Environmental monitoring device and monitoring method based on robot technology

Abstract

The present invention relates to the field of environmental monitoring technology, and specifically discloses an environmental monitoring device and a monitoring method based on robot technology, including: a truck, a storage mechanism, a sampling mechanism, a controller, a storage receiving box, a sample storage mechanism and a handling robot arm; the storage mechanism is installed at the rear side of the interior of the truck compartment; the sampling mechanism is arranged outside the truck; the controller is arranged outside the storage mechanism; the storage receiving box is at the front side of the interior of the truck compartment; a number of the sample storage mechanisms are stored inside the storage receiving box; the handling robot arm is installed inside the truck compartment and is located on the left side of the storage receiving box. The water sample is collected in an automated manner to avoid the risk of personnel working on the water, avoid the stirring and pollution of the water sample caused by the ship in the traditional method, and can realize the water sample collection at a specified depth, providing a guarantee for accurately obtaining the water quality information of each layer.

Description

Technical Field

[0001] The present invention relates to the technical field of environmental monitoring, and in particular to an environmental monitoring device and a monitoring method based on robot technology. Background Art

[0002] Environmental monitoring refers to determining environmental quality or pollution levels and their changing trends through the determination of representative values ​​of factors that affect environmental quality. The purpose includes evaluating environmental quality, such as judging air quality by monitoring urban atmospheric pollutant concentrations, supervising pollution sources, such as monitoring pollutant concentrations at industrial wastewater discharge outlets to ensure compliance with environmental laws and regulations, and early warning of environmental risks, such as monitoring toxic and harmful gas concentrations around chemical parks to prevent environmental disasters. The objects of environmental monitoring cover environmental elements such as the atmosphere, water and soil. Atmospheric environmental monitoring mainly targets gaseous pollutants such as sulfur dioxide, nitrogen oxides and other particulate matter such as PM2.5. Water environmental monitoring includes surface water, groundwater and marine environment. The monitoring items are different, such as surface water temperature, pH value, etc. Soil environmental monitoring includes heavy metals, organic pollutants and other items. Environmental monitoring methods include on-site monitoring, such as on-site testing with portable instruments, and laboratory analysis, involving collection, transportation, storage, pretreatment and analytical testing.

[0003] In the prior art, water sampling operations in environmental monitoring require workers to row into the water for sampling operations. This operation method exposes workers to greater safety risks. In addition, the stirring of the oars during rowing will disturb the water surface, causing sediments in the water to float up, thereby changing the content of suspended matter, nutrients and other components in the water samples, making it impossible for the collected water samples to accurately reflect the water quality under natural conditions. In addition, traditional water samplers mainly rely on manually operated ropes to control the sinking depth, and it is difficult to accurately control the sampling depth in design, resulting in large differences in the composition of water samples. Summary of the invention

[0004] The purpose of the present invention is to provide an environment monitoring device and a monitoring method based on robot technology to solve the problems mentioned in the above background technology.

[0005] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: an environmental monitoring device based on robot technology, comprising: a truck, a storage mechanism, a sampling mechanism, a controller, a storage receiving box, a sample storage mechanism and a handling robot arm; the storage mechanism is installed on the rear side of the interior of the truck compartment; the sampling mechanism is arranged on the outside of the truck; the controller is arranged on the outside of the storage mechanism; the storage receiving box is on the front side of the interior of the truck compartment, and the storage receiving box is electrically connected to the controller; the sample storage mechanism comprises a plurality of sample storage mechanisms, and the plurality of sample storage mechanisms are stored in the storage receiving box; the handling robot arm is installed in the interior of the truck compartment and is located on the left side of the storage receiving box, and the handling robot arm is electrically connected to the controller.

[0006] Preferably, the sampling mechanism includes: a buoy hull, a meteorological detection module, a sub-control box, a solar power supply device, an anchor device, a tank body and a drive assembly; the buoy hull is arranged at an external water surface position of the truck; the meteorological detection module is installed in the middle of the rear side of the top end of the buoy hull; the sub-control box is installed at the left front of the top end of the buoy hull, the sub-control box and the meteorological detection module are electrically connected, and the sub-control box and the controller are remotely connected through a network; the solar power supply device is installed on the top of the sub-control box, and the solar power supply device and the sub-control box are electrically connected; the anchor device is installed on the front side of the top end of the buoy hull, and the anchor device and the sub-control box are electrically connected; the tank body is opened in the middle of the top end of the buoy hull; the drive assembly is installed on the top of the buoy hull.

[0007] Preferably, the driving assembly comprises: a mounting frame, a guide rail frame, a roller seat, a fixed frame, a sprocket, a driving motor, a chain, a track, a roller moving platform, a lifting device, a counterweight and a second clamping module; the mounting frame is mounted on the top of the pontoon hull and is located on the outside of the trough body; the number of the guide rail frames is two, and the two guide rail frames are respectively mounted on the left and right ends of the inner side of the mounting frame along the up and down direction; the number of the roller seats is two groups, and the number of the roller seats in each group is two, and the two groups of roller seats are respectively mounted on the front and rear ends of the inner sides of the left and right guide rail frames; the fixed frame is mounted on the inner sides of the left and right groups of roller seats; the number of the sprockets is two groups, and the number of the sprockets in each group is two, and the two sprockets are respectively mounted on the inside of the mounting frame along the up and down direction and are located on the upper and lower ends of the inner sides of the left and right guide rail frames; the driving The driving motor is installed at the bottom right end of the outside of the mounting frame, the rotating end of the driving motor is connected to the axis of the bottom sprocket on the right side, and the driving motor is electrically connected to the sub-control box; there are two chains, and the two chains are respectively engaged with the outer sides of the left and right groups of sprockets along the up and down directions, and the two ends of the left and right chains are respectively connected to the upper and lower ends on both sides of the left side of the fixed frame; the track is installed at the middle of the top of the fixed frame along the front and back directions; the roller moving platform is installed at the outer bottom of the track, and the roller moving platform is electrically connected to the sub-control box; the lifting equipment is installed at the bottom of the lifting equipment, and the lifting equipment is electrically connected to the sub-control box; the counterweight is installed at the bottom of the lifting end of the lifting equipment; the second clamping module is installed at the bottom of the counterweight, and the second clamping module is electrically connected to the sub-control box.

[0008] Preferably, the storage mechanism includes: a box shell, an electric door, a mounting frame, a biaxial mobile platform, a charging connector, a lifting and landing platform and a transport component; the box shell is installed on the rear side of the interior of the truck compartment along the left-right direction; the electric door is installed at the front opening of the top end of the box shell, and the electric door is electrically connected to a controller; the mounting frame is installed on the top of the inner cavity of the box shell; the biaxial mobile platform is installed on the top rear side of the mounting frame, and the biaxial mobile platform is electrically connected to the controller; the charging connector is installed at the moving end of the biaxial mobile platform, and the charging connector is electrically connected to the controller; the lifting and landing platform is installed on the front side of the bottom of the inner cavity of the box shell and is located below the electric door, and the lifting and landing platform is electrically connected to the controller; the transport component is parked at the lifting end of the lifting and landing platform.

[0009] Preferably, the transport component includes: a transport drone, a multi-axis robotic arm and a first clamping module; the transport drone is parked on the top of the lifting end of the lifting and landing platform, and the transport drone and the controller are remotely connected via a network; the multi-axis robotic arm is installed at the bottom of the transport drone, and the multi-axis robotic arm and the transport drone are electrically connected; the first clamping module is installed at the moving end of the multi-axis robotic arm, and the first clamping module and the transport drone are electrically connected.

[0010] Preferably, the sample storage mechanism comprises: a bottle body, a bottle stopper, a liquid inlet pipe fitting, a through hole, a mounting groove, a sealing gasket, a counterweight and a spring; the bottle body is arranged inside the storage receiving box along the up and down directions; the bottle stopper is removably plugged into the top opening of the bottle body; the liquid inlet pipe fitting is arranged at the bottom of the bottle body, and the top of the inner cavity of the liquid inlet pipe fitting is communicated with the bottom of the inner cavity of the bottle body; the number of the through holes is two, and the two through holes are respectively arranged on the left and right sides of the top of the inner cavity of the liquid inlet pipe fitting; the mounting groove is circumferentially arranged at the bottom of the inner cavity of the mounting groove; the sealing gasket is plugged into the inner cavity of the mounting groove, and the counterweight is installed in the middle of the top of the sealing gasket; one end of the spring is fixedly connected to the top of the counterweight, and the other end of the spring is connected to the top of the inner cavity of the liquid inlet pipe fitting.

[0011] Preferably, the inner diameter of the mounting groove is larger than the outer diameter of the sealing gasket.

[0012] Compared with the prior art, the present invention has the following beneficial effects:

[0013] 1. The sealing state of the inner cavity of the box shell is released through the electric door, and the charging connector stops charging the transport drone. The dual-axis mobile platform drives the charging connector to move backward to disengage the charging connector from the docking state with the transport drone. The lifting and landing platform rises itself to drive the transport component to move upward out of the inner cavity of the box shell. The transport robot arm grabs the sample storage mechanism stored at the specified position inside the storage storage box, and takes the sample storage mechanism out of the storage storage box and moves it to the inside of the first clamping module. After the transport drone controls the first clamping module to clamp and grab the sample storage mechanism, the staff controls the transport drone to take off and hover to the corresponding position above the buoy hull through the operation controller according to the meteorological data provided by the meteorological detection module.

[0014] 2. The driving motor drives the sprocket at the corresponding position to rotate, so that the chain rotates circumferentially under the tension of the top sprocket, so that the chain drives the fixed frame, and the roller seat moves upward along the inner side of the guide rail frame, thereby moving the fixed frame to a specified height position. The transport drone controls the multi-axis mechanical arm to move the sample storage mechanism to the corresponding position inside the second clamping module. The first clamping module releases the clamping and fixing of the sample storage mechanism while the second clamping module clamps and grabs the outside of the sample storage mechanism. The roller moving platform moves to the specified position along the track to the front or rear side, so that the counterweight is aligned with the lower trough body, and the lifting is performed. The device unwinds itself, allowing the counterweight to pass through the slot and enter below the water surface, and under the action of the counterweight's own gravity, drives the second clamping module to drive the sample storage mechanism to descend to a specified depth position on the water surface. When the bottle body descends to a preset specified depth position, the external water pressure reaches a sufficiently large value and overcomes the gravity of the counterweight and the elastic force of the spring, causing the sealing gasket to move upward in the inner cavity of the mounting slot, and the opening at the bottom of the liquid inlet pipe is opened. Water at this depth enters the liquid inlet pipe from the mounting slot under the action of water pressure, and is poured into the inner cavity of the bottle body through the through hole, thereby realizing sampling of water at the specified depth.

[0015] In summary, the present invention adopts an automated method to collect water samples, avoids the risks of personnel working on the water, avoids the stirring and pollution of water samples caused by ships in traditional methods, and can realize water sample collection at a specified depth, providing a guarantee for accurately obtaining water quality information at each layer. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the structure of the present invention;

[0017] Figure 2 for Figure 1 Exploded diagram of the storage mechanism;

[0018] Figure 3 for Figure 2 Exploded diagram of transport components;

[0019] Figure 4 for Figure 1 Exploded diagram of the sampling mechanism;

[0020] Figure 5 for Figure 4 A magnified image of point A;

[0021] Figure 6 for Figure 4 A magnified view of point B;

[0022] Figure 7 for Figure 1 Internal cross-sectional view of the sample storage mechanism.

[0023] In the figure: 1. Truck; 2. Storage mechanism; 21. Box shell; 22. Electric door; 23. Mounting frame; 24. Dual-axis mobile platform; 25. Charging connector; 26. Lifting and landing platform; 3. Transport components; 31. Transport drone; 32. Multi-axis robotic arm; 33. First clamping module; 4. Sampling mechanism; 41. Buoy hull; 42. Weather detection module; 43. Sub-control box; 44. Solar power supply equipment; 45. Anchor equipment; 46. Tank; 400. Drive assembly; 47. Mounting frame; 48. Guide rail frame; 49. Roller seat; 410. Fixed frame; 411. Sprocket; 412. Drive motor; 413. Chain; 414. Track; 415. Roller moving platform; 416. Hoisting equipment; 417. Counterweight; 418. Second clamping module; 5. Controller; 6. Storage box; 7. Sample storage mechanism; 71. Bottle body; 72. Bottle stopper; 73. Liquid inlet pipe; 74. Through hole; 75. Mounting groove; 76. Sealing pad; 77. Counterweight; 78. Spring; 8. Handling robot arm. DETAILED DESCRIPTION

[0024] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0025] See also Figure 1-Figure 7The present invention provides a technical solution: an environmental monitoring device based on robot technology, comprising: a truck 1, a storage mechanism 2, a sampling mechanism 4, a controller 5, a storage and receiving box 6, a sample storage mechanism 7 and a handling robot arm 8; the storage mechanism 2 is installed on the rear side of the interior of the truck 1; the sampling mechanism 4 is arranged on the outside of the truck 1; the controller 5 is arranged on the outside of the storage mechanism 2, and a network module is arranged inside the controller 5 to send instructions to the sub-control box 43, and the instructions are transmitted through a preset communication protocol and encryption method to ensure the accuracy and security of the instructions; the storage and receiving box 6 is on the front side of the interior of the truck 1, the storage and receiving box 6 and the controller 5 are electrically connected, the storage and receiving box 6 is controlled to start by the controller 5, and the storage and receiving box 6 stores and receives the sample storage mechanism 7 and records the data at the same time, so that the subsequent staff can find it conveniently ; There are several sample storage mechanisms 7, and several sample storage mechanisms 7 are stored inside the storage receiving box 6; the transport robot arm 8 is installed inside the compartment of the truck 1 and is located on the left side of the storage receiving box 6, the transport robot arm 8 is electrically connected to the controller 5, and the transport robot arm 8 is controlled and started by the controller 5, and the transport robot arm 8 moves to the top of the specified position inside the storage receiving box 6 according to the preset path planning algorithm, and accurately aligns with the quasi-sample storage mechanism 7 inside the storage receiving box 6 through the built-in visual sensor or the pre-set coordinate position, and the end effector inside the transport robot arm 8 can grab the sample storage mechanism 7 stored at the specified position inside the storage receiving box 6, and during the grabbing process, the end effector senses the grabbing force through the pressure sensor to ensure that the sample storage mechanism 7 can be firmly grasped without causing damage to it.

[0026] As a preferred solution, further, Figure 2As shown, the storage mechanism 2 includes: a box shell 21, an electric door 22, a mounting frame 23, a biaxial mobile platform 24, a charging connector 25, a lifting and lowering platform 26 and a transport component 3; the box shell 21 is mounted on the rear side of the interior of the truck 1 along the left and right directions; the electric door 22 is mounted at the top front opening of the box shell 21, the electric door 22 is electrically connected to the controller 5, the electric door 22 is controlled by the controller 5, the electric door 22 is opened and closed by a motor drive, a sensor is arranged inside the electric door 22, and after the door is fully opened, the sensor will feed back the signal of the opening completion to the controller 5; the mounting frame 23 is mounted on the top of the inner cavity of the box shell 21; the biaxial mobile platform 24 is mounted on the top rear side of the mounting frame 23, the biaxial mobile platform 24 is electrically connected to the controller 5, the biaxial mobile platform 24 is controlled by the controller 5, and the biaxial mobile platform 24 is driven by a motor to drive the transmission device so that the charging The electric connector 25 moves along the biaxial direction; the charging connector 25 is installed at the moving end of the biaxial mobile platform 24, the charging connector 25 is electrically connected to the controller 5, the charging connector 25 is controlled by the controller 5, and the charging connector 25 is charged by docking with the transport drone 31; the lifting and landing platform 26 is installed on the front side of the bottom of the inner cavity of the box shell 21 and is located below the electric door 22, the lifting and landing platform 26 is electrically connected to the controller 5, and the lifting and landing platform 26 is controlled by the controller 5. The lifting and landing platform 26 adopts a hydraulic lifting system for lifting and lowering, and the height sensor carried inside the lifting and landing platform 26 monitors the height change of the platform in real time. When the transport component 3 rises to a height sufficient to move out of the inner cavity of the box shell 21, the lifting and landing platform 26 stops rising and feeds back the height reached signal to the controller 5; the transport component 3 is parked at the lifting end of the lifting and landing platform 26.

[0027] As a preferred solution, further, Figure 3As shown, the transport component 3 includes: a transport drone 31, a multi-axis mechanical arm 32 and a first clamping module 33; the transport drone 31 is parked on the top of the lifting end of the lifting take-off and landing platform 26, the transport drone 31 and the controller 5 are remotely connected to the network, and a control module is arranged inside the transport drone 31 to control the internal electrical components of the transport component 3. The staff adjusts the take-off parameters of the transport drone 31 through the controller 5 so that the transport drone 31 takes off according to the command; the multi-axis mechanical arm 32 is installed at the bottom of the transport drone 31, and the multi-axis mechanical arm 32 and the transport drone 31 is electrically connected, the multi-axis robot 32 is controlled by the transport drone 31, and the multi-axis robot 32 controls the first clamping module 33 to move to the specified position through the built-in visual sensor or the pre-set coordinate position; the first clamping module 33 is installed at the mobile end of the multi-axis robot 32, the first clamping module 33 and the transport drone 31 are electrically connected, and the first clamping module 33 is controlled by the transport drone 31. The first clamping module 33 is equipped with a pressure sensor to sense the grasping force, thereby ensuring that the sample storage mechanism 7 can be firmly grasped without causing damage to it.

[0028] As a preferred solution, further, Figure 5 and Figure 6As shown, the sampling mechanism 4 includes: a buoy hull 41, a meteorological detection module 42, a sub-control box 43, a solar power supply device 44, an anchor device 45, a tank body 46 and a drive assembly 400; the buoy hull 41 is arranged at the external water surface position of the truck 1, and the buoy hull 41 can be connected and towed with an external traction boat; the meteorological detection module 42 is installed in the middle of the top rear side of the buoy hull 41, and the meteorological detection module 42 is internally provided with a wind speed sensor, a wind direction sensor, a temperature sensor and a humidity sensor, which can detect the meteorological environment of the current water area in real time, including parameters such as wind speed, wind direction, temperature, humidity, etc., and send them to the controller 5 through the sub-control box 43 for storage for subsequent analysis and use; the sub-control box 4 3 is installed at the top left front of the buoy hull 41, the sub-control box 43 is electrically connected to the meteorological detection module 42, the sub-control box 43 is remotely connected to the controller 5, and a preset program is set inside the sub-control box 43; the solar power supply device 44 is installed on the top of the sub-control box 43, the solar power supply device 44 is electrically connected to the sub-control box 43, and the solar power supply device 44 can supply power to the sub-control box 43; the anchor device 45 is installed at the top front side of the buoy hull 41, the anchor device 45 is electrically connected to the sub-control box 43, the anchor device 45 is controlled by the sub-control box 43, and the motor inside the anchor device 45 can reel in or drop the anchor body; the tank body 46 is opened in the middle of the top of the buoy hull 41; the drive component 40 ... Installed on the top of the pontoon hull 41; the driving assembly 400 includes: a mounting frame 47, a guide frame 48, a roller seat 49, a fixed frame 410, a sprocket 411, a driving motor 412, a chain 413, a track 414, a roller moving platform 415, a lifting device 416, a counterweight 417 and a second clamping module 418; the mounting frame 47 is installed on the top of the pontoon hull 41 and is located on the outside of the tank body 46; the number of the guide frames 48 is two, and the two guide frames 48 are respectively installed on the left and right ends of the inner side of the mounting frame 47 along the up and down direction; the number of roller seats 49 is two groups, and the number of each group of roller seats 49 is two, and the two groups of roller seats 49 are respectively installed on the front and rear ends of the inner sides of the left and right guide frames 48, and the roller seats 4 9 can move up and down along the inner side of the guide rail frame 48 to provide guidance and support for the fixed frame 410; the fixed frame 410 is installed on the inner side of the left and right groups of roller seats 49; the number of sprockets 411 is two groups, and the number of sprockets 411 in each group is two. The two sprockets 411 are installed inside the mounting frame 47 along the up and down direction and are located at the upper and lower ends of the inner side of the left and right guide rail frames 48; the driving motor 412 is installed at the right bottom end of the outside of the mounting frame 47, and the rotating end of the driving motor 412 is connected to the axis of the right bottom sprocket 411, and the driving motor 412 is electrically connected to the sub-control box 43. The driving motor 412 is controlled by the sub-control box 43 to drive the sprocket 411 at the corresponding position to rotate clockwise or counterclockwise;There are two chains 413, which are meshed with the outer sides of the left and right sprocket wheels 411 in the up-down direction, and the two ends of the left and right chains 413 are connected to the upper and lower ends of the left sides of the fixed frame 410 respectively; the track 414 is installed at the top middle part of the fixed frame 410 in the front-back direction; the roller moving platform 415 is installed at the outer bottom of the track 414, and the roller moving platform 415 is electrically connected to the sub-control box 43, and the roller moving platform 415 is controlled by the sub-control box 43, and the roller moving platform 415 can move forward and backward along the outer side of the track 414 Move horizontally; the hoisting device 416 is installed at the bottom of the hoisting device 416, the hoisting device 416 is electrically connected to the sub-control box 43, the hoisting device 416 is controlled by the sub-control box 43, and the hoisting device 416; the counterweight 417 is installed at the bottom of the hoisting end of the hoisting device 416; the second clamping module 418 is installed at the bottom of the counterweight 417, the second clamping module 418 is electrically connected to the sub-control box 43, the second clamping module 418 is controlled by the sub-control box 43, and the unwinding device inside the second clamping module 418 can release or rewind the rope according to the preset speed.;

[0029] As a preferred solution, further, Figure 7 The sample storage mechanism 7 shown includes: a bottle body 71, a bottle plug 72, a liquid inlet pipe 73, a through hole 74, a mounting groove 75, a sealing gasket 76, a counterweight 77 and a spring 78; the bottle body 71 is arranged inside the storage storage box 6 along the up and down direction; the bottle plug 72 can be detachably plugged into the top opening of the bottle body 71, and when the staff takes out the bottle body 71, they can pour out the water sample inside the bottle body 71 by pulling out the bottle plug 72; the liquid inlet pipe 73 is arranged at the bottom of the bottle body 71, and the top of the inner cavity of the liquid inlet pipe 73 is communicated with the bottom end of the inner cavity of the bottle body 71; the number of through holes 74 is two, two The through holes 74 are respectively provided on the left and right sides of the top of the inner cavity of the liquid inlet pipe fitting 73; the mounting groove 75 is circumferentially provided at the bottom of the inner cavity of the mounting groove 75; the sealing gasket 76 is inserted into the inner cavity of the mounting groove 75, and the inner diameter of the mounting groove 75 is larger than the outer diameter of the sealing gasket 76; the counterweight block 77 is installed in the middle of the top of the sealing gasket 76; one end of the spring 78 is fixedly connected to the top of the counterweight block 77, and the other end of the spring 78 is connected to the top of the inner cavity of the liquid inlet pipe fitting 73. The spring 78 itself has elasticity, which can prevent the sealing gasket 76 from contacting the top of the inner cavity of the mounting groove 75 when the external water pressure is large.

[0030] Here’s how it works:

[0031] Step 1: The staff connects the external tugboat and the buoy hull 41 to ensure the reliability of the connection device hooks of the two. The tugboat is driven to tow the buoy hull 41 to the designated position of the inspection waters. The internal motor of the anchor device 45 slowly puts the anchor body into the water to ensure that the anchor body can sink steadily to the bottom of the water, so that the buoy hull 41 is fixed at the designated position.

[0032] Step 2: The staff drives the truck 1 to a designated location on the shore, the electric door 22 opens to release the sealing state of the inner cavity of the box shell 21, and provides space for the subsequent take-off and landing of the transport drone 31. The charging connector 25 cuts off the charging current of the transport drone 31, and the dual-axis mobile platform 24 drives the charging connector 25 to move backward to disengage the charging connector 25 from the docking state with the transport drone 31;

[0033] Step 3: When the lifting and landing platform 26 lifts the transport drone 31 to a height sufficient to move out of the inner cavity of the box shell 21, the lifting and landing platform 26 stops rising and feeds back a signal of reaching the height to the controller 5, and the transport robot arm 8 grabs the sample storage mechanism 7 stored at a specified position inside the storage storage box 6, takes the sample storage mechanism 7 out of the storage storage box 6 and moves it to the inside of the first clamping module 33, and the transport drone 31 controls the first clamping module 33 to clamp and grab the sample storage mechanism 7;

[0034] Step 4: The meteorological detection module 42 starts to detect the meteorological environment of the current waters, and sends the detection data to the controller 5 through the sub-control box 43. The staff controls the flight control system of the transport UAV 31 to start by operating the controller 5. The transport UAV 31 adjusts the flight attitude and position according to the meteorological data provided by the meteorological detection module 42, so that the transport UAV 31 hovers to the corresponding position above the buoy hull 41;

[0035] Step 5: The driving motor 412 drives the sprocket 411 at the corresponding position to rotate, so that the chain 413 rotates circumferentially under the tension of the top sprocket 411, so that the chain 413 drives the fixed frame 410, and the roller seat 49 moves upward along the inner side of the guide rail frame 48 to provide guidance and support for the fixed frame 410, ensuring that the fixed frame 410 can move upward smoothly to the specified height position;

[0036] Step 6: After the fixed frame 410 reaches the specified height position, the transport drone 31 controls the multi-axis robotic arm 32 to move, so that the multi-axis robotic arm 32 moves the sample storage mechanism 7 to the corresponding position inside the second clamping module 418 in cooperation with the first clamping module 33. The first clamping module 33 releases the clamping of the sample storage mechanism 7 while the second clamping module 418 clamps and grabs the outside of the sample storage mechanism 7, thereby achieving docking and exchange of the sample storage mechanism 7.

[0037] Step 7: The roller moving platform 415 moves forward or backward along the track 414 to a designated position, so that the counterweight 417 is aligned with the lower tank 46, and the hoisting device 416 releases the rope at a preset speed, so that the counterweight 417 passes through the tank 46 and enters below the water surface, and the counterweight 417 drives the second clamping module 418 to drive the sample storage mechanism 7 to descend to a designated depth position on the water surface under the action of its own gravity;

[0038] Step 8: As the depth increases, the external water pressure of the bottle body 71 gradually increases. Before reaching the specified depth, under the elastic action of the spring 78 and the gravity of the counterweight 77, the sealing gasket 76 is located at the bottom of the inner cavity of the installation groove 75 and maintains the sealing of the inner cavity of the installation groove 75. When the bottle body 71 descends to the preset specified depth position, the external water pressure reaches a sufficiently large value and overcomes the gravity of the counterweight 77 and the elastic force of the spring 78, so that the sealing gasket 76 moves upward in the inner cavity of the installation groove 75, and the opening at the bottom of the liquid inlet pipe 73 is opened. Under the action of the water pressure, the water at this depth enters the liquid inlet pipe 73 from the installation groove 75 and is poured into the inner cavity of the bottle body 71 through the through hole 74, so as to realize the sampling of the water at the specified depth;

[0039] Step 9: After the sampling is completed, the hoisting device 416 reels the rope at a preset speed, and drives the bottle body 71 to rise in cooperation with the second clamping module 418, and the external water pressure gradually decreases. Under the elastic action of the spring 78 and the gravity of the counterweight block 77, the sealing gasket 76 is reset to maintain the sealing of the inner cavity of the installation groove 75, preventing the water already filled in the bottle body 71 from flowing out;

[0040] Step 10: The driving motor 412 drives the fixed frame 410 to rise to the specified position with the cooperation of the sprocket 411 and the chain 413. The second clamping module 418 and the first clamping module 33 exchange the position of the sample storage mechanism 7 after sampling. The transport drone 31 flies back to the surface of the lifting and landing platform 26. The transport robot arm 8 removes the sample storage mechanism 7 and replaces it in the storage box 6 for storage.

[0041] 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. An environmental monitoring device based on robotics technology, characterized in that: include: Truck (1); A storage mechanism (2) installed at the rear side of the interior of the truck (1); A sampling mechanism (4) is arranged outside the truck (1); A controller (5) arranged outside the storage mechanism (2); A storage box (6) is located at the front side of the interior of the truck (1), and the storage box (6) is electrically connected to the controller (5); A sample storage mechanism (7), wherein the number of the sample storage mechanisms (7) is a plurality, and the plurality of sample storage mechanisms (7) are stored inside the storage storage box (6); A transporting mechanical arm (8) is installed inside the compartment of the truck (1) and is located on the left side of the storage box (6), and the transporting mechanical arm (8) is electrically connected to the controller (5); The sampling mechanism (4) comprises: A pontoon hull (41) is arranged at an external water surface position of the truck (1); A weather detection module (42) is installed at the middle portion of the rear side of the top end of the buoy hull (41); A sub-control box (43) is installed at the left front of the top end of the buoy hull (41); the sub-control box (43) is electrically connected to the meteorological detection module (42); and the sub-control box (43) is remotely connected to the controller (5) via a network; A solar power supply device (44) is installed on the top of the sub-control box (43), and the solar power supply device (44) and the sub-control box (43) are electrically connected; An anchor device (45) is installed on the front side of the top end of the buoy hull (41), and the anchor device (45) is electrically connected to the sub-control box (43); A tank body (46) is provided at the middle of the top end of the buoy hull (41); A driving assembly (400) is mounted on the top of the buoy hull (41).

2. The robot-based environmental monitoring device according to claim 1, characterized in that: The driving assembly (400) comprises: A mounting frame (47) mounted on the top of the buoy hull (41) and located outside the tank (46); A guide rail frame (48), wherein the number of the guide rail frames (48) is two, and the two guide rail frames (48) are respectively installed at the left and right ends of the inner side of the mounting frame (47) along the up-down direction; Roller seats (49), the number of the roller seats (49) being two groups, the number of the roller seats (49) in each group being two, and the two groups of roller seats (49) being respectively mounted on the inner front and rear ends of the left and right guide rail frames (48); A fixed frame (410) is installed on the inner sides of the left and right sets of roller seats (49); Sprocket wheels (411), the number of the sprocket wheels (411) being two groups, the number of the sprocket wheels (411) in each group being two, the two sprocket wheels (411) being respectively mounted inside the mounting frame (47) in the up-down direction and being located at the upper and lower ends of the inner sides of the left and right guide rail frames (48); A drive motor (412) is mounted on the right bottom end of the outside of the mounting frame (47), the rotating end of the drive motor (412) is connected to the axis of the right bottom sprocket (411), and the drive motor (412) is electrically connected to the sub-control box (43); Chains (413), the number of the chains (413) being two, the two chains (413) respectively meshing with the outer sides of the left and right groups of sprocket wheels (411) in the up-down direction, and the two ends of the left and right chains (413) respectively connected to the upper and lower ends of the left sides of the fixed frame (410); A rail (414) installed at the middle of the top end of the fixed frame (410) along the front-to-back direction; A roller moving platform (415) is installed on the outer bottom of the track (414), and the roller moving platform (415) is electrically connected to the sub-control box (43); A hoisting device (416) is installed at the bottom of the hoisting device (416), and the hoisting device (416) is electrically connected to the sub-control box (43); A counterweight (417) is installed at the bottom of the lifting end of the lifting device (416); The second clamping module (418) is installed at the bottom of the counterweight (417), and the second clamping module (418) is electrically connected to the sub-control box (43).

3. The robot-based environmental monitoring device according to claim 2, characterized in that: The storage mechanism (2) comprises: A box shell (21) is installed in the left-right direction at the rear side of the interior of the truck (1); An electric door (22) is installed at the top front opening of the box shell (21), and the electric door (22) is electrically connected to the controller (5); A mounting frame (23) mounted on the top of the inner cavity of the box shell (21); A dual-axis mobile platform (24) is mounted on the top rear side of the mounting frame (23), and the dual-axis mobile platform (24) is electrically connected to the controller (5); A charging connector (25) is installed at the moving end of the dual-axis moving platform (24), and the charging connector (25) is electrically connected to the controller (5); A lifting and lowering platform (26) is installed at the front side of the bottom of the inner cavity of the box shell (21) and is located below the electric door (22); the lifting and lowering platform (26) is electrically connected to the controller (5); The transport component (3) is parked at the lifting end of the lifting and lowering platform (26).

4. The robot-based environmental monitoring device according to claim 3, characterized in that: The transport component (3) comprises: A transport drone (31) is parked on the top of the lifting end of the lifting and landing platform (26), and the transport drone (31) and the controller (5) are remotely connected via a network; A multi-axis mechanical arm (32) is mounted on the bottom of the transport drone (31), and the multi-axis mechanical arm (32) and the transport drone (31) are electrically connected; A first clamping module (33) is installed at the moving end of the multi-axis mechanical arm (32), and the first clamping module (33) is electrically connected to the transport drone (31).

5. The robot-based environment monitoring device according to claim 4, characterized in that: The sample storage mechanism (7) comprises: A bottle body (71) is arranged inside the storage box (6) along the up-down direction; A bottle stopper (72) which is detachably plugged into the top opening of the bottle body (71); A liquid inlet pipe (73) is arranged at the bottom of the bottle body (71), and the top of the inner cavity of the liquid inlet pipe (73) is in communication with the bottom of the inner cavity of the bottle body (71); Through holes (74), the number of the through holes (74) being two, and the two through holes (74) being respectively opened on the left and right sides of the top end of the inner cavity of the liquid inlet pipe member (73); A mounting groove (75) is circumferentially disposed at the bottom of the inner cavity of the mounting groove (75); A sealing gasket (76) inserted into the inner cavity of the mounting groove (75); A counterweight (77) mounted at the middle of the top end of the sealing gasket (76); One end of the spring (78) is fixedly connected to the top of the counterweight (77), and the other end of the spring (78) is connected to the top of the inner cavity of the liquid inlet pipe (73).

6. The robot-based environment monitoring device according to claim 5, characterized in that: The inner diameter of the mounting groove (75) is greater than the outer diameter of the sealing gasket (76).

7. A robot-based environmental monitoring method, applied to a robot-based environmental monitoring device as claimed in claim 6, characterized in that: Use the following steps: Step 1: The staff connects the external tugboat and the buoy hull (41), ensures the reliability of the hook of the connection equipment between the two, drives the tugboat and then tows the buoy hull (41) to the designated position of the inspection water area, and the internal motor of the anchor device (45) slowly puts the anchor body into the water, ensures that the anchor body can sink steadily to the bottom of the water, so that the buoy hull (41) is fixed at the designated position; Step 2: The staff drives the truck (1) to a designated location on the shore, the electric door (22) opens to release the sealing state of the inner cavity of the box shell (21), and provides space for the subsequent take-off and landing of the transport drone (31), the charging connector (25) cuts off the charging current of the transport drone (31), and the dual-axis mobile platform (24) drives the charging connector (25) to move backward to disengage the charging connector (25) from the docking state with the transport drone (31); Step 3: When the lifting and landing platform (26) lifts the transport drone (31) to a height sufficient to move it out of the inner cavity of the box shell (21), the lifting and landing platform (26) stops rising and feeds back a signal indicating that the height has been reached to the controller (5), and the transport robot arm (8) grabs the sample storage mechanism (7) stored at a specified position inside the storage box (6), takes the sample storage mechanism (7) out of the storage box (6) and moves it to the inside of the first clamping module (33), and the transport drone (31) controls the first clamping module (33) to clamp and grab the sample storage mechanism (7); Step 4: The meteorological detection module (42) starts to detect the meteorological environment of the current waters, and sends the detection data to the controller (5) through the sub-control box (43). The staff controls the flight control system of the transport drone (31) to start by operating the controller (5). The transport drone (31) adjusts its flight attitude and position according to the meteorological data provided by the meteorological detection module (42), so that the transport drone (31) hovers at a corresponding position above the buoy hull (41); Step 5: The driving motor (412) drives the sprocket (411) at the corresponding position to rotate, so that the chain (413) rotates circumferentially under the tension of the top sprocket (411), so that the chain (413) drives the fixed frame (410), and the roller seat (49) moves upward along the inner side of the guide rail frame (48), providing guidance and support for the fixed frame (410), ensuring that the fixed frame (410) can move upward smoothly to a specified height position; Step 6: After the transport drone (31) reaches the specified height position on the fixed frame (410), the multi-axis robotic arm (32) is controlled to move, so that the multi-axis robotic arm (32) moves the sample storage mechanism (7) to the corresponding position inside the second clamping module (418) in cooperation with the first clamping module (33), and the first clamping module (33) releases the clamping and fixing of the sample storage mechanism (7) while the second clamping module (418) clamps and grabs the outside of the sample storage mechanism (7), thereby achieving docking and exchange of the sample storage mechanism (7); Step 7: The roller moving platform (415) moves forward or backward along the track (414) to a designated position, so that the counterweight (417) is aligned with the lower tank (46), and the hoisting device (416) releases the rope at a preset speed, so that the counterweight (417) passes through the tank (46) and enters below the water surface, and the counterweight (417) drives the second clamping module (418) to drive the sample storage mechanism (7) to descend to a designated depth position on the water surface under the action of its own gravity; Step 8: As the depth increases, the external water pressure of the bottle body (71) gradually increases. Before reaching the specified depth, under the elastic action of the spring (78) and the gravity of the counterweight (77), the sealing gasket (76) is located at the bottom of the inner cavity of the installation groove (75) and maintains the sealing of the inner cavity of the installation groove (75). When the bottle body (71) descends to a predetermined specified depth, the external water pressure reaches a sufficiently large value and overcomes the gravity of the counterweight (77) and the elastic force of the spring (78), so that the sealing gasket (76) moves upward in the inner cavity of the installation groove (75), and the opening at the bottom of the liquid inlet pipe (73) is opened. Under the action of the water pressure, the water at this depth enters the liquid inlet pipe (73) from the installation groove (75) and is poured into the inner cavity of the bottle body (71) through the through hole (74), thereby realizing the sampling of the water at the specified depth. Step 9: After the sampling is completed, the hoisting device (416) reels the rope at a preset speed and drives the bottle body (71) to rise in cooperation with the second clamping module (418). The external water pressure gradually decreases. Under the elastic action of the spring (78) and the gravity of the counterweight (77), the sealing gasket (76) is reset to maintain the sealing of the inner cavity of the installation groove (75), thereby preventing the water already filled in the bottle body (71) from flowing out. Step 10: The driving motor (412) drives the fixed frame (410) to rise to a specified position in cooperation with the sprocket (411) and the chain (413), and the second clamping module (418) and the first clamping module (33) exchange the positions of the sample storage mechanism (7) after sampling, and the transport drone (31) flies back to the surface of the lifting and landing platform (26), and the transport robot arm (8) removes the sample storage mechanism (7) and re-places it in the storage box (6) for storage.

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