Automatic water quality sampling equipment based on four-rotor aircraft

Abstract

The invention discloses automatic water quality sampling equipment based on a four-rotor aircraft, and relates to the technical field of automatic water quality sampling, and the automatic water quality sampling equipment comprises an outer box body and a four-rotor unmanned aerial vehicle; a plurality of box doors are hinged to the front face of the outer box body from top to bottom at equal intervals. The sampling boxes are pushed to move towards the direction close to the inner side wall of the outer box body through the arranged communicating assembly, so that the sample injection pipe on the sampling box on the rightmost side can be communicated with the one-way valve on the sampling pipe on the side surface of the outer box body; a plurality of sampling boxes on a placing block are driven to rotate by cooperating with a rotating assembly, so that different sampling boxes can be communicated with the one-way valves on the sampling pipes in turn; therefore, samples collected at different sampling points can be injected into different sampling boxes, different samples are prevented from being mixed together, and the reliability and practicability of the sampling equipment are effectively improved.

Description

Technical Field

[0001] The invention relates to the technical field of automatic water quality sampling, and in particular to an automatic water quality sampling device based on a quadrotor aircraft. Background Art

[0002] People's survival, life and production are inseparable from water. The protection of water resources is the top priority of environmental protection. Therefore, it is necessary to regularly monitor and measure the types of pollutants in water bodies, the concentrations of various pollutants and their changing trends, and evaluate the water quality.

[0003] The existing water source sampling methods are mostly that sampling personnel take speedboats or other boats to various sampling points in the monitored waters, and then sample the water at the sampling points through sampling devices, or set up fixed sampling and detection devices at the sampling points to perform regular sampling and direct detection.

[0004] In the prior art, manual sampling methods are costly and inefficient, and it is difficult to collect water quality samples using manual sampling methods in some special environments. The procurement and maintenance costs of fixed sampling and testing devices are high, which in turn increases the cost of water quality sampling, thereby reducing the cost of sampling and testing devices. Summary of the invention

[0005] The purpose of the present invention is to provide an automatic water quality sampling device based on a quadrotor aircraft to solve the problems raised in the above background technology.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical scheme: an automatic water quality sampling device based on a quad-rotor aircraft, comprising: an outer box body and a quad-rotor drone; the front side of the outer box body is hinged with a plurality of box doors equidistantly from top to bottom, the left side of the outer box body is connected with a plurality of sampling tubes equidistantly from top to bottom, the sampling tubes extend to one end of the inner side of the outer box body and are connected with a one-way valve, the bottom of the quad-rotor drone is connected with a lifting assembly, the lifting assembly is connected to the outer box body through a detachable connecting assembly, the interior of the outer box body is fixedly connected with a plurality of supporting rings equidistantly from top to bottom, the tops of the plurality of supporting rings are connected with a placing block for damping rotation, the outer circumferential surface of the placing block is provided with a plurality of placing cavities in an annular shape with equal angles, a plurality of sampling boxes are placed in the plurality of placing cavities in an annular shape with equal angles, the side of the sampling box is connected with a sampling tube, and a rotating assembly and a connecting assembly are provided in the outer box body; The rotating assembly is used to drive the multiple placement blocks to rotate; The connecting component is used to connect the sampling tube on the sampling box in the leftmost placement cavity on each placement block with the adjacent one-way valve.

[0007] Preferably, the rotating assembly includes a first motor fixedly connected to the top of the outer box body, the output end of the first motor passes through the top wall of the outer box body and is fixedly connected to a turntable, the rotating assembly also includes multiple groups of connecting rods respectively fixedly connected to the inner circle of the placement block, a connecting block is fixedly connected between the ends close to each other in each group of multiple connecting rods, and multiple connecting blocks are connected to the bottom of the turntable. The advantage of such a configuration is that starting the first motor and driving the multiple placement blocks to rotate through the turntable and the placement block can make the sampling tubes on the multiple sampling boxes on each placement block be connected to the one-way valve on the sampling tube in turn in conjunction with the connecting assembly, so that the water sources at different sampling points can be orderly injected into the multiple sampling boxes through the sampling tubes, so that the four-rotor drone can fly in sequence to sample the water sources at different sampling points separately, thereby improving the efficiency and reliability of sampling.

[0008] Preferably, the connecting component includes a plurality of first plug rods movably plugged into the inner ring side wall of the placement block at equal angles, the ends of the plurality of first plug rods close to each other are fixedly connected to a plurality of limit plates at equal angles in a ring shape, a first elastic member is fixedly connected between the side surface of the limit plate and the inner ring side wall of the placement block, the ends of the plurality of first plug rods far away from each other penetrate the inner ring side wall of the placement block and extend into a plurality of placement cavities respectively, the ends of the plurality of first plug rods far away from each other are fixedly connected to an electromagnet plate, the sides of the sampling box close to the inner ring of the placement block are fixedly connected to iron plates, the electromagnet plates can adsorb the adjacent iron plates, and the connecting component also includes a pushing mechanism connected to the outer box body, the pushing mechanism is used to push the limit plate and push the sampling box Move toward the direction close to the inner wall of the outer box body so that the sampling tube on the leftmost sampling box is connected with the one-way valve of the adjacent sampling tube. The advantage of such a setting is that the first plug rod and the electromagnet plate are pushed toward the direction close to the inner wall of the outer box body by the pushing mechanism, thereby driving the sampling box to move toward the direction close to the inner wall of the outer box body so that the sampling tube on the leftmost sampling box is connected with the one-way valve of the adjacent sampling tube. In this way, multiple sampling boxes can be connected with multiple sampling tubes in turn, so that water sources at different sampling points can be injected into different sampling boxes respectively, so as to realize the separate storage and placement of samples at different sampling points, avoid mixing samples at different sampling points, and improve the accuracy and reliability of sampling.

[0009] Preferably, a separation and combination component is provided in the outer box body, and the separation and combination component is used to connect multiple connecting blocks to the turntable in turn. The advantage of such a setting is that different placement blocks can be driven to rotate separately, so that only one sampling box can be connected to the sampling tube and sampling can be carried out in turn, thereby ensuring that the sampling work is carried out in a more orderly manner, avoiding confusion in sampling and affecting subsequent detection work, and improving the reliability and practicality of the sampling equipment.

[0010] Preferably, the separation and combination assembly includes a plurality of up and down moving mechanisms fixedly connected to the bottom of the turntable in a ring shape at equal angles, and a moving block is movably connected to the plurality of up and down moving mechanisms. A plurality of through cavities are opened on the outer circumferential surfaces of the plurality of placement blocks in a ring shape at equal angles, and the inner top wall and the inner bottom wall of the through cavity respectively penetrate the top wall and the bottom wall of the placement block. The plurality of through cavities on each of the placement blocks are respectively located directly below the plurality of up and down moving mechanisms, and the thickness of the placement block and the width of the through cavity are clearance-matched. The advantage of such an arrangement is that the plurality of moving blocks can be driven to move up and down synchronously by the up and down moving mechanisms, so that when the plurality of moving blocks move into the plurality of through cavities on any one of the placement blocks, the first motor can drive the placement block to rotate alone.

[0011] Preferably, the pushing mechanism of the connecting component includes two first inclined surfaces symmetrically opened on the side of the limit plate away from the first insertion rod, and the pushing mechanism also includes two second inclined surfaces symmetrically opened on the side of the moving block close to the inner wall of the outer box body. The first inclined surface located on the upper side and the first inclined surface located on the lower side can respectively tightly fit with the lower second inclined surface and the upper second inclined surface on the side of the adjacent moving block. The advantage of such a setting is that during the up and down movement of the moving block, the second inclined surface and the first inclined surface can be tightly fit together to push the limit plate where the first inclined surface is located to move toward the inner wall of the outer box body, so that the sampling box can be pushed to move toward the inner wall of the outer box body, so that no additional power source is required to push the sampling box to move, thereby reducing the energy consumption of the equipment and improving the economy and practicality of the equipment.

[0012] Preferably, the up and down moving mechanism includes a plurality of second motors fixedly connected to the bottom of the turntable in a ring shape at equal angles, screws are fixedly connected to the output ends of the plurality of second motors, and the plurality of moving blocks are respectively threadedly sleeved on the external thread surfaces of the plurality of screws. The up and down moving mechanism also includes a plurality of guide rods fixedly connected to the bottom of the turntable in a ring shape at equal angles, and the plurality of moving blocks are respectively movably sleeved on the outer circumferential surfaces of the plurality of guide rods, and the bottom ends of the guide rods and the screws are both located on the lower side of the bottom surface of the lowermost placement block.

[0013] Preferably, a limiting fixing component is provided in the placement block, and the limiting fixing component is used to limit and fix the sampling box in the placement cavity. The advantage of such a setting is that it can cooperate with the electromagnet plate and the iron plate to ensure that the sampling box will not move during the sampling process, thereby ensuring that the sampling work can be carried out smoothly.

[0014] Preferably, the limit fixing assembly includes a plurality of movable cavities opened in a ring shape at equal angles on the bottom wall of each group of multiple placement cavities, and the limit fixing assembly also includes a plurality of second plug rods fixedly connected in a ring shape at equal angles to the side surface of each group of multiple limit plates close to the inner ring side wall of the outer box body, the ends of the plurality of second plug rods that are away from each other penetrate the inner ring side wall of the placement block and extend into the plurality of movable cavities respectively, the ends of the plurality of second plug rods that are away from each other are fixedly connected in a ring shape at equal angles to the plurality of push plates, the sides of the plurality of push plates that are away from each other are symmetrically fixedly connected to two cross plates, two accommodating cavities are symmetrically opened on the tops of the two cross plates, two swing plates are symmetrically rotatably connected between the inner side walls of the two accommodating cavities through a first rotating rod and a first torsion spring, two third plug rods are symmetrically and movably inserted into the tops of the two swing plates, the ends of the two third plug rods that are away from the swing plates are symmetrically fixedly connected to two rollers through a rotating seat, and the side of the rotating seat and the top surface of the swing plate are fixedly connected. The cam is fixedly connected with a second elastic member, and the swing plate and the roller can be rotated into the accommodating chamber. The limit fixing assembly also includes a baffle rod fixedly connected between the inner side walls of the multiple moving cavities at equal angles in a ring shape, and the multiple baffle rods are respectively located on one side of the multiple pairs of swing plates close to the inner side wall of the outer box body. The bottom of the sampling box is provided with two card slots for the car, and each pair of two rollers can slide into the two card slots respectively. The advantage of this arrangement is that as the moving block pushes the limit plate to move under the limiting action of the second inclined surface and the first inclined surface, the limit plate will push the swing plate and the roller to move in the direction close to the baffle rod through the second plug rod, the push plate and the cross plate until the swing plate and the roller are rotated into the accommodating chamber under the obstruction of the baffle rod, so that the roller is rotated out of the card slot at the bottom of the sampling box, and then the roller no longer limits and fixes the sampling box, ensuring that the sampling box can move in the direction close to the inner side wall of the outer box body under the push of the limit plate, so that the sample injection operation can be carried out smoothly and reliably.

[0015] Preferably, the lifting assembly includes a third motor fixedly connected to the bottom of the quadrotor drone, the output end of the third motor is fixedly connected to a wire-taking roller, the outer circumferential surface of the wire-taking roller is wrapped with a pull rope, the bottom end of the pull rope is fixedly connected to a circular plate, and the bottom of the circular plate is fixedly connected to the top of the outer box body through a detachable connecting assembly. The advantage of such an arrangement is that the outer box body can be driven to rise or fall through the pull rope, the circular plate and the detachable connecting assembly by driving the wire-taking roller to rotate forward or reversely through the third motor, thereby being able to accurately sample water sources at different depths at the sampling point, thereby improving the reliability of the sampling work.

[0016] Compared with the prior art, the present invention has the following beneficial effects: The present invention pushes the sampling box to move toward the inner wall of the outer box body through a connecting component, so that the sampling tube on the rightmost sampling box can be connected with the one-way valve on the sampling tube on the side of the outer box body, so that the one-way valve is opened and the water source at the sampling point is injected into the sampling box through the sampling tube and the sampling tube, and the rotating component is used to drive the multiple sampling boxes on the placement block to rotate, so that different sampling boxes can be connected with the one-way valve on the sampling tube in turn, so that samples collected at different sampling points can be injected into different sampling boxes, avoiding mixing of different samples, and effectively improving the reliability and practicality of the sampling equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the first structure of the present invention; Figure 2 It is a schematic cross-sectional view of the outer box body in the present invention; Figure 3 It is a schematic diagram of the structure of placing blocks in the present invention; Figure 4 It is a schematic diagram of a first cross-sectional structure of a placement block in the present invention; Figure 5 It is a second cross-sectional structural schematic diagram of the placement block in the present invention; Figure 6 It is a side sectional view of the door of the present invention; Figure 7 It is a second structural schematic diagram of the present invention; Figure 8 For the present invention Figure 2 The enlarged schematic diagram of point A in the middle; Fig. 9 For the present invention Figure 2 The enlarged schematic diagram of point B in the middle; Fig.10 For the present invention Figure 4 The enlarged schematic diagram of the center C; Fig.11 For the present invention Figure 5 Enlarged schematic diagram of point D in the middle.

[0018] In the figure: 1, outer box; 2, quadcopter; 3, lifting assembly; 31, third motor; 32, take-up roller; 33, pull rope; 34, round plate; 4, detachable connection assembly; 5, support ring; 51, placement block; 52, placement cavity; 53, sampling box; 54, injection tube; 6, rotating assembly; 61, first motor; 62, turntable; 63, connecting rod; 64, connecting block; 8, separation and combination assembly; 83, up and down moving mechanism; 831, second motor ; 832, screw; 833, guide rod; 84, moving block; 85, through cavity; 9, connecting component; 91, first plug rod; 92, limit plate; 93, electromagnet plate; 10, limit fixing component; 101, moving cavity; 102, second plug rod; 103, push plate; 104, horizontal plate; 105, swing plate; 106, third plug rod; 107, roller; 108, stop rod; 11, box door; 12, sampling tube; 13, rectangular cavity; 14, hook plate. DETAILED DESCRIPTION

[0019] 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.

[0020] See also Figure 1-Figure 8 , a water quality automatic sampling device based on a quad-rotor aircraft shown in the figure comprises: an outer box body 1 and a quad-rotor drone 2; a plurality of box doors 11 are hingedly connected equidistantly from top to bottom on the front side of the outer box body 1, a plurality of sampling tubes 12 are connected equidistantly from top to bottom on the left side of the outer box body 1, and a one-way valve is connected to one end of the sampling tube 12 extending to the inner side of the outer box body 1, and a lifting component 3 is connected to the bottom of the quad-rotor drone 2, and the lifting component 3 is connected to the outer box body 1 through a detachable connecting component 4, and a plurality of supporting rings 5 ​​are fixedly connected equidistantly from top to bottom inside the outer box body 1, and a plurality of supporting rings 5 ​​are connected to a placement block 51 on the top of each supporting ring 5 for damping rotation, and a plurality of placement cavities 52 are provided on the outer peripheral surface of the placement block 51 in an annular shape with equal angles, and a plurality of sampling boxes 53 are placed in an annular shape with equal angles in the plurality of placement cavities 52, and a sampling tube 54 is connected to the side of the sampling box 53, and a rotating component 6 and a connecting component 9 are provided in the outer box body 1; The rotating assembly 6 is used to drive the plurality of placement blocks 51 to rotate; The connecting component 9 is used to connect the sampling tube 54 on the sampling box 53 in the leftmost placement cavity 52 on each placement block 51 with the adjacent one-way valve.

[0021] See also Figure 2 , Figure 7 and Fig. 9The rotating assembly 6 includes a first motor 61 fixedly connected to the top of the outer box body 1, the output end of the first motor 61 passes through the top wall of the outer box body 1 and is fixedly connected to a turntable 62, the rotating assembly 6 also includes multiple groups of connecting rods 63 respectively fixedly connected to the inner circle of the placement block 51, and a connecting block 64 is fixedly connected between the adjacent ends of each group of multiple connecting rods 63, and the multiple connecting blocks 64 are all connected to the bottom of the turntable 62.

[0022] Specifically, starting the first motor 61 and driving the plurality of placement blocks 51 to rotate through the turntable 62 and the placement block 51, so that in cooperation with the connecting component 9, the sampling tubes 54 on the plurality of sampling boxes 53 on each placement block 51 can be connected to the one-way valve on the sampling tube 12 in turn, so that the water sources at different sampling points can be injected into the plurality of sampling boxes 53 in an orderly manner through the sampling tube 12, so that the four-rotor drone 2 can fly in sequence to sample the water sources at different sampling points respectively, thereby improving the efficiency and reliability of sampling.

[0023] See also Fig.10 and Fig.11 The connecting component 9 includes a plurality of first plug rods 91 movably plugged at equal angles on the inner ring side wall of the placement block 51, and the ends of the plurality of first plug rods 91 that are close to each other are fixedly connected with a plurality of limit plates 92 at equal angles in a ring shape, and a first elastic member is fixedly connected between the side surface of the limit plate 92 and the inner ring side wall of the placement block 51, and the ends of the plurality of first plug rods 91 that are far away from each other penetrate the inner ring side wall of the placement block 51 and extend into the plurality of placement cavities 52 respectively, and the ends of the plurality of first plug rods 91 that are far away from each other are fixedly connected with an electromagnet plate 93, and the sides of the sampling box 53 close to the inner ring of the placement block 51 are fixedly connected with iron plates, and the electromagnet plate 93 can adsorb the adjacent iron plates, and the connecting component 9 also includes a pushing mechanism connected to the outer box body 1, and the pushing mechanism is used to push the limit plate 92 and push the sampling box 53 to move toward the direction close to the inner side wall of the outer box body 1 so that the sampling tube 54 on the leftmost sampling box 53 is connected to the one-way valve of the adjacent sampling tube 12.

[0024] Specifically, the pushing mechanism pushes the first insertion rod 91 and the electromagnet plate 93 toward the inner wall of the outer box body 1, thereby driving the sampling box 53 to move toward the inner wall of the outer box body 1 so that the sampling tube 54 on the leftmost sampling box 53 is connected with the one-way valve of the adjacent sampling tube 12. In this way, multiple sampling boxes 53 can be connected with multiple sampling tubes 12 in turn, so that water sources at different sampling points can be injected into different sampling boxes 53 respectively, so as to realize the separate storage and placement of samples at different sampling points, avoid mixing of samples at different sampling points, and improve the accuracy and reliability of sampling.

[0025] See also Figure 2 and Fig. 9A separation and combination assembly 8 is provided in the outer box body 1, and the separation and combination assembly 8 is used to connect multiple connection blocks 64 to the turntable 62 in turn.

[0026] Specifically, different placement blocks 51 can be driven to rotate respectively, so that only one sampling box 53 can be connected to the sampling tube 12 at a time and sampling can be performed, thereby ensuring that the sampling work is carried out in a more orderly manner, avoiding confusion in sampling and affecting subsequent detection work, and improving the reliability and practicality of the sampling equipment.

[0027] See also Figure 3 , Figure 4 , Figure 5 and Fig. 9 The separation and combination component 8 includes a plurality of up-and-down moving mechanisms 83 which are fixedly connected to the bottom of the turntable 62 in a ring shape at equal angles, and a moving block 84 is movably connected to the plurality of up-and-down moving mechanisms 83. A plurality of through cavities 85 are opened in a ring shape at equal angles on the outer circumferential surfaces of the plurality of placement blocks 51. The inner top wall and the inner bottom wall of the through cavity 85 respectively penetrate the top wall and the bottom wall of the placement block 51. The plurality of through cavities 85 on each placement block 51 are respectively located directly below the plurality of up-and-down moving mechanisms 83, and the thickness of the placement block 51 and the width of the through cavity 85 are clearance-matched.

[0028] Specifically, the multiple moving blocks 84 are driven to move up and down synchronously by the up and down moving mechanism 83, so that when the multiple moving blocks 84 move into the multiple through cavities 85 on any placement block 51, the first motor 61 can drive the placement block 51 to rotate alone.

[0029] See also Figure 4 , Figure 5 and Fig.11 The pushing mechanism of the connecting component 9 includes two first inclined surfaces symmetrically opened on the side of the limiting plate 92 away from the first insertion rod 91, and the pushing mechanism also includes two second inclined surfaces symmetrically opened on the side of the moving block 84 close to the inner wall of the outer box body 1. The first inclined surface located on the upper side and the first inclined surface located on the lower side can be tightly fitted with the lower second inclined surface and the upper second inclined surface on the side of the adjacent moving block 84 respectively.

[0030] Specifically, when the movable block 84 moves up and down, the second inclined surface and the first inclined surface can be tightly fitted together to push the limiting plate 92 where the first inclined surface is located to move toward the direction close to the inner wall of the outer box body 1, so that the sampling box 53 can be pushed to move toward the direction close to the inner wall of the outer box body 1, so that no additional power source is required to push the sampling box 53 to move, thereby reducing the energy consumption of the equipment and improving the economy and practicality of the equipment.

[0031] See also Fig. 9The up-and-down moving mechanism 83 includes a plurality of second motors 831 fixedly connected to the bottom of the turntable 62 in a ring shape at equal angles, and screws 832 are fixedly connected to the output ends of the plurality of second motors 831. A plurality of moving blocks 84 are respectively threadedly sleeved on the external thread surfaces of the plurality of screws 832. The up-and-down moving mechanism 83 also includes a plurality of guide rods 833 fixedly connected to the bottom of the turntable 62 in a ring shape at equal angles, and a plurality of moving blocks 84 are respectively movably sleeved on the outer circumferential surfaces of the plurality of guide rods 833. The bottom ends of the guide rods 833 and the screws 832 are both located on the lower side of the bottom surface of the lowermost placement block 51.

[0032] See also Fig.10 A limiting and fixing component 10 is provided in the placement block 51 , and the limiting and fixing component 10 is used to limit and fix the sampling box 53 in the placement cavity 52 .

[0033] Specifically, the electromagnetic plate 93 and the iron plate can be used together to ensure that the sampling box 53 does not move during the sampling process, thereby ensuring that the sampling work can be carried out smoothly.

[0034] See also Fig.10 The limiting and fixing component 10 includes a plurality of movable cavities 101 which are opened in a ring shape at equal angles on the inner bottom wall of each group of multiple placement cavities 52. The limiting and fixing component 10 also includes a plurality of second plug rods 102 which are fixedly connected in a ring shape at equal angles on the side surface of each group of multiple limit plates 92 close to the inner ring side wall of the outer box body 1. The ends of the plurality of second plug rods 102 which are away from each other pass through the inner ring side wall of the placement block 51 and extend into the plurality of movable cavities 101 respectively. The ends of the plurality of second plug rods 102 which are away from each other are fixedly connected in a ring shape at equal angles. Two horizontal plates 104 are symmetrically fixedly connected to the sides away from each other of the plurality of push plates 103. Two accommodating cavities are symmetrically opened on the tops of the two horizontal plates 104. The inner side walls of the two accommodating cavities are connected by a first rotating rod and a first The torsion spring is symmetrically rotatably connected to two swing plates 105, and two third plug rods 106 are symmetrically and movably inserted on the top of the two swing plates 105. The ends of the two third plug rods 106 away from the swing plates 105 are symmetrically fixedly connected to two rollers 107 through a rotating seat. A second elastic member is fixedly connected between the side surface of the rotating seat and the top surface of the swing plate 105. The swing plate 105 and the roller 107 can be rotated into the accommodating cavity. The limiting fixing assembly 10 also includes a baffle 108 fixedly connected in a ring-shaped manner at equal angles between the inner walls of multiple movable cavities 101. The multiple baffle rods 108 are respectively located on one side of the multiple pairs of swing plates 105 close to the inner wall of the outer box body 1. Two slots are opened on the bottom of the sampling box 53, and each pair of two rollers 107 can slide into the two slots respectively.

[0035] Specifically, as the moving block 84 pushes the limiting plate 92 to move under the limiting action of the second inclined surface and the first inclined surface, the limiting plate 92 will push the swing plate 105 and the roller 107 to move in the direction close to the blocking rod 108 through the second insertion rod 102, the push plate 103 and the cross plate 104 until the swing plate 105 and the roller 107 are turned into the accommodating cavity under the obstruction of the blocking rod 108, so that the roller 107 is turned out from the card slot at the bottom of the sampling box 53, and then the roller 107 no longer limits and fixes the sampling box 53, ensuring that the sampling box 53 can be pushed by the limiting plate 92. The limit plate 92 moves in the direction close to the inner wall of the outer box body 1, so that the sample injection operation can be carried out smoothly and reliably.

[0036] See also Figure 1 and Figure 7 The lifting component 3 includes a third motor 31 fixedly connected to the bottom of the quad-rotor drone 2, and the output end of the third motor 31 is fixedly connected to a take-up roller 32, a pull rope 33 is wound around the outer circumference of the take-up roller 32, and the bottom end of the pull rope 33 is fixedly connected to a circular plate 34, and the bottom of the circular plate 34 is fixedly connected to the top of the outer box body 1 through a detachable connecting component 4.

[0037] Specifically, by driving the take-up roller 32 to rotate forward or reversely through the third motor 31, the outer box body 1 can be driven to rise or fall through the pull rope 33, the circular plate 34 and the detachable connecting component 4, so that water sources at different depths at the sampling point can be accurately sampled, thereby improving the reliability of the sampling work.

[0038] A rectangular cavity 13 is provided on the side of the box door 11 close to the interior of the outer box body 1, and a hook plate 14 is rotatably connected between the front and rear inner walls of the rectangular cavity 13 through a third rotating rod and a third torsion spring. After the hook plate 14 is rotated out of the rectangular cavity 13, the angle between the hook plate 14 and the box door 11 is less than ninety degrees. After the box door 11 is opened and the electromagnet plate 93 is powered off, the sampling box 53 is pushed out by the electromagnet plate 93, and the hook plate 14 is rotated out of the rectangular cavity 13 to block the sampling box 53, thereby preventing the sampling box 53 from falling directly to the ground and being damaged.

[0039] Working principle: When sampling, start the quad-rotor drone 2 to drive the outer box 1 to fly to each sampling point in an orderly manner according to the preset sampling trajectory. At each sampling point, start the third motor 31 to drive the take-up roller 32 to reverse and drive the outer box 1 to descend through the pull rope 33 until one of the sampling tubes 12 reaches the sampling position.

[0040] Then, the second motor 831 is started to drive the screw 832 to rotate, and the screw 832 cooperates with the guide rod 833 to drive the moving block 84 to move into the through cavity 85 on the placement block 51 corresponding to the sampling tube 12, so that during the descending process of the moving block 84, its second inclined surface and the adjacent first inclined surface are tightly fitted together, and the limiting plate 92 where the first inclined surface is located can be pushed to move toward the direction close to the inner wall of the outer box body 1, so that the sampling box 53 can be pushed to move toward the direction close to the inner wall of the outer box body 1.

[0041] When the moving block 84 pushes the limiting plate 92 to move under the limiting action of the second inclined surface and the first inclined surface, the limiting plate 92 will push the swing plate 105 and the roller 107 to move in the direction close to the blocking rod 108 through the second plug rod 102, the push plate 103 and the cross plate 104 until the swing plate 105 and the roller 107 are turned into the accommodating cavity under the obstruction of the blocking rod 108, so that the roller 107 is turned out from the card slot at the bottom of the sampling box 53, and then the roller 107 no longer limits and fixes the sampling box 53, ensuring that the sampling box 53 can be moved in the direction close to the inner wall of the outer box body 1 under the push of the limiting plate 92, so that the sample injection operation can be carried out smoothly and reliably, so that the sampling tube 54 on the leftmost sampling box 53 can be connected with the one-way valve on the sampling tube 12 and push open the one-way valve, so that the water source at the target position can be injected into the sampling box 53 to complete the sampling work.

[0042] Then, the second motor 831 is started to drive the moving block 84 to move upward a short distance so that the moving block 84 and the limit plate 92 are separated, so that the sampling box 53 is reset under the elastic force of the first elastic member. As the first motor 61 is started, the placement block 51 is driven to rotate a certain angle through the turntable 62 and the moving block 84 so that the other empty sampling box 53 for injecting samples rotates to the far left to prepare for the next sampling. This cycle is repeated to inject samples at different sampling positions into different sampling boxes 53, and the sampling work can be completed efficiently and reliably.

[0043] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0044] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A water quality automatic sampling device based on a quadrotor aircraft, comprising: An outer box (1) and a quad-rotor drone (2); characterized in that a plurality of box doors (11) are hingedly connected at equal intervals from top to bottom on the front side of the outer box (1); a plurality of sampling tubes (12) are connected at equal intervals from top to bottom on the left side of the outer box (1); one end of the sampling tube (12) extending to the inner side of the outer box (1) is connected to a one-way valve; a lifting assembly (3) is connected to the bottom of the quad-rotor drone (2); the lifting assembly (3) is connected to the outer box (1) via a detachable connecting assembly (4); A plurality of support rings (5) are fixedly connected to the outer box body (1) at equal intervals from top to bottom, and a placement block (51) is connected to the top of each of the support rings (5) in a damped rotation manner. A plurality of placement cavities (52) are provided on the outer peripheral surface of the placement block (51) in an annular shape at equal angles, and a plurality of sampling boxes (53) are placed in an annular shape at equal angles in the plurality of placement cavities (52). A sampling tube (54) is connected to the side of the sampling box (53), and a rotating component (6) and a connecting component (9) are provided in the outer box body (1); The rotating assembly (6) is used to drive the plurality of placement blocks (51) to rotate; The connecting component (9) is used to connect the sampling tube (54) on the sampling box (53) in the leftmost placement cavity (52) on each placement block (51) to the adjacent one-way valve.

2. The automatic water quality sampling device based on a quadrotor aircraft according to claim 1 is characterized in that: The rotating assembly (6) comprises a first motor (61) fixedly connected to the top of the outer box (1); an output end of the first motor (61) passes through the top wall of the outer box (1) and is fixedly connected to a rotating disk (62); the rotating assembly (6) further comprises a plurality of groups of connecting rods (63) respectively fixedly connected to the inner ring of the placement block (51); a connecting block (64) is fixedly connected between adjacent ends of each group of the connecting rods (63); and the plurality of connecting blocks (64) are all connected to the bottom of the rotating disk (62).

3. The automatic water quality sampling device based on a quadrotor aircraft according to claim 2 is characterized in that: The connecting component (9) comprises a plurality of first plug rods (91) movably plugged at equal angles on the inner ring side wall of the placement block (51); the ends of the plurality of first plug rods (91) close to each other are fixedly connected to a plurality of limit plates (92) at equal angles in a ring shape; a first elastic member is fixedly connected between the side of the limit plate (92) and the inner ring side wall of the placement block (51); the ends of the plurality of first plug rods (91) far away from each other penetrate the inner ring side wall of the placement block (51) and extend into the plurality of placement cavities (52) respectively; the ends of the plurality of first plug rods (91) far away from each other One end is fixedly connected to an electromagnet plate (93), and the side of the sampling box (53) close to the inner circle of the placement block (51) is fixedly connected to an iron plate, and the electromagnet plate (93) can adsorb the adjacent iron plate. The connecting component (9) also includes a pushing mechanism connected to the outer box body (1), and the pushing mechanism is used to push the limit plate (92) and push the sampling box (53) toward the inner wall of the outer box body (1) so that the sampling tube (54) on the leftmost sampling box (53) is connected to the one-way valve of the adjacent sampling tube (12).

4. The automatic water quality sampling device based on a quadrotor aircraft according to claim 3 is characterized in that: A splitting and combining assembly (8) is provided in the outer box body (1), and the splitting and combining assembly (8) is used to connect a plurality of connection blocks (64) to the rotating disk (62) in turn.

5. The automatic water quality sampling device based on a quadrotor aircraft according to claim 4 is characterized in that: The splitting and combining assembly (8) comprises a plurality of up-and-down moving mechanisms (83) fixedly connected to the bottom of the rotating disk (62) in an annular shape at equal angles, and a moving block (84) is movably connected to each of the plurality of up-and-down moving mechanisms (83). A plurality of through cavities (85) are opened in an annular shape at equal angles on the outer peripheral surfaces of the plurality of placement blocks (51), and the inner top wall and the inner bottom wall of the through cavity (85) respectively penetrate the top wall and the bottom wall of the placement block (51). The plurality of through cavities (85) on each of the placement blocks (51) are respectively located directly below the plurality of up-and-down moving mechanisms (83), and the thickness of the placement block (51) and the width of the through cavity (85) are clearance-matched.

6. The automatic water quality sampling device based on a quadrotor aircraft according to claim 5 is characterized in that: The pushing mechanism of the connecting component (9) comprises two first inclined surfaces symmetrically arranged on the side of the limiting plate (92) away from the first insertion rod (91), and the pushing mechanism also comprises two second inclined surfaces symmetrically arranged on the side of the moving block (84) close to the inner wall of the outer box body (1), and the first inclined surface located on the upper side and the first inclined surface located on the lower side can respectively tightly fit with the lower second inclined surface and the upper second inclined surface on the side of the adjacent moving block (84).

7. The automatic water quality sampling device based on a quadrotor aircraft according to claim 6 is characterized by: The up-and-down moving mechanism (83) comprises a plurality of second motors (831) fixedly connected to the bottom of the rotating disk (62) in an annular shape at equal angles, a screw rod (832) fixedly connected to the output ends of the plurality of second motors (831), and a plurality of moving blocks (84) respectively threadedly sleeved on the external threaded surfaces of the plurality of screw rods (832). The up-and-down moving mechanism (83) further comprises a plurality of guide rods (833) fixedly connected to the bottom of the rotating disk (62) in an annular shape at equal angles, and a plurality of moving blocks (84) respectively movably sleeved on the outer peripheral surfaces of the plurality of guide rods (833), and the bottom ends of the guide rods (833) and the screw rods (832) are both located below the bottom surface of the lowermost placement block (51).

8. The automatic water quality sampling device based on a quadrotor aircraft according to claim 7 is characterized in that: A position limiting and fixing component (10) is provided in the placement block (51), and the position limiting and fixing component (10) is used to position and fix the sampling box (53) in the placement cavity (52).

9. The automatic water quality sampling device based on a quadrotor aircraft according to claim 8, characterized in that: The limiting and fixing component (10) comprises a plurality of movable cavities (101) which are opened in a ring shape at equal angles on the inner bottom wall of each group of the plurality of placement cavities (52). The limiting and fixing component (10) also comprises a plurality of second insertion rods (102) which are fixedly connected in a ring shape at equal angles on the side surface of each group of the plurality of limiting plates (92) close to the inner ring side wall of the outer box body (1). The ends of the plurality of second insertion rods (102) which are away from each other penetrate the inner ring side wall of the placement block (51) and extend into the plurality of movable cavities (101) respectively. The ends of the plurality of second insertion rods (102) which are away from each other are fixedly connected in a ring shape at equal angles. The sides of the plurality of push plates (103) which are away from each other are symmetrically fixedly connected with two horizontal plates (104). Two accommodating cavities are symmetrically opened on the tops of the two horizontal plates (104). The inner side walls of the two accommodating cavities are connected by a first rotating rod and a first torsion spring. The spring is symmetrically rotatably connected to two swing plates (105), the tops of the two swing plates (105) are symmetrically and movably plugged with two third plug rods (106), one end of the two third plug rods (106) away from the swing plate (105) is symmetrically fixedly connected to two rollers (107) through a rotating seat, a second elastic member is fixedly connected between the side surface of the rotating seat and the top surface of the swing plate (105), the swing plate (105) and the roller (107) can be rotated into the accommodating cavity, the limiting fixing component (10) also includes a blocking rod (108) fixedly connected between the inner side walls of the plurality of movable cavities (101) in an annular shape with equal angles, the plurality of blocking rods (108) are respectively located on one side of the plurality of pairs of swing plates (105) close to the inner side wall of the outer box body (1), the bottom of the sampling box (53) is provided with two card slots, and each pair of two rollers (107) can slide into the two card slots respectively.

10. The automatic water quality sampling device based on a quadrotor aircraft according to claim 1, characterized in that: The lifting assembly (3) comprises a third motor (31) fixedly connected to the bottom of the quad-rotor drone (2); the output end of the third motor (31) is fixedly connected to a wire take-up roller (32); a pull rope (33) is wound around the outer circumference of the wire take-up roller (32); the bottom end of the pull rope (33) is fixedly connected to a circular plate (34); and the bottom of the circular plate (34) is fixedly connected to the top of the outer box (1) via a detachable connection assembly (4).

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