Unmanned walking vehicle and operating method for beach in-situ DGT deployment and recovery

Abstract

This invention relates to an unmanned walking vehicle and its operation method for in-situ deployment and retrieval of DGTs (Diverterless Turbines) in tidal flats, belonging to the field of detection technology. It includes: a walking chassis with a deployment / retrieval hole; a DGT deployment / retrieval device located above the deployment / retrieval hole, comprising a movable support frame, a winch, a vibratory compactor, a DGT clamping mechanism, and a spherical brake ring. The winch is fixed to the movable support frame, and its hoisting rope is connected to the vibratory compactor, which is slidably mounted on the movable support frame. The DGT clamping mechanism is fixed to the vibratory compactor, and the spherical brake ring is fixed to the bottom of the movable support frame; a vertical positioning and locking mechanism, comprising a fixed support frame and multiple push-pull electromagnets. The fixed support frame is fixed to the walking chassis, and the movable support frame is movably suspended from the fixed support frame. The push-pull electromagnets are fixed to the walking chassis, and their telescopic ends are used to tighten the spherical brake ring. This invention features remote control, simple operation, time and labor saving, eliminates the need for personnel to enter the tidal flats, and is safe and reliable.

Description

Technical Field

[0001] This invention belongs to the field of detection technology, specifically relating to an unmanned walking vehicle and its operation method for in-situ deployment and retrieval of DGTs in tidal flats. Background Technology

[0002] Coastal mudflats, as unique ecosystems formed by the interaction of land and sea, not only serve as habitats and migration corridors for numerous coastal organisms, but also play irreplaceable ecological functions in areas such as carbon sequestration and shoreline protection. Furthermore, they possess significant economic value for industrial development, including mariculture and ecological planting. Therefore, a systematic understanding of the environmental quality of mudflat sediments is a core prerequisite for managing the evolution of mudflat ecosystems and a crucial foundation for ensuring the sustainable development and utilization of their resources.

[0003] Diffusive Gradients in Thin-films Technique (DGT) enables in-situ enrichment of the effective concentration of target pollutants such as heavy metals in sediments and has been widely used in the field of intertidal sediment monitoring. A flat-plate DGT device is a typical configuration for this technology, used for sediment profiles, and must be vertically inserted into the sediment during deployment. Subsequently, the target pollutant permeates through the diffusion phase of the device and is adsorbed and captured by the binding phase within the device. After recovery, analysis of the target pollutant in the binding phase of the flat-plate DGT device reveals the spatial distribution characteristics of the target pollutant content along the vertical depth of the sediment profile.

[0004] However, the current application of DGT technology in tidal flat environments still heavily relies on manual deployment and retrieval of flat-plate DGT devices. The working conditions on tidal flats present multiple challenges for manual operation: firstly, the surface sediment is soft, viscous, and has a high water content, creating significant resistance for personnel and increasing the risk of getting stuck; secondly, the abundance of sharp objects such as shells and pebbles in the tidal flats poses a high risk of cuts and injuries; more seriously, the tidal cycle causes dynamic changes in the tidal flat environment, and if high tide occurs during operations, personnel may face the risk of drowning due to insufficient time to evacuate, making operational safety difficult to guarantee. Furthermore, the subjectivity of manual operation can lead to deviations in the insertion depth and verticality of the flat-plate DGT device, thus affecting the reliability of the monitoring data. Summary of the Invention

[0005] In view of the shortcomings of the prior art, the purpose of the present invention is to provide an unmanned walking vehicle and operation method for in-situ deployment and retrieval of DGTs in tidal flats, so as to solve or improve the defects existing in the prior art.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: an unmanned walking vehicle for in-situ deployment and retrieval of DGTs on tidal flats, comprising: A walking chassis for walking on mudflats; the walking chassis has retraction and extension holes for a flat-plate DGT device to pass through; DGT deployment and retrieval device, used for deploying and retrieving flat-plate DGT devices; the DGT deployment and retrieval device is located above the deployment and retrieval hole; the DGT deployment and retrieval device includes a movable support frame, a winch, a vibratory tamper, a DGT clamping mechanism and a spherical brake ring, the winch is fixed to the top of the movable support frame, the movable end of the winch's hoisting rope is connected to the vibratory tamper, the vibratory tamper is slidably mounted on the movable support frame, the DGT clamping mechanism is fixed to the vibratory tamper, and the spherical brake ring is fixed to the bottom of the movable support frame; A vertical positioning and locking mechanism is used for vertical positioning and locking of the DGT retraction and extension device; the vertical positioning and locking mechanism includes a fixed support frame and multiple push-pull electromagnets, the fixed support frame is fixed on the walking chassis, the movable support frame is movably suspended on the fixed support frame, the fixed ends of the multiple push-pull electromagnets are fixed on the walking chassis, and the telescopic ends of the push-pull electromagnets are used to press against the bottom spherical surface of the spherical brake ring; A controller is used to control the operation of the walking chassis, the DGT retraction and deployment device, and the vertical positioning and locking mechanism; the controller is electrically connected to the walking chassis, the DGT retraction and deployment device, and the vertical positioning and locking mechanism; the controller is equipped with a remote control that communicates wirelessly with it.

[0007] Furthermore, the walking chassis includes a chassis base plate, vertical support plates, a walking motor, and a multi-link walking mechanism. The retraction hole is opened at the center of the chassis base plate. Two vertical support plates are fixed on the chassis base plate and are symmetrically distributed on the left and right. The walking motor is fixed on the vertical support plates. The output end of the walking motor is fixedly connected to a rotating disk. The rotating disk is eccentrically hinged to the input end of the multi-link walking mechanism.

[0008] Furthermore, the multi-link walking mechanism includes a first Chebyshev linkage mechanism and a second Chebyshev linkage mechanism arranged side by side on the outer and inner sides. The chassis base plate has a first groove for the first Chebyshev linkage mechanism to pass through and a second groove for the second Chebyshev linkage mechanism to pass through. The first Chebyshev linkage mechanism includes a first driving link, a first upper horizontal link, a first lower horizontal link, a first driven link, a first front swing arm, and a first rear swing arm. The second Chebyshev linkage mechanism includes a second driving link... The system comprises a long rod, a second upper horizontal connecting rod, a second lower horizontal connecting rod, a second driven connecting rod, a second front swing rod, and a second rear swing rod. The lower ends of the first and second active long rods are eccentrically hinged to a rotating disk. The lower ends of the first and second front swing rods are hinged to a vertical support plate. The lower ends of the first and second rear swing rods are hinged to a vertical support plate. The first front swing rod and the first rear swing rod are parallel front to back. The second front swing rod and the second rear swing rod are parallel front to back. The upper end of the first active long rod is hinged to the front end of the first upper horizontal connecting rod, the upper end of the first driven connecting rod is hinged to the rear end of the first upper horizontal connecting rod, the front end of the first lower horizontal connecting rod and the upper end of the first front swing rod are hinged together in the middle of the first active long rod, the rear end of the first lower horizontal connecting rod, the lower end of the first driven connecting rod and the upper end of the first rear swing rod are hinged together, the first active long rod and the first driven connecting rod are parallel front to back, the first upper horizontal connecting rod and the first lower horizontal connecting rod are parallel vertically, the first active long rod, the first upper horizontal connecting rod, the first lower horizontal connecting rod and the first driven connecting rod form a first parallelogram linkage mechanism, the front and rear ends of the first upper horizontal connecting rod both extend downward with first support legs, and the lower end of the first support legs is fixedly connected to a first foot plate; The upper end of the second active long rod is hinged to the rear end of the second upper horizontal link, the upper end of the second driven link is hinged to the front end of the second upper horizontal link, the rear end of the second lower horizontal link and the upper end of the second rear swing rod are hinged together to the middle of the second active long rod, the front end of the second lower horizontal link, the lower end of the second driven link and the upper end of the first front swing rod are hinged together, the second driven link and the second active long rod are parallel front to back, the second upper horizontal link and the second lower horizontal link are parallel vertically, the second active long rod, the second upper horizontal link, the second lower horizontal link and the second driven link form a second parallelogram linkage mechanism, the front and rear ends of the second upper horizontal link both extend downwards with second support legs, and the lower end of the second support legs is fixedly connected to a second foot plate.

[0009] Furthermore, both the first foot plate and the second foot plate are foam floats.

[0010] Furthermore, the movable support frame includes a first support top plate, multiple guide rail columns, and multiple first support feet. The top of the first support top plate is movably connected to the top of the fixed support frame. The upper ends of the multiple guide rail columns are all fixedly connected to the bottom of the first support top plate. The winch is fixed to the bottom of the first support top plate. The vibratory tamper is slidably mounted on the multiple guide rail columns. The lower ends of the multiple guide rail columns are respectively fixedly connected to the multiple first support feet. The multiple first support feet are all fixedly connected to the top of the spherical brake ring.

[0011] Furthermore, the winch includes a first motor base, a winch motor, a winch, and a hoisting rope. The first motor base is fixed to the top of the movable support frame, the winch motor is fixed inside the first motor base, the output end of the winch motor is fixed to the winch, the hoisting rope is wound in the annular groove of the winch, one end of the hoisting rope is fixedly connected to the winch, and the other end of the hoisting rope is fixedly connected to the top of the vibratory tamper.

[0012] Furthermore, the vibratory tamper is a dual-motor counter-rotating vibratory tamper, which includes a vibratory base, a second motor base, and two dual-axis motors. The vibratory base is slidably mounted on a movable support frame. The top of the vibratory base is connected to the movable end of the hoisting rope of the winch. The two dual-axis motors are horizontally and side by side fixed in the second motor base, which is fixed in the vibratory base. One end of each of the two dual-axis motors is fixed with identical gears that mesh with each other. Both ends of the two dual-axis motors are symmetrically fixed with fan-shaped eccentric blocks.

[0013] Furthermore, the vibration seat includes a frame base and a frame top cover, the second motor seat includes a motor base and a motor upper pressure plate, the two dual-axis motors are horizontally fixed side by side inside the motor base, the motor upper pressure plate is fixed on the motor base and presses down on the dual-axis motors, the motor base is fixed inside the frame base, the frame top cover is fixed on the frame base and presses down on the motor upper pressure plate, and the frame top cover is fixedly connected to the movable end of the hoisting rope of the winch.

[0014] Furthermore, the DGT clamping mechanism includes a clamping base, a servo motor, a release arm, a gripper, and an elastic reset mechanism. The clamping base is fixedly connected to the bottom of the vibratory tamper. The clamping base is provided with a positioning groove for positioning the handle of the flat-plate DGT device. The middle part of the gripper is hinged to the clamping base to form a lever structure. One end of the gripper abuts against the clamping base under the action of the elastic reset mechanism to fix the flat-plate DGT device. The fixed end of the servo motor is fixed to the clamping base. The output end of the servo motor is fixed with a release arm. The release arm is used to actuate the other end of the gripper to release the flat-plate DGT device.

[0015] Furthermore, the fixed support frame includes a second support top plate, multiple fixed columns, and a second support base. The bottom center of the second support top plate is movably connected to the top of the movable support frame. The upper ends of the multiple fixed columns are fixedly connected to the bottom of the second support top plate, and the lower ends of the multiple fixed columns are correspondingly fixedly connected to the multiple second support bases. All of the multiple second support bases are fixedly connected to the walking chassis.

[0016] Furthermore, the top of the fixed support frame is movably connected to the top of the movable support frame via a universal joint.

[0017] Furthermore, the fixed end of the push-pull electromagnet is fixed to the walking chassis by a bracket, and the telescopic end of the push-pull electromagnet is hinged with a stop seat, which is used to abut the bottom spherical surface of the spherical brake ring.

[0018] Furthermore, the abutment is fixed with an elastic contact piece for contacting the spherical brake ring.

[0019] Meanwhile, the present invention also provides an operation method for an unmanned walking vehicle used for in-situ deployment and retrieval of DGTs on tidal flats, comprising the following steps: S1. First, control the walking chassis to make the unmanned walking vehicle equipped with the flat-plate DGT device walk to the preset tidal flat sediment sampling point; then, control the extension end of the push-pull electromagnet to leave the spherical brake ring, so that the DGT deployment device swings to the vertical direction under the action of gravity; then, control the extension end of the push-pull electromagnet to press against the spherical brake ring to maintain the current orientation of the flat-plate DGT device. S2. First, control the winch to release the hoisting rope, causing the vibratory tamper and DGT clamping mechanism to move down along the movable support frame, so as to initially insert the flat-plate DGT device into the tidal flat sediment; then, control the winch to continue releasing the hoisting rope for a predetermined length, and control the DGT clamping mechanism to release the flat-plate DGT device; subsequently, start the vibratory tamper, and use the vertical vibration force of the vibratory tamper to further press the flat-plate DGT device into the tidal flat sediment to a predetermined depth; finally, turn off the vibratory tamper, and the unmanned walking vehicle waits in place; S3. After waiting for the preset time, the flat-plate DGT device has accumulated the target object in the tidal flat sediment. At this time, control the DGT clamping mechanism of the unmanned walking vehicle to clamp the handle of the flat-plate DGT device. Then, control the winch to raise the hoisting rope, so that the vibratory rammer and the DGT clamping mechanism are raised to the initial position, realizing the recovery of the flat-plate DGT device. Finally, control the walking chassis to make the unmanned walking vehicle return to the shore workers.

[0020] Compared with the prior art, the present invention has the following advantages: The unmanned walking vehicle of the present invention has a low manufacturing cost. Through the cooperation of the walking chassis, DGT deployment and retrieval device, vertical positioning and locking mechanism, controller, remote controller, etc., it can walk on the mudflat to the sediment sampling point, vertically deploy the flat plate DGT device at the sampling point and wait in place. After the flat plate DGT device has accumulated the target material, it is retrieved. The entire operation process is remotely controlled by the remote controller, which is simple to operate, saves time and effort, does not require personnel to enter the mudflat, avoids personnel injury, and is safe and reliable. The unmanned walking vehicle of the present invention movably suspends the movable support frame of the DGT deployment and retrieval device on the fixed support frame of the vertical positioning and locking mechanism. Before inserting the flat-plate DGT device into the tidal flat sediment, the DGT deployment and retrieval device swings to the vertical direction under the action of gravity, and is locked by the push-pull electromagnet of the vertical positioning and locking mechanism. Even if the tidal flat terrain is soft and undulating, and the unmanned walking vehicle's parking position cannot guarantee that the vehicle itself is in a horizontal position, it can still ensure that the flat-plate DGT device is inserted into the sediment in a vertical position, effectively reducing the interference of terrain on data reliability, improving the effectiveness of in-situ detection and the environmental adaptability of the equipment. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, those skilled in the art can obtain other drawings based on the drawings described below without creative effort.

[0022] Figure 1 This is a perspective view of the overall structure of an unmanned walking vehicle for in-situ deployment and retrieval of DGTs on tidal flats, according to an embodiment of the present invention.

[0023] Figure 2 This is a front view of the overall structure of an unmanned walking vehicle for in-situ deployment and retrieval of DGTs on tidal flats, according to an embodiment of the present invention.

[0024] Figure 3 This is a block diagram illustrating the control principle of an unmanned walking vehicle for in-situ deployment and retrieval of DGTs on tidal flats, according to an embodiment of the present invention.

[0025] Figure 4 This is a schematic diagram of the overall structure of the walking chassis in an embodiment of the present invention.

[0026] Figure 5 This is a schematic diagram of the assembly of the DGT take-up and release device and the vertical positioning and locking mechanism in an embodiment of the present invention.

[0027] Figure 6 This is a schematic diagram illustrating the interaction between the push-pull electromagnet and the spherical braking ring in an embodiment of the present invention.

[0028] Figure 7 This is a schematic diagram of the overall structure of the winch in an embodiment of the present invention.

[0029] Figure 8 This is a schematic diagram of the overall structure of the vibratory tamper in an embodiment of the present invention.

[0030] Figure 9 This is a partial structural diagram of the vibratory tamper in an embodiment of the present invention.

[0031] Figure 10 This is a schematic diagram comparing the operation of a rotating sector-shaped eccentric block and a single sector-shaped eccentric block.

[0032] Figure 11 This is a schematic diagram of the overall structure of the DGT clamping mechanism in an embodiment of the present invention.

[0033] Marked in the image: 100. Walking chassis; 110. Chassis base plate; 111. Retraction / extension hole; 112. First slide rail; 113. Second slide rail; 120. Vertical support plate; 130. Walking motor; 140. Multi-link walking mechanism; 141. First Chebyshev linkage mechanism; 1411. First driving long link; 1412. First upper horizontal link; 1413. First lower horizontal link; 1414. First driven link; 1415. First forward swing arm. 1416. First rear swing arm; 1417. First support leg; 1418. First foot plate; 142. Second Chebyshev linkage; 1421. Second driving long link; 1422. Second upper horizontal link; 1423. Second lower horizontal link; 1424. Second driven link; 1425. Second front swing arm; 1426. Second rear swing arm; 1427. Second support leg; 1428. Second foot plate; 150. Rotary disk; 200. DGT winding and unwinding device; 210. Movable support frame; 211. First support top plate; 212. Guide rail column; 213. First support base; 220. Winch; 221. First motor base; 222. Winch motor; 223. Winch; 224. Lifting rope; 230. Vibratory rammer; 231. Vibratory base; 2311. Frame base; 2312. Frame top cover; 23121. Square through slot; 231 22. Optical axis; 232. Second motor mount; 2321. Motor base; 2322. Motor upper pressure plate; 233. Dual-axis motor; 234. Gear; 235. Sector-shaped eccentric block; 240. DGT clamping mechanism; 241. Clamping base; 2411. Positioning groove; 242. Servo motor; 243. Release swing arm; 244. Gripper; 2441. Groove; 245. Elastic reset mechanism; 250. Spherical brake ring; 300. Vertical positioning and locking mechanism; 310. Fixed support frame; 311. Second support top plate; 312. Fixed column; 313. Second support base; 320. Push-pull electromagnet; 321. Bracket; 322. Top seat; 323. Elastic contact piece; 330. Universal joint; 400. Control box; 410. Controller; 420. Remote control; 500. Flat-panel DGT device. Detailed Implementation

[0034] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention. To make the above features and advantages of this invention more apparent and understandable, specific embodiments are provided below with reference to the accompanying drawings for detailed description.

[0035] like Figures 1 to 11 As shown, an embodiment of the present invention provides an unmanned walking vehicle for in-situ deployment and retrieval of DGTs on tidal flats, comprising: A walking chassis 100 is used for walking on mudflats; the walking chassis 100 is provided with a retraction hole 111 through which a flat-plate DGT device 500 passes. DGT deployment and retrieval device 200 is used for deploying and retrieving flat-plate DGT device 500; the DGT deployment and retrieval device 200 is located above the deployment and retrieval hole 111; the DGT deployment and retrieval device 200 includes a movable support frame 210, a winch 220, a vibratory tamper 230, a DGT clamping mechanism 240, and a spherical brake ring 250. The winch 220 is fixed to the top of the movable support frame 210, and the movable end of the hoisting rope 224 of the winch 220 is connected to the top of the vibratory tamper 230. The vibratory tamper 230 is slidably mounted on the movable support frame 210. The DGT clamping mechanism 240 is fixed to the bottom of the vibratory tamper 230, and the spherical brake ring 250 is fixed to the bottom of the movable support frame 210. A vertical positioning and locking mechanism 300 is used for vertical positioning and locking of the DGT retraction device 200. The vertical positioning and locking mechanism 300 includes a fixed support frame 310 and a plurality of push-pull electromagnets 320. The bottom of the fixed support frame 310 is fixed to the walking chassis 100, and the movable support frame 210 is movably suspended on the fixed support frame 310. The fixed ends of the plurality of push-pull electromagnets 320 are fixed to the walking chassis 100, and the telescopic ends of the push-pull electromagnets 320 are used to press against the bottom spherical surface of the spherical brake ring 250. The controller 410 is used to control the operation of the walking chassis 100, the DGT retraction device 200, and the vertical positioning and locking mechanism 300; the controller 410 is electrically connected to the walking chassis 100, the DGT retraction device 200, and the vertical positioning and locking mechanism 300; the controller 410 is equipped with a remote controller 420 that communicates wirelessly with it.

[0036] In this embodiment, please refer to Figures 1 to 4The walking chassis 100 includes a chassis base plate 110, a vertical support plate 120, a walking motor 130, and a multi-link walking mechanism 140. The retraction hole 111 is located at the center of the chassis base plate 110. Two symmetrically distributed vertical support plates 120 are fixed on the chassis base plate 110. The walking motor 130 is fixed on the vertical support plate 120. The output end of the walking motor 130 is fixedly connected to a rotating disk 150, which is eccentrically hinged to the input end of the multi-link walking mechanism 140. The controller 410 can be mounted on the walking chassis 100 or the vertical positioning and locking mechanism 300, for example, on the chassis base plate 110 or the fixed support frame 310. The controller 410 controls the operation of the walking motor 130. Preferably, a control box 400 is fixed on the chassis base plate 110, and the controller 410 is disposed within the control box 400. The walking motor 130 is preferably, but not limited to, a geared motor. The controller 410 and the remote controller 420 can both be existing mature products. For example, the controller 410 can be a microcontroller or a PLC. The control box 400 is generally equipped with hardware such as a battery. These hardware are all existing technologies and will not be described in detail here.

[0037] In this embodiment, the multi-link walking mechanism 140 includes a first Chebyshev linkage mechanism 141 and a second Chebyshev linkage mechanism 142 arranged side by side on the outer and inner sides. The chassis base plate 110 has a first groove 112 for the first Chebyshev linkage mechanism 141 to pass through and a second groove 113 for the second Chebyshev linkage mechanism 142 to pass through. The outer first Chebyshev linkage mechanism 141 includes a first active long rod 1411, a first upper horizontal link 1412, a first lower horizontal link 1413, a first driven link 1414, a first front swing rod 1415, and a first rear swing rod 1416. The inner second Chebyshev linkage mechanism 142 includes a second active long rod 1421. The system comprises a second upper horizontal connecting rod 1422, a second lower horizontal connecting rod 1423, a second driven connecting rod 1424, a second front swing rod 1425, and a second rear swing rod 1426. The lower ends of the first active long rod 1411 and the second active long rod 1421 are eccentrically hinged to the rotating disk 150. The lower ends of the first front swing rod 1415 and the second front swing rod 1425 are hinged to the vertical support plate 120. The lower ends of the first rear swing rod 1416 and the second rear swing rod 1426 are hinged to the vertical support plate 120. The first front swing rod 1415 and the first rear swing rod 1416 are parallel front to back, and the second front swing rod 1425 and the second rear swing rod 1426 are parallel front to back. The upper end of the first active long rod 1411 is hinged to the front end of the first upper horizontal connecting rod 1412, the upper end of the first driven connecting rod 1414 is hinged to the rear end of the first upper horizontal connecting rod 1412, the front end of the first lower horizontal connecting rod 1413 and the upper end of the first front swing rod 1415 are hinged together at the middle of the first active long rod 1411, and the rear end of the first lower horizontal connecting rod 1413, the lower end of the first driven connecting rod 1414 and the upper end of the first rear swing rod 1416 are hinged together. 411 is parallel to the first driven link 1414 front to back, the first upper horizontal link 1412 is parallel to the first lower horizontal link 1413 top to bottom, the first active long link 1411, the first upper horizontal link 1412, the first lower horizontal link 1413 and the first driven link 1414 form a first parallelogram linkage mechanism, the first upper horizontal link 1412 has first support legs 1417 extending downward at both ends, and the lower end of the first support legs 1417 is fixedly connected to a first foot plate 1418; The upper end of the second active long rod 1421 is hinged to the rear end of the second upper horizontal connecting rod 1422. The upper end of the second driven connecting rod 1424 is hinged to the front end of the second upper horizontal connecting rod 1422. The rear end of the second lower horizontal connecting rod 1423 and the upper end of the second rear swing rod 1426 are both hinged to the middle of the second active long rod 1421. The front end of the second lower horizontal connecting rod 1423, the lower end of the second driven connecting rod 1424, and the upper end of the first front swing rod 1415 are all hinged together. 424 is parallel to the second active long rod 1421 front to back, and the second upper horizontal connecting rod 1422 and the second lower horizontal connecting rod 1423 are parallel to each other vertically. The second active long rod 1421, the second upper horizontal connecting rod 1422, the second lower horizontal connecting rod 1423 and the second driven connecting rod 1424 form a second parallelogram linkage mechanism. The front and rear ends of the second upper horizontal connecting rod 1422 both extend downward with second support legs 1427, and the lower end of the second support legs 1427 is fixedly connected to a second foot plate 1428.

[0038] In this embodiment, the walking chassis 100 is equipped with a first Chebyshev linkage mechanism 141 and a second Chebyshev linkage mechanism 142 that move alternately forward and backward at both ends of the chassis base plate 110, enabling stable movement on the surface of viscous and water-rich tidal flat sediments. Simultaneously, foot plates are fixedly installed at the bottom of the support legs of both sets of Chebyshev linkage mechanisms. The first foot plate 1418 and the second foot plate 1428 are preferably, but not limited to, foam floats, which are low in manufacturing cost, increase the contact area between the walking chassis 100 and the tidal flat, allowing the unmanned walking vehicle to move smoothly on the tidal flat surface, preventing it from sinking into sediments, effectively preventing tidal flat sediments from being drawn into the core component area above the support legs, and are easy to disassemble and clean, allowing for repeated use, further improving practicality and economy.

[0039] In this embodiment, please refer to Figure 5 and Figure 6 The movable support frame 210 includes a first support top plate 211, multiple guide rail columns 212, and multiple first support feet 213. The top of the first support top plate 211 is movably connected to the top of the fixed support frame 310 (specifically, the second support top plate 311 described below). The upper ends of the multiple guide rail columns 212 are fixedly connected to the bottom of the first support top plate 211. The winch 220 is fixed to the bottom of the first support top plate 211. The vibratory tamper 230 is slidably mounted on the multiple guide rail columns 212. The lower ends of the multiple guide rail columns 212 are respectively fixedly connected to the multiple first support feet 213. The multiple first support feet 213 are all fixedly connected to the top of the spherical brake ring 250. Preferably, but not limited to, the guide rail columns 212 are circular tubes.

[0040] In this embodiment, please refer to Figure 7 and combined Figure 3 and Figure 5 The winch 220 includes a first motor base 221, a winch motor 222, a winch 223, and a hoisting rope 224. The first motor base 221 is fixed to the top of the movable support frame 210 (specifically, the first support top plate 211 mentioned above). The winch motor 222 is fixed inside the first motor base 221. The output end of the winch motor 222 is fixed to the winch 223. The hoisting rope 224 is wound in the annular groove of the winch 223. One end of the hoisting rope 224 is fixedly connected to the winch 223, and the other end of the hoisting rope 224 is fixedly connected to the top of the vibratory tamper 230. The controller 410 controls the forward and reverse rotation of the winch motor 222, thereby realizing the winding and releasing of the hoisting rope 224. The hoisting motor 222 is preferably, but not limited to, a worm gear motor. The worm gear motor has a self-locking characteristic, which can maintain the position of the vibratory tamper 230, DGT clamping mechanism 240 and other components suspended at the lower end of the hoisting rope 224 when the power is not on, and prevent them from falling.

[0041] In this embodiment, please refer to Figures 8 to 10 and combined Figure 3 To improve vibration efficiency, the vibratory tamper 230 is a dual-motor counter-rotating vibratory tamper. The dual-motor counter-rotating vibratory tamper includes a vibratory base 231, a second motor base 232, and two dual-axis motors 233. The vibratory base 231 is slidably mounted on the guide rail column 212 of the movable support frame 210. The top of the vibratory base 231 is connected to the movable end of the hoisting rope 224 of the winch 220. The two dual-axis motors 233 are horizontally fixed side-by-side within the second motor base 232, which is fixed within the vibratory base 231. Identical, meshing gears 234 are fixed to one end of each of the two dual-axis motors 233. Sector-shaped eccentric blocks 235 are symmetrically fixed to both ends of each dual-axis motor 233. After the controller 410 controls the two dual-axis motors 233 to be energized, the meshing of the two gears 234 causes the two dual-axis motors 233 to reach the same speed, while the sector-shaped eccentric blocks 235 on the two dual-axis motors 233 rotate in opposite directions at the same speed. In this operating mode, the horizontal centrifugal forces generated by the rotation of the fan-shaped eccentric blocks 235 cancel each other out, resulting in the output of vibration force only in the vertical direction. The vibratory tamper 230 adopts a counter-rotating structure design, which can effectively reduce horizontal swaying interference and improve the vibration output efficiency in the vertical direction.

[0042] In this embodiment, for ease of assembly, the vibration seat 231 includes a frame base 2311 and a frame cover 2312, the second motor seat 232 includes a motor base 2321 and a motor upper pressure plate 2322, the two dual-axis motors 233 are horizontally fixed side by side inside the motor base 2321, the motor upper pressure plate 2322 is fixed on the motor base 2321 and presses down on the dual-axis motors 233, the motor base 2321 is fixed inside the frame base 2311, the frame upper cover 2312 is fixed on the frame base 2311 and presses down on the motor upper pressure plate 2322, and the frame upper cover 2312 is fixedly connected to the movable end of the hoisting rope 224 of the winch 220. In order to facilitate the fixing of the movable end of the suspension rope 224, the frame cover 2312 is provided with a square through groove 23121. At least one shaft hole is provided on the front and rear side walls of the square through groove 23121. An optical shaft 23122 is installed between two corresponding shaft holes. The movable end of the suspension rope 224 is fixed on the optical shaft 23122.

[0043] In this embodiment, the vibratory tamper 230 adopts a symmetrically distributed arrangement of fan-shaped eccentric blocks 235. Due to the counter-rotation of the fan-shaped eccentric blocks 235, the centrifugal forces they generate cancel each other out in the horizontal direction, i.e., F x1 With F x2 Equal in size and opposite in direction, and superimposed in the vertical direction, i.e., F y1 With F y2With equal size and the same direction, the horizontal swaying interference can be effectively reduced, and the vertical vibration output efficiency can be improved, further ensuring that the flat plate DGT device is inserted vertically into the sediment. If only a single-axis motor is used and the fan-shaped eccentric block 235 is fixed to the output end of the single-axis motor, the rotation of the fan-shaped eccentric block 235 will generate centrifugal forces in different directions, which will cause the vibratory tamper 230 and the guide rail column 212 to sway left and right, thus making the unmanned walking vehicle unstable.

[0044] In this embodiment, please refer to Figure 11 and combined Figures 1 to 3 , Figure 5 The DGT clamping mechanism 240 includes a clamping base 241, a servo motor 242, a release swing arm 243, a gripper 244, and an elastic reset mechanism 245. The clamping base 241 is fixedly connected to the bottom of the vibratory tamper 230. The clamping base 241 is provided with a positioning groove 2411 for positioning the handle of the flat-plate DGT device 500. The bosses formed by the upper side wall, left side wall, and right side of the positioning groove 2411 effectively prevent the flat-plate DGT device 500 from tipping over during operation of the vibratory tamper 230. Simultaneously, the handle of the flat-plate DGT device 500 remains engaged with the positioning groove 2411. After the enrichment work of the flat-plate DGT device 500 is completed, the gripper 244 clamps the handle of the flat-plate DGT device 500. The middle part of the gripper 244 is hinged to the clamping base 241 to form a lever structure. One end of the gripper 244 abuts against the clamping base 241 under the action of the elastic reset mechanism 245 to fix the flat-plate DGT device 500. The fixed end of the servo motor 242 is fixed to the clamping base 241. The output end of the servo motor 242 is fixed with a release swing arm 243. The release swing arm 243 is used to move the other end of the gripper 244 to release the flat-plate DGT device 500. The elastic reset mechanism 245 is preferably, but not limited to, an elastic ring, such as a rubber ring. The elastic ring is fitted onto one end of the gripper 244 and the clamping base 241. The tension of the elastic ring keeps one end of the gripper 244 in contact with the clamping base 241, thus clamping the flat DGT device 500 located between the gripper 244 and the clamping base 241. To position the elastic ring, a groove 2441 is provided at one end of the gripper 244. The elastic ring is fitted onto the groove 2441 of the gripper 244 and the clamping base 241, restricting displacement of the elastic ring. When the controller 410 controls the servo motor 242 to operate, the servo motor 242 drives the release arm 243 to rotate. When the release arm 243 moves the other end of the gripper 244, the tension of the elastic ring is overcome, one end of the gripper 244 leaves the clamping base 241, and the flat DGT device 500 is released. Of course, in other embodiments, the elastic reset mechanism 245 may also be a tension spring, torsion spring, or other similar mechanism.

[0045] In this embodiment, the fixed support frame 310 includes a second support top plate 311, a plurality of fixed columns 312, and a second support base 313. The bottom center of the second support top plate 311 is movably connected to the top of the movable support frame 210 (specifically, the first support top plate 211 mentioned above). The upper ends of the plurality of fixed columns 312 are fixedly connected to the bottom of the second support top plate 311, and the lower ends of the plurality of fixed columns 312 are correspondingly fixedly connected to the plurality of second support bases 313. The plurality of second support bases 313 are all fixedly connected to the chassis base plate 110 of the walking chassis 100. The top of the fixed support frame 310 can be movably connected to the top of the movable support frame 210 via a universal joint 330, allowing the movable support frame 210 to swing freely.

[0046] In this embodiment, please refer to Figures 4 to 6 and combined Figure 1 and Figure 2 The push-pull electromagnet 320, also known as a telescopic electromagnet, consists of multiple electromagnets evenly surrounding the extension / retraction holes 111 on the walking chassis 100. The fixed end of each electromagnet 320 is fixed to the chassis base plate 110 of the walking chassis 100 via a bracket 321. The telescopic end of each electromagnet 320 is hinged to a stop seat 322, which is used to abut against the bottom spherical surface of the spherical brake ring 250. Furthermore, an elastic contact piece 323 is fixed on the stop seat 322 for contacting the spherical brake ring 250. The elastic contact piece 323 is preferably, but not limited to, a rubber sheet. Contacting the spherical brake ring via the elastic contact piece 323 provides a better locking effect, and the elastic contact piece 323 is detachable for easy replacement. In other embodiments, the stop seat 322 can also be designed as an elastic contact seat, which, in turn, provides a good locking effect when contacting the spherical brake ring.

[0047] Please also refer to Figures 1 to 11 This embodiment also provides an operation method for an unmanned walking vehicle used for in-situ deployment and retrieval of DGTs on tidal flats, including the following steps: S1. First, control the walking chassis 100 to make the unmanned walking vehicle equipped with the flat-plate DGT device 500 walk to the preset tidal flat sediment sampling point; then, control the telescopic end of the push-pull electromagnet 320 to leave the spherical brake ring 250, so that the DGT retraction device 200 swings to the vertical direction under the action of gravity, completing the vertical positioning of the flat-plate DGT device 500; then, control the telescopic end of the push-pull electromagnet 320 to press against the spherical brake ring to maintain the current orientation of the flat-plate DGT device 500. S2. First, control the winch 220 to release the hoisting rope 224, causing the vibratory tamper 230 and DGT clamping mechanism 240 to move down along the movable support frame 210, so as to initially insert the flat plate DGT device 500 into the tidal flat sediment; then, control the winch 220 to continue releasing the hoisting rope 224 for a predetermined length, and control the DGT clamping mechanism 240 to release the flat plate DGT device 500; subsequently, start the vibratory tamper 230, and use the vertical vibration force of the vibratory tamper 230 to further press the flat plate DGT device 500 into the tidal flat sediment to a predetermined depth; finally, turn off the vibratory tamper 230, and the unmanned walking vehicle waits in place; S3. After waiting for the preset time, the flat-plate DGT device 500 has accumulated the target object in the tidal flat sediment. At this time, the DGT clamping mechanism 240 of the unmanned walking vehicle clamps the handle of the flat-plate DGT device 500. Then, the winch 220 is controlled to retract the hoisting rope 224, so that the vibratory tamper 230 and the DGT clamping mechanism 240 are lifted to the initial position, realizing the recovery of the flat-plate DGT device 500. Finally, the walking chassis 100 is controlled to return the unmanned walking vehicle to the shore workers.

[0048] In this embodiment, in step S1, the push-pull electromagnet 320 is energized by the controller 410, and the telescopic end of the push-pull electromagnet 320 retracts, causing the telescopic end of the push-pull electromagnet 320 to leave the spherical brake ring; the push-pull electromagnet 320 is de-energized, and the telescopic end of the push-pull electromagnet 320 extends under the action of its own spring, causing the telescopic end of the push-pull electromagnet 320 to press against the spherical brake ring.

[0049] In the description of this invention, it should be understood that the terms "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0050] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "multiple" means two or more, unless otherwise explicitly specified.

[0051] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0052] Any content not described in detail in this invention belongs to the prior art and will not be repeated here.

[0053] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An unmanned walking vehicle for in-situ deployment and retrieval of DGTs in tidal flats, characterized in that, include: A walking chassis for walking on mudflats; the walking chassis has retraction and extension holes for a flat-plate DGT device to pass through; DGT deployment and retrieval device, used for deploying and retrieving flat-plate DGT devices; the DGT deployment and retrieval device is located above the deployment and retrieval hole; the DGT deployment and retrieval device includes a movable support frame, a winch, a vibratory tamper, a DGT clamping mechanism and a spherical brake ring, the winch is fixed to the top of the movable support frame, the movable end of the winch's hoisting rope is connected to the vibratory tamper, the vibratory tamper is slidably mounted on the movable support frame, the DGT clamping mechanism is fixed to the vibratory tamper, and the spherical brake ring is fixed to the bottom of the movable support frame; A vertical positioning and locking mechanism is used for vertical positioning and locking of the DGT retraction and extension device; the vertical positioning and locking mechanism includes a fixed support frame and multiple push-pull electromagnets, the fixed support frame is fixed on the walking chassis, the movable support frame is movably suspended on the fixed support frame, the fixed ends of the multiple push-pull electromagnets are fixed on the walking chassis, and the telescopic ends of the push-pull electromagnets are used to press against the bottom spherical surface of the spherical brake ring; A controller is used to control the operation of the walking chassis, the DGT retraction and deployment device, and the vertical positioning and locking mechanism; the controller is electrically connected to the walking chassis, the DGT retraction and deployment device, and the vertical positioning and locking mechanism; the controller is equipped with a remote control that communicates wirelessly with it.

2. The unmanned walking vehicle for in-situ deployment and retrieval of DGTs in tidal flats according to claim 1, characterized in that, The walking chassis includes a chassis base plate, vertical support plates, a walking motor, and a multi-link walking mechanism. The retraction hole is opened at the center of the chassis base plate. Two vertical support plates are fixed on the chassis base plate and are symmetrically distributed on the left and right. The walking motor is fixed on the vertical support plates. The output end of the walking motor is fixedly connected to a rotating disk. The rotating disk is eccentrically hinged to the input end of the multi-link walking mechanism.

3. The unmanned walking vehicle for in-situ deployment and retrieval of DGTs on tidal flats according to claim 2, characterized in that, The multi-link walking mechanism includes a first Chebyshev linkage mechanism and a second Chebyshev linkage mechanism arranged side by side on the outer and inner sides. The chassis base plate has a first slide groove for the first Chebyshev linkage mechanism to pass through and a second slide groove for the second Chebyshev linkage mechanism to pass through. The first Chebyshev linkage mechanism includes a first active long rod, a first upper horizontal link, a first lower horizontal link, a first driven link, a first front swing rod, and a first rear swing rod. The second Chebyshev linkage mechanism includes a second active long rod, a second upper horizontal link, a second lower horizontal link, a second driven link, a second front swing rod, and a second rear swing rod. The lower ends of the first and second active long rods are eccentrically hinged to the rotating disk. The lower ends of the first and second front swing rods are hinged to the vertical support plate. The lower ends of the first and second rear swing rods are hinged to the vertical support plate. The first front swing rod and the first rear swing rod are parallel front to back. The second front swing rod and the second rear swing rod are parallel front to back. The upper end of the first active long rod is hinged to the front end of the first upper horizontal connecting rod, the upper end of the first driven connecting rod is hinged to the rear end of the first upper horizontal connecting rod, the front end of the first lower horizontal connecting rod and the upper end of the first front swing rod are hinged together in the middle of the first active long rod, the rear end of the first lower horizontal connecting rod, the lower end of the first driven connecting rod and the upper end of the first rear swing rod are hinged together, the first active long rod and the first driven connecting rod are parallel front to back, the first upper horizontal connecting rod and the first lower horizontal connecting rod are parallel vertically, the first active long rod, the first upper horizontal connecting rod, the first lower horizontal connecting rod and the first driven connecting rod form a first parallelogram linkage mechanism, the front and rear ends of the first upper horizontal connecting rod both extend downward with first support legs, and the lower end of the first support legs is fixedly connected to a first foot plate; The upper end of the second active long rod is hinged to the rear end of the second upper horizontal connecting rod, the upper end of the second driven connecting rod is hinged to the front end of the second upper horizontal connecting rod, the rear end of the second lower horizontal connecting rod and the upper end of the second rear swing rod are hinged together in the middle of the second active long rod, the front end of the second lower horizontal connecting rod, the lower end of the second driven connecting rod and the upper end of the first front swing rod are hinged together, the second driven connecting rod and the second active long rod are parallel front to back, the second upper horizontal connecting rod and the second lower horizontal connecting rod are parallel vertically, the second active long rod, the second upper horizontal connecting rod, the second lower horizontal connecting rod and the second driven connecting rod form a second parallelogram linkage mechanism, the front and rear ends of the second upper horizontal connecting rod both extend downward with second support legs, and the lower end of the second support legs is fixedly connected to a second foot plate; Both the first and second foot plates are foam floats.

4. The unmanned walking vehicle for in-situ deployment and retrieval of DGTs on tidal flats according to claim 1, characterized in that, The movable support frame includes a first support top plate, multiple guide rail columns, and multiple first support feet. The top of the first support top plate is movably connected to the top of the fixed support frame. The upper ends of the multiple guide rail columns are fixedly connected to the bottom of the first support top plate. The winch is fixed to the bottom of the first support top plate. The vibratory tamper is slidably mounted on the multiple guide rail columns. The lower ends of the multiple guide rail columns are respectively fixedly connected to the multiple first support feet. The multiple first support feet are fixedly connected to the top of the spherical brake ring.

5. The unmanned walking vehicle for in-situ deployment and retrieval of DGTs in tidal flats according to claim 1, characterized in that, The winch includes a first motor base, a winch motor, a winch, and a hoisting rope. The first motor base is fixed to the top of the movable support frame. The winch motor is fixed inside the first motor base. The output end of the winch motor is fixed to the winch. The hoisting rope is wound in the annular groove of the winch. One end of the hoisting rope is fixedly connected to the winch, and the other end of the hoisting rope is fixedly connected to the top of the vibratory tamper.

6. The unmanned walking vehicle for in-situ deployment and retrieval of DGTs on tidal flats according to claim 1, characterized in that, The vibratory tamper is a dual-motor counter-rotating vibratory tamper, which includes a vibratory base, a second motor base, and two dual-shaft motors. The vibratory base is slidably mounted on a movable support frame. The top of the vibratory base is connected to the movable end of the hoisting rope of the winch. The two dual-shaft motors are horizontally fixed side by side in the second motor base, and the second motor base is fixed in the vibratory base. One end of each of the two dual-shaft motors is fixed with a meshing and identical gear. Both ends of the two dual-shaft motors are symmetrically fixed with fan-shaped eccentric blocks. The vibrating seat includes a frame base and a frame top cover. The second motor seat includes a motor base and a motor upper pressure plate. The two dual-axis motors are horizontally fixed in parallel inside the motor base. The motor upper pressure plate is fixed on the motor base and presses down on the dual-axis motors. The motor base is fixed inside the frame base. The frame top cover is fixed on the frame base and presses down on the motor upper pressure plate. The frame top cover is fixedly connected to the movable end of the hoisting rope of the winch.

7. The unmanned walking vehicle for in-situ deployment and retrieval of DGTs on tidal flats according to claim 1, characterized in that, The DGT clamping mechanism includes a clamping base, a servo motor, a release arm, a gripper, and an elastic reset mechanism. The clamping base is fixedly connected to the bottom of the vibratory tamper. The clamping base is provided with a positioning groove for positioning the handle of the flat-plate DGT device. The middle part of the gripper is hinged to the clamping base to form a lever structure. One end of the gripper abuts against the clamping base under the action of the elastic reset mechanism to fix the flat-plate DGT device. The fixed end of the servo motor is fixed to the clamping base. The output end of the servo motor is fixed with a release arm. The release arm is used to actuate the other end of the gripper to release the flat-plate DGT device.

8. The unmanned walking vehicle for in-situ deployment and retrieval of DGTs in tidal flats according to claim 1, characterized in that, The fixed support frame includes a second support top plate, multiple fixed columns, and a second support base. The bottom center of the second support top plate is movably connected to the top of the movable support frame. The upper ends of the multiple fixed columns are fixedly connected to the bottom of the second support top plate, and the lower ends of the multiple fixed columns are correspondingly fixedly connected to the multiple second support bases. All of the multiple second support bases are fixedly connected to the walking chassis.

9. The unmanned walking vehicle for in-situ deployment and retrieval of DGTs on tidal flats according to claim 1, characterized in that, The top of the fixed support frame is movably connected to the top of the movable support frame via a universal joint; the fixed end of the push-pull electromagnet is fixed to the walking chassis via a bracket, and the telescopic end of the push-pull electromagnet is hinged with a stop seat, which is used to abut the bottom spherical surface of the spherical brake ring; an elastic contact piece for contacting the spherical brake ring is fixed on the stop seat.

10. An operating method for an unmanned walking vehicle for in-situ deployment and retrieval of DGTs on tidal flats as described in any one of claims 1 to 9, characterized in that, Includes the following steps: S1. First, control the walking chassis to make the unmanned walking vehicle equipped with the flat-plate DGT device walk to the preset tidal flat sediment sampling point; then, control the extension end of the push-pull electromagnet to leave the spherical brake ring, so that the DGT deployment device swings to the vertical direction under the action of gravity; then, control the extension end of the push-pull electromagnet to press against the spherical brake ring to maintain the current orientation of the flat-plate DGT device. S2. First, control the winch to release the hoisting rope, causing the vibratory tamper and DGT clamping mechanism to move down along the movable support frame, so as to initially insert the flat-plate DGT device into the tidal flat sediment; then, control the winch to continue releasing the hoisting rope for a predetermined length, and control the DGT clamping mechanism to release the flat-plate DGT device; subsequently, start the vibratory tamper, and use the vertical vibration force of the vibratory tamper to further press the flat-plate DGT device into the tidal flat sediment to a predetermined depth; finally, turn off the vibratory tamper, and the unmanned walking vehicle waits in place; S3. After waiting for the preset time, the flat-plate DGT device has accumulated the target object in the tidal flat sediment. At this time, control the DGT clamping mechanism of the unmanned walking vehicle to clamp the handle of the flat-plate DGT device. Then, control the winch to raise the hoisting rope, so that the vibratory rammer and the DGT clamping mechanism are raised to the initial position, realizing the recovery of the flat-plate DGT device. Finally, control the walking chassis to make the unmanned walking vehicle return to the shore workers.

Images