Mudflat unmanned vehicle for deploying and recovering DGT device and operation method of mudflat unmanned vehicle

Abstract

The invention relates to a mud flat unmanned vehicle for laying and recovering a DGT device and an operation method thereof, and belongs to the technical field of unmanned vehicles, the mud flat unmanned vehicle comprises a vehicle frame, a guide rail well is installed on the vehicle frame, an electric gate mechanism capable of being opened and closed is arranged at the bottom of the guide rail well, and a DGT fixator and a DGT vibration rammer compactor are sequentially placed in the guide rail well from bottom to top; the bottom of the DGT fixing device is used for being detachably and fixedly connected with a DGT device, the DGT fixing device can freely fall onto the mud flat when the electric gate mechanism is started, the DGT vibration rammer compactor can press the DGT fixing device in a vibration mode so as to press the DGT device into mud flat surface sediment, and a DGT recycling machine used for recycling the DGT fixing device in the mud flat is installed on the vehicle frame. The DGT recycling machine is provided with an image transmission camera used for shooting and positioning the DGT fixator in the mud flat. The remote control operation replaces manual laying and recovery of the DGT device in the mud flat, time and labor are saved, and the personal safety of operators is guaranteed.

Description

Technical Field

[0001] The present invention belongs to the technical field of unmanned vehicles, and in particular relates to a mudflat unmanned vehicle for deploying and recovering a DGT device and an operating method thereof. Background Art

[0002] Tidal flats, generally referring to coastal tidal flats, are uniquely important. Measuring various targets in tidal flat sediments and, in turn, understanding their quality, is fundamental to conducting scientific research related to tidal flats and a prerequisite for developing tidal flat planting and aquaculture.

[0003] The Diffusive Gradients in Thin-films Technique (DGT) can measure the effective concentration of target substances, such as heavy metals, in sediments in situ and has been widely used in tidal flat sediment testing. A DGT device is embedded in the sediment, where the target substance diffuses into the device and is captured by the bound phase membrane. The DGT device is then retrieved and the bound phase membrane analyzed to accurately determine the target substance's concentration and form.

[0004] Using DGT technology to measure mudflat sediments requires manual burial of the DGT device within the sediment. However, mudflat conditions are extremely harsh. The sediment is thick, soft, and sticky, making it difficult for personnel to navigate and prone to sinking into it. Furthermore, the mudflat is littered with sharp objects such as shells, posing a risk of scratches. Furthermore, due to the influence of tides, high tides may prevent personnel from evacuating in time, seriously threatening operational safety. Summary of the Invention

[0005] In view of the deficiencies in the prior art, the object of the present invention is to provide a mudflat unmanned vehicle for deploying and recovering DGT devices and an operating method thereof, so as to solve or improve the defects in the prior art.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: an unmanned vehicle for deploying and recovering DGT devices on mudflats, comprising a frame, a traveling mechanism and a control device thereof being mounted on the frame, the control device being equipped with a remote control, a guide rail well being mounted on the frame, an openable and closable electric gate mechanism being provided at the bottom of the guide rail well, a DGT holder and a DGT vibrating compactor being placed in sequence from bottom to top in the guide rail well, the bottom of the DGT holder being used for detachably fixing and connecting the DGT device, the DGT holder being able to freely fall onto the mudflat when the electric gate mechanism is opened, the DGT vibrating compactor being able to vibrate and press the DGT holder downward to press the DGT device into the surface sediment of the mudflat, a DGT recovering machine being mounted on the frame for recovering the DGT holder from the mudflat, the electric gate mechanism, the DGT vibrating compactor and the DGT recovering machine being all wiredly connected to the control device, the DGT recovering machine being equipped with an image transmission camera for photographing and locating the DGT holder on the mudflat, the image transmission camera being wirelessly connected to the remote control.

[0007] Preferably, the electric gate mechanism includes a left servo, a right servo, a left blocking arm and a right blocking arm, the left servo and the right servo are respectively installed on the left and right outer sides of the bottom of the guide rail well, one end of the left blocking arm is fixedly connected to the output end of the left servo, and one end of the right blocking arm is fixedly connected to the output end of the right servo, and when the other ends of the left blocking arm and the right blocking arm are close to each other, they are located directly below the lower end opening of the guide rail well and support the bottom of the DGT fixture, and when the other ends of the left blocking arm and the right blocking arm are away from each other, they are detached from the bottom of the DGT fixture.

[0008] Preferably, a left arm support block and a right arm support block are installed at the bottom of the guide rail well, and a left slide groove and a right slide groove are formed between the bottom of the guide rail well and the left arm support block and the right arm support block respectively. When the other ends of the left blocking arm and the right blocking arm are close to each other, they pass through the left slide groove and the right slide groove respectively.

[0009] Preferably, the DGT holder includes a holder body and a pressure rod, wherein the bottom of the holder body is provided with at least one DGT fixing slot for detachably mounting a DGT device, and the pressure rod is mounted on the top of the holder body, and the pressure rod is provided with a recovery hanging hole capable of cooperating with a DGT recovery machine; The DGT device includes a DGT base, a DGT cover and a DGT gel membrane. The top of the DGT base is detachably fixedly connected to the DGT fixing groove, the bottom of the DGT base is fixedly connected to the DGT cover, and the DGT gel membrane is arranged between the DGT base and the DGT cover.

[0010] Preferably, a limit block is provided between the guide rail well and the DGT vibrating compactor for limiting the DGT vibrating compactor from leaving the guide rail well; The DGT vibrating compactor includes a vibrating housing and a vibrating motor, wherein the vibrating motor is fixed in the vibrating housing through a motor bracket, and fan-shaped eccentric blocks are installed on both ends of the output shaft of the vibrating motor; The vibration housing includes an upper cover, a main shell and a lower slot block. The vibration motor is installed in the main shell. The upper cover is fixedly connected to the top of the main shell. The upper cover is provided with a handle. The top of the lower slot block is fixedly connected to the bottom of the main shell. The bottom of the lower slot block is provided with a positioning groove that matches the upper part of the DGT fixer.

[0011] Preferably, the DGT recycling machine includes a recycling bracket, a recycling motor, a lifting transmission mechanism, and a hook. The bottom of the recycling bracket is fixedly connected to the vehicle frame. The recycling motor is mounted on the recycling bracket. The input end of the lifting transmission mechanism is drivingly connected to the output end of the recycling motor. The hook is mounted on the output end of the lifting transmission mechanism. The hook can cooperate with a DGT holder. The recycling motor can drive the hook to move up and down through the lifting transmission mechanism. The output end of the recovery motor is connected to the input end of the lifting transmission mechanism through a gear set. The lifting transmission mechanism is a synchronous belt transmission mechanism. The synchronous belt transmission mechanism includes an upper pulley, a lower pulley, a synchronous belt and a slider. The upper pulley and the lower pulley are respectively rotatably mounted on the recovery bracket. The upper pulley and the lower pulley are connected by a synchronous belt transmission. The slider is mounted on the synchronous belt, and the hook is mounted on the slider.

[0012] Preferably, the image transmission camera is installed on the DGT recycling machine through a camera bracket.

[0013] Preferably, the vehicle frame includes a front transverse vehicle body tube, a rear transverse vehicle body tube, a left longitudinal vehicle body tube, a right longitudinal vehicle body tube, a left front motor box, a right front motor box, a left rear motor box, a right rear motor box, a front motor box cover and a rear motor box cover, the left and right end portions of the front transverse vehicle body tube are fixedly connected to the left front motor box and the right front motor box respectively, the left and right end portions of the rear transverse vehicle body tube are fixedly connected to the left rear motor box and the right rear motor box respectively, the front and rear end portions of the left longitudinal vehicle body tube are fixedly connected to the left front motor box and the left rear motor box respectively, the front and rear end portions of the right longitudinal vehicle body tube are fixedly connected to the right front motor box and the right rear motor box respectively, each motor box is provided with a well seat for installing a guide rail well, the left front motor box and the right front motor box are commonly provided with a front motor box cover, the left rear motor box and the right rear motor box are commonly provided with a rear motor box cover, and a waterproof box for placing a control device is installed on the rear motor box cover; the frame and the waterproof box are both made of rust-proof and corrosion-resistant non-metallic material.

[0014] Preferably, the walking mechanism includes a front left foam wheel power group, a front right foam wheel power group, a rear left foam wheel power group and a rear right foam wheel power group, and the front left foam wheel power group, the front right foam wheel power group, the rear left foam wheel power group and the rear right foam wheel power group all include a walking motor, a wheel hub and a foam anti-skid tire, the walking motor is installed in a corresponding motor box, the output shaft of the walking motor passes through the corresponding motor box and is fixedly connected to the wheel hub, and the foam anti-skid tire is installed on the wheel hub.

[0015] The present invention also provides an operating method for a mudflat unmanned vehicle for deploying and recovering a DGT device, comprising the following steps: S1. Before the mudflat unmanned vehicle sets out for the mudflat sampling site, first install the DGT device on the bottom of the DGT holder, then install the DGT holder and DGT vibratory compactor into the guide rail well in sequence. At this time, the electric gate mechanism of the guide rail well is in the closed state. S2: The tidal flat unmanned vehicle is remotely controlled to depart for the tidal flat sampling site. Upon arrival at the sampling site, the electric gate mechanism is remotely operated to open, and the DGT holder freely falls to the surface of the tidal flat. Subsequently, the DGT vibrating compactor is remotely operated to press the bottom of the DGT holder into the surface sediment of the tidal flat. After the pressure is pressed in, the tidal flat unmanned vehicle is remotely controlled to drive away from the sampling site. S3. After the predetermined time, the DGT device has enriched the target in the surface sediments of the mudflat. At this time, the mudflat unmanned vehicle is remotely driven back to the sampling point. Using the real-time image transmitted by the image transmission camera, the DGT recovery machine is remotely operated to recover the DGT holder. The mudflat unmanned vehicle is then remotely driven back to the shore operator. S4. After the mudflat unmanned vehicle returns to the shore, the operator removes the DGT fixer from the DGT recovery machine; then, removes the DGT device from the DGT fixer.

[0016] Compared with the existing technology, the present invention has the following beneficial effects: the unmanned tidal flat vehicle is remotely controlled and can replace manual labor in placing and recovering DGT devices in the surface sediments of the tidal flat, saving time and effort and ensuring the personal safety of operators. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on the drawings in the following description without any creative work.

[0018] Figure 1 The overall structure of the embodiment of the present invention is three-dimensional Figure 1 .

[0019] Figure 2The overall structure of the embodiment of the present invention is three-dimensional Figure 2 .

[0020] Figure 3 2 is a top view of the structure of the vehicle frame in an embodiment of the present invention.

[0021] Figure 4 It is a bottom view of the structure of the frame in an embodiment of the present invention.

[0022] Figure 5 2 is a structural perspective view of a vehicle frame in an embodiment of the present invention.

[0023] Figure 6 3D diagram of the structure of each foam wheel power group in the embodiment of the present invention.

[0024] Figure 7 It is a top view of the structure of the guide rail well in an embodiment of the present invention.

[0025] Figure 8 It is a bottom view of the structure of the guide rail well in an embodiment of the present invention.

[0026] Figure 9 It is a structural stereoscopic diagram of the guide rail well in an embodiment of the present invention.

[0027] Figure 10 The structural three-dimensional diagram of the DGT fixer in the embodiment of the present invention Figure 1 .

[0028] Figure 11 The structural three-dimensional diagram of the DGT fixer in the embodiment of the present invention Figure 2 .

[0029] Figure 12 This is a structural assembly diagram of the DGT fixer and DGT device in an embodiment of the present invention.

[0030] Figure 13 This is an exploded view of the structure of the DGT device in an embodiment of the present invention.

[0031] Figure 14 It is a structural stereogram of the DGT vibratory compactor in an embodiment of the present invention.

[0032] Figure 15 This is an exploded view of the structure of the DGT vibratory compactor in an embodiment of the present invention.

[0033] Figure 16 This is a structural assembly diagram of the DGT recycling machine and image transmission camera in an embodiment of the present invention.

[0034] Figure 17 It is a partial structural perspective view of the DGT recovery machine in an embodiment of the present invention.

[0035] Markings in the figure: 100, frame; 101, well seat; 111, front transverse body tube; 112, rear transverse body tube; 113, left longitudinal body tube; 114, right longitudinal body tube; 121, left front motor box; 122, right front motor box; 123, left rear motor box; 124, right rear motor box; 131, front motor box cover; 132, rear motor box cover; 140, waterproof box; 200, traveling mechanism; 201, traveling motor; 202, wheel hub; 203, foam anti-skid tire; 210, front left foam wheel power unit; 220, front right foam wheel power unit; 230, rear left foam wheel power unit; 240, rear right foam wheel power unit; 300, guide rail well; 301, left arm support block; 302, right arm support block; 303, left chute; 304, right chute; 305, limit block; 310, electric gate mechanism; 311, left servo; 312, right servo; 313, left blocking arm; 314, right blocking arm; 400, DGT holder; 410, holder body; 411, DGT fixing slot; 420, pressure rod; 421, recovery hanging hole; 500, DGT vibrating compactor; 510, vibrating housing; 511, upper cover; 512, main housing; 513, lower trough block; 514, handle; 515, positioning slot; 520, vibrating motor; 521, motor bracket; 530, sector-shaped eccentric block; 600, DGT device; 610, DGT base; 620, DGT cover; 630, DGT gel membrane; 700, DGT recycling machine; 710, recycling bracket; 720, recycling motor; 730, lifting transmission mechanism; 740, hook; 750, gear set; 800, image transmission camera; 810, camera bracket. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below in conjunction with the drawings in the present invention. Obviously, the described embodiments are 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 making creative work are within the scope of protection of the present invention. In order to make the above-mentioned features and advantages of the present invention more obvious and easy to understand, the following embodiments are specifically cited and described in detail with reference to the drawings.

[0037] like Figures 1 to 17As shown, the present invention provides an unmanned mudflat vehicle for deploying and recovering a DGT device, comprising a vehicle frame 100, on which a traveling mechanism 200 and a control device (omitted in the figure) are mounted, the control device being equipped with a remote controller (omitted in the figure), a guide rail well 300 being mounted on the vehicle frame 100 (preferably in the middle of the vehicle frame 100), a bottom of which is provided with an openable and closable electric gate mechanism 310, a DGT holder 400 and a DGT vibrating compactor 500 being sequentially placed in the guide rail well 300 from bottom to top, the bottom of the DGT holder 400 being used for detachably fixing and connecting a DGT device 600, the DGT The T fixer 400 can fall freely onto the mudflat when the electric gate mechanism 310 is opened. The DGT vibratory compactor 500 can vibrate and press the DGT fixer 400 to press the DGT device 600 into the surface sediment of the mudflat. The frame 100 is equipped with a DGT recovery machine 700 for recovering the DGT fixer 400 from the mudflat. The electric gate mechanism 310, the DGT vibratory compactor 500 and the DGT recovery machine 700 are all connected to the control device by wire. The DGT recovery machine 700 is equipped with a picture transmission camera 800 for photographing and locating the DGT fixer 400 in the mudflat. The picture transmission camera 800 is wirelessly connected to the remote control.

[0038] The vehicle frame 100, the running mechanism 200, the control device, and the remote control can all be components of existing remote-controlled vehicles. For example, the control device can be a single-chip microcomputer or a PLC, such as a 51 single-chip microcomputer or an STM32 single-chip microcomputer, which generally includes a wireless receiving control circuit. The remote control generally includes a wireless transmitting control circuit, which can control the vehicle's forward, backward, turning, and other movements. Therefore, the remote control technology aspects of the mudflat unmanned vehicle of the present invention will not be elaborated here, as they all belong to the existing technology.

[0039] In this embodiment, the frame 100 preferably includes, but is not limited to, a front transverse body tube 111, a rear transverse body tube 112, a left longitudinal body tube 113, a right longitudinal body tube 114, a left front motor box 121, a right front motor box 122, a left rear motor box 123, and a right rear motor box 124. The left and right ends of the front transverse body tube 111 are fixedly connected to the left front motor box 121 and the right front motor box 122, respectively. The left and right ends of the rear transverse body tube 112 are fixedly connected to the left rear motor box 123 and the right rear motor box 124, respectively. The front and rear ends of the left longitudinal body tube 113 are fixedly connected to the left front motor box 121 and the right front motor box 122, respectively. The front motor box 121 and the left rear motor box 123 are fixedly connected. The front and rear ends of the right longitudinal body tube 114 are fixedly connected to the right front motor box 122 and the right rear motor box 124, respectively. Each motor box is provided with a well seat 101 for mounting the guide rail well 300. The left front motor box 121 and the right front motor box 122 are provided with a front motor box cover 131, and the left rear motor box 123 and the right rear motor box 124 are provided with a rear motor box cover 132. Mounted on the rear motor box cover 132 is a waterproof box 140 (comprising a box body and a cover) for housing electronic systems such as a control device and battery. Both the vehicle frame 100 and the waterproof box 140 are made of rust-resistant and corrosion-resistant non-metallic materials, such as engineering plastics, to adapt to the high humidity and high salinity environment of coastal mudflats and extend their service life.

[0040] In this embodiment, the travel mechanism 200 preferably includes, but is not limited to, a front left foam wheel power group 210, a front right foam wheel power group 220, a rear left foam wheel power group 230, and a rear right foam wheel power group 240. Each of the front left foam wheel power group 210, the front right foam wheel power group 220, the rear left foam wheel power group 230, and the rear right foam wheel power group 240 includes a travel motor 201 (e.g., a first reduction motor), a wheel hub 202, and a foam anti-skid tire 203. The travel motor 201 is mounted in a corresponding motor housing. The output shaft of the travel motor 201 passes through the corresponding motor housing and can be fixedly connected to the wheel hub 202 via a coupling. The foam anti-skid tire 203 is mounted on the wheel hub 202. The foam anti-skid tire 203 can be made of a lightweight, high-toughness foam, such as EPP, which can provide buoyancy to a certain extent and prevent the mudflat unmanned vehicle from getting stuck in sediment. The surface of the foam anti-skid tire 203 is provided with an anti-skid pattern to prevent the mudflat unmanned vehicle from slipping during travel.

[0041] In this embodiment, the electric gate mechanism 310 includes a left servo 311, a right servo 312, a left blocking arm 313 and a right blocking arm 314. The left servo 311 and the right servo 312 are respectively installed on the left and right outer sides of the bottom of the guide rail well 300. One end of the left blocking arm 313 is fixedly connected to the output end of the left servo 311, and one end of the right blocking arm 314 is fixedly connected to the output end of the right servo 312. When the other ends of the left blocking arm 313 and the right blocking arm 314 are close to each other, they are located directly below the lower end opening of the guide rail well 300 and support the bottom of the DGT fixture 400. When the other ends of the left blocking arm 313 and the right blocking arm 314 are far away from each other, they are detached from the bottom of the DGT fixture 400.

[0042] When the electric gate mechanism 310 needs to be closed, the left servo 311 drives the left blocking arm 313 to rotate inward 90°, and the right servo 312 drives the right blocking arm 314 to rotate inward 90°, so that the other ends of the left blocking arm 313 and the right blocking arm 314 are close to each other. At this time, the left blocking arm 313 and the right blocking arm 314 prevent the DGT fixture 400 from falling, maintaining the position of the DGT fixture 400 and the DGT vibratory compactor 500 in the guide rail well 300. When the electric gate mechanism 310 needs to be opened, the left servo 311 drives the left blocking arm 313 to rotate outward 90°, and the right servo 312 drives the right blocking arm 314 to rotate outward 90°, so that the other ends of the left blocking arm 313 and the right blocking arm 314 are separated from each other. At this time, the left blocking arm 313 and the right blocking arm 314 no longer block the DGT fixture 400, and the DGT fixture 400 falls freely to the surface of the mudflat. Then the DGT vibrating tamper 500 works and presses the bottom of the DGT fixture 400 into the surface sediment of the mudflat through vibration.

[0043] In order to extend the service life, a left arm support block 301 and a right arm support block 302 are installed at the bottom of the guide rail well 300, and a left slide groove 303 and a right slide groove 304 are formed between the bottom of the guide rail well 300 and the left arm support block 301 and the right arm support block 302 respectively. The other ends of the left blocking arm 313 and the right blocking arm 314 pass through the left slide groove 303 and the right slide groove 304 respectively when they are close to each other; when the electric gate mechanism 310 is closed, the gravity of the DGT fixer 400 and the DGT vibrating compactor 500 directly acts on the left blocking arm 313 and the right blocking arm 314, and the left blocking arm 313 and the right blocking arm 314 are supported respectively by the left arm support block 301 and the right arm support block 302, thereby reducing the stress and deformation of the left blocking arm 313 and the right blocking arm 314.

[0044] In this embodiment, the DGT holder 400 includes a holder body 410 and a pressure rod 420. The bottom of the holder body 410 defines at least one (e.g., two) DGT fixing slots 411 for removably mounting a DGT device 600. The pressure rod 420 is mounted on the top of the holder body 410 and includes a recovery hook 421 that engages with a DGT recovery machine 700. The pressure rod 420 also serves as a handle for convenient placement and removal of the DGT holder 400. The DGT device 600 is a commercially available product and includes a DGT base 610, a DGT cover 620, and a DGT gel membrane 630. The top of the DGT base 610 is removably fixedly connected to the DGT fixing slot 411, facilitating easy installation and removal. The bottom of the DGT base 610 is fixedly connected to the DGT cover 620. The DGT gel membrane 630 is disposed between the DGT base 610 and the DGT cover 620.

[0045] In this embodiment, the DGT vibratory compactor 500 includes a vibratory housing 510 and a vibratory motor 520. The vibratory motor 520 is secured within the vibratory housing 510 via motor brackets 521. Both output shafts of the vibratory motor 520 are mounted with fan-shaped eccentric weights 530. The vibratory housing 510 comprises an upper cover 511, a main housing 512, and a lower groove block 513. The vibratory motor 520 is mounted within the main housing 512. The upper cover 511 is fixedly connected to the top of the main housing 512 and is equipped with a handle 514 for convenient access. The top of the lower groove block 513 is fixedly connected to the bottom of the main housing 512. The bottom of the lower groove block 513 is equipped with a positioning slot 515 that mates with the upper portion of the DGT holder 400 (specifically, the pressure rod 420). Therefore, the pressure rod 420 of the DGT holder 400 is located within the positioning groove 515 and contacts the lower groove block 513. The DGT vibrating compactor 500 uses vibration and its own gravity to press the DGT holder 400 downward, pressing the DGT device 600 at its bottom into the surface sediment of the mudflat, achieving a good vibration compaction effect. During operation, the vibration motor 520 is energized, driving the fan-shaped eccentric weight 530 to rotate, causing the DGT vibrating compactor 500 to vibrate up and down.

[0046] In this embodiment, the DGT holder 400 and the DGT vibrating compactor 500 both slide in engagement with the guide rail well 300. When the DGT holder 400 freely falls, the DGT vibrating compactor 500 freely falls along with it, maintaining contact between the DGT holder 400. To prevent the DGT vibrating compactor 500 from escaping the guide rail well 300, a stopper 305 is provided between the guide rail well 300 and the DGT vibrating compactor 500 to prevent the DGT vibrating compactor 500 from escaping the guide rail well 300. The stopper 305 can be provided either within the guide rail well 300 or on the DGT vibrating compactor 500.

[0047] In this embodiment, the DGT recycling machine 700 includes a recycling bracket 710, a recycling motor 720 (such as a second reduction motor), a lifting transmission mechanism 730 and a hook 740. The bottom of the recycling bracket 710 is fixedly connected to the frame 100 (the front, specifically at a position such as the front motor box cover 131), the recycling motor 720 is installed on the recycling bracket 710, the input end of the lifting transmission mechanism 730 is transmission-connected to the output end of the recycling motor 720, and the hook 740 is installed on the output end of the lifting transmission mechanism 730. The hook 740 can cooperate with the DGT holder 400 (specifically at a position such as the recycling hanging hole 421 of the pressure rod 420), and the recycling motor 720 can drive the hook 740 to move up and down through the lifting transmission mechanism 730.

[0048] The output end of the recovery motor 720 can be connected to the input end of the lifting transmission mechanism 730 via a gear set 750. The lifting transmission mechanism 730 is preferably, but not limited to, a synchronous belt transmission mechanism, which includes an upper pulley, a lower pulley, a synchronous belt, and a slider. The upper pulley and the lower pulley are respectively rotatably mounted on the recovery bracket 710. The upper pulley and the lower pulley are connected via a synchronous belt transmission. The slider is mounted on the synchronous belt, and the hook 740 is mounted on the slider. Of course, the lifting transmission mechanism 730 can also adopt a rack and pinion transmission mechanism, a screw and nut mechanism, etc.

[0049] In this embodiment, the image transmission camera 800 is mounted on the DGT recovery machine 700 (specifically, on the recovery bracket 710) via a camera bracket 810. During use, the image transmission camera 800 assists the operator of the mudflat unmanned vehicle in aligning the hook 740 of the DGT recovery machine 700 with the recovery hook hole 421 of the DGT holder 400, thereby hooking the pressure rod 420 and lifting the DGT holder 400 away from the mudflat surface sediment. The image transmission camera 800 is conventional technology and will not be described in detail here.

[0050] The present invention provides an operating method for a mudflat unmanned vehicle for deploying and recovering a DGT device 600, comprising the following steps: S1. Before the mudflat unmanned vehicle sets out for the mudflat sampling site, first install the DGT device 600 on the bottom of the DGT fixture 400, then install the DGT fixture 400 and the DGT vibratory compactor 500 into the guide rail well 300 in sequence. At this time, the electric gate mechanism 310 of the guide rail well 300 is in the closed state. S2. The tidal flat unmanned vehicle is remotely controlled to depart for the tidal flat sampling site. Upon arrival at the sampling site, the electric gate mechanism 310 is remotely controlled to open, and the DGT holder 400 then freely falls to the tidal flat surface. The DGT vibrating compactor 500 then follows and falls to a predetermined position. Subsequently, the DGT vibrating compactor 500 is remotely controlled to press the bottom of the DGT holder 400 into the surface sediment of the tidal flat. After the pressing is completed, the tidal flat unmanned vehicle is remotely controlled to leave the sampling site. S3. After a predetermined time, the DGT device 600 has enriched the target in the surface sediment of the mudflat. At this time, the mudflat unmanned vehicle is remotely driven back to the sampling point. Using the real-time image transmitted by the image transmission camera 800, the DGT recovery machine 700 is remotely operated to recover the DGT holder 400. Subsequently, the mudflat unmanned vehicle is remotely driven back to the shore operator. S4. After the mudflat unmanned vehicle returns to the shore, the operator removes the DGT holder 400 from the DGT recovery machine 700; then, the DGT device 600 is removed from the DGT holder 400.

[0051] In this embodiment, in step S3, when the DGT recovery machine 700 is remotely operated to recover the DGT holder 400, the lifting mechanism 730 lowers the hook 740 to its lowest position, aligns the hook 740 with the recovery hook hole 421 of the DGT holder 400, and hooks the pressure rod 420. In step S4, after the DGT device 600 is removed from the DGT holder 400, the operator removes the DGT gel membrane 630 for subsequent analysis.

[0052] In the description of the present invention, it should be understood that the terms "center", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the present invention.

[0053] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features being referred to. Thus, a feature specified as "first" or "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined.

[0054] In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "connect," "fixed," etc. should be understood broadly. For example, they may refer to fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0055] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. An unmanned vehicle for deploying and recovering DGT devices on mudflats, comprising a vehicle frame, a traveling mechanism and a control device mounted on the vehicle frame, the control device being equipped with a remote controller, characterized in that: A guide rail well is installed on the frame, and an openable and closable electric gate mechanism is provided at the bottom of the guide rail well. A DGT fixer and a DGT vibratory compactor are placed in the guide rail well from bottom to top. The bottom of the DGT fixer is used for detachably fixing the DGT device. The DGT fixer can fall freely onto the mudflat when the electric gate mechanism is opened. The DGT vibratory compactor can vibrate and press the DGT fixer to press the DGT device into the surface sediment of the mudflat. A DGT recovery machine for recovering the DGT fixer from the mudflat is installed on the frame. The electric gate mechanism, DGT vibratory compactor and DGT recovery machine are all connected to the control device by wire. The DGT recovery machine is equipped with a picture transmission camera for shooting and locating the DGT fixer in the mudflat, and the picture transmission camera is wirelessly connected to the remote control.

2. The mudflat unmanned vehicle for deploying and recovering DGT devices according to claim 1 is characterized in that: The electric gate mechanism includes a left servo, a right servo, a left blocking arm and a right blocking arm. The left servo and the right servo are respectively installed on the left and right outer sides of the bottom of the guide rail well. One end of the left blocking arm is fixedly connected to the output end of the left servo, and one end of the right blocking arm is fixedly connected to the output end of the right servo. When the other ends of the left blocking arm and the right blocking arm are close to each other, they are located directly below the lower end opening of the guide rail well and support the bottom of the DGT fixture. When the other ends of the left blocking arm and the right blocking arm are away from each other, they are detached from the bottom of the DGT fixture.

3. The mudflat unmanned vehicle for deploying and recovering DGT devices according to claim 2 is characterized in that: A left arm support block and a right arm support block are installed at the bottom of the guide rail well, and a left slide groove and a right slide groove are formed between the bottom of the guide rail well and the left arm support block and the right arm support block respectively. When the other ends of the left blocking arm and the right blocking arm are close to each other, they pass through the left slide groove and the right slide groove respectively.

4. The mudflat unmanned vehicle for deploying and recovering DGT devices according to claim 1 is characterized in that: The DGT holder includes a holder body and a pressure rod. The bottom of the holder body is provided with at least one DGT fixing slot for detachably mounting a DGT device. The pressure rod is mounted on the top of the holder body and is provided with a recovery hanging hole capable of cooperating with a DGT recovery machine. The DGT device includes a DGT base, a DGT cover and a DGT gel membrane. The top of the DGT base is detachably fixedly connected to the DGT fixing groove, the bottom of the DGT base is fixedly connected to the DGT cover, and the DGT gel membrane is arranged between the DGT base and the DGT cover.

5. The mudflat unmanned vehicle for deploying and recovering DGT devices according to claim 1 is characterized in that: A limit block is provided between the guide rail well and the DGT vibrating compactor for limiting the DGT vibrating compactor from leaving the guide rail well; The DGT vibrating compactor includes a vibrating housing and a vibrating motor. The vibrating motor is fixed in the vibrating housing through a motor bracket. Both ends of the output shaft of the vibrating motor are equipped with fan-shaped eccentric blocks. The vibration housing includes an upper cover, a main shell and a lower slot block. The vibration motor is installed in the main shell. The upper cover is fixedly connected to the top of the main shell. The upper cover is provided with a handle. The top of the lower slot block is fixedly connected to the bottom of the main shell. The bottom of the lower slot block is provided with a positioning groove that matches the upper part of the DGT fixer.

6. The mudflat unmanned vehicle for deploying and recovering DGT devices according to claim 1 is characterized in that: The DGT recycling machine includes a recycling bracket, a recycling motor, a lifting transmission mechanism, and a hook. The bottom of the recycling bracket is fixedly connected to the vehicle frame. The recycling motor is installed on the recycling bracket. The input end of the lifting transmission mechanism is in driving connection with the output end of the recycling motor. The hook is installed on the output end of the lifting transmission mechanism. The hook can cooperate with the DGT holder. The recycling motor can drive the hook to move up and down through the lifting transmission mechanism. The output end of the recovery motor is connected to the input end of the lifting transmission mechanism through a gear set. The lifting transmission mechanism is a synchronous belt transmission mechanism. The synchronous belt transmission mechanism includes an upper pulley, a lower pulley, a synchronous belt and a slider. The upper pulley and the lower pulley are respectively rotatably mounted on the recovery bracket. The upper pulley and the lower pulley are connected by a synchronous belt transmission. The slider is mounted on the synchronous belt, and the hook is mounted on the slider.

7. The mudflat unmanned vehicle for deploying and recovering DGT devices according to claim 1 is characterized in that: The image transmission camera is installed on the DGT recycling machine through a camera bracket.

8. The mudflat unmanned vehicle for deploying and recovering DGT devices according to claim 1 is characterized in that: The vehicle frame includes a front transverse vehicle body tube, a rear transverse vehicle body tube, a left longitudinal vehicle body tube, a right longitudinal vehicle body tube, a left front motor box, a right front motor box, a left rear motor box, a right rear motor box, a front motor box cover and a rear motor box cover, the left and right end portions of the front transverse vehicle body tube are fixedly connected to the left front motor box and the right front motor box respectively, the left and right end portions of the rear transverse vehicle body tube are fixedly connected to the left rear motor box and the right rear motor box respectively, the front and rear end portions of the left longitudinal vehicle body tube are fixedly connected to the left front motor box and the left rear motor box respectively, the front and rear end portions of the right longitudinal vehicle body tube are fixedly connected to the right front motor box and the right rear motor box respectively, each motor box is provided with a well seat for installing a guide rail well, the left front motor box and the right front motor box are commonly provided with a front motor box cover, the left rear motor box and the right rear motor box are commonly provided with a rear motor box cover, and a waterproof box for placing a control device is installed on the rear motor box cover; The vehicle frame and the waterproof box are both made of rust-proof and corrosion-resistant non-metallic materials.

9. The mudflat unmanned vehicle for deploying and recovering DGT devices according to claim 8, characterized in that: The walking mechanism includes a front left foam wheel power group, a front right foam wheel power group, a rear left foam wheel power group and a rear right foam wheel power group. The front left foam wheel power group, the front right foam wheel power group, the rear left foam wheel power group and the rear right foam wheel power group all include a walking motor, a wheel hub and a foam anti-skid tire. The walking motor is installed in a corresponding motor box, and the output shaft of the walking motor passes through the corresponding motor box and is fixedly connected to the wheel hub. The foam anti-skid tire is installed on the wheel hub.

10. An operating method for a mudflat unmanned vehicle for deploying and recovering a DGT device according to any one of claims 1 to 9, characterized in that: The following steps are involved: S1. Before the mudflat unmanned vehicle sets out for the mudflat sampling site, first install the DGT device on the bottom of the DGT holder, then install the DGT holder and DGT vibratory compactor into the guide rail well in sequence. At this time, the electric gate mechanism of the guide rail well is in the closed state. S2: The tidal flat unmanned vehicle is remotely controlled to depart for the tidal flat sampling site. Upon arrival at the sampling site, the electric gate mechanism is remotely operated to open, and the DGT holder freely falls to the surface of the tidal flat. Subsequently, the DGT vibrating compactor is remotely operated to press the bottom of the DGT holder into the surface sediment of the tidal flat. After the pressure is pressed in, the tidal flat unmanned vehicle is remotely controlled to drive away from the sampling site. S3. After the predetermined time, the DGT device has enriched the target in the surface sediments of the mudflat. At this time, the mudflat unmanned vehicle is remotely driven back to the sampling point. Using the real-time image transmitted by the image transmission camera, the DGT recovery machine is remotely operated to recover the DGT holder. The mudflat unmanned vehicle is then remotely driven back to the shore operator. S4. After the mudflat unmanned vehicle returns to the shore, the operator removes the DGT holder from the DGT recovery machine; then, removes the DGT device from the DGT holder.

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