Environmental pollutant sampling device and environmental monitoring system

Abstract

The invention relates to the technical field of environmental monitoring sampling, and discloses an environmental pollutant sampling device and an environmental monitoring system.The environmental pollutant sampling device comprises a device body, a walking mechanism, a camera shooting monitoring mechanism and a sampling mechanism; the walking mechanism comprises a ground walking structure and a water surface walking structure; the camera shooting monitoring mechanism is arranged on the device body, and the ground walking structure and the water surface walking structure are electrically connected with the camera shooting monitoring mechanism; the sampling mechanism comprises a sampling structure arranged on the device body and electrically connected with the camera shooting monitoring mechanism and a sample storage structure arranged in the device body. According to the device, the whole device can walk on the ground, the water surface and the marshland so as to reach various environments for sampling, the sampling work of different samples is ensured, the sampling efficiency is greatly improved, and the sampling difficulty is reduced; and by arranging the sampling mechanism, the whole device can be used for storing various samples or multiple samples after going out, so that on-site multiple sampling and split charging are facilitated, and the sampling work is simplified.

Description

Technical Field

[0001] The invention relates to the technical field of environmental monitoring sampling, and in particular to an environmental pollutant sampling device and an environmental monitoring system. Background Art

[0002] Environmental monitoring system is a systematic technology and means to scientifically observe and count certain environmental factors, summarize and analyze data, and specify targeted environmental management and improvement measures. For environmental monitoring, environmental monitoring devices usually collect various environmental data, such as temperature, humidity, pollutants, etc.

[0003] Environmental pollutant sampling devices are devices used to collect environmental samples for the purpose of detecting and evaluating environmental quality and pollution. These devices are usually used to collect samples of air, water, soil, etc. in the environment to provide data support for subsequent environmental monitoring and analysis.

[0004] Traditional environmental pollutant sampling devices can usually be used to collect solid samples such as soil or liquid samples. Traditional sampling methods can be used for sampling through adsorption, purification or filter paper methods, which can adsorb target pollutants. After sampling, the environmental pollutant sampling device will transmit the sample to the data detection and processing device for analysis. However, the sampling capacity of existing environmental pollutant sampling devices is limited. The number of times the sampling device needs to sample each time it goes out is limited to one time, which greatly increases the sampling time and is not convenient for timely sampling. For the sampling device, there are many types of pollutant samples that need to be sampled. For this reason, it involves sampling on land, water and swamps. Traditional sampling devices use special sampling devices for different sampling environments, which will increase the cost of the entire environmental monitoring system. Summary of the invention

[0005] In view of the above-mentioned deficiencies of the prior art, the technical problem to be solved by the present invention is to provide an environmental pollutant sampling device and an environmental monitoring system to solve the problems of limited sampling quantity and walking environment of the existing pollutant sampling devices.

[0006] In order to solve the above technical problems, a technical solution adopted by the present invention is: to provide an environmental pollutant sampling device including a device body, a walking mechanism arranged on the device body, a video monitoring mechanism arranged on the device body and a sampling mechanism arranged on the device body; the walking mechanism includes a ground walking structure and a water surface walking structure respectively arranged at the bottom of the device body; the video monitoring mechanism is arranged on the device body, and the ground walking structure and the water surface walking structure are both electrically connected to the video monitoring mechanism and controlled by the video monitoring mechanism, so that they can walk and move on the water surface, the ground and the swamp area, so as to be able to sample in different environments; the sampling mechanism includes a sampling structure arranged on the device body and electrically connected to the video monitoring mechanism, and a sample storage structure arranged inside the device body and used for the sampling structure to store multiple samples respectively, so that multiple types of sampling can be performed separately when the device goes out for sampling, saving time for sampling and improving sampling efficiency.

[0007] Furthermore, the ground walking structure includes a base frame which is symmetrically arranged on opposite sides of the device body and each has at least two connecting arms, a driving wheel corresponding to the connecting arms and rotatably connected to the connecting arms, and a first driving member arranged on the driving wheel. A steering system for steering the driving wheel is arranged on the base frame. The first driving member and the steering system are both electrically connected to a camera monitoring mechanism so as to be able to reach a variety of ground environments for sampling.

[0008] Furthermore, the structure for walking on the water surface includes an elastic air bag arranged at the bottom of the device body and on the inner side of each driving wheel, and a second driving member installed inside the device body and used to inflate or evacuate air into the elastic air bag. A plurality of exhaust ports are opened on the top of the device body, and shielding plates corresponding to the positions of the exhaust ports are provided on the outer wall of the device body, which cover the exhaust ports in the vertical direction and are inclined downward and open, so that air can be inflated in the air bag for walking on the water surface, and when walking on the ground, the gas inside the air bag is discharged to avoid hindering the walking of the driving wheels.

[0009] Furthermore, the walking mechanism also includes a plurality of mud removal structures which are respectively arranged on each driving wheel and connected to the second driving member. Each of the mud removal structures is used to operate intermittently during the operation of the second driving member and the expansion of the elastic airbag, so as to achieve a certain degree of mud removal effect through intermittent operation when mud is wrapped on the driving wheel.

[0010] Furthermore, each of the mud removal structures includes a plurality of mud removal parts which are arranged on the driving wheel at equal intervals along the circumference of the driving wheel; each of the mud removal parts includes a receiving groove which is opened on the driving wheel and radially penetrates the outer wall of the driving wheel, and a movable part which is elastically arranged in the receiving groove along the radial direction; and air passages which are respectively connected to the receiving grooves are provided on the driving wheel and the connecting arm; the second driving part is connected to the air passage and is used to push the movable part to intermittently extend or retract into the receiving groove through the air passage; when the movable part retracts into the receiving groove, the receiving groove increases the friction between the driving wheel and the ground; when the movable part extends out of the receiving groove, it can push away the mud covering the surface of the driving wheel, while increasing the friction between the driving wheel and the ground, thereby improving the grip of the driving wheel.

[0011] Furthermore, the movable part includes a movable block sealingly and slidingly arranged in the receiving groove and a first spring arranged in the receiving groove and connected to the inner wall of the receiving groove and the movable block. When the movable block is entirely located in the receiving groove, the first spring is in a normal state to keep the movable block in the receiving groove.

[0012] Furthermore, the sampling structure includes a suction sampling part hinged at the front end of the device body; the suction sampling part includes a mechanical arm with one end mounted on the device body and electrically connected to the camera monitoring mechanism, a suction sampling head mounted on the end of the mechanical arm away from the device body, and a third driving member arranged inside the device body and connected to and communicated with the suction sampling head at the input end. The end of the suction sampling head has a tubular suction nozzle, and the third driving member is used to drive the suction nozzle to absorb samples or spray samples, so as to collect samples in various states such as gas, liquid and powder.

[0013] Furthermore, the sampling structure also includes a drilling sampling part arranged at the rear end of the device body; the drilling sampling part includes a fourth driving member rotatably mounted on the device body and capable of moving in a vertical direction, and a drilling tube connected to the output end of the fourth driving member, the fourth driving member is used to drive the drilling tube to rotate so as to drill harder samples, and a plurality of blades are arranged on the outer wall of the drilling tube at equal intervals along its circumference so as to provide moving power when walking on the water surface.

[0014] Furthermore, an inlet connected to the inner cavity of the device body is provided on one side of the device body provided with the mechanical arm, and a sealing plate swinging upward is sealed and hinged at the inlet to prevent water from entering the inner cavity of the device body and to allow the suction sampling head to enter the inner cavity of the device body; the sample storage structure includes a storage box arranged in the inner cavity of the device body and internally provided with a plurality of empty sample storage bottles, a support frame arranged below an output port at the bottom of the storage box, an elastic pushing portion arranged on the first end of the support frame and always pressed against the sample storage bottles on the support frame, and a collection box for collecting sample storage bottles arranged on the side of the second end of the support frame, the bottle mouth of the sample storage bottle is sealed with a rubber sheet facing the inlet side, and the rubber sheet has a contraction opening for the suction nozzle to seal and penetrate therein, A movable bracket is hinged on the second end of the support frame, which swings toward the side of the collection box and is used to support a sample bottle. A limit block is provided on the side of the movable bracket facing the inlet, which limits the sample bottle from leaving the movable bracket toward the inlet. A lifting part is provided below the movable bracket, which is used to swing the movable bracket toward the side of the collection box. The elastic pushing part is connected to the sealing plate so that when the suction sampling head pushes open the sealing plate, the elastic pushing part moves toward the side away from the inlet until the next sample bottle is output from the storage box to the support frame, so that after the suction sampling head injects the sample into the sample bottle on the movable bracket, the sample bottle on the movable bracket can be transferred and the sample bottle on the support frame can be automatically replenished, so as to ensure that the suction sampling head can perform multiple sampling and collection and storage.

[0015] The present invention also provides an environmental monitoring system including a data management monitoring station, an environmental pollutant sampling device and a sample transportation mechanism. The environmental pollutant sampling device is used to transfer the collection box to the sample transportation mechanism, and the sample transportation mechanism is used to transport the collection box to the data management monitoring station, so as to facilitate the transfer of the sample storage bottle containing the sample in the environmental pollutant sampling device to the data management monitoring station for detection and analysis, so as to achieve the purpose of environmental monitoring.

[0016] The environmental pollutant sampling device and environmental monitoring system of the present invention have at least the following beneficial effects: by setting a walking mechanism, the entire device can walk on the ground and on the water surface, and when the ground walking structure and the water walking structure are coordinated, the device can walk on swamps, so as to be able to reach a variety of environments for sampling, ensure the sampling of different samples, greatly improve the sampling efficiency, and reduce the difficulty of sampling; by setting a sampling mechanism, the entire device can be used to store multiple samples or multiple samples after going out, which is convenient for multiple sampling and packaging on site to simplify the sampling work. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0018] Figure 1 It is a structural schematic diagram of the environmental pollutant sampling device of the present invention;

[0019] Figure 2 It is a structural schematic diagram of the environmental pollutant sampling device of the present invention from another angle;

[0020] Figure 3 A partial side cross-sectional view of the environmental pollutant sampling device of the present invention;

[0021] Figure 4 for Figure 3 An enlarged view of section A is shown;

[0022] Figure 5 for Figure 3 A partial enlarged cross-sectional view of the suction sampling head and the sample storage bottle;

[0023] Figure 6 It is a structural schematic diagram of the support frame of the present invention;

[0024] Figure 7 is a front cross-sectional view of the environmental pollutant sampling device of the present invention;

[0025] Figure 8 for Figure 7 an enlarged cross-sectional view of the drive wheel shown;

[0026] Fig. 9 It is a partial schematic diagram of the sample transport mechanism of the present invention.

[0027] The meanings of the symbols in the accompanying drawings are:

[0028] Device body-1; charging socket-11; exhaust port-12; inlet-13; sealing plate-14;

[0029] Walking mechanism-2; ground walking structure-21; chassis-211; connecting arm-211a; main rod-211b; auxiliary rod-211c; first driving member-212; driving wheel-213; water walking structure-22; elastic airbag-221; second driving member-222; tension spring-223; mud removal structure-23; mud removal part-23a; storage groove-231; movable member-232; movable block-2321; first spring-2322; airway-233;

[0030] Camera monitoring mechanism-3; Camera monitoring module-31; Solar charging panel-32; Wind speed meter-33;

[0031] Sampling mechanism-4; sampling structure-41; suction sampling part-411; mechanical arm-4111; suction sampling head-4112; third driving member-4113; suction nozzle-4114; cone frame-4115; support block-4116; drilling sampling part-412; fourth driving member-4121; drilling cylinder-4122; support rod-4123; blade-4124; sample storage structure-42; storage box-421 ; Support frame-422; Moving channel-4221; Movable bracket-4222; Second channel-4223; Limit block-4224; Slot-4225; Extension piece-4226; Elastic push part-423; Metal bellows-4231; Push block-4232; Second spring-4233; Push block-4234; Pull rope group-4235; Collection box-424; Sample storage bottle-425; Lifting part-426;

[0032] Track-51; transport box-52. DETAILED DESCRIPTION

[0033] The present invention will be further described below in conjunction with the accompanying drawings.

[0034] like Figures 1 to 8 As shown, the environmental pollutant sampling device of the present invention includes a device body 1 which is hollow inside and has a cavity, a walking mechanism 2 arranged at the bottom of the device body 1, a camera monitoring mechanism 3 arranged on the device body 1, and a sampling mechanism 4 arranged on the device body 1. The walking mechanism 2 is used to drive the device body 1 to walk and move so as to reach a designated location or a random location. The camera monitoring mechanism 3 is used to monitor and shoot the surrounding environment through video monitoring so as to understand the surrounding environmental conditions in real time. The sampling mechanism 4 samples and stores samples at the positions where the device body 1 passes according to instructions to ensure the sampling work is carried out, so that people can timely understand the environmental conditions at different locations, so as to timely discover environmental pollution conditions and timely treat them to prevent environmental deterioration.

[0035] like Figures 1 to 3As shown, in this embodiment, the device body 1 is made of a corrosion-resistant material, such as stainless steel, and a waterproof coating can be provided on the surface of the device body 1 to increase the service life. The top and bottom of the device body 1 are both plane, and the front end of the device body 1 is in a triangular structure, and the front end of the device body 1 has a front upper inclined surface inclined upward and a front lower inclined surface inclined downward. A charging socket 11 is provided protruding forward at the front end of the device body 1, and a rechargeable battery (not shown in the figure) electrically connected to the charging socket 11 is provided inside the device body 1, and the camera monitoring mechanism 3, the sampling mechanism 4 and the walking mechanism 2 are all electrically connected to the rechargeable battery. The rear end of the device body 1 is also in a triangular structure, and the rear end of the device body 1 has a rear upper inclined surface inclined upward and a rear lower inclined surface inclined downward. A plurality of exhaust ports 12 are provided on the rear lower inclined surface, and each exhaust port 12 is arranged at intervals. Shielding sheets are provided on the outer wall of the device body 1, i.e., on the rear lower inclined surface at positions corresponding to each exhaust port 12. The shielding sheets are inclined along the lower inclined surface, and the shielding sheets shield the exhaust ports 12 in the vertical direction to prevent rainwater from entering the device body 1 through the exhaust ports 12. The shielding sheet is open downward and toward the side away from the front upper inclined surface to ensure that the device body 1 can be exhausted and heat dissipated.

[0036] like Figures 1 to 3 , Figure 7 and Figure 8As shown, in the present embodiment, the walking mechanism 2 includes a ground walking structure 21 arranged at the bottom of the device body 1, a water surface walking structure 22 arranged at the bottom of the device body 1, and a plurality of mud removal structures 23 arranged on the ground walking mechanism 2 and connected to the water surface walking structure 22. The ground walking structure 21 is used to drive the device body 1 to walk and move on the ground, and the water surface walking structure 22 is used to drive the device body 1 to float on the water surface, so that the sampling mechanism 4 can sample the pollutants on the water, and the ground walking structure 21 and the water surface walking structure 22 cooperate with each other to be able to walk on the soft swamp environment, and the mud removal structure 23 is driven by the water surface walking structure 22 to be able to run intermittently to clean the mud and the like attached to the ground walking structure 21 to ensure the normal use of the ground walking structure 21. It should be noted that the walking mechanism 2 is not limited to the structure of the present embodiment, and other structures may be used for replacement. For example, in another embodiment, the walking mechanism 2 may only include a ground walking structure 21. The ground walking structure 21 is composed of a number of rollers rotatably mounted on the device body 1, a motor for driving the rotation of each roller, a steering structure for controlling the rotation of the two front rollers, and an inflatable structure arranged on both sides of each roller. The inflatable structure includes an inflatable part made of elastic materials such as rubber arranged on both sides of each roller and a fan arranged on the device body 1. When it is necessary to walk on the ground, each inflatable part is evacuated by the fan and is in a deflated state. When it is necessary to walk on the water or on a swamp, the fan inflates each inflatable part and expands it to support the weight of the entire device body 1 so that the device body 1 can float on the water, thereby realizing walking in multiple environmental states.

[0037] In the content defined in this embodiment, the ground walking structure 21 includes a base frame 211 which is symmetrically arranged on the left and right sides of the device body 1 and has at least two connecting arms 211a, a driving wheel 213 corresponding to each connecting arm 211a and rotatably connected to each connecting arm 211a, and a first driving member 212 arranged on the driving wheel 213. The number of driving wheels 213 is consistent with the number of connecting arms 211a so that they can be connected to each connecting arm 211a respectively, so that the device body 1 can be moved by each driving wheel 213. A steering system (not shown in the figure) for steering the driving wheel 213 is arranged on the base frame 211. The first driving member 212 and the steering system are both electrically connected to the camera monitoring mechanism 3 so that the camera monitoring mechanism 3 controls the opening and closing and steering of the first driving member 212, so that the device body 1 can reach the specified position for sample collection.

[0038] In this embodiment, two base frames 211 are provided and arranged symmetrically, and each base frame 211 includes at least two main rods 211b fixedly provided on the outer wall of the device body 1, a sub-rod 211c fixedly connected to each main rod 211b, and at least two connecting arms 211a. Two connecting arms 211a can be connected to one end of the sub-rod 211c, and one connecting arm 211a is provided on the other end of the sub-rod 211c. The other end of each connecting arm 211a is downward and relatively inclined so that the other end of each connecting arm 211a is distributed in sequence along the front-to-back direction. The corresponding driving wheels 213 are provided in six and are rotatably connected to one end of the connecting arm 211a away from the sub-rod 211c, so that each driving wheel 213 can support and drive the device body 1 to move, and each connecting arm 211a makes the top surface height of each driving wheel 213 lower than the bottom surface height of the device body 1 to avoid the device body 1 hindering walking and to make a larger interval between the two rows of driving wheels 213. The wheel width of each driving wheel 213 is greater than the radius of the driving wheel 213 and less than the diameter of each driving wheel 213 to ensure that each driving wheel 213 has a certain adhesion to the ground. Preferably, a shock absorber can be arranged between the connecting arm 211a and the driving wheel 213 to improve stability. In this embodiment, the first driving member 212 can be a driving motor, and the first driving member 212 can be provided with two and respectively arranged on the two connecting arms 211a located at the front side, and the output shafts of the two first driving members 212 are respectively connected to the two driving wheels 213 located at the front side to drive the two first driving members 212 to rotate, and the two first driving members 212 are both electrically connected to the camera monitoring mechanism 3 and the rechargeable battery. In another embodiment, only one first driving member 212 may be provided, and the first driving member 212 is axially connected to one of the driving wheels 213 at the front end, and the other driving wheel 213 at the front end realizes synchronous transmission by arranging a gear belt on the inner wall of the connecting arm 211a to cooperate with the output shaft of the first driving member 212, thereby driving the driving wheel 213. The steering system can be any existing automatic steering system such as electric power steering and is arranged on the inner side of the bottom of the device body 1. The electric power steering is provided with steering assistance by an electric power booster. The steering system is also electrically connected to the rechargeable battery and the camera monitoring mechanism 3. The steering system is a prior art and will not be described in detail here.

[0039] In the content defined in this embodiment, the water surface walking structure 22 includes an elastic airbag 221 arranged at the bottom of the device body 1 and on the inner side of each driving wheel 213, and a second driving member 222 installed inside the device body 1 and used to inflate or exhaust air into the elastic airbag 221. The second driving member 222 is electrically connected to the rechargeable battery and the camera monitoring mechanism 3 respectively, and the opening and closing of the second driving member 222 is controlled by the camera monitoring mechanism 3. When it is necessary to travel on the water surface, the second driving member 222 inflates the elastic airbag 221, so that the elastic airbag 221 expands in the space between the driving wheels 213 until the expansion is completed. At this time, the bottom height of the elastic airbag 221 is still higher than the bottom height of the driving wheel 213, so that the driving wheel 213 can still walk on the ground at this time until the device body 1 floats on the water surface. At this time, the two front driving wheels 213 can still operate under the drive of the first driving member 212 to provide power to the device body 1 floating on the water surface, and propel the device body 1 forward by stirring the water flow. It should be noted that the water surface walking structure 22 may also be the aforementioned inflatable structure, which will not be described in detail here.

[0040] In this embodiment, the top of the elastic airbag 221 is fixedly connected to the bottom surface of the device body 1, and the front side of the elastic airbag 221 is in an active state and connected to the device body 1. The front side of the elastic airbag 221 is fixedly connected to two tension springs 223, and the other ends of the two tension springs 223 are fixedly connected to the device body 1, and the two tension springs 223 are respectively arranged on the left and right sides of the bottom surface of the device body 1, so that the two tension springs 223 are spaced apart. The second driving member 222 is a fan, which is arranged inside the device body 1 and connected to the inner cavity of the elastic airbag 221 through a pipeline seal. The fan can be a fan that can rotate forward and reverse, or two fans can be directly used, one exhaust end is connected to the elastic airbag 221, and the other blow end is connected to the elastic airbag 221, so that the air can be exhausted and exhausted for the elastic airbag 221 respectively. When the device body 1 is in a walking state on the ground, the entire elastic airbag 221 is evacuated to a deflated state by the second driving member 222. At this time, the front end of the entire elastic airbag 221 is deflated to the rear elastic airbag 221, and the tension spring 223 is in a stretched state. At this time, the elastic airbag 221 will not hinder the walking of the driving wheel 213; when it is necessary to walk on the water surface, the second driving member 222 quickly inflates the elastic airbag 221 to make the elastic airbag 221 expand rapidly. In this process, the tension spring 223 gradually rebounds and contracts to pull the gradually expanding elastic airbag 221 forward to ensure that the expanded elastic airbag 221 can cover the bottom surface of the device body 1, so that The bottom surface of the device body 1 and the front end part of the elastic airbag 221 support each other, so that the device body 1 can float on the water surface more stably, and the rotation of the driving wheel 213 can provide propulsion force to move the device body 1 on the water surface; when it is necessary to walk on a flexible ground such as a swamp, the second driving member 222 and the first driving member 212 operate simultaneously, so that the driving wheel 213 is responsible for walking and moving, and the elastic airbag 221 is expanded to provide support for the device body 1 to prevent the entire device body 1 from sinking, and each driving wheel 213 rotates to provide a driving force, so that the device body 1 can walk on a flexible ground such as a swamp, so as to sample soil and water sources such as swamps.

[0041] In the content defined in this embodiment, when the system is used for sampling operations in an environment with deep silt such as a swamp, when the driving wheel 213 travels in an environment with deep silt, the thin silt has greater viscosity and is easily attached to the driving wheel 213 in a mass, causing the driving wheel 213 to slip or the vehicle body to be unstable, so a mud removal structure 23 is provided. The mud removal structures 23 are provided in plurality and arranged one-to-one with the number of driving wheels 213, so that each mud removal structure 23 is separately provided on each driving wheel 213, and each mud removal structure 23 is connected to the second driving member 222, so that the mud removal structure 23 is intermittently operated after the second driving member 222 is operated and during the expansion of the elastic airbag 221, so that the mud removal structure 23 intermittently cleans the attachments on the driving wheel 213, so as to minimize the influence of the attachments on the use of the driving wheel 213.

[0042] In this embodiment, each mud removal structure 23 includes a plurality of mud removal portions 23a which are evenly spaced along the circumference of the driving wheel 213. The plurality of mud removal portions 23a on each driving wheel 213 can be divided into at least two groups, each group can be mirror-imaged, and can also be staggered in the axial direction of the driving wheel 213. Each group of mud removal portions 23a is evenly spaced around the circumference of the driving wheel 213 in a circular array. In the present embodiment, each mud removing portion 23a includes a receiving groove 231 which is opened on the driving wheel 213 and radially penetrates the outer wall of the driving wheel 213, and a movable member 232 which is elastically arranged in the receiving groove 231 in the radial direction. There are air passages 233 respectively connected to each receiving groove 231 on the driving wheel 213 and the connecting arm 211a. The second driving member 222 is connected to the air passage 233 so that after the second driving member 222 is running, it can inflate the air passage 233 so that high pressure is gradually formed in the air passage 233 to push the movable member 232 to intermittently extend or retract into the receiving groove 231. When the movable member 232 is retracted into the receiving groove 231, the receiving groove 231 causes the surface of the driving wheel 213 to have pits, thereby increasing friction and ground adhesion when contacting the ground. When one end of the movable member 232 extends out of the receiving groove 231, it can push the attachments attached to the surface of the driving wheel 213 away from the surface of the driving wheel 213 in the radial direction. Thereby, the clumping attachments on the surface of the driving wheel 213 are reduced or removed, so as to ensure that the adhesion between the driving wheel 213 and the ground is not affected by the attachments or the effect is reduced. When traveling in a swamp or other place with deeper mud, the movable part 232 extending out of the receiving groove 231 can be inserted into the mud to increase the friction between the driving wheel 213 and the mud, thereby improving the walking ability of the entire system. When the movable part 232 is retracted into the receiving groove 231 and the driving wheel 213 is rotated by the first driving part 212, the mud attached to the surface of the driving wheel 213 slides relative to the surface of the driving wheel 213 and blocks the opening of the receiving groove 231. At this time, when the movable part 232 is extended out of the receiving groove 231 again, the mud on the surface of the driving wheel 213 can be pushed away from the driving wheel 213, thereby achieving the effect of cleaning the mud on the surface of the driving wheel 213. Therefore, when traveling in a swamp or other place with deeper mud, the movable part 232 is intermittently retracted and extended out of the receiving groove 231, thereby achieving the effect of continuously cleaning the mud on the surface of the driving wheel 213 and improving the walking ability of the entire system during the process of traveling in the swamp. It should be noted that the mud removal structure 23 is not limited to the present embodiment and may be replaced by other structures. For example, in another embodiment, the mud removal structure 23 may include a storage groove 231 consistent with the aforementioned embodiment and a shrinkage bag made of elastic material such as rubber and arranged in a deflated state in the storage groove 231. The shrinkage bag is connected to the airway 233 through a branch tube. When the second driving member 222 inflates the airway 233, the shrinkage bag is inflated and expands to protrude out of the storage groove 231. At the same time, the presence of the storage bag can further provide buoyancy when the device body 1 walks on the water surface and / or swampland.

[0043] In this embodiment, the storage groove 231 has a cylindrical structure, and the air channel 233 includes a first air channel 233 opened inside the connecting arm 211a, the auxiliary rod 211c and the main rod 211b, and a second air channel 233 opened in the driving wheel 213 and connected to the first air channel 233. The first air channel 233 is connected and communicated with the output end of the second driving member 222 through a pipeline, and the second air channel 233 has a circular ring structure and is opposite to the first air channel 233, so that the driving wheel 213 can always maintain the connection between the first air channel 233 and the second air channel 233 during rotation. An air slip ring can also be directly arranged between the driving wheel 213 and the connecting arm 211a to ensure the connection of the air path, so that the second driving member 222 can transport gas to the elastic airbag 221 and the air channel 233 during operation to push the movable member 232 out of the storage groove 231. The movable part 232 includes a movable block 2321 sealingly and slidingly arranged in the receiving groove 231 and a first spring 2322 arranged in the receiving groove 231 and connected to the inner wall of the receiving groove 231 and the movable block 2321. The movable block 2321 has a cylindrical structure and one end close to the notch of the receiving groove 231 is chamfered. The movable block 2321 can be made of a hard material such as plastic. A sealing ring can be fixedly mounted around the outer wall of the movable block 2321 to ensure that the movable block 2321 can block the receiving groove 231. In order to prevent the movable block 2321 from being ejected from the receiving groove 231, a limit block 4224 can be set on the end of the movable block 2321 away from the notch of the receiving groove 231, and a sliding groove is set on the groove wall of the receiving groove 231 along the axial direction for the limit block 4224 to slide and seal therein. The sliding groove stops opening when it is close to the notch of the receiving groove 231 to limit the movable block 2321 from leaving the receiving groove 231. A layer of rubber can be covered on the surface of the limit block 4224 to ensure sealing. When the movable block 2321 is entirely located in the receiving groove 231, the first spring 2322 is in a normal state. When air is inflated into the air passage 233, the air pressure pushes the movable block 2321 to slide toward the outside of the receiving groove 231, and the first spring 2322 is stretched by the force. At this time, one end of the movable block 2321 extends out of the receiving groove 231, and during the extension of the movable block 2321, attachments such as soil attached to the surface of the driving wheel 213 can be peeled off. Since the pushing range of a movable block 2321 is limited, the movable blocks 2321 arranged in a circular array on the driving wheel 213 can better avoid the problem of difficult peeling.Since the elastic airbag 221 needs to remain inflated during the entire process of the device body 1 walking on the water surface, and the elastic airbag 221 is relatively large, when the elastic airbag 221 is not yet full, the airway 233 will be filled first and push the movable block 2321 to slide. When the movable block 2321 can no longer move, if gas is continued to be filled into the airway 233, the driving wheel 213 will be damaged. For this reason, a blocking portion can be provided on each driving wheel 213, and an air pressure sensor can be provided on the blocking portion. When the airbag in the airway 233 pushes the slider to move into place and continues to inflate to a certain critical value, the sensor detects that the air pressure in the airway 233 reaches the critical value, then the blocking portion will block the airway 233. The blocking portion can be an electromagnetic valve. Of course, the blocking portion can also be opened and closed at a fixed time to achieve intermittent operation. In order to ensure that the interior of the elastic airbag 221 is not affected when the second driving member 222 inflates or deflates the airway 233, a sealing portion can be provided on the pipeline connecting the elastic airbag 221 and the second driving member 222 to control the operation of the elastic airbag 221 and the mud removal structure 23 respectively.

[0044] like Figures 1 to 3 As shown, in this embodiment, the video monitoring mechanism 3 includes a video monitoring module 31 fixedly mounted on the device body 1 and extending out of the top surface of the device body 1 and rotatable, a positioner arranged on the device body 1, and a controller arranged in the device body 1 and electrically connected to the video monitoring module 31. The video monitoring module 31 can be a common existing monitoring camera, which will not be described in detail here. The controller is connected to a smart terminal signal to ensure that the monitoring camera is transmitted to the smart terminal. A solar charging panel 32 can be arranged on the device body 1 and connected to a rechargeable battery. A voltage regulating component is electrically connected to the rechargeable battery to facilitate charging the rechargeable battery. A wind speed meter 33 and a temperature measuring instrument can also be arranged on the outer wall of the device body 1. The wind speed meter 33 and the temperature measuring instrument are electrically connected to the rechargeable battery and the controller respectively, so as to facilitate the detection of wind conditions and temperature conditions. The first driving member 212, the second driving member 222 and other devices are electrically connected to the controller to be controlled to open and close by the controller. The structure of the video monitoring mechanism 3 of this embodiment is all prior art, and there is no technical improvement, which will not be described in detail here. It should be noted that the camera monitoring mechanism 3 can also be replaced by other existing structures, and is not limited to the structure of this embodiment. In another embodiment, the camera monitoring mechanism 3 can only include a camera monitoring module 31 and a locator to ensure that people can see the surrounding environment of the device body 1 and locate it through the smart terminal.

[0045] like Figures 1 to 7As shown, in this embodiment, the sampling mechanism 4 includes a sampling structure 41 arranged on the device body 1 and electrically connected to the controller of the video monitoring mechanism 3, and a sample storage structure 42 arranged inside the device body 1 and used for the sampling structure 41 to store multiple samples respectively. The sampling structure 41 can be used for multiple samplings, and the sample storage structure 42 cooperates with the sampling structure 41 to store each sample, and can store multiple bottles of samples, ensuring the instant sampling work and sampling, so as to improve the sampling efficiency and avoid wasting time.

[0046] In the content defined in this embodiment, the sampling structure 41 includes a suction sampling part 411 hinged at the front end of the device body 1 and a drilling sampling part 412 arranged at the rear end of the device body 1. The suction sampling part 411 is used to sample gas, liquid and dust samples by wind suction. The suction sampling part 411 can also be used to sample cement-mixed mud samples and soft soil samples, thereby realizing sampling of a variety of different types of samples. After the sampling is completed, the sample in the suction sampling part 411 is output to the sample storage structure 42 for storage by reverse wind force. For solid samples with relatively hard texture or large doses of solid samples that need to be collected, the drilling sampling part 412 can be used to perform sampling by drilling to avoid sampling restrictions.

[0047] In the present embodiment, the suction sampling part 411 includes a mechanical arm 4111 having one end mounted on the device body 1 and electrically connected to the controller, a suction sampling head 4112 mounted on the mechanical arm 4111 away from the device body 1, and a third driving member 4113 arranged inside the device body 1 and connected to and communicated with the suction sampling head 4112 at the input end, the mechanical arm 4111 adjusts the position and height by the rotation of each joint under the control of the controller, so as to drive the suction sampling head 4112 to approach the ground and move toward the inner cavity of the device body 1, and the third driving member 4113 is used to drive the suction sampling head 4112 to absorb the sample or eject the sample, so as to sample and remove the sample. In the present embodiment, the mechanical arm 4111 is composed of each joint and connection, and the joint and the connecting rod are connected by their transmission system, so as to realize multi-degree-of-freedom movement, and the transmission system can be driven by a motor, and the rotation of the electrode is transmitted to each joint of the mechanical arm 4111 through a reducer and a coupling to accurately control the movement of the mechanical arm 4111. Various sensors such as position sensors, force sensors, visual sensors, etc. are provided on the mechanical arm 4111 to monitor the position, speed, strength and other parameters of the mechanical arm 4111 in real time. Each motor, reducer, coupling and each sensor are electrically connected to the controller so that the mechanical arm 4111 can execute instructions. The mechanical arm 4111 is an existing structure, and the present case has not made structural improvements, which will not be described in detail. In this embodiment, the suction sampling head 4112 is formed on the end of the mechanical arm 4111 away from the device body 1 and is connected to the mechanical arm 4111. The suction sampling head 4112 includes a sample storage cavity formed on one end of the mechanical arm 4111 and a tubular suction nozzle 4114 formed on the end of the suction sampling head 4112 away from the mechanical arm 4111. The suction nozzle 4114 is connected to the sample storage cavity, and a cone frame 4115 is fixedly provided around the outer periphery of the suction nozzle 4114 to provide support for the suction nozzle 4114. The sample storage chamber is connected to a third driving member 4113 installed in the device body 1 through a hose arranged on the mechanical arm 4111, and the third driving member 4113 is a fan. For gas, liquid or dust samples, after the third driving member 4113 is running, the gas in the sample storage chamber is extracted to absorb the sample, and when the sample needs to be transferred to the sample storage structure 42, the third driving member 4113 runs in the reverse direction to discharge the sample in the sample storage chamber into the sample storage structure 42; for soft solids such as wet soil, the suction nozzle can be inserted into the sampling area to allow the sample to penetrate into the suction nozzle 4114, and the third driving member 4113 is blown in the reverse direction to blow the sample into the sample storage structure 42 to complete the sampling, so that the sample can be tested after the sample storage structure 42 is recovered. It should be noted that for soft soil samples, drilling sampling can be achieved by inserting the suction nozzle 4114 into the soil. The inner diameter of the suction nozzle 4114 is relatively small and the sample quantity is limited. Therefore, the third driving member 4113 is sufficient to blow the sample out of the suction nozzle 4114.

[0048] In this embodiment, the drilling sampling part 412 includes a fourth driving member 4121 rotatably mounted on the device body 1 and capable of moving in the vertical direction, and a drilling tube 4122 connected to the output end of the fourth driving member 4121. The fourth driving member 4121 is used to drive the drilling tube 4122 to rotate and move in the vertical direction, so that the drilling tube 4122 samples the sampling area by drilling. The drilling tube 4122 is only used for solid sampling, especially for relatively hard dry soil. A support rod 4123 is arranged in the vertical direction on the rear end of the device body 1. The support rod 4123 is an electric telescopic rod and is electrically connected to the controller. The fourth driving member 4121 is connected to the support rod 4123 through a connecting rod. After starting, the output end of the support rod 4123 drives the fourth driving member 4121 to move in the vertical direction to drive the drilling tube 4122 to rise and fall. The fourth driving member 4121 is a device such as a motor whose output shaft can rotate, and the output shaft of the fourth driving member 4121 is coaxially connected to the top of the drilling tube 4122. In this embodiment, the drilling tube 4122 is a cylindrical tubular structure, and the bottom of the drilling tube 4122 is through-set, and a blade can be set on the bottom edge of the drilling tube 4122 to facilitate cutting the sample. On the outer wall of the drilling tube 4122, a plurality of blades 4124 are arranged at equal intervals along the circumference thereof, so that when the device body 1 walks on the water surface, the fourth driving member 4121 is operated to drive the drilling tube 4122 to rotate, so that the blades 4124 rotate and stir the water flow, so as to provide propulsion to the device body 1. When it is necessary to drill samples, the support rod 4123 drives the fourth driving member 4121 and the drilling tube 4122 to move downward. At the same time, the fourth driving member 4121 operates to rotate the drilling tube 4122 until the sample is drilled. The fourth driving member 4121 stops running and the support rod 4123 drives the fourth driving member 4121 and the drilling tube 4122 to move upward until they are away from the ground, completing the collection of hard samples. It should be noted that when the fourth driving member 4121 operates to make the drilling and sampling part 412 used for water surface propulsion, the driving wheel 213 stops rotating.

[0049] In the content defined in this embodiment, the sample storage structure 42 includes a storage box 421 arranged in the inner cavity of the device body 1 and equipped with a plurality of empty sample bottles 425, a support frame 422 arranged below an output port at the bottom of the storage box 421, an elastic pushing portion 423 arranged on the first end of the support frame 422 and always pressed against the sample bottles 425 on the support frame 422, and a collection box 424 arranged on the side of the second end of the support frame 422 for collecting the sample bottles 425. The storage box 421 is used to store a plurality of empty sample bottles 425, and can be used for automatic replenishment of the sample bottles 425 in conjunction with the elastic pushing portion to ensure that the sample bottles 425 can always be kept ready on the support frame 422. The collection box 424 is used to collect and store sample bottles 425 with samples. After the suction sampling portion 411 transports the sample to the sample bottle 425, the sample bottles 425 with samples on the support frame 422 will be transferred to the collection box 424 to complete the collection and storage of a plurality of samples.

[0050] In this embodiment, the storage box 421 is a rectangular parallelepiped structure and is arranged in the vertical direction. The interior of the storage box 421 is hollow and a number of empty sample bottles 425 are placed in sequence in the vertical direction. To ensure that the sample bottles 425 are not broken, the sample bottles 425 can be made of hard plastic. The bottom of the storage box 421 is open to form an output port, so that the sample bottles 425 in the storage box 421 can fall naturally under the action of gravity. A sensor can be set in the storage box 421. When there are no more sample bottles 425 in the storage box 421, the sensor sends a signal to the controller, and the controller sends a reminder signal to the intelligent terminal to replenish the sample bottles 425 in time. The sample bottles 425 have a bottle mouth with a diameter smaller than the diameter of the bottle body. The bottle mouths of the sample bottles 425 in the storage box 421 are all arranged toward the side of the inlet 13, so that when the sample bottles 425 fall onto the support frame 422 through the output port, the bottle mouths of each sample bottle 425 face the side of the inlet 13. A rubber sheet is sealed on the mouth of the sample storage bottle 425, and the rubber sheet has a contraction opening for the suction nozzle 4114 to seal and penetrate therein. Since the rubber sheet is made of rubber, when a smaller hole is opened on the rubber sheet to form the contraction opening, the elasticity of the rubber causes the hole to contract and be blocked. When the suction nozzle 4114 of the suction sampling head 4112 squeezes the contraction opening on the rubber sheet, the contraction opening is squeezed and expanded so that the suction nozzle can pass through the sample storage bottle 425. After the suction nozzle 4114 is withdrawn, the contraction opening contracts and blocks the mouth of the sample storage bottle 425.

[0051] like Figure 3As shown, in the present embodiment, in order to enable the suction sampling part 411 to transport the sample into the sample storage bottle 425, an inlet 13 is provided on the side of the device body 1 where the mechanical arm 4111 is provided (i.e., on the front lower inclined surface of the device body 1), which passes through the front lower inclined surface in the front-to-back direction and connects to the inner cavity of the device body 1. A sealing plate 14 that swings upward is sealed and hinged at the inlet 13. The surface of the sealing plate 14 is covered with a sealing layer made of rubber. One side of the top of the sealing plate 14 is hinged to the inner wall of the device body 1 through a hinge. A torsion spring is provided on the inner wall diameter of the sealing plate 14 and the device body 1. The two torsion arms of the torsion spring are respectively connected to the sealing plate 14 and the device body 1. The torsion spring is in a contracted state and always pushes the sealing plate 14 toward the side of the inlet 13 so that the sealing plate 14 is squeezed by the torsion spring and is tightly pressed at the inlet 13. The inlet 13 is sealed by the sealing layer to prevent water from entering the inner cavity of the device body 1. In order to prevent the sealing plate 14 from interfering with the cooperation between the suction sampling part 411 and the sample storage bottle 425 when the suction sampling part 411 pushes open the sealing plate 14, a support block 4116 is provided on one end of the robot arm 4111 close to the suction nozzle 4114. When the robot arm 4111 rotates the suction nozzle 4114 toward the inlet 13 through the joint, the support block 4116 is arranged upward at this time and pushes the sealing plate 14 upward relative to the suction nozzle 4114 when the suction nozzle 4114 is close to the bottle mouth of the sample storage bottle 425 on the movable bracket 4222, so that the sealing plate 14 cannot interfere with the use of the suction nozzle 4114.

[0052] The support frame 422 is in the shape of an elongated strip and arranged in the front-to-back direction. The front end of the support frame 422 is the second end, and the rear end of the support frame 422 is the first end. The support frame 422 is arranged at the position directly below the storage box 421, and the first end of the support frame 422 is directly opposite to the output port of the storage box 421. A moving channel 4221 with an arc shape and a diameter slightly larger than the diameter of the bottle body of the sample storage bottle 425 (i.e., the diameter difference is about 1 cm) is provided at the top of the support frame 422 in the front-to-back direction. The moving channel 4221 is directly opposite to the output port and is located at a position between the highest height and the lowest height of the import 13 in the vertical direction. The inner walls on both sides of the moving channel 4221 prevent the sample storage bottle 425 from falling and play a guiding role at the same time. A movable bracket 4222 is hinged on the second end of the support frame 422 to swing toward one side of the collection box 424 and is used to support a sample storage bottle 425. The movable bracket 4222 is in a block structure and is suspended on the bottom surface of the device body 1. The movable bracket 4222 is rotatably arranged on the support frame 422 on one side thereof facing the support frame 422 and on the left side or the right side thereof through a rotating shaft arranged along the front-back direction, so that the other side of the movable bracket 4222 can swing relative to the support frame 422. An arc-shaped secondary channel 4223 is arranged on the top surface of the movable bracket 4222 at a position corresponding to the moving channel 4221, and the bottom of the sample storage bottle 425 is passed through the secondary channel 4223. The diameter of the secondary channel 4223 is consistent with the diameter of the moving channel 4221 and is concentric, so that the sample storage bottle 425 on the support frame 422 can be pushed onto the movable bracket 4222 by the pushing part. The length of the movable bracket 4222 is only enough for one sample storage bottle 425 to move onto this channel, and the bottle mouth of the sample storage bottle 425 on the support frame 422 is located on the movable bracket 4222 and abuts against the sample storage bottle 425 on the movable bracket 4222. A stopper 4224 is provided on the side of the movable bracket 4222 facing the inlet 13 to limit the sample bottle 425 from being separated from the movable bracket 4222 toward the inlet 13. The stopper 4224 has an arc-shaped slot 4225 with a diameter smaller than the body of the sample bottle 425 and larger than the diameter of the mouth of the sample bottle 425 on the side facing the secondary channel 4223, so that after the sample bottle 425 moves to this channel, the body of the sample bottle 425 abuts against the stopper 4224, and the stopper 4224 prevents the bottle body from being separated from the movable bracket 4222 toward the inlet 13, and is mounted at the mouth of the sample bottle 425 through the stopper 4224 to prevent the sample bottle 425 from falling from the side. Preferably, the stopper 4224 is further provided on the left side of the secondary channel 4223 to prevent the stopper 4224 from hindering the sample bottle 425 from sliding to the right. The collecting box 424 is arranged on the right side of the movable bracket 4222, and the rotating shaft is arranged on the right side of the movable bracket 4222, so that the left side of the movable bracket 4222 can swing freely.A lifting part 426 (not shown in the figure) is provided below the movable bracket 4222 for swinging the movable bracket 4222 toward one side of the collection box 424. The lifting part 426 is located at the lower left of the movable bracket 4222 and the output shaft is hinged to the movable bracket 4222 in the vertical direction. The lifting part 426 can be an electric push rod, and the lifting part 426 is electrically connected to the rechargeable battery and the controller. An extension piece 4226 extending to the side of the collection box 424 is provided on the right side of the movable bracket 4222. A sensor is provided on the limit block 4224. When the suction nozzle 4114 injects the sample into the sample storage bottle 425 on the movable bracket 4222 and withdraws from the bottle mouth of the sample storage bottle 425, the sensor sends a signal and the controller controls the lifting part 426 to push the movable bracket 4222 upward to make the left side of the movable bracket 4222 swing upward and tilt until the sample storage bottle 425 slides out of the movable bracket 4222 and slides onto the collection box 424 through the extension piece 4226. In this embodiment, the collection box 424 is provided with an entrance opening connected to the inner cavity on the side facing the movable bracket 4222, and a baffle plate is provided at the entrance opening, the top of which is hinged to the collection box 424 and the bottom is a free side. The entrance opening faces the movable bracket 4222 in the left-right direction and is longer than the length of the movable bracket 4222. The extension piece 4226 extends the box entrance opening, so that the sample storage bottle 425 on the movable bracket 4222 can roll to the entrance opening and enter the collection box 424. In order to prevent the baffle plate from rotating outward, a baffle bar extending downward to below the entrance opening is provided at the bottom of the baffle plate, and the baffle bar is located inside the collection box 424.

[0053] In this embodiment, the elastic pushing portion 423 includes a metal bellows 4231 slidably arranged in the moving channel 4221 and located on the second end of the support frame 422, a pushing block 4232 fixedly connected to the end of the metal bellows 4231 facing the inlet 13, a second spring 4233 arranged in the metal bellows 4231 and fixedly connected at both ends to the pushing block 4232 and the inner wall of the device body 1, and a pull rope group 4235. The second spring 4233 is in a contracted state and presses against the pushing block 4232 toward the side of the inlet 13, so that the pushing block 4232 presses against the sample storage bottle 425. The metal bellows 4231 does not affect the contraction and extension of the second spring 4233, and at the output port There is a gap between the support frame 422 for a sample bottle 425 to enter and pass through the moving channel 4221 in the front-to-back direction. The diameter of the metal bellows 4231 is smaller than the gap so that it can enter the moving channel 4221 through the gap and squeeze the sample bottle 425 in the moving channel 4221. When the metal bellows 4231 slides in the moving channel 4221, the distance between the top of the metal bellows 4231 and the output port is smaller than the diameter of the body of the sample bottle 425, so that the metal bellows 4231 can support the sample bottle 425 at the output port when passing under the output port, while preventing the sample bottle 425 in the storage box 421 from falling or getting stuck and affecting the automatic bottle replenishment operation. The pull rope group 4235 includes at least two pull ropes and a number of pulleys arranged on the inner wall of the device body 1. One end of each pull rope passes through the metal bellows 4231 and is fixedly connected to the push block 4232 in a circular array to ensure uniform force. Each roller can be pressed Figure 3 The arrangement is rotatably arranged on the device body 1 along the front-to-back direction, and the other end of each pull rope is divided into two groups and are successively wound around each roller until they are connected to the two ends of the free side of the sealing plate 14, so as to prevent the pull rope from interfering with the suction sampling part 411 through the inlet 13. After the suction sampling part 411 pushes the sealing plate 14 open, the movement of the sealing plate 14 pulls the pull rope, so that the pull rope pulls the push block 4232 toward the second end of the support frame 422, until the push block 4232 and the sample bottle 425 are spaced apart to allow the sample bottle 425 at the output port to fall onto the moving channel 4221. Then, the sample bottle 425 at the bottom of the storage box 421 falls onto the moving channel 4221. At this time, the second spring 4233 presses against the sample bottle 425 to provide support for the sample bottle 425, so that the suction nozzle 4114 can squeeze the contraction opening and penetrate into the bottle mouth.

[0054] It should be noted that in order to ensure that the suction nozzle 4114 can be kept clean after each sampling, a cleaning mechanism (not shown in the figure) can be arranged in the device body 1. The cleaning mechanism can be arranged on the bottom surface of the inner cavity of the device body 1 or on the movable bracket 4222. The cleaning mechanism includes a water tank arranged in the device body 1 and a push-to-discharge nozzle arranged on the movable bracket 4222. The water tank and the push-to-discharge nozzle are connected by a pipe. The cone frame 4115 on the suction nozzle 4114 is used to press on a switch of the push-to-discharge nozzle. The switch is arranged in a ring around the nozzle to facilitate the pressing of the cone frame 4115. After that, a pump connected to the nozzle sprays the water in the water tank in the form of a spray at high speed and high pressure to the suction nozzle 4114, so as to achieve the purpose of flushing the suction nozzle 4114.

[0055] like Figures 1 to 9 As shown, the environmental monitoring system of the present invention includes a data management monitoring station, an environmental pollutant sampling device and a sample transportation mechanism. The environmental pollutant sampling device is the structure defined in the aforementioned embodiment. The environmental pollutant sampling device is used to transfer the collection box 424 to the sample transportation mechanism, and the sample transportation mechanism is used to transport the collection box 424 to the data management monitoring station.

[0056] In this embodiment, the data management and monitoring station includes the aforementioned intelligent terminal. The sample transport mechanism includes a track 51 fixedly set in the environmental monitoring area and a transfer box 52 movably set on the track 51 and capable of moving along the track 51. One end of the track 51 is fixedly set in any area, and a fixed charging port for the environmental pollutant sampling device is provided on this end for docking and charging of the charging socket 11 on the device body 1; the other end of the track 51 is set in the data management and monitoring station so that the transfer box 52 can move with the track 51 into the environmental monitoring area. The space between the driving wheels 213 at the bottom of the device body 1 can allow the transfer box 52 to penetrate therein, so that the bottom surface of the device body 1 can be moved to the position directly above the transfer box 52 through the driving wheels 213. An opening is provided on the bottom surface of the device body 1 to communicate with the bottom surface of the collection box 424, and an automatic start door is sealed at the opening. Any existing automatic opening door structure can be provided. An induction sensor is provided on the transport box 52. When the automatic opening door faces the transport box 52, the opening is opened to allow each sample storage bottle 425 in the collection box 424 to enter the transport box 52, completing the transfer of the sample storage bottle 425. It should be noted that the movement of the transport box 52 can be driven by any track 51 moving power device in the prior art. For example, a motor can be provided on the transport box 52, and the output shaft of the motor faces the track 51 and engages with the track 51 to realize the movement of the transport box 52.

[0057] The working method of one embodiment of the environmental pollutant sampling device and environmental monitoring system of the present invention is as follows: when moving, after selecting a suitable walking mode according to the instructions issued by the intelligent terminal, the suction sampling part 411 sucks the sample and moves toward the device body 1 by pushing the sealing plate 14. At this time, the elastic pushing part 423 contracts and the sample storage bottle 425 is installed, and the suction nozzle 4114 transports the sample into the sample storage bottle 425 through the contraction mouth, and then the suction nozzle 4114 is pulled out, and the lifting part 426 causes the movable bracket 4222 to rotate upward to transfer the sample storage bottle 425 to the collection box 424, and then the suction nozzle 4114 withdraws from the inlet 13. In the process of the suction nozzle 4114 withdrawing from the bottle mouth of the sample storage bottle 425, the elastic pushing part 423 is gradually loosened and pushes the sample storage bottle 425 toward the side of the movable bracket 4222 until the next sample storage bottle 425 moves to the movable bracket 4222, and the torsion spring causes the sealing plate 14 to press against the inlet 13 and seal the inlet 13 to complete the sampling work.

Claims

1. An environmental pollutant sampling device, characterized in that: include: device body; A walking mechanism, the walking mechanism comprising a ground walking structure and a water walking structure respectively arranged at the bottom of the device body; A video monitoring mechanism, wherein the video monitoring mechanism is arranged on the device body, and the ground walking structure and the water walking structure are both electrically connected to the video monitoring mechanism and controlled to operate by the video monitoring mechanism; and The sampling mechanism comprises a sampling structure arranged on the device body and electrically connected to the camera monitoring mechanism, and a sample storage structure arranged inside the device body and used for the sampling structure to store multiple samples respectively.

2. The environmental pollutant sampling device according to claim 1, characterized in that: The ground walking structure includes a base frame which is symmetrically arranged on opposite sides of the device body and each has at least two connecting arms, a driving wheel corresponding to the connecting arms and rotatably connected to the connecting arms, and a first driving member arranged on the driving wheel. A steering system for steering the driving wheel is arranged on the base frame, and the first driving member and the steering system are both electrically connected to the camera monitoring mechanism.

3. The environmental pollutant sampling device according to claim 2, characterized in that: The water surface walking structure includes an elastic airbag arranged at the bottom of the device body and on the inner side of each driving wheel, and a second driving member installed inside the device body and used to inflate or evacuate air into the elastic airbag. A plurality of exhaust ports are opened on the top of the device body, and a shielding sheet is provided on the outer wall of the device body at a position corresponding to each exhaust port, which blocks the exhaust port in the vertical direction and is inclined downward and open.

4. The environmental pollutant sampling device according to claim 3, characterized in that: The walking mechanism also includes a plurality of mud removal structures which are respectively arranged on each driving wheel and connected to the second driving member, and each of the mud removal structures is used for intermittent operation during the operation of the second driving member and the expansion of the elastic airbag.

5. The environmental pollutant sampling device according to claim 4, characterized in that: Each of the mud removal structures comprises a plurality of mud removal parts which are arranged on the driving wheel at equal intervals along the circumference of the driving wheel; Each of the mud removal parts includes a receiving groove opened on the driving wheel and radially penetrating the outer wall of the driving wheel, and a movable part elastically arranged in the receiving groove in the radial direction. There are air passages on the driving wheel and the connecting arm that are respectively connected to each of the receiving grooves. The second driving part is connected to the air passage and is used to push the movable part to intermittently extend or retract into the receiving groove through the air passage.

6. The environmental pollutant sampling device according to claim 5, characterized in that: The movable part includes a movable block sealingly and slidingly arranged in the receiving groove and a first spring arranged in the receiving groove and connected to the inner wall of the receiving groove and the movable block. When the movable block is entirely located in the receiving groove, the first spring is in a normal state.

7. The environmental pollutant sampling device according to claim 1 or 6, characterized in that: The sampling structure includes a suction sampling portion hinged to the front end of the device body; The suction sampling part includes a mechanical arm at one end mounted on the device body and electrically connected to the camera monitoring mechanism, a suction sampling head mounted on the end of the mechanical arm away from the device body, and a third driving member arranged inside the device body and having an input end connected and communicated with the suction sampling head. The end of the suction sampling head has a tubular suction nozzle, and the third driving member is used to drive the suction nozzle to absorb samples or spray samples.

8. The environmental pollutant sampling device according to claim 7, characterized in that: The sampling structure also includes a drilling sampling portion disposed at the rear end of the device body; The drilling sampling part includes a fourth driving member rotatably mounted on the device body and capable of moving in a vertical direction, and a drilling tube connected to the output end of the fourth driving member. The fourth driving member is used to drive the drilling tube to rotate. A plurality of blades are arranged on the outer wall of the drilling tube at equal intervals along its circumference.

9. The environmental pollutant sampling device according to claim 7, characterized in that: An inlet communicating with the inner cavity of the device body is provided on one side of the device body where the mechanical arm is provided, and a sealing plate swinging upward is sealed and hinged at the inlet; The sample storage structure includes a storage box arranged in the inner cavity of the device body and internally provided with a plurality of empty sample bottles, a support frame arranged below an output port at the bottom of the storage box, an elastic pushing portion arranged on the first end of the support frame and always pressed against the sample bottles on the support frame, and a collection box for collecting sample bottles arranged on the side of the second end of the support frame, the bottle mouth of the sample bottle is sealed with a rubber sheet and faces the inlet side, and the rubber sheet has a contraction port for the suction nozzle to seal and penetrate therein, a movable bracket is hinged on the second end of the support frame to swing toward the collection box side and is used to support a sample bottle, a limit block is provided on the side of the movable bracket facing the inlet side to limit the sample bottle from detaching from the movable bracket toward the inlet side, a lifting portion is provided below the movable bracket to make the movable bracket swing toward the collection box side, and the elastic pushing portion is connected to the sealing plate so that when the suction sampling head pushes away the sealing plate, the elastic pushing portion moves toward the side away from the inlet until the next sample bottle is output from the storage box to the support frame.

10. An environmental monitoring system, characterized in that: It comprises a data management monitoring station, an environmental pollutant sampling device as described in any one of claims 1 to 9, and a sample transportation mechanism, wherein the environmental pollutant sampling device is used to transfer the collection box to the sample transportation mechanism, and the sample transportation mechanism is used to transport the collection box to the data management monitoring station.

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