Sampling device and sampling method for soil remediation

Abstract

This invention discloses a sampling device for soil remediation, comprising a rectangular base, with paired movable units connected to the sidewalls of the base via mounting seats. The movable units are symmetrically arranged about the base. A sample tube storage component and a sampling component are connected to the surface of the base, and the sample tube storage component and the sampling component are respectively located near the port of the base. A controller is provided on the surface of the base, and the controller is electrically connected to the sampling component. This invention also discloses a sampling method for soil remediation, which solves the problems in the prior art where the reuse of sampling tubes and manual sampling lead to soil source pollution affecting the accuracy of soil analysis.

Description

Technical Field

[0001] This invention belongs to the technical field of soil sampling equipment, specifically relating to a sampling device for soil remediation, and also to a sampling method for soil remediation. Background Technology

[0002] Soil remediation refers to the process of restoring or improving the original ecological functions of contaminated or degraded soil through various technical means, enabling it to be reused for agricultural production, urban greening, or other purposes. Sampling is a crucial step in the soil remediation process, directly impacting pollution assessment, remediation plan design, and the verification of remediation effectiveness. The purpose of sampling is to obtain representative soil samples to accurately analyze the type, concentration, and distribution of pollutants.

[0003] Soil sampling typically requires multiple sampling points for subsequent analysis. However, traditional sampling devices often reuse a single sampling tube, which can contaminate the soil source and affect the accuracy of the analytical results. Furthermore, the open design of the sampling tube during sampling allows soil samples to fall out, also impacting the accuracy of the results. Summary of the Invention

[0004] The purpose of this invention is to provide a sampling device for soil remediation, which solves the problems in the prior art where the reuse of sampling tubes and human sampling lead to soil source pollution that affects the accuracy of soil analysis.

[0005] Another objective of this invention is to provide a sampling method for soil remediation, which solves the problem of low accuracy in existing technologies due to human intervention in soil sampling, which affects the soil.

[0006] The technical solution adopted in this invention is a sampling device for soil remediation, including a rectangular base. The side wall of the base is connected to a pair of moving units via mounting seats. The moving units are symmetrically arranged about the base. A sample tube storage component and a sampling component are connected to the surface of the base. The sample tube storage component and the sampling component are respectively located near the port of the base. A controller is provided on the surface of the base and is electrically connected to the sampling component.

[0007] The invention is further characterized by:

[0008] The sample tube storage assembly includes a storage bucket, a positioning plate is snapped into the storage bucket, and several through holes are opened on the surface of the positioning plate, with sampling tubes matched to the through holes.

[0009] The moving unit includes a support rod, one end of which is connected to the mounting base, and the other end of which is rotatably connected to a positioning column, which is hinged to a moving wheel.

[0010] There are at least one movable unit, and one mounting base is connected to one or two movable units. The connection between two movable units and one mounting base is in a V shape.

[0011] The sampling assembly includes a positioning disk, which is mounted on the base surface. A rotating disk is rotatably connected to the positioning disk. A connecting plate is located on the edge of the rotating disk away from the positioning disk surface. An adjusting arm is hinged to the surface of the connecting plate. A support cylinder is located on the rotating disk surface away from the positioning disk surface. The support cylinder is connected to the side wall of the adjusting arm. The adjusting arm is hinged to a clamping wall near its port. An adjusting cylinder is located on the side wall of the adjusting arm. The output end of the adjusting cylinder is connected to the port of the clamping wall near the positioning disk. A connecting cylinder side wall is connected to the side wall of the clamping wall. One end of an adjusting rod is connected to the other port of the clamping wall. The output end of the connecting cylinder is connected to the other end of the adjusting rod. A connecting wall is sleeved on the side wall of the adjusting rod. One end is connected to a hollow cylindrical rotating platform. The inner wall of the rotating platform is connected to a telescopic motor sidewall. The telescopic motor is connected to two telescopic rods. The output end of the telescopic motor is connected to one end of one of the telescopic rods, and the other end of the other telescopic rod is connected to a drive plate. There are two drive plates, and the connection between the output end of the telescopic motor and the telescopic rod is set at an angle. The rotating platform is connected to the telescopic motor and the other telescopic rod, which is connected to the drive plate. The two drive plates are set opposite each other, and rubber pads are provided on the opposing surfaces of the two drive plates. A through groove is opened on the surface of the rotating platform near the drive plate, and the through groove cooperates with the drive plate. An industrial camera is installed on the clamping wall sidewall, and the industrial camera is connected to the controller.

[0012] The rotating disk includes a chassis, which is rotatably connected to a positioning disk. A support column is rotatably connected to the chassis away from the surface of the positioning disk. The chassis and the support column are vertically arranged. A lower locking disk is sleeved on the side wall of the support column, and an upper locking disk is sleeved on the end of the support column away from the chassis. The surface of the upper locking disk near the lower locking disk has a first locking groove, and the surface of the lower locking disk near the upper locking disk has a second locking groove. An auxiliary locking wheel is provided between the lower locking disk and the upper locking disk. The surface of the auxiliary locking wheel has locking blocks, which mesh with the first locking groove and the second locking groove respectively. The surface of the locking blocks is connected to the output end of a drive motor. The drive motor is located outside the lower locking disk and the upper locking disk. The drive motor is connected to the base through a rod, and the upper locking disk is connected to an adjusting arm.

[0013] The sampling tube has connecting posts on the inner walls near the two ports. Each connecting post is hinged with a one-way plate. The one-way plate is circular and its surface is completely in contact with the port of the sampling tube. One port of the sampling tube has serrations. A positioning block is provided on the inner wall of the sampling tube near the serrations. The positioning block cooperates with the one-way plate to control the opening and closing angle of the one-way plate to 60-80 degrees. The two one-way plates open and close in the same direction.

[0014] Another technical solution adopted in this invention is a sampling method for soil remediation, which, based on the sampling device for soil remediation, specifically includes the following operational steps:

[0015] Step 1: Insert the sampling tube into the through hole;

[0016] Step 2: Obtain information about the card slot, sampling device, and sampling point location using an industrial camera;

[0017] Step 3: Transmit the card slot information, sampling device and sampling point location information to the controller, and specify the sampling path in the controller;

[0018] Step 4: Use the controller to move the sampling component to the sampling point and complete the soil sampling.

[0019] Another feature of the technical solution of the present invention is that:

[0020] The sampling path includes a test tube retrieval path and a soil sampling path; the test tube retrieval path is as follows:

[0021] The point cloud data corresponding to the acquired card slot information is preprocessed to obtain the points of card slot 302, and a vertex set corresponding to the points is generated. and the set of edges corresponding to the points ,in, Let represent the i-th vertex, and n represent the total number of vertices; Indicates connection to vertices and The edge;

[0022] Based on the location information of the sampling device, the test tube retrieval path is determined as follows:

[0023] (1)

[0024] In equation (1), This indicates the coordinates of the point from the positioning plate to the sampling device;

[0025] Calculate the shortest test tube handling path:

[0026] (2)

[0027] In equation (2), This indicates all paths from the positioning plate to the sampling device. This indicates the distance between two adjacent points;

[0028] The soil sampling path is determined based on the location information of the sampling device and the sampling point. Specifically, the location information of the sampling device and the sampling point is analyzed and obtained to find the shortest sampling path. The soil sampling is completed by controlling the connecting cylinder, telescopic motor, adjusting cylinder and supporting cylinder through the controller.

[0029] The beneficial effects of this invention are:

[0030] An integrated sampling system was constructed by setting up a cuboid base, paired with moving units, sample tube storage components, sampling components, and a controller. This system enables the orderly storage and precise retrieval of multiple sampling tubes, and its structured design avoids the drawbacks of open ports. Traditional methods are prone to cross-contamination of soil sources due to the repeated use of a single sampling tube, and open ports can cause soil samples to fall out, seriously affecting the accuracy of analytical results. This invention enables independent use of multiple tubes through the sample tube storage component, fundamentally eliminating cross-contamination. At the same time, the structured design of the sampling components effectively prevents soil from falling out, ensuring sample integrity. In addition, by using an industrial camera to acquire location information and using the controller to determine the sampling path, precise sampling at multiple points can be achieved, further improving the representativeness of the samples. This provides more reliable data support for pollution assessment, remediation scheme design, and effect verification, significantly improving the scientific nature and efficiency of soil remediation work. Attached Figure Description

[0031] Figure 1 This is a schematic diagram of the sampling device for soil remediation according to the present invention;

[0032] Figure 2 This is a schematic diagram of the sample tube storage component in the sampling device for soil remediation of the present invention;

[0033] Figure 3 This is a schematic diagram of the moving unit in the sampling device for soil remediation of the present invention;

[0034] Figure 4 This is a schematic diagram of the sampling component in the soil remediation sampling device of the present invention;

[0035] Figure 5 This is a schematic diagram of the internal structure of the rotating platform in the sampling device for soil remediation of the present invention;

[0036] Figure 6 This is a schematic diagram of the rotating disk in the sampling device for soil remediation of the present invention;

[0037] Figure 7 This is a schematic diagram of the sampling tube in the soil remediation sampling device of the present invention.

[0038] In the diagram, 1. Base, 2. Moving unit, 201. Support rod, 202. Positioning column, 203. Moving wheel, 3. Sample tube storage assembly, 301. Storage bucket, 302. Positioning plate, 303. Through hole, 304. Sampling tube, 3041. Connecting column, 3042. One-way plate, 3043. Serrated edge, 3044. Positioning block, 4. Sampling assembly, 401. Positioning plate, 402. Rotating plate, 4021. Chassis, 4022. Support column, 4023. Lower positioning plate, 4024. Upper positioning plate, 4025. 4026. Second slot, 4027. Auxiliary slotting wheel, 4028. Slotting block, 4029. Drive motor, 403. Connecting plate, 404. Adjusting arm, 405. Support cylinder, 406. Clamping wall, 407. Adjusting cylinder, 408. Linking cylinder, 409. Adjusting rod, 4010. Connecting wall, 4011. Telescopic motor, 4012. Rotary table, 4013. Telescopic rod, 4014. Drive plate, 4015. Through slot, 4016. Industrial camera, 5. Mounting base, 6. Controller. Detailed Implementation

[0039] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments.

[0040] Sampling devices for soil remediation, such as Figure 1 As shown, it includes a rectangular base 1. The side wall of the base 1 is connected to a pair of moving units 2 via mounting bases 5. The moving units 2 are symmetrically arranged about the base 1. The surface of the base 1 is connected to a sample tube storage component 3 and a sampling component 4. The sample tube storage component 3 and the sampling component 4 are respectively located near the port of the base 1. The surface of the base 1 is provided with a controller 6, which is electrically connected to the sampling component 4.

[0041] like Figure 2 As shown, the sample tube storage assembly 3 includes a storage bucket 301, a positioning disk 302 is snapped into the storage bucket 301, and a plurality of through holes 303 are opened on the surface of the positioning disk 302, and sampling tubes 304 are matched to the through holes 303.

[0042] like Figure 3 As shown, the moving unit 2 includes a support rod 201. One end of the support rod 201 is connected to the mounting base 5, and the other end of the support rod 201 is rotatably connected to a positioning column 202. The positioning column 202 is hinged to a moving wheel 203.

[0043] There are no fewer than four movable units 2. One mounting base 5 is connected to one or two movable units 2, and the connection between two movable units 2 and one mounting base 5 is V-shaped.

[0044] Sampling assembly 4 includes a positioning disk 401, which is disposed on the surface of base 1. A rotating disk 402 is rotatably connected to the positioning disk 401. A connecting plate 403 is provided on the edge of the rotating disk 402 away from the surface of the positioning disk 401. An adjusting arm 404 is hinged to the surface of the connecting plate 403. A support cylinder 405 is provided on the surface of the rotating disk 402 away from the surface of the positioning disk 401. The support cylinder 405 is connected to the side wall of the adjusting arm 404. The adjusting arm 404 is hinged to a clamping wall 406. Near the port, an adjusting cylinder 407 is provided on the side wall of the adjusting arm 404. The output end of the adjusting cylinder 407 is connected to the port of the clamping wall 406 near the positioning plate 401. The side wall of the clamping wall 406 is connected to the side wall of the connecting cylinder 408. One end of the adjusting rod 409 is connected to the other port of the clamping wall 406. The output end of the connecting cylinder 408 is connected to the other end of the adjusting rod 409. One end of the connecting wall 4010 is sleeved on the side wall of the adjusting rod 409. The other end of the connecting wall 4010 is connected to a hollow... The rotating platform 4012 of the column has a telescopic motor 4011 connected to its inner wall. The telescopic motor 4011 is connected to two telescopic rods 4013. The output end of the telescopic motor 4011 is connected to one end of one of the telescopic rods 4013, and the other end of the telescopic rod 4013 is connected to a drive plate 4014. There are two drive plates 4014, and the connection between the output end of the telescopic motor 4011 and the telescopic rod 4013 is at an angle. The rotating platform 4012 is connected to the telescopic motor 4011 and the other telescopic rod 4013, which is connected to the drive plate 4014. The two drive plates 4014 are positioned opposite each other, and rubber pads are provided on their opposing surfaces. A through groove 4015 is formed on the surface of the rotating platform 4012 near the drive plate 4014, and the through groove 4015 mates with the drive plate 4014. An industrial camera 4016 is mounted on the side wall of the clamping wall 406 and is connected to a controller 6. Figure 4 and Figure 5 As shown.

[0045] The rotating disk 402 includes a base 4021, which is rotatably connected to the positioning disk 401. A support column 4022 is rotatably connected to the base 4021 away from the surface of the positioning disk 401. The base 4021 and the support column 4022 are perpendicularly arranged. A lower locking disk 4023 is sleeved on the side wall of the support column 4022. An upper locking disk 4024 is sleeved on the end of the support column 4022 away from the base 4021. A first locking groove 4025 is provided on the surface of the upper locking disk 4024 near the lower locking disk 4023. A first locking groove 4025 is provided on the surface of the lower locking disk 4023 near the upper locking disk 4024. A second locking slot 4026 is provided, and an auxiliary locking wheel 4027 is provided between the lower locking plate 4023 and the upper locking plate 4024. A locking block 4028 is provided on the surface of the auxiliary locking wheel 4027, and the locking block 4028 meshes with the first locking slot 4025 and the second locking slot 4026 respectively. The output end of a drive motor 4029 is connected to the surface of the locking block 4028. The drive motor 4029 is located outside the lower locking plate 4023 and the upper locking plate 4024, and is connected to the base 1 via a rod. The upper locking plate 4024 is connected to the adjusting arm 404. Figure 6 As shown.

[0046] like Figure 7 As shown, the inner wall of the sampling tube 304 near the two ports is provided with connecting posts 3041, and each of the two connecting posts 3041 is hinged with a one-way plate 3042. The one-way plate 3042 is circular and its surface is completely in contact with the port of the sampling tube 304. A serration 3043 is provided at one port of the sampling tube 304. A positioning block 3044 is provided on the inner wall of the sampling tube 304 near the serration 3043. The positioning block 3044 cooperates with the one-way plate 3042 to control the opening and closing angle of the one-way plate 3042 to be 60~80 degrees. The two one-way plates 3042 open and close in the same direction.

[0047] The sampling method for soil remediation, depending on the sampling device used, specifically includes the following operational steps:

[0048] Step 1: Insert the sampling tube 304 into the through hole 303;

[0049] Step 2: Acquire information about the card slot 302, the sampling device, and the location information of the sampling point using the industrial camera 4016;

[0050] Step 3: Transmit the information of the card slot 302, the sampling device and the location information of the sampling point to the controller 6, and set the sampling path in the controller 6;

[0051] Step 4: Control the sampling component 4 to move to the sampling point and complete the soil sampling by controlling the controller 6.

[0052] The sampling path includes a test tube retrieval path and a soil sampling path; the test tube retrieval path is as follows:

[0053] The point cloud data corresponding to the acquired information of the card slot 302 is preprocessed to obtain the points of the card slot 302, and a vertex set corresponding to the points is generated. and the set of edges corresponding to the points ,in, Let represent the i-th vertex, and n represent the total number of vertices; Indicates connection to vertices and The edge;

[0054] Based on the location information of the sampling device, the test tube retrieval path is determined as follows:

[0055] (1)

[0056] In equation (1), This indicates the coordinates of the point from the positioning plate 302 to the sampling device;

[0057] Calculate the shortest test tube handling path:

[0058] (2)

[0059] In equation (2), This indicates all paths from the card slot 302 to the sampling device. This indicates the distance between two adjacent points;

[0060] The soil sampling path is determined based on the location information of the sampling device and the sampling point. Specifically, the location information of the sampling device and the sampling point is analyzed and obtained, the shortest sampling path is found, and the soil sampling is completed by controlling the connecting cylinder 408, the telescopic motor 4011, the adjusting cylinder 407 and the supporting cylinder 405 through the controller 6.

[0061] The system includes multiple sampling tubes 304 to facilitate the collection of soil samples from various locations. After collection, a one-way plate 3042 with an opening angle is provided. During sampling, as the sampling tube 304 is moved downwards, the one-way plate 3042 opens towards the inner wall of the sampling tube 304. A positioning block 3044 restricts the opening angle. After soil sampling is completed, the sampling tube 304 is lifted vertically. Under the influence of soil gravity, the one-way plate 3042 moves downwards, allowing it to completely adhere to the inner wall of the sampling tube 304, thus sealing the sampling tube 304. This effectively prevents soil-source contamination and improves the accuracy of sample analysis.

[0062] Example 1

[0063] A sampling device for soil remediation includes a rectangular base 1. A pair of moving units 2 are connected to the side wall of the base 1 via mounting bases 5. The moving units 2 are symmetrically arranged about the base 1. A sample tube storage assembly 3 and a sampling assembly 4 are connected to the surface of the base 1. The sample tube storage assembly 3 and the sampling assembly 4 are respectively located near the port of the base 1. A controller 6 is provided on the surface of the base 1. The controller 6 is electrically connected to the sampling assembly 4.

[0064] Example 2

[0065] A sampling device for soil remediation includes a rectangular base 1. A pair of moving units 2 are connected to the side wall of the base 1 via mounting bases 5. The moving units 2 are symmetrically arranged about the base 1. A sample tube storage assembly 3 and a sampling assembly 4 are connected to the surface of the base 1. The sample tube storage assembly 3 and the sampling assembly 4 are respectively located near the port of the base 1. A controller 6 is provided on the surface of the base 1. The controller 6 is electrically connected to the sampling assembly 4.

[0066] The sample tube storage assembly 3 includes a storage bucket 301, a positioning disk 302 is snapped into the storage bucket 301, and a plurality of through holes 303 are opened on the surface of the positioning disk 302, and sampling tubes 304 are matched to the through holes 303.

[0067] Example 3

[0068] A sampling device for soil remediation includes a rectangular base 1. A pair of moving units 2 are connected to the side wall of the base 1 via mounting bases 5. The moving units 2 are symmetrically arranged about the base 1. A sample tube storage assembly 3 and a sampling assembly 4 are connected to the surface of the base 1. The sample tube storage assembly 3 and the sampling assembly 4 are respectively located near the port of the base 1. A controller 6 is provided on the surface of the base 1. The controller 6 is electrically connected to the sampling assembly 4.

[0069] The sample tube storage assembly 3 includes a storage bucket 301, a positioning disk 302 is snapped into the storage bucket 301, and a plurality of through holes 303 are opened on the surface of the positioning disk 302, and sampling tubes 304 are matched to the through holes 303.

[0070] The movable unit 2 includes a support rod 201, one end of which is connected to the mounting base 5, and the other end of which is rotatably connected to a positioning column 202. The positioning column 202 is hinged to a movable wheel 203.

[0071] Example 4

[0072] A sampling device for soil remediation includes a rectangular base 1. A pair of moving units 2 are connected to the side wall of the base 1 via mounting bases 5. The moving units 2 are symmetrically arranged about the base 1. A sample tube storage assembly 3 and a sampling assembly 4 are connected to the surface of the base 1. The sample tube storage assembly 3 and the sampling assembly 4 are respectively located near the port of the base 1. A controller 6 is provided on the surface of the base 1. The controller 6 is electrically connected to the sampling assembly 4.

[0073] The sample tube storage assembly 3 includes a storage bucket 301, a positioning disk 302 is snapped into the storage bucket 301, and a plurality of through holes 303 are opened on the surface of the positioning disk 302, and sampling tubes 304 are matched to the through holes 303.

[0074] The movable unit 2 includes a support rod 201, one end of which is connected to the mounting base 5, and the other end of which is rotatably connected to a positioning column 202. The positioning column 202 is hinged to a movable wheel 203.

[0075] There are no fewer than four movable units 2. One mounting base 5 is connected to one or two movable units 2, and the connection between two movable units 2 and one mounting base 5 is V-shaped.

[0076] Example 5

[0077] A sampling device for soil remediation includes a rectangular base 1. A pair of moving units 2 are connected to the side wall of the base 1 via mounting bases 5. The moving units 2 are symmetrically arranged about the base 1. A sample tube storage assembly 3 and a sampling assembly 4 are connected to the surface of the base 1. The sample tube storage assembly 3 and the sampling assembly 4 are respectively located near the port of the base 1. A controller 6 is provided on the surface of the base 1. The controller 6 is electrically connected to the sampling assembly 4.

[0078] The sample tube storage assembly 3 includes a storage bucket 301, a positioning disk 302 is snapped into the storage bucket 301, and a plurality of through holes 303 are opened on the surface of the positioning disk 302, and sampling tubes 304 are matched to the through holes 303.

[0079] The movable unit 2 includes a support rod 201, one end of which is connected to the mounting base 5, and the other end of which is rotatably connected to a positioning column 202. The positioning column 202 is hinged to a movable wheel 203.

[0080] There are no fewer than four movable units 2. One mounting base 5 is connected to one or two movable units 2, and the connection between two movable units 2 and one mounting base 5 is V-shaped.

[0081] Sampling assembly 4 includes a positioning disk 401, which is disposed on the surface of base 1. A rotating disk 402 is rotatably connected to the positioning disk 401. A connecting plate 403 is provided on the edge of the rotating disk 402 away from the surface of the positioning disk 401. An adjusting arm 404 is hinged to the surface of the connecting plate 403. A support cylinder 405 is provided on the surface of the rotating disk 402 away from the surface of the positioning disk 401. The support cylinder 405 is connected to the side wall of the adjusting arm 404. The adjusting arm 404 is hinged to a clamping wall 406. Near the port, an adjusting cylinder 407 is provided on the side wall of the adjusting arm 404. The output end of the adjusting cylinder 407 is connected to the port of the clamping wall 406 near the positioning plate 401. The side wall of the clamping wall 406 is connected to the side wall of the connecting cylinder 408. One end of the adjusting rod 409 is connected to the other port of the clamping wall 406. The output end of the connecting cylinder 408 is connected to the other end of the adjusting rod 409. One end of the connecting wall 4010 is sleeved on the side wall of the adjusting rod 409. The other end of the connecting wall 4010 is connected to an open... The rotating platform 4012 of the core column has a telescopic motor 4011 connected to its inner wall. The telescopic motor 4011 is connected to two telescopic rods 4013. The output end of the telescopic motor 4011 is connected to one end of one of the telescopic rods 4013, and the other end of one of the telescopic rods 4013 is connected to a drive plate 4014. There are two drive plates 4014, and the connection between the output end of the telescopic motor 4011 and the connection of the telescopic rod 4013 is set at an angle. The rotating platform 4012 is connected to the telescopic motor 4011 and the other telescopic rod 4013. The other telescopic rod 4013 is connected to the drive plate 4014. The two drive plates 4014 are arranged opposite each other, and rubber pads are provided on the opposite surfaces of the two drive plates 4014. A through groove 4015 is opened on the surface of the rotating platform 4012 near the drive plate 4014. The through groove 4015 cooperates with the drive plate 4014. An industrial camera 4016 is provided on the side wall of the clamping wall 406, and the industrial camera 4016 is connected to the controller 6.

[0082] The sampling tube 304 has connecting posts 3041 on the inner wall near the two ports. Each of the two connecting posts 3041 is hinged with a one-way plate 3042. The one-way plate 3042 is circular and its surface is completely in contact with the port of the sampling tube 304. A serration 3043 is provided at one port of the sampling tube 304. A positioning block 3044 is provided on the inner wall of the sampling tube 304 near the serration 3043. The positioning block 3044 cooperates with the one-way plate 3042 to control the opening and closing angle of the one-way plate 3042 to 60-80 degrees. The two one-way plates 3042 open and close in the same direction.

[0083] Example 6

[0084] A sampling device for soil remediation includes a rectangular base 1. A pair of moving units 2 are connected to the side wall of the base 1 via mounting bases 5. The moving units 2 are symmetrically arranged about the base 1. A sample tube storage assembly 3 and a sampling assembly 4 are connected to the surface of the base 1. The sample tube storage assembly 3 and the sampling assembly 4 are respectively located near the port of the base 1. A controller 6 is provided on the surface of the base 1. The controller 6 is electrically connected to the sampling assembly 4.

[0085] The sample tube storage assembly 3 includes a storage bucket 301, a positioning disk 302 is snapped into the storage bucket 301, and a plurality of through holes 303 are opened on the surface of the positioning disk 302, and sampling tubes 304 are matched to the through holes 303.

[0086] The movable unit 2 includes a support rod 201, one end of which is connected to the mounting base 5, and the other end of which is rotatably connected to a positioning column 202. The positioning column 202 is hinged to a movable wheel 203.

[0087] There are no fewer than four movable units 2. One mounting base 5 is connected to one or two movable units 2, and the connection between two movable units 2 and one mounting base 5 is V-shaped.

[0088] Sampling assembly 4 includes a positioning disk 401, which is disposed on the surface of base 1. A rotating disk 402 is rotatably connected to the positioning disk 401. A connecting plate 403 is provided on the edge of the rotating disk 402 away from the surface of the positioning disk 401. An adjusting arm 404 is hinged to the surface of the connecting plate 403. A support cylinder 405 is provided on the surface of the rotating disk 402 away from the surface of the positioning disk 401. The support cylinder 405 is connected to the side wall of the adjusting arm 404. The adjusting arm 404 is hinged to a clamping wall 406. Near the port, an adjusting cylinder 407 is provided on the side wall of the adjusting arm 404. The output end of the adjusting cylinder 407 is connected to the port of the clamping wall 406 near the positioning plate 401. The side wall of the clamping wall 406 is connected to the side wall of the connecting cylinder 408. One end of the adjusting rod 409 is connected to the other port of the clamping wall 406. The output end of the connecting cylinder 408 is connected to the other end of the adjusting rod 409. One end of the connecting wall 4010 is sleeved on the side wall of the adjusting rod 409. The other end of the connecting wall 4010 is connected to an open... The rotating platform 4012 of the core column has a telescopic motor 4011 connected to its inner wall. The telescopic motor 4011 is connected to two telescopic rods 4013. The output end of the telescopic motor 4011 is connected to one end of one of the telescopic rods 4013, and the other end of one of the telescopic rods 4013 is connected to a drive plate 4014. There are two drive plates 4014, and the connection between the output end of the telescopic motor 4011 and the connection of the telescopic rod 4013 is set at an angle. The rotating platform 4012 is connected to the telescopic motor 4011 and the other telescopic rod 4013. The other telescopic rod 4013 is connected to the drive plate 4014. The two drive plates 4014 are arranged opposite each other, and rubber pads are provided on the opposite surfaces of the two drive plates 4014. A through groove 4015 is opened on the surface of the rotating platform 4012 near the drive plate 4014. The through groove 4015 cooperates with the drive plate 4014. An industrial camera 4016 is provided on the side wall of the clamping wall 406, and the industrial camera 4016 is connected to the controller 6.

[0089] The rotating disk 402 includes a base 4021, which is rotatably connected to the positioning disk 401. A support column 4022 is rotatably connected to the base 4021 away from the surface of the positioning disk 401. The base 4021 and the support column 4022 are perpendicularly arranged. A lower locking disk 4023 is sleeved on the side wall of the support column 4022. An upper locking disk 4024 is sleeved on the end of the support column 4022 away from the base 4021. A first locking groove 4025 is provided on the surface of the upper locking disk 4024 near the lower locking disk 4023. A groove 4025 is provided on the surface of the lower locking disk 4023 near the upper locking disk 4024. A second positioning slot 4026 is provided, and an auxiliary positioning wheel 4027 is provided between the lower positioning plate 4023 and the upper positioning plate 4024. A positioning block 4028 is provided on the surface of the auxiliary positioning wheel 4027. The positioning block 4028 engages with the first positioning slot 4025 and the second positioning slot 4026 respectively. The output end of the drive motor 4029 is connected to the surface of the positioning block 4028. The drive motor 4029 is located outside the lower positioning plate 4023 and the upper positioning plate 4024. The drive motor 4029 is connected to the base 1 through a rod. The upper positioning plate 4024 is connected to the adjusting arm 404.

[0090] The sampling tube 304 has connecting posts 3041 on the inner wall near the two ports. Each of the two connecting posts 3041 is hinged with a one-way plate 3042. The one-way plate 3042 is circular and its surface is completely in contact with the port of the sampling tube 304. A serration 3043 is provided at one port of the sampling tube 304. A positioning block 3044 is provided on the inner wall of the sampling tube 304 near the serration 3043. The positioning block 3044 cooperates with the one-way plate 3042 to control the opening and closing angle of the one-way plate 3042 to 60-80 degrees. The two one-way plates 3042 open and close in the same direction.

[0091] The sampling method for soil remediation, depending on the sampling device used, specifically includes the following operational steps:

[0092] Step 1: Insert the sampling tube 304 into the through hole 303;

[0093] Step 2: Acquire information about the card slot 302, the sampling device, and the location information of the sampling point using the industrial camera 4016;

[0094] Step 3: Transmit the information of the card slot 302, the sampling device and the location information of the sampling point to the controller 6, and set the sampling path in the controller 6;

[0095] Step 4: Control the sampling component 4 to move to the sampling point and complete the soil sampling by controlling the controller 6.

[0096] Example 7

[0097] A sampling device for soil remediation includes a rectangular base 1. A pair of moving units 2 are connected to the side wall of the base 1 via mounting bases 5. The moving units 2 are symmetrically arranged about the base 1. A sample tube storage assembly 3 and a sampling assembly 4 are connected to the surface of the base 1. The sample tube storage assembly 3 and the sampling assembly 4 are respectively located near the port of the base 1. A controller 6 is provided on the surface of the base 1. The controller 6 is electrically connected to the sampling assembly 4.

[0098] The sample tube storage assembly 3 includes a storage bucket 301, a positioning disk 302 is snapped into the storage bucket 301, and a plurality of through holes 303 are opened on the surface of the positioning disk 302, and sampling tubes 304 are matched to the through holes 303.

[0099] The movable unit 2 includes a support rod 201, one end of which is connected to the mounting base 5, and the other end of which is rotatably connected to a positioning column 202. The positioning column 202 is hinged to a movable wheel 203.

[0100] There are no fewer than four movable units 2. One mounting base 5 is connected to one or two movable units 2, and the connection between two movable units 2 and one mounting base 5 is V-shaped.

[0101] Sampling assembly 4 includes a positioning disk 401, which is disposed on the surface of base 1. A rotating disk 402 is rotatably connected to the positioning disk 401. A connecting plate 403 is provided on the edge of the rotating disk 402 away from the surface of the positioning disk 401. An adjusting arm 404 is hinged to the surface of the connecting plate 403. A support cylinder 405 is provided on the surface of the rotating disk 402 away from the surface of the positioning disk 401. The support cylinder 405 is connected to the side wall of the adjusting arm 404. The adjusting arm 404 is hinged to a clamping wall 406. Near the port, an adjusting cylinder 407 is provided on the side wall of the adjusting arm 404. The output end of the adjusting cylinder 407 is connected to the port of the clamping wall 406 near the positioning plate 401. The side wall of the clamping wall 406 is connected to the side wall of the connecting cylinder 408. One end of the adjusting rod 409 is connected to the other port of the clamping wall 406. The output end of the connecting cylinder 408 is connected to the other end of the adjusting rod 409. One end of the connecting wall 4010 is sleeved on the side wall of the adjusting rod 409. The other end of the connecting wall 4010 is connected to an open... The rotating platform 4012 of the core column has a telescopic motor 4011 connected to its inner wall. The telescopic motor 4011 is connected to two telescopic rods 4013. The output end of the telescopic motor 4011 is connected to one end of one of the telescopic rods 4013, and the other end of one of the telescopic rods 4013 is connected to a drive plate 4014. There are two drive plates 4014, and the connection between the output end of the telescopic motor 4011 and the connection of the telescopic rod 4013 is set at an angle. The rotating platform 4012 is connected to the telescopic motor 4011 and the other telescopic rod 4013. The other telescopic rod 4013 is connected to the drive plate 4014. The two drive plates 4014 are arranged opposite each other, and rubber pads are provided on the opposite surfaces of the two drive plates 4014. A through groove 4015 is opened on the surface of the rotating platform 4012 near the drive plate 4014. The through groove 4015 cooperates with the drive plate 4014. An industrial camera 4016 is provided on the side wall of the clamping wall 406, and the industrial camera 4016 is connected to the controller 6.

[0102] The rotating disk 402 includes a base 4021, which is rotatably connected to the positioning disk 401. A support column 4022 is rotatably connected to the base 4021 away from the surface of the positioning disk 401. The base 4021 and the support column 4022 are perpendicularly arranged. A lower locking disk 4023 is sleeved on the side wall of the support column 4022. An upper locking disk 4024 is sleeved on the end of the support column 4022 away from the base 4021. A first locking groove 4025 is provided on the surface of the upper locking disk 4024 near the lower locking disk 4023. A groove 4025 is provided on the surface of the lower locking disk 4023 near the upper locking disk 4024. A second positioning slot 4026 is provided, and an auxiliary positioning wheel 4027 is provided between the lower positioning plate 4023 and the upper positioning plate 4024. A positioning block 4028 is provided on the surface of the auxiliary positioning wheel 4027. The positioning block 4028 engages with the first positioning slot 4025 and the second positioning slot 4026 respectively. The output end of the drive motor 4029 is connected to the surface of the positioning block 4028. The drive motor 4029 is located outside the lower positioning plate 4023 and the upper positioning plate 4024. The drive motor 4029 is connected to the base 1 through a rod. The upper positioning plate 4024 is connected to the adjusting arm 404.

[0103] The sampling tube 304 has connecting posts 3041 on the inner wall near the two ports. Each of the two connecting posts 3041 is hinged with a one-way plate 3042. The one-way plate 3042 is circular and its surface is completely in contact with the port of the sampling tube 304. A serration 3043 is provided at one port of the sampling tube 304. A positioning block 3044 is provided on the inner wall of the sampling tube 304 near the serration 3043. The positioning block 3044 cooperates with the one-way plate 3042 to control the opening and closing angle of the one-way plate 3042 to 60-80 degrees. The two one-way plates 3042 open and close in the same direction.

[0104] The sampling method for soil remediation, depending on the sampling device used, specifically includes the following operational steps:

[0105] Step 1: Insert the sampling tube 304 into the through hole 303;

[0106] Step 2: Acquire information about the card slot 302, the sampling device, and the location information of the sampling point using the industrial camera 4016;

[0107] Step 3: Transmit the information of the card slot 302, the sampling device and the location information of the sampling point to the controller 6, and set the sampling path in the controller 6;

[0108] Step 4: Control the sampling component 4 to move to the sampling point and complete the soil sampling by controlling the controller 6.

[0109] The sampling path includes a test tube retrieval path and a soil sampling path; the test tube retrieval path is as follows:

[0110] The point cloud data corresponding to the acquired information of the card slot 302 is preprocessed to obtain the points of the card slot 302, and a vertex set corresponding to the points is generated. and the set of edges corresponding to the points ,in, Let represent the i-th vertex, and n represent the total number of vertices; Indicates connection to vertices and The edge;

[0111] Based on the location information of the sampling device, the test tube retrieval path is determined as follows:

[0112] (1)

[0113] In equation (1), This indicates the coordinates of the point from the positioning plate 302 to the sampling device;

[0114] Calculate the shortest test tube handling path:

[0115] (2)

[0116] In equation (2), This indicates all paths from the card slot 302 to the sampling device. This indicates the distance between two adjacent points;

[0117] The soil sampling path is determined based on the location information of the sampling device and the sampling point. Specifically, the location information of the sampling device and the sampling point is analyzed and obtained, the shortest sampling path is found, and the soil sampling is completed by controlling the connecting cylinder 408, the telescopic motor 4011, the adjusting cylinder 407 and the supporting cylinder 405 through the controller 6.

Claims

1. A sampling device for soil remediation, characterized in that, The device includes a rectangular base (1), on which a pair of moving units (2) are connected via mounting bases (5) to the sidewalls of the base (1). The moving units (2) are symmetrically arranged about the base (1). A sample tube storage assembly (3) and a sampling assembly (4) are connected to the surface of the base (1). The sample tube storage assembly (3) and the sampling assembly (4) are respectively located near the port of the base (1). A controller (6) is provided on the surface of the base (1). The controller (6) is electrically connected to the sampling assembly (4). The sampling component (4) includes a positioning disk (401), which is disposed on the surface of the base (1). The positioning disk (401) is rotatably connected to a rotating disk (402). A connecting plate (403) is provided on the surface of the rotating disk (402) away from the positioning disk (401) near its edge. An adjusting arm (404) is hinged to the surface of the connecting plate (403). A supporting cylinder (405) is provided on the surface of the rotating disk (402) away from the surface of the positioning disk (401). The supporting cylinder (405) is connected to the side wall of the adjusting arm (404). The adjusting arm (404) is hinged to a clamping wall (…). 406) Near the port on the side wall, the side wall of the adjusting arm (404) is provided with an adjusting cylinder (407). The output end of the adjusting cylinder (407) is connected to the port of the clamping wall (406) near the positioning plate (401). The side wall of the clamping wall (406) is connected to the side wall of the connecting cylinder (408). One end of the adjusting rod (409) is connected to the other port of the clamping wall (406). The output end of the connecting cylinder (408) is connected to the other end of the adjusting rod (409). One end of the connecting wall (4010) is sleeved on the side wall of the adjusting rod (409). The other end of the connecting wall (4010) is connected to... A hollow cylindrical rotating platform (4012) is connected to the inner wall of the rotating platform (4012), and the inner wall of the rotating platform (4012) is connected to the side wall of a telescopic motor (4011). The telescopic motor (4011) is connected to two telescopic rods (4013). The output end of the telescopic motor (4011) is connected to one end of one of the telescopic rods (4013), and the other end of one of the telescopic rods (4013) is connected to a drive plate (4014). There are two drive plates (4014). The connection between the output end of the telescopic motor (4011) and the telescopic rod (4013) is set at an angle. The rotating platform (4012) and the telescopic motor... The machine (4011) is connected to another telescopic rod (4013), and the other telescopic rod (4013) is connected to the drive plate (4014). The two drive plates (4014) are arranged opposite to each other, and rubber pads are provided on the opposing surfaces of the two drive plates (4014). A through groove (4015) is opened on the surface of the rotating table (4012) near the drive plate (4014). The through groove (4015) cooperates with the drive plate (4014). An industrial camera (4016) is provided on the side wall of the clamping wall (406). The industrial camera (4016) is connected to the controller (6).

2. The sampling device for soil remediation according to claim 1, characterized in that, The sample tube storage assembly (3) includes a storage bucket (301), a positioning plate (302) is snapped into the storage bucket (301), and a plurality of through holes (303) are opened on the surface of the positioning plate (302), and a sampling tube (304) is matched to the through hole (303).

3. The sampling device for soil remediation according to claim 2, characterized in that, The moving unit (2) includes a support rod (201), one end of which is connected to the mounting base (5), and the other end of which is rotatably connected to a positioning column (202), and the positioning column (202) is hinged to a moving wheel (203).

4. The sampling device for soil remediation according to claim 3, characterized in that, There are no fewer than four moving units (2), one of the mounting bases (5) is connected to one or two moving units (2), and the connection between two moving units (2) and one mounting base (5) is V-shaped.

5. The sampling device for soil remediation according to claim 4, characterized in that, The rotating disk (402) includes a chassis (4021), which is rotatably connected to a positioning disk (401). A support column (4022) is rotatably connected to the surface of the chassis (4021) away from the positioning disk (401). The chassis (4021) and the support column (4022) are arranged perpendicularly. A lower locking disk (4023) is sleeved on the side wall of the support column (4022). An upper locking disk (4024) is sleeved on the port of the support column (4022) away from the chassis (4021). A first locking groove (4025) is provided on the surface of the upper locking disk (4024) near the lower locking disk (4023). The lower locking disk (4023) is close to the upper locking disk (4024). The surface is provided with a second positioning groove (4026), and an auxiliary positioning wheel (4027) is provided between the lower positioning plate (4023) and the upper positioning plate (4024); the surface of the auxiliary positioning wheel (4027) is provided with a positioning block (4028), and the positioning block (4028) is engaged with the first positioning groove (4025) and the second positioning groove (4026) respectively. The surface of the positioning block (4028) is connected to the output end of the drive motor (4029). The drive motor (4029) is located outside the lower positioning plate (4023) and the upper positioning plate (4024). The drive motor (4029) is connected to the base (1) through a rod. The upper positioning plate (4024) is connected to the adjusting arm (404).

6. The sampling device for soil remediation according to claim 5, characterized in that, The sampling tube (304) has connecting posts (3041) on the inner walls near its two ports. Each of the two connecting posts (3041) is hinged with a one-way plate (3042). The one-way plate (3042) is circular and its surface is completely in contact with the port of the sampling tube (304). One port of the sampling tube (304) has a serration (3043). The inner wall of the sampling tube (304) near the serration (3043) has a positioning block (3044). The positioning block (3044) cooperates with the one-way plate (3042) to control the opening and closing angle of the one-way plate (3042) to be 60 to 80 degrees. The two one-way plates (3042) open and close in the same direction.

7. A sampling method for soil remediation, characterized in that, The soil remediation sampling device according to claim 6 specifically includes the following operating steps: Step 1: Insert the sampling tube (304) into the through hole (303); Step 2: Obtain information about the card slot (302), sampling device, and sampling point location using an industrial camera (4016); Step 3: Transmit the information of the card slot (302), the sampling device and the location information of the sampling point to the controller (6), and formulate the sampling path in the controller (6); Step 4: Control the sampling component (4) to move to the sampling point and complete the soil sampling by controlling the controller (6).

8. The sampling method for soil remediation according to claim 7, characterized in that, The sampling path includes a test tube retrieval path and a soil sampling path; the test tube retrieval path is as follows: The point cloud data corresponding to the acquired card slot (302) information is preprocessed to obtain the points of the card slot (302), and the vertex set corresponding to the points is generated. and the set of edges corresponding to the points ,in, Let represent the i-th vertex, and n represent the total number of vertices; Indicates connection to vertices and The edge; Based on the location information of the sampling device, the test tube retrieval path is determined as follows: （1） In equation (1), This indicates the coordinates of the point from the positioning plate (302) to the sampling device; Calculate the shortest test tube handling path: （2） In equation (2), This represents all paths from the card slot (302) to the sampling device. This indicates the distance between two adjacent points; The soil sampling path is determined based on the location information of the sampling device and the sampling point. Specifically, the location information of the sampling device and the sampling point is analyzed and obtained, the shortest sampling path is found, and the soil sampling is completed by controlling the connecting cylinder (408), the telescopic motor (4011), the adjusting cylinder (407) and the supporting cylinder (405) through the controller (6).

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