An automatic water quality sampling device based on a quadrotor aircraft

Abstract

The present invention discloses a water quality automatic sampling device based on a quadrotor aircraft, which relates to the technical field of water quality automatic sampling, and includes: an outer box body and a quadrotor unmanned aerial vehicle; a plurality of box doors are hinged equidistantly from top to bottom on the front surface of the outer box body. By means of the arranged communication component, the sampling box is pushed to move towards the direction close to the inner side wall of the outer box body, so that the sampling tube on the rightmost sampling box can be communicated with the one-way valve on the sampling tube on the side surface of the outer box body, thereby opening the one-way valve and enabling the water source at the sampling point to be injected into the sampling box through the sampling tube and the sampling tube, and cooperating with the rotation component to drive the plurality of sampling boxes on the placement block to rotate, different sampling boxes can be made to communicate with the one-way valve on the sampling tube in turn, so that the samples collected at different sampling points can be injected into different sampling boxes, avoiding the mixing of different samples, and effectively improving the reliability and practicability of the sampling device.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic water quality sampling, and specifically to an automatic water quality sampling device based on a quadcopter. Background Technique

[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 the changing trends, and evaluate the water quality status process.

[0003] The existing water source sampling methods mostly involve sampling personnel taking a speedboat or other vessels to each sampling point in the monitored water area, and then sampling the water at the sampling point through a sampling device, or setting a fixed sampling and detection device at the sampling point for regular sampling and direct detection.

[0004] In the prior art, the manual sampling method has high cost and low efficiency, and it is difficult to collect water quality samples by manual sampling in some special environments. The procurement and maintenance costs of using fixed sampling and detection devices are relatively high, which increases the cost of water quality sampling and thus reduces the cost of sampling and detection devices. Summary of the Invention

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

[0006] To achieve the above purpose, the present invention provides the following technical solution: An automatic water quality sampling device based on a quadcopter, including: an outer box body and a quadcopter; a plurality of box doors are hinged equidistantly from top to bottom on the front surface of the outer box body, a plurality of sampling tubes are communicated equidistantly from top to bottom on the left side surface of the outer box body, one end of the sampling tube extending to the inner side of the outer box body is communicated with a one-way valve, a lifting assembly is connected to the bottom of the quadcopter, the lifting assembly is connected to the outer box body through a detachable connection assembly, a plurality of support rings are fixedly connected equidistantly from top to bottom inside the outer box body, the tops of the plurality of support rings are rotatably connected with damping to placing blocks, a plurality of placing cavities are annularly and equiangularly formed on the outer peripheral surface of the placing block, a plurality of sampling boxes are annularly and equiangularly placed in the plurality of placing cavities, a sampling tube is communicated on the side surface of the sampling box, and a rotating assembly and a communicating assembly are arranged inside the outer box body;

[0007] The rotating assembly is used to drive the plurality of placing blocks to rotate self - sufficiently;

[0008] The communicating assembly is used to connect the sampling tube on the sampling box in the left - most placing cavity of each placing block with the adjacent one - way valve.

[0009] 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 penetrates through the top wall of the outer box body and is fixedly connected to a turntable. The rotating assembly further includes multiple connecting rods respectively fixedly connected to the inner ring of the placing block. One end of each group of multiple connecting rods close to each other is fixedly connected with a connecting block, and multiple connecting blocks are all connected to the bottom of the turntable. The advantage of such a setting is that starting the first motor and driving the multiple placing blocks to rotate by the turntable and the placing block can make the sampling tubes on the multiple sampling boxes on each placing block be alternately communicated with the one-way valves on the sampling tubes. In this way, the water sources at different sampling points can be orderly injected into the multiple sampling boxes through the sampling tubes respectively. In this way, it can be realized that the quadcopter drone can fly in sequence to separately sample the water sources at different sampling points, improving the efficiency and reliability of sampling.

[0010] Preferably, the communicating assembly includes multiple first inserting rods movably inserted into the side wall of the inner ring of the placing block at equal angles. One end of the multiple first inserting rods close to each other is fixedly connected with multiple limiting plates in an annular and equal-angle manner. A first elastic member is fixedly connected between the side surface of the limiting plate and the side wall of the inner ring of the placing block. One end of the multiple first inserting rods away from each other penetrates through the side wall of the inner ring of the placing block and extends into multiple placing cavities respectively. One end of the multiple first inserting rods away from each other is fixedly connected with electromagnetic iron plates. The side surfaces of the sampling boxes close to the inner ring of the placing block are all fixedly connected with iron plates, and the electromagnetic iron plates can adsorb the adjacent iron plates. The communicating assembly further includes a pushing mechanism connected inside the outer box body. The pushing mechanism is used to push the limiting plate and push the sampling box to move towards the inner side wall of the outer box body so that the sampling tube on the leftmost sampling box is communicated with the one-way valve of the adjacent sampling tube. The advantage of such a setting is that by pushing the first inserting rod and the electromagnetic iron plate towards the inner side wall of the outer box body through the pushing mechanism, the sampling box can be driven to move towards the inner side wall of the outer box body so that the sampling tube on the leftmost sampling box is communicated with the one-way valve of the adjacent sampling tube. In this way, multiple sampling boxes can be alternately communicated with multiple sampling tubes, so as to separately inject the water sources at different sampling points into different sampling boxes, realizing the separated storage and placement of samples at different sampling points, avoiding the mixing of samples at different sampling points, and improving the accuracy and reliability of sampling.

[0011] Preferably, a separating and combining assembly is arranged inside the outer box body. The separating and combining assembly is used to make multiple connecting blocks be alternately connected to the turntable. The advantage of such a setting is that in this way, different placing blocks can be respectively driven to rotate, so that only one sampling box can be communicated with the sampling tube and sampled in sequence, ensuring that the sampling work is carried out more orderly, avoiding confusion in sampling and affecting subsequent detection work, and improving the reliability and practicability of the sampling device.

[0012] Preferably, the separating and combining component includes a plurality of up-and-down moving mechanisms fixedly connected to the bottom of the turntable in an annular shape at equal angles. A moving block is movably connected to each of the plurality of up-and-down moving mechanisms. A plurality of through cavities are formed in an annular shape at equal angles on the outer peripheral surface of each of the plurality of placing blocks. The inner top wall and the inner bottom wall of the through cavity respectively penetrate through the top wall and the bottom wall of the placing block. The plurality of through cavities on each placing block are respectively located directly below the plurality of up-and-down moving mechanisms. The thickness of the placing block and the width of the through cavity are in clearance fit. The advantage of this setting is that the plurality of moving blocks are driven by the up-and-down moving mechanisms to move up and down synchronously, so that when the plurality of moving blocks move into the plurality of through cavities on any one placing block, the first motor can drive the placing block to rotate independently.

[0013] Preferably, the pushing mechanism of the connecting component includes two first inclined surfaces symmetrically formed on the side surface of the limiting plate away from the first plug rod. The pushing mechanism further includes two second inclined surfaces symmetrically formed on the side surface of the moving block close to the inner side wall of the outer box. The upper first inclined surface and the lower first inclined surface can be respectively tightly abutted and attached to the lower second inclined surface and the upper second inclined surface on the side surface of the adjacent moving block. The advantage of this setting is that during the up-and-down movement of the moving block, after the second inclined surface and the first inclined surface are tightly abutted and attached, the limiting plate where the first inclined surface is located can be pushed to move towards the inner side wall of the outer box, so that the sampling box can be pushed to move towards the inner side wall of the outer box. Thus, no additional power source is required to push the sampling box to move, reducing the energy consumption of the device and improving the economy and practicality of the device.

[0014] Preferably, the up-and-down moving mechanism includes a plurality of second motors fixedly connected to the bottom of the turntable in an annular shape at equal angles. A screw rod is fixedly connected to the output end of each of the plurality of second motors. The plurality of moving blocks are respectively threadedly sleeved on the outer threaded surfaces of the plurality of screw rods. The up-and-down moving mechanism further includes a plurality of guide rods fixedly connected to the bottom of the turntable in an annular shape at equal angles. The plurality of moving blocks are respectively movably sleeved on the outer peripheral surfaces of the plurality of guide rods. The bottom ends of the guide rods and the screw rods are both located below the bottom surface of the lowermost placing block.

[0015] Preferably, a limiting and fixing component is arranged in the placing block. The limiting and fixing component is used for limiting and fixing the sampling box in the placing cavity. The advantage of this setting is that it can cooperate with the electromagnetic iron plate and the iron plate to ensure that the sampling box does not move during the sampling process, thus ensuring the smooth progress of the sampling work.

[0016] Preferably, the limiting and fixing assembly includes a plurality of moving cavities formed in an annular shape at equal angles on the bottom walls of each group of multiple placement cavities. The limiting and fixing assembly further includes a plurality of second insertion rods fixedly connected to the sides of each group of multiple limiting plates close to the inner sidewall of the outer box body in an annular shape at equal angles. The remote ends of the plurality of second insertion rods penetrate the inner sidewall of the placement block and extend into the plurality of moving cavities respectively. A plurality of push plates are fixedly connected to the remote ends of the plurality of second insertion rods in an annular shape at equal angles. Two cross plates are symmetrically fixedly connected to the remote sides of the plurality of push plates. Two accommodation cavities are symmetrically formed at the tops of the two cross plates. Two swing plates are symmetrically rotatably connected between the inner sidewalls of the two accommodation cavities through a first rotating rod and a first torsion spring. Two third insertion rods are symmetrically and movably inserted into the tops of the two swing plates. The remote ends of the two third insertion rods away from the swing plates are symmetrically fixedly connected to two rollers 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. The swing plate and the roller can be rotated into the accommodation cavity. The limiting and fixing assembly further includes a plurality of blocking rods fixedly connected between the inner sidewalls of the plurality of moving cavities in an annular shape at equal angles. The plurality of blocking rods are respectively located on one side of each pair of swing plates close to the inner sidewall of the outer box body. Two card slots are formed at the bottom of the sampling box opposite to the vehicle. Each pair of the two rollers can be respectively slid into the two card slots. The advantage of such a setting is that as the moving block pushes the limiting plate to move under the limiting action of the second inclined surface and the first inclined surface, the limiting plate will push the swing plate and the roller to move towards the direction close to the blocking rod through the second insertion rod, the push plate and the cross plate until the swing plate and the roller are rotated into the accommodation cavity under the blocking of the blocking rod. In this way, the roller is rotated out of the card slot at the bottom of the sampling box, so that the roller no longer limits and fixes the sampling box, ensuring that the sampling box can move towards the direction close to the inner sidewall of the outer box body under the push of the limiting plate, so that the sample injection operation can be carried out smoothly and reliably.

[0017] Preferably, the lifting assembly includes a third motor fixedly connected to the bottom of the quadcopter drone. The output end of the third motor is fixedly connected to a wire winding roller. A pulling rope is wound around the outer peripheral surface of the wire winding roller. The bottom end of the pulling rope is fixedly connected to a circular plate. The bottom of the circular plate is fixedly connected to the top of the outer box body through a detachable connection assembly. The advantage of such a setting is that by driving the wire winding roller to rotate forward or backward by the third motor, the outer box body can be driven to rise or fall through the pulling rope, the circular plate and the detachable connection assembly, so as to accurately sample water sources at different depths at the sampling point, improving the reliability of the sampling work.

[0018] Compared with the prior art, the beneficial effects of the present invention are:

[0019] The present invention moves the sampling box towards the inner side wall of the outer box through the connected components, so that the sampling tube on the rightmost sampling box can communicate with the one-way valve on the sampling tube on the side of the outer box, thereby opening the one-way valve and allowing the water source at the sampling point to be injected into the sampling box through the sampling tube and the sampling tube. And cooperating with the rotating component to drive the multiple sampling boxes on the placing block to rotate, different sampling boxes can be made to communicate with the one-way valve on the sampling tube in turn, so that the samples collected at different sampling points can be injected into different sampling boxes, avoiding the mixing of different samples and effectively improving the reliability and practicability of the sampling device. Description of the Drawings

[0020] Figure 1 is the first structural schematic diagram of the present invention;

[0021] Figure 2 is the sectional structural schematic diagram of the outer box in the present invention;

[0022] Figure 3 is the structural schematic diagram of the placing block in the present invention;

[0023] Figure 4 is the first sectional structural schematic diagram of the placing block in the present invention;

[0024] Figure 5 is the second sectional structural schematic diagram of the placing block in the present invention;

[0025] Figure 6 is the side sectional view of the box door in the present invention;

[0026] Figure 7 is the second structural schematic diagram of the present invention;

[0027] Figure 8 in the present invention Figure 2 is the enlarged schematic diagram of part A;

[0028] Figure 9 in the present invention Figure 2 is the enlarged schematic diagram of part B;

[0029] Figure 10 in the present invention Figure 4 is the enlarged schematic diagram of part C;

[0030] Figure 11 in the present invention Figure 5 is the enlarged schematic diagram of part D.

[0031] In the figure: 1. Outer box body; 2. Quadrotor UAV; 3. Lifting assembly; 31. Third motor; 32. Wire winding roller; 33. Pulling rope; 34. Circular plate; 4. Detachable connection assembly; 5. Support ring; 51. Placing block; 52. Placing cavity; 53. Sampling box; 54. Sampling tube; 6. Rotating assembly; 61. First motor; 62. Turntable; 63. Connecting rod; 64. Connecting block; 8. Separating and combining assembly; 83. Up and down moving mechanism; 831. Second motor; 832. Screw rod; 833. Guide rod; 84. Moving block; 85. Through cavity; 9. Connecting assembly; 91. First plug rod; 92. Limiting plate; 93. Electromagnetic iron plate; 10. Limiting and fixing assembly; 101. Moving cavity; 102. Second plug rod; 103. Pushing plate; 104. Cross 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 implementation manners

[0032] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0033] Please refer to Figures 1 - 8 , a water quality automatic sampling device based on a quadrotor aircraft in the figure includes: an outer box body 1 and a quadrotor UAV 2; a plurality of box doors 11 are hinged at equal intervals from top to bottom on the front surface of the outer box body 1, and a plurality of sampling tubes 12 are connected in communication at equal intervals from top to bottom on the left side surface of the outer box body 1. One end of the sampling tube 12 extending to the inside of the outer box body 1 is connected with a one-way valve. The bottom of the quadrotor UAV 2 is connected with a lifting assembly 3, and the lifting assembly 3 is connected with the outer box body 1 through a detachable connection assembly 4. A plurality of support rings 5 are fixedly connected at equal intervals from top to bottom inside the outer box body 1. The tops of the plurality of support rings 5 are all rotatably connected with placing blocks 51 in a damping manner. A plurality of placing cavities 52 are annularly and equally angled on the outer peripheral surface of the placing block 51. A plurality of sampling boxes 53 are annularly and equally angled in the plurality of placing cavities 52. A sampling tube 54 is connected in communication on the side surface of the sampling box 53. A rotating assembly 6 and a connecting assembly 9 are arranged inside the outer box body 1;

[0034] The rotating assembly 6 is used to drive the plurality of placing blocks 51 to rotate self.

[0035] The connecting assembly 9 is used to connect the sampling tube 54 on the sampling box 53 in the leftmost placing cavity 52 on each placing block 51 with the adjacent one-way valve in communication.

[0036] Refer to Figure 2 , Figure 7 andFigure 9 , the 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 penetrates through the top wall of the outer box body 1 and is fixedly connected with a turntable 62. The rotating assembly 6 further includes multiple groups of connecting rods 63 respectively fixedly connected to the inner ring of the placing block 51. One end of each group of multiple connecting rods 63 close to each other is fixedly connected with a connecting block 64, and multiple connecting blocks 64 are all connected to the bottom of the turntable 62.

[0037] Specifically, starting the first motor 61 and driving multiple placing blocks 51 to rotate by themselves through the turntable 62 and the placing block 51. In this way, in cooperation with the connecting assembly 9, the sampling tubes 54 on multiple sampling boxes 53 on each placing block 51 can be connected to the one-way valve on the sampling tube 12 in turn. In this way, the water sources at different sampling points can be injected into multiple sampling boxes 53 respectively through the sampling tube 12 in an orderly manner. In this way, it can be realized that the quadcopter drone 2 can fly in turn to sample the water sources at different sampling points respectively, improving the sampling efficiency and reliability.

[0038] Refer to Figure 10 and Figure 11 , the connecting assembly 9 includes multiple first inserting rods 91 inserted into the side wall of the inner ring of the placing block 51 at equal angles. One end of multiple first inserting rods 91 close to each other is fixedly connected with multiple limiting plates 92 in an annular and equal-angle manner. A first elastic member is fixedly connected between the side surface of the limiting plate 92 and the side wall of the inner ring of the placing block 51. One end of multiple first inserting rods 91 away from each other penetrates through the side wall of the inner ring of the placing block 51 and extends into multiple placing cavities 52 respectively. One end of multiple first inserting rods 91 away from each other is fixedly connected with an electromagnetic iron plate 93. The side surface of the sampling box 53 close to the inner ring of the placing block 51 is fixedly connected with an iron plate. The electromagnetic iron plate 93 can adsorb the adjacent iron plate. The connecting assembly 9 further includes a pushing mechanism connected inside the outer box body 1. The pushing mechanism is used to push the limiting plate 92 and push the sampling box 53 to move towards 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.

[0039] Specifically, the pushing mechanism is used to push the first inserting rod 91 and the electromagnetic iron plate 93 to move towards the direction close to the inner side wall of the outer box body 1, so as to drive the sampling box 53 to move towards 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. In this way, multiple sampling boxes 53 can be connected to multiple sampling tubes 12 in turn, so as to inject the water sources at different sampling points into different sampling boxes 53 respectively, realizing the separated storage and placement of samples at different sampling points, avoiding the mixing of samples at different sampling points, and improving the sampling accuracy and reliability.

[0040] Refer to Figure 2 and Figure 9, a separating and combining component 8 is provided inside the outer box body 1, and the separating and combining component 8 is used to connect multiple connecting blocks 64 to the turntable 62 in turn.

[0041] Specifically, in this way, different placing blocks 51 can be driven to rotate respectively, so that only one sampling box 53 can be communicated with the sampling pipe 12 for sampling in turn, thus ensuring that the sampling work is carried out more orderly, avoiding confusion in sampling and affecting subsequent detection work, and improving the reliability and practicability of the sampling device.

[0042] Refer to Figure 3 , Figure 4 , Figure 5 and Figure 9 , the separating and combining component 8 includes a plurality of up-and-down moving mechanisms 83 fixedly connected to the bottom of the turntable 62 in an equiangular and annular manner. 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 equiangular and annular manner on the outer peripheral surface of each of the plurality of placing blocks 51. The inner top wall and inner bottom wall of the through cavity 85 penetrate through the top wall and bottom wall of the placing block 51 respectively. The plurality of through cavities 85 on each placing block 51 are respectively located directly below the plurality of up-and-down moving mechanisms 83, and the thickness of the placing block 51 and the width of the through cavity 85 are in clearance fit.

[0043] Specifically, the up-and-down moving mechanism 83 drives the plurality of moving blocks 84 to move up and down synchronously, so that when the plurality of moving blocks 84 move into the plurality of through cavities 85 on any one placing block 51, the first motor 61 can drive the placing block 51 to rotate independently.

[0044] Refer to Figure 4 , Figure 5 and Figure 11 , the pushing mechanism of the connecting component 9 includes two first inclined surfaces symmetrically opened on the side surface of the limiting plate 92 away from the first inserting rod 91. The pushing mechanism further includes two second inclined surfaces symmetrically opened on the side surface of the moving block 84 close to the inner side wall of the outer box body 1. The upper first inclined surface and the lower first inclined surface can be respectively in tight abutting fit with the lower second inclined surface and the upper second inclined surface on the side surface of the adjacent moving block 84.

[0045] Specifically, when the moving block 84 moves up and down, after the second inclined surface and the first inclined surface are in tight abutting fit, the limiting plate 92 where the first inclined surface is located can be pushed to move towards the inner side wall of the outer box body 1. In this way, the sampling box 53 can be pushed to move towards the inner side wall of the outer box body 1, so that no additional power source is required to push the sampling box 53 to move, reducing the energy consumption of the device and improving the economy and practicability of the device.

[0046] Refer to Figure 9, the up-and-down movement mechanism 83 includes a plurality of second motors 831 fixedly connected to the bottom of the turntable 62 in an annular shape at equal angles. Screw rods 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 screw rods 832. The up-and-down movement mechanism 83 further includes a plurality of guide rods 833 fixedly connected to the bottom of the turntable 62 in an annular shape at equal angles. 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 screw rods 832 are both located below the bottom surface of the lowermost placing block 51.

[0047] Refer to Figure 10 , a limiting and fixing component 10 is provided in the placing block 51, and the limiting and fixing component 10 is used for limiting and fixing the sampling box 53 in the placing cavity 52.

[0048] Specifically, it can cooperate with the electromagnetic iron plate 93 and the iron plate to ensure that the sampling box 53 will not move during the sampling process, so as to ensure the smooth progress of the sampling work.

[0049] Refer to Figure 10 , the limiting and fixing component 10 includes a plurality of moving cavities 101 opened in the inner bottom walls of each group of a plurality of placing cavities 52 in an annular shape at equal angles. The limiting and fixing component 10 further includes a plurality of second insertion rods 102 fixedly connected to the sides of each group of a plurality of limiting plates 92 close to the inner circumferential side wall of the outer box body 1 in an annular shape at equal angles. The far ends of the plurality of second insertion rods 102 penetrate through the inner circumferential side wall of the placing block 51 and extend into the plurality of moving cavities 101 respectively. A plurality of push plates 103 are fixedly connected to the far ends of the plurality of second insertion rods 102 in an annular shape at equal angles. Two cross plates 104 are symmetrically fixedly connected to the far sides of the plurality of push plates 103. Two accommodation cavities are symmetrically opened at the tops of the two cross plates 104. Two swing plates 105 are symmetrically rotatably connected between the inner side walls of the two accommodation cavities through a first rotating rod and a first torsion spring. Two third insertion rods 106 are symmetrically movably inserted into the tops of the two swing plates 105. The far ends of the two third insertion rods 106 away from the swing plates 105 are symmetrically fixedly connected with 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 turned into the accommodation cavity. The limiting and fixing component 10 further includes a plurality of stop rods 108 fixedly connected between the inner side walls of the plurality of moving cavities 101 in an annular shape at equal angles. The plurality of stop rods 108 are respectively located on one side of each pair of swing plates 105 close to the inner side wall of the outer box body 1. Two card slots are opened on the bottom of the sampling box 53 in a pairwise manner, and each pair of two rollers 107 can respectively slide into the two card slots.

[0050] 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 towards 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 blocked by the blocking rod 108 and turn into the accommodation cavity. In this way, the roller 107 is rotated out of the card slot at the bottom of the sampling box 53, so that the roller 107 no longer limits and fixes the sampling box 53, ensuring that the sampling box 53 can move towards the inner side 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.

[0051] Refer to Figure 1 and Figure 7 , the lifting assembly 3 includes a third motor 31 fixedly connected to the bottom of the quadcopter drone 2. The output end of the third motor 31 is fixedly connected with a wire winding roller 32. A pull rope 33 is wound around the outer peripheral surface of the wire winding roller 32. The bottom end of the pull rope 33 is fixedly connected with a circular plate 34. The bottom of the circular plate 34 is fixedly connected with the top of the outer box body 1 through a detachable connection assembly 4.

[0052] Specifically, by driving the wire winding roller 32 to rotate forward or backward by 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 connection assembly 4, so that the water sources at different depths at the sampling point can be sampled accurately, and the reliability of the sampling work is improved.

[0053] A rectangular cavity 13 is formed on the side of the box door 11 close to the inside of the outer box body 1. A hook plate 14 is rotatably connected between the front and rear inner side walls of the rectangular cavity 13 through a third rotating rod and a third torsion spring. The included angle between the hook plate 14 and the box door 11 is less than ninety degrees after the hook plate 14 rotates out of the rectangular cavity 13. After the box door 11 is opened and the electromagnetic iron plate 93 is powered off, and after the sampling box 53 is pushed out by the electromagnetic iron plate 93, the hook plate 14 rotating out of the rectangular cavity 13 can block the sampling box 53 to prevent the sampling box 53 from directly falling to the ground and being damaged.

[0054] Working principle: During sampling, start the quadcopter drone 2 to drive the outer box body 1 to fly to each sampling point orderly according to the preset sampling trajectory. When reaching each sampling point, start the third motor 31 to drive the wire winding roller 32 to rotate reversely to drive the outer box body 1 to descend through the pull rope 33 until one of the sampling tubes 12 reaches the sampling position.

[0055] Next, start the second motor 831 to drive the screw 832 to rotate. The screw 832 cooperates with the guide rod 833 to drive the moving block 84 to move into the through cavity 85 on the placing block 51 corresponding to the sampling tube 12. In this way, when the moving block 84 descends, its second inclined surface and the adjacent first inclined surface are tightly abutted and adhered, and then the limiting plate 92 where the first inclined surface is located can be pushed to move towards the inner wall of the outer box body 1. In this way, the sampling box 53 can be pushed to move towards the inner wall of the outer box body 1.

[0056] And at this time, 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 towards the baffle 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 blocked by the baffle 108 and turn into the accommodation cavity. In this way, the roller 107 rotates out of 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 move towards the inner wall of the outer box body 1 under the push of the limiting plate 92. In this way, the sample injection operation can be carried out smoothly and reliably, so that the sampling tube 54 on the leftmost sampling box 53 can communicate 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.

[0057] Subsequently, start the second motor 831 to drive the moving block 84 to move upward a short distance to separate the moving block 84 from the limiting plate 92. In this way, the sampling box 53 is reset under the elastic force of the first elastic member. Then start the first motor 61 to drive the placing block 51 to rotate by a certain angle through the turntable 62 and the moving block 84, so that another empty sampling box 53 for injecting samples rotates to the leftmost side to prepare for the next sampling. In this way, by repeating the cycle, samples at different sampling positions can be injected into different sampling boxes 53, and the sampling work can be completed efficiently and reliably.

[0058] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device.

[0059] Although embodiments of the present invention have been shown and described, those of ordinary skill in the art will appreciate that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An automatic water quality sampling device based on a quadrotor aircraft, comprising: Outer box body (1) and quadcopter drone (2); characterized in that a plurality of box doors (11) are hinged at equal intervals from top to bottom on the front surface of the outer box body (1), a plurality of sampling tubes (12) are communicated at equal intervals from top to bottom on the left side surface of the outer box body (1), one end of the sampling tube (12) extending to the inner side of the outer box body (1) is communicated with a one-way valve, a lifting assembly (3) is connected to the bottom of the quadcopter drone (2), and the lifting assembly (3) is connected to the outer box body (1) through a detachable connection assembly (4). A plurality of support rings (5) are fixedly connected at equal intervals from top to bottom inside the outer box body (1). The top of each of the plurality of support rings (5) is rotatably connected with a damping placement block (51). A plurality of placement cavities (52) are formed in an annular shape at equal angles on the outer peripheral surface of the placement block (51). 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 communicated on the side surface of the sampling box (53). A rotating assembly (6) and a connecting assembly (9) are arranged inside the outer box body (1); The rotating assembly (6) is used to drive the plurality of placement blocks (51) to rotate self; The connecting assembly (9) is used to connect the sampling tube (54) on the sampling box (53) in the leftmost placement cavity (52) of each placement block (51) with the adjacent one-way valve; The 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) penetrates the top wall of the outer box body (1) and is fixedly connected with a turntable (62). The rotating assembly (6) further includes a plurality of groups of connecting rods (63) respectively fixedly connected to the inner ring of the placement block (51). One ends of each group of the plurality of connecting rods (63) close to each other are fixedly connected with a connecting block (64). All the connecting blocks (64) are connected to the bottom of the turntable (62); The connecting assembly (9) includes a plurality of first insertion rods (91) movably inserted at equal angles on the inner ring side wall of the placement block (51). One ends of the plurality of first insertion rods (91) close to each other are fixedly connected with a plurality of limiting plates (92) in an annular shape at equal angles. A first elastic member is fixedly connected between the side surface of the limiting plate (92) and the inner ring side wall of the placement block (51). One ends of the plurality of first insertion rods (91) 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. One ends of the plurality of first insertion rods (91) away from each other are fixedly connected with electromagnetic iron plates (93). Iron plates are fixedly connected to the side surfaces of the sampling boxes (53) close to the inner ring of the placement block (51). The electromagnetic iron plates (93) can adsorb the adjacent iron plates. The connecting assembly (9) further includes a pushing mechanism connected inside the outer box body (1). The pushing mechanism is used to push the limiting plate (92) and push the sampling box (53) to move towards 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 communicated with the one-way valve of the adjacent sampling tube (12); A separation and combination component (8) is arranged inside the outer box body (1), and the separation and combination component (8) is used to connect multiple connecting blocks (64) to the turntable (62) in turn.

2. The automatic water quality sampling device based on a quadrotor aircraft according to claim 1, characterized in that: The separation and combination component (8) includes a plurality of up-and-down moving mechanisms (83) fixedly connected to the bottom of the turntable (62) in an annular shape at equal angles. 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 formed in an annular shape at equal angles on the outer peripheral surface of each of the plurality of placing blocks (51). The inner top wall and the inner bottom wall of the through cavity (85) penetrate through the top wall and the bottom wall of the placing block (51) respectively. The plurality of through cavities (85) on each placing block (51) are respectively located directly below the plurality of up-and-down moving mechanisms (83). The thickness of the placing block (51) and the width of the through cavity (85) are in clearance fit.

3. The water quality automatic sampling device based on a quadrotor aircraft according to claim 2, wherein: The pushing mechanism of the connection component (9) includes two first inclined surfaces symmetrically formed on the side surface of the limiting plate (92) away from the first insertion rod (91). The pushing mechanism further includes two second inclined surfaces symmetrically formed on the side surface of the moving block (84) close to the inner side wall of the outer box body (1). The upper first inclined surface and the lower first inclined surface can be respectively in tight abutting contact with the lower second inclined surface and the upper second inclined surface on the side surface of the adjacent moving block (84).

4. The automatic water quality sampling device based on a quadrotor aircraft according to claim 3, characterized in that: The up-and-down moving mechanism (83) includes a plurality of second motors (831) fixedly connected to the bottom of the turntable (62) in an annular shape at equal angles. A screw rod (832) is fixedly connected to the output end of each of the plurality of second motors (831). Each of the plurality of moving blocks (84) is respectively threadedly sleeved on the outer threaded surface of the plurality of screw rods (832). The up-and-down moving mechanism (83) further includes a plurality of guide rods (833) fixedly connected to the bottom of the turntable (62) in an annular shape at equal angles. Each of the plurality of moving blocks (84) is respectively movably sleeved on the outer peripheral surface of the plurality of guide rods (833). The bottom ends of the guide rods (833) and the screw rods (832) are both located below the bottom surface of the lowermost placing block (51).

5. The automatic water quality sampling device based on a quadrotor aircraft according to claim 4, characterized in that: A limiting and fixing component (10) is arranged inside the placing block (51), and the limiting and fixing component (10) is used to limit and fix the sampling box (53) in the placing cavity (52).

6. The automatic water quality sampling device based on a quadrotor aircraft according to claim 5, characterized in that: The limiting and fixing assembly (10) includes a plurality of moving cavities (101) opened in an annular shape at equal angles on the inner bottom walls of each group of a plurality of placing cavities (52). The limiting and fixing assembly (10) further includes a plurality of second insertion rods (102) fixedly connected in an annular shape at equal angles to the sides of each group of a plurality of limiting plates (92) close to the inner circumferential side wall of the outer box body (1). The remote ends of the plurality of second insertion rods (102) penetrate through the inner circumferential side wall of the placing block (51) and extend into the plurality of moving cavities (101) respectively. A plurality of pushing plates (103) are fixedly connected in an annular shape at equal angles to the remote ends of the plurality of second insertion rods (102). Two cross plates (104) are symmetrically fixedly connected to the remote sides of the plurality of pushing plates (103). Two accommodating cavities are symmetrically opened at the tops of the two cross plates (104). Two swing plates (105) 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 insertion rods (106) are symmetrically and movably inserted into the tops of the two swing plates (105). The remote ends of the two third insertion rods (106) away from the swing plates (105) are symmetrically fixedly connected with 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 turned into the accommodating cavity. The limiting and fixing assembly (10) further includes a retaining rod (108) fixedly connected in an annular shape at equal angles between the inner side walls of the plurality of moving cavities (101). The plurality of retaining rods (108) are respectively located on one side of each pair of swing plates (105) close to the inner side wall of the outer box body (1). Two card slots are opened at the bottom of the sampling box (53) in a pair-by-pair manner. Each pair of the two rollers (107) can be respectively slid into the two card slots.

7. The automatic water quality sampling device based on a quadrotor aircraft according to claim 6, characterized in that: The lifting assembly (3) includes a third motor (31) fixedly connected to the bottom of the quadcopter (2). The output end of the third motor (31) is fixedly connected with a wire winding roller (32). A pull rope (33) is wound around the outer circumferential surface of the wire winding roller (32). The bottom end of the pull rope (33) is fixedly connected with a circular plate (34). The bottom of the circular plate (34) is fixedly connected with the top of the outer box body (1) through a detachable connection assembly (4).

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