An environmental protection supervision law enforcement robot for water pollution source

Abstract

The application discloses a kind of water pollution source environmental protection supervision law enforcement robot, including unmanned aerial vehicle body, the upper fixed connection of unmanned aerial vehicle body has connecting arm, the end of connecting arm deviating from unmanned aerial vehicle body is fixedly connected with guide vane, the guide vane is along the height direction of unmanned aerial vehicle body Settings, the side of guide vane deviating from unmanned aerial vehicle body is fixedly installed with sleeve, the top of sleeve is fixedly connected with winch assembly, the sampling assembly is connected on winch assembly by connecting rope, the top end of sampling assembly is inserted into sleeve.The application, by unmanned aerial vehicle as carrier, can quickly and widely patrol the surface of water body, and can take video evidence, when there is oil stain on water surface, because the refractive index of water and oil stain is different, cooperate adjustable light compensation lamp, adjust the light angle of illumination, realize when taking photograph and taking evidence, can more clearly see oil stain.

Description

Technical Field

[0001] This invention relates to the field of water pollution monitoring technology. Specifically, it relates to an environmental protection inspection and enforcement robot for water pollution sources. Background Technology

[0002] Currently, most water environment monitoring relies on monitoring equipment fixed in the water body or on manual sampling and testing. Due to the fluidity of water, these methods are insufficient for monitoring water pollution sources, making it difficult to obtain pollution sources and collect evidence in a timely and accurate manner. In particular, wastewater containing oil on the water surface is highly polluting. The oil on the water surface is relatively thin and will spread with the flow of water, making it difficult to collect evidence and enforce the law. Summary of the Invention

[0003] Therefore, the technical problem to be solved by the present invention is to provide an environmental protection supervision and law enforcement robot for water pollution sources that can quickly collect evidence and samples.

[0004] To solve the above-mentioned technical problems, the present invention provides the following technical solution: an environmental protection inspection and enforcement robot for water pollution sources, comprising a drone body, a connecting arm fixedly connected to the upper part of the drone body, a guide plate fixedly connected to the end of the connecting arm opposite to the drone body, the guide plate being arranged along the height direction of the drone body, a sleeve fixedly installed on the side of the guide plate opposite to the drone body, a winch assembly fixedly connected to the top of the sleeve, a sampling assembly being connected to the winch assembly via a connecting rope, and the top end of the sampling assembly being inserted into the sleeve.

[0005] In the aforementioned water pollution source environmental protection inspection and enforcement robot, the guide plate is installed outside the range of the drone's main blades. The airflow generated by the drone's main blades passes through the inner side of the guide plate. The distance between the top of the guide plate and the center of the drone's main body is greater than the distance between the bottom of the guide plate and the center of the drone's main body.

[0006] The aforementioned environmental protection enforcement robot for water pollution sources includes a winch assembly comprising a housing, a geared motor, a connecting disc, a take-up plate, and a telescopic block. The housing is fixedly mounted on the top of the sleeve, the geared motor is mounted inside the housing, the connecting disc is coaxially fixedly connected to the output shaft of the geared motor, one end of the take-up plate is rotatably connected to the surface of the connecting disc via a pin, a circumferential groove is provided on the side wall of the take-up plate, one end of the connecting rope is fixedly connected to the end of the groove away from the pin, a telescopic groove is provided on the side of the connecting disc opposite to the pin, the telescopic groove and the pin are respectively located on both sides of the axis of the connecting disc, and the telescopic block is slidably fitted within the telescopic groove.

[0007] The aforementioned water pollution source environmental protection supervision and law enforcement robot has a telescopic groove opened along the axial direction of the connecting plate. A spring is installed in the telescopic groove, one end of the spring is connected to the bottom of the telescopic groove, and the other end of the spring is connected to the end of the telescopic block. In the rotation direction of the connecting plate: one side of the telescopic block is an inclined surface, and the other side of the telescopic block is a plane perpendicular to the connecting plate. A wire clamping groove is opened in the middle of both sides of the inclined surface of the telescopic block.

[0008] The aforementioned water pollution source environmental protection inspection and enforcement robot includes a sampling component comprising a sampling tube, a float, a connecting frame, a fixing block, and a sealing plate. The connecting frame is fixedly connected to the top of the sampling tube, and the fixing block is fixedly connected to the top middle of the connecting frame. One end of the connecting rope is fixedly connected to the fixing block. The float is installed on the side wall of the sampling tube along its circumference. An opening is provided at the bottom of the sampling tube. One end of the sealing plate is hinged to the inner bottom wall of the sampling tube, and a second spring is installed on the top of the sealing plate. The other end of the second spring is connected to the inner side wall of the sampling tube.

[0009] The aforementioned water pollution source environmental protection inspection and enforcement robot includes a sampling cylinder fitted with an annular float. A fixed rod is fixedly connected to the bottom of the annular float. A connecting rod is coaxially installed inside the sampling cylinder, with its bottom end fixedly connected to the fixed rod. A push plate is fixedly connected to the top of the connecting rod. A collection tube is hinged to the top of the push plate via a hinge seat. The length of the collection tube is greater than the inner diameter of the sampling cylinder. A first spring is installed on one side of the collection tube, and its other end is fixedly connected to the top of the push plate. A support base is fixedly connected to the top of the inner wall of the sampling cylinder. A guide wheel is rotatably installed on the support base, and the rolling surface of the guide wheel is in contact with the surface of the collection tube.

[0010] The aforementioned water pollution source environmental protection inspection and enforcement robot, when the collection tube extends out of the sampling tube and is in a horizontal state: the bottom of the tube wall inside the sampling tube has an outlet, and the side wall of the tube outside the sampling tube has a collection port.

[0011] The aforementioned water pollution source environmental protection supervision and law enforcement robot has a water inlet at the top of the annular float, a limiting block fixedly connected to the top of the annular float, and the limiting block protruding from the water inlet. A stop block is fixedly connected to the outer wall of the sampling tube, and the position of the stop block corresponds to the position of the limiting block.

[0012] The aforementioned water pollution source environmental protection inspection and enforcement robot has an annular float with a vertical groove along its axial direction on its side wall, and a protrusion installed in the groove. A drainage outlet is provided on the side wall of the sampling tube, and a valve plate that seals the drainage outlet is attached to the inner side wall of the sampling tube. The two sides of the valve plate are connected to the inner side wall of the sampling tube via rubber strips. An installation groove is provided on the side wall of the sampling tube, and a valve stem is installed in the installation groove. A fixed shaft is rotatably connected to one end of the valve stem, and both ends of the fixed shaft are fixedly connected to the side wall of the installation groove. A top block is connected to the end of the valve stem near the valve plate on the side of the fixed shaft, and the other end of the valve stem extends out of the installation groove. A limit pin is fixedly installed on the sampling tube, and the sampling tube is inserted into the vertical groove. By setting the limit pin, separation of the sampling tube and the annular float can be prevented.

[0013] The aforementioned environmental protection inspection and enforcement robot for water pollution sources has a gimbal camera and an adjustable fill light fixedly connected to the bottom of the drone body. The adjustable fill light is installed on the bottom of the drone body and located around the gimbal camera.

[0014] The technical solution of the present invention achieves the following beneficial technical effects: 1. This invention, by using a drone as a vehicle, enables rapid and large-scale inspection of the surface of water bodies and the collection of video evidence. When there is oil on the water surface, due to the different refractive indices of water and oil, the angle of the illumination can be adjusted with an adjustable supplementary light to make the oil more clearly visible when taking photos for evidence, thus achieving the purpose of supervision and law enforcement.

[0015] 2. The present invention, by setting up a sampling component, can sample oil stains on the surface of water and water, and can continuously collect oil stains, increasing the amount of oil stains collected; by setting up a winch component, the sampling component can be driven to rise and fall, and during sampling, the continuous rotation of the sampling component can cause the sampling component to swing regularly, thereby increasing the range of oil stains collected.

[0016] 3. In this invention, the airflow generated by the drone's flight blows onto the water surface. Oil slicks located directly below the drone are pushed and accumulated by the airflow, increasing the thickness of the oil slicks. By setting up a deflector, the range of the airflow pushing the oil slicks can be limited. When the sampling component takes a sample, it can land precisely on the location where the oil slicks are pushed and accumulated, increasing the amount of oil collected. Attached Figure Description

[0017] Figure 1 A schematic diagram of the overall structure of the present invention; Figure 2 A schematic diagram of the assembly of the hoisting component and the sampling component of the present invention; Figure 3 A schematic diagram of the structure of the hoisting assembly of the present invention; Figure 4 A schematic diagram of the structure of the telescopic block of the present invention; Figure 5 A cross-sectional structural diagram of the sampling component of the present invention in its initial state; Figure 6 A schematic diagram of the cross-sectional structure of the sampling component of the present invention after shrinkage; Figure 7 A schematic diagram of the structure of the second spring sheet of the present invention after it extends out of the sampling cylinder and unfolds; Figure 8 A schematic cross-sectional view of the valve plate of the present invention; Figure 9 A schematic cross-sectional view of the bottom of the sampling cylinder of this invention; Figure 10 A schematic cross-sectional view of the annular pontoon of this invention.

[0018] The reference numerals in the diagram represent: 1-UAV body; 2-Gimbal camera; 3-Adjustable fill light; 4-Connecting arm; 5-Guide plate; 6-Winding assembly; 601-Outer shell; 602-Gear motor; 603-Connecting disc; 604-Pin shaft; 605-Retracting plate; 606-Connecting rope; 607-Telescopic block; 608-Telescopic groove; 609-Spring; 610-Wire clamping groove; 7-Sleeve; 8-Sampling assembly; 801-Sampling cylinder; 802-Float plate; 803-Stop block; 804-Connecting frame ; 805-Fixing block; 806-Connecting rod; 807-Push plate; 808-Collection pipe; 809-First spring; 810-Support seat; 811-Guide wheel; 812-Annular float; 813-Inlet; 814-Limiting block; 815-Outlet; 816-Collection port; 817-Sealing plate; 818-Second spring; 819-Drainage port; 820-Valve stem; 821-Valve plate; 822-Protrusion; 823-Fixing rod; 824-Vertical groove; 825-Top block; 826-Limiting pin. Detailed Implementation

[0019] This embodiment describes an environmental protection enforcement robot for water pollution sources, such as... Figure 1As shown, the device includes a drone body 1. A gimbal camera 2 and an adjustable fill light 3 are fixedly connected to the bottom of the drone body 1. The adjustable fill light 3 is installed on the bottom of the drone body 1 and located around the gimbal camera 2. A connecting arm 4 is fixedly connected to the top of the drone body 1. A guide plate 5 is fixedly connected to the end of the connecting arm 4 away from the drone body 1. The guide plate 5 is set along the height direction of the drone body 1. A sleeve 7 is fixedly installed on the side of the guide plate 5 away from the drone body 1. A winch assembly 6 is fixedly connected to the top of the sleeve 7. A sampling assembly 8 is connected to the winch assembly 6 through a connecting rope 606. The top of the sampling assembly 8 is inserted into the sleeve 7. By using the drone as a carrier, the surface of the water can be quickly and extensively inspected, and video evidence can be collected. When there is oil on the water surface, due to the different refractive indices of water and oil, the angle of the illumination can be adjusted in conjunction with the adjustable fill light 3, so that the oil can be seen more clearly when taking pictures for evidence.

[0020] like Figure 1 As shown, the deflector plate 5 is installed outside the range of the propeller blades of the UAV body 1. The airflow generated by the operation of the UAV body 1 propeller blades passes through the inner side of the deflector plate 5. The distance between the top of the deflector plate 5 and the center of the UAV body 1 is greater than the distance between the bottom of the deflector plate 5 and the center of the UAV body 1. The airflow generated by the UAV flight will blow onto the water surface. The oil slick located in the range directly below the UAV will be pushed and accumulated around by the airflow, increasing the thickness of the oil slick. By setting the deflector plate 5, the range of the airflow pushing the oil slick can be limited. When the sampling component 8 takes a sample, it can fall exactly on the position where the oil slick is pushed and accumulated, increasing the amount of oil slick collected.

[0021] like Figure 2-4 As shown, the hoist assembly 6 includes a housing 601, a geared motor 602, a connecting disc 603, a winding plate 605, and a telescopic block 607. The housing 601 is fixedly installed on the top of the sleeve 7. The geared motor 602 is installed inside the housing 601. The connecting disc 603 is coaxially fixedly connected to the output shaft of the geared motor 602. One end of the winding plate 605 is rotatably connected to the surface of the connecting disc 603 via a pin 604. A groove is provided circumferentially on the side wall of the winding plate 605. One end of the connecting rope 606 is fixedly connected to... In the end of the slot away from the pin 604, a telescopic groove 608 is provided on the side of the connecting plate 603 opposite to the pin 604. The telescopic groove 608 and the pin 604 are located on both sides of the axis of the connecting plate 603, and the telescopic block 607 is slidably fitted in the telescopic groove 608. By setting the hoisting assembly 6, the sampling assembly 8 can be driven to rise and fall. During sampling, the continuous rotation of the sampling assembly 8 can cause it to swing regularly, thereby increasing the range of oil collection. Figure 4As shown, the telescopic groove 608 is opened along the axial direction of the connecting plate 603. A spring 609 is installed in the telescopic groove 608. One end of the spring 609 is connected to the bottom of the telescopic groove 608, and the other end of the spring 609 is connected to the end of the telescopic block 607. In the rotation direction of the connecting plate 603, one side of the telescopic block 607 is an inclined surface, and the other side of the telescopic block 607 is a plane perpendicular to the connecting plate 603. A wire-locking groove 610 is opened in the middle of both sides of the inclined surface of the telescopic block 607. By setting the sampling component 8, it is possible to sample the oil on the surface of the water and the water body, and to continuously collect oil and increase the amount of oil collected.

[0022] like Figure 5 As shown, the sampling assembly 8 includes a sampling cylinder 801, a float plate 802, a connecting frame 804, a fixing block 805, and a sealing plate 817. The connecting frame 804 is fixedly connected to the top of the sampling cylinder 801, and the fixing block 805 is fixedly connected to the middle of the top of the connecting frame 804. One end of the connecting rope 606 is fixedly connected to the fixing block 805. The float plate 802 is installed on the side wall of the sampling cylinder 801 along the circumferential direction. An opening is provided at the bottom of the sampling cylinder 801. One end of the sealing plate 817 is hinged to the inner bottom wall of the sampling cylinder 801. A second spring plate 818 is installed on the top of the sealing plate 817, and the other end of the second spring plate 818 is connected to the inner side wall of the sampling cylinder 801.

[0023] like Figure 5 , 6 As shown, an annular float 812 is fitted onto the sampling cylinder 801. A fixing rod 823 is fixedly connected to the bottom of the annular float 812. A connecting rod 806 is coaxially installed inside the sampling cylinder 801. The bottom end of the connecting rod 806 is fixedly connected to the fixing rod 823. A push plate 807 is fixedly connected to the top end of the connecting rod 806. A collection tube 808 is hinged to the top of the push plate 807 via a hinge seat. The length of the collection tube 808 is greater than the inner diameter of the sampling cylinder 801. A first spring 809 is installed on one side of the collection tube 808. The other end of the first spring 809 is fixedly connected to the top of the push plate 807. A support seat 810 is fixedly connected to the top of the inner wall of the sampling cylinder 801. A guide wheel 811 is rotatably installed on the support seat 810. The rolling surface of the guide wheel 811 is in contact with the tube surface of the collection tube 808.

[0024] like Figure 7 As shown, when the collection tube 808 extends out of the sampling tube 801 and is in a horizontal state: the bottom of the tube wall inside the sampling tube 801 of the collection tube 808 is provided with an outlet 815, and the side wall of the tube wall outside the sampling tube 801 of the collection tube 808 is provided with a collection port 816.

[0025] like Figure 10As shown, an inlet 813 is provided on the top of the annular float 812, and a limiting block 814 is fixedly connected to the top of the annular float 812, with the limiting block 814 protruding from the inlet 813. A stop block 803 is fixedly connected to the outer wall of the sampling tube 801, and the position of the stop block 803 corresponds to the position of the limiting block 814.

[0026] like Figure 6 , Figure 10 As shown, the annular float 812 has a vertical groove 824 axially formed on its side wall, and a protrusion 822 is installed in the vertical groove 824; a drain port 819 is formed on the side wall of the sampling cylinder 801, and a valve plate 821 that closes the drain port 819 is attached to the inner side wall of the sampling cylinder 801. The two sides of the valve plate 821 are connected to the inner side wall of the sampling cylinder 801 by rubber strips. An installation groove is formed on the side wall of the sampling cylinder 801, and a valve stem 820 is provided in the installation groove. A fixed shaft is rotatably connected to one end of the valve stem 820, and both ends of the fixed shaft are fixedly connected to the side wall of the installation groove. A top block 825 is connected to the end of the valve stem 820 near the valve plate 821 on the side of the fixed shaft, and the other end of the valve stem 820 extends out of the installation groove; a limit pin 826 is fixedly installed on the sampling cylinder 801, and the sampling cylinder 801 is inserted into the vertical groove 824.

[0027] Working principle: When the drone body 1 flies over the water surface for inspection or evidence collection, the oil stains and water reflect light at different angles, resulting in different visual colors. When oil stains are found, video evidence can be collected through the gimbal camera 2. Since the angle of natural light does not change much within a certain time range, the image quality may be poor when taking photos for evidence collection. At this time, the adjustable fill light 3 is used. The adjustable fill light 3 is driven by an electric gimbal and can be adjusted in multiple directions. By adjusting the angle of the adjustable fill light 3 illuminating the oil stains on the water surface, the oil stains can be more easily displayed, thus improving the image quality. When sampling is required, the winch assembly 6 releases the connecting rope 606 to lower the sampling assembly 8 into the water body, thereby achieving sampling, as detailed below: like Figure 2 , Figure 3 As shown, in the initial state, the take-up plate 605 is attached to the plane of the telescopic block 607, the connecting rope 606 is wound in the slot, and the telescopic block 607 is wound in the loop of the connecting rope 606. The reduction motor 602 drives the connecting disc 603 to rotate, which in turn releases the connecting rope 606 and causes the sampling component 8 to descend. Figure 5 , 6As shown, the annular float 812 first contacts the water surface. Under the action of buoyancy, the float 812 temporarily floats on the water surface. As the connecting rope 606 is continuously released, the sampling tube 801 descends inside the annular float 812 and approaches the water surface. Simultaneously, due to the relative downward movement of the sampling tube 801 inside the annular float 812, the connecting rod 806 supports the push plate 807, causing the collection tube 808 to extend out of the sampling tube 801 until the sampling tube 801 is completely retracted into the annular float 812, at which point the collection tube... The tube 808 extends fully out of the sampling tube 801 and expands outward under the action of the first spring 809. As the connecting rope 606 continues to be lowered, the sampling tube 801 presses down on the annular float 812, immersing it in the water. At the same time, under the push of water pressure, the sealing plate 817 opens, and oil and water enter the sampling tube 801 until the collection tube 808 is in complete contact with the water surface. The float 802 is staggered from the collection tube 808 in the circumferential direction, and the float 802 can provide stable buoyancy. When the annular float 812 is submerged in water, under the action of buoyancy, the limiting block 814 will first push the stop block 803, and the water inlet 813 will be exposed, and water will enter the annular float 812 through the water inlet 813. At this time, only a relatively small amount of oil is collected in the sampling tube 801, such as Figure 3 As shown, as the connecting disc 603 continues to rotate counterclockwise, the pin 604 moves from... Figure 3 When rotating from the left side to the right side, the connecting rope 606 is first lowered and then gradually tightened, causing the sampling cylinder 801 to float completely on the water surface, allowing oil to enter the collection port 816. Then, the sampling cylinder 801 is lifted by the connecting rope 606. Due to inertia, the water-filled annular float 812 tends to remain stationary. Figure 8 As shown, the valve stem 820 is swung by the protrusion 822, and the valve stem 820 drives the top block 825 to open the valve plate 821. When the sampling cylinder 801 rises, the water level inside it is higher than that of the water body. After the valve plate 821 is opened, the water in the sampling cylinder 801 is in the lower layer and is discharged through the drain port 819. At the same time, the guide wheel 811 supports the collection pipe 808, causing its free end to tilt upwards. The oil inside it flows into the sampling cylinder 801 and enters the sampling cylinder 801 through the discharge port 815. At the same time, when the pin 604 moves from the left to the right, there is a horizontal movement, which drives the sampling component 8 to move horizontally, thereby increasing the range of oil collection. When the connecting disc 603 rotates continuously, when the pin 604 is at its highest point, the telescopic block 607 is at its lowest point. Since the winding plate 605 can rotate, its free end is always facing downwards. At this time, the inclined surface of the telescopic block 607 contacts the winding plate 605. The telescopic block 607 pushes the winding plate 605 to rotate synchronously by one end, so that the connecting rope 606 is wound up. As a result, the sampling cylinder 801 is continuously lifted to collect the oil. Due to the pressure of the winding plate 605, the telescopic block 607 is pushed along the inclined surface to retract, and the winding plate 605 falls back down. The sampling cylinder 801 falls back into the water. When the sampling cylinder 801 falls, the valve stem 820 is pushed in the opposite direction by the protrusion 822. At this time, the valve stem 820 cannot push the valve plate 821 to open.

[0028] The bottom end of the annular float 812 has a radially outwardly extending portion, which can provide resistance for the up-and-down movement of the annular float 812, ensuring that the annular float 812 is relatively stable in the water and preventing the sampling tube 801 from driving the annular float 812 to move in the water.

[0029] After sampling is complete, the hoist assembly 6 reverses, as shown. Figure 3 , 4 As shown, the connecting disc 603 rotates clockwise, and the plane of the telescopic block 607 contacts the winding plate 605, pushing the winding plate 605 to rotate synchronously with the connecting disc 603, thereby winding the connecting rope 606. When the connecting rope 606 is wound, it will be wound into the wire clamping groove 610, ensuring a stable connection between the telescopic block 607 and the winding plate 605. When the sampling cylinder 801 is lifted, the annular float 812 is filled with water. When the sampling cylinder 801 is lifted, the annular float 812 has a certain lag. When the sampling cylinder 801 leaves the water surface, the limiting pin 826 can prevent the annular float 812 from separating from the sampling cylinder 801. Under the action of the limiting pin 826, the annular float 812 is driven to leave the water surface. Due to the relative movement of the sampling cylinder 801 and the annular float 812, the connecting rod 806 pulls the collection tube 808 into the sampling cylinder 801. Since the sampling cylinder 801 is lifted first relative to the annular float 812, the valve plate 821 will be driven to open after the valve rod 820 passes the protrusion 822, and a part of the water will be discharged to ensure that the water in the sampling cylinder 801 will not overflow after the collection tube 808 is retrieved.

[0030] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of the claims of this patent application.

Claims

1. A water pollution source environmental protection inspection and enforcement robot, characterized in that, The device includes a drone body (1), a connecting arm (4) is fixedly connected to the upper part of the drone body (1), a guide plate (5) is fixedly connected to the end of the connecting arm (4) away from the drone body (1), the guide plate (5) is set along the height direction of the drone body (1), a sleeve (7) is fixedly installed on the side of the guide plate (5) away from the drone body (1), a winch assembly (6) is fixedly connected to the top of the sleeve (7), a sampling assembly (8) is connected to the winch assembly (6) through a connecting rope (606), and the top of the sampling assembly (8) is inserted into the sleeve (7). The guide plate (5) is installed outside the range of the blades of the UAV body (1). The airflow generated by the working blades of the UAV body (1) passes through the inner side of the guide plate (5). The distance between the top of the guide plate (5) and the center of the UAV body (1) is greater than the distance between the bottom of the guide plate (5) and the center of the UAV body (1). The hoist assembly (6) includes a housing (601), a geared motor (602), a connecting disc (603), a take-up plate (605), and a telescopic block (607). The housing (601) is fixedly installed on the top of the sleeve (7). The geared motor (602) is installed inside the housing (601). The connecting disc (603) is coaxially fixedly connected to the output shaft of the geared motor (602). One end of the take-up plate (605) is connected to the connecting disc (603) via a pin (604). The surface of the winding plate (605) is rotated and connected. A groove is provided on the side wall of the winding plate (605) along the circumferential direction. One end of the connecting rope (606) is fixedly connected to the end of the groove away from the pin (604). A telescopic groove (608) is provided on the side of the connecting plate (603) opposite to the pin (604). The telescopic groove (608) and the pin (604) are located on both sides of the axis of the connecting plate (603). The telescopic block (607) is slidably fitted in the telescopic groove (608). The expansion groove (608) is opened along the axial direction of the connecting plate (603). A spring (609) is installed in the expansion groove (608). One end of the spring (609) is connected to the bottom of the expansion groove (608), and the other end of the spring (609) is connected to the end of the expansion block (607). In the rotation direction of the connecting plate (603): one side of the expansion block (607) is an inclined surface, and the other side of the expansion block (607) is a plane perpendicular to the connecting plate (603). A wire clamping groove (610) is opened in the middle of both sides of the inclined surface of the expansion block (607).

2. The water pollution source environmental protection inspection and enforcement robot according to claim 1, characterized in that, The sampling assembly (8) includes a sampling tube (801), a float (802), a connecting frame (804), a fixing block (805), and a sealing plate (817). The connecting frame (804) is fixedly connected to the top of the sampling tube (801), and the fixing block (805) is fixedly connected to the middle of the top of the connecting frame (804). One end of the connecting rope (606) is fixedly connected to the fixing block (805). The float (802) is installed on the side wall of the sampling tube (801) along the circumferential direction. An opening is provided at the bottom of the sampling tube (801). One end of the sealing plate (817) is hinged to the inner bottom wall of the sampling tube (801). A second spring (818) is installed on the top of the sealing plate (817), and the other end of the second spring (818) is connected to the inner side wall of the sampling tube (801).

3. A water pollution source environmental protection inspection and enforcement robot according to claim 2, characterized in that, An annular float (812) is fitted onto the sampling tube (801). A fixing rod (823) is fixedly connected to the bottom of the annular float (812). A connecting rod (806) is coaxially installed inside the sampling tube (801). The bottom end of the connecting rod (806) is fixedly connected to the fixing rod (823). A push plate (807) is fixedly connected to the top end of the connecting rod (806). A collection tube (808) is hinged to the top of the push plate (807) via a hinge seat. The length of (808) is greater than the inner diameter of the sampling tube (801). A first spring (809) is installed on one side of the collection tube (808). The other end of the first spring (809) is fixedly connected to the top of the push plate (807). A support base (810) is fixedly connected to the top of the inner wall of the sampling tube (801). A guide wheel (811) is rotatably installed on the support base (810). The rolling surface of the guide wheel (811) is in contact with the tube surface of the collection tube (808).

4. A water pollution source environmental protection inspection and enforcement robot according to claim 3, characterized in that, When the collection tube (808) extends out of the sampling tube (801) and is in a horizontal state: the bottom of the tube wall inside the sampling tube (801) of the collection tube (808) is provided with an outlet (815), and the side wall outside the sampling tube (801) of the collection tube (808) is provided with a collection port (816).

5. A water pollution source environmental protection inspection and enforcement robot according to claim 3, characterized in that, An inlet (813) is provided at the top of the annular buoy (812), and a limiting block (814) is fixedly connected to the top of the annular buoy (812), with the limiting block (814) protruding from the inlet (813). A stop block (803) is fixedly connected to the outer wall of the sampling tube (801), and the position of the stop block (803) corresponds to the position of the limiting block (814).

6. A water pollution source environmental protection inspection and enforcement robot according to claim 3, characterized in that, The annular float (812) has a vertical groove (824) axially formed on its sidewall, and a protrusion (822) is installed in the vertical groove (824); a drain outlet (819) is formed on the sidewall of the sampling tube (801), and a valve plate (821) that closes the drain outlet (819) is attached to the inner sidewall of the sampling tube (801). The two sides of the valve plate (821) are connected to the inner sidewall of the sampling tube (801) by rubber strips. The sidewall of the sampling tube (801) has a vertical groove (824) axially formed on its sidewall. The mounting slot is provided with a valve stem (820). A fixed shaft is rotatably connected to one end of the valve stem (820). Both ends of the fixed shaft are fixedly connected to the side wall of the mounting slot. A top block (825) is connected to one end of the valve stem (820) near the valve plate (821) on the side of the fixed shaft. The other end of the valve stem (820) extends out of the mounting slot. A limit pin (826) is fixedly installed on the sampling cylinder (801). The sampling cylinder (801) is inserted into the vertical groove (824).

7. A water pollution source environmental protection inspection and enforcement robot according to claim 1, characterized in that, A gimbal camera (2) and an adjustable fill light (3) are fixedly connected to the bottom of the drone body (1). The adjustable fill light (3) is installed on the bottom of the drone body (1) and located around the gimbal camera (2).

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