Environmental monitoring automatic acquisition device and method thereof

Abstract

The invention relates to the technical field of environment monitoring, and particularly discloses an environment monitoring automatic acquisition device and a method thereof.The environment monitoring automatic acquisition device comprises a four-wheel-drive type chassis, a supporting frame is arranged on the right side of the top of the four-wheel-drive type chassis, a solar charging panel is arranged on the top of the supporting frame, and a subdivision type storage box is arranged on the left side of the top of the four-wheel-drive type chassis. When rotation adjustment is needed, firstly, a first motor operates, a worm is driven by the first motor to rotate, a turbine ring is driven by the worm to rotate, a rotary disc is driven by the turbine ring to rotate, a movable shaft and a rotating rod in a rotating groove are matched with the rotary disc to rotate, and an L-shaped supporting plate is driven by the rotary disc to rotate; the transverse moving assembly can be driven to rotate through the L-shaped supporting plate, the drilling head with the pressure feedback module is driven by the transverse moving assembly to rotate to adjust the angle, and after the drilling head with the pressure feedback module is adjusted to the required rotating position, the first motor stops running.

Description

Technical Field

[0001] The present invention relates to the technical field of environmental monitoring, and particularly to an automatic environmental monitoring collection device and a method thereof. Background Art

[0002] Environmental monitoring refers to the activities of environmental monitoring agencies to monitor and measure the environmental quality status. Environmental monitoring is to monitor and measure the indicators reflecting environmental quality to determine the pollution status of the environment and the level of environmental quality.

[0003] The content of environmental monitoring mainly includes the monitoring of physical indicators, the monitoring of chemical indicators, and the monitoring of ecosystems.

[0004] Environmental monitoring is the basis for scientific environmental management and environmental law enforcement supervision, and is an essential basic work for environmental protection. The core goal of environmental monitoring is to provide data on the current status and changing trends of environmental quality, judge environmental quality, evaluate the current major environmental problems, and serve environmental management.

[0005] In the prior art, during the process of environmental monitoring, it is generally necessary to sample the soil through a collection device to facilitate subsequent data analysis. However, when the collection device is in use, the angle of the collection device cannot be automatically adjusted, and it is necessary for the staff to manually adjust the collection position, which leads to the situation that it is not convenient to adjust the collection position. Summary of the Invention

[0006] Aiming at the deficiencies of the prior art, the present invention provides an automatic environmental monitoring collection device and a method thereof, which have the advantages of automatically adjusting the collection position and the like, and solve the problem that the collection position cannot be automatically adjusted.

[0007] An environmental monitoring automatic acquisition device of the present invention includes a four-wheel drive chassis. On the right side of the top of the four-wheel drive chassis, there is a support frame, and on the top of the support frame, there is a solar charging panel. Through the solar charging panel of the present invention, the four-wheel drive chassis can be powered, and the solar charging panel can optimize the charging efficiency through the MPPT algorithm. On the left side of the top of the four-wheel drive chassis, there is a compartmentalized storage box. On the left side of the top of the four-wheel drive chassis, there is a rotating groove, and a rotating assembly is arranged in the inner cavity of the rotating groove. The rotating assembly includes a movable shaft, and the movable shaft is located at the bottom of the inner cavity of the rotating groove. A rotating rod is rotatably connected to the inner cavity of the movable shaft. A turntable is fixedly connected to the top of the rotating rod. A turbine ring is fixedly sleeved on the surface of the turntable. A worm is engaged with the surface of the turbine ring. One end of the screw rod is provided with a first motor, and the output end of the first motor is fixedly connected with the worm. A L-shaped support plate is arranged on the top of the turntable. A sliding rod is arranged on the right side of the bottom of the L-shaped support plate. A guide groove adapted to the sliding rod is opened on the left side of the top of the four-wheel drive chassis, and the guide groove is located on the left side of the rotating groove. A sliding groove is opened on the left side of the bottom of the L-shaped support plate. A transverse movement assembly is arranged on the left side of the bottom of the L-shaped support plate. The transverse movement assembly includes a second motor, a screw rod is arranged at the output end of the second motor, a nut sleeve is threadedly connected to the surface of the screw rod, a slider adapted to the sliding groove is arranged on the top of the nut sleeve, an electric push rod is arranged at the bottom of the nut sleeve, and a third motor is arranged at the output end of the electric push rod. A drill probe with a pressure feedback module is arranged at the output end of the third motor. When the present invention needs to rotate and adjust, first, the first motor runs, drives the worm to rotate through the first motor, drives the turbine ring to rotate through the worm, drives the turntable to rotate through the turbine ring, drives the rotating rod and the movable shaft in the rotating groove to cooperate with the turntable to rotate through the turntable, drives the L-shaped support plate to rotate through the turntable, drives the transverse movement assembly to rotate through the L-shaped support plate, and drives the drill probe with a pressure feedback module to rotate and adjust the angle through the transverse movement assembly. After the drill probe with a pressure feedback module is adjusted to the required rotation position, the first motor stops running. When the drill probe with a pressure feedback module needs to be transversely adjusted, first, the second motor runs, drives the screw rod to rotate through the second motor, drives the nut sleeve to move through the screw rod, drives the nut sleeve to move through the sliding groove and the slider on the L-shaped support plate, drives the electric push rod to move through the nut sleeve, drives the third motor and the drill probe with a pressure feedback module to move horizontally through the electric push rod. After the drill probe with a pressure feedback module moves to the required position, the electric push rod runs, drives the third motor to move downward through the electric push rod, drives the drill probe with a pressure feedback module to move downward through the third motor. At this time, the third motor runs, drives the drill probe with a pressure feedback module to rotate through the third motor, and samples the soil through the drill probe with a pressure feedback module. Through the above, the drill probe with a pressure feedback module can be automatically adjusted to the sampling position, avoiding the angle of the acquisition device cannot be automatically adjusted and the need for manual adjustment of the acquisition position by the staff.This further leads to the situation that it is not convenient to adjust the acquisition position.

[0008] The four-wheel drive chassis is equipped with a terrain adaptation suspension system, with a maximum climbing gradient ≥ 30°, an in-built RTK-GPS positioning module with a positioning accuracy of ±1 cm, and supports preset coordinate path planning. The four-wheel drive chassis is equipped with a combined obstacle avoidance system of lidar and binocular vision, with a detection distance of 0.1 - 10 m; The compartmentalized storage box contains independent sealed compartments (volume 50 mL / compartment), and is in-built with RFID tags to record location information.

[0009] An automatic environmental monitoring acquisition method of the present invention includes the following steps: Step S1: Sampling path planning: Input the boundary coordinates (longitude / latitude) of the target area, generate the optimal path through the A* algorithm, and avoid known obstacles; Dynamically adjust the sampling point density according to the surface temperature and humidity data: the density in the area with humidity > % is encrypted to points / m², and 1 point / 4 m² in the dry area.

[0010] Step S2: Autonomous movement and positioning: The mobile platform travels along the planned path, and fuses and positions through RTK-GPS and visual odometry every 5 m advanced, with an error compensation ≤ 2 cm; After reaching the target point, the robotic arm unfolds to the sampling posture, and the lidar confirms the ground flatness (tilt angle < 5°) of the drilling point.

[0011] Step S3: Layered sampling and storage: Control the drill bit to vertically drill down at an initial rotational speed of 200 rpm, and pause and record the soil hardness every 10 cm; After reaching the preset depth (maximum 100 cm), the spiral drill bit rotates in the reverse direction to extract the soil column sample; The sample is broken and screened and then stored in the designated sealed compartment, and the three-dimensional information of the collection time, coordinates, and depth is written by RFID.

[0012] Step S4: In-situ rapid detection: Start near-infrared spectroscopy analysis (wavelength 900 - 1700 nm) for the surface layer sample (0 - 20 cm) to predict the organic matter content (model R² ≥ 0.88); Samples in the heavy metal pollution risk area trigger XRF detection (lead / cadmium / arsenic elements, detection limit ≤ mg / kg).

[0013] In the automatic environmental monitoring acquisition method of the present invention, the dynamic path planning in step S1 further includes: When the lidar detects a temporary obstacle (such as a stone / ditch), update the path in real time and mark this area as "requiring manual review"; Adjust the movement strategy according to the power status of the solar panel: When the power is <20%, give priority to sampling the sunny area.

[0014] An automatic environmental monitoring and collection method of the present invention, wherein the hierarchical sampling in step S3 includes: Automatically adjust the hierarchical interval according to the sudden change of soil hardness: When the hardness difference of adjacent 10 cm > 30%, add sampling layers within 2 cm above and below the mutation point; When the gravel layer (hardness > 400 N) is detected, switch to the impact drill mode (frequency 15 Hz, amplitude 3 mm).

[0015] The automatic environmental monitoring and collection method of the present invention, wherein steps S1 - S4 further include an exception handling process: When sampling fails continuously for 3 times (such as drill bit jamming / positioning loss): Start the emergency recovery program, and the robotic arm retracts to a safe position; Upload the fault code and environmental images to the cloud; Switch to the backup sampling point and re - plan the path.

[0016] An automatic environmental monitoring and collection device of the present invention, wherein two support rods are provided at the right angle of the L - shaped support plate, and the two support rods are centrosymmetrically arranged with respect to the L - shaped support plate. Through the support rods, the bearing capacity of the L - shaped support plate can be increased, avoiding the situation that the bearing capacity of the L - shaped support plate is low during use, and thus the L - shaped support plate is deformed during long - term use.

[0017] An automatic environmental monitoring and collection device of the present invention, wherein one end of the surface of the worm is movably sleeved with a first movable plate, and the bottom of the first movable plate is fixedly connected to the four - wheel drive chassis. The right side of the surface of the screw rod is movably sleeved with a second movable plate, and the top of the second movable plate is fixedly connected to the L - shaped support plate. Through the first movable plate and the second movable plate, the worm and the screw rod can be assisted in rotating, so that the worm and the screw rod rotate more smoothly, avoiding the situation that the worm and the screw rod get stuck during rotation.

[0018] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. When rotation adjustment is required in the present invention, first, the first motor operates. The first motor drives the worm to rotate, the worm drives the turbine ring to rotate, the turbine ring drives the turntable to rotate, the movable shaft and the rotating rod in the rotating groove cooperate with the turntable to rotate, the turntable drives the L-shaped support plate to rotate, and the L-shaped support plate can drive the transverse movement assembly to rotate. The transverse movement assembly drives the drill probe with a pressure feedback module to rotate and adjust the angle. After the drill probe with a pressure feedback module is adjusted to the required rotation position, the first motor stops operating. When the drill probe with a pressure feedback module needs to be horizontally adjusted, first, the second motor operates. The second motor drives the screw rod to rotate, the screw rod drives the nut sleeve to move, the sliding groove and the slider on the L-shaped support plate cooperate with the nut sleeve to move, the nut sleeve drives the electric push rod to move, the electric push rod drives the third motor and the drill probe with a pressure feedback module to move horizontally. After the drill probe with a pressure feedback module moves to the required position, the electric push rod operates. The electric push rod drives the third motor to move downward, the third motor drives the drill probe with a pressure feedback module to move downward. At this time, the third motor operates, the third motor drives the drill probe with a pressure feedback module to rotate, and the drill probe with a pressure feedback module can sample the soil. Through the above, the drill probe with a pressure feedback module can be automatically adjusted to the sampling position, avoiding the situation that the angle of the collection device cannot be automatically adjusted and the need for manual adjustment of the collection position by the staff, which leads to inconvenient adjustment of the collection position.

[0019] 2. The solar charging panel of the present invention can supply power to the four-wheel drive chassis, and the solar charging panel can optimize the charging efficiency through the MPPT algorithm; The support rod can increase the bearing capacity of the L-shaped support plate, avoiding the situation that the bearing capacity of the L-shaped support plate is low during use, which leads to deformation of the L-shaped support plate after long-term use; The first movable plate and the second movable plate can assist the rotation of the worm and the screw rod, so that the worm and the screw rod rotate more smoothly, avoiding the situation of jamming when the worm and the screw rod rotate. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The drawings described herein are used to provide a further understanding of the present application and form a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation to the present application. In the drawings: Figure 1 is a schematic structural diagram of the present invention; Figure 2 is a schematic structural diagram of the four-wheel drive chassis of the present invention; Figure 3 is a schematic structural diagram of the rotation assembly of the present invention; Figure 4Schematic diagram of the upward view of the L-shaped support plate of the present invention; Figure 5 Schematic diagram of the transverse movement assembly of the present invention; Figure 6 Schematic diagram of the compartmented storage box of the present invention.

[0021] In the figure: 1, four-wheel drive chassis; 2, rotating assembly; 201, movable shaft; 202, turntable; 203, turbine ring; 204, rotating rod; 205, first movable plate; 206, worm; 207, first motor; 3, L-shaped support plate; 4, compartmented storage box; 5, solar charging panel; 6, support frame; 7, rotating groove; 8, guide groove; 9, support rod; 10, sliding rod; 11, sliding groove; 12, transverse movement assembly; 1201, second motor; 1202, slider; 1203, screw rod; 1204, second movable plate; 1205, screw sleeve; 1206, electric push rod; 1207, third motor; 1208, drill probe with pressure feedback module. Detailed implementation manners

[0022] The following will disclose multiple implementation manners of the present invention with diagrams. For the sake of clear illustration, many practical details will be described together in the following narrative. However, it should be understood that these practical details are not used to limit the present invention. That is to say, in some implementation manners of the present invention, these practical details are not necessary. In addition, for the sake of simplifying the diagrams, some conventional structures and components will be shown in a simple schematic manner in the diagrams.

[0023] Please refer to Figure 1-6, the environmental monitoring automatic acquisition device of the present invention includes a four-wheel drive chassis 1. A support frame 6 is provided on the right side of the top of the four-wheel drive chassis 1. A solar charging panel 5 is provided on the top of the support frame 6. Through the solar charging panel 5 of the present invention, the four-wheel drive chassis 1 can be powered, and the solar charging panel 5 can optimize the charging efficiency through the MPPT algorithm. A compartmentalized storage box 4 is provided on the left side of the top of the four-wheel drive chassis 1. A rotating groove 7 is opened on the left side of the top of the four-wheel drive chassis 1. A rotating assembly 2 is provided in the inner cavity of the rotating groove 7. The rotating assembly 2 includes a movable shaft 201, and the movable shaft 201 is located at the bottom of the inner cavity of the rotating groove 7. A rotating rod 204 is rotatably connected to the inner cavity of the movable shaft 201. A turntable 202 is fixedly connected to the top of the rotating rod 204. A turbine ring 203 is fixedly sleeved on the surface of the turntable 202. A worm 206 is engaged with the surface of the turbine ring 203. One end of the screw 1203 is provided with a first motor 207. The output end of the first motor 207 is fixedly connected to the worm 206. An L-shaped support plate 3 is provided on the top of the turntable 202. A sliding rod 10 is provided on the right side of the bottom of the L-shaped support plate 3. A guide groove 8 adapted to the sliding rod 10 is opened on the left side of the top of the four-wheel drive chassis 1, and the guide groove 8 is located on the left side of the rotating groove 7. A sliding groove 11 is opened on the left side of the bottom of the L-shaped support plate 3. A transverse movement assembly 12 is provided on the left side of the bottom of the L-shaped support plate 3. The transverse movement assembly 12 includes a second motor 1201. A screw 1203 is provided at the output end of the second motor 1201. A nut sleeve 1205 is threadedly connected to the surface of the screw 1203. A slider 1202 adapted to the sliding groove 11 is provided on the top of the nut sleeve 1205. An electric push rod 1206 is provided at the bottom of the nut sleeve 1205. A third motor 1207 is provided at the output end of the electric push rod 1206. A drill bit with a pressure feedback module 1208 is provided at the output end of the third motor 1207. When the present invention needs to rotate and adjust, first, the first motor 207 operates. The first motor 207 drives the worm 206 to rotate. The worm 206 drives the turbine ring 203 to rotate. The turbine ring 203 drives the turntable 202 to rotate. The movable shaft 201 and the rotating rod 204 in the rotating groove 7 cooperate with the turntable 202 to rotate. The turntable 202 drives the L-shaped support plate 3 to rotate. The L-shaped support plate 3 can drive the transverse movement assembly 12 to rotate. The transverse movement assembly 12 drives the drill bit with a pressure feedback module 1208 to rotate and adjust the angle. After the drill bit with a pressure feedback module 1208 is adjusted to the required rotation position, the first motor 207 stops operating. When the drill bit with a pressure feedback module 1208 needs to be transversely adjusted, first, the second motor 1201 operates. The second motor 1201 drives the screw 1203 to rotate. The screw 1203 drives the nut sleeve 1205 to move. The sliding groove 11 and the slider 1202 on the L-shaped support plate 3 cooperate with the nut sleeve 1205 to move. The nut sleeve 1205 drives the electric push rod 1206 to move. The electric push rod 1206 drives the third motor 1207 and the drill bit with a pressure feedback module 1208 to move transversely.After the drill probe 1208 with a pressure feedback module moves to the required position, the electric push rod 1206 operates, driving the third motor 1207 to move downward through the electric push rod 1206, and driving the drill probe 1208 with a pressure feedback module to move downward through the third motor 1207. At this time, the third motor 1207 operates, driving the drill probe 1208 with a pressure feedback module to rotate, and sampling the soil through the drill probe 1208 with a pressure feedback module. Through the above, the drill probe 1208 with a pressure feedback module can be automatically adjusted for the sampling position, avoiding the situation that the angle of the collection device cannot be automatically adjusted and the need for manual adjustment of the collection position by the staff, which leads to inconvenient adjustment of the collection position.

[0024] Four-wheel drive chassis 1, equipped with a terrain adaptation suspension system, maximum climbing gradient ≥ 30°, built-in RTK-GPS positioning module, positioning accuracy ± 1 cm, supports preset coordinate path planning, and is equipped with a lidar and binocular vision combined obstacle avoidance system inside the four-wheel drive chassis 1, detection distance 0.1 - 10 m; The compartmentalized storage box 4 contains 12 independent sealed compartments (volume 50 mL / compartment), and is built-in with RFID tags to record location information.

[0025] Including the following steps: Step S1: Sampling path planning: Input the boundary coordinates (longitude / latitude) of the target area, generate the optimal path through the A* algorithm, and avoid known obstacles; Dynamically adjust the sampling point density according to the surface temperature and humidity data: the humidity > 70% area is encrypted to 2 points / m², and the dry area is 1 point / 4 m².

[0026] Step S2: Autonomous movement and positioning: The mobile platform travels along the planned path, and fuses the RTK-GPS and visual odometer for positioning every 5 m, with error compensation ≤ 2 cm; After reaching the target point, the robotic arm unfolds to the sampling posture, and the lidar confirms the ground flatness of the drilling point (tilt angle < 5°).

[0027] Step S3: Layered sampling and storage: Control the drill probe to vertically drill down at an initial speed of 200 rpm, pause every 10 cm and record the soil hardness; After reaching the preset depth (maximum 100 cm), the spiral drill bit rotates in the reverse direction to extract the soil column sample; The sample is broken and screened and then stored in the designated sealed compartment, and the three-dimensional information of the collection time, coordinates, and depth is written into the RFID.

[0028] Step S4: In-situ rapid detection: Start near-infrared spectroscopy analysis (wavelength 900 - 1700 nm) on surface samples (0 - 20 cm) to predict the organic matter content (model R² ≥ 0.88); Samples in heavy metal pollution risk areas trigger XRF detection (lead / cadmium / arsenic elements, detection limit ≤ 10 mg / kg).

[0029] The dynamic path planning in step S1 also includes: When the lidar detects temporary obstacles (such as stones / ditches), update the path in real time and mark the area as "requiring manual review"; Adjust the movement strategy according to the power status of the solar panel: when the power is < 20%, preferentially sample the sunny area.

[0030] The stratified sampling in step S3 includes: Automatically adjust the stratification interval according to the sudden change in soil hardness: When the hardness difference of adjacent 10 cm > 30%, add sampling layers within 2 cm above and below the mutation point; When a gravel layer (hardness > 400 N) is detected, switch to the impact drill mode (frequency 15 Hz, amplitude 3 mm).

[0031] Steps S1 - S4 also include an exception handling process: When sampling fails continuously for 3 times (such as drill bit jamming / location loss): Start the emergency recovery program, and the robotic arm retracts to a safe position; Upload the fault code and environmental images to the cloud; Switch to the backup sampling point and re-plan the path.

[0032] There are two support rods 9 at the right angle of the L-shaped support plate 3, and the two support rods 9 are centrosymmetrically arranged with respect to the L-shaped support plate 3. Through the support rods 9, the bearing capacity of the L-shaped support plate 3 can be increased, avoiding the situation that the bearing capacity of the L-shaped support plate 3 is relatively low during use, and thus preventing the L-shaped support plate 3 from deforming during long-term use.

[0033] One end of the surface of the worm 206 is movably sleeved with a first movable plate 205, and the bottom of the first movable plate 205 is fixedly connected to the four-wheel drive chassis 1. The right side of the surface of the screw 1203 is movably sleeved with a second movable plate 1204, and the top of the second movable plate 1204 is fixedly connected to the L-shaped support plate 3. Through the first movable plate 205 and the second movable plate 1204, the worm 206 and the screw 1203 can be assisted in rotating, so that the worm 206 and the screw 1203 rotate more smoothly, avoiding the situation of jamming when the worm 206 and the screw 1203 rotate.

[0034] When using the present invention: When rotation adjustment is required, first, the first motor 207 operates, driving the worm 206 to rotate through the first motor 207. The worm 206 drives the turbine ring 203 to rotate, and the turbine ring 203 drives the turntable 202 to rotate. The movable shaft 201 and the rotating rod 204 in the rotating groove 7 cooperate with the turntable 202 to rotate. The turntable 202 drives the L-shaped support plate 3 to rotate, and the L-shaped support plate 3 can drive the transverse movement assembly 12 to rotate. The transverse movement assembly 12 drives the drill probe 1208 with a pressure feedback module to adjust the rotation angle. After the drill probe 1208 with a pressure feedback module is adjusted to the required rotation position, the first motor 207 stops operating. When the drill probe 1208 with a pressure feedback module needs to be adjusted transversely, first, the second motor 1201 operates, driving the screw 1203 to rotate through the second motor 1201. The screw 1203 drives the nut sleeve 1205 to move, and the sliding groove 11 and the slider 1202 on the L-shaped support plate 3 cooperate with the nut sleeve 1205 to move. The nut sleeve 1205 drives the electric push rod 1206 to move, and the electric push rod 1206 drives the third motor 1207 and the drill probe 1208 with a pressure feedback module to move transversely. After the drill probe 1208 with a pressure feedback module moves to the required position, the electric push rod 1206 operates, driving the third motor 1207 to move downward through the electric push rod 1206. The third motor 1207 drives the drill probe 1208 with a pressure feedback module to move downward. At this time, the third motor 1207 operates, driving the drill probe 1208 with a pressure feedback module to rotate, and the drill probe 1208 with a pressure feedback module can be used to sample the soil. Through the above, the drill probe 1208 with a pressure feedback module can be automatically adjusted to the sampling position, avoiding the situation that the angle of the collection device cannot be automatically adjusted and requiring manual adjustment by the staff, which makes the adjustment of the collection position inconvenient.

[0035] The above are only the embodiments of the present invention and are not used to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the scope of the claims of the present invention.

Claims

1. An automated environmental monitoring data collection device, comprising a four-wheel drive chassis (1), characterized in that: A support frame (6) is provided on the right side of the top of the four-wheel-drive chassis (1), a solar charging panel (5) is provided on the top of the support frame (6), a compartment-type storage box (4) is provided on the left side of the top of the four-wheel-drive chassis (1), a rotating groove (7) is provided on the left side of the top of the four-wheel-drive chassis (1), a rotating assembly (2) is provided in the inner cavity of the rotating groove (7), the rotating assembly (2) includes a movable shaft (201), and the movable shaft (201) is located at the bottom of the inner cavity of the rotating groove (7), and the movable shaft (201) is provided at the bottom of the inner cavity of the rotating groove (7). The inner cavity of the moving shaft (201) is rotatably connected to a rotating rod (204), the top of the rotating rod (204) is fixedly connected to a rotating disk (202), a turbine ring (203) is fixedly sleeved on the surface of the rotating disk (202), a worm (206) is meshed on the surface of the turbine ring (203), a first motor (207) is provided at one end of the screw (1203), an output end of the first motor (207) is fixedly connected to the worm (206), and an L is provided on the top of the rotating disk (202). A support plate (3), a slide bar (10) is provided on the right side of the bottom of the L support plate (3), a guide groove (8) adapted to the slide bar (10) is provided on the left side of the top of the four-wheel drive chassis (1), and the guide groove (8) is located on the left side of the rotation groove (7), a slide groove (11) is provided on the left side of the bottom of the L support plate (3), and a transverse movement component (12) is provided on the left side of the bottom of the L support plate (3), and the transverse movement component (12) includes a second motor (1201), and the second motor (1201) A screw rod (1203) is provided at the output end, a threaded sleeve (1205) is threadedly connected to the surface of the screw rod (1203), a sliding block (1202) adapted to the slide groove (11) is provided at the top of the threaded sleeve (1205), an electric push rod (1206) is provided at the bottom of the threaded sleeve (1205), a third motor (1207) is provided at the output end of the electric push rod (1206), and a drilling head (1208) with a pressure feedback module is provided at the output end of the third motor (1207).

2. The four-wheel drive chassis (1) is equipped with a terrain-adaptive suspension system, with a maximum climbing gradient of ≥30°, a built-in RTK-GPS positioning module, a positioning accuracy of ±1 cm, and supports preset coordinate path planning. The four-wheel drive chassis (1) is equipped with a laser radar and binocular vision combined obstacle avoidance system, with a detection distance of 0.1-10 m; The compartment storage box (4) contains 12 independent sealed compartments (volume 50 mL / compartment) and has a built-in RFID tag for recording location information.

3. An automated data collection method for environmental monitoring, characterized in that: The following steps are involved: Step S1: Sampling path planning: Input the boundary coordinates (longitude / latitude) of the target area and generate the optimal path through the A* algorithm to avoid known obstacles; The density of sampling points is dynamically adjusted according to the surface temperature and humidity data: the density is increased to 2 points / m² in areas with humidity > 70%, and to 1 point / 4m² in dry areas.

4. Step S2: Autonomous movement and positioning: The mobile platform moves along the planned path, and the RTK-GPS and visual odometer are used to integrate positioning every 5 meters, with an error compensation of ≤2cm; After reaching the target point, the robotic arm unfolds to the sampling posture, and the lidar confirms the flatness of the ground at the drilling point (inclination angle <5°).

5. Step S3: Stratified sampling and storage: The drill bit was controlled to drill vertically at an initial speed of 200 rpm, pausing every 10 cm and recording the soil hardness; After reaching the preset depth (maximum 100 cm), the auger head rotates in the opposite direction to extract the soil column sample; After being crushed and screened, the samples are stored in a designated sealed cabin, and the RFID writes the three-dimensional information of collection time, coordinates, and depth.

6. Step S4: In-situ rapid detection: Start near infrared spectroscopy analysis (wavelength 900-1700nm) on surface samples (0-20cm) to predict organic matter content (model R²≥0.88); Samples from heavy metal pollution risk areas trigger XRF testing (lead / cadmium / arsenic elements, detection limit ≤10mg / kg).

7. The method for automatic data collection for environmental monitoring according to claim 2, characterized in that: The dynamic path planning in step S1 also includes: When the LiDAR detects a temporary obstacle (such as a rock or ditch), the path is updated in real time and the area is marked as "requires manual review"; Adjust the movement strategy according to the power status of the solar panel: when the power is <20%, prioritize sampling in sunny areas.

8. The method for automatic data collection for environmental monitoring according to claim 2, characterized in that: The stratified sampling in step S3 includes: Automatically adjust the layer interval according to the sudden change of soil hardness: When the hardness difference of adjacent 10cm is greater than 30%, a sampling layer is added within 2cm above and below the mutation point; When a gravel layer is detected (hardness > 400N), the drill is switched to impact drilling mode (frequency 15Hz, amplitude 3mm).

9. The method for automatic data collection for environmental monitoring according to claim 2, characterized in that: The steps S1-S4 also include an exception handling process: When sampling fails for three consecutive times (such as the drill bit is stuck / positioning is lost): The emergency recovery procedure is initiated and the robotic arm is retracted to a safe position; Upload fault codes and environmental images to the cloud; Switch to an alternate sampling point and re-plan the route.

10. The automatic data collection device for environmental monitoring according to claim 1, characterized in that: Two support rods (9) are arranged at right angles to the L support plate (3), and the two support rods (9) are arranged in a centrally symmetrical manner with respect to the L support plate (3).

11. The automatic data collection device for environmental monitoring according to claim 1, characterized in that: A movable sleeve at one end of the surface of the worm (206) is provided with a first movable plate (205), and the bottom of the first movable plate (205) is fixedly connected to the four-wheel drive chassis (1), and a movable sleeve on the right side of the surface of the screw (1203) is provided with a second movable plate (1204), and the top of the second movable plate (1204) is fixedly connected to the L support plate (3).

Images