Intelligent and accurate sampling device and method for polluted site

Abstract

The invention discloses an intelligent precise sampling device and method for a polluted site, and the device comprises a frame body, a satellite positioning assembly, a high-precision sensor assembly, an electronic map storage assembly, a multifunctional sampling assembly, a crawler-type walking mechanism, a pose adjustment assembly and a control assembly, and the above parts are integrated on the frame body to form an integrated structure; wherein the control assembly is in communication connection with the satellite positioning assembly, the high-precision sensor assembly and the electronic map storage assembly, and the control assembly is used for calling a relative positioning point of a target sampling position pre-stored in the electronic map storage assembly and receiving real-time signals sent by the satellite positioning assembly and the high-precision sensor assembly; the crawler-type walking mechanism is controlled to move to the target position, and the sampling posture of the multifunctional sampling assembly is adjusted through the posture adjusting assembly so that accurate sampling can be conducted. Through cooperation of the components, efficient and accurate sampling of a polluted site is realized.

Description

Technical Field

[0001] This invention belongs to the field of intelligent sampling technology, and more specifically, relates to an intelligent and precise sampling device and method for contaminated sites. Background Technology

[0002] Traditional sampling methods for soil sampling at contaminated sites have several problems. On the one hand, the vertical positioning accuracy of sampling points is low, usually relying on manual measurement and marking, which is prone to inaccurate sampling locations due to human error, thus affecting the accuracy of subsequent pollution assessments. On the other hand, sampling devices have difficulty moving in complex terrain and cannot automatically adjust their posture according to the terrain, making the sampling equipment susceptible to the effects of terrain undulations during the sampling process, affecting sampling efficiency and quality.

[0003] Furthermore, the control of sampling depth is not precise enough. During the sampling process, the drilling speed and depth cannot be adjusted in real time according to the physical properties of the soil, resulting in inconsistent sampling depths and making it difficult to meet the sampling requirements of different sites. At the same time, the packaging and management of the samples after sampling are also cumbersome. The samples are easily contaminated during transportation and storage, making it impossible to guarantee the high fidelity of the samples. Moreover, the recording and management of sampling data is not systematic enough, making it difficult to effectively analyze and utilize historical sampling data.

[0004] To overcome the above problems and improve the accuracy, efficiency and quality of soil sampling at contaminated sites, there is a need for an intelligent and precise sampling device and method that can achieve high-precision positioning and navigation, terrain adaptation, intelligent drilling speed and depth control, automatic loading and unloading of multi-functional sampling heads, pollution-proof sealed sampling and fully automatic packaging, as well as remote monitoring and operation. Summary of the Invention

[0005] In view of the above-mentioned defects or improvement needs of the prior art, in a first aspect, the present invention provides an intelligent and precise sampling device for contaminated sites, comprising: a frame, wherein the frame is provided with a satellite positioning component, a sensor component, an electronic map storage component, a multi-functional sampling component, a tracked walking mechanism, a posture adjustment component and a control component, wherein the above components are assembled on the frame to form an integral structure;

[0006] The control component is used to call the relative positioning point of the target sampling position pre-stored in the electronic map storage component, and receive real-time signals sent by the satellite positioning component and the high-precision sensor component to control the tracked walking mechanism to move to the target position. The coarse adjustment unit and fine adjustment unit of the pose adjustment component perform a leveling step to adjust the sampling posture of the multi-functional sampling component. Finally, the transverse rolling chain and drive component configured in the multi-functional sampling component drive several drill rods to move to the target position sequentially and automatically for accurate sampling.

[0007] In the first aspect, the multifunctional sampling component includes:

[0008] Steel frame;

[0009] The driving component is driven by the transverse rolling chain; the transverse rolling chain is mounted on the steel frame;

[0010] Several drill rods are mounted on the transverse rolling chain;

[0011] A multi-functional lifting block is mounted on the steel frame, and the mounting position of the multi-functional lifting block is perpendicular to the displacement trajectory direction of the transverse rolling chain. The multi-functional lifting block includes an adapter for connecting the drill rod.

[0012] The driving component is used to drive the transverse rolling chain to generate transmission, so that the drill rod is displaced along the displacement trajectory to the adapter and connected to the adapter.

[0013] In the first aspect, the multifunctional sampling assembly further includes a sealing head assembly disposed on the steel frame for sealing the sampling tube, the sealing head assembly comprising:

[0014] The upper and lower sealing heads are spaced apart on the transverse rolling chain and are used to seal both ends of the sampling tube.

[0015] In the first aspect, the steel frame is provided with a first connection point and a second connection point on the side where it is connected to the frame body, and the first connection point of the steel frame is hinged to the frame body by a hinge member.

[0016] The displacement adjustment assembly includes a telescopic component, which is located at the second connection point of the steel frame and connected to the frame body, and pushes the steel frame to rotate around the first connection point.

[0017] The telescopic component includes a hydraulic telescopic rod or an electric telescopic rod.

[0018] In the first aspect, the drill pipe includes;

[0019] The outer metal tube is hollow inside, with a connecting part at the starting end and a drilling part at the end;

[0020] A sampling tube is slidably disposed inside the hollow outer metal tube and is used to collect samples synchronously when the drilling part is drilling.

[0021] The sampling tube is equipped with an identification QR code, which is a tag that records electronic identification information of sample parameters.

[0022] Secondly, the present invention provides an intelligent and precise sampling device for contaminated sites, characterized in that it comprises:

[0023] The frame is equipped with a satellite positioning component, a sensor component, an electronic map storage component, a multi-functional sampling component, a tracked walking mechanism, a posture adjustment component, and a control component. The above components are integrated on the frame to form an integral structure.

[0024] The control component is used to call the relative positioning point of the target sampling position pre-stored in the electronic map storage component, and receive real-time signals sent by the satellite positioning component and the high-precision sensor component to control the tracked walking mechanism to move to the target position. The position adjustment component performs a leveling step to adjust the sampling posture of the multi-functional sampling component. Finally, the transverse rolling chain and drive component configured in the multi-functional sampling component drive several drill rods to move to the target position in sequence and automatically for accurate sampling.

[0025] The posture adjustment component includes a coarse adjustment unit and a fine adjustment unit. The coarse adjustment unit includes a fixed support leg, which includes a fixed end and a telescopic end. The telescopic end can extend or retract relative to the fixed end. The fixed end is located on the frame, and the telescopic end faces the ground. The fine adjustment unit includes a level sensor, which is located on the associated multi-functional sampling component and electrically connected to the control component; it is used to acquire level data transmitted by the level sensor.

[0026] Thirdly, the present invention provides a pose adjustment component, which is applied to the aforementioned intelligent and precise sampling device for contaminated sites. The pose adjustment component includes a coarse adjustment unit and a fine adjustment unit.

[0027] The coarse adjustment unit includes a fixed support leg, and the fine adjustment unit includes a level sensor. The level sensor is located on the multi-functional sampling component used for sampling in the intelligent and precise sampling device for contaminated sites.

[0028] In the third aspect, the fine-tuning unit is used to: invoke pre-stored leveling steps to control the multi-functional sampling component to be fine-tuned to within a preset horizontal parameter threshold range, wherein the leveling steps include: leveling using formula (1):

[0029] ΔLi=di×(θ 0- θ 阈值 ×sign(θ0)) Formula (1)

[0030] Where ΔLi is the telescopic length adjustment of the i-th support leg, and di is the horizontal distance from the fixed end of the i-th support leg to the center of gravity of the frame; θ0: the initial tilt angle measured by the horizontal sensor; θ 阈值The preset horizontal parameter threshold; sign(θ0) is a sign function used to determine the adjustment direction. If θ0 is greater than 0, sign(θ0) = 1, which means that the telescopic leg needs to be shortened. If θ0 is less than 0, sign(θ0) = -1, which means that the telescopic leg needs to be extended.

[0031] Fourthly, the present invention provides a multifunctional sampling component, wherein the pose adjustment component is applied to the aforementioned intelligent and precise sampling device for contaminated sites, and the multifunctional sampling component includes:

[0032] A steel frame and a transverse rolling chain disposed on the steel frame, the transverse rolling chain being driven by a driving component;

[0033] Several drill rods are arranged sequentially on the transverse rolling chain. When the driving component drives the transverse rolling chain to roll, it pushes the several drill rods on the transverse rolling chain to move sequentially to the target sampling position for sampling.

[0034] In the fourth aspect, the multifunctional sampling component further includes:

[0035] A multi-functional lifting block is mounted on the steel frame, and the mounting position of the multi-functional lifting block is perpendicular to the displacement trajectory direction of the transverse rolling chain. The multi-functional lifting block includes an adapter for connecting the drill rod.

[0036] The driving component is used to drive the transverse rolling chain to generate transmission, so that the drill rod is displaced along the displacement trajectory to the adapter and connected to the adapter.

[0037] In the fourth aspect, the multifunctional sampling component further includes:

[0038] A fork rod is located at the end of the steel frame away from the multi-functional lifting block. The fork rod is connected to the steel frame to form an L-shaped structure. A guide fixing component is installed on the fork rod to guide and fix the rod body of the drill rod.

[0039] The fork is composed of a pair of arc-shaped parts made of elastic material combined into a ring structure. At least one end of the pair of arc-shaped parts is provided with an electromagnetic component, and the other end is provided with a metal end that can be attracted to the electromagnetic component. The electromagnetic component includes an electromagnetic component and a micro controller for controlling the switching of the electromagnetic component.

[0040] When electromagnetic adsorption is required, the microcontroller can directly control the electromagnetic component to generate a magnetic force that attracts the metal end, so that the electromagnetic component and the metal end form a magnetic adsorption and come into close contact with each other.

[0041] Fifthly, the present invention provides an intelligent and precise sampling method for contaminated sites, the method comprising:

[0042] S1. Obtain electronic map information of the sampling area, and plan the sampling route for the target sampling location based on the electronic map information;

[0043] S2. Based on the sampling route, control the sampling device to execute coarse adjustment and fine adjustment procedures to move to the target sampling position;

[0044] S3. Drive the drill rod to sample the target sampling position, including: setting the total depth of sampling drilling; then, through the transverse rolling chain, transport several drill rods to the multi-functional lifting block for sequential drilling and splicing, so that the total length of the connection of several drill rods is greater than or equal to the total depth, until the sampling of the total depth at the target sampling position is completed;

[0045] S4. Driving the drill rod out of the target sampling position includes: pulling out the drill rod section by section and storing the sample in each section of the drill rod immediately.

[0046] In the fifth aspect, step S1 includes:

[0047] S11. Input the site map of the sampling area, the site reference point and the sampling point location, start the drone to fly to each pre-sampling location, explore the actual terrain, avoid terrain obstacles, generate the sampling route, virtually mark the sampling points, and generate the target sampling location according to the terrain of the pre-sampling location.

[0048] 14. The intelligent and precise sampling method for contaminated sites according to claim 12, wherein step S2 includes:

[0049] S21. The coarse adjustment procedure includes: correcting and adjusting the verticality of the drill rod; the hydraulic lifting outriggers can extend to different lengths according to the terrain to assist in adjusting the body posture and make the body horizontally adjusted to a horizontal state.

[0050] S22. The fine-tuning procedure includes: after the vehicle body posture is stable, controlling the multi-functional sampling component to rotate finely until it meets the verticality requirements of the drill rod.

[0051] In the fifth aspect, step S4 further includes:

[0052] S41. Pull out the sampling tube inside the first outer metal tube, and seal both ends of the sampling tube using the sealing head assembly;

[0053] S42. Print an electronic tag on the first sampling tube. The electronic tag has a QR code for identification. The QR code is a tag that records electronic identification information of the sample parameters.

[0054] S43. Repeat steps S41-S42 to pull out all the drill pipes section by section.

[0055] In summary, compared with the prior art, the above-described technical solutions conceived by this invention can achieve the following beneficial effects:

[0056] 1. The intelligent precision sampling device for contaminated sites of the present invention integrates a satellite positioning component, a high-precision sensor component, and an electronic map storage component, enabling high-precision sampling point location and navigation. The satellite positioning component provides accurate geographic coordinate information, while the electronic map storage component pre-stores relative positioning points containing the target sampling location within the sampling area. Combined with real-time monitoring of terrain by the high-precision sensor component, this effectively solves the problem of inaccurate sampling locations caused by manual measurement and marking in traditional sampling methods. During movement, the control component sets the target sampling point based on the geographic coordinates of the relative positioning points and simultaneously utilizes the satellite positioning component and high-precision sensors for real-time path planning to accurately reach the target sampling location. Furthermore, the tracked walking mechanism possesses excellent terrain adaptability, enabling stable movement in complex terrain and automatically adjusting the sampling device's posture according to the terrain, avoiding the impact of terrain undulations on the sampling equipment, thereby significantly improving sampling efficiency and quality. In addition, the communication connection between the remote control center and each component allows operators to remotely monitor and control the sampling device's movement path and sampling operations, enhancing the flexibility and convenience of sampling, achieving automation and intelligence throughout the entire sampling process, and greatly reducing labor costs.

[0057] 2. Simultaneously, the multi-functional sampling component enables precise control of sampling depth and intelligent adjustment of drilling speed. During sampling, the high-precision sensor component monitors the physical properties of the soil in real time, such as hardness and moisture, and transmits the data to the control component. Based on this data, the control component automatically adjusts the drilling speed and depth of the sampling drill bit to ensure consistent sampling depth and meet the sampling requirements of different sites. Furthermore, the device features anti-contamination sealed sampling and fully automatic packaging functions, effectively preventing sample contamination during sampling, transportation, and storage, ensuring high sample fidelity. Simultaneously, sampling data is collected in real time by the high-precision sensor component and transmitted to the control component for system recording and management, facilitating effective analysis and utilization of historical sampling data and providing a more scientific and accurate basis for the assessment and remediation of contaminated sites. Attached Figure Description

[0058] Figure 1 This is a schematic diagram of the overall structure of the intelligent and precise sampling device for contaminated sites in an embodiment of the present invention. Figure 1 ;

[0059] Figure 2 This is a top view of the multifunctional sampling component in an embodiment of the present invention;

[0060] Figure 3This is a side view of the multifunctional sampling component in an embodiment of the present invention;

[0061] Figure 4 This is a schematic diagram of the drill pipe structure in an embodiment of the present invention;

[0062] Figure 5 This is a cross-sectional view of the internal structure of the satellite positioning component in an embodiment of the present invention;

[0063] Figure 6 This is a schematic diagram of the structure of the guide fixing component according to an embodiment of the present invention;

[0064] Figure 7 This is a schematic diagram of the frame structure in an embodiment of the present invention;

[0065] Figure 8 This is a flowchart of the intelligent and precise sampling method for contaminated sites in this embodiment.

[0066] Explanation of reference numerals in the attached figures:

[0067] 1. Frame; 101. First mounting surface; 102. Second mounting surface;

[0068] 2. Multifunctional sampling assembly; 201. Steel frame; 202. Drill rod; 20201. Outer metal tube; 20202. Sampling tube; 203. Drive component; 204. Multifunctional lifting block; 205. Guide fixing component; 20501. Arc-shaped component; 206. Fork rod;

[0069] 3. Tracked walking mechanism;

[0070] 4. Satellite positioning components; 401. Unmanned aerial vehicles (UAVs); 402. Power compartment; 403. Dock; 404. Charging components;

[0071] 5. First sensor module;

[0072] 6. Displacement adjustment assembly;

[0073] 7. Control module;

[0074] 8. Lateral rolling chain;

[0075] 9. Drag and drop components;

[0076] 10. Fixed support legs;

[0077] 11. Top sealing head;

[0078] 12. Lower packaging head;

[0079] 13. Laser marking assembly;

[0080] 14. Gripper. Detailed Implementation

[0081] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0082] Example 1:

[0083] like Figure 1-8 As shown, an intelligent and precise sampling device for contaminated sites includes: a frame 1, a satellite positioning component 4, a high-precision sensor component, an electronic map storage component, a multi-functional sampling component 2, a tracked walking mechanism 3, a posture adjustment component, and a control component;

[0084] The satellite positioning component 4, high-precision sensor component, electronic map storage component, multi-functional sampling component 2, tracked walking mechanism 3, posture adjustment component and control component are integrated on the frame 1 to form an integral structure.

[0085] The control component is used to call the relative positioning point of the target sampling position pre-stored in the electronic map storage component, and receive real-time signals sent by the satellite positioning component 4 and the high-precision sensor component to control the tracked walking mechanism 4 to move to the target position. The coarse adjustment unit and fine adjustment unit of the pose adjustment component are combined to perform adjustment steps to adjust the sampling posture of the multi-functional sampling component 2. Finally, the transverse rolling chain and drive component configured in the multi-functional sampling component 2 drive several drill rods to move to the target position in sequence and automatically for accurate sampling.

[0086] Specifically, the intelligent precision sampling device for contaminated sites in this embodiment integrates a satellite positioning component 4, a high-precision sensor component, and an electronic map storage component, enabling high-precision sampling point positioning and navigation. The satellite positioning component 4 provides accurate geographic coordinate information, while the electronic map storage component pre-stores relative positioning points containing the target sampling location within the sampling area. Combined with real-time monitoring of the terrain by the high-precision sensor component, this effectively solves the problem of inaccurate sampling locations caused by manual measurement and marking in traditional sampling methods. During operation, the control component sets the target sampling point based on the geographic coordinates of the relative positioning points and simultaneously utilizes the satellite positioning component and high-precision sensors for real-time path planning to accurately reach the target sampling location. Simultaneously, the tracked walking mechanism 3 possesses excellent terrain adaptability, enabling stable movement in complex terrain and automatically adjusting the sampling device's posture according to the terrain, avoiding the impact of terrain undulations on the sampling equipment, thereby significantly improving sampling efficiency and quality. Furthermore, the communication connection between the control component and other components allows operators to remotely monitor and control the sampling device's movement path and sampling operations, further enhancing the flexibility and convenience of sampling. Meanwhile, the multi-functional sampling component 2 enables precise control of sampling depth and intelligent adjustment of drilling speed. During sampling, the high-precision sensor component monitors the physical properties of the soil in real time, such as hardness and moisture, and transmits the data to the control component. The control component automatically adjusts the advance speed and depth of the sampling drill bit based on this data to ensure consistency in sampling depth and meet the sampling requirements of different sites. In addition, the device also has anti-pollution sealed sampling and fully automatic packaging functions, which can effectively prevent the sample from being contaminated during sampling, transportation, and storage, and ensure the high fidelity of the sample. At the same time, the sampling data is collected in real time by the high-precision sensor component and transmitted to the control component for system recording and management, which facilitates the effective analysis and utilization of historical sampling data in the future, providing a more scientific and accurate basis for the assessment and remediation of contaminated sites. As for the frame 1, it has a first mounting surface 101 and a second mounting surface 102 for connecting the satellite positioning component 4, the high-precision sensor component, the multi-functional sampling component 2, and the tracked walking mechanism 3. The frame is also equipped with a counterweight, the position of which can be adapted and adjusted according to the actual situation to ensure the stability of the vehicle's posture adjustment.

[0087] In a preferred embodiment, the satellite positioning component 4 includes a drone 401 and a communication component, the communication component connecting the drone 401 and the BeiDou positioning system. After takeoff, the drone 401 scans the sampling terrain, acquires image information of the site, and transmits it to the control component via the communication component. The control component plans an optimal path from the current location to the target sampling point based on the image information. Furthermore, a control module 7 is also mounted on the frame 1. This control module 7 is also communicatively connected to the satellite positioning component 4, the high-precision sensor component, the multi-functional sampling component 2, the communication component, and the control component. It receives relevant information and sends commands to the multi-functional sampling component 2 and the tracked walking mechanism 3, etc., to achieve automatic control. However, the control component can directly control this control module 7.

[0088] In a preferred embodiment, the satellite positioning component 4 further includes a power cabin 402 and a docking platform 403. The power cabin 402 has a accommodating space, and the docking platform 403 is located inside the power cabin 402 and can be raised and lowered to be positioned inside and outside the power cabin 402. The drone 401 is placed on the docking platform 403 and can be raised and lowered with the docking platform 403 to be inside and outside the power cabin 402. The power cabin 402 also has a charging component 404, and the accommodating space also contains an engine and a hydraulic press that provide power to the satellite positioning component 4. This provides a stable parking and take-off / landing platform for the drone 401 by providing a raised and lowerable docking platform 403 within the power cabin 402. The raising and lowering function of the docking platform 403 allows the drone 401 to easily enter and exit the power cabin 402 without the need for additional take-off and landing areas, making it particularly suitable for complex terrain or contaminated sites with limited space, greatly improving the flexibility and adaptability of the sampling device. Furthermore, the charging component 404 installed in the power compartment 402 provides timely charging services for the drone 401, ensuring that the drone 401 always has sufficient power during the sampling process, extending its flight time, thereby improving sampling efficiency and coverage. This integrated design not only optimizes the management and use of the drone 401, but also enhances the automation and intelligence level of the entire sampling device, further improving the accuracy and efficiency of soil sampling at contaminated sites.

[0089] In a preferred embodiment, the high-precision sensor assembly includes a lidar module and / or a visual recognition module for accurate identification of the sampling location. The terrain is identified using lidar or radar detection to plan a walking route, while visual recognition allows for intuitive observation. The lidar module and / or visual recognition module are integrated into a first sensor module 5.

[0090] In a preferred embodiment, the high-precision sensor assembly further includes a high-precision pressure sensor and / or depth sensor for real-time monitoring of soil physical properties. It employs an intelligent feedback variable frequency direct-drive design, simultaneously measuring and adjusting as it advances, optimizing the sampling and advancement scheme in real time. Before sampling, a preset sampling depth is established. During sampling, the equipment's intelligent control system automatically adjusts the drilling speed and depth based on sensor data to ensure precise control of the sampling depth. Sampling stops precisely when the preset depth is reached, ensuring consistent and compliant sampling depths each time. Furthermore, machine learning algorithms are used to learn and predict soil conditions at different sites, further optimizing the sampling depth adjustment strategy.

[0091] The first embodiment discloses a horizontal sensor, which is installed on the frame 1 and used to detect the horizontal attitude information of the frame 1.

[0092] In a preferred embodiment, the multifunctional sampling component 2 includes: a steel frame 201; a transverse rolling chain 8 and a drive member 203, wherein the drive member 203 is drivenly connected to the transverse rolling chain 8; the transverse rolling chain 8 is mounted on the steel frame 201; a plurality of drill rods 202 are disposed on the transverse rolling chain 8; a multifunctional lifting block 204 is disposed on the steel frame 201, and the installation position of the multifunctional lifting block is perpendicular to the displacement trajectory direction of the transverse rolling chain 8, and the multifunctional lifting block 204 includes an adapter for connecting the drill rods 202; wherein the drive member 203 is used to drive the transverse rolling chain 8 to generate transmission, so that the drill rods 202 are displaced along the displacement trajectory direction to the adapter and connected to the adapter.

[0093] For the multi-functional sampling component 2, the automated replacement and connection of the drill rod 202 is achieved through the organic combination of the steel frame 201, the transverse rolling chain 8, the drive component 203, the drill rod 202, and the multi-functional lifting block 204. The drive component 203 drives the transverse rolling chain 8 to move the drill rod 202 one by one along the displacement trajectory to the adapter of the multi-functional lifting block 204 and connect it. No manual operation is required, which significantly improves the sampling efficiency, especially in complex sampling tasks. Meanwhile, the steel frame 201 provides stable support for the device, ensuring the smoothness and reliability of the sampling process. A guide fixing component 205 is also provided at the end of the steel frame 201 opposite to the multi-functional lifting block 204, used to support and guide the drill rod 202 for drilling and sampling. Furthermore, a first connection point and a second connection point are provided on the side of the steel frame 201 connected to the frame 1. The first connection point of the steel frame 201 is hinged to the frame 1 via a hinge. The displacement adjustment component 6 includes a telescopic component located at the second connection point of the steel frame 201 and connected to the frame 1, and pushes the steel frame 201 to rotate around the first connection point. The telescopic component includes a hydraulic telescopic rod or an electric telescopic rod. When the position of the sampling section needs to be adjusted, the telescopic component extends and retracts, pushing the steel frame 201 to rotate around the first connection point, thereby achieving optimal sampling position adjustment for the drill rod 202 of the sampling section to adapt to different terrains and sampling point requirements, ensuring the smooth progress of the sampling work.

[0094] A fork 206 is installed at the end of the steel frame 201 furthest from the multi-functional lifting block 204. The fork 206 connects to the steel frame 201 to form an L-shaped structure, constituting a horizontal support component. This enhances the structural stability of the steel frame 201 and provides a support platform for guiding and fixing the drill rod 202. A guide fixing component 205 is installed on the fork 206. Its core component is a ring-shaped structure specifically designed to guide and fix the drill rod 202. This annular structure is composed of a pair of arc-shaped components 20501, and the distance between these components is adjustable. Specifically, at least one end of each arc-shaped component has an electromagnetic component, and the other end has a metal end that can be attracted to the electromagnetic component. The electromagnetic component includes an electromagnetic element and a microcontroller that controls the switching of the electromagnetic element. The microcontroller is electrically connected to a control component. When electromagnetic attraction is required, the control component can directly send a signal to the microcontroller to control the electromagnetic element to generate a magnetic force that attracts the metal end. The segments of the arc-shaped components near both ends are made of a material with a certain degree of toughness and resilience. To enhance the clamping force, a friction layer can be provided on the inner side of the pair of arc-shaped components to increase the friction when clamping the drill rod. In actual operation, the distance between the arc-shaped components 20501 is adjusted according to the diameter of the drill rod 202. When the pair of arc-shaped components 20501 close to form a complete arc, its inner diameter matches the diameter of the drill rod 202, thus allowing the drill rod 202 to be precisely clamped inside the arc. This adjustable guide fixture 205 design not only adapts to drill rods 202 of different diameters, ensuring the stability and accuracy of the drill rods 202 during the drilling and sampling process, but also improves the versatility and flexibility of the sampling system, enabling it to cope with various sampling scenarios and different sampling needs.

[0095] Meanwhile, the multi-functional sampling component 2 also boasts excellent functional expandability and intelligent operation capabilities. The multi-functional lifting block 204 connects to the drill rod 202 for direct push, rotation, and impact pressing. It can connect to different diameter drill bits and extension tubes via standard connectors and can switch between direct push, rotation, and impact pressing strategies according to different soil types and sampling requirements. Furthermore, it can integrate other sampling tools or sensors to achieve multi-sampling integration, meeting the diverse sampling needs of complex contaminated sites. In addition, the device can automatically adjust the connection of the drill rod 202 and the sampling depth based on soil physical properties fed back by sensors, achieving intelligent sampling and further improving the adaptability and accuracy of sampling. This provides an efficient, flexible, and reliable solution for soil sampling at contaminated sites.

[0096] In a preferred embodiment, the drill pipe 202 includes;

[0097] The outer metal tube 20201 is hollow inside, with a connecting part at the starting end and a drilling part at the end;

[0098] The sampling tube 20202 is slidably disposed inside the hollow outer metal tube 20201 and is used to collect samples synchronously when the drilling part is drilling.

[0099] In a preferred embodiment, the sampling assembly further includes a sealing head assembly disposed on the steel frame 201 for sealing the sampling tube 20202. The sealing head assembly includes an upper sealing head and a lower sealing head, spaced apart on the transverse rolling chain 8. When the sampling tube 20202 is removed, the upper and lower sealing heads are used to seal both ends of the sampling tube 20202 immediately. Simultaneously, to accurately record sample parameters such as sampling time, depth, humidity, and geographical location, the sampling tube 20202 is provided with an identification QR code. The identification QR code is a label recording electronic identification information of the sample parameters, generated instantly by a coding device disposed on the steel frame 201. For example, a laser coding component 13 can be used, connected to the control component, capable of instantly acquiring sampling time, depth, humidity, geographical location, and other information, and generating a QR code that can be recognized by a terminal scanning device. This facilitates subsequent experimental research, allowing the acquisition of sample parameters of the test sample by scanning the code.

[0100] For the tracked walking mechanism 3, it can reduce shock during movement, moderately increase the travel speed, reduce the probability of damage, and also reduce the impact of terrain undulations on leveling.

[0101] In some preferred embodiments, the posture adjustment component includes a coarse adjustment unit and a fine adjustment unit. The coarse adjustment unit includes a fixed support leg 10, which has a fixed end and a telescopic end. The telescopic end can extend or retract relative to the fixed end. The fixed end is located on the second mounting surface 102 of the frame 1, and the telescopic end faces the ground. When the sampling device moves, the telescopic end retracts. When the sampling device reaches the target position, the telescopic end extends to support it on the ground, thus stabilizing the sampling device. The fine adjustment unit includes a level sensor, which is located on the multifunctional sampling component and communicates with the control component. The control component acquires the level data transmitted by the level sensor. If the level data is greater than or less than a preset level parameter threshold range, a pre-stored leveling algorithm is invoked to control the multifunctional sampling component to fine-tune to within the level parameter threshold range. When encountering complex terrain, the angle and posture of the sampling device at the sampling point are automatically adjusted according to the actual terrain conditions and slope direction to ensure the stability of the sampling equipment and facilitate the final leveling of the sampling unit. The adaptive automated "coarse adjustment + fine adjustment" leveling algorithm automatically generates an adaptive leveling scheme for the current terrain based on the available mechanical degrees of freedom of the vehicle body. Coarse adjustment: To correct the verticality of drill rod 202, hydraulic lifting outriggers can extend to different lengths according to the terrain, assisting in adjusting the body posture to ensure the vehicle body is horizontally level. The vehicle body includes a level sensor, enhancing equipment stability and reducing the impact of terrain factors during sampling. Fine adjustment: After the vehicle body posture is stable, the level sensor on the sampling unit rotates precisely until the verticality requirement of drill rod 202 is met, ensuring the sampling module always maintains the verticality of drill rod 202 and can adapt to terrain with a certain range of slopes. Meanwhile, in order to adapt to the sampling requirements of the geographical environment of the slope, based on the above fine-tuning and coarse-tuning schemes, a horizontal rotating component can also be set at the connection position between the multi-functional sampling component and the frame to achieve the function of 360-degree horizontal rotation of the multi-functional sampling component relative to the vehicle component. For example, when the sampling device travels to a slope of any angle, so that the pose of the sampling component and the sampling position are angularly distributed, the rotating component is driven to make the sampling device rotate to the target position to achieve the horizontal adjustment under the "slope scene".

[0102] Furthermore, for the leveling step, leveling can be achieved by combining coarse adjustment with a leveling algorithm pre-stored in the system. This leveling algorithm includes leveling using formula (1):

[0103] ΔLi=di×(θ 0- θ 阈值 ×sign(θ0)) Formula (1)

[0104] Where ΔLi is the telescopic length adjustment of the i-th support leg, and di is the horizontal distance from the fixed end of the i-th support leg to the center of gravity of the frame; θ0: the initial tilt angle measured by the horizontal sensor; θ 阈值 The preset horizontal parameter threshold; sign(θ0) is a sign function used to determine the adjustment direction. If θ0 is greater than 0, sign(θ0) = 1, which means that the telescopic leg needs to be shortened. If θ0 is less than 0, sign(θ0) = -1, which means that the telescopic leg needs to be extended.

[0105] The derivation is as follows: The relationship between the tilt angle and the telescopic length: This is an approximation based on small angles. If θ0 is greater than θ 阈值 The tilt angle needs to be adjusted to θ. 阈值 If θ0 is less than -θ 阈值 The tilt angle needs to be adjusted to -θ 阈值 Regardless of the tilt direction, the goal of the adjustment is to adjust the tilt angle from θ0 to ±θ. 阈值 Therefore, the adjustment amount for each support leg can be expressed as: ΔLi=di×(θ) 0- θ 阈值 ×sign(θ0)).

[0106] Furthermore, this embodiment also proposes a remote control center, which is communicatively connected to the satellite positioning component, high-precision sensor component, electronic map storage component, multi-functional sampling component, pose adjustment component, and control component for remote monitoring or control. This remote control center includes a remote central control platform, cloud platform, mobile terminal, or PC, and is capable of monitoring data acquired or commands sent by the satellite positioning component, high-precision sensor component, electronic map storage component, multi-functional sampling component, pose adjustment component, and control component. It can also take over the control component for remote operation at appropriate times. These appropriate times include when the control component is damaged or malfunctions, in which case the remote control center can directly interact with the satellite positioning component, high-precision sensor component, electronic map storage component, multi-functional sampling component, and pose adjustment component.

[0107] In some preferred embodiments, the system further includes a drag-and-drop component 9, which is mounted on the frame 1. The drag-and-drop component 9 has a hook-shaped part for connecting to the outside. When it is necessary to drag the sampling device by an external instrument, the drag-and-drop component 9 can be connected for dragging.

[0108] In some preferred embodiments, the multifunctional sampling assembly further includes a gripper 14, a mounting end and a clamping end. The mounting end is rotatably mounted on the lifting block, and the clamping end is located on the periphery of the drill rod. When the drill rod is being pulled out, the clamping end is controlled to press against the outer wall of the drill rod to fix the upper end of the drill rod, so as to prevent the drill rod from rotating synchronously.

[0109] Furthermore, the gripper 14 includes at least three lever arms for clamping, and is circumferentially arranged around the periphery of the drill rod to make the clamping of the drill rod more secure.

[0110] Example 2:

[0111] This invention provides an intelligent and precise sampling method for contaminated sites, the method comprising:

[0112] S1. Obtain electronic map information of the sampling area, and plan the sampling route for the target sampling location based on the electronic map information;

[0113] S2. Based on the sampling route, control the sampling device to move to the target sampling position;

[0114] S3. Drive the drill rod to sample the target sampling position, including: setting the total depth of sampling drilling; then, through the transverse rolling chain, transport several drill rods to the multi-functional lifting block for sequential drilling and splicing, so that the total length of the connection of several drill rods is greater than or equal to the total depth, until the sampling of the total depth at the target sampling position is completed;

[0115] S4. Driving the drill rod out of the target sampling position includes: pulling out the drill rod section by section and storing the sample in each section of the drill rod immediately.

[0116] Furthermore, for acquiring electronic map information of the sampling area and planning the sampling route to the target sampling location based on the electronic map information, the method also includes:

[0117] S11. Input the site map, site reference points and sampling point locations of the sampling area through the remote monitoring platform, start the drone to fly to each pre-sampling location, explore the actual terrain, avoid terrain obstacles, generate the sampling route, virtually mark the sampling points, and generate the target sampling location according to the terrain of the pre-sampling location.

[0118] Furthermore, according to the sampling route, controlling the sampling device to execute coarse adjustment and fine adjustment procedures to shift to the target sampling position also includes:

[0119] Step S21, the coarse adjustment procedure includes: correcting and adjusting the verticality of the drill rod, the hydraulic lifting outriggers can extend to different lengths according to the terrain, assisting in adjusting the body posture, so that the body is adjusted to a horizontal state;

[0120] Step S22, the fine-tuning procedure includes: after the vehicle body posture is stable, controlling the multi-functional sampling component to rotate finely until it meets the verticality requirements of the drill rod.

[0121] Furthermore, the process of driving the drill rod out of the target sampling position, including: pulling out the drill rod section by section and storing the sample in each section of the drill rod immediately, further includes:

[0122] S41. Pull out the sampling tube inside the first outer metal tube, and seal both ends of the sampling tube using the sealing head assembly;

[0123] S42. Print an electronic tag on the first sampling tube. The electronic tag has a QR code for identification. The QR code is a tag that records electronic identification information of the sample parameters.

[0124] S43. Repeat steps S41-S42 to pull out all the drill pipes section by section.

[0125] Example 3:

[0126] The usage method and steps of the sampling device are as follows:

[0127] 1. Input the site map, site reference points, and sampling point locations (which can be connected to a fully automatic sampling point layout system) in remote monitoring and operation, start the drone to fly to each sampling point location, explore the actual terrain, avoid terrain obstacles, automatically generate the travel route to the sampling point, virtually mark the sampling point, and generate the optimal docking position of the device based on the terrain at the sampling point.

[0128] 2. The drone returns to base and transmits data. The sampling device travels to the sampling point according to the pre-designed route and enters the sampling position according to the pre-designed docking orientation. The entire process is confirmed by a visual camera to check the route and the surrounding environment. The sampling point is aligned with the sampling unit locator using camera AR. After positioning, the fixed support legs are extended to adjust and stabilize the vehicle's posture and stability. The sampling unit is then rotated to make the drill rod vertical.

[0129] 3. Drill rods (with drill bits) and extension drill rods (each with a Belle tube inside) are mounted on the rolling chain of the sampling unit. These rotate sequentially under the multi-functional sampling head, automatically screwing in the fixed drill rods to begin drilling into the soil layer. During drilling, the intelligent control system automatically adjusts the advance speed of the sampling drill bit based on real-time monitoring of soil physical properties by sensors. It also adjusts the advance method and force in real time to ensure precise control of sampling depth and accuracy.

[0130] 4. After a single drill rod is pushed into place, it is clamped by the locator. The sampling head rotates in the opposite direction to exit the drill rod and is lifted to a high position. The rolling chain transports the next extension rod into place. The sampling head rotates to fix the extension drill rod. The drill rod clamp is released. The sampling head rotates downward to connect to the previous drill rod. Then, step 3 is repeated to drive the extension drill rod in until the preset depth is reached.

[0131] 5. Install the inner tube extraction head. The sampling head removes the Bayler tube and clamps it in the drill pipe clamp. The rolling chain moves to the right to the sealing position. The sealing mechanical head wraps the Bayler tube downwards, opens the drill pipe clamp, and continues to move downwards to the lower sealing head to wrap the lower end, completing the sealing of both ends (the sealing cover has a QR code). Then, it is extracted by the upper sealing head and sent outwards while being clamped in the drill pipe clamp by the rolling chain.

[0132] 6. The extraction head is rotated to connect the extension drill rod, which is pulled out of the soil. After reaching a certain height, the locator clamps the lower end of the drill rod, and the upper extension drill rod is twisted out. After the drill rod clamp is clamped and fixed, the upper end is twisted out again, and the extension drill rod is sent out along the rolling chain.

[0133] 7. Repeating steps 5 and 6 will allow for the automated and intelligent removal of the soil-containing Beile tubes and extension drill rods one by one, completing the automatic drilling sampling, sampling, drill bit removal, and sealing process.

[0134] Those skilled in the art will readily understand that the above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A smart and precise sampling device for contaminated sites, characterized in that, include: The frame is equipped with a satellite positioning component, a sensor component, an electronic map storage component, a multi-functional sampling component, a tracked walking mechanism, a posture adjustment component, and a control component. The above components are integrated on the frame to form an integral structure. The control component is used to call the relative positioning point of the target sampling position pre-stored in the electronic map storage component, and receive real-time signals sent by the satellite positioning component and the high-precision sensor component to control the tracked walking mechanism to move to the target position. The coarse adjustment unit and fine adjustment unit of the pose adjustment component perform a leveling step to adjust the sampling posture of the multi-functional sampling component. Finally, the transverse rolling chain and drive component configured in the multi-functional sampling component drive several drill rods to move to the target position sequentially and automatically for accurate sampling.

2. A smart and precise sampling device for contaminated sites, characterized in that, include: The frame is equipped with a satellite positioning component, a sensor component, an electronic map storage component, a multi-functional sampling component, a tracked walking mechanism, a posture adjustment component, and a control component. The above components are integrated on the frame to form an integral structure. The control component is used to call the relative positioning point of the target sampling position pre-stored in the electronic map storage component, and receive real-time signals sent by the satellite positioning component and the high-precision sensor component to control the tracked walking mechanism to move to the target position. The position adjustment component performs a leveling step to adjust the sampling posture of the multi-functional sampling component. Finally, the transverse rolling chain and drive component configured in the multi-functional sampling component drive several drill rods to move to the target position in sequence and automatically for accurate sampling. The posture adjustment component includes a coarse adjustment unit and a fine adjustment unit. The coarse adjustment unit includes a fixed support leg, which includes a fixed end and a telescopic end. The telescopic end can extend or retract relative to the fixed end. The fixed end is located on the frame, and the telescopic end faces the ground. The fine adjustment unit includes a level sensor, which is located on the associated multi-functional sampling component and electrically connected to the control component; it is used to acquire level data transmitted by the level sensor.

3. The intelligent and precise sampling device for contaminated sites according to claim 1, characterized in that, The multifunctional sampling component includes: Steel frame; The driving component is driven by the transverse rolling chain; the transverse rolling chain is mounted on the steel frame; Several drill rods are mounted on the transverse rolling chain; A multi-functional lifting block is mounted on the steel frame, and the mounting position of the multi-functional lifting block is perpendicular to the displacement trajectory direction of the transverse rolling chain. The multi-functional lifting block includes an adapter for connecting the drill rod. The driving component is used to drive the transverse rolling chain to generate transmission, so that the drill rod is displaced along the displacement trajectory to the adapter and connected to the adapter.

4. The intelligent and precise sampling device for contaminated sites according to claim 1, characterized in that, The multifunctional sampling assembly further includes a sealing head assembly disposed on the steel frame for sealing the sampling tube. The sealing head assembly includes: The upper and lower sealing heads are spaced apart on the transverse rolling chain and are used to seal both ends of the sampling tube.

5. The intelligent and precise sampling device for contaminated sites according to claim 4, characterized in that: The steel frame is provided with a first connection point and a second connection point on the side where it is connected to the frame body. The first connection point of the steel frame is hinged to the frame body through a hinge. The displacement adjustment assembly includes a telescopic component, which is located at the second connection point of the steel frame and connected to the frame body, and pushes the steel frame to rotate around the first connection point. The telescopic component includes a hydraulic telescopic rod or an electric telescopic rod.

6. The intelligent and precise sampling device for contaminated sites according to claim 5, characterized in that, The drill pipe includes; The outer metal tube is hollow inside, with a connecting part at the starting end and a drilling part at the end; A sampling tube is slidably disposed inside the hollow outer metal tube and is used to collect samples synchronously when the drilling part is drilling. The sampling tube is equipped with an identification QR code, which is a tag that records electronic identification information of sample parameters.

7. A pose adjustment component, characterized in that, The pose adjustment component is applied to the intelligent and precise sampling device for contaminated sites according to any one of claims 1 or 3-6 above, and the pose adjustment component includes a coarse adjustment unit and a fine adjustment unit; The coarse adjustment unit includes a fixed support leg, and the fine adjustment unit includes a level sensor. The level sensor is located on the multi-functional sampling component used for sampling in the intelligent and precise sampling device for contaminated sites.

8. The pose adjustment component according to claim 7, characterized in that: The fine-tuning unit is used to: call pre-stored leveling steps to control the multi-functional sampling component to fine-tune to within a preset horizontal parameter threshold range, wherein the leveling steps include: leveling using formula (1): ΔLi = di×(θ 0- θ 阈值 ×sign(θ0)) Formula (1) Where ΔLi is the telescopic length adjustment of the i-th support leg, and di is the horizontal distance from the fixed end of the i-th support leg to the center of gravity of the frame; θ0: the initial tilt angle measured by the horizontal sensor; θ 阈值 The preset horizontal parameter threshold; sign(θ0) is a sign function used to determine the adjustment direction. If θ0 is greater than 0, sign(θ0) = 1, which means that the telescopic leg needs to be shortened. If θ0 is less than 0, sign(θ0) = -1, which means that the telescopic leg needs to be extended.

9. A multifunctional sampling component, characterized in that, The pose adjustment component is applied to the intelligent and precise sampling device for contaminated sites according to any one of claims 1 or 3-6, wherein the multifunctional sampling component includes: A steel frame and a transverse rolling chain disposed on the steel frame, the transverse rolling chain being driven by a driving component; Several drill rods are arranged sequentially on the transverse rolling chain. When the driving component drives the transverse rolling chain to roll, it pushes the several drill rods on the transverse rolling chain to move sequentially to the target sampling position for sampling.

10. The pose adjustment component according to claim 9, characterized in that, The multifunctional sampling component also includes: A multi-functional lifting block is mounted on the steel frame, and the mounting position of the multi-functional lifting block is perpendicular to the displacement trajectory direction of the transverse rolling chain. The multi-functional lifting block includes an adapter for connecting the drill rod. The driving component is used to drive the transverse rolling chain to generate transmission, so that the drill rod is displaced along the displacement trajectory to the adapter and connected to the adapter.

11. The pose adjustment component according to claim 10, characterized in that, The multifunctional sampling component also includes: A fork rod is located at the end of the steel frame away from the multi-functional lifting block. The fork rod is connected to the steel frame to form an L-shaped structure. A guide fixing component is installed on the fork rod to guide and fix the rod body of the drill rod. The fork is composed of a pair of arc-shaped parts made of elastic material combined into a ring structure. At least one end of the pair of arc-shaped parts is provided with an electromagnetic component, and the other end is provided with a metal end that can be attracted to the electromagnetic component. The electromagnetic component includes an electromagnetic component and a micro controller for controlling the switching of the electromagnetic component. When electromagnetic adsorption is required, the microcontroller can directly control the electromagnetic component to generate a magnetic force that attracts the metal end, so that the electromagnetic component and the metal end form a magnetic adsorption and come into close contact with each other.

12. A method for intelligent and precise sampling of contaminated sites, characterized in that, The method includes: S1. Obtain electronic map information of the sampling area, and plan the sampling route for the target sampling location based on the electronic map information; S2. Based on the sampling route, control the sampling device to execute coarse adjustment and fine adjustment procedures to move to the target sampling position; S3. Drive the drill rod to sample the target sampling position, including: setting the total depth of sampling drilling; then, through the transverse rolling chain, transport several drill rods to the multi-functional lifting block for sequential drilling and splicing, so that the total length of the connection of several drill rods is greater than or equal to the total depth, until the sampling of the total depth at the target sampling position is completed; S4. Driving the drill rod out of the target sampling position includes: pulling out the drill rod section by section and storing the sample in each section of the drill rod immediately.

13. The intelligent and precise sampling method for contaminated sites according to claim 12, characterized in that, Step S1 includes: S11. Input the site map of the sampling area, the site reference point and the sampling point location, start the drone to fly to each pre-sampling location, explore the actual terrain, avoid terrain obstacles, generate the sampling route, virtually mark the sampling points, and generate the target sampling location according to the terrain of the pre-sampling location.

14. The intelligent and precise sampling method for contaminated sites according to claim 12, characterized in that, Step S2 includes: S21. The coarse adjustment procedure includes: correcting and adjusting the verticality of the drill rod; the hydraulic lifting outriggers can extend to different lengths according to the terrain to assist in adjusting the body posture and make the body horizontally adjusted to a horizontal state. S22. The fine-tuning procedure includes: after the vehicle body posture is stable, controlling the multi-functional sampling component to rotate finely until it meets the verticality requirements of the drill rod.

15. The intelligent and precise sampling method for contaminated sites according to claim 12, characterized in that, Step S4 further includes: S41. Pull out the first outer metal tube and the inner sampling tube, and seal both ends of the sampling tube using the sealing head assembly; S42. Print an electronic tag on the first sampling tube. The electronic tag has a QR code for identification. The QR code is a tag that records electronic identification information of the sample parameters. S43. Repeat steps S41-S42 to pull out all the drill rods section by section.

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