A snail collection sampling device and a snail sampling method

Abstract

The invention discloses a snail collecting and sampling device, comprising: an unmanned aerial vehicle collecting and sampling assembly, comprising a fuselage shell, a fuselage bottom plate installed on the bottom surface of the fuselage shell, and a plurality of rotor parts symmetrically installed on the peripheral side of the fuselage shell; a visual collecting mechanism, which is installed on the front end of the fuselage shell through an angle adjusting component; a collecting and clamping component, comprising two pneumatic driving blocks which are installed and lifted on one side of the bottom surface of the fuselage bottom plate and flexible clamping claws which are respectively connected to the bottom of the pneumatic driving blocks; a collecting and storing component, comprising a semi-enclosed storage box body which is installed and lifted on the other side of the bottom surface of the fuselage bottom plate and a push-pull storage box which is telescopically pushed and pulled in the semi-enclosed storage box body; a debris cleaning component is arranged between the two pneumatic driving blocks, and the debris cleaning component comprises a rubber cleaning pad which is lifted and operated and has two ends to wipe debris on the surface of the flexible clamping claws, and the two ends of the rubber cleaning pad are elastically abutted on the flexible clamping claws.

Description

Technical Field

[0001] The invention belongs to the technical field of snail collection, in particular to a snail collection sampling device and a snail sampling method. Background Art

[0002] Rotten bubble land is one of the main environments for the growth of Oncomelania snails. In areas with the risk of schistosomiasis transmission, a large number of Oncomelania snails grow in rotten bubble land. However, with the ecological restoration in recent years, weeds have grown in the fields and hills, forests and fields, making rotten bubble land even more difficult to set foot in. In addition, it is also common in river ditch shallows, stagnant water ponds and the like, which are also environments where Oncomelania snails are easy to grow. For these environments, they are themselves key locations for monitoring the growth of Oncomelania snails. However, conventional soil sampling and standard snail collection are all collected by personnel arriving nearby. When collecting in rotten bubble land, river ditch shallows, and stagnant water ponds, the collectors will face the risk of direct contact with mud and water, and may be directly infected with schistosomiasis; moreover, because Oncomelania snails grow in mud and water, they are not easy to find themselves, and it is extremely inefficient for personnel to walk in the mud to search and collect samples.

[0003] Traditional manual collection methods rely on manpower, and the collection efficiency is limited by time and labor costs. Manual collection becomes very difficult for large areas of water or difficult-to-reach areas. In order to improve the ability to find snails and sample sediment in environments such as rotten water ditches, shallows, and ponds, the present invention designs an automatic sampling device for installation on a low-altitude aircraft. Summary of the invention

[0004] The purpose of the present invention is to provide a snail collection sampling device and a sampling method thereof to solve the problems raised in the background technology.

[0005] To achieve the above object, the present invention provides the following technical solution: a snail collection and sampling device, comprising:

[0006] The unmanned aerial vehicle sampling assembly comprises a fuselage shell, a fuselage bottom plate installed on the bottom surface of the fuselage shell, and a plurality of rotors symmetrically installed on the peripheral side of the fuselage shell;

[0007] A visual acquisition mechanism is installed at the front end of the fuselage shell through an angle adjustment component;

[0008] A collection and clamping assembly, comprising two pneumatic drive blocks which are installed on one side of the bottom surface of the fuselage bottom plate and flexible clamping claws which are respectively connected to the bottom of the pneumatic drive blocks;

[0009] The collection and storage assembly comprises a semi-enclosed storage box body which is installed in a lifting manner on the other side of the bottom surface of the fuselage bottom plate member, and a push-pull storage box which is telescopically pushed and pulled in the semi-enclosed storage box body;

[0010] Among them, a debris cleaning assembly is arranged between the two pneumatic drive blocks, and the debris cleaning assembly includes a rubber cleaning pad which is lifted and lowered and has two ends wiping debris on the surface of the flexible clamping claw, and the two ends of the rubber cleaning pad are elastically abutted against the flexible clamping claw, and a mesh frame is arranged in the inner cavity of the push-pull storage box, and a filter mesh is arranged in the mesh frame, and a pneumatic vibration screening rod is arranged below the filter mesh and located on the inner bottom wall of the push-pull storage box, which relies on the pneumatic drive block to transport gas so that pneumatic force is applied to the filter mesh to separate the snails and soil.

[0011] Preferably, a first electric lifting rod is fixedly mounted on one side of the bottom surface of the fuselage bottom plate, a connecting bottom plate is mounted on the bottom end of the first electric lifting rod, and a connecting top plate is mounted on the bottom surface of the connecting bottom plate via bolts.

[0012] Preferably, the tops of the two pneumatic drive blocks are both mounted with L-connecting blocks by screws, the two L-connecting blocks are fixed to the bottom surface of the connecting top plate by bolts, and the two flexible clamping claws are arranged opposite to each other.

[0013] Preferably, in this solution, first positioning uprights are symmetrically welded on both sides of the first electric lifting rod and located on the top surface of the connecting base plate, and first positioning holes for the first positioning uprights to longitudinally pass through are symmetrically opened on one side of the surface of the fuselage bottom plate, and the first electric lifting rod drives the flexible clamping claw to adjust the height position.

[0014] Preferably, both ends of the rubber cleaning pad are respectively provided with dust and sludge scrapers and debris cleaning serrated bars from top to bottom, and when the first electric lifting rod drives the rubber cleaning pad to descend, the rubber cleaning pad is in an elastic arc state, and the debris cleaning serrated bars scrape off the snail debris on the surface of the clamping part of the flexible clamping claw, and the dust and sludge scrapers scrape off the dirt on the surface of the clamping part.

[0015] In this solution, preferably, a connecting top block is fixedly connected to the middle position of the top surface of the rubber cleaning pad, a second electric lifting rod is installed on the top surface of the connecting top block, a tailstock end of the second electric lifting rod is fixedly installed on the bottom surface of the connecting top plate and is located between the two L-connecting blocks, and supporting side ribs are installed at both ends between the adjacent dust and sludge scrapers and the debris cleaning sawtooth bars to support the dust and sludge scrapers and the debris cleaning sawtooth bars. The outer walls on both sides of the connecting top block are fixedly connected with reinforcing ribs, the reinforcing ribs are fixed on the surface of the rubber cleaning pad, and connecting discs are welded at both ends of the second electric lifting rod.

[0016] In this solution, a third electric lifting rod is fixedly installed on the top surface of the semi-enclosed storage box body, and the tail end seat of the third electric lifting rod is fixedly installed on the other side of the bottom surface of the fuselage bottom plate. Second positioning rods are welded on both sides of the third electric lifting rod and located on the top surface of the semi-enclosed storage box body; and second positioning holes for the second positioning rod to penetrate longitudinally and position are symmetrically opened on the other side of the surface of the fuselage bottom plate. When the third electric lifting rod drives the semi-enclosed storage box body to move up and down, the semi-enclosed storage box body drives the second positioning rod to move longitudinally in the second positioning hole for longitudinal lifting and positioning of the semi-enclosed storage box body.

[0017] In this solution, one side of the semi-enclosed storage box body has an open opening for the push-pull storage box to extend out, and an electric push-pull rod is installed on the inner wall of the semi-enclosed storage box body, and the push-pull end of the electric push-pull rod is fixedly installed on one side of the outer wall of the push-pull storage box. Fixed ear plates are welded to the outer walls on both sides of the end of the push-pull storage box away from the electric push-pull rod, and fixed ear blocks are welded to the outer walls on both sides of the semi-enclosed storage box body. A positioning cross bar is welded on the inner wall of the fixed ear plate for horizontally passing through the fixed ear block, and the end of the positioning cross bar away from the fixed ear plate is connected to the limiting plate through a limiting bolt.

[0018] In this solution, the flexible clamping claw has an air nozzle on the outside, the air nozzle is connected to an air pipe, the air pipe is branched and connected to a branch air pipe on the outside, the other end of the branch air pipe penetrates the inner cavity of the push-pull storage box and is connected to the pneumatic vibration screening rod, and the end of the branch air pipe close to the air pipe has a solenoid valve for controlling the air path to enter the branch air pipe. When the sludge in the inner cavity of the push-pull storage box needs to be cleaned, the net frame can be disassembled and the sludge can be cleaned. The frame vertical plates are fixedly installed on both sides of the bottom surface of the fuselage bottom plate, and the angle adjustment component includes a first connecting bending rod fixedly installed at the front end of the fuselage shell, a first drive motor installed at the free end of the first connecting bending rod, a second connecting bending rod connected to the output shaft of the first drive motor, and a second drive motor installed at the free end of the second connecting bending rod. The visual acquisition mechanism includes a visual acquisition camera fixedly installed on the output shaft of the second drive motor, and the visual acquisition camera is located in front of the fuselage shell.

[0019] A method for collecting and sampling snails comprises the following steps:

[0020] S1: Preparation stage: The drone is in standby mode, the fuselage shell and the fuselage bottom plate are connected and ready, and the visual acquisition camera is adjusted to a suitable angle through the first connecting bending rod and the first driving motor and the second connecting bending rod and the second driving motor to prepare to capture image data;

[0021] S2: Flight phase: Through a preset path or remote control command, the drone flies to the target collection area, and the visual collection camera continuously captures images to find the location of the snail;

[0022] S3: Collection stage: When the UAV reaches the target position, the visual collection camera captures the exact position of the snail and feeds back the position information to the control system. The first electric lifting rod drives the connecting bottom plate and the connecting top plate to descend, and the pneumatic drive block and the flexible clamping claw are moved above the snail. Air is supplied to the pneumatic drive block through the air nozzle and the air pipe fitting, and the flexible clamping claw begins to close, and the clamping part tightly grasps the snail. When the clamping is completed, the first electric lifting rod is lifted to take the snail off the ground;

[0023] S4: Storage stage: The third electric lifting rod descends to move the semi-enclosed storage box body and the push-pull storage box to a proper position, the electric push-pull rod pushes the push-pull storage box to open, and the flexible clamping claw places the nail screw in the push-pull storage box;

[0024] The electric push-pull rod closes the push-pull storage box, and the fixed ear block and the fixed ear plate are locked with the positioning cross bar and the limit plate through the limit bolts to keep the position of the storage box stable. The net frame and the filter mesh are located in the push-pull storage box and are used to screen the snails and soil. Through the vibration of the pneumatic vibration screening rod, the snails are separated from the soil, and the soil and other impurities fall through the filter mesh, and the clean snails remain in the net frame;

[0025] S5: Cleaning stage: After the nail snails are placed in the storage box, the second electric lifting rod controls the rubber cleaning pad to move downward so that it contacts and wipes the surface of the flexible clamping claw. The dust and sludge scraper and debris cleaning serrated strip remove the dirt and other impurities on the clamping claw. The reinforcing ribs and supporting side rib rods ensure the structural strength of the rubber cleaning pad so that it can effectively clean the clamping claw. The connecting top block and the connecting plate ensure the stability and positioning accuracy of the cleaning assembly.

[0026] S6: Return phase: After completing the collection, the drone returns to the starting point or the next collection point according to the preset program or remote control command, and continues to monitor the surrounding environment during the flight to ensure safe flight;

[0027] S7: Data analysis phase: After collection, the push-pull storage box was opened to inspect and remove the snail samples for further laboratory analysis.

[0028] Compared with the prior art, the technical effects and advantages of the present invention are as follows:

[0029] The snail collection sampling device, through the integrated drone collection sampling assembly, can automatically fly to a designated location for collection, thereby improving collection efficiency; the visual collection mechanism can accurately identify the position of the snail, ensuring the accuracy of collection; the flexible clamping claws in the collection clamping assembly can gently clamp the snail to avoid damage; the pneumatic drive block ensures the stability and reliability of the clamping; the pneumatic vibration screening rod in the collection storage assembly can effectively screen the snail and soil, thereby improving the purity of the sample;

[0030] The debris cleaning component can automatically clean the flexible clamping claw after each collection to ensure the cleanliness of the clamping claw and reduce the risk of cross contamination. The combination of the rubber cleaning pad, the dust and sludge scraper and the debris cleaning serrated bar can completely remove the residue on the clamping claw;

[0031] The design of the semi-enclosed storage box and the push-pull storage box can safely store the collected snails to prevent the samples from being damaged during transportation. The use of the net frame and filter mesh ensures the effective separation of the snails from the soil, simplifying the subsequent processing steps;

[0032] The dust and sludge scraper can effectively scrape off the dirt attached to the surface of the clamping claw, ensuring that the clamping claw remains clean before the next operation. By removing the dirt on the clamping claw, non-target substances mixed in the sample can be reduced, and the sample purity can be improved. Keeping the clamping claw clean can reduce equipment failures caused by dirt blockage and improve the overall reliability of the equipment. The serrated design of the debris cleaning serrated bar can effectively scrape off small debris on the surface of the clamping claw, such as snail fragments. By effectively removing small debris on the clamping claw, the extra workload in subsequent sample processing can be reduced, and the efficiency of the overall collection process can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0034] Figure 1 It is a structural schematic diagram of the present invention;

[0035] Figure 2 It is a schematic diagram of the installation structure of the visual acquisition camera of the present invention;

[0036] Figure 3 A bottom view of the fuselage bottom plate of the present invention;

[0037] Figure 4 It is a schematic diagram of the installation structure of the flexible clamping claw of the present invention;

[0038] Figure 5 It is a schematic diagram of the installation structure of the rubber cleaning pad of the present invention;

[0039] Figure 6 For the present invention Figure 5 A schematic diagram of the enlarged structure at A in the middle;

[0040] Figure 7 It is a structural schematic diagram of the fuselage bottom plate member of the present invention;

[0041] Figure 8 It is a schematic diagram of the disassembled structure of the semi-enclosed storage box body and the fuselage bottom plate of the present invention;

[0042] Fig. 9 It is a structural schematic diagram of the push-pull storage box of the present invention in an open state;

[0043] Fig.10 It is a schematic structural diagram of the push-pull storage box and the net frame of the present invention in a disassembled state.

[0044] Description of reference numerals:

[0045] In the figure: 1. UAV sampling assembly; 2. Visual acquisition mechanism; 3. Collection clamping assembly; 4. Collection storage assembly; 5. Fuselage shell; 6. Rotor; 7. Fuselage bottom plate; 8. First connecting bending rod; 9. First driving motor; 10. Second connecting bending rod;

[0046] 11. Second drive motor; 12. Flexible clamping claw; 13. Rack vertical plate; 14. Visual acquisition camera; 15. Pneumatic drive block; 16. L connection block; 17. Connecting top plate; 18. Connecting bottom plate; 19. First electric lifting rod; 20. First positioning vertical rod;

[0047] 21. Air nozzle; 22. Air pipe fitting; 23. Clamping part; 24. Rubber cleaning pad; 25. Debris cleaning assembly; 26. Connecting top block; 27. Second electric lifting rod; 28. Connecting plate; 29. ​​Reinforcing rib; 30. Dust and sludge scraper;

[0048] 31. debris cleaning sawtooth bar; 32. supporting side rib rod; 33. first positioning hole; 34. second positioning hole; 35. semi-enclosed storage box body; 36. second positioning vertical rod; 37. push-pull storage box; 38. branch air pipe fitting; 39. third electric lifting rod; 40. fixing ear block;

[0049] 41. Fixed ear plate; 42. Positioning cross bar; 43. Limit plate; 44. Limit bolt; 45. Net frame; 46. Filter mesh; 47. Pneumatic vibration screening rod; 48. Electric push-pull rod. DETAILED DESCRIPTION

[0050] In the following description, a large number of specific details are provided to provide a more thorough understanding of the present invention. However, it is apparent to those skilled in the art that the present invention can be implemented without one or more of these details. In other examples, in order to avoid confusion with the present invention, some technical features well known in the art are not described.

[0051] Unless otherwise defined, the up, down, left, right, front, back, inside and outside directions involved in this document are based on the up, down, left, right, front, back, inside and outside directions in the figures shown in the present invention, and are explained here together.

[0052] This embodiment provides Figures 1 to 10 The snail collection and sampling device shown includes a drone collection and sampling assembly 1, a visual collection mechanism 2, a collection clamping component 3, and a collection storage component 4;

[0053] The drone sampling assembly 1 includes a fuselage shell 5, a fuselage bottom plate 7 installed on the bottom surface of the fuselage shell 5, and a plurality of rotors 6 symmetrically installed on the sides of the fuselage shell 5;

[0054] The visual acquisition mechanism 2 is installed at the front end of the fuselage shell 5 through an angle adjustment component;

[0055] The collecting and clamping assembly 3 includes two pneumatic drive blocks 15 which are installed and lifted on one side of the bottom surface of the fuselage bottom plate 7 and flexible clamping claws 12 which are respectively connected to the bottom of the pneumatic drive blocks 15; the collecting and clamping assembly 3 is used to grab and release the snail samples, and the pneumatic drive blocks 15 and the flexible clamping claws 12 are used to clamp and release the snails, so as to effectively capture and process the snails and reduce sample damage.

[0056] The collection and storage component 4 includes a semi-enclosed storage box body 35 which is installed and lifted on the other side of the bottom surface of the fuselage bottom plate 7, and a push-pull storage box 37 which can be telescopically pushed and pulled in the semi-enclosed storage box body 35; the collection and storage component 4 stores the collected snail samples, and the semi-enclosed storage box body 35 and the push-pull storage box 37 are used to achieve safe storage of the samples, thereby ensuring the integrity and cleanliness of the samples during transportation.

[0057] A debris cleaning assembly 25 is arranged between the two pneumatic drive blocks 15. The debris cleaning assembly 25 includes a rubber cleaning pad 24 that moves up and down and wipes debris on the surface of the flexible clamping claw 12 at both ends. The two ends of the rubber cleaning pad 24 are elastically abutted against the flexible clamping claw 12. A net frame 45 is arranged in the inner cavity of the push-pull storage box 37. A filter mesh 46 is arranged in the net frame 45. A pneumatic vibration screening rod 47 is arranged below the filter mesh 46 and located on the inner bottom wall of the push-pull storage box 37. The pneumatic drive block 15 delivers gas so that pneumatic force is applied to the filter mesh 46 for screening the snail and separating the soil. The flexible clamping claw 12 directly contacts and clamps the snail, and the clamping part 23 is used to achieve soft grasping of the snail, avoid damaging the snail, and improve the collection success rate. The pneumatic drive block 15 drives the flexible clamping claw 12 to open and close, and controls the clamping action through air pressure changes to achieve soft clamping and release of the snail.

[0058] In this embodiment, a first electric lifting rod 19 is fixedly installed on one side of the bottom surface of the fuselage bottom plate 7, a connecting bottom plate 18 is installed at the bottom end of the first electric lifting rod 19, and a connecting top plate 17 is installed on the bottom surface of the connecting bottom plate 18 through bolts.

[0059] In this embodiment, L-connecting blocks 16 are installed on the tops of the two pneumatic drive blocks 15 by screws, and the two L-connecting blocks 16 are fixed to the bottom surface of the connecting top plate 17 by bolts, and the two flexible clamping claws 12 are arranged opposite to each other.

[0060] In this embodiment, the first positioning uprights 20 are symmetrically welded on both sides of the first electric lifting rod 19 and located on the top surface of the connecting bottom plate 18. A first positioning hole 33 is symmetrically opened on one side of the surface of the fuselage bottom plate 7 for the first positioning uprights 20 to longitudinally pass through. The first electric lifting rod 19 drives the flexible clamping claw 12 to adjust the height position.

[0061] In this embodiment, dust and sludge scrapers 30 and debris cleaning serrated bars 31 are respectively installed at both ends of the rubber cleaning pad 24 from top to bottom. When the first electric lifting rod 19 drives the rubber cleaning pad 24 to descend, the rubber cleaning pad 24 is in an elastic arc state, and the debris cleaning serrated bars 31 scrape off the snail debris on the surface of the clamping part 23 of the flexible clamping claw 12, and the dust and sludge scraper 30 scrapes off the dirt on the surface of the clamping part 23.

[0062] In this embodiment, a connecting top block 26 is fixedly connected to the middle position of the top surface of the rubber cleaning pad 24, and a second electric lifting rod 27 is installed on the top surface of the connecting top block 26. The tail end of the second electric lifting rod 27 is fixedly installed on the bottom surface of the connecting top plate 17 and is located between the two L-connecting blocks 16. Support side ribs 32 are installed at both ends between the adjacent dust and sludge scrapers 30 and debris cleaning sawtooth bars 31 to support the dust and sludge scrapers 30 and debris cleaning sawtooth bars 31. The outer walls on both sides of the connecting top block 26 are fixedly connected with reinforcing ribs 29, which are fixed on the surface of the rubber cleaning pad 24, and connecting discs 28 are welded at both ends of the second electric lifting rod 27.

[0063] In this embodiment, a third electric lifting rod 39 is fixedly installed on the top surface of the semi-enclosed storage box body 35, and the tail end seat of the third electric lifting rod 39 is fixedly installed on the other side of the bottom surface of the fuselage bottom plate 7. Second positioning rods 36 are welded on both sides of the third electric lifting rod 39 and located on the top surface of the semi-enclosed storage box body 35; and second positioning holes 34 for the second positioning rod 36 to penetrate longitudinally and position are symmetrically opened on the other side of the surface of the fuselage bottom plate 7. When the third electric lifting rod 39 drives the semi-enclosed storage box body 35 to move up and down, the semi-enclosed storage box body 35 drives the second positioning rod 36 to move longitudinally in the second positioning hole 34 for longitudinal lifting and positioning of the semi-enclosed storage box body 35.

[0064] In this embodiment, one side of the semi-enclosed storage box body 35 has an open opening for the push-pull storage box 37 to extend out, and an electric push-pull rod 48 is installed on the inner wall of the semi-enclosed storage box body 35, and the push-pull end of the electric push-pull rod 48 is fixedly installed on one side of the outer wall of the push-pull storage box 37. Fixed ear plates 41 are welded to the outer walls on both sides of the end of the push-pull storage box 37 away from the electric push-pull rod 48, and fixed ear blocks 40 are welded to the outer walls on both sides of the semi-enclosed storage box body 35. A positioning cross bar 42 for horizontally penetrating the fixed ear block 40 is welded to the inner wall of the fixed ear plate 41, and the end of the positioning cross bar 42 away from the fixed ear plate 41 is connected to the limiting plate 43 through a limiting bolt 44.

[0065] In this embodiment, the flexible clamping claw 12 has an air nozzle 21 on the outside, and the air nozzle 21 is connected to the air pipe 22. The air pipe 22 is branched and connected to a branch air pipe 38 on the outside. The other end of the branch air pipe 38 penetrates the inner cavity of the push-pull storage box 37 and is connected to the pneumatic vibration screening rod 47. The end of the branch air pipe 38 close to the air pipe 22 has a solenoid valve for controlling the air path to enter the branch air pipe 38. When it is necessary to clean the sludge in the inner cavity of the push-pull storage box 37, the net frame 45 can be disassembled and the sludge can be cleaned. The frame vertical plates 13 are fixedly installed on both sides of the bottom surface of the fuselage bottom plate 7, and the angle adjustment component includes a first connecting bending rod 8 fixedly installed at the front end of the fuselage shell 5, a first drive motor 9 installed at the free end of the first connecting bending rod 8, a second connecting bending rod 10 connected to the output shaft of the first drive motor 9, and a second drive motor 11 installed at the free end of the second connecting bending rod 10. The visual acquisition mechanism 2 includes a visual acquisition camera 14 fixedly mounted on the output shaft of the second driving motor 11 , and the visual acquisition camera 14 is located directly in front of the body shell 5 .

[0066] In this embodiment, the first connecting bending rod 8, the first driving motor 9, the second connecting bending rod 10, and the second driving motor 11 cooperate together to form an angle adjustment component of the visual acquisition mechanism 2 to achieve the adjustment of the camera angle. The pitch and yaw angles of the visual acquisition camera 14 are adjusted by the first driving motor 9 and the second driving motor 11 to ensure that the camera can accurately aim at the acquisition target.

[0067] In this embodiment, the air nozzle 21, the air pipe fitting 22, and the branch air pipe fitting 38 are used together to provide an air source to the pneumatic drive block 15 and the pneumatic vibration screening rod 47. By connecting the air nozzle 21 and the air pipe fitting 22 to an external air source, pneumatic control is achieved to ensure the normal operation of the pneumatic components.

[0068] In this embodiment, the mesh frame 45, the filter mesh 46 and the pneumatic vibration screening rod 47 are used together to screen and clean the snail samples. Through the vibration of the pneumatic vibration screening rod 47, the filter mesh 46 is used to separate the snails from the soil, thereby improving the purity of the sample and facilitating subsequent analysis.

[0069] In this embodiment, the elastic material of the rubber cleaning pad 24 can effectively fit the surface of the flexible clamping claw 12, ensuring that the clamping claw can be thoroughly cleaned after each clamping operation. By regularly cleaning impurities on the clamping claw, cross contamination between different samples can be reduced and the purity of the sample can be improved. Regular cleaning can reduce the wear of the clamping claw caused by the accumulation of impurities, thereby extending its service life.

[0070] In this embodiment, the dust and sludge scraper 30 can effectively scrape off the dirt attached to the surface of the flexible clamping claw 12, ensuring that the clamping claw remains clean before the next operation. By removing the dirt on the flexible clamping claw 12, non-target substances mixed in the sample can be reduced, the sample purity can be improved, and keeping the flexible clamping claw 12 clean can reduce equipment failures caused by mud blockage and improve the overall reliability of the equipment; the serrated design of the debris cleaning sawtooth bar 31 can effectively scrape off small debris on the surface of the flexible clamping claw 12, such as snail debris, and by effectively removing the fine debris on the flexible clamping claw 12, the additional workload in subsequent sample processing can be reduced, and the efficiency of the overall collection process can be improved. The rubber cleaning pad 24, the dust and sludge scraper 30 and the debris cleaning sawtooth bar 31 work together to ensure that the flexible clamping claw 12 is thoroughly cleaned before and after each use, which not only improves the purity and collection efficiency of the sample, but also reduces the workload of equipment maintenance and extends the service life of the equipment.

[0071] A method for collecting and sampling snails comprises the following steps:

[0072] S1: Preparation stage: The drone is in standby mode, the fuselage shell 5 and the fuselage bottom plate 7 are connected and ready, and the visual acquisition camera 14 is adjusted to a suitable angle through the first connecting bending rod 8 and the first driving motor 9 and the second connecting bending rod 10 and the second driving motor 11 to prepare to capture image data;

[0073] S2: Flight phase: Through a preset path or remote control command, the UAV flies to the target collection area, and the visual collection camera 14 continuously captures images to find the location of the snail;

[0074] S3: Collection stage: When the UAV reaches the target position, the visual collection camera 14 captures the exact position of the snail and feeds back the position information to the control system. The first electric lifting rod 19 drives the connecting bottom plate 18 and the connecting top plate 17 to descend, and the pneumatic drive block 15 and the flexible clamping claw 12 are moved above the snail. Air is supplied to the pneumatic drive block 15 through the air nozzle 21 and the air pipe 22. The flexible clamping claw 12 begins to close, and the clamping part 23 tightly grasps the snail. When the clamping is completed, the first electric lifting rod 19 is lifted to take the snail off the ground;

[0075] S4: Storage stage: The third electric lifting rod 39 descends to move the semi-enclosed storage box 35 and the push-pull storage box 37 to appropriate positions, the electric push-pull rod 48 pushes the push-pull storage box 37 to open, and the flexible clamping claw 12 places the screw in the push-pull storage box 37;

[0076] The electric push-pull rod 48 closes the push-pull storage box 37, and the fixed ear block 40 and the fixed ear plate 41 are locked with the positioning cross bar 42 and the limit plate 43 through the limit bolt 44 to keep the position of the storage box stable. The net frame 45 and the filter mesh 46 are located in the push-pull storage box 37 and are used to screen the snails and soil. Through the vibration of the pneumatic vibration screening rod 47, the snails are separated from the soil, and the soil and other impurities fall through the filter mesh 46, and the clean snails remain in the net frame;

[0077] S5: Cleaning stage: After the nail snails are placed in the storage box, the second electric lifting rod 27 controls the rubber cleaning pad 24 to move downward so that it contacts and wipes the surface of the flexible clamping claw 12, and the dust and mud scraper 30 and the debris cleaning serrated bar 31 remove the dirt and other impurities on the clamping claw. The reinforcing ribs 29 and the supporting side rib rods 32 ensure the structural strength of the rubber cleaning pad 24 so that it can effectively clean the clamping claw. The connecting top block 26 and the connecting plate 28 ensure the stability and positioning accuracy of the cleaning assembly;

[0078] S6: Return phase: After completing the collection, the drone returns to the starting point or the next collection point according to the preset program or remote control command, and continues to monitor the surrounding environment during the flight to ensure safe flight;

[0079] S7: Data analysis stage: After the collection is completed, the push-pull storage box 37 is opened to check and take out the snail samples for further laboratory analysis.

[0080] It should be noted that, in this article, relational terms such as one and two are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions. The sentence "includes an element defined by ... does not exclude the existence of other identical elements in the process, method, article or device including the element".

[0081] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A snail collection and sampling device, characterized in that: include: An unmanned aerial vehicle sampling assembly (1) comprises a fuselage shell (5), a fuselage bottom plate member (7) mounted on the bottom surface of the fuselage shell (5), and a plurality of rotor members (6) symmetrically mounted on the periphery of the fuselage shell (5); A visual acquisition mechanism (2) is mounted at the front end of the fuselage shell (5) via an angle adjustment component; The collecting clamping assembly (3) comprises two pneumatic drive blocks (15) which are installed to be lifted and lowered on one side of the bottom surface of the fuselage bottom plate (7) and flexible clamping claws (12) which are respectively connected to the bottom of the pneumatic drive blocks (15), wherein the two flexible clamping claws (12) are arranged opposite to each other, and the opposite side surfaces of the two flexible clamping claws (12) are both arranged as clamping portions (23), and a first electric lifting rod (19) is fixedly installed on one side of the bottom surface of the fuselage bottom plate (7), and the first electric lifting rod (19) drives the flexible clamping claws (12) to adjust the height position; The collection and storage assembly (4) comprises a semi-enclosed storage box body (35) which is installed in a lifting manner on the other side of the bottom surface of the fuselage bottom plate (7) and a push-pull storage box (37) which is telescopically push-pull movable in the semi-enclosed storage box body (35); A debris cleaning assembly (25) is provided between the two pneumatic drive blocks (15), the debris cleaning assembly (25) comprising a rubber cleaning pad (24) which is lifted and lowered and has two ends for wiping debris on the surface of the flexible clamping claw (12), the two ends of the rubber cleaning pad (24) being elastically abutted against the flexible clamping claw (12), a net frame (45) is provided in the inner cavity of the push-pull storage box (37), a filter mesh (46) is provided in the net frame (45), and a filter mesh (46) is provided below the filter mesh (46) and on the inner bottom wall of the push-pull storage box (37) through which the filter mesh (46) is transmitted. The gas is supplied so that pneumatic force is applied to the filter mesh (46) to separate the snails from the soil. The flexible clamping claw (12) has an air nozzle (21) on the outside. The air nozzle (21) is connected to an air pipe (22). The outside of the air pipe (22) is branched and connected to a branch air pipe (38). The other end of the branch air pipe (38) passes through the inner cavity of the push-pull storage box (37) and is connected to the pneumatic vibrating screening rod (47). The branch air pipe (38) has an electromagnetic valve at one end close to the air pipe (22) for controlling the air path to enter the branch air pipe (38).

2. A snail collection and sampling device according to claim 1, characterized in that: A connecting bottom plate (18) is installed at the bottom end of the first electric lifting rod (19), and a connecting top plate (17) is installed on the bottom surface of the connecting bottom plate (18) via bolts.

3. The snail collection and sampling device according to claim 2, characterized in that: The tops of the two pneumatic drive blocks (15) are both mounted with L-connecting blocks (16) by means of screws, and the two L-connecting blocks (16) are fixedly mounted on the bottom surface of the connecting top plate (17) by means of bolts.

4. The snail collection and sampling device according to claim 3, characterized in that: First positioning uprights (20) are symmetrically welded on both sides of the first electric lifting rod (19) and located on the top surface of the connecting bottom plate (18), and first positioning holes (33) for the first positioning uprights (20) to penetrate longitudinally are symmetrically opened on one side of the surface of the fuselage bottom plate (7).

5. The snail collection and sampling device according to claim 4, characterized in that: Dust and sludge scrapers (30) and debris cleaning sawtooth strips (31) are respectively installed at both ends of the rubber cleaning pad (24) in order from top to bottom; When the first electric lifting rod (19) drives the rubber cleaning pad (24) to descend, the rubber cleaning pad (24) is in an elastic arc state, and the debris cleaning serrated bar (31) scrapes off the snail debris on the surface of the clamping portion (23) of the flexible clamping claw (12), and the dust and mud scraper (30) scrapes off the mud on the surface of the clamping portion (23).

6. The snail collection and sampling device according to claim 5, characterized in that: A connecting top block (26) is fixedly connected to the middle position of the top surface of the rubber cleaning pad (24), a second electric lifting rod (27) is installed on the top surface of the connecting top block (26), and the tail end of the second electric lifting rod (27) is fixedly installed on the bottom surface of the connecting top plate (17) and is located between the two L-connecting blocks (16).

7. The snail collection and sampling device according to claim 6, characterized in that: A third electric lifting rod (39) is fixedly mounted on the top surface of the semi-enclosed storage box body (35); a tail end seat of the third electric lifting rod (39) is fixedly mounted on the other side of the bottom surface of the fuselage bottom plate (7); and second positioning upright rods (36) are welded on both sides of the third electric lifting rod (39) and located on the top surface of the semi-enclosed storage box body (35); A second positioning hole (34) for the second positioning upright rod (36) to penetrate longitudinally for positioning is symmetrically provided on the other side of the surface of the fuselage bottom plate (7).

8. The snail collection and sampling device according to claim 6, characterized in that: One side of the semi-enclosed storage box body (35) has an open opening for the push-pull storage box (37) to extend out, and an electric push-pull rod (48) is installed on the inner wall of the semi-enclosed storage box body (35), and the push-pull end of the electric push-pull rod (48) is fixedly installed on one side of the outer wall of the push-pull storage box (37).

9. The sampling method of the snail collection and sampling device according to any one of claims 1 to 8, characterized in that: The following steps are involved: S1: preparation stage: the drone is in a standby state, the fuselage shell (5) and the fuselage bottom plate (7) are connected and ready, the visual acquisition camera (14) is adjusted to a suitable angle through the first connecting bending rod (8) and the first driving motor (9) and the second connecting bending rod (10) and the second driving motor (11), and is ready to capture image data; S2: Flight phase: The UAV flies to the target collection area through a preset path or remote control command, and the visual collection camera (14) continuously captures images to find the location of the snail; S3: Collection phase: When the UAV reaches the target position, the visual collection camera (14) captures the exact position of the oncomelania and feeds back the position information to the control system. The first electric lifting rod (19) drives the connecting bottom plate (18) and the connecting top plate (17) to descend, and moves the pneumatic drive block (15) and the flexible clamping claw (12) to the top of the oncomelania. Air is supplied to the pneumatic drive block (15) through the air nozzle (21) and the air pipe (22). The flexible clamping claw (12) begins to close, and the clamping part (23) tightly grasps the oncomelania. When the clamping is completed, the first electric lifting rod (19) is lifted to lift the oncomelania off the ground. S4: Storage stage: The third electric lifting rod (39) descends to move the semi-enclosed storage box body (35) and the push-pull storage box (37) to appropriate positions, the electric push-pull rod (48) pushes the push-pull storage box (37) to open, and the flexible clamping claw (12) places the nail screw in the push-pull storage box (37); The push-pull type storage box (37) is closed by an electric push-pull rod (48), and the fixed ear block (40) and the fixed ear plate (41) are locked with the positioning cross bar (42) and the limiting plate (43) by limiting bolts (44) to keep the position of the storage box stable. The net frame (45) and the filter mesh (46) are located in the push-pull type storage box (37) and are used to screen the snails and soil. The snails are separated from the soil by the vibration of the pneumatic vibration screening rod (47), and the soil impurities fall through the filter mesh (46), and the clean snails remain in the net frame; S5: cleaning stage: after the nail snails are placed in the storage box, the second electric lifting rod (27) controls the rubber cleaning pad (24) to move downward so that it contacts and wipes the surface of the flexible clamping claw (12), the dust and sludge scraper (30) and the debris cleaning sawtooth bar (31) remove the dirt and other impurities on the clamping claw, the reinforcing rib (29) and the supporting side rib rod (32) ensure the structural strength of the rubber cleaning pad (24) so ​​that it can effectively clean the clamping claw, and the connecting top block (26) and the connecting plate (28) ensure the stability and positioning accuracy of the cleaning assembly; S6: Return phase: After completing the collection, the drone returns to the starting point or the next collection point according to the preset program or remote control command, and continues to monitor the surrounding environment during the flight to ensure safe flight; S7: Data analysis phase: After collection, the push-pull storage box (37) is opened to inspect and take out the snail samples for further laboratory analysis.

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