Automatic Batch Dense Storage System and Method for Soil Samples

Abstract

The present invention provides an automated soil sample batch intensive storage system that uses a mechanical method to automatically store soil samples in batches. This system supports the installation of high-rise soil sample collection and storage facilities, achieving efficient storage and retrieval. Furthermore, it can provide real-time tracking and monitoring of soil sample information. Through frequent and accurate interaction, it can support a variety of different application scenarios. The system is particularly suitable for batch storage at the back end or downstream of facilities that process soil samples in batches, meeting and matching the needs of front-end rapid and efficient batch soil sample processing for timely and orderly storage. Furthermore, various storage methods based on the aforementioned system are provided.

Description

Technical Field

[0001] The present invention relates to the detection and processing of soil samples, and in particular to an automatic soil sample batch intensive storage system and method. Background Art

[0002] Whether it is the control of living environment pollution or the maintenance and management of the crop farming and growth environment, it is necessary to collect and analyze the soil in various places.

[0003] After soil is collected, it requires certain processing before analysis can be performed. Field soil samples, after being registered and numbered, undergo a preparation process: air-drying, grinding, sieving, mixing, and bottling, ready for various assays. For example, soil heavy metals are typically dried, while analysis of semi-volatile persistent organic pollutants typically uses freeze-dried samples. Volatile organic pollutants are typically assayed using fresh samples. Fresh samples can be temporarily stored in a refrigerator or freezer, but must be processed within 10 days.

[0004] The traditional approach is to pre-process soil in laboratories or testing institutions before bottling it. Each laboratory or testing institution must be equipped with personnel and equipment to handle soil samples. This approach is suitable for small-scale soil testing tasks, but is time-consuming and labor-intensive for large-scale testing. An ideal approach would be to install specialized automated processing equipment to process collected soil in batches using the most automated means possible. This would allow for quick and efficient batch processing of soil samples to meet testing requirements.

[0005] In addition, this special equipment can be used in this way: a special location is set up in an area to configure the processing equipment, and then the soil sample processing needs in the area are concentrated together for processing, and then distributed and transported in a centralized manner. In this way, the work pressure of various testing agencies and laboratories can be relieved, and more energy can be put into the testing and analysis of soil samples. Obviously, this type of work requires higher professionalism and knowledge level of personnel. This processing method is more reasonable from the perspective of macro resource allocation.

[0006] To match the batch processing of soil samples, centralized and highly intensive soil sample collection and storage measures are needed. Centralized soil sample processing increases production capacity. After completing various processing steps, soil samples awaiting testing are placed in sample bottles and need to be collected and stored quickly and promptly. Furthermore, the soil sample processing process must be smoothly connected.

[0007] Chinese utility model patent CN210392400U discloses a soil sample storage device, including three-dimensional shelf 1, three-dimensional shelf 2, three-dimensional shelf 3, three-dimensional shelf 4, three-dimensional shelf 5 and three-dimensional shelf 6. Each of the three-dimensional shelves is provided with a conveyor track, and a stacker is provided on the conveyor track. One end of each of the three-dimensional shelves 1, 2, 3, 4, 5 and 6 is provided with conveyor lines 1, 2, 3, 4, 5 and 6. The other end of each conveyor line is provided with conveyor line 1, one side of each conveyor line 1 is provided with conveyor line 2, one end of each conveyor line 2 is provided with a manual loading and unloading area, and the other end of each conveyor line 2 is provided with an automatic loading and unloading area. The stacker forks the sample, and the conveyor line is used to transfer the sample. At the same time, a manipulator is added to complete the automated sorting of soil samples. This approach uses a conventional logistics storage and management model, directly utilizing large spaces and numerous conveyor lines for sorting goods. This approach fails to consider the unique storage needs of soil samples and is difficult to integrate with the bulk soil sampling process. Furthermore, the device in this patented solution is designed to store collected products, not samples that have undergone pre-testing processing.

[0008] Chinese invention patent application CN115303688A discloses a soil sample library comprising two parallel rails, multiple storage racks, and a pedal platform. Each of the multiple storage racks is movable along the two rails via a rack movement mechanism, forming an access channel in front of any storage rack. Each storage rack has multiple sample storage spaces in front of it. The pedal platform is located between the two rails, with each end being movable along the corresponding rails via a pedal movement mechanism. The pedal platform is adapted to pass under the storage racks along the space between the two rails to reach the access channel in front of any storage rack. The pedal platform also has multiple lifting units distributed transversely along the storage racks. Each lifting unit can be raised to different heights within the access channel to form a staircase. The lifting units of the pedal platform can form a staircase within the access channel, making it easier for operators to access and place soil samples higher up on the storage racks. This approach is simple, time-saving, and labor-saving. While increasing storage capacity by increasing storage space and enabling access to soil samples at different locations using the rails and lifting units still requires manual labor, resulting in low operational efficiency, it also makes it difficult to integrate with batch soil sample processing, resulting in limitations.

[0009] Therefore, it becomes a demand to provide a technical solution for soil sample collection and storage that is suitable for scenarios where soil samples are processed in batches in a highly efficient and centralized manner. Summary of the Invention

[0010] The traditional storage method is to generally use racks, and soil samples are stored, retrieved, and managed manually. It is not possible to set up too many layers, and it is not supported to arrange the racks too high. The storage capacity of soil samples is limited, and the efficiency of storage and retrieval is also low. In order to make up for the shortcomings of the existing technology, the present invention provides an automatic soil sample batch intensive storage system and method, which adopts a mechanical method to perform automated soil sample batch storage, can support the establishment of high-rise soil sample storage facilities, and achieve efficient storage and retrieval, and can set up real-time tracking and monitoring of soil sample information. Through frequent and accurate interaction, it can support a variety of different application scenarios, and is particularly suitable for batch storage at the back end or downstream of facilities that perform batch processing of soil samples. It can meet and match the needs of timely and orderly storage after the front-end fast and efficient batch soil sample processing is completed. It can at least solve or alleviate one or more technical problems in the existing technology, or at least provide a beneficial option.

[0011] The technical solution adopted by the present invention to solve the above technical problems is:

[0012] Automatic soil sample batch intensive storage system, used to store sample bottles containing soil samples, including

[0013] At least one multi-story storage rack, including

[0014] pillars;

[0015] A plurality of circular storage trays, the centers of which are rotatably connected to the pillars; the upper end surfaces of the circular storage trays are formed with storage spaces for storing sample bottles;

[0016] A robotic arm is provided above each circular storage tray, wherein the gripping distance of the robotic arm is not less than the radius of the circular storage tray;

[0017] At least one lifting frame comprising

[0018] Lifting columns;

[0019] A transport platform capable of being raised and lowered along the lifting column, wherein the range of the transport platform raising and lowering is not less than the height of the column; the transport platform is provided with a telescopic structure, a sample transfer tray is provided on the telescopic structure, and the telescopic distance of the telescopic structure is not less than the radius of the lifting column and the circular storage tray;

[0020] At least one lifting rack is arranged beside a multi-layer storage rack, or at least one multi-layer storage rack is arranged beside a lifting rack.

[0021] The storage rack features a multi-layer structure, each layer equipped with a rotating circular storage tray. Combined with a robotic arm, soil samples delivered to the circular storage trays are automatically placed and stored. The rotation of the circular storage trays allows for switching and adjusting storage positions, allowing the robotic arm to operate within a narrow range, reducing its travel. On the one hand, the more automated equipment links, the more control and electrical configuration required, and the higher the precision required. On the other hand, short-stroke operations also improve operational efficiency. The multi-layer storage rack is combined with a lifting platform. The lifting platform uses a bidirectional transport platform to quickly and smoothly transport soil samples in batches to the top of the circular storage trays. This combination significantly improves the efficiency of soil sample storage and placement. Depending on the scenario, one multi-layer storage rack can be configured with multiple lifting racks, or one lifting rack with multiple multi-layer storage racks, allowing for adjustments based on production capacity requirements.

[0022] As a preferred aspect, it can be considered to set the lifting frame or multi-layer storage rack to be movable, for example, by installing walking wheels at the bottom and then setting a braking device so that it can be flexibly adjusted.

[0023] By using mechanized means to automate the retrieval and placement of soil samples, the restrictions on storage height can be removed. Manual high-altitude operations can be dangerous, but mechanical equipment reduces concerns in this regard. The equipment can be set to a higher height according to the site, such as more than 5 meters. Traditional manual operation, combined with lifts and ladders, requires a lot of safety precautions if the operation height is higher than 5 meters.

[0024] Mechanized automatic storage also improves efficiency. Soil samples are placed in batches on the transport platform, then transferred to the circular storage tray. The robotic arm then retrieves and places them in an orderly manner, achieving very high work efficiency. These operations only require manual or automated transfer: placing the sample bottles containing the soil samples on the transport platform, or moving the transport platform to the sample bottles at the bottom of the lifting rack for removal.

[0025] In a preferred embodiment, the robotic arm comprises a base mounted on the column and capable of moving up and down;

[0026] A rod body having one end pivotally connected to the base body, the pivot axis of the pivotal connection being perpendicular to the column, and the length of the rod body being not less than the radius of the circular storage tray;

[0027] A mechanical claw is provided at the other end of the rod body, and the mechanical claw can grab a sample bottle.

[0028] The robotic arm is designed to be simple and stable. The gripping position of the robotic claw can be freely adjusted within a radial range of the circular storage tray by lifting the base and pivoting the rod. Then, by coordinating the rotation of the circular storage tray, the gripping points of the robotic claw can be spread over the entire circular storage tray. This structure is quite simple and stable, and is also conducive to automated control. The robotic claw can adopt a simple gripping structure, such as using a cylinder to drive one or two sliders. The slider is provided or formed with a groove that matches the outer wall of the sample bottle. Pressure is applied by the cylinder to allow the sample bottle to be clamped by the slider. This is a very common gripping structure. As a more flexible option, the robotic claw can also have a certain rotation angle so that the sample bottle can be kept as horizontal as possible after being grasped.

[0029] In a preferred embodiment, the column is a hollow structure or is provided with a wiring groove, and the electrical line connecting the circular storage tray and the robotic arm passes through the hollow structure or wiring groove of the column.

[0030] To drive the circular storage tray's rotation, a stepper motor can be used. For example, a stepper motor drives a worm gear reducer, with the worm gear connected to the circular storage tray and the worm connected to the stepper motor, to achieve rotation of the circular storage tray. Alternatively, a pneumatic motor can be used. The robotic arm also requires electrical circuits to drive the base's elevation, pivoting of the rod, and grasping of the gripper. Electrical circuits are routed uniformly through the columns. If space permits, a drag chain box can be installed for protection to ensure that the electrical circuits are reliably protected when each unit performs its corresponding operation.

[0031] In a preferred embodiment, the lifting column is provided with a track; the transport platform is provided with a slider or a running wheel cooperating with the track; and a driving device is further provided between the lifting column and the transport platform to drive the transport platform to rise and fall.

[0032] The lifting column can adopt a common and stable transmission structure. As long as it can realize the execution in two directions, one is the vertical lifting. The use of tracks with sliders or walking wheels can ensure linear and smooth movement. There are many ways to match the drive. The winch is used to lift the counterweight structure, and the gear rack transmission structure can also use belt or chain drive. The gear rack transmission arrangement is to set the drive unit such as the motor on the conveying platform to drive the gear to rotate, and then the rack is arranged on the column. Other methods are to set the drive unit at the top or bottom of the column, and the drive unit drives the pulley, sprocket or winch, and then the conveying platform is connected to the conveyor belt, conveyor chain or wire rope, etc. This is a common way to implement the lifting mechanism, and I will not go into details again.

[0033] Another direction is that the sample transport tray extends or retracts horizontally under the drive of a telescopic mechanism. The telescopic mechanism can be a cylinder or a screw structure to ensure smooth operation, and the surface of the sample transport tray can be covered with a non-slip layer, such as foam material, to facilitate the stable placement of sample bottles on the sample transport tray. It is also possible to set a limit structure on the sample transport tray to allow sample bottles to be stacked at a fixed point, facilitating the fixed-point pick-up and placement of the robot arm. The means to achieve this type of automated machinery are also relatively common and will not be elaborated on.

[0034] In a preferred embodiment, a receiving groove is provided on the upper surface of the circular receiving tray. The shape of the receiving groove is slightly larger than the lower half of the body of the sample bottle. The upper edge of the receiving groove is formed with a guide slope.

[0035] In the storage arrangement for storing soil samples, a storage groove structure is set or formed. When the circular storage plate rotates, the sample bottle can remain stable, and the guide structure allows the sample bottle to be placed smoothly in the storage groove. Each storage position corresponds to a sample bottle, and they will not interfere with each other. This is more conducive to clearly marking each storage position. When a sample bottle is placed in a storage position, it is marked that this storage position is occupied. When the sample bottle is taken away, it is marked that this storage position is idle, which is conducive to orderly management. It can also support setting a unique code for each storage position to record whether each sample bottle is being stored in a certain storage position or has been stored in a certain storage position. Through this design, the sample bottles are limited to be placed in specific positions, and the robotic arm also performs point-to-point operations.

[0036] The soil sample storage method implemented by the above-mentioned automatic soil sample batch intensive storage system includes the following steps:

[0037] Set the ID of each soil sample;

[0038] Place each soil sample in a sample bottle, set an RFID code on each sample bottle, bind the soil sample ID with the RFID code of the sample bottle it is placed in, and record the binding information;

[0039] Number each storage position of the circular storage tray;

[0040] Transport the sample bottle containing the soil sample to the lifting rack, and then transport the sample bottle to a circular storage tray via the transport platform. The robot arm grabs the sample bottle and places it in a storage position. The number of the storage position where the sample bottle is placed is recorded, and the storage position is recorded as "placing";

[0041] The robotic arm grabs a sample bottle placed in the storage position, records the storage position as "empty", and places the sample bottle on the transport platform above the circular storage tray. The transport platform transports the sample bottle to the bottom of the lifting frame.

[0042] Through RFID interaction, the storage location of soil samples can be obtained, and the locations of soil samples previously stored can also be recorded. This provides data support and architectural support for visualizing the storage and retrieval of soil samples within the storage system. Furthermore, this facilitates tracking, monitoring, and visualization of the entire soil sample storage process, enabling traceability of the processing process. This helps identify the impact of soil storage on detection deviations and provides real-time reference for timely dispatch of personnel or equipment, ensuring smooth operation of the entire storage chain, reducing idling and wasted work time, and improving processing efficiency. It also facilitates real-time management and equipment scheduling. When additional lifts or multi-layer storage racks are needed at a certain location, adjustments and scheduling can be made. As mentioned above, wheels can be installed at the bottom of the lifts or multi-layer storage racks. These wheels allow the lifts or multi-layer storage racks to be adjusted in position and their angles can be rotated, enabling flexible adjustments from one-to-one, one-to-many, or many-to-one. It also provides a framework for storing and retrieving soil samples in a variety of different application scenarios.

[0043] For example, in one scenario, when storing and scheduling soil samples, the following steps are performed: the storage positions of the circular storage trays are divided into zones in sequence;

[0044] Record the sample information corresponding to the soil sample ID, and place the sample bottles whose RFID codes are bound to the soil sample IDs in different partitions in sequence according to the sample information;

[0045] The sample information includes sample particle size, sample task source and sample collection latitude and longitude information;

[0046] When taking out the sample bottles, the sample bottles are taken out in batches in each partition according to the sample information of the soil sample ID.

[0047] The operations performed in the above steps are suitable for such application scenarios. During storage, soil samples are classified according to their sample information and then placed in different partitions. Specifically, during storage, soil samples are classified and organized based on their pre-processing information, allowing for direct partitioned storage. For example, samples are sorted by category, mesh size, and test item, allowing for easy retrieval and placement. During storage and retrieval, RFID identification and location are recorded, further aligning with traditional sample storage and management practices. This also accommodates "scratch-and-remove" storage and retrieval scenarios. For example, at the front end of sample processing, due to the inherent characteristics of the samples, such as moisture content, particle size, and impurity content, the yield is uneven during centralized processing, with varying amounts. At the end of processing, soil samples are stored individually or in small batches according to their classification into corresponding partitions. During soil sample extraction, batch extraction is performed in a single partition, and similar soil samples undergo subsequent testing and processing. This allows for more efficient storage and testing within the same facility or location. Since each soil sample's ID and related information are recorded, the information can be uploaded directly after testing. Completed soil samples can also be retained or processed in batches.

[0048] In another application scenario, the following operation is performed: the sample bottles are placed in the storage positions of the circular storage tray in the order in which the soil samples arrive at the lifting rack;

[0049] When placing the sample bottles, path planning is performed to place the sample bottles in the "idle" storage position with the shortest transport path;

[0050] When taking out the stored sample bottles, path planning is performed, and the sample bottles with the shortest transport path are taken out in batches first.

[0051] This approach only requires planning the optimal path for storage and retrieval, saving access time and improving efficiency. This approach is also suitable for scenarios with centralized testing and analysis, enabling the most efficient testing, centralized data upload, and subsequent data integration. It is also more suitable for scenarios with higher production capacity in front-end sample processing systems. When the batch size of centrally processed soil samples exceeds a certain level, the output per unit time of soil samples tends to stabilize. At this point, eliminating classification and focusing solely on how to quickly store and retrieve sample bottles, performing batch operations, can improve overall efficiency and match front-end production capacity.

[0052] In another application scenario, the following operations can be performed to record sample information corresponding to the soil sample ID; the sample information includes sample particle size, sample task source, and sample collection latitude and longitude information;

[0053] When placing the sample bottles, path planning is performed to place the sample bottles in the "idle" storage position with the shortest transport path;

[0054] When taking out the sample bottles, sample bottles with related or identical sample information are taken out in batches according to the sample information of the soil sample ID.

[0055] In other words, storage is not classified or partitioned, prioritizing efficiency. When retrieving soil samples, sample bottles are removed in batches based on the sample batch and related information. This can be considered as retrieving batches of soil samples based on back-end testing requirements. This is primarily suitable for applications where, after collecting soil samples, an institution or unit with testing needs completes the collection process and then ships the samples in batches to a centralized processing facility or location. Prior to processing, the soil sample ID information is recorded. During and after processing, the only consideration is reasonable routing to shorten the processing cycle. Retrieval is done in batches based on the ID information and returned to the testing facility. Soil sample storage is a continuous process designed to maximize efficiency, while retrieval is performed in batches, not in real time. This can be performed based on an ID index or in advance after communication from another location regarding sample extraction requirements. This optimizes resource allocation.

[0056] In another application scenario, such an operation can be performed to record the sample information corresponding to the soil sample ID; the sample information includes the sample particle size, the sample task source, and the sample collection latitude and longitude information;

[0057] Placing the sample bottles in the storage positions of the circular storage tray in the order in which the soil samples arrive at the lifting rack;

[0058] When placing the sample bottles, path planning is performed to place the sample bottles in the "idle" storage position with the shortest transport path;

[0059] When taking out the stored sample bottles, sample bottles with related or identical sample information are taken out in batches according to the sample information of the soil sample ID.

[0060] During storage operations, soil samples are stored in sequence according to their processing batches. That is, within a certain production cycle, soil samples from the same batch that have completed processing will be placed together. Under continuous operation, the recycling rate of storage locations is reduced, and vacant space is reduced, or vacant equipment is concentrated. Adjustments and scheduling can be made in real time according to production, such as shutting down and waiting, to save energy.

[0061] As described above, the present invention provides a system for automated batch soil sample storage. On the one hand, it provides reliable hardware support for automated, large-scale, and intensive soil sample storage. On the other hand, the system itself can adapt to different application scenarios by coordinating different storage processes. In the construction of such centralized, large-scale operations, different regions have their own unique site conditions, economic conditions, transportation conditions, and environmental conditions, necessitating a more adaptable system architecture. The technical solution provided by the present invention is highly universal, facilitating its widespread application in different regions. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] Figure 1 Schematic diagram of the layout of an automatic soil sample batch intensive storage system in one embodiment of the present invention.

[0063] Figure 2 Schematic diagram of the layout of an automatic soil sample batch intensive storage system in another embodiment of the present invention.

[0064] Figure 3 Schematic diagram of the layout of an automatic soil sample batch intensive storage system in another embodiment of the present invention.

[0065] Figure 4 FIG1 is a schematic diagram of a partial structure of an automatic soil sample batch intensive storage system according to an embodiment of the present invention, illustrating the structure of a robotic arm. ...

[0066] Figure 5 Schematic diagram of the wiring arrangement of multi-layer storage racks in an automatic soil sample batch intensive storage system according to another embodiment of the present invention.

[0067] Figure 6 This is a schematic diagram of the partial structure of an automatic soil sample batch intensive storage system in one embodiment of the present invention, illustrating the cross-sectional structure of a circular storage tray. DETAILED DESCRIPTION

[0068] In order to clearly illustrate the technical features of this solution, the present invention is described in detail below through specific implementation methods in conjunction with the accompanying drawings.

[0069] In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application may also be implemented in other ways different from those described herein. Therefore, the scope of protection of the present application is not limited to the specific embodiments disclosed below.

[0070] In addition, in the description of the present application, it should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "axial", "radial", "circumferential", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0071] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of such features. Throughout the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0072] In this application, unless otherwise expressly specified or limited, terms such as "installed," "connected," "connect," and "fixed" should be understood in a broad sense. For example, they may refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection, or communication; direct connection or indirect connection through an intermediate medium; and internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on specific circumstances.

[0073] In this application, unless otherwise expressly specified and limited, a first feature "above" or "below" a second feature may be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in an appropriate manner in any one or more embodiments or examples.

[0074] First, a brief introduction to the process of automatic soil sample batch processing:

[0075] Soil sample collection and temporary storage: The soil sample collected from the designated location is placed on a temporary storage tray, for example, 3 to 5 soil samples are placed on each tray. The temporary storage tray is transferred to the batch transfer device in the sample collection room for temporary storage. The temporary storage tray of the batch shipping device is equipped with an RFID code. The entry process is to bind the RFID code of the temporary storage tray and the soil sample ID, which can be queried in real time through the control unit.

[0076] Soil sample coding and binding: Remove the original soil sample from the batch transfer device and spread it flat on an air-drying tray. Unbind the original soil sample ID from the temporary storage tray's RFID tag and bind it to the air-drying tray's RFID tag. Enter soil sample information, including but not limited to the permanent sample quantity, sample particle size, sample source, and sample collection latitude and longitude, into the control unit.

[0077] Sample air drying: The air drying sample transfer platform sends air drying trays containing soil samples to the sample air drying warehouse. Mobile equipment, such as a storage and retrieval AGV, places the samples in the sample air drying warehouse. The soil samples are first naturally air dried. When the sample moisture content reaches approximately 30%, the storage and retrieval AGV transfers the soil samples back to the sampling room. Impurities such as stones and branches are removed from the soil samples. After the soil samples are removed, they are transferred to an air drying cabinet with a separate drying compartment for air drying. The RFID information on the air drying tray is added with "manual inspection completed." During the air drying period in the separate compartment of the air drying warehouse, the samples are weighed. If the mass change rate of the sample is within 1% after three consecutive weighings, the soil sample is air dried. The RFID information on the air drying tray is also added with "air dried."

[0078] Sample transfer: The air-dried soil sample is transferred to the canning equipment through the storage and retrieval AGV, and the soil sample is placed in the grinding jar. The equipment will record the RFID of the air-drying tray and the RFID of the grinding jar, unbind the original soil ID from the air-drying tray, bind the original soil ID to the RFID of the grinding jar, and add the information "has been transferred to the grinding jar".

[0079] Sample Drying: A transfer device, such as an AGV robot, transports the grinding jar to a temporary drying storage location. Once a vacant space in the drying cabinet is available, the grinding jar is placed in the drying cabinet for drying. The grinding jar's RFID tag indicates "delivered to drying cabinet." Sample drying begins. Each location in the drying cabinet has a weighing sensor. When the weight of the soil sample in the drying cabinet remains constant for five consecutive minutes with a weighing accuracy of ±0.1 gram, the system deems the sample dried. A loading and unloading Cartesian robot removes the grinding jar from the drying cabinet and places it in the temporary drying storage location. The RFID tag on the grinding jar also indicates "dried."

[0080] Sample preparation: The robotic AGV, upon command, removes the grinding jars from the drying storage area and transports them to the soil processing equipment. The dried soil samples are then automatically ground, screened, weighed, sampled, and bottled.

[0081] Sample intensive storage: After automated sample preparation, the AGV removes the sample bottle. The soil sample ID is unbound from the grinding jar RFID tag and rebound to the sample bottle RFID tag. A "sample preparation completed" message is added. The sample is then transferred to a soil intensive storage facility for subsequent testing. This completes the soil sample preparation process.

[0082] The system also includes auxiliary system cleaning operations. Dried soil samples are automatically ground and screened. A robotic AGV transports the empty grinding jars to a temporary drying storage area. Automated equipment then places the empty grinding jars into a jar washer, which cleans the jars and lids. Similarly, used, empty air-drying trays are automatically cleaned in a cleaning room. The control unit can be configured to record information about the air-drying trays.

[0083] It can be imagined that the batch processing of soil samples in the manner described above can efficiently process a large number of soil samples. At that time, it is likely that the processing of soil samples will be concentrated in one institution or service center. Then, for such efficient processing of soil samples, it is necessary to configure a storage system and method of soil samples that are consistent with it. Only in this way can the optimal coordination of production capacity be achieved and the "barrel effect" be avoided, that is, the upstream soil sample processing process is very efficient, but "accumulation" is formed in the storage and retrieval links.

[0084] refer to Figure 1 One embodiment of the present invention discloses an automatic soil sample batch intensive storage system for storing sample bottles containing soil samples, comprising

[0085] At least one multi-layer storage rack 100, comprising

[0086] Column 110;

[0087] A plurality of circular storage trays 120, the centers of which are rotatably connected to the pillars 110; a storage space for storing sample bottles is formed on the upper end surface of the circular storage trays 120;

[0088] A robotic arm 130 is disposed above each circular storage tray 120 , wherein the gripping distance of the robotic arm 130 is not less than the radius of the circular storage tray 120 ;

[0089] At least one lifting frame 200, comprising

[0090] Lifting column 210;

[0091] The transport platform 220 can be raised and lowered along the lifting column 210, and the lifting range of the transport platform 220 is not less than the height of the column 110; the transport platform 220 is provided with a telescopic structure 2201, and a sample transfer tray 2202 is provided on the telescopic structure 2201, and the retractable distance of the telescopic structure 2201 is not less than the radius of the lifting column 210 and the circular storage tray 120.

[0092] As mentioned above, a multi-layer storage rack combined with a lifting rack can form a minimum "use unit" combination. In actual application and implementation, there can be many combinations. Multiple "use units" are arranged in a matrix to form a whole system. Or you can flexibly adjust according to production capacity and demand, refer to Figure 2 and Figure 3 More than two lifting racks can be set next to a multi-layer storage rack, or more than two multi-layer storage racks can be set next to a lifting rack.

[0093] The storage rack features a multi-layer structure, each layer equipped with a rotating circular storage tray. Combined with a robotic arm, soil samples delivered to the circular storage trays are automatically placed and stored. The rotation of the circular storage trays allows for switching and adjusting storage positions, allowing the robotic arm to operate within a narrow range, reducing its travel. On the one hand, the more automated equipment links, the more control and electrical configuration required, and the higher the precision required. On the other hand, short-stroke operations also improve operational efficiency. The multi-layer storage rack is combined with a lifting platform. The lifting platform uses a bidirectional transport platform to quickly and smoothly transport soil samples in batches to the top of the circular storage trays. This combination significantly improves the efficiency of soil sample storage and placement. Depending on the scenario, one multi-layer storage rack can be configured with multiple lifting racks, or one lifting rack with multiple multi-layer storage racks, allowing for adjustments based on production capacity requirements.

[0094] As a preferred aspect, it can be considered to set the lifting frame or multi-layer storage rack to be movable, for example, by installing walking wheels at the bottom and then setting a braking device so that it can be flexibly adjusted.

[0095] By using mechanized means to automate the retrieval and placement of soil samples, the restrictions on storage height can be removed. Manual high-altitude operations can be dangerous, but mechanical equipment reduces concerns in this regard. The equipment can be set to a higher height according to the site, such as more than 5 meters. Traditional manual operation, combined with lifts and ladders, requires a lot of safety precautions if the operation height is higher than 5 meters.

[0096] Mechanized automatic storage also improves efficiency. Soil samples are placed in batches on the transport platform, then transferred to the circular storage tray. The robotic arm then retrieves and places them in an orderly manner, achieving very high work efficiency. These operations only require manual or automated transfer: placing the sample bottles containing the soil samples on the transport platform, or moving the transport platform to the sample bottles at the bottom of the lifting rack for removal.

[0097] refer to Figure 4 As an implementation of the robot arm 130, the robot arm 130 includes a base 1301 mounted on a column and capable of moving up and down;

[0098] A rod 1302 having one end pivotally connected to the base 1301 via a pivot 1303 , wherein the pivot 1303 is perpendicular to the column, and the length of the rod 1302 is not less than the radius of the circular storage tray;

[0099] A mechanical claw 1304 is provided at the other end of the rod body 1302 , and the mechanical claw 1304 is capable of grabbing a sample bottle.

[0100] In this way, the rod body swings in the vertical plane, adjusting the projection of the mechanical claw in the vertical direction to fall on the position of the circular storage tray, and then by lifting the seat body, the mechanical claw can be adjusted to a position close to the upper surface of the circular storage tray, so that the grasping range of the robotic arm is not less than the radius of the circular storage tray.

[0101] The robotic arm is designed to be simple and stable. The gripping position of the robotic claw can be freely adjusted within a radial range of the circular storage tray by lifting the base and pivoting the rod. Then, by coordinating the rotation of the circular storage tray, the gripping points of the robotic claw can be spread over the entire circular storage tray. This structure is quite simple and stable, and is also conducive to automated control. The robotic claw can adopt a simple gripping structure, such as using a cylinder to drive one or two sliders. The slider is provided or formed with a groove that matches the outer wall of the sample bottle. Pressure is applied by the cylinder to allow the sample bottle to be clamped by the slider. This is a very common gripping structure. As a more flexible option, the robotic claw can also have a certain rotation angle so that the sample bottle can be kept as horizontal as possible after being grasped.

[0102] refer to Figure 5 As a preferred design, the column is hollow or has a wiring trough. The electrical wiring connecting the circular storage tray and the robotic arm passes through the column's hollow structure or wiring trough. The wiring path is indicated by the dotted line in the reference diagram.

[0103] To drive the circular storage tray's rotation, a stepper motor can be used. For example, a stepper motor drives a worm gear reducer, with the worm gear connected to the circular storage tray and the worm connected to the stepper motor, to achieve rotation of the circular storage tray. Alternatively, a pneumatic motor can be used. The robotic arm also requires electrical circuits to drive the base's elevation, pivoting of the rod, and grasping of the gripper. Electrical circuits are routed uniformly through the columns. If space permits, a drag chain box can be installed for protection to ensure that the electrical circuits are reliably protected when each unit performs its corresponding operation.

[0104] In addition, the lifting column is provided with a track; the transport platform is provided with a slider or a running wheel that cooperates with the track; and a driving device is also provided between the lifting column and the transport platform to drive the transport platform to rise and fall.

[0105] The lifting column can adopt a common and stable transmission structure. As long as it can realize the execution in two directions, one is the vertical lifting. The use of tracks with sliders or walking wheels can ensure linear and smooth movement. There are many ways to match the drive. The winch is used to lift the counterweight structure, and the gear rack transmission structure can also use belt or chain drive. The gear rack transmission arrangement is to set the drive unit such as the motor on the conveying platform to drive the gear to rotate, and then the rack is arranged on the column. Other methods are to set the drive unit at the top or bottom of the column, and the drive unit drives the pulley, sprocket or winch, and then the conveying platform is connected to the conveyor belt, conveyor chain or wire rope, etc. This is a common way to implement the lifting mechanism, and I will not go into details again.

[0106] Another direction is that the sample transport tray extends or retracts horizontally under the drive of a telescopic mechanism. The telescopic mechanism can be a cylinder or a screw structure to ensure smooth operation, and the surface of the sample transport tray can be covered with a non-slip layer, such as foam material, to facilitate the stable placement of sample bottles on the sample transport tray. It is also possible to set a limit structure on the sample transport tray to allow sample bottles to be stacked at a fixed point, facilitating the fixed-point pick-up and placement of the robot arm. The means to achieve this type of automated machinery are also relatively common and will not be elaborated on.

[0107] refer to Figure 6 A receiving groove 1201 is provided on the upper surface of the circular receiving tray 120 . The shape of the receiving groove 1201 is slightly larger than the lower half of the body of the sample bottle. A guide slope is formed on the upper edge of the receiving groove 1201 .

[0108] In the storage arrangement for storing soil samples, a storage groove structure is set or formed. When the circular storage plate rotates, the sample bottle can remain stable, and the guide structure allows the sample bottle to be placed smoothly in the storage groove. Each storage position corresponds to a sample bottle, and they will not interfere with each other. This is more conducive to clearly marking each storage position. When a sample bottle is placed in a storage position, it is marked that this storage position is occupied. When the sample bottle is taken away, it is marked that this storage position is idle, which is conducive to orderly management. It can also support setting a unique code for each storage position to record whether each sample bottle is being stored in a certain storage position or has been stored in a certain storage position. Through this design, the sample bottles are limited to be placed in specific positions, and the robotic arm also performs point-to-point operations.

[0109] The soil sample storage method implemented by the above-mentioned automatic soil sample batch intensive storage system includes the following steps:

[0110] Set the ID of each soil sample;

[0111] Place each soil sample in a sample bottle, set an RFID code on each sample bottle, bind the soil sample ID with the RFID code of the sample bottle it is placed in, and record the binding information;

[0112] Number each storage position of the circular storage tray;

[0113] Transport the sample bottle containing the soil sample to the lifting rack, and then transport the sample bottle to a circular storage tray via the transport platform. The robot arm grabs the sample bottle and places it in a storage position. The number of the storage position where the sample bottle is placed is recorded, and the storage position is recorded as "placing";

[0114] The robotic arm grabs a sample bottle placed in the storage position, records the storage position as "empty", and places the sample bottle on the transport platform above the circular storage tray. The transport platform transports the sample bottle to the bottom of the lifting frame.

[0115] Through RFID interaction, the storage location of soil samples can be obtained, and the locations of soil samples previously stored can also be recorded. This provides data support and architectural support for visualizing the storage and retrieval of soil samples within the storage system. Furthermore, this facilitates tracking, monitoring, and visualization of the entire soil sample storage process, enabling traceability of the processing process. This helps identify the impact of soil storage on detection deviations and provides real-time reference for timely dispatch of personnel or equipment, ensuring smooth operation of the entire storage chain, reducing idling and wasted work time, and improving processing efficiency. It also facilitates real-time management and equipment scheduling. When additional lifts or multi-layer storage racks are needed at a certain location, adjustments and scheduling can be made. As mentioned above, wheels can be installed at the bottom of the lifts or multi-layer storage racks. These wheels allow the lifts or multi-layer storage racks to be adjusted in position and their angles can be rotated, enabling flexible adjustments from one-to-one, one-to-many, or many-to-one. It also provides a framework for storing and retrieving soil samples in a variety of different application scenarios.

[0116] For example, in one scenario, when storing and scheduling soil samples, the following steps are performed: the storage positions of the circular storage trays are divided into zones in sequence;

[0117] Record the sample information corresponding to the soil sample ID, and place the sample bottles whose RFID codes are bound to the soil sample IDs in different partitions in sequence according to the sample information;

[0118] The sample information includes sample particle size, sample task source and sample collection latitude and longitude information;

[0119] When taking out the sample bottles, the sample bottles are taken out in batches in each partition according to the sample information of the soil sample ID.

[0120] The operations performed in the above steps are suitable for such application scenarios. During storage, soil samples are classified according to their sample information and then placed in different partitions. Specifically, during storage, soil samples are classified and organized based on their pre-processing information, allowing for direct partitioned storage. For example, samples are sorted by category, mesh size, and test item, allowing for easy retrieval and placement. During storage and retrieval, RFID identification and location are recorded, further aligning with traditional sample storage and management practices. This also accommodates "scratch-and-remove" storage and retrieval scenarios. For example, at the front end of sample processing, due to the inherent characteristics of the samples, such as moisture content, particle size, and impurity content, the yield is uneven during centralized processing, with varying amounts. At the end of processing, soil samples are stored individually or in small batches according to their classification into corresponding partitions. During soil sample extraction, batch extraction is performed in a single partition, and similar soil samples undergo subsequent testing and processing. This allows for more efficient storage and testing within the same facility or location. Since each soil sample's ID and related information are recorded, the information can be uploaded directly after testing. Completed soil samples can also be retained or processed in batches.

[0121] In another application scenario, the following operation is performed: the sample bottles are placed in the storage positions of the circular storage tray in the order in which the soil samples arrive at the lifting rack;

[0122] When placing the sample bottles, path planning is performed to place the sample bottles in the "idle" storage position with the shortest transport path;

[0123] When taking out the stored sample bottles, path planning is performed, and the sample bottles with the shortest transport path are taken out in batches first.

[0124] This approach only requires planning the optimal path for storage and retrieval, saving access time and improving efficiency. This approach is also suitable for scenarios with centralized testing and analysis, enabling the most efficient testing, centralized data upload, and subsequent data integration. It is also more suitable for scenarios with higher production capacity in front-end sample processing systems. When the batch size of centrally processed soil samples exceeds a certain level, the output per unit time of soil samples tends to stabilize. At this point, eliminating classification and focusing solely on how to quickly store and retrieve sample bottles, performing batch operations, can improve overall efficiency and match front-end production capacity.

[0125] In another application scenario, the following operations can be performed to record sample information corresponding to the soil sample ID; the sample information includes sample particle size, sample task source, and sample collection latitude and longitude information;

[0126] When placing the sample bottles, path planning is performed to place the sample bottles in the "idle" storage position with the shortest transport path;

[0127] When taking out the sample bottles, sample bottles with related or identical sample information are taken out in batches according to the sample information of the soil sample ID.

[0128] In other words, storage is not classified or partitioned, prioritizing efficiency. When retrieving soil samples, sample bottles are removed in batches based on the sample batch and related information. This can be considered as retrieving batches of soil samples based on back-end testing requirements. This is primarily suitable for applications where, after collecting soil samples, an institution or unit with testing needs completes the collection process and then ships the samples in batches to a centralized processing facility or location. Prior to processing, the soil sample ID information is recorded. During and after processing, the only consideration is reasonable routing to shorten the processing cycle. Retrieval is done in batches based on the ID information and returned to the testing facility. Soil sample storage is a continuous process designed to maximize efficiency, while retrieval is performed in batches, not in real time. This can be performed based on an ID index or in advance after communication from another location regarding sample extraction requirements. This optimizes resource allocation.

[0129] In another application scenario, such an operation can be performed to record the sample information corresponding to the soil sample ID; the sample information includes the sample particle size, the sample task source, and the sample collection latitude and longitude information;

[0130] Placing the sample bottles in the storage positions of the circular storage tray in the order in which the soil samples arrive at the lifting rack;

[0131] When placing the sample bottles, path planning is performed to place the sample bottles in the "idle" storage position with the shortest transport path;

[0132] When taking out the stored sample bottles, sample bottles with related or identical sample information are taken out in batches according to the sample information of the soil sample ID.

[0133] During storage operations, soil samples are stored in sequence according to their processing batches. That is, within a certain production cycle, soil samples from the same batch that have completed processing will be placed together. Under continuous operation, the recycling rate of storage locations is reduced, and vacant space is reduced, or vacant equipment is concentrated. Adjustments and scheduling can be made in real time according to production, such as shutting down and waiting, to save energy.

[0134] The above specific implementation manner cannot be used as a limitation on the protection scope of the present invention. For those skilled in the art, any replacement, improvement or transformation made to the implementation manner of the present invention falls within the protection scope of the present invention.

[0135] Any matters not described in detail in the present invention are well-known technologies to those skilled in the art.

Claims

1. Automatic soil sample batch intensive storage system, used to store sample bottles containing soil samples, characterized by: include At least one multi-story storage rack, including pillars; A plurality of circular storage trays, the centers of which are rotatably connected to the pillars; the upper end surfaces of the circular storage trays are formed with storage spaces for storing sample bottles; A robotic arm is provided above each circular storage tray, wherein the gripping distance of the robotic arm is not less than the radius of the circular storage tray; At least one lifting frame comprising Lifting columns; A transport platform capable of being raised and lowered along the lifting column, wherein the range of the transport platform raising and lowering is not less than the height of the column; the transport platform is provided with a telescopic structure, a sample transfer tray is provided on the telescopic structure, and the telescopic distance of the telescopic structure is not less than the radius of the lifting column and the circular storage tray; At least one lifting rack is provided beside a multi-layer storage rack, or at least one multi-layer storage rack is provided beside a lifting rack; The robotic arm comprises a base mounted on the column and capable of moving up and down; A rod body having one end pivotally connected to the base body, the pivot axis of the pivotal connection being perpendicular to the column, and the length of the rod body being not less than the radius of the circular storage tray; A mechanical claw is provided at the other end of the rod body, and the mechanical claw can grab a sample bottle.

2. The automatic soil sample batch intensive storage system according to claim 1, characterized in that: The column is a hollow structure or is provided with a wiring groove, and the electrical line connecting the circular storage tray and the robotic arm passes through the hollow structure or wiring groove of the column.

3. The automatic soil sample batch intensive storage system according to claim 1, characterized in that: The lifting column is provided with a track; the transport platform is provided with a slider or a running wheel that cooperates with the track; and a driving device is further provided between the lifting column and the transport platform to drive the transport platform to rise and fall.

4. The automatic soil sample batch intensive storage system according to claim 1, characterized in that: A receiving groove is provided on the upper surface of the circular receiving tray. The shape of the receiving groove is slightly larger than the lower half of the bottle body of the sample bottle. The upper edge of the receiving groove is formed with a guide slope.

5. A soil sample storage method implemented by the automatic soil sample batch intensive storage system according to any one of claims 1 to 4, comprising the following steps: Set the ID of each soil sample; Place each soil sample in a sample bottle, set an RFID code on each sample bottle, bind the soil sample ID with the RFID code of the sample bottle it is placed in, and record the binding information; Number each storage position of the circular storage tray; Transport the sample bottle containing the soil sample to the lifting rack. The sample bottle is transported to a circular storage tray via the transport platform. The robotic arm grabs the sample bottle and places it in a storage location. The number of the storage location where the sample bottle is placed is recorded, and the storage location is recorded as "placing"; The robotic arm grabs a sample bottle placed in a storage position, records the storage position as "empty", and places the sample bottle on the transport platform above the circular storage tray. The transport platform transports the sample bottle to the bottom of the lifting frame.

6. The soil sample storage method according to claim 5, characterized in that: The following steps are also included: Divide the storage positions of each layer of circular storage tray into different zones in sequence; Record the sample information corresponding to the soil sample ID, and place the sample bottles whose RFID codes are bound to the soil sample IDs in different partitions in sequence according to the sample information; The sample information includes sample particle size, sample task source and sample collection latitude and longitude information; When taking out the sample bottles, the sample bottles are taken out in batches in each partition according to the sample information of the soil sample ID.

7. The soil sample storage method according to claim 5, wherein: The following steps are also included: Placing the sample bottles in the storage positions of the circular storage tray in the order in which the soil samples arrive at the lifting rack; When placing sample bottles, path planning is performed to place the sample bottles in the "idle" storage location with the shortest transport path. When taking out the stored sample bottles, path planning is performed, and the sample bottles with the shortest transport path are taken out in batches first.

8. The soil sample storage method according to claim 5, wherein: The following steps are also included: Record the sample information corresponding to the soil sample ID; the sample information includes sample particle size, sample task source, and sample collection latitude and longitude information; When placing sample bottles, path planning is performed to place the sample bottles in the "idle" storage location with the shortest transport path. When taking out the sample bottles, sample bottles with related or identical sample information are taken out in batches according to the sample information of the soil sample ID.

9. The soil sample storage method according to claim 5, wherein: The following steps are also included: Record the sample information corresponding to the soil sample ID; the sample information includes sample particle size, sample task source, and sample collection latitude and longitude information; Placing the sample bottles in the storage positions of the circular storage tray in the order in which the soil samples arrive at the lifting rack; When placing sample bottles, path planning is performed to place the sample bottles in the "idle" storage location with the shortest transport path. When taking out the stored sample bottles, sample bottles with related or identical sample information are taken out in batches according to the sample information of the soil sample ID.

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