labor input, and improving the utilization rate of the equipment; the movable gas collection box system of this embodiment can replace any channel gas collection loop switching system and automatic gas collection box, and the cost is reduced by at least 50%;

[0037] 2. Compared with the fixed gas sampling box, the movable gas collection system of this embodiment leaves for the next measurement point after completing the work at one measurement point, avoiding the interference of the fixed gas sampling box on the conditions of light, temperature, moisture, etc. in the sampling area, and can minimize the impact on the microclimate of the sampling area, thereby obtaining more reliable data that is closer to the overall natural conditions;

[0038] 3. The base 3 and the gas collection device 2 form an artificial closed gas collection environment, which meets the conditions for collecting gas from the soil-atmosphere interface or other systems such as the water-atmosphere interface over time, and can measure the concentration and calculate the emission rate of the gas at the current measurement point in real time with high precision, and calculate the cumulative emission flux at different time scales. This system can automatically collect a variety of soil-atmosphere interface emission gases, and cooperate with a variety of gas analysis system terminals to collect and measure the concentration and emission flux of N2O, CH4, CO2, NH3 and water vapor, etc., to meet the different usage needs of more users;

[0039] 4. The artificial closed gas sampling environment formed by the base 3 and the gas collection device 2 can include the disturbance of the lower interface such as crops or soil in the sampling system, and the influence of soil disturbance and whether or not plants are included on the emission concentration of five gases (N2O, CH4, CO2, NH3 and water vapor) can be calibrated by setting a control treatment;

[0040] 5. By moving the gas collection device 2 to form a closed environment, the gas collection system of this embodiment can be applied to automatic collection in closed environments such as greenhouses and open scenes such as forests, farmlands, grasslands, wetlands and water bodies, with a wider range of applications.

[0041] The base 3 may be configured to be detachable, and the base 3 may be flexibly detached or installed around the selected measurement points according to the actual number of selected measurement targets.

[0042] As for the water injection of the water tank 31, this embodiment realizes it through the water injection pipe 4. The water injection pipe 4 is installed on 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 the water tank 31 is injected with water and the amount of water injected. The water tank 31 can be provided with an outward overflow port to prevent water from overflowing into the measuring 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 discharge water into the water tank. In short, it is a structure that can supply water to the water tank. In this embodiment, the water injection pipe 4 is installed on the box structure 21 and penetrates into the inner cavity of the box structure 21. The advantage is that the water injection pipe 4 can also be used as the gas extraction and collection pipe of the gas collection device 2, that is, after the water injection pipe 4 is injected with water and emptied, it is used as the subsequent gas extraction and collection pipe of the gas collection device 2. The water injection and air extraction function switching of the water injection pipe 4 can be controlled by an automated electrical control system, and a switching system can also be provided to switch the water supply source of the water injection pipe 4 or the connection of the air extraction pump with the water injection pipe 4. Since the water injection pipe 4 will be extended / shortened during the movement of the gas collection device 2, the water injection pipe 4 is preferably implemented by a flexible pipe wound into a spiral shape.

[0043] The water injection pipe 4 and the water tank 3 form a sealing device for sealing the docking 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 docking interface between the gas collection device 2 and the base 3 after the gas collection device 2 and the base 3 are docked. For example, Figure 5 An alternative solution for the sealing device is proposed, wherein the sealing device is a rubber body 400 fixed on the gas collecting device 2A. After the gas collecting device 2A and the base 3A are joined up and down, the rubber body 400 is compressed and deformed, thereby filling and sealing the docking interface between the gas collecting 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 includes a first magnet 500 fixed on the gas collecting device 2B and a second magnet 600 fixed on the base 3B. After the gas collecting device 2B and the base 3B are joined up and down, the first magnet 500 and the second magnet 600 are magnetically connected together, and the two magnetic surfaces are tightly combined to achieve sealing.

[0044] The function of the box structure 21 is to cover the measuring point and define a closed environment. In other embodiments, the base 3 may be provided with a box structure with an upward opening, and the gas collection device 2 may be provided with only a plate body that seals the upward opening box structure of the base 3. Alternatively, the gas collection device 2 includes a box structure with a downward opening, and the base 3 also includes a box structure with an upward opening, and the two box structures are joined to form a closed environment.

[0045] The position accuracy of the gas collection device 2 driven by the three-dimensional mobile device 1 to the target measurement point is more important, so the gas collection device 2 can be equipped with a positioning system to locate its position. In this embodiment, the positioning system includes 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 to perform image recognition of the base 3 directly below. The image recognition module continuously takes pictures directly below, and stops image recognition when the base 3 is recognized, thereby preliminarily locating the horizontal position of the gas collection device 2. Figure 7 The UWB positioning module includes a signal transmitting terminal 62 and a signal receiving terminal 61. One of the signal transmitting terminal 62 and the signal receiving terminal 61 is set on the gas collection device 2, and the other is set on the base 3. In this embodiment, there are multiple corresponding signal transmitting terminals 62 and signal receiving terminals 61. When the UWB positioning is started, the system calculates the distance between the signal transmitting terminal 62 and the signal receiving terminal 61 according to the information received by the signal receiving terminal 61. Each signal receiving terminal 61 and the signal transmitting terminal 62 have corresponding numbers; each signal receiving terminal 61 receives the information of the corresponding endpoint, and the difference between the shortest path and the vertical distance of any three of the four signal receiving terminals 61 can be calculated to determine the deviation direction and deviation distance between the gas collection device 2 and the base 3, and fine-tune until the gas collection device 2 is directly above the base 3, so as to achieve accurate positioning of the horizontal position of the gas collection device 2. The positioning of the gas collection device 2 can also adopt Beidou high-precision positioning, laser positioning, infrared positioning and other systems to further improve the accuracy. A variety of positioning technologies can accurately locate and ensure normal operation under adverse conditions such as bad weather and plant obstruction.

[0046] Although the present invention has been specifically demonstrated and described in conjunction with the preferred embodiments, those skilled in the art should understand that various changes made to the present invention in form and detail, without departing from the spirit and scope of the present invention as defined in the appended claims, shall fall within the scope of protection of the present invention.

Claims

1. A movable gas collection system for use in a planting environment, characterized in that: include: A three-dimensional mobile device, which is set up in a planting environment and includes a mobile terminal capable of three-dimensional azimuth movement in the planting environment. A gas collection device is installed on a mobile end of a three-dimensional mobile device. A plurality of measuring points with different coordinates are provided in the planting environment. The gas collection device is configured to be able to move to any of the measuring points under the drive of the three-dimensional mobile device to collect gas. The base is fixedly arranged around the measuring point and is used to dock with the gas collecting device moving vertically downward, and a closed environment is formed around the measuring point through the docking of the gas collecting device and the base.

2. The movable gas collection system for use in a planting environment according to claim 1, characterized in that: The gas collection device comprises a box structure opening downwards and / or the base comprises a box structure opening upwards, which is used to cover the measuring point and limit the closed environment.

3. The movable gas collection system for use in a planting environment according to claim 1 or 2, characterized in that: It also includes a sealing device arranged on the gas collecting device and / or the base, and the sealing device is implemented to be able to seal the docking interface between the gas collecting device and the base after the gas collecting device and the base are docked.

4. The movable gas collection system for use in a planting environment according to claim 3, characterized in that: The gas collecting device comprises a box structure opening downward, the sealing device comprises a water injection pipe and an annular water trough arranged on the base, the water trough surrounds the measuring point, the water trough and the lower end of the box structure of the gas collecting device are arranged relative to each other, so that when the gas collecting device and the base are docked, the lower end of the box structure can be inserted into the water trough and form the docking interface, and the water injection pipe is used to inject water into the water trough to achieve sealing.

5. The movable gas collection system for use in a planting environment according to claim 4, characterized in that: The water injection pipe is installed on the box structure of the gas collection device and also serves as a gas extraction and collection pipe of the gas collection device.

6. The movable gas collection system for use in a planting environment according to claim 1, characterized in that: The base is detachable.

7. The movable gas collection system for use in a planting environment according to claim 1, characterized in that: The measurement points are crops and / or soil distributed in the planting environment.

8. The movable gas collection system for use in a planting environment according to claim 1, characterized in that: It also includes a positioning system, which includes an image recognition module and a UWB positioning module. The image recognition module is arranged on the three-dimensional mobile device, and is used to perform image recognition on the base directly downward, and then preliminarily locate the horizontal position of the gas collection device; the UWB positioning module includes a signal transmitting end and a signal receiving end, one of the signal transmitting end and the signal receiving end is arranged on the gas collection device, and the other is arranged on the base, and is used to accurately locate the horizontal position of the gas collection device.

9. The movable gas collection system for use in a planting environment according to claim 1, characterized in that: It also includes a gas analysis system for performing concentration measurement and emission flux analysis on the gas data collected by the gas collection equipment.

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