RESEARCH ON PLANT SAMPLING SYSTEM IN COMPLEX GEOGRAPHICAL ENVIRONMENT USING UAV

Aiming at the difficult problem of contact sampling of plant in complex geographical environment, a remotecontrolled sampling method using an Unmanned Aerial Vehicles ( UAV) is proposed. After configuration, mechanism parameter analysis & optimization, and dynamic analysis, a special lightweight sampling manipulator that integrates plant stem-and-leaf sample capture, cutting and storage is designed. The designed sampling manipulator is composed of a ball screw nut transmission pair and a symmetrical double-offset slider rocker. The minimum transmission angle of the rocker is 63.435 degrees, the maximum opening displacement of the manipulator claw is 131 mm, and the cutting pressure is 226 N. Tests and experiments show that the sample manipulator has a mass of 2.35 kg, a cutting pressure of 214 N, and a maximum open displacement of the manipulator claws of 126 mm. It can be controlled locally or remotely using a UAV to grab, cut and storage plant samples with a diameter greater than 5 mm. The reliability of the sampling manipulator design and the feasibility of the sampling method are verified.