Liquid sampling device, control method thereof, unmanned device, chemical detection vehicle

Abstract

The application relates to the field of sampling, and provides a liquid sampling device, a control method thereof, unmanned equipment and a chemical detection vehicle. The device comprises a sampling head, a driving mechanism, a negative pressure collecting device and a control module. The first end of the sampling head is used for contacting a liquid to be sampled. The negative pressure collecting device is communicated with the second end of the sampling head and is used for generating a negative pressure environment and sampling the liquid based on the negative pressure environment. The driving mechanism is connected with the second end of the sampling head and is used for driving the sampling head to move. The control module is connected with the negative pressure collecting device and the driving mechanism respectively, is used for controlling the driving mechanism to operate after receiving a sampling instruction of a target sampling layer, and is used for controlling the driving mechanism to stop operating and controlling the negative pressure collecting device to sample the target sampling layer when a sampling signal of the target sampling layer is determined according to a corresponding relationship between different sampling layers of the liquid and the sampling signal. The problem that manual sampling cannot accurately sample the liquid in layers is solved, and accurate sampling in layers is realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of sampling, in particular to a liquid sampling device, a control method thereof, an unmanned device and a chemical detection vehicle. BACKGROUND

[0002] There is a need for liquid sampling in many scenarios, for example, in geological exploration scenarios, underground water can be sampled, in dangerous chemical plant explosion scenarios, dangerous chemicals can be sampled, and by analyzing the sampled liquid, appropriate measures can be taken.

[0003] In related technologies, the sampling method of the sampling device for sampling liquid is relatively single, and the function is imperfect. SUMMARY

[0004] The present application provides a liquid sampling device, a control method thereof, an unmanned device and a chemical detection vehicle, to solve the defects of the related art that the sampling device for sampling liquid is relatively single in sampling method and imperfect in function, and to achieve accurate stratified sampling of liquid.

[0005] The present application provides a liquid sampling device, comprising: a sampling head, a driving mechanism, a negative pressure collection device and a control module, wherein:

[0006] The first end of the sampling head is used to contact the liquid to be sampled;

[0007] The negative pressure collection device is in communication with the second end of the sampling head, and is used to generate a negative pressure environment and sample the liquid based on the negative pressure environment, the negative pressure environment can enable the liquid contacted by the first end of the sampling head to be sucked into the negative pressure collection device;

[0008] The driving mechanism is connected to the second end of the sampling head, and is used to drive the sampling head to move;

[0009] The control module is connected to the negative pressure collection device and the driving mechanism, respectively, and is used to control the driving mechanism to operate to drive the sampling head to move after receiving a sampling instruction for a target sampling layer, control the driving mechanism to stop operating when a sampling signal of the target sampling layer is detected according to the correspondence between different sampling layers of the liquid and the sampling signal, and control the negative pressure collection device to sample the target sampling layer.

[0010] According to the liquid sampling device provided by the present application, the control module is connected to the surface sensing device and the bottom layer sensing device;

[0011] The control module is used to establish the correspondence by the following method:

[0012] When a surface induction signal is detected by the surface induction device, a stroke signal of the driving mechanism corresponding to the surface of the liquid is recorded as a first preset stroke signal;

[0013] When a bottom induction signal is detected by the bottom induction device, a stroke signal of the driving mechanism corresponding to the bottom of the liquid is recorded as a second preset stroke signal;

[0014] The corresponding relationship is established based on the first preset stroke signal and the second preset stroke signal;

[0015] In the corresponding relationship, the sampling signal corresponding to the surface of the liquid is the first preset stroke signal or the surface induction signal detected in real time, the sampling signal corresponding to the bottom of the liquid is the second preset stroke signal or the bottom induction signal detected in real time, and the sampling signal corresponding to the intermediate layer of a set depth between the surface and the bottom of the liquid is a third preset stroke signal of the driving mechanism; the third preset stroke signal is determined based on the first preset stroke signal and the second preset stroke signal.

[0016] According to the liquid sampling device provided by the application, the bottom induction device comprises a pressure sensor;

[0017] The pressure sensor is arranged at the second end of the sampling head;

[0018] The control module is connected with the pressure sensor and is used for receiving a pressure signal fed back by the pressure sensor; when the pressure signal indicates that the first end of the sampling head contacts the bottom of the liquid, it is determined that the bottom induction signal is detected.

[0019] According to the liquid sampling device provided by the application, the surface induction device is the sampling head; the sampling head comprises an inner tube and an outer tube sleeved outside the inner tube; the materials of the inner tube and the outer tube are both conductive materials; and the inner tube and the outer tube are insulated;

[0020] The inner tube and the outer tube are electrically connected with the control module; the inner tube and the outer tube can be conducted by the liquid when the first end of the sampling head contacts the surface of the liquid, and an electric signal generated when the inner tube and the outer tube are conducted is provided to the control module as the surface induction signal.

[0021] According to the liquid sampling device provided by the application, the negative pressure collecting device comprises a liquid inlet pipeline, a sampling bottle, an exhaust pipeline and a negative pressure generating device; the bottle opening of the sampling bottle is provided with an elastic sealing element;

[0022] The first end of the liquid inlet pipeline is communicated with the sampling head; the second end of the liquid inlet pipeline is communicated with the sampling bottle by inserting the elastic sealing element;

[0023] The first end of the exhaust pipeline is communicated with the sampling bottle by inserting the elastic sealing element; the second end of the exhaust pipeline is communicated with the negative pressure generating device;

[0024] The control module is connected with the negative pressure generating device, and is used for controlling the negative pressure generating device to generate the negative pressure environment so that the liquid is sucked into the sampling bottle when sampling the target sampling layer of the liquid.

[0025] According to the liquid sampling device provided by the application, the exhaust pipeline is provided with a pinch valve and / or a one-way valve;

[0026] The pinch valve is connected with the control module, and is used for clamping the exhaust pipeline under the control of the control module when the target sampling layer of the liquid is not sampled; the exhaust pipeline is released under the control of the control module when the target sampling layer of the liquid is sampled;

[0027] The one-way valve is used for preventing the backflow of pollutants in the exhaust pipeline into the sampling bottle.

[0028] According to the liquid sampling device provided by the application, the exhaust pipeline is provided with a pinch valve and / or a one-way valve;

[0029] The negative pressure generating device is communicated with each exhaust pipeline through the multi-way adapter.

[0030] According to the liquid sampling device provided by the application, the control module comprises a control circuit of the driving mechanism;

[0031] The control circuit of the driving mechanism comprises a relay, a main branch circuit, a first branch circuit and a second branch circuit; the relay comprises a coil and a normally closed contact;

[0032] The main branch circuit is provided with a first switch in series;

[0033] The first end of the first branch circuit is connected with the first end of the main branch circuit, and the second end of the first branch circuit is connected with the second end of the main branch circuit; the first branch circuit is provided with a second switch, the coil and the sampling head in series;

[0034] The second branch circuit is provided with the driving mechanism in series; the first end of the second branch circuit is connected with the first end of the main branch circuit through the normally closed contact, and the second end of the second branch circuit is connected with the second end of the main branch circuit;

[0035] The relay can control the normally closed contact to be closed to make the driving mechanism run when the inner tube and the outer tube are not conducted by the liquid in the state that the first switch and the second switch are closed, and control the normally closed contact to be opened to make the driving mechanism stop running when the inner tube and the outer tube are conducted by the liquid; control the normally closed contact to be closed to make the driving mechanism run in the state that the first switch is closed and the second switch is opened.

[0036] The driving mechanism further comprises a third branch circuit; and the relay further comprises a normally open contact.

[0037] The third branch circuit is connected in series with a prompt device; a first end of the third branch circuit is connected to a first end of the main branch circuit through the normally open contact, and a second end of the third branch circuit is connected to a second end of the main branch circuit.

[0038] The relay can control the normally open contact to be closed to make the prompt device send a prompt signal when the inner tube and the outer tube are conducted by the liquid in the state that the first switch and the second switch are closed, and control the normally open contact to be opened to make the prompt device stop sending the prompt signal when the inner tube and the outer tube are not conducted by the liquid; control the normally open contact to be opened to make the prompt device stop sending the prompt signal in the state that the first switch is closed and the second switch is opened.

[0039] The driving mechanism further comprises a third switch.

[0040] The third switch is connected in parallel with the sampling head.

[0041] The third switch is used to simulate the state that the inner tube and the outer tube of the sampling head are conducted by the liquid and are not conducted by the liquid when the liquid sampling device is tested.

[0042] The application further provides a control method based on the liquid sampling device.

[0043] After receiving a sampling instruction of a target sampling layer, the driving mechanism is controlled to run to drive the sampling head to move, and when it is determined that a sampling signal of the target sampling layer is detected according to the correspondence between different sampling layers of the liquid and the sampling signal, the driving mechanism is controlled to stop running.

[0044] The negative pressure collecting device is controlled to sample the target sampling layer.

[0045] The application provides a control method of a liquid sampling device, which comprises the following steps:

[0046] The corresponding relationship is established by the following method:

[0047] When the surface induction signal is detected by the surface induction device, the stroke signal of the driving mechanism corresponding to the surface of the liquid is recorded as a first preset stroke signal;

[0048] When the bottom layer induction signal is detected by the bottom layer induction device, the stroke signal of the driving mechanism corresponding to the bottom layer of the liquid is recorded as a second preset stroke signal;

[0049] The corresponding relationship is established based on the first preset stroke signal and the second preset stroke signal;

[0050] In the corresponding relationship, the sampling signal corresponding to the surface of the liquid is the first preset stroke signal or the surface induction signal detected in real time, the sampling signal corresponding to the bottom layer of the liquid is the second preset stroke signal or the bottom layer induction signal detected in real time, and the sampling signal corresponding to the middle layer with a set depth between the surface and the bottom layer of the liquid is a third preset stroke signal of the driving mechanism; the third preset stroke signal is determined based on the first preset stroke signal and the second preset stroke signal.

[0051] According to the control method of the liquid sampling device, when the control module comprises a control circuit of a driving mechanism, and the control circuit of the driving mechanism comprises a relay, a first switch, a second switch and a third switch, the driving mechanism is controlled to stop running when a sampling signal of a target sampling layer is detected according to the corresponding relationship between different sampling layers of a liquid and sampling signals, and the control method comprises the following steps:

[0052] When the target sampling layer is the surface of the liquid, the driving mechanism is controlled to start running by closing the first switch and the second switch, and the driving mechanism is controlled to stop running by opening the normally closed contact of the relay when the inner tube and the outer tube of the sampling head are conducted by the liquid to generate the surface induction signal;

[0053] When the target sampling layer is the bottom layer of the liquid, the driving mechanism is controlled to start running by closing the first switch, and the driving mechanism is controlled to stop running by opening the first switch when the bottom layer induction signal is detected;

[0054] In a case where the target sampling layer is the middle layer of the set depth, after the driving mechanism starts to operate under the control of the closed first switch, when it is determined according to the corresponding relationship that the third preset stroke signal corresponding to the middle layer of the set depth is detected, the driving mechanism stops operating under the control of the opened first switch.

[0055] The control method of the liquid sampling device also includes:

[0056] When the liquid sampling device is tested, the third switch is controlled to simulate the state in which the inner tube and the outer tube of the sampling head are conducted by the liquid and are not conducted by the liquid.

[0057] The application also provides an unmanned device, wherein the unmanned device is provided with the liquid sampling device described in any of the above.

[0058] The unmanned device samples liquid through the liquid sampling device under the remote control of a remote device.

[0059] The application also provides a chemical detection vehicle, wherein the chemical detection vehicle comprises the liquid sampling device described in any of the above or comprises the unmanned device described in any of the above.

[0060] The liquid sampling device provided by the application can determine the sampling signal of the target sampling layer according to the corresponding relationship between different sampling layers of liquid and sampling signals, so as to accurately control the driving mechanism to operate, and then drive the first end of the sampling head to accurately move to the target sampling layer of liquid, and suck the liquid of the target sampling layer contacted by the sampling head into the negative pressure collecting device by using the negative pressure environment generated by the negative pressure collecting device, so as to accurately complete the sampling of the target sampling layer of liquid. Therefore, the liquid can be accurately sampled in layers automatically, the efficiency of liquid sampling is improved, and the function of the liquid sampling device is more perfect. BRIEF DESCRIPTION OF DRAWINGS

[0061] In order to more clearly illustrate the technical solutions in the application or the related art, the following will briefly introduce the drawings needed to be used in the embodiments or the related art description. Obviously, the drawings in the following description are some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative labor.

[0062] Figure 1 is one of the structural schematic diagrams of the liquid sampling device provided by the application;

[0063] Figure 2 is the second structural schematic diagram of the liquid sampling device provided by the application;

[0064] Figure 3 Figure 3 is a structural schematic diagram of a liquid sampling device provided by the present application;

[0065] Figure 4 Figure 4 is a structural schematic diagram of a liquid sampling device provided by the present application;

[0066] Figure 5 Figure 5 is a structural schematic diagram of a liquid sampling device provided by the present application;

[0067] Figure 6 Figure 6 is an equivalent schematic diagram of a control circuit of a driving mechanism provided by the present application;

[0068] Figure 7 Figure 7 is a structural schematic diagram of a liquid sampling device provided by the present application;

[0069] Figure 8 Figure 8 is an equivalent schematic diagram of a control circuit of a driving mechanism provided by the present application;

[0070] Figure 9 Figure 9 is a structural schematic diagram of a liquid sampling device provided by the present application;

[0071] Figure 10 Figure 10 is a structural schematic diagram of a liquid sampling device provided by the present application;

[0072] Figure 11 Figure 11 is a structural schematic diagram of a liquid sampling device provided by the present application;

[0073] Figure 12 Figure 12 is a flow schematic diagram of a control method of a liquid sampling device provided by the present application;

[0074] Reference signs:

[0075] 100: sampling head; 200: driving mechanism; 300: negative pressure collection device;

[0076] 400: control module; 500: pressure sensor; 510: first connecting seat;

[0077] 520: second connecting seat; 521: connecting plate; 522: bolt;

[0078] 523: annular groove; 524: strip-shaped groove; 525: recess;

[0079] 526: opening; 527: through hole; 110: inner tube;

[0080] 120: outer tube; 130: insulating medium; 410: control circuit of driving mechanism;

[0081] 420: main path; 430: first branch; 440: second branch;

[0082] 450: third branch; 451: prompting device; 310: sampling bottle;

[0083] 320: negative pressure generating device; 330: elastic sealing member; 341: first hose;

[0084] 342: first needle; 343: first adapter; 344: second adapter;

[0085] 351: second hose; 352: second needle; 354: pinch valve;

[0086] 353: third adapter; 355: one-way valve; 360: multi-way adapter. DETAILED DESCRIPTION

[0087] In order to make the objects, technical solutions and advantages of the present application clearer, the technical solutions in the present application will be described clearly and completely below with reference to the drawings in the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0088] The technical solutions in the present application will be described below with reference to the drawings in the present application. Figures 1 to 10 The liquid sampling device in the present application is described.

[0089] The present embodiment provides a liquid sampling device, as shown in Figure 1 and Figure 2 which comprises a sampling head 100, a driving mechanism 200, a negative pressure collecting device 300 and a control module 400.

[0090] A first end of the sampling head 100 is used to contact the liquid to be sampled.

[0091] The negative pressure collecting device 300 is in communication with a second end of the sampling head 100, and is used to generate a negative pressure environment and sample the liquid based on the negative pressure environment. The negative pressure environment can enable the liquid contacted by the first end of the sampling head 100 to be sucked into the negative pressure collecting device 300.

[0092] The driving mechanism 200 is connected with the second end of the sampling head 100, and is used to drive the sampling head 100 to move.

[0093] The control module 400 is connected with the negative pressure collecting device 300 and the driving mechanism 200 respectively, and is used to control the driving mechanism 200 to operate to drive the sampling head 100 to move after receiving a sampling instruction of a target sampling layer, control the driving mechanism 200 to stop operating when a sampling signal of the target sampling layer is determined to be detected according to a corresponding relationship between different sampling layers of the liquid and the sampling signal, and control the negative pressure collecting device 300 to sample the target sampling layer.

[0094] The sampling head 100 is a structure for sampling the liquid to be sampled, for example, it can be a sampling tube. The first end of the sampling head 100 can be in contact with the liquid to be sampled, thereby sampling the liquid. The driving end of the driving mechanism 200 can be linearly telescopic, and the second end of the sampling head 100 is arranged at the driving end of the driving mechanism 200, so that the sampling head 100 can move with the telescopic driving end of the driving mechanism 200. The driving mechanism 200 can be an electric push rod. The electric push rod can include a motor and a push rod fixed on the rotating shaft of the motor, see Figure 2 The electric push rod has simple structure, simple realization and low cost, and is convenient to carry.

[0095] The target sampling layer of the liquid, i.e. the depth of the liquid to be sampled, can be the surface of the liquid, the bottom layer of the liquid, or the middle layer of the liquid. Here, the middle layer of the liquid refers to any depth between the surface of the liquid and the bottom layer of the liquid. In actual application, the middle layer of the liquid at the set depth can be sampled according to actual needs, thereby meeting the needs of liquid analysis. In this way, sampling of liquid at different depths is realized, i.e. stratified sampling of liquid is realized.

[0096] When sampling the liquid, the driving mechanism 200 can drive the second end of the sampling head 100 to move from above the surface of the liquid, and then move to the target sampling layer, thereby sampling the target sampling layer of the liquid. The above sampling signal refers to a signal indicating that the target sampling layer can be sampled.

[0097] The negative pressure collecting device 300 can generate a negative pressure environment, and the negative pressure collecting device 300 is in communication with the second end of the sampling head 100. When the first end of the sampling head 100 moves to the target sampling layer of the liquid, the control module 400 can control the negative pressure collecting device 300 to generate a negative pressure environment, and the negative pressure environment generated by the negative pressure collecting device 300 can make the liquid in the target sampling layer contacted by the first end of the sampling head 100 enter the negative pressure collecting device 300 through the sampling head 100, thereby completing the sampling of the target sampling layer by negative pressure principle. The liquid can be quickly sampled and is not easy to leak.

[0098] It should be noted that different sampling heads 100 can be used for sampling different target sampling layers to reduce the influence of the liquid between different target sampling layers.

[0099] In the embodiment, the control module 400 determines the sampling signal corresponding to the target sampling layer of the liquid according to the correspondence between the different sampling layers of the liquid and the sampling signals, thereby accurately controlling the driving mechanism 200 to operate, and driving the first end of the sampling head 100 to accurately move to the target sampling layer of the liquid, and sucking the liquid of the target sampling layer contacted by the sampling head 100 into the negative pressure collecting device 300 by using the negative pressure environment generated by the negative pressure collecting device 300, thereby accurately completing the sampling of the target sampling layer of the liquid. Based on this, the liquid can be automatically and accurately stratified sampled, the efficiency of liquid sampling is improved, and the function of the liquid sampling device is more perfect.

[0100] In addition, the control module 400 in the embodiment controls the driving mechanism according to the correspondence between the different sampling layers of the liquid and the sampling signals, the control logic is simple, and flexible control is achieved.

[0101] The liquid sampling device of the embodiment can be arranged on a robot, a drone or the like unmanned equipment. The unmanned equipment can be in communication connection with a remote device, and the liquid sampling device is used to sample the liquid under the control of the remote device. For example, the liquid sampling device is arranged on the mechanical arm of the robot. In this way, in some complex environments or hazardous sites (such as the site after the explosion of hazardous chemicals), the unmanned equipment can be controlled by the remote device to sample the liquid by using the liquid sampling device.

[0102] In the example embodiment, the control module is connected with the surface sensing device and the bottom layer sensing device respectively;

[0103] The control module is used to establish the above-mentioned correspondence by the following method:

[0104] When the surface sensing signal is detected by the surface sensing device, the stroke signal of the driving mechanism corresponding to the surface of the liquid is recorded as the first preset stroke signal;

[0105] When the bottom layer sensing signal is detected by the bottom layer sensing device, the stroke signal of the driving mechanism corresponding to the bottom layer of the liquid is recorded as the second preset stroke signal;

[0106] The above-mentioned correspondence is established based on the first preset stroke signal and the second preset stroke signal;

[0107] In the above-mentioned correspondence, the sampling signal corresponding to the surface of the liquid is the first preset stroke signal or the real-time detected surface sensing signal, the sampling signal corresponding to the bottom layer of the liquid is the second preset stroke signal or the real-time detected bottom layer sensing signal, and the sampling signal corresponding to the intermediate layer with a set depth between the surface and the bottom layer of the liquid is the third preset stroke signal of the driving mechanism. The third preset stroke signal is determined based on the first preset stroke signal and the second preset stroke signal.

[0108] The surface sensing signal of the liquid represents that the first end of the sampling head 100 moves to the surface of the liquid. The bottom layer sensing signal of the liquid represents that the first end of the sampling head 100 moves to the bottom layer of the liquid. The stroke of the driving mechanism 200 between the surface of the liquid and the bottom layer of the liquid can reflect the depth of the liquid between the surface of the liquid and the bottom layer of the liquid, and the maximum depth of the liquid can be obtained based on the first preset stroke signal and the second preset stroke signal. Therefore, the surface sensing signal and the bottom layer sensing signal of the liquid can be combined to control the operation of the driving mechanism 200, so as to drive the first end of the sampling head 100 to accurately move to the target sampling layer of the liquid, thereby achieving accurate layered sampling of the liquid.

[0109] Therefore, in the embodiment, the surface sensing device is used to detect the surface sensing signal in advance, so as to obtain the stroke signal of the driving mechanism when the surface of the liquid is reached, that is, the first preset stroke signal. The bottom layer sensing device is used to detect the bottom layer sensing signal in advance, so as to obtain the stroke signal of the driving mechanism when the bottom layer of the liquid is reached, that is, the second preset stroke signal. In this way, the linear relationship between the depth of the liquid and the stroke signal of the driving mechanism can be obtained based on the first preset stroke signal and the second preset stroke signal. Based on the linear relationship, the stroke signal of the driving mechanism corresponding to the middle layer of the set depth between the surface and the bottom layer of the liquid can be obtained, that is, the third preset stroke signal. The third preset stroke signal can be used as the sampling signal of the middle layer of the set depth, so as to accurately achieve sampling of the middle layer. The set depth can be a set percentage interval of the maximum depth of the liquid. For example, the maximum depth of the liquid can be divided into a first percentage interval, a second percentage interval and a third percentage interval in order from small to large. The first percentage interval is the surface of the liquid, and the third percentage interval is the bottom layer of the liquid. Correspondingly, the middle layer is located in the second percentage interval. For example, the first percentage interval is less than or equal to 5%, the second percentage interval is greater than 5% and less than 95%, and the third percentage interval is greater than 95%. Further, a plurality of subintervals in the second percentage interval can be set, and each subinterval is a set depth of a middle layer. For example, two subintervals can be set, that is, greater than or equal to 30% and less than 35%, and greater than or equal to 60% and less than 65%.

[0110] For the bottom layer of the liquid, the second preset stroke signal obtained in advance can be used as the sampling signal, or the bottom layer sensing signal detected by the bottom layer sensing device in real time can be used as the sampling signal, so as to obtain a more accurate position of the bottom layer. Similarly, for the surface of the liquid, the first preset stroke signal obtained in advance can be used as the sampling signal, or the surface sensing signal detected by the surface sensing device in real time can be used as the sampling signal, so as to obtain a more accurate position of the surface.

[0111] In the example embodiment, the control module 400 is specifically configured to:

[0112] In the case where the target sampling layer is the surface of the liquid, after the control module 400 controls the driving mechanism 200 to start running, the control module 400 controls the driving mechanism 200 to stop running when the surface sensing signal or the first preset stroke signal is detected.

[0113] In the case where the target sampling layer is the bottom layer of the liquid, after the control module 400 controls the driving mechanism 200 to start running, the control module 400 controls the driving mechanism 200 to stop running when the bottom layer sensing signal or the second preset stroke signal is detected.

[0114] In the case where the target sampling layer is the intermediate layer of the set depth, after the control module 400 controls the driving mechanism 200 to start running, the control module 400 controls the driving mechanism 200 to stop running when the third preset stroke signal corresponding to the intermediate layer of the set depth is detected.

[0115] In the example embodiment, when the surface of the liquid is sampled, the first end of the sampling head 100 is located above the surface of the liquid. After the control module 400 controls the driving mechanism 200 to start running, the control module 400 can drive the first end of the sampling head 100 to move towards the surface of the liquid. When the first end of the sampling head 100 contacts the surface of the liquid, the surface sensing signal or the first preset stroke signal can trigger the control module 400 to control the driving mechanism 200 to stop running. At this time, the control module 400 can control the negative pressure collecting device 300 to sample the surface of the liquid. In this way, the first end of the sampling head 100 automatically stops moving as soon as it encounters the liquid, and the surface of the liquid can be accurately sampled.

[0116] When the bottom layer of the liquid is sampled, the first end of the sampling head 100 is located above the surface of the liquid. After the control module 400 controls the driving mechanism 200 to start running, the control module 400 can drive the first end of the sampling head 100 to move towards the surface of the liquid. When the first end of the sampling head 100 contacts the bottom layer of the liquid, the bottom layer sensing signal or the second preset stroke signal can trigger the control module 400 to control the driving mechanism 200 to stop running. At this time, the control module 400 can control the negative pressure collecting device 300 to sample the bottom layer of the liquid. In this way, the first end of the sampling head 100 automatically stops moving as soon as it encounters the bottom layer, and the bottom layer of the liquid can be accurately sampled.

[0117] When the intermediate layer of the set depth of the liquid is sampled, the first end of the sampling head 100 can be located above the surface of the liquid. After the control module 400 controls the driving mechanism 200 to start running, the control module 400 can drive the first end of the sampling head 100 to move towards the surface of the liquid. When the third preset stroke signal corresponding to the intermediate layer of the set depth is detected, the control module 400 can trigger the driving mechanism 200 to stop running. In this way, the intermediate layer of the set depth can be accurately sampled.

[0118] In the example embodiment, as shown in Figure 1 and Figure 2 The bottom layer sensing device can include a pressure sensor 500.

[0119] The pressure sensor 500 is arranged at the second end of the sampling head 100.

[0120] The control module 400 is connected to the pressure sensor 500, and is configured to receive a pressure signal fed back by the pressure sensor 500, and determine to detect the bottom layer sensing signal when the pressure signal indicates that the first end of the sampling head 100 contacts the bottom layer of the liquid.

[0121] In the example embodiment, the pressure sensor 500 is arranged at the second end of the sampling head 100, and there is an interaction force between the pressure sensor 500 and the second end of the sampling head 100. When the sampling head 100 moves along with the driving end of the driving mechanism 200, the first end of the sampling head 100 contacts the bottom of the liquid, and the first end of the sampling head 100 is subjected to a pressure from the hard bottom of the liquid. The pressure can be transmitted to the second end of the sampling head 100 and then to the pressure sensor 500. At this time, the change amount of the pressure signal fed back by the pressure sensor 500 exceeds a set value, which indicates that the first end of the sampling head 100 contacts the bottom layer of the liquid, and the bottom layer sensing signal is determined to be detected.

[0122] In this way, the detection of the bottom layer of the liquid can be realized by simply arranging the pressure sensor 500, which is conducive to reducing the size of the liquid sampling device and facilitating portability.

[0123] In the example embodiment, the pressure sensor 500 is provided with a first connecting seat 510 and a second connecting seat 520.

[0124] The pressure sensor 500 is fixedly connected to the driving end through the first connecting seat 510.

[0125] The second end of the sampling head 100 is detachably fixedly connected to the second connecting seat 520.

[0126] In actual application, the second end of the sampling head 100 is detachably arranged at the driving end of the driving mechanism 200. Different sampling heads 100 correspond to different target sampling layers of the liquid. After sampling the corresponding target sampling layer by using one sampling head 100, the sampling head 100 can be detached from the driving end of the driving mechanism 200, and the next sampling head 100 can be replaced. In this way, multiple sampling heads 100 can share one driving mechanism 200, thereby simplifying the structure of the liquid sampling device and reducing the size of the liquid sampling device. For example, the second end of the sampling head 100 is detachably arranged at the driving end of the driving mechanism 200 through the pressure sensor 500.

[0127] In the embodiment, the pressure sensor 500 is provided with a connecting seat on each side. The first connecting seat 510 is provided on one side, and the second connecting seat 520 is provided on the other side. The first connecting seat 510 can be fixedly connected to the driving end of the driving mechanism 200, and the second connecting seat 520 can be used to fixedly connect the second end of the sampling head 100. Specifically, the second connecting seat 520 has a fixing structure, and the second end of the sampling head 100 is detachably fixed on the second connecting seat 520 through the fixing structure, so that the second end of the sampling head 100 is arranged on the driving end of the driving mechanism 200. In this way, the sampling head 100 can be detachably arranged on the driving end of the driving mechanism 200, and the force acting on the pressure sensor 500 can be generated, and the structure is simple to realize.

[0128] As shown in the second connecting seat top view, Figure 3 The second connecting seat 520 can include a connecting plate 521 and a bolt 522. The connecting plate 521 is provided with an annular groove 523 and a strip-shaped groove 524 in communication with the annular groove 523. The opposite side arms of the strip-shaped groove 524 are provided with a groove 525 matched with the circumference of the second end of the sampling head 100. The end of the strip-shaped groove 524 away from the annular groove 523 is provided with an opening 526, and the opposite side walls of the strip-shaped groove 524 are further provided with through holes 527 matched with the bolt 522. The through holes 527 are on the side of the groove 525 close to the opening 526. When the opening 526 of the strip-shaped groove 524 is opened, the sampling head 100 can enter the groove 525 from the opening 526 of the strip-shaped groove 524 and be clamped by the groove 525. The bolt 522 can be screwed into the through hole 527 to fix the sampling head 100. When the sampling head 100 needs to be replaced, the bolt 522 can be removed, and the sampling head 100 can be taken out from the opening 526 of the strip-shaped groove 524. The structure of the second connecting seat 520 of the embodiment is simple and easy to realize.

[0129] Of course, the sampling head 100 can not be removed. In this case, a plurality of driving mechanisms 200 can be provided, and the sampling heads 100 corresponding to different target sampling layers are arranged on different driving mechanisms 200. The control module 400 controls the driving mechanisms 200 on which the different sampling heads 100 are arranged to operate, so as to sample the liquid in different target sampling layers.

[0130] In the example embodiment, the surface sensing device is a sampling head. As shown in the radial cross-sectional view of the sampling head, Figure 4 The sampling head 100 includes an inner tube 110 and an outer tube 120 sleeved outside the inner tube 110. The materials of the inner tube 110 and the outer tube 120 are both conductive materials. The inner tube 110 and the outer tube 120 are insulated, for example, the inner tube 110 and the outer tube 120 are filled with an insulating medium 130.

[0131] The inner tube 110 and the outer tube 120 are electrically connected with the control module 400, so that the sampling head is connected with the control module 400, as shown in Figure 2 The inner tube 110 and the outer tube 120 can be conducted by the liquid when the first end of the sampling head 100 contacts the surface of the liquid, and the electric signal generated when the inner tube 110 and the outer tube 120 are conducted is provided to the control module 400 as the surface induction signal.

[0132] In the embodiment, the sampling head 100 is provided with a double-layer tubular structure of the inner tube 110 and the outer tube 120, the outer tube 120 can be sleeved outside the inner tube 110, the materials of the outer tube 120 and the inner tube 110 are electrically conductive materials, for example, metal materials, and the insulating medium 130, for example, rubber or plastic, is arranged between the outer tube 120 and the inner tube 110. The inner tube 110 and the outer tube 120 are electrically connected with the control module 400 respectively. When the liquid to be sampled has electrical conductivity, the inner tube 110 and the outer tube 120 of the sampling head 100 can be conducted by the liquid when the sampling head 100 contacts the liquid. When the inner tube 110 and the outer tube 120 are conducted, the control module 400 can detect the electric signal generated when the inner tube 110 and the outer tube 120 are conducted. Based on this, the sampling head 100 can be directly used as a surface induction device to generate a surface induction signal, without the need to additionally arrange a surface induction device, further simplifying the structure of the liquid sampling device.

[0133] Of course, other surface induction devices can also be used to obtain the surface induction signal. For example, a buoyancy ball can be arranged at the first end of the sampling head 100. When the first end of the sampling head 100 contacts the surface of the liquid, the change in buoyancy of the buoyancy ball can be transmitted to the pressure sensor 500 at the second end of the sampling head 100. Based on the change in the pressure signal of the pressure sensor 500, the surface induction signal can be obtained.

[0134] In the exemplary embodiment, as shown in Figure 5 The control module 400 includes a control circuit 410 of the driving mechanism;

[0135] The control circuit 410 of the driving mechanism includes a relay, a main path 420 of a power supply, a first branch 430 and a second branch 440. The relay includes a coil K and a normally closed contact K-1.

[0136] The first switch S1 is connected in series on the main path 420;

[0137] The first end of the first branch 430 is connected with the first end of the main path 420, and the second end is connected with the second end of the main path 420. The second switch S2, the coil K and the sampling head 100 are connected in series on the first branch 430, Figure 5 The two contacts shown by two small circles are the inner tube and the outer tube;

[0138] The driving mechanism 200 is connected in series on the second branch 440, the first end of the second branch 440 is connected with the first end of the main branch 420 through the normally closed contact K-1, and the second end is connected with the second end of the main branch 420;

[0139] The relay can control the normally closed contact K-1 to be closed to make the driving mechanism 200 run when the inner tube 110 and the outer tube 120 are not conducted by the liquid in the closed state of the first switch S1 and the second switch S2, and control the normally closed contact K-1 to be opened to make the driving mechanism 200 stop running when the inner tube 110 and the outer tube 120 are conducted by the liquid.

[0140] In actual application, the control module 400 can include a controller and a control circuit 410 of the driving mechanism. The controller as a control center can control the closing and opening of the first switch S1 and the second switch S2 in the control circuit 410 of the driving mechanism. The driving mechanism 200 includes a motor, and the second branch 440 can be connected in series with the motor.

[0141] In the case of sampling the surface of the liquid, the driving mechanism 200 can be controlled to start running by closing the first switch S1 and the second switch S2, and the driving mechanism 200 can be controlled to stop running by the coil K when the inner tube 110 and the outer tube 120 are conducted by the liquid to make the coil K be electrified. Specifically, the second end of the sampling head 100 is located above the surface of the liquid, and after the first switch S1 and the second switch S2 are closed, the inner tube 110 and the outer tube 120 are not conducted by the liquid, the first branch 430 is not conducted, the coil K of the relay on the first branch 430 is de-energized, and the normally closed contact K-1 of the relay is closed, the second branch 440 where the driving mechanism 200 is located is conducted, and the equivalent schematic diagram of the control circuit is shown in Figure 6 Therefore, the driving mechanism 200 can be powered by the main branch 420 to start running. When the inner tube 110 and the outer tube 120 contact the surface of the liquid and are conducted by the liquid, the first branch 430 is conducted, the coil K of the relay on the first branch 430 is electrified, the normally closed contact K-1 of the relay is opened, the second branch 440 where the driving mechanism 200 is located is disconnected, and thus the driving mechanism 200 stops running.

[0142] In the case of sampling the bottom layer of the liquid, after the driving mechanism 200 starts to run by closing the first switch S1 and opening the second switch S2, the driving mechanism 200 stops running by opening the first switch S1 when the bottom layer sensing signal is detected. Specifically, the second end of the sampling head 100 is above the surface of the liquid, after the first switch S1 is closed and the second switch S2 is opened, since the first branch 430 where the inner tube 110 and the outer tube 120 are located is always disconnected by the second switch S2, at this time, the first branch 430 is always not conducting, the coil K of the relay on the first branch 430 loses power, then the normally closed contact K-1 of the relay is closed, the second branch 440 where the driving mechanism 200 is located is conducting, therefore, the driving mechanism 200 can be powered by the main trunk 420 to start running. When the bottom layer sensing signal is detected, opening the first switch S1 can disconnect the main trunk 420, the main trunk 420 stops powering the driving mechanism 200, and the driving mechanism 200 stops running.

[0143] In the case of sampling the middle layer at the set depth, after the driving mechanism 200 starts to run by closing the first switch S1 and opening the second switch S2, the driving mechanism 200 stops running by opening the first switch S1 when the third preset stroke signal corresponding to the middle layer at the set depth is detected.

[0144] In this way, in the embodiment, the control of the driving mechanism 200 can be realized by using a small number of devices such as the first switch S1, the second switch S2 and the relay, thereby realizing the layered sampling and further reducing the volume of the liquid sampling device.

[0145] In the example embodiment, as shown in Figure 7 The control circuit 410 of the driving mechanism further includes a third branch 450, and the relay further includes a normally open contact K-2.

[0146] The third branch 450 is connected in series with a prompting device 451, the first end of the third branch 450 is connected to the first end of the main trunk 420 through the normally open contact K-2, and the second end of the third branch 450 is connected to the second end of the main trunk 420.

[0147] The relay can control the normally open contact K-2 to be closed to make the prompting device 451 send a prompt signal when the inner tube 110 and the outer tube 120 are conducted by the liquid, and to be opened to make the prompting device 451 stop sending the prompt signal when the inner tube 110 and the outer tube 120 are not conducted by the liquid, in the state that the first switch S1 is closed and the second switch S2 is opened.

[0148] The prompting device 451 can be a pilot lamp for emitting a light prompting signal, or a buzzer for emitting a sound prompting signal, etc.

[0149] The relay in the embodiment includes a normally open contact K-2 and a normally closed contact K-1, the normally open contact K-2 and the normally closed contact have a common terminal, when the coil K is de-energized, the normally closed contact K-1 is closed and the normally open contact K-2 is opened, when the coil K is energized, the normally closed contact K-1 is opened and the normally open contact K-2 is closed, the normally open contact K-2 is connected with the third branch 450 and can control the conduction and disconnection of the third branch 450, while the normally closed contact K-1 is connected with the second branch 440 and can control the conduction and disconnection of the second branch 440, therefore, the relay can switch the conduction of the third branch 450 and the second branch 440.

[0150] When sampling the surface of the liquid, after closing the first switch S1 and the second switch S2, since the inner tube 110 and the outer tube 120 are not yet conducted by the liquid, the first branch 430 is not conducted, the coil K of the relay on the first branch 430 is de-energized, then the normally closed contact K-1 of the relay is closed, the second branch 440 where the driving mechanism 200 is located is conducted, the driving mechanism 200 can be powered by the main branch 420 and thus start to operate, while the normally open contact K-2 of the relay is opened, therefore, the third branch 450 where the prompting device 451 is located is disconnected, the prompting device 451 does not emit a prompting signal. When the inner tube 110 and the outer tube 120 contact the surface of the liquid and are conducted by the liquid, the first branch 430 is conducted, the coil K of the relay on the first branch 430 is energized, so that the normally closed contact K-1 of the relay is opened, the second branch 440 where the driving mechanism 200 is located is disconnected, therefore, the driving mechanism 200 stops operating, while the normally open contact K-2 of the relay is closed, therefore, the third branch 450 where the prompting device 451 is located is conducted, the prompting device 451 emits a prompting signal, see Figure 8 the equivalent schematic diagram of the control circuit.

[0151] In the state that the first switch S1 is closed and the second switch S2 is disconnected, since the second branch 440 is disconnected, the coil K is de-energized, the normally open contact K-2 is opened, the third branch 450 where the prompting device 451 is located is always disconnected, the prompting device 451 always does not emit a prompting signal.

[0152] In the embodiment, when sampling the surface of the liquid, the prompting device 451 can emit a prompting signal when the inner tube 110 and the outer tube 120 contact the surface of the liquid, so that the user can accurately know the sampling situation.

[0153] In the exemplary embodiment, as Figure 9 shown, the control circuit 410 of the driving mechanism can further include a third switch S3;

[0154] The third switch S3 is connected in parallel with the sampling head 100.

[0155] The third switch S3 is used to simulate the state that the inner tube 110 and the outer tube 120 of the sampling head 100 are conducted by liquid or not conducted by liquid when the liquid sampling device is tested.

[0156] The controller can control the closing and opening of the third switch S3. Before the liquid sampling device is applied to sample liquid, the liquid sampling device can be tested. For the convenience of testing, the third switch S3 connected in parallel with the sampling head 100 can be set. The closing of the third switch S3 can simulate the state that the inner tube 110 and the outer tube 120 are conducted by liquid, and the opening of the third switch S3 can simulate the state that the inner tube 110 and the outer tube 120 are not conducted by liquid. Thus, the sampling head 100 does not need to be actually contacted with liquid. Not only is the testing convenient, but also the waste of the sampling head 100 can be reduced.

[0157] Based on this, the control module is specifically used for:

[0158] In the case that the target sampling layer is the surface of liquid, the driving mechanism 200 is controlled to start running by closing the first switch S1 and the second switch S2 and opening the third switch S3. When the inner tube 110 and the outer tube 120 are conducted by liquid so that the coil K is electrified, the driving mechanism 200 is controlled to stop running by opening the normally closed contact K-1 through the coil K;

[0159] In the case that the target sampling layer is the bottom layer of liquid, the driving mechanism 200 is controlled to start running by closing the first switch S1 and opening the second switch S2 and the third switch S3. When the bottom layer sensing signal is detected, the driving mechanism 200 is controlled to stop running by opening the first switch S1.

[0160] In the case that the target sampling layer is the middle layer of the set depth, the driving mechanism 200 is controlled to start running by closing the first switch S1 and opening the second switch S2 and the third switch S3. When the third preset stroke signal corresponding to the middle layer of the set depth is detected according to the above correspondence, the driving mechanism is controlled to stop running by opening the first switch S1.

[0161] When the liquid sampling device is tested, the third switch S3 is controlled to simulate the state that the inner tube 110 and the outer tube 120 of the sampling head 100 are conducted by liquid or not conducted by liquid.

[0162] In the example embodiment, as shown in Figure 10 The negative pressure collecting device 300 includes a liquid inlet pipeline, a sampling bottle 310, an exhaust pipeline and a negative pressure generating device 320. The bottle opening of the sampling bottle 310 is provided with an elastic sealing piece 330.

[0163] The first end of the liquid inlet pipeline is in communication with the sampling head 100; the second end of the liquid inlet pipeline is made of rigid material and is used for inserting the elastic sealing member 330 to communicate with the sampling bottle 310.

[0164] The first end of the exhaust pipeline is made of rigid material and is used for inserting the elastic sealing member 330 to communicate with the sampling bottle 310; the second end of the exhaust pipeline is in communication with the negative pressure generating device 320.

[0165] The control module 400 is connected with the negative pressure generating device 320 and is used for controlling the negative pressure generating device 320 to generate a negative pressure environment when sampling the target sampling layer of the liquid.

[0166] The negative pressure generating device 320 can be a vacuumizing device, for example, a peristaltic pump or a vacuum pump, etc. In this way, the vacuumizing device can be used to draw air at the end far from the ground, and then the sampling head is used to sample at the end close to the ground, combined with the electric push rod driving the sampling head to move in the vertical direction and detecting the sampling signal to sample. For example, the vacuumizing device is a direct current vacuumizing device, which can use 24V direct current, etc., to facilitate obtaining power from other equipment, and can be matched with unmanned equipment such as robots and unmanned aerial vehicles to directly obtain power from the unmanned equipment. Using a direct current peristaltic pump can make the flow of sampling controllable and quantifiable. The controller in the control module 400 can be connected with the negative pressure generating device 320 to control the negative pressure generating device 320 to operate to generate a negative pressure environment. The duration of the negative pressure environment generated by the negative pressure generating device 320 can be determined according to the length of the liquid inlet pipeline and the exhaust pipeline and the flow of the negative pressure generating device 320.

[0167] The sampling bottle 310 is used for containing the sampled liquid. The sampling bottle 310 can be a test tube, a gas washing bottle, etc., and a suitable sampling bottle 310 can be selected as needed.

[0168] The liquid inlet pipeline can include a first hose 341 and a first needle 342. The first end of the first hose 341 is in communication with the sampling head 100 through a first adapter 343, and the second end of the first hose 341 is in communication with the first needle 342 through a second adapter 344. The first needle 342, i.e., the second end of the liquid inlet pipeline, can be inserted into the elastic sealing member 330 to communicate with the sampling bottle 310. The exhaust pipeline can include a second hose 351 and a second needle 352. The first end of the second hose 351 is in communication with the second needle 352 through a third adapter 353, and the second end of the second hose 351 is in communication with the negative pressure generating device 320. The second needle 352, i.e., the first end of the exhaust pipeline, can be inserted into the elastic sealing member 330 to communicate with the sampling bottle 310.

[0169] The length of the first needle 342 can be greater than the length of the second needle 352. After the first needle 342 and the second needle 352 are inserted into the sampling bottle 310, the first needle 342 is closer to the bottom of the sampling bottle 310 than the second needle 352. In this way, the gas above the sampling bottle 310 can be discharged through the second needle 352, making the sampling bottle 310 negative pressure, and the liquid from the sampling head 100 can enter the sampling bottle 310 through the liquid inlet tube.

[0170] Both the first needle 342 and the second needle 352 are made of rigid materials, such as rigid metal. This allows the first needle 342 and the second needle 352 to be inserted into or removed from the elastic seal 330 via a plug-and-play method. The elastic seal 330 does not require a dedicated insertion hole because its elasticity allows the insertion points of the first needle 342 and the second needle 352 to return to a sealed state. This ensures that the sampling bottle 310 always maintains a good seal, preventing liquid leakage, especially leakage of liquids with uncertain compositions, thus improving safety.

[0171] If the sampled liquid is a hazardous chemical, the testing personnel will take the sampling bottle 310 back to the laboratory for testing. The rigid first and second needles can be directly removed. Due to the good elasticity of the sealing elastic element, the whole process is completely sealed without leakage, and disassembly and assembly are convenient.

[0172] The first hose 341 and the second hose 351 can be made of corrosion-resistant hoses, so as to adapt to sampling in different scenarios.

[0173] In an exemplary embodiment, such as Figure 10 As shown, a clamp valve 354 and / or a check valve 355 are provided on the exhaust pipe; the clamp valve 354 is connected to the control module 400 and is used to clamp the exhaust pipe under the control of the control module 400 when the target sampling layer of the liquid is not sampled; and to release the exhaust pipe under the control of the control module 400 when the target sampling layer of the liquid is sampled; the check valve 355 is used to prevent contaminants in the exhaust pipe from flowing back into the sampling bottle 310.

[0174] Specifically, a pinch valve 354 can be installed on the second flexible tube 351, clamping it by squeezing. A controller in the control module 400 can be connected to the pinch valve 354. When liquid sampling is not required, the controller can control the pinch valve 354 to clamp the second flexible tube 351; when liquid sampling is required, the controller can control the pinch valve 354 to release the second flexible tube 351. This ensures a good seal when sampling is not needed.

[0175] A one-way valve 355 is arranged on the second hose 351. The one-way valve 355 can only allow the gas in the sampling bottle 310 to be discharged from the sampling bottle 310, but cannot flow back into the sampling bottle 310 from the exhaust pipeline, thereby avoiding pollution of the liquid in the sampling bottle 310.

[0176] In the example embodiment, the exhaust pipeline is multiple, and the first end of each exhaust pipeline is communicated with a corresponding sampling bottle 310. As shown, Figure 11 The liquid sampling device further includes a multi-way adapter 360.

[0177] The negative pressure generating device 320 is communicated with each exhaust pipeline through the multi-way adapter 360.

[0178] In actual application, multiple exhaust pipelines can be arranged, Figure 11 three are shown in the figure, and correspondingly, multiple sampling bottles 310 and multiple sampling heads 100 can be arranged. The multiple sampling bottles 310 are communicated with the multiple exhaust pipelines one by one, and the multiple sampling bottles 310 and the multiple sampling heads 100 are communicated one by one. The multi-way adapter 360 has multiple inlets and one outlet, the multiple inlets are communicated with the multiple exhaust pipelines one by one, and the outlet is communicated with the negative pressure generating device 320.

[0179] The sampling head 100 is detachably arranged on the driving mechanism 200, and the driving mechanism 200 is arranged with one of the multiple sampling bottles 310 at a time. Each sampling bottle 310 can sample different target sampling layers of the liquid.

[0180] In this way, the multiple exhaust pipelines can realize the layered sampling and mutual isolation of the liquid.

[0181] The liquid sampling device is described by taking the scenario that the liquid sampling device is arranged on the robot as an example.

[0182] In the scenario of the embodiment, the robot is in communication connection with the remote device, the liquid sampling device is arranged on the mechanical arm of the robot, and the robot carries the liquid sampling device to remotely sample the liquid such as hazardous chemicals. An image acquisition device such as a camera can be arranged on the robot to acquire images of the sampling environment around the liquid sampling device. The robot can transmit the acquired images of the sampling environment to the remote device in real time for display, and the user can see the sampling situation of the liquid sampling device on the remote device to control the robot to sample.

[0183] The negative pressure generating device 320 in the liquid sampling device in the embodiment can be a peristaltic pump. The negative pressure generating device 320 is connected to three exhaust pipelines through a four-way adapter. One sampling bottle 310 is connected to each exhaust pipeline. Each sampling bottle 310 is connected to one sampling head 100 through a liquid inlet pipeline. The liquid surface, the bottom layer of the liquid, and the middle layer of the liquid at a set depth can be sampled. A pinch valve 354 and a one-way valve 355 are arranged on the exhaust pipeline. The prompt device 451 can be an indicator light.

[0184] The control module 400 in the liquid sampling device can include a controller and a control circuit 410 of the driving mechanism as shown in the figure. The controller is in communication connection with the robot. The remote device can issue a control instruction to the robot, so that the robot controls the control circuit 410 of the driving mechanism, the negative pressure generating device 320, the pinch valve 354, and the like through the controller. The driving mechanism 200 can be an electric push rod. The electric push rod includes a motor and a push rod. The motor is arranged on the mechanical arm. Figure 9

[0185] The driving end of the electric push rod is detachably provided with a sampling head 100. Before sampling the liquid, in order to maintain the sealing of the whole liquid sampling device, the controller controls all the pinch valves 354 to be clamped, and the first switch S1, the second switch S2, and the third switch S3 are disconnected. The robot controls the mechanical arm to carry the liquid sampling device close to the liquid to be sampled. When the user observes that the mechanical arm is close to the surface of the liquid through the remote device, the robot issues a sampling instruction, such as a surface sampling instruction, a bottom layer sampling instruction, and a middle layer sampling instruction at a set depth. The robot starts to control the liquid sampling device to work through the controller.

[0186] In the case of sampling the surface of the liquid, the controller closes the first switch S1 and the second switch S2, and disconnects the third switch S3. The relay is in a power-off state. The normally closed contact K-1 of the relay is closed. The electric push rod starts to work. The first end of the sampling head 100 gradually approaches the liquid. When the first end of the sampling head 100 contacts the surface of the liquid, the indicator light is turned on, and the electric push rod stops running. Then, the controller controls the pinch valve 354 of the exhaust pipeline corresponding to the currently sampled sampling head 100 to be loosened. The controller starts the peristaltic pump to generate a negative pressure environment. At this time, the liquid on the surface is sucked into the sampling bottle 310. After a first set time, the sampling of the surface of the liquid is completed. The controller turns off the peristaltic pump, and the controller controls the loosened pinch valve to be clamped.

[0187] ​In the case of sampling the bottom layer of the liquid, the robot arm detaches the sampling head 100, replaces a new sampling head 100, and prepares to sample the bottom layer of the liquid. The controller closes the first switch S1 and opens the second switch S2 and the third switch S3. The electric push rod starts to work without being controlled by the inner tube 110 and the outer tube 120 of the sampling head 100. When the first end of the sampling head 100 contacts the bottom layer of the liquid, the pressure sensor 500 feeds back a bottom layer sensing signal to the controller. The controller opens the first switch S1, and the electric push rod stops running. Then, the controller controls the pinch valve 354 of the exhaust pipeline corresponding to the currently sampled sampling head 100 to loosen and opens the peristaltic pump, so as to generate a negative pressure environment. At this time, the liquid of the bottom layer is sucked into the sampling bottle 310. After a second set time period, the surface sampling of the liquid is completed. The controller closes the peristaltic pump, and controls the currently loosened pinch valve to clamp.

[0188] In the case of sampling the middle layer of the liquid at the set depth, the robot arm detaches the used sampling head 100, replaces a new sampling head 100, and prepares to sample the middle layer of the liquid at the set depth. The controller closes the first switch S1, opens the second switch S2 and the third switch S3, and the relay is in a power-off state. The normally closed contact K-1 of the relay is closed. The electric push rod starts to work, and the first end of the sampling head 100 gradually approaches the liquid. The electric push rod is not controlled by the inner tube 110 and the outer tube 120 of the sampling head 100. The electric push rod drives the first end of the sampling head 100 to continue running. When the third preset stroke signal corresponding to the middle layer at the set depth is detected according to the above-mentioned corresponding relationship, the first switch S1 is opened. Then, the controller controls the pinch valve 354 of the exhaust pipeline corresponding to the currently sampled sampling head 100 to loosen and opens the peristaltic pump. After a third set time period, the sampling of the middle layer of the liquid at the set depth is completed. The controller closes the peristaltic pump, and controls the currently loosened pinch valve to clamp.

[0189] In addition, before sampling, the controller can also control the third switch S1 to simulate the state that the inner tube 110 and the outer tube 120 of the sampling head 100 are conducted by the liquid and are not conducted by the liquid.

[0190] The control method of the liquid sampling device provided by the present application is described below. The control method of the liquid sampling device described below can be mutually corresponding to the liquid sampling device described above.

[0191] The present embodiment provides a control method based on the liquid sampling device as provided in any of the above embodiments, as shown in the following formula (1): Figure 12 The control method comprises the following steps:

[0192] Step 1201, after receiving the sampling instruction of the target sampling layer, the control driving mechanism 200 is operated to drive the sampling head 100 to move, and when the sampling signal of the target sampling layer is detected according to the corresponding relationship between different sampling layers of the liquid and the sampling signal, the driving mechanism 200 is stopped.

[0193] Step 1202, control the negative pressure collection device 300 to sample the target sampling layer of the liquid.

[0194] In the exemplary embodiment, when the control circuit including the driving mechanism in the control module 400 and the control circuit of the driving mechanism includes a relay, a first switch, a second switch and a third switch, the driving mechanism is controlled to operate to drive the sampling head to move, and when the sampling signal of the target sampling layer is detected according to the corresponding relationship between different sampling layers of the liquid and the sampling signal, the driving mechanism is stopped, including:

[0195] In the case that the target sampling layer is the surface of the liquid, the driving mechanism is controlled to start operating by closing the first switch and the second switch, and when the inner tube and the outer tube of the sampling head are conducted by the liquid to generate a surface induction signal, the driving mechanism is stopped by opening the normally closed contact of the relay;

[0196] In the case that the target sampling layer is the bottom layer of the liquid, the driving mechanism is controlled to start operating by closing the first switch, and when the bottom layer induction signal is detected, the driving mechanism is stopped by opening the first switch;

[0197] In the case that the target sampling layer is the middle layer of the set depth, the driving mechanism is controlled to start operating by closing the first switch, and when the third preset stroke signal corresponding to the middle layer of the set depth is detected according to the corresponding relationship, the driving mechanism is stopped by opening the first switch.

[0198] In the exemplary embodiment, the control method of the liquid sampling device can further include:

[0199] When the liquid sampling device is tested, the third switch S3 is controlled to simulate the state that the inner tube 110 and the outer tube 120 of the sampling head 100 are conducted by the liquid and not conducted by the liquid.

[0200] The application also provides a robot, the mechanical arm of the robot is provided with the liquid sampling device provided by any of the above embodiments; the robot samples the liquid through the liquid sampling device under the remote control of a remote device.

[0201] The embodiment also provides a chemical detection vehicle, which includes the liquid sampling device provided by any of the above embodiments, or includes the unmanned device provided by any of the above embodiments. The specific implementation mode of the chemical detection vehicle can refer to the above related embodiments, which will not be described here.

[0202] Those skilled in the art can clearly understand the implementation of the embodiments by means of software and necessary general hardware platforms through the description of the above embodiments, and of course, the embodiments can also be implemented by hardware. Based on such understanding, the above technical solutions or the part that contributes to the related art can be embodied in the form of a software product, which can be stored in a computer readable storage medium, such as a ROM / RAM, a magnetic disk, an optical disk, etc., and includes a plurality of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute the methods described in each embodiment or some parts of the embodiments.

[0203] Finally, it should be noted that: the above examples are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing examples, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing examples, or make equivalent replacement for some technical features thereof; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A liquid sampling device, characterized by, The sampling head, the driving mechanism, the negative pressure collecting device and the control module, wherein: a first end of the sampling head is used to contact a liquid to be sampled; the negative pressure collecting device is in communication with a second end of the sampling head, and is used to generate a negative pressure environment and sample the liquid based on the negative pressure environment, the negative pressure environment being capable of causing the liquid contacted by the first end of the sampling head to be sucked into the negative pressure collecting device; the driving mechanism is connected with the second end of the sampling head, and is used to drive the sampling head to move; the control module is connected with the negative pressure collecting device and the driving mechanism respectively, and is used to, after receiving a sampling instruction of a target sampling layer, control the driving mechanism to operate to drive the sampling head to move, control the driving mechanism to stop operating when a sampling signal of the target sampling layer is determined to be detected according to a correspondence between different sampling layers of the liquid and sampling signals, and control the negative pressure collecting device to sample the target sampling layer; the sampling head comprises an inner tube and an outer tube sleeved outside the inner tube, the inner tube and the outer tube are both made of conductive material, and the inner tube and the outer tube are insulated from each other; the control module comprises a control circuit of the driving mechanism; the control circuit of the driving mechanism comprises a relay, a main path of a power supply, a first branch and a second branch; the relay comprises a coil and a normally closed contact; a first switch is connected in series on the main path; a first end of the first branch is connected with a first end of the main path, and a second end thereof is connected with a second end of the main path; a second switch, the coil and the sampling head are connected in series on the first branch; the driving mechanism is connected in series on the second branch; a first end of the second branch is connected with the first end of the main path through the normally closed contact, and a second end thereof is connected with the second end of the main path; the relay is capable of, in a closed state of the first switch and the second switch, when the inner tube and the outer tube are not conducted by the liquid, controlling the normally closed contact to be closed to enable the driving mechanism to operate, and when the inner tube and the outer tube are conducted by the liquid, controlling the normally closed contact to be opened to enable the driving mechanism to stop operating; in a state that the first switch is closed and the second switch is opened, the normally closed contact is controlled to be closed to enable the driving mechanism to operate. the control module is connected with a surface sensing device and a bottom layer sensing device respectively; 2. The liquid sampling device of claim 1, wherein, the control module is used to establish the correspondence by the following manner: when a surface sensing signal is detected by the surface sensing device, a stroke signal of the driving mechanism corresponding to a surface of the liquid is recorded as a first preset stroke signal; when a bottom layer sensing signal is detected by the bottom layer sensing device, a stroke signal of the driving mechanism corresponding to a bottom layer of the liquid is recorded as a second preset stroke signal; the correspondence is established based on the first preset stroke signal and the second preset stroke signal; and the control module is connected with a surface sensing device and a bottom layer sensing device respectively. In the correspondence, the surface of the liquid corresponds to the sampling signal of the first preset stroke signal or the real-time detection of the surface induction signal, the bottom layer of the liquid corresponds to the sampling signal of the second preset stroke signal or the real-time detection of the bottom layer induction signal, and the intermediate layer between the surface and the bottom layer of the liquid corresponds to the sampling signal of the third preset stroke signal of the driving mechanism; the third preset stroke signal is determined based on the first preset stroke signal and the second preset stroke signal.

3. The liquid sampling device of claim 2, wherein, The bottom layer induction device comprises a pressure sensor; The pressure sensor is arranged at the second end of the sampling head; The control module is connected with the pressure sensor, and is used for receiving the pressure signal fed back by the pressure sensor; when the pressure signal indicates that the first end of the sampling head contacts the bottom layer of the liquid, the bottom layer induction signal is determined.

4. The liquid sampling device of claim 2, wherein, The surface induction device is the sampling head; The inner tube and the outer tube are respectively electrically connected with the control module; the inner tube and the outer tube can be conducted by the liquid when the first end of the sampling head contacts the surface of the liquid, and an electric signal generated when the inner tube and the outer tube are conducted is provided to the control module as the surface induction signal.

5. The liquid sampling device of any one of claims 1 to 4, wherein, The negative pressure collecting device comprises a liquid inlet pipeline, a sampling bottle, an exhaust pipeline and a negative pressure generating device; the bottle mouth of the sampling bottle is provided with an elastic sealing element; The first end of the liquid inlet pipeline is in communication with the sampling head; the second end of the liquid inlet pipeline is in communication with the sampling bottle by inserting the elastic sealing element; The first end of the exhaust pipeline is in communication with the sampling bottle by inserting the elastic sealing element; the second end of the exhaust pipeline is in communication with the negative pressure generating device; The control module is connected with the negative pressure generating device, and is used for controlling the negative pressure generating device to generate the negative pressure environment so that the liquid is sucked into the sampling bottle when the target sampling layer of the liquid is sampled.

6. The liquid sampling device of claim 5, wherein, A pinch valve and / or a one-way valve are arranged on the exhaust pipeline; The pinch valve is connected with the control module, and is used for clamping the exhaust pipeline under the control of the control module when the target sampling layer of the liquid is not sampled; the pinch valve is used for unclamping the exhaust pipeline under the control of the control module when the target sampling layer of the liquid is sampled; The one-way valve is used for preventing the backflow of pollutants in the exhaust pipeline into the sampling bottle.

7. The liquid sampling apparatus of claim 5, wherein, The exhaust pipeline is a plurality of, and the first end of each exhaust pipeline is in communication with the corresponding sampling bottle; the liquid sampling device further comprises a multi-way adapter; The negative pressure generating device is in communication with each exhaust pipeline through the multi-way adapter.

8. The liquid sampling device of claim 4, wherein, The control circuit of the driving mechanism further comprises a third branch; the relay further comprises a normally open contact; The third branch is connected with the prompting device in series; the first end of the third branch is connected with the first end of the main trunk through the normally open contact, and the second end is connected with the second end of the main trunk; The third branch is connected with the prompting device in series; the first end of the third branch is connected with the first end of the main trunk through the normally open contact, and the second end is connected with the second end of the main trunk; The relay can control the normally open contact to close when the inner tube and the outer tube are conducted by the liquid in the first switch and the second switch closed state, so that the prompt device sends a prompt signal, and control the normally open contact to open when the inner tube and the outer tube are not conducted by the liquid, so that the prompt device stops sending a prompt signal; In the first switch is closed and the second switch is opened state, control the normally open contact to open so that the prompt device stops sending a prompt signal.

9. The liquid sampling apparatus of claim 4, wherein, The control circuit of the driving mechanism further comprises a third switch; The third switch is connected in parallel with the sampling head; The third switch is used to simulate the state of the inner tube and the outer tube of the sampling head being conducted by the liquid and not being conducted by the liquid when the liquid sampling device is tested.

10. A control method based on the liquid sampling device according to any one of claims 1 to 9, characterized in that, Comprise: After receiving a sampling instruction for a target sampling layer, control the driving mechanism to operate to drive the sampling head to move, and when it is determined that a sampling signal of the target sampling layer is detected according to the correspondence between different sampling layers of the liquid and the sampling signal, control the driving mechanism to stop operating; Control the negative pressure collection device to sample the target sampling layer.

11. The control method of the liquid sampling device according to claim 10, wherein Before the control of the driving mechanism to operate to drive the sampling head to move after receiving a sampling instruction for a target sampling layer, further comprising: The correspondence is established by: When the surface sensing signal is detected by the surface sensing device, record the stroke signal of the driving mechanism corresponding to the surface of the liquid as a first preset stroke signal; When the bottom layer sensing signal is detected by the bottom layer sensing device, record the stroke signal of the driving mechanism corresponding to the bottom layer of the liquid as a second preset stroke signal; The correspondence is established based on the first preset stroke signal and the second preset stroke signal; In the correspondence, the sampling signal corresponding to the surface of the liquid is the first preset stroke signal or the surface sensing signal detected in real time, the sampling signal corresponding to the bottom layer of the liquid is the second preset stroke signal or the bottom layer sensing signal detected in real time, and the sampling signal corresponding to the middle layer of a certain depth between the surface and the bottom layer of the liquid is a third preset stroke signal of the driving mechanism; The third preset stroke signal is determined based on the first preset stroke signal and the second preset stroke signal.

12. An unmanned device, comprising: The unmanned device is provided with the liquid sampling device as claimed in any one of claims 1 to 9; The unmanned device samples liquid through the liquid sampling device under the remote control of the remote device.

13. A chemical detection vehicle characterized by, The chemical detection vehicle comprises the liquid sampling device as claimed in any one of claims 1 to 9, or the unmanned device as claimed in claim 12. The chemical detection vehicle comprises the liquid sampling device as claimed in any one of claims 1 to 9, or the unmanned device as claimed in claim 12.

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