Real-time online monitoring and analyzing device and method for environmental pollutants

Abstract

The invention discloses a real-time online monitoring and analyzing device and method for environmental pollutants, and the device comprises a multi-legged bionic robot which is provided with a camera and a radar; the mass spectrometer is mounted on the multi-legged bionic robot, and the mass spectrometer comprises a gas sample introduction device and a liquid sample introduction device; the sampling mechanical arm is installed on the multi-legged bionic robot, the tail end of the sampling mechanical arm is detachably connected with a connecting component, and the connecting component is provided with at least one of a flexible mechanical claw and a spiral drill rod device; and the data information control system is electrically connected or remotely interconnected with the multi-legged bionic robot and the mass spectrometer. According to the device, the multi-legged bionic robot is used as a moving carrier, and the obstacle crossing ability of the robot is improved so that the robot can better adapt to the complex and changeable environment; through the sampling mechanical arm, environmental pollutants can be obtained and transferred to the mass spectrometer for identification and analysis, and detection results in the mass spectrometer are summarized by the data information control system, so that online monitoring and analysis are realized.

Description

Technical Field

[0001] The present invention relates to the technical field of environmental pollutant monitoring, and in particular to a real-time online monitoring and analysis device and analysis method for environmental pollutants. Background Art

[0002] When organic pollutants or radioactive substances enter the atmosphere, water bodies, soil and other environmental media due to natural disasters, human emissions or sudden accidents such as production safety, the environmental quality will drop significantly, endangering the health of the public and the safety of property, so emergency measures need to be taken to deal with it. In response to such complex sudden environmental events, how to conduct real-time, online, efficient, rapid and accurate detection and assessment of organic pollutants, and quickly grasp and analyze the types, concentrations and distribution characteristics of organic pollution in the target area, has important scientific significance and application value.

[0003] At present, in the field environmental instrument analysis, it is mainly dependent on analysts to carry micro-special equipment into the field for operation, and important progress has been made in the field environmental pollutant analysis. However, in the face of sudden environmental events, the analysis methods of organic pollutants are still not advanced and fast enough. In the disaster rescue situation where every second counts, how to achieve the rapid preparation of complex environmental samples and ensure the safety of personnel in a highly dangerous environment to complete the sampling and analysis process of the target object has become a difficulty that must be overcome.

[0004] Therefore, it is of great practical significance to develop a real-time online monitoring and analysis device and method for organic pollutants in sudden environmental events. Summary of the invention

[0005] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention proposes a real-time online monitoring and analysis device for environmental pollutants, which can realize online monitoring and analysis of organic pollutants in a complex environment.

[0006] The present invention also proposes an analysis method based on the above-mentioned environmental pollutant real-time online monitoring and analysis device.

[0007] According to the first aspect of the present invention, a real-time online monitoring and analysis device for environmental pollutants includes:

[0008] A multi-legged bionic robot is provided with a camera and a radar, wherein the camera is used for visually identifying the surrounding environment and the radar is used for detecting surrounding obstacles;

[0009] A mass spectrometer, which is installed on the multi-legged bionic robot, and the mass spectrometer includes a gas sampling device for detecting gas and a liquid sampling device for detecting liquid;

[0010] A sampling mechanical arm, which is installed on the multi-legged bionic robot, the end of the sampling mechanical arm is detachably connected to a connecting member, and the connecting member is installed with at least one of a flexible mechanical claw and a spiral drill rod device;

[0011] A data information control system, which is electrically connected or remotely interconnected with the multi-legged bionic robot and the mass spectrometer;

[0012] Among them, the sampling robot arm is used to deliver liquid environmental pollutants into the liquid sampling device, solid environmental pollutants can be extracted by immersing in the carried extraction liquid and then analyzed by the liquid sampling device, and the gas sampling device inhales surrounding air to collect gaseous environmental pollutants.

[0013] The real-time online monitoring and analysis device for environmental pollutants according to the embodiments of the present invention has at least the following beneficial effects: using a multi-legged bionic robot as a mobile carrier, the robot's obstacle-crossing capability is improved so that it can better adapt to complex and changing environments; environmental pollutants can be acquired by a sampling robotic arm and transferred to a mass spectrometer for identification and analysis, and the data information control system summarizes the detection results in the mass spectrometer to achieve online monitoring and analysis.

[0014] According to some embodiments of the present invention, each foot end of the multi-legged bionic robot is equipped with a pressure sensor for assisting in sensing changes in terrain.

[0015] According to some embodiments of the present invention, the camera is arranged in front and on the side of the multi-legged bionic robot, and the multi-legged bionic robot is provided with a lighting lamp to assist in illuminating the surrounding environment.

[0016] According to some embodiments of the present invention, the multi-legged bionic robot is specifically a quadruped bionic robot.

[0017] According to some embodiments of the present invention, a shock absorbing structure is further installed between the mass spectrometer and the multi-legged bionic robot, and the shock absorbing structure includes but is not limited to an elastic pad, a spring or an elastic gasket.

[0018] According to some embodiments of the present invention, the sampling robotic arm also includes a base, a first rotation joint, a first arm segment, a second rotation joint and a second arm segment, the base is installed on the multi-legged bionic robot, the first rotation joint is rotatably connected to the base, one end of the first arm segment is hinged to the first rotation joint, the second rotation joint is rotatably connected to the other end of the first arm segment, one end of the second arm segment is hinged to the second rotation joint, and the other end of the second arm segment is detachably connected to the connecting member.

[0019] According to some embodiments of the present invention, the connecting member and the second arm segment are connected by bolts.

[0020] According to some embodiments of the present invention, the data information control system includes a mobile device, and the mobile device is used to receive and analyze sample data of the mass spectrometer.

[0021] The analysis method according to the second aspect of the present invention is based on the above-mentioned real-time online monitoring and analysis device for environmental pollutants, and comprises the following steps:

[0022] Determine an area where environmental detection is required, and start the multi-legged bionic robot to enter the area;

[0023] The multi-legged bionic robot avoids obstacles through the radar and searches for required environmental pollutants through the camera;

[0024] The gas sampling device of the mass spectrometer continuously inhales ambient air to detect gaseous environmental pollutants;

[0025] The liquid environmental pollutants that need to be identified and analyzed are determined, the sampling mechanical arm is extended, and the flexible mechanical claw or the spiral drill rod device on the connecting member is used to obtain;

[0026] The sampling mechanical arm transfers the liquid environmental pollutants to the liquid injection device of the mass spectrometer;

[0027] The mass spectrometer analyzes and identifies environmental pollutants and transmits the analysis results to the data information control system;

[0028] The data information control system collects and summarizes the analysis results of environmental pollutants.

[0029] According to the computer-readable storage medium of the third aspect of the present invention, a computer program is stored thereon, and the computer program implements the above-mentioned analysis method when executed by a processor.

[0030] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein:

[0032] Figure 1 It is a side view of a real-time online monitoring and analysis device for environmental pollutants according to an embodiment of the first aspect of the present invention;

[0033] Figure 2 It is a side view of the multi-legged bionic robot 100 in the real-time online monitoring and analysis device for environmental pollutants according to the first embodiment of the present invention;

[0034] Figure 3 A side view of a mass spectrometer 200 in the real-time online monitoring and analysis device for environmental pollutants according to the first embodiment of the present invention;

[0035] Figure 4 It is a side view of the sampling mechanical arm 300 in the real-time online monitoring and analysis device for environmental pollutants according to the first embodiment of the present invention;

[0036] Figure 5 A mass spectrum of pesticides in polluted water detected by the real-time online monitoring and analysis device for environmental pollutants according to the first embodiment of the present invention;

[0037] Figure 6 A primary mass spectrum of drugs detected by the real-time online monitoring and analysis device for environmental pollutants according to the first embodiment of the present invention;

[0038] Figure 7 This is a secondary mass spectrum of drugs detected using the real-time online monitoring and analysis device for environmental pollutants according to the first aspect of the present invention.

[0039] Figure numerals: 100 - multi-legged bionic robot, 110 - camera, 120 - radar, 130 - pressure sensor, 140 - lighting, 150 - battery, 200 - mass spectrometer, 210 - gas sampling device, 220 - liquid sampling device, 300 - sampling mechanical arm, 310 - connecting member, 311 - flexible mechanical claw, 312 - spiral drill rod device, 320 - base, 330 - first rotary joint, 340 - first arm section, 350 - second rotary joint, 360 - second arm section, 400 - data information control system. DETAILED DESCRIPTION

[0040] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0041] In the description of the present invention, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, etc., and orientations or positional relationships indicated are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0042] In the description of the present invention, "several" means more than one, "many" means more than two, "greater than", "less than", "exceed", etc. are understood to exclude the number itself, and "above", "below", "within", etc. are understood to include the number itself. If there is a description of "first" or "second", it is only used for the purpose of distinguishing the technical features, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0043] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0044] In the description of the present invention, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0045] At present, in the field environmental instrument analysis, it is mainly dependent on analysts to carry micro-special equipment into the field for operation, and important progress has been made in the field environmental pollutant analysis. However, in the face of sudden environmental events, the analysis methods of organic pollutants are still not advanced and fast enough. In the disaster rescue situation where every second counts, how to achieve the rapid preparation of complex environmental samples and ensure the safety of personnel in a highly dangerous environment to complete the sampling and analysis process of the target object has become a difficulty that must be overcome.

[0046] Therefore, it is of great practical significance to develop a real-time online monitoring and analysis device and method for organic pollutants in sudden environmental events.

[0047] In this regard, the present application proposes a real-time online monitoring and analysis device for environmental pollutants, which uses a multi-legged bionic robot 100 as a mobile carrier to enhance the robot's obstacle-crossing capability so as to better adapt to complex and changing environments; environmental pollutants can be acquired through a sampling robotic arm 300 and transferred to a mass spectrometer 200 for identification and analysis, and the data information control system 400 summarizes the detection results in the mass spectrometer 200 to achieve online monitoring and analysis.

[0048] In addition, the present application also proposes an analysis method using the above-mentioned real-time online monitoring and analysis device for environmental pollutants, and a computer-readable storage medium for storing a computer program used in the analysis method.

[0049] Reference Figure 1 , the real-time online monitoring and analysis device for environmental pollutants in the first aspect embodiment of the present application, including a multi-legged bionic robot 100, a mass spectrometer 200, a sampling mechanical arm 300 and a data information control system 400. Wherein, the multi-legged bionic robot 100 is the main structure of the real-time online monitoring and analysis device for environmental pollutants, which is used to load other components and go deep into the environment to be detected to collect and detect environmental pollutants. The mass spectrometer 200 and the sampling mechanical arm 300 are both carried on the multi-legged bionic robot 100, wherein the sampling mechanical arm 300 is used to obtain environmental pollutants and transfer them to the mass spectrometer 200, and the mass spectrometer 200 is used to identify and analyze environmental pollutants. The data information control system 400 is interconnected with the multi-legged bionic robot 100 and the mass spectrometer 200, and is used to control the movement mode of the multi-legged bionic robot 100, and the detection results of the mass spectrometer 200 are summarized and analyzed.

[0050] Specifically, the multi-legged bionic robot 100 is provided with a camera 110 and a radar 120. The camera 110 is used to visually identify the surrounding environment and identify the environmental pollutants that need to be collected. The radar 120 is used to detect surrounding obstacles, so as to plan the travel route of the multi-legged bionic robot 100.

[0051] The mass spectrometer 200 is installed on the multi-legged bionic robot 100 , and includes a gas injection device 210 for detecting gas and a liquid injection device 220 for detecting liquid.

[0052] The sampling mechanical arm 300 is installed on the multi-legged bionic robot 100. The end of the sampling mechanical arm 300 is detachably connected to a connecting member 310, and the connecting member 310 is installed with at least one of a flexible mechanical claw 311 and an auger rod device 312. The flexible mechanical claw 311 is used to grab objects, and the auger rod device 312 is used to destroy buildings to expose environmental pollutants therein.

[0053] The data information control system 400 is electrically connected or remotely interconnected with the multi-legged bionic robot 100 and the mass spectrometer 200, and an interconnection relationship is established in a wired or wireless manner.

[0054] Among them, the sampling robot 300 is used to deliver liquid environmental pollutants into the liquid sampling device 220; solid environmental pollutants can be extracted by soaking in the carried extraction liquid and then analyzed by the liquid sampling device 220; the gas sampling device 210 inhales the surrounding air to collect gaseous environmental pollutants.

[0055] Specifically, refer to Figure 2Each foot end of the multi-legged bionic robot 100 is installed with a pressure sensor 130 to assist in sensing terrain changes and prevent the multi-legged bionic robot 100 from falling during movement.

[0056] Furthermore, the camera 110 is disposed in front and on the side of the multi-legged bionic robot 100, and the multi-legged bionic robot 100 is provided with a lighting lamp 140 to assist in illuminating the surrounding environment, so that the multi-legged bionic robot 100 can be more fully aware of the surrounding environment.

[0057] Optionally, the multi-legged bionic robot 100 is specifically a quadruped bionic robot. It is easy to understand that a bionic robot with six legs, eight legs or more legs can also be selected according to actual working conditions, which will not be described in detail here.

[0058] Further, refer to Figure 3 The mass spectrometer 200 is provided with a sampling pump inside, which can form a vacuum environment inside the gas sampling device 210, so as to absorb external gas through the exposed pipe opening of the gas sampling device 210, thereby achieving the effect of collecting gaseous environmental pollutants. The sampling rate of the gas sampling device 210 is set to 1 to 5 L / min, preferably 3 L / min.

[0059] Specifically, the mass spectrometer 200 also includes an ion source, a mass analyzer, a detector, and an exhaust system. The ion source is used to ionize the analysis sample to form a charged ion beam such as a spray of charged droplets and a plasma beam, which is used to realize the compound ionization of the sample analyte and mass spectrometry detection. The mass analyzer is a single or tandem mass analyzer, which is used to make the motion trajectory of the charged ion beam different under the physical effects of electric fields, magnetic fields, etc., thereby realizing the measurement of mass-to-charge ratio. The detector is used to convert the ion signal into an electronic signal, thereby realizing the identification of the molecular structure of the analyte, and the exhaust system is used to discharge the excess gas in the mass spectrometer to the external environment.

[0060] Exemplarily, detectable environmental organic pollutants include, but are not limited to, dimethoate, caffeine, codeine, benzene, toluene, xylene, isoprene, chloroprene, chlorobenzene, bromobenzene, trichloroethylene, tetrachloroethylene, 1,2-dichloroethane, diethyl sulfide, and dimethyl sulfide.

[0061] Optionally, a shock-absorbing structure is installed between the mass spectrometer 200 and the multi-legged bionic robot 100. The shock-absorbing structure includes but is not limited to elastic pads, springs or elastic gaskets for absorbing vibrations when the multi-legged bionic robot 100 walks and reducing the impact of vibrations on the mass spectrometer 200.

[0062] Further, refer to Figure 4The sampling mechanical arm 300 also includes a base 320, a first rotating joint 330, a first arm section 340, a second rotating joint 350 and a second arm section 360. The base 320 is mounted on the multi-legged bionic robot 100, the first rotating joint 330 is rotatably connected to the base 320, one end of the first arm section 340 is hinged to the first rotating joint 330, the second rotating joint 350 is rotatably connected to the other end of the first arm section 340, one end of the second arm section 360 is hinged to the second rotating joint 350, and the other end of the second arm section 360 is detachably connected to the connecting member 310. Thus, the sampling mechanical arm 300 has multiple degrees of freedom to facilitate the acquisition of environmental pollutants, and the detachable connection between the connecting member 310 and the second arm section 360 allows the connecting member 310 of different forms or sizes to be selected according to different environments and task objectives.

[0063] Optionally, for the detachable connection between the connecting member 310 and the second arm segment 360, the connecting member 310 and the second arm segment 360 are connected by bolts. It is easy to understand that a buckle or pin connection method can also be used, which will not be described in detail here.

[0064] Furthermore, the data information control system 400 includes a mobile device, which is used to receive and analyze the sample data of the mass spectrometer 200, so that the user can understand the pollutant collection status of the real-time online monitoring and analysis device for environmental pollutants through the mobile device. In this application, the mobile device includes but is not limited to a mobile phone, a tablet computer or other portable electronic devices.

[0065] The analysis method in the second embodiment of the present application is based on the above-mentioned real-time online monitoring and analysis device for environmental pollutants, and comprises the following steps:

[0066] S100 determines the area where environmental testing is required, and starts the multi-legged bionic robot 100 to enter the area;

[0067] S200. The multi-legged bionic robot 100 avoids obstacles through the radar 120 and searches for the required environmental pollutants through the camera 110;

[0068] S300. The gas sampling device 210 of the mass spectrometer 200 continuously inhales ambient air to detect gaseous environmental pollutants;

[0069] S400. Determine the liquid environmental pollutants that need to be identified and analyzed, the sampling robot arm 300 extends, and the flexible mechanical claw 311 or the auger rod device 312 on the connecting member 310 is used to obtain;

[0070] S500. The sampling robot 300 transfers the liquid environmental pollutants to the liquid injection device 220 of the mass spectrometer 200;

[0071] S600. The mass spectrometer 200 analyzes and identifies environmental pollutants and transmits the analysis results to the data information control system 400;

[0072] S700. The data information control system 400 collects and summarizes the analysis results of environmental pollutants.

[0073] A computer-readable storage medium in an embodiment of the third aspect of the present application stores a computer program, which implements the above-mentioned analysis method when executed by a processor.

[0074] The following is an example of an actual test case to illustrate the test effect of the real-time online monitoring and analysis device for environmental pollutants:

[0075] Reference Figure 5 , the real-time online monitoring and analysis device for environmental pollutants is used to detect dimethoate in polluted water. Among them, the chemical name of dimethoate is O,O-dimethyl-S-(N-methylcarbamoylmethyl) dithiophosphate, and the molecular formula is C 5 H 12 NO 3 PS 2 , is a common organophosphorus pesticide. It can be seen from the chart that dimethoate in polluted water was successfully detected and accurately identified.

[0076] In another embodiment, the real-time online monitoring and analysis device for environmental pollutants is applied to actual drug detection. Figure 6 and Figure 7 , substances such as ketamine and codeine were identified in environmental samples.

[0077] The embodiments of the present invention are described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the above embodiments. Various changes can be made within the knowledge of ordinary technicians in the relevant technical field without departing from the purpose of the present invention. In addition, the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict.

Claims

1. A real-time online monitoring and analysis device for environmental pollutants, characterized in that: include: A multi-legged bionic robot is provided with a camera and a radar, wherein the camera is used for visually identifying the surrounding environment and the radar is used for detecting surrounding obstacles; A mass spectrometer, which is installed on the multi-legged bionic robot, and the mass spectrometer includes a gas sampling device for detecting gas and a liquid sampling device for detecting liquid; A sampling mechanical arm, which is installed on the multi-legged bionic robot, the end of the sampling mechanical arm is detachably connected to a connecting member, and the connecting member is installed with at least one of a flexible mechanical claw and a spiral drill rod device; A data information control system, which is electrically connected or remotely interconnected with the multi-legged bionic robot and the mass spectrometer; Among them, the sampling robot arm is used to deliver liquid environmental pollutants into the liquid sampling device, solid environmental pollutants can be extracted by immersing in the carried extraction liquid and then analyzed by the liquid sampling device, and the gas sampling device inhales surrounding air to collect gaseous environmental pollutants.

2. The real-time online monitoring and analysis device for environmental pollutants according to claim 1 is characterized in that: Each foot end of the multi-legged bionic robot is equipped with a pressure sensor for assisting in sensing terrain changes.

3. The real-time online monitoring and analysis device for environmental pollutants according to claim 1 is characterized in that: The cameras are arranged in front and on the sides of the multi-legged bionic robot, and the multi-legged bionic robot is provided with lighting lamps to assist in illuminating the surrounding environment.

4. The real-time online monitoring and analysis device for environmental pollutants according to claim 1 is characterized in that: The multi-legged bionic robot is specifically a quadruped bionic robot.

5. The real-time online monitoring and analysis device for environmental pollutants according to claim 1 is characterized in that: A shock absorbing structure is also installed between the mass spectrometer and the multi-legged bionic robot, and the shock absorbing structure includes but is not limited to an elastic pad, a spring or an elastic gasket.

6. The real-time online monitoring and analysis device for environmental pollutants according to claim 1 is characterized in that: The sampling robotic arm also includes a base, a first rotating joint, a first arm segment, a second rotating joint and a second arm segment. The base is installed on the multi-legged bionic robot, the first rotating joint is rotatably connected to the base, one end of the first arm segment is hinged to the first rotating joint, the second rotating joint is rotatably connected to the other end of the first arm segment, one end of the second arm segment is hinged to the second rotating joint, and the other end of the second arm segment is detachably connected to the connecting member.

7. The real-time online monitoring and analysis device for environmental pollutants according to claim 6 is characterized in that: The connecting member is connected to the second arm section via bolts.

8. The real-time online monitoring and analysis device for environmental pollutants according to claim 1 is characterized by: The data information control system includes a mobile device, and the mobile device is used to receive and analyze the sample data of the mass spectrometer.

9. An analysis method based on the real-time online monitoring and analysis device for environmental pollutants according to any one of claims 1 to 8, characterized in that: include: Determine an area where environmental detection is required, and start the multi-legged bionic robot to enter the area; The multi-legged bionic robot avoids obstacles through the radar and searches for required environmental pollutants through the camera; The gas sampling device of the mass spectrometer continuously inhales ambient air to detect gaseous environmental pollutants; The liquid environmental pollutants that need to be identified and analyzed are determined, the sampling mechanical arm is extended, and the flexible mechanical claw or the spiral drill rod device on the connecting member is used to obtain; The sampling mechanical arm transfers the liquid environmental pollutants to the liquid injection device of the mass spectrometer; The mass spectrometer analyzes and identifies environmental pollutants and transmits the analysis results to the data information control system; The data information control system collects and summarizes the analysis results of environmental pollutants.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the analysis method according to claim 9 is implemented.

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