Intelligent multi-mode water quality automatic sampling device and control method

Abstract

The invention relates to the field of water quality sampling, and discloses an intelligent multi-mode automatic water quality sampling device and a control method, a mechanical arm, a servo positioning device, an electromagnetic valve, a micro pump, a cleaning device and a bar code recognition module are used for carrying out sampling, the bar code recognition module is used for recognizing bar codes on a sampling container, a sampling mode is determined according to a recognition result, and the sampling mode is controlled. The sampling position and the sampling capacity are determined according to the sampling mode, and the position of a mechanical arm is adjusted through a servo positioning device according to the sampling position; the mechanical arm carries out sampling at the sampling position within preset sampling time; collecting a water sample by using a sampling container according to the sampling capacity; after sampling, obtaining the water quality index data of the current sample; and inputting the water quality index data into a pre-trained machine learning model, and determining a water quality pollution index according to an output result of the machine learning model. Therefore, the purpose of efficient, accurate and traceable water quality sampling is achieved.

Description

Technical Field

[0001] The present invention relates to the field of water quality sampling, and in particular to an intelligent multi-mode automatic water quality sampling device and a control method. Background Art

[0002] In the current field of environmental monitoring, the severity of water pollution has made water quality testing a key task. Water quality testing not only involves drinking water safety, but also ecological health and the suitability of industrial water. Automatic samplers can collect samples in real time under a variety of environmental conditions to ensure the representativeness and reliability of data. The application of these technologies not only speeds up the discovery and response of water quality problems, but also improves the ability to identify pollution sources, supports the effective implementation of environmental protection and water resources management strategies, and thus promotes the overall improvement of public health and ecological environment. Traditional water quality sampling and analysis usually rely on manual operation, which has certain limitations. The accuracy of the sampling position and sampling capacity are inaccurate, and it is difficult to meet the sampling requirements under different water quality testing needs. The water quality samples taken may be biased, especially when sampling is required at multiple different sampling locations to mix and obtain the final water sample. The accuracy of the sampling position and sampling container has a greater impact on the sampling results. Summary of the invention

[0003] In view of the shortcomings of the prior art, the present invention provides an automatic water quality sampling method, which sets different sampling modes to meet different water quality sampling requirements. At the same time, a servo-controlled robotic arm can better ensure the sampling position. At the same time, a pressure sensor can more accurately obtain the sampling capacity to avoid large differences between water samples and preset sampling arrangements, thereby achieving the purpose of efficient, accurate and traceable water quality sampling.

[0004] To achieve the above objectives, the present invention provides the following technical solutions.

[0005] In a first aspect, the present invention provides a control method for intelligent multi-mode automatic water quality sampling, which is performed using a robotic arm, a servo positioning device, a solenoid valve, a micro pump, a cleaning device and a barcode recognition module, and comprises the following steps:

[0006] Using the barcode recognition module to recognize the barcode on the sampling container, determining a sampling mode according to the recognition result, determining a sampling position and a sampling capacity according to the sampling mode, and adjusting the position of the mechanical arm through a servo positioning device according to the sampling position;

[0007] The robotic arm performs sampling at the sampling position at a preset sampling time; a sampling container is used to collect water samples according to the sampling capacity, and the sampling water flow is controlled by the micro pump and the solenoid valve during the sampling process;

[0008] Before each sampling, the sampling container is cleaned; after sampling, the water sample in the sampling container is analyzed to obtain the water quality index data of the current sample;

[0009] The water quality index data is input into a pre-trained machine learning model, a water quality pollution index is determined according to an output result of the machine learning model, and the water quality pollution index is uploaded to a database using the barcode on the sampling container.

[0010] Preferably, the sampling mode includes an automatic control mode and an automatic patrol mode; and determining the sampling position and the sampling capacity according to the sampling mode includes:

[0011] If the sampling mode is the automatic control mode, the sampling position is a single preset position, and the sampling volume is collected at the preset position;

[0012] If the sampling mode is an automatic patrol mode, the sampling position includes a plurality of preset positions; and the sampling capacity is the sum of the preset capacities collected at the plurality of preset positions respectively.

[0013] Preferably, collecting water samples using a sampling container according to the sampling capacity comprises:

[0014] Controlling the micro pump and the solenoid valve to operate and pump the water sample into the sampling container;

[0015] During the sampling process, the pressure sensor at the bottom of the sampling container is used to obtain the sample pressure in real time;

[0016] Determining the real-time sample capacity according to the sample pressure, and when the difference between the real-time sample capacity and the preset capacity corresponding to the current preset position is less than a preset threshold, adjusting the opening of the solenoid valve to reduce the sample water flow;

[0017] When the real-time sample capacity is equal to the sampling capacity, the solenoid valve is closed to cut off the sampling water flow.

[0018] Preferably, the inspection of the robotic arm includes determining whether the range of motion of the robotic arm can cover all preset sampling positions, and determining whether the gripping position of the robotic arm can cooperate with the sampling container.

[0019] Preferably, adjusting the position of the robot arm by a servo positioning device according to the sampling position comprises:

[0020] According to the sampling position, an instruction is sent to the servo positioning device, and the servo positioning device controls the robot arm to move to the sampling position; during the movement of the robot arm, the monitoring position of the robot arm is obtained in real time by using a sensor, and in response to the monitoring position of the robot arm reaching the sampling position, the robot arm stops moving.

[0021] Preferably, before each sampling, using the cleaning device to clean the sampling container includes: determining the cleaning liquid according to the properties of the sample being sampled, cleaning the sampling container according to a preset cleaning liquid amount and cleaning time, and rinsing the sampling container with deionized water after cleaning.

[0022] In a second aspect, the present invention provides an intelligent multi-mode automatic water quality sampling device, which includes a robotic arm, a servo positioning device, a solenoid valve, a micro pump, a cleaning device and a barcode recognition module, for executing the intelligent multi-mode automatic water quality sampling control method.

[0023] Compared with the prior art, the present invention provides an automatic water quality sampling method, which has the following beneficial effects: the present invention can meet more sampling requirements through two modes, and can obtain water samples that meet the detection requirements by sampling at a single preset position under lower water quality detection requirements. However, for higher water quality detection requirements, in order to better reflect the water quality level of a certain area of ​​water, sampling is performed at a single preset position, and the samples taken are limited and cannot more truly and accurately reflect the water quality level of the entire area. The present application can accurately determine the sampling position through a mechanical arm, and assist in determining the sampling capacity through a pressure sensor to ensure that the samples taken more accurately reflect the water quality pollution index of the water area to meet the water quality detection requirements. The automation level of water quality monitoring is improved, and the accuracy and real-time nature of the data are enhanced, providing a powerful tool for water resources management and environmental protection. The present invention uses a trained model to analyze water quality index data, and outputs a water quality pollution index, which can provide a reference for water quality management and subsequent monitoring or sampling strategy formulation according to the water quality pollution index. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 Schematic diagram of the method of the present invention. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0026] Example 1

[0027] This embodiment provides a control method for intelligent multi-mode automatic water quality sampling, which uses a mechanical arm, a servo positioning device, a solenoid valve, a micro pump, a cleaning device and a barcode recognition module. The mechanical arm needs to be checked first, and the inspection work includes determining whether the range of motion of the mechanical arm can cover all preset sampling positions, and determining whether the gripping position of the mechanical arm can match the sampling container. The control method includes the following steps:

[0028] The barcode recognition module is used to recognize the barcode on the sampling container, and the sampling mode is determined according to the recognition result. The sampling position and sampling capacity are determined according to the sampling mode. According to the sampling position, the position of the robotic arm is adjusted by the servo positioning device; the servo positioning device can control the robotic arm to move to the sampling position; during the movement of the robotic arm, the monitoring position of the robotic arm is obtained in real time by the sensor, and in response to the monitoring position of the robotic arm reaching the sampling position, the robotic arm stops moving.

[0029] The robotic arm performs sampling at the sampling position at a preset sampling time; a sampling container is used to collect water samples according to the sampling capacity, and the sampling water flow is controlled by the micro pump and the solenoid valve during the sampling process;

[0030] Before each sampling, the sampling container is cleaned; the cleaning liquid is determined according to the properties of the sample, and the sampling container is cleaned according to the preset cleaning liquid dosage and cleaning time. After cleaning, the sampling container is rinsed with deionized water. Solve the problems of instrument cross contamination and sampling error caused by liquid adhesion. Multiple solenoid valves and micro pumps are used for coupling control, and the inner and outer walls of the sampling needle are cleaned with a rotating brush or high-pressure water flow technology to ensure the cleanliness of the sampling bottle and sampling equipment, prevent cross contamination and ensure the accuracy of water quality analysis.

[0031] After sampling, the water sample in the sampling container is analyzed to obtain the water quality index data of the current sample;

[0032] The water quality index data is input into a pre-trained machine learning model, a water quality pollution index is determined according to an output result of the machine learning model, and the water quality pollution index is uploaded to a database using the barcode on the sampling container.

[0033] The specific indicators of the water quality index data can be determined by referring to existing water quality detection indicators, such as pH, conductivity, dissolved oxygen, turbidity, temperature, etc. and other water quality indicators related to pollution, such as chemical oxygen demand, permanganate index and ammonia nitrogen, etc. The specific indicators can be determined according to different water quality detection requirements.

[0034] In this embodiment, the sampling mode includes the automatic control mode and the automatic patrol mode; determining the sampling position and the sampling capacity according to the sampling mode includes:

[0035] If the sampling mode is the automatic control mode, the sampling position is a single preset position, and the sampling volume is collected at the preset position;

[0036] If the sampling mode is the automatic patrol mode, the sampling position includes a plurality of preset positions; and the sampling capacity is the sum of the preset capacities collected at the plurality of preset positions. This embodiment can meet different sampling requirements through two modes.

[0037] In this embodiment, the method of collecting water samples using a sampling container according to the sampling capacity includes: controlling the micro pump and the solenoid valve to pump the water sample into the sampling container; during the sampling process, using the pressure sensor at the bottom of the sampling container to obtain the sample pressure in real time; determining the real-time sample capacity according to the sample pressure, and when the difference between the real-time sample capacity and the preset capacity corresponding to the current preset position is less than a preset threshold, adjusting the opening of the solenoid valve to reduce the sampling water flow; when the real-time sample capacity is equal to the sampling capacity, closing the solenoid valve to cut off the sampling water flow. This implementation uses a pressure sensor to ensure that the real-time sample capacity can be further adjusted in accordance with the mode in the foregoing text to meet the sampling requirements.

[0038] Example 2

[0039] The present embodiment provides an intelligent multi-mode automatic water quality sampling device, which includes a robotic arm, a servo positioning device, a solenoid valve, a micro pump, a cleaning device and a barcode recognition module, and is used to execute an intelligent multi-mode automatic water quality sampling control method described in Example 1.

[0040] It is necessary to confirm the flexibility and grasping force of the robot arm joints, the working status of the servo positioning device and the real-time monitoring system, check the response speed and accuracy of the servo positioning device, perform calibration, test the switch status of the solenoid valve, and test the recognition accuracy and speed of the multi-mode control system implemented through the algorithm model. Use the position sensor to monitor the position of the robot arm in real time, and the servo positioning device cooperates with the control system to adjust the position of the robot arm according to the preset sampling position; the robot arm can switch between multiple modes through the algorithm to sample according to the corresponding set time and preset position in different modes, and the solenoid valve and the micro pump can collaboratively control the water flow entering the sampling container;

[0041] The robotic arm moves to the preset sampling position according to the three-dimensional automatic precise positioning technology of the servo positioning system. The robotic arm clamps the pre-cleaned and prepared sampling container. Before sampling, the solenoid valve and micro pump receive instructions and open, allowing water to flow into the sampling container through the pipeline. By adjusting the opening time and flow control of the solenoid valve and micro pump, the robotic arm realizes one of the automatic sampling mode and automatic patrol control mode in the algorithm model, and starts sampling while controlling the solenoid valve to open. According to the set sampling time, the robotic arm and micro pump control to continuously collect water samples until the required time or volume is reached. After the real-time monitoring system observes that the sampling is completed, it sends a signal to close the solenoid valve and micro pump, cut off the water flow, and the robotic arm moves the sampling container away from the water surface.

[0042] After sampling, the fixed scanner scans the barcode or QR code on the sample bottle to identify the sampling code, and uploads the water quality index data to the database. The sample detection system processes and analyzes the collected data through the pre-trained machine learning model. The machine learning model is selected for data analysis and pattern recognition, and the selected algorithm is trained using historical data. The trained model is used to analyze the newly collected data and the water pollution index is output. The water pollution index can provide a reference for water quality management and the formulation of subsequent monitoring or sampling strategies.

[0043] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0044] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A control method for intelligent multi-mode automatic water quality sampling, characterized in that: The method is performed using a robotic arm, a servo positioning device, a solenoid valve, a micro pump, a cleaning device and a barcode recognition module, and includes the following steps: Using the barcode recognition module to recognize the barcode on the sampling container, determining a sampling mode according to the recognition result, determining a sampling position and a sampling capacity according to the sampling mode, and adjusting the position of the mechanical arm through a servo positioning device according to the sampling position; The robotic arm performs sampling at the sampling position at a preset sampling time; a sampling container is used to collect water samples according to the sampling capacity, and the sampling water flow is controlled by the micro pump and the solenoid valve during the sampling process; Before each sampling, the sampling container is cleaned; after sampling, the water sample in the sampling container is analyzed to obtain the water quality index data of the current sample; The water quality index data is input into a pre-trained machine learning model, a water quality pollution index is determined according to an output result of the machine learning model, and the water quality pollution index is uploaded to a database using the barcode on the sampling container.

2. The intelligent multi-mode water quality automatic sampling control method according to claim 1 is characterized in that: The sampling mode includes an automatic control mode and an automatic patrol mode; determining the sampling position and the sampling capacity according to the sampling mode includes: If the sampling mode is the automatic control mode, the sampling position is a single preset position, and the sampling volume is collected at the preset position; If the sampling mode is an automatic patrol mode, the sampling position includes a plurality of preset positions; and the sampling capacity is the sum of the preset capacities collected at the plurality of preset positions respectively.

3. The intelligent multi-mode water quality automatic sampling control method according to claim 2 is characterized in that: The use of a sampling container to collect water samples according to the sampling capacity includes: Controlling the micro pump and the solenoid valve to operate and pump the water sample into the sampling container; During the sampling process, the pressure sensor at the bottom of the sampling container is used to obtain the sample pressure in real time; Determining the real-time sample capacity according to the sample pressure, and when the difference between the real-time sample capacity and the preset capacity corresponding to the current preset position is less than a preset threshold, adjusting the opening of the solenoid valve to reduce the sample water flow; When the real-time sample capacity is equal to the sampling capacity, the solenoid valve is closed to cut off the sampling water flow.

4. The intelligent multi-mode water quality automatic sampling control method according to claim 1 is characterized in that: The inspection work of the robotic arm includes determining whether the range of motion of the robotic arm can cover all preset sampling positions, and determining whether the gripping position of the robotic arm can match the sampling container.

5. The intelligent multi-mode water quality automatic sampling control method according to claim 4 is characterized in that: According to the sampling position, adjusting the position of the robot arm by the servo positioning device includes: According to the sampling position, an instruction is sent to the servo positioning device, and the servo positioning device controls the robot arm to move to the sampling position; during the movement of the robot arm, the monitoring position of the robot arm is obtained in real time by using a sensor, and in response to the monitoring position of the robot arm reaching the sampling position, the robot arm stops moving.

6. The intelligent multi-mode water quality automatic sampling control method according to claim 5 is characterized in that: Before each sampling, the cleaning device is used to clean the sampling container, including: determining the cleaning liquid according to the properties of the sample to be sampled, cleaning the sampling container according to a preset cleaning liquid dosage and cleaning time, and rinsing the sampling container with deionized water after the cleaning is completed.

7. An intelligent multi-mode water quality automatic sampling device, characterized in that: It comprises a mechanical arm, a servo positioning device, a solenoid valve, a micro pump, a cleaning device and a barcode recognition module, and is used to execute the intelligent multi-mode water quality automatic sampling control method described in any one of claims 1-6.

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