Automated sampling and pretreatment device

Abstract

The application discloses an automatic sampling and pretreatment device, which comprises a main control module, a sampling execution module, a work station matching module and a pretreatment module, wherein the work station matching module comprises a gas treatment area, a liquid treatment area and a solid treatment area; the main control module is used for receiving a target sampling task instruction, and generating a target sampling scheme and a target pretreatment scheme according to the target sampling task instruction; the sampling execution module is used for executing a sampling operation according to the target sampling scheme, obtaining a plurality of samples, and determining a plurality of sample media corresponding to the plurality of samples; the work station matching module is used for placing the plurality of samples; and the pretreatment module is used for pretreating the plurality of samples according to the target pretreatment scheme, and obtaining a plurality of pretreated samples. The application improves the efficiency of sample sampling and pretreatment.

Description

Technical Field

[0001] This application relates to the field of preprocessing technology, and in particular to an automated sampling and preprocessing device. Background Technology

[0002] In the field of environmental pollution monitoring and control, sample collection and pretreatment are key prerequisites for determining the accuracy of test results, and directly affect the reliability of subsequent pollutant concentration analysis and toxicity assessment.

[0003] Currently, most on-site sampling pretreatment equipment is designed for a single medium, such as dedicated water samplers, soil sampling drills, and solid waste samplers. In actual on-site operations, testing personnel need to carry multiple sets of equipment, frequently switch tools, and operate in a cumbersome and inefficient manner. Especially in the scenario of rapid response to sudden pollution accidents, it is difficult to meet the timeliness requirements.

[0004] Therefore, how to improve the efficiency of sample collection and preprocessing has become an urgent problem to be solved. Summary of the Invention

[0005] This application provides an automated sampling and preprocessing device that improves the efficiency of sample sampling and preprocessing.

[0006] In a first aspect, embodiments of this application provide an automated sampling and preprocessing device, comprising: a main control module, a sampling execution module, a workstation support module, and a preprocessing module, wherein the workstation support module includes: a gas processing area, a liquid processing area, and a solid processing area; wherein: The main control module is used to receive target sampling task instructions and generate target sampling schemes and target preprocessing schemes according to the target sampling task instructions. The sampling execution module is used to perform sampling operations according to the target sampling scheme to obtain a samples; where a is a positive integer; and to determine a sample media corresponding to the a samples; each sample medium includes any one of the following: gas, liquid, or solid; The gas processing area in the workstation module is used to place b samples of the a samples whose sample medium is gas; the liquid processing area is used to place c samples of the a samples whose sample medium is liquid; and the solid processing area is used to place d samples of the a samples whose sample medium is solid; b, c, and d are all natural numbers, and b + c + d = a. The preprocessing module is used to preprocess the a samples according to the target preprocessing scheme to obtain a preprocessed samples.

[0007] Secondly, embodiments of this application provide an automated sampling and preprocessing system, including the automated sampling and preprocessing apparatus as described in the first aspect.

[0008] Implementing this application will have the following beneficial effects: As can be seen, the automated sampling and pretreatment device described in this application automatically generates sampling and pretreatment plans through the main control module, replacing manual judgment and manual switching processes, thus reducing operation preparation and decision-making time. The sampling execution module can complete the collection of gas, liquid, and solid multi-media samples in one go, avoiding the need to carry and change multiple sets of dedicated equipment on site. The workstation supporting module independently places samples according to media zones, enabling the pretreatment module to perform standardized operations synchronously or sequentially for different media without the need for repeated cleaning and adjustment of workstations. The synergistic effect of the above design significantly reduces the complexity of on-site operations and equipment switching costs, thereby improving the efficiency of sample sampling and pretreatment. Attached Figure Description

[0009] To more clearly illustrate the technical solutions in the embodiments of this application or the background art, the accompanying drawings used in the embodiments of this application or the background art will be described below.

[0010] Figure 1 This is a schematic diagram of the structure of an automated sampling and preprocessing device provided in an embodiment of this application; Figure 2 This is a structural schematic diagram of a workstation supporting module provided in an embodiment of this application; Figure 3 This is a schematic diagram of the structure of a sampling execution module provided in an embodiment of this application; Figure 4 This is a schematic diagram of the structure of a preprocessing module provided in an embodiment of this application; Figure 5 This is a schematic diagram of the structure of a gas pretreatment unit provided in an embodiment of this application; Figure 6 This is a schematic diagram of the structure of a liquid pretreatment unit provided in an embodiment of this application; Figure 7 This is a schematic diagram of the structure of a liquid sampling unit for toxicity detection provided in an embodiment of this application; Figure 8 This is a schematic diagram of the structure of a liquid sampling unit for detecting pollutant concentration provided in an embodiment of this application. Detailed Implementation

[0011] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.

[0012] The terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or apparatuses.

[0013] It should be understood that the term "and / or" in this document is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this document indicates that the preceding and following related objects are in an "or" relationship. In the embodiments of this application, "multiple" refers to two or more.

[0014] In the embodiments of this application, "at least one item" or its similar expression refers to any combination of these items, including any combination of a single item or a plurality of items. "One or more" means one or more, while "multiple" means two or more. For example, "at least one item" of a, b, or c can represent the following seven cases: a, b, c; a and b; a and c; b and c; a, b, and c. Each of a, b, and c can be an element or a set containing one or more elements.

[0015] In this application, the term "connection" refers to various connection methods, such as direct connection or indirect connection, to achieve communication between devices. This application does not impose any limitations on this.

[0016] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0017] The electronic device described in the embodiments of this application may include an automated sampling and preprocessing device, or a main control module of an automated sampling and preprocessing device.

[0018] The following describes the relevant content, concepts, meanings, technical issues, technical solutions, and beneficial effects involved in the embodiments of this application.

[0019] First, let me explain some of the technical terms or phrases used in this application: Vial: A small glass or plastic container with a rubber stopper and aluminum cap that provides good airtightness and pressure resistance.

[0020] Absorbent: A pre-prepared liquid medium in a reaction tube used to absorb target pollutants in a gaseous sample. When the gas to be tested is passed into the absorbent, the gaseous pollutants (e.g., ammonia, hydrogen sulfide, volatile organic compounds, etc.) transfer from the gas phase to the liquid phase, completing the gas-liquid conversion. The converted absorbent can then be used for subsequent operations following the pretreatment procedure for liquid samples, thereby enabling the detection of toxicity or concentration in the gaseous sample.

[0021] Resuscitation solution: A specialized solution containing nutrients, buffer salts, and osmotic pressure regulators, used to restore the metabolic activity of luminescent bacteria (e.g., Vibrio fischeri) or other organisms. In the pretreatment process for toxicity testing, the resuscitation solution is injected quantitatively into vials and mixed with the filtered water sample (or the absorbent after gas-liquid conversion), providing a standardized reaction environment for the biological indicator and ensuring the stability and repeatability of the toxicity test results.

[0022] Please see Figure 1 , Figure 1 This is a schematic diagram of the structure of an automated sampling and preprocessing device provided in an embodiment of this application; it can be seen that the automated sampling and preprocessing device (hereinafter referred to as the device) may include: a main control module, a sampling execution module, a workstation supporting module, and a preprocessing module; then, please refer to Figure 2 , Figure 2 This is a schematic diagram of a workstation supporting module provided in an embodiment of this application; it can be seen that the workstation supporting module includes: a gas processing area, a liquid processing area, and a solid processing area; wherein: The main control module is used to receive target sampling task instructions and generate target sampling schemes and target preprocessing schemes according to the target sampling task instructions.

[0023] In a specific embodiment, the main control module can receive the target sampling task instruction from the outside through a preset interaction method. The preset interaction method can include any of the following: touch screen human-computer interaction, remote wireless communication, serial port instruction or upper computer software, etc., which are not limited here. Then, the target sampling task instruction is parsed and the corresponding target sampling scheme and target preprocessing scheme are generated. Then, the target sampling scheme can be sent to the sampling execution module and the target preprocessing scheme can be sent to the preprocessing module.

[0024] In some embodiments, the target sampling scheme includes a sets of sampling parameters; the target preprocessing scheme includes a sets of preprocessing parameters; and in generating the target sampling scheme and the target preprocessing scheme according to the target sampling task instruction, the main control module is specifically used for: S11. Parse the target sampling task instruction to obtain a sample name, a sample location and a sample purpose; S12. Determine the names and locations of the a samples, and determine the a sets of sampling parameters; S13. Determine the set of a preprocessing parameters based on the names and uses of the a samples.

[0025] In a specific embodiment, the target sampling task instruction is first parsed to obtain 'a' sample names, 'a' sample locations, and 'a' sample uses. Specifically, the target sampling task instruction can be split according to a preset data format (e.g., JSON, XML, or a custom delimiter). Each sample record in the instruction contains three required fields: Sample name (e.g., "Water Sample No. 1", "Soil A"); Sample location (e.g., GPS coordinates or site description text); Sample intended use (indicate whether it is for toxicity testing or contaminant concentration testing).

[0026] The above information is extracted by field matching, and a sample list containing a records is generated. The sample list includes a sample name, a sample location, and a sample purpose. If the instruction does not explicitly provide a certain field, the default value can be called or the prompt interface of the main control module can be triggered for the operator to supplement.

[0027] Next, determine *a* sample names and *a* sample locations, and determine *a* sets of sampling parameters. Specifically, the main control module can have a built-in preset sampling parameter knowledge base. This preset sampling parameter knowledge base stores recommended sampling parameter sets corresponding to different sample types and sampling environments in tabular form. It can determine the sample type of the sample to be tested based on the sample name and the sampling environment of the corresponding location based on the sample location. Based on the dual search conditions of sample type and sampling environment obtained from the analysis, it traverses the preset sampling parameter knowledge base and automatically matches and generates the sampling parameter set corresponding to a single set of samples. It completes the parameter matching of all *a* samples in sequence, and finally obtains *a* sets of sampling parameters. For example, if the sample name contains "water" and the sample location contains "river": the automatically matched sampling parameter set is a sampling volume of 500 mL, a sampling depth of 0.5 m, and a peristaltic pump flow rate of 200 mL / min. For another example, if the sample name contains "soil" and the location contains "surface": the automatically matched parameter set is a sampling mass of 1 kg, a sampling depth of 0~20 cm, and a sampling drill bit diameter of 3 cm.

[0028] Then, based on the names and uses of the samples, a sets of pretreatment parameters can be determined. Specifically, the main control module can have a built-in pretreatment parameter knowledge base. It can traverse the pretreatment parameter knowledge base based on the dual search conditions of sample name and sample use, automatically match and generate the pretreatment parameter set corresponding to a single sample, and complete the parameter matching of all a samples in sequence to finally obtain a sets of pretreatment parameters. For example, if a sample name is "Water Sample No. 1" and its corresponding sample use is "toxicity detection", the pretreatment parameter set can be: filter pore size 0.45μm, take 1mL of filtrate, 1mL of resuscitation solution, shake for 30s; thus, a sets of pretreatment parameters can be obtained.

[0029] In some embodiments, the main control module allows operators to manually modify the automatically generated parameter set; the modified parameter set is used for the current sampling task.

[0030] In this way, by parsing the target sampling task instructions and automatically matching the sampling and preprocessing parameter sets, manual judgment and setting are avoided, reducing the risk of misoperation. At the same time, it supports unified processing of multi-media and multi-purpose tasks, improving sampling efficiency.

[0031] The sampling execution module is used to perform sampling operations according to the target sampling scheme to obtain a samples; a is a positive integer; and to determine a sample medium corresponding to the a samples; each sample medium includes any one of the following: gas, liquid, or solid.

[0032] In a specific embodiment, the sampling execution module can receive the target sampling scheme sent by the main control module, and then automatically perform sampling operations based on the target sampling scheme to obtain a samples; the a sample media corresponding to the a samples can be determined by pre-storing a preset mapping relationship between samples and sample media, and determining the a sample media corresponding to the a samples based on the mapping relationship.

[0033] In some embodiments, please refer to Figure 3 , Figure 3 This is a schematic diagram of a sampling execution module provided in an embodiment of this application. As can be seen, the sampling execution module includes: a robotic arm and a positioning unit; the positioning unit is disposed on the robotic arm; in terms of performing sampling operations according to the target sampling scheme to obtain a samples, the sampling execution module is specifically used for: S21. The first position of the robotic arm is determined by the positioning unit; S22. Obtain the gas storage location corresponding to the gas processing zone, the liquid storage location corresponding to the liquid processing zone, and the solid storage location corresponding to the solid processing zone; S23. Determine the target movement trajectory based on the first position, the a sample positions, the gas storage position, the liquid storage position, and the solid storage position; S24. Control the robotic arm to perform sampling operations according to the target motion trajectory to obtain the a samples.

[0034] In the embodiments of this application, the positioning unit may include any of the following: laser rangefinder, visual positioning camera, grating ruler, magnetic grating ruler, etc., without limitation.

[0035] In a specific embodiment, the positioning unit collects the current position data of the robotic arm in real time; the main control module reads the position data, and after coordinate transformation, obtains the three-dimensional coordinates (X1, Y1, Z1) of the robotic arm in the workspace, which is recorded as the first position; this first position serves as the starting point for subsequent trajectory planning; then, the gas storage position corresponding to the gas processing area, the liquid storage position corresponding to the liquid processing area, and the solid storage position corresponding to the solid processing area can be obtained. Specifically, the gas processing area, liquid processing area, and solid processing area in the workstation supporting module each have fixed and known coordinate positions; these positions are pre-calibrated and stored in the preset database of the main control module, or set in each area in the form of QR codes / positioning marks for the main control module to read; the main control module retrieves the gas storage position (X_g, Y_g, Z_g), the liquid storage position (X_l, Y_l, Z_l), and the solid storage position (X_s, Y_s, Z_s) respectively.

[0036] Then, the target trajectory can be determined based on the first position, a sample positions, gas storage position, liquid storage position, and solid storage position; specifically, the sampling execution module may include a trajectory planning unit, and the input parameters of the trajectory planning unit include: Starting point: First position; Route points: After collecting each sample, it needs to go to the storage location of the corresponding medium processing area; the trajectory planning unit incorporates the above transportation tasks into the overall path, forming an alternating path sequence of 'sampling point-processing area-sampling point'; Target point: The actual sampling location of each sample (i.e., a sample locations); The trajectory planning unit can use inverse kinematics algorithms, combined with joint constraints, velocity, and acceleration constraints of the robotic arm, to generate a collision-free, smooth motion trajectory. This trajectory is expressed as a sequence of interpolation points (e.g., linear interpolation, circular interpolation). If multiple sampling points are involved (i.e., a > 1), the trajectory planning unit will automatically calculate the optimal access order (i.e., a simplified solution to the "Traveling Salesman Problem," or sorting by the geographical proximity of the sampling locations) to minimize the total motion time, thereby obtaining the target motion trajectory.

[0037] Finally, the robotic arm can be controlled to perform sampling operations according to the target motion trajectory to obtain a samples. Specifically, the robotic arm can be controlled to move along the target motion trajectory. Each time it passes a sample position, a sampling operation is performed to obtain a sample. The sample is then placed in the corresponding processing area. Finally, the robotic arm completes the target motion trajectory and obtains a samples.

[0038] In this way, by obtaining the current position of the robotic arm in real time through the positioning unit, and combining it with the pre-stored positions of the gas, liquid, and solid processing areas and the sampling positions of a samples, a comprehensive trajectory planning is carried out. This enables the robotic arm to automatically complete the collection and repositioning of multi-media samples in the shortest path and optimal order, avoiding the time consumption and positional deviation caused by manual guidance or repeated positioning. This significantly improves sampling efficiency and positioning accuracy, and realizes the orderly, rapid, and automated collection of samples of different media.

[0039] In some embodiments, please refer to Figure 3 It can be seen that the sampling execution module further includes: a peristaltic pump, an air pump, a gripper actuator, and a suction cup actuator; in terms of controlling the robotic arm to perform sampling operations according to the target motion trajectory to obtain the a samples, the sampling execution module is specifically used for: S31. Based on the target motion trajectory, control the robotic arm to move to the first sample position where the first sample is located; the first sample is one of the a samples; the first sample corresponds to the first sampling parameter set in the a sampling parameter set; S32. Determine the first sample medium corresponding to the first sample; S33. When the first sample medium includes gas, the gas pump is started based on the first sampling parameter set to draw the gas sample into the gas sampling container at the gas storage location to obtain the first sample. S34. When the first sample medium includes liquid, start the peristaltic pump based on the first sampling parameter set to draw the liquid sample into the liquid sampling container at the liquid storage location to obtain the first sample. S35. When the first sample medium includes a solid, the robotic arm drives the gripper or the suction cup actuator based on the first sampling parameter set to collect a solid sample and place the solid sample into a solid sampling container at the solid storage location to obtain the first sample.

[0040] In this embodiment, the robotic arm can be controlled to move to the first sample position of the first sample according to the target motion trajectory. Specifically, the main control module can calculate the target motion trajectory into a continuous position command sequence and send it to the servo driver of the robotic arm cycle by cycle. During the movement of the robotic arm along the command sequence, the positioning unit detects the current coordinates of the end of the robotic arm in real time at a set frequency (e.g., 100Hz). The main control module compares the current coordinates with the coordinates of the first sample position and calculates the deviation value. When the absolute value of the deviation value is less than a preset threshold (e.g., 0.05mm), it is determined that the robotic arm has reached the first sample position, stops moving, and enters the sampling operation. Then, the first sample medium corresponding to the first sample among a sample mediums can be found.

[0041] When the first sample medium includes gas, a gas pump is started based on a first set of sampling parameters to draw the gas sample into a gas sampling container at the gas storage location, thus obtaining the first sample. Specifically, a start command is sent to the gas pump according to the first set of sampling parameters (including sampling duration, sampling rate, etc.). The gas pump is connected to the sampling point (e.g., ambient air or exhaust port) through a gas pipeline and draws the gas sample into a gas sampling container (e.g., sampling bag or absorption tube) pre-placed in the gas processing area. During the sampling process, the flow rate can be monitored in real time by a flow sensor. When the cumulative sampling volume reaches a preset value, the gas pump automatically shuts off, completing the gas sample collection and obtaining the first sample.

[0042] When the first sample medium includes a liquid, a peristaltic pump is activated based on a first set of sampling parameters to draw the liquid sample into a liquid sampling container located at the liquid storage position, thus obtaining the first sample. Specifically, the peristaltic pump is activated according to the first set of sampling parameters (including sampling volume, sampling flow rate, etc.). The pump head of the peristaltic pump squeezes the silicone tubing, drawing the liquid sample from the sampling point (e.g., a river, wastewater pond) through the pipeline into a liquid sampling container (e.g., a centrifuge tube or sampling bottle) pre-placed in the liquid processing area. The peristaltic pump can precisely control the sampling volume (error ≤ 1%), and the liquid only contacts the inner wall of the tubing, avoiding cross-contamination. When the preset sampling volume is reached, the peristaltic pump stops operating, and the first sample is obtained.

[0043] When the first sample medium includes a solid, a robotic arm drives a gripper or suction cup actuator based on a first set of sampling parameters to collect the solid sample and place it into a solid sampling container at the solid storage location, thus obtaining the first sample. Specifically, according to the first set of sampling parameters (including sampling depth, sampling quality, etc.), the robotic arm is controlled to move to the solid sampling point. The robotic arm selects the end effector based on the sample shape. If it is loose soil or solid waste, use a gripper actuator to hold the sampling spoon or sampling drill, extract a quantitative amount, and transfer it to a solid sampling container (e.g., petri dish or sample cup) in the solid processing area to obtain the first sample; For flat surfaces or samples requiring non-destructive sampling (e.g., dust, powder), a suction cup actuator is used to adsorb the special sampling head. After adsorption, the sample is released into a solid sampling container to obtain the first sample.

[0044] In this way, the robotic arm is automatically moved to the sampling point according to the target motion trajectory, and the air pump, peristaltic pump, or robotic arm actuator is adaptively selected according to the sample medium type to complete the sampling. At the same time, the sample is directly returned to the dedicated container in the corresponding processing area. This achieves fully automated operation from positioning and sampling to return, eliminating the need for manual tool switching or manual sample transfer, avoiding cross-contamination between different media, and significantly improving the operation efficiency and sample accuracy in multi-media mixed sampling scenarios.

[0045] The gas processing area in the workstation module is used to place b samples of the a samples whose sample medium is gas; the liquid processing area is used to place c samples of the a samples whose sample medium is liquid; and the solid processing area is used to place d samples of the a samples whose sample medium is solid; b, c, and d are all natural numbers, and b + c + d = a.

[0046] In a specific embodiment, the workstation support module provides a standardized physical working environment for sampling preprocessing. Besides the gas processing area, liquid processing area, and solid processing area, the workstation support module may also include: multiple functional workstations, waste collection bins, consumable storage bins, etc., which are not limited here. The multiple functional workstations may include at least one of the following: sample receiving station, filtration station, weighing station, extraction station, dispensing station, oscillation station, X-ray detection preparation station, etc., which are not limited here. Multiple functional workstations provide fixed working positions for pre-processing operations. With the positioning sensors equipped at each workstation, the robotic arm can be precisely aligned, ensuring that the position and process are consistent for each operation.

[0047] The consumables storage compartment has built-in monitoring sensors that can monitor the remaining amount of disposable filter funnels, vials, membranes, filter media, and other consumables in real time, enabling automated replenishment.

[0048] The waste collection bins collect disposable consumables and testing waste liquids separately, requiring no manual intervention and ensuring continuous operation.

[0049] In this way, the workstation supporting modules provide a reliable, efficient and pollution-proof basic operating environment for the automated pretreatment of multi-media samples through zoned layout, standardized workstation settings and automated replenishment / waste liquid collection mechanisms.

[0050] The preprocessing module is used to preprocess the a samples according to the target preprocessing scheme to obtain a preprocessed samples.

[0051] In a specific embodiment, for each of the a samples, the preprocessing module can extract the corresponding preprocessing parameter set from the target preprocessing scheme, and preprocess the sample according to the preprocessing parameter set to obtain a preprocessed samples.

[0052] In some embodiments, please refer to Figure 4 , Figure 4 This is a schematic diagram of a pretreatment module provided in an embodiment of this application. As can be seen, the pretreatment module includes: a gas pretreatment unit, a liquid pretreatment unit, and a solid pretreatment unit; the a pretreatment samples include: b pretreatment samples, c pretreatment samples, and d pretreatment samples; in terms of pretreating the a samples according to the target pretreatment scheme to obtain a pretreatment samples, the pretreatment module is specifically used for: S41. The gas pretreatment unit pretreatments the b samples according to the target pretreatment scheme to obtain the b pretreated samples. S42. The c samples are pretreated by the liquid pretreatment unit according to the target pretreatment scheme to obtain the c pretreated samples. S43. The solid pretreatment unit pretreatments the d samples according to the target pretreatment scheme to obtain the d pretreated samples.

[0053] In a specific embodiment, the gas pretreatment unit pretreats b samples according to the target pretreatment scheme to obtain b pretreated samples. Specifically, b pretreatment parameter sets corresponding to the b samples can be extracted from the target pretreatment scheme first; the gas pretreatment unit pretreats the corresponding samples in the b samples according to these b pretreatment parameter sets to obtain b pretreated samples.

[0054] The liquid pretreatment unit pretreats c samples according to the target pretreatment scheme to obtain c pretreated samples. Specifically, c pretreatment parameter sets corresponding to c samples can be extracted from the target pretreatment scheme. The liquid pretreatment unit pretreats the corresponding samples in the c samples according to these c pretreatment parameter sets to obtain c pretreated samples.

[0055] The solid pretreatment unit preprocesses d samples according to the target pretreatment scheme to obtain d pretreated samples. Specifically, d pretreatment parameter sets corresponding to d samples can be extracted from the target pretreatment scheme. The solid pretreatment unit preprocesses the corresponding samples in the d samples according to these d pretreatment parameter sets to obtain d pretreated samples.

[0056] Thus, by setting up separate pretreatment units for gases, liquids, and solids, and executing dedicated processing procedures for each medium sample according to the target pretreatment scheme, parallel or sequential automated pretreatment of multi-medium samples is achieved on a unified platform. This specialized design avoids cross-contamination caused by using mixed processing equipment, while each unit can operate independently according to standardized parameters, ensuring the consistency and repeatability of pretreatment results, thereby significantly improving pretreatment efficiency and sample quality in multi-medium mixed scenarios.

[0057] In some embodiments, please refer to Figure 5 , Figure 5 This is a schematic diagram of a gas pretreatment unit provided in an embodiment of this application. As can be seen, the gas pretreatment unit includes: a reaction tube and a first toxicity detection vial; the reaction tube contains an absorption liquid; in the process of pretreating the b samples according to the target pretreatment scheme to obtain the b pretreated samples, the gas pretreatment unit is specifically used for: S51. Determine the first preprocessing parameter set corresponding to the second sample from the a preprocessing parameter set; the second sample is any one of the b samples; S52. Based on the first pretreatment parameter set, control the air pump to send the second sample into the reaction tube, and use the absorption liquid to perform gas-liquid conversion on the second sample to obtain the target sample liquid; S53. The target sample liquid is sent into the first toxicity detection vial to obtain the pretreated sample corresponding to the second sample.

[0058] In a specific embodiment, a first pretreatment parameter set corresponding to the second sample can be extracted from a set of a pretreatment parameters. Then, based on the first pretreatment parameter set, a gas pump can be controlled to send the second sample into a reaction tube. The second sample is then subjected to gas-liquid conversion using an absorbent to obtain the target sample liquid. For example, assuming the sampling task is to detect the toxicity of ammonia in the air around a chemical plant, the first pretreatment parameter set may include: the absorbent is dilute sulfuric acid (concentration 0.01 mol / L), the absorbent volume is 10 mL, the gas sampling flow rate is 0.5 L / min, and the ventilation time is 10 min. Next, the main control module can start the gas pump to introduce ambient air (i.e., the second sample) into the reaction tube containing 10 mL of dilute sulfuric acid (i.e., the absorbent) through a delivery pipeline at a flow rate of 0.5 L / min. The ammonia in the gas reacts with the dilute sulfuric acid to generate ammonium sulfate, which dissolves in the absorbent. After 10 min of ventilation, the gas pump automatically shuts off, and the absorbent in the reaction tube is the target sample liquid after gas-liquid conversion.

[0059] Finally, the target sample liquid can be sent into the first toxicity test vial to obtain the pretreated sample corresponding to the second sample. For example, a robotic arm can pick up the reaction tube and slowly pour the target sample liquid in the reaction tube into the first toxicity test vial to obtain the pretreated sample corresponding to the second sample.

[0060] In some embodiments, the above-described apparatus may further include an oscillating mixing unit.

[0061] In some embodiments, the first pretreatment parameter set may further include: a filter pore size of 0.45 μm, a sample solution volume of 1 mL, and a resuscitation solution volume of 1 mL. The main control module starts a peristaltic pump to extract the target sample liquid from the reaction tube, filters it through a disposable filter funnel, and quantitatively injects 1 mL into the first toxicity detection vial. Subsequently, the robotic arm controls the resuscitation solution storage component to quantitatively inject 1 mL of resuscitation solution into the same vial. Next, the robotic arm transfers the first toxicity detection vial to the oscillation mixing unit and oscillates it at a preset speed (e.g., 300 rpm) for 30 seconds to fully mix the sample solution and the resuscitation solution. At this point, the vial contains the pretreated sample corresponding to the second sample, which can be directly used for subsequent luminescent bacterial toxicity detection.

[0062] In this way, the gas sample is automatically converted into an absorbent liquid, quantitatively transferred, and bottle-sealed according to the pretreatment parameter set. This achieves standardized conversion of gas medium into liquid sample, avoiding deviations caused by inconsistent absorbent liquid volume, aeration time, or mixing ratio when manually converting gas to liquid, and ensuring the consistency of pretreatment conditions for the same or different batches of gas samples.

[0063] In some embodiments, please refer to Figure 6 , Figure 6 This is a schematic diagram of a liquid pretreatment unit provided in an embodiment of this application. As can be seen, the liquid pretreatment unit includes: a toxicity detection liquid sampling unit and a contaminant concentration detection liquid sampling unit. In the process of pretreating the c samples according to the target pretreatment scheme to obtain the c pretreated samples, the liquid pretreatment unit is specifically used for: S61. Determine the second preprocessing parameter set corresponding to the third sample from the a preprocessing parameter set; the third sample is any one of the c samples. S62. Divide the third sample into a first part sample and a second part sample; S63. The first part of the sample is processed by the toxicity detection liquid sampling unit according to the second preprocessing parameter set to obtain the first sub-sample; S64. The second part of the sample is processed by the pollutant concentration detection liquid sampling unit according to the second preprocessing parameter set to obtain the second sub-sample; S65. Based on the first sub-sample and the second sub-sample, determine the pre-treated sample corresponding to the third sample.

[0064] In a specific embodiment, a second preprocessing parameter set corresponding to the third sample can be extracted from a set of a preprocessing parameters; then, the third sample is divided into a first part sample and a second part sample. Specifically, the third sample can be divided equally to obtain equal amounts of the first part sample and the second part sample; of course, it can also be divided according to a preset ratio (e.g., 7:3), where 70% of the sample is divided into the first part sample and the remaining 30% is divided into the second part sample.

[0065] Next, the first part of the sample can be processed by the toxicity detection liquid sampling unit according to the second preprocessing parameter set to obtain the first sub-sample; the second part of the sample can be processed by the pollutant concentration detection liquid sampling unit according to the second preprocessing parameter set to obtain the second sub-sample; finally, based on the first sub-sample and the second sub-sample, the preprocessed sample corresponding to the third sample is determined. Specifically, the first sub-sample and the second sub-sample can be directly used as the preprocessed sample corresponding to the third sample.

[0066] In this way, by dividing the same liquid sample into two parts and processing them in parallel through the toxicity detection liquid sampling unit and the pollutant concentration detection liquid sampling unit respectively, it is possible to obtain the pre-treated sample required for toxicity detection and concentration detection from a single sample at the same time; this avoids the workload of repeatedly collecting multiple samples to complete different detection items, and reduces the number of on-site samplings and the amount of samples used.

[0067] In some embodiments, please refer to Figure 7 , Figure 7 This is a schematic diagram of a toxicity detection liquid sampling unit provided in an embodiment of this application. As can be seen, the toxicity detection liquid sampling unit includes: a first filter funnel, a first water sample tube, a second toxicity detection vial, and a resuscitation fluid storage component; the resuscitation fluid storage component contains resuscitation fluid; the second pretreatment parameter set includes: a first resuscitation fluid dosage; in terms of processing the first portion of the sample according to the second pretreatment parameter set to obtain a first sub-sample, the toxicity detection liquid sampling unit is specifically used for: S71. Filter the first part of the sample through the first filter funnel to obtain the filtered first part of the sample; S72. The filtered first portion of the sample is sent into the second toxicity detection vial through the first water sample test tube, and the first amount of resuscitation fluid is sent into the second toxicity detection vial through the resuscitation fluid storage component, so that the resuscitation fluid is mixed with the filtered first portion of the sample to obtain the first sub-sample.

[0068] In a specific embodiment, a robotic arm can transfer a container containing the first part of the sample from the liquid processing area to the filtration position. The first filter funnel is a disposable consumable with a built-in filter membrane (pore size can be 0.45μm) and a collection tube is placed below it. The peristaltic pump is started to extract the first part of the sample from the original container and flow into the collection tube through the first filter funnel. The filter membrane traps suspended particles to obtain the filtered first part of the sample (filtrate). If there are many particles in the sample, an air pump can be started to assist in pressurized filtration.

[0069] Next, a peristaltic pump can be controlled to quantitatively extract the first portion of the filtered sample from the collection tube and inject it into the second toxicity test vial pre-placed at the workstation via the first water sample tube. Simultaneously, the resuscitation solution of the first amount is delivered into the second toxicity test vial through the resuscitation solution storage component, mixing the resuscitation solution with the filtered first portion of the sample to obtain the first subsample. Specifically, the resuscitation solution storage component may include a reservoir (containing resuscitation solution), a temperature control unit (maintaining 2~8℃), and a metering pump. The main control module, based on the first resuscitation solution volume (e.g., 1 mL), starts the metering pump to extract the resuscitation solution from the reservoir and inject it into the second toxicity test vial via tubing. Then, the second toxicity test vial can be transferred to the oscillation mixing unit. The main control module starts the oscillation mixing unit and oscillates according to preset parameters (e.g., 300 rpm, 30 seconds) to thoroughly mix the filtered sample with the resuscitation solution. After mixing, the liquid in the second toxicity test vial is the first subsample, which can be directly used for subsequent toxicity testing.

[0070] In this way, by filtering out suspended particulate matter from the sample, physical interference or toxicity additive effects of impurities on the biosensor elements of subsequent toxicity detection are avoided. Simultaneously, the filtered sample is mixed with the resuscitation solution in a precise ratio, providing a stable and controllable reaction environment for indicators such as luminescent bacteria. This approach improves the specificity and repeatability of toxicity detection results and ensures consistency in sample processing conditions for each sample through automated operation, reducing human error.

[0071] In some embodiments, please refer to Figure 8 , Figure 8 This is a schematic diagram of a liquid sampling unit for detecting pollutant concentration provided in an embodiment of this application. As can be seen, the liquid sampling unit for detecting pollutant concentration includes: a second filter funnel, a second water sample tube, and at least one multi-specification detection vial; the second pretreatment parameter set includes: at least one sample dosage; in terms of processing the second portion of the sample according to the second pretreatment parameter set to obtain a second sub-sample, the liquid sampling unit for detecting pollutant concentration is specifically used for: S81. The second part of the sample is filtered through the second filter funnel to obtain the filtered second part of the sample; S82. Based on the amount of at least one sample, the filtered second portion of the sample is sent into the at least one multi-specification test vial through the second water sample tube to obtain the second sub-sample.

[0072] In a specific embodiment, the robotic arm is controlled to transfer the container containing the second part of the sample from the liquid processing area to the filtration position. A collection tube is placed below the second filter funnel, and a peristaltic pump is controlled to extract the second part of the sample from the original container. The sample flows into the collection tube through the second filter funnel, and the filter membrane traps suspended particles to obtain the filtered second part of the sample. Then, according to the amount of at least one sample, the filtered second part of the sample can be sent into at least one multi-size test vial through the second water sample tube to obtain the second sub-sample.

[0073] In some embodiments, the second pretreatment parameter set may include a list of detection items (e.g., simultaneous detection of COD, ammonia nitrogen, and total phosphorus), determining the sample volume and vial size corresponding to each detection item. Each of the at least one multi-size detection vial may be pre-filled with reagents corresponding to the detection item (e.g., COD digestion solution, Nessler's reagent, etc.). The main control module controls a peristaltic pump to quantitatively extract the filtered second portion of the sample from the collection tube, and sequentially injects it into each multi-size detection vial through a second water sample tube, with the injection volume consistent with the requirements of the corresponding detection item (e.g., 2 mL for COD, 5 mL for ammonia nitrogen). After injection, each vial contains the second sub-sample for different concentrations of the detection item. Additionally, the robotic arm can transfer these vials to an oscillation or heating position (e.g., heating is required for COD digestion) for subsequent detection.

[0074] It should be noted that the total amount of at least one sample is less than or equal to the amount of the second sample.

[0075] Thus, by first filtering the second batch of samples to remove the interference of suspended particulate matter on subsequent optical or electrochemical detection, the accuracy of concentration detection results is ensured. Then, according to the different sample volumes required for each detection item, the filtered samples are quantitatively injected into corresponding multi-size test vials. This enables the simultaneous pretreatment of multiple indicators such as COD, ammonia nitrogen, and total phosphorus from the same liquid sample. This method avoids the repetitive work of sampling and filtering for each indicator separately, reduces sample volume and consumable consumption, and ensures the accuracy of the volume of each sample through automated dispensing, significantly improving the pretreatment efficiency and data reliability of liquid pollutant concentration detection.

[0076] In some embodiments, the solid pretreatment unit includes: a toxicity detection solid sampling unit and a pollutant concentration detection solid sampling unit; In the process of preprocessing the d samples according to the target preprocessing scheme to obtain the d preprocessed samples, the solid preprocessing unit is specifically used for: S91. Determine the third preprocessing parameter set corresponding to the fourth sample from the a preprocessing parameter set; the fourth sample is any one of the d samples; S92. Divide the fourth sample into a third part sample and a fourth part sample; S93. The third part of the sample is processed by the toxicity detection solid sampling unit according to the third preprocessing parameter set to obtain the third sub-sample; S94. The fourth part of the sample is processed by the pollutant concentration detection solid sampling unit according to the third preprocessing parameter set to obtain the fourth sub-sample. S95. Based on the third sub-sample and the fourth sub-sample, determine the pre-treated sample corresponding to the fourth sample.

[0077] In a specific embodiment, a third preprocessing parameter set corresponding to the fourth sample is extracted from a set of a preprocessing parameters; then, the fourth sample can be divided into a third part sample and a fourth part sample. For example, the fourth sample can be divided equally to obtain an equal amount of third part sample and fourth part sample.

[0078] The third sample is obtained by processing the third part of the sample using the solid sampling unit for toxicity testing according to the third pretreatment parameter set. Specifically, the solid sampling unit for toxicity testing may include a weighing module, an extraction beaker, an ultrasonic stirrer, and a third toxicity testing vial. The third pretreatment parameter set may include: first dosage, extraction solution dosage, ultrasonic time and frequency, filtrate sampling volume, second resuscitation solution dosage, and oscillation time and speed. The pretreatment steps for the third part of the sample are as follows: Step 1, Weighing: The robotic arm transfers the beaker containing the third sample (a solid sample, such as soil or solid waste) to the weighing module. The weighing module accurately weighs the sample according to the first dosage (e.g., 5.00 g), and any excess sample is removed or added with the assistance of the robotic arm.

[0079] Step 2, Extraction: The robotic arm transfers the weighed sample to the extraction position; the peristaltic pump is controlled to inject deionized water (or a special extraction solution) into the extraction beaker according to the above-mentioned extraction solution volume (e.g., 50 mL). The ultrasonic stirring device is started, and the mixture is ultrasonically treated according to the above-mentioned ultrasonic time and frequency (e.g., frequency 20 kHz, time 5 minutes) to fully release the target contaminant in the sample into the liquid phase.

[0080] Step 3, solid-liquid separation: The robotic arm transfers the extraction beaker to the filtration position, pours the mixture from the beaker into the filter funnel, and can activate an air pump to assist positive pressure or vacuum filtration to achieve solid-liquid separation. The filtrate is collected in the receiving tube below, and disposable filter media and filter residue are automatically disposed of in the waste collection bin.

[0081] Step 4: Dispense the filtrate and add the resuscitation solution: The robotic arm places the third toxicity test vial at the dispensing station. A peristaltic pump quantitatively draws filtrate from the receiving tube according to the above-mentioned filtrate sampling volume (e.g., 1 mL) and injects it into the vial. Simultaneously, the resuscitation fluid storage assembly injects resuscitation fluid into the same vial according to the third resuscitation fluid dosage (e.g., 1 mL).

[0082] Step 5, Mixing and Output: The robotic arm transfers the third toxicity test vial to the oscillation mixing unit. Oscillation is performed according to the aforementioned oscillation time and speed (e.g., 300 rpm for 30 seconds) to thoroughly mix the filtrate and resuscitation solution. The liquid in the mixed vial is the third subsample (i.e., the pretreated sample for toxicity testing), which can be transferred to subsequent testing stations or directly output.

[0083] Next, the fourth sample can be processed by the solid sampling unit for detecting pollutant concentration according to the third preprocessing parameter set to obtain the fourth sub-sample. Specifically, the third preprocessing parameter set may also include: second dosage, flattening thickness, and film type (e.g., low background, high transmission X-ray film). The preprocessing steps for the fourth sample are as follows: Step 1, Sample loading: The robotic arm transfers a fourth portion of the sample (e.g., 5g) to a petri dish.

[0084] Step 2, Cover with film: The robotic arm uses a suction cup actuator or gripper actuator to grasp a special film and smoothly cover it onto the sample surface inside the petri dish. The film serves to prevent direct contact between the sample and the detection platform, avoiding contamination, while not affecting X-ray penetration.

[0085] Step 3, flatten: A robotic arm drives a flattening tool (e.g., an electric indenter or a plate held by grippers) to press vertically down with a constant pressure (e.g., 10 N) to flatten the sample surface covered with a thin film to a standardized thickness (e.g., 3 mm). During the flattening process, a positioning unit can monitor the pressing depth and automatically stop when the preset thickness is reached.

[0086] Step 4, Transfer for testing: The robotic arm transfers the flattened culture dish to the X-ray detection preparation position. At this point, the sample has a flat, uniform, and consistent thickness detection surface, which can be directly analyzed by X-ray fluorescence (XRF) or X-ray diffraction (XRD) without human intervention.

[0087] Finally, based on the third and fourth sub-samples, the pre-treatment sample corresponding to the fourth sample can be determined. Specifically, the third and fourth sub-samples can be directly used as pre-treatment samples.

[0088] In this way, by dividing the same solid sample into two parts and performing toxicity detection pretreatment and concentration detection pretreatment in parallel, duplicate sampling is avoided, and sample utilization and processing efficiency are improved.

[0089] In summary, the automated sampling and pretreatment device described in this application automatically generates sampling and pretreatment plans through the main control module, replacing manual judgment and switching processes, thus reducing preparation and decision-making time. The sampling execution module can complete the collection of gaseous, liquid, and solid multi-media samples in one go, avoiding the need to carry and change multiple sets of specialized equipment on-site. The workstation support module independently places samples according to media zones, enabling the pretreatment module to perform standardized operations synchronously or sequentially for different media without repeated cleaning and adjustment of workstations. The synergistic effect of the above design significantly reduces the complexity of on-site operations and equipment switching costs, thereby improving the efficiency of sample sampling and pretreatment.

[0090] This application also provides an automated sampling and preprocessing system, including any of the automated sampling and preprocessing devices described in the above embodiments.

[0091] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0092] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0093] In the several embodiments provided in this application, it should be understood that the disclosed apparatus can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of the units described above is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical or other forms.

[0094] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. This program can be stored in a computer-readable storage medium, and when executed, it can include the processes described in the above method embodiments. The aforementioned storage medium includes various media capable of storing program code, such as ROM or random access memory (RAM), magnetic disks, or optical disks.

[0095] The steps of the methods or algorithms described in the embodiments of this application can be implemented in hardware or by a processor executing software instructions. The software instructions can consist of corresponding software modules, which can be stored in RAM, flash memory, ROM, EPROM, electrically erasable programmable read-only memory (EEPROM), registers, hard disk, portable hard disk, read-only optical disk (CD-ROM), or any other form of storage medium well known in the art. An exemplary storage medium is coupled to a processor, enabling the processor to read information from and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and storage medium can reside in an ASIC. Furthermore, the ASIC can reside in a terminal device or management device. Alternatively, the processor and storage medium can exist as discrete components in the terminal device or management device.

[0096] Those skilled in the art will recognize that, in one or more of the examples above, the functions described in the embodiments of this application can be implemented, in whole or in part, by software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, in the form of a computer program product. This computer program product includes one or more computer instructions. When these computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated.

[0097] The aforementioned computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media.

[0098] The available media can be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., digital video discs (DVDs)), or semiconductor media (e.g., solid-state disks (SSDs)).

[0099] The modules / units included in the various devices and products described in the above embodiments can be software modules / units, hardware modules / units, or a combination of both. For example, for devices and products applied to or integrated into a chip, all modules / units can be implemented using hardware methods such as circuits, or at least some modules / units can be implemented using software programs that run on a processor integrated within the chip, while the remaining (if any) modules / units can be implemented using hardware methods such as circuits. For devices and products applied to or integrated into a chip module, all modules / units can be implemented using hardware methods such as circuits. Different modules / units can be located in the same component (e.g., chip, circuit module, etc.) or different components of the chip module, or at least some modules / units can be implemented using hardware methods such as circuits. The implementation is achieved through a software program that runs on the processor integrated within the chip module. The remaining modules / units (if any) can be implemented using hardware methods such as circuits. For various devices and products applied to or integrated into terminal equipment, each of their modules / units can be implemented using hardware methods such as circuits. Different modules / units can be located in the same component (e.g., chip, circuit module, etc.) or different components within the terminal equipment. Alternatively, at least some modules / units can be implemented through a software program that runs on the processor integrated within the terminal equipment, while the remaining modules / units (if any) can be implemented using hardware methods such as circuits.

[0100] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the embodiments of this application. It should be understood that the above descriptions are merely specific embodiments of the embodiments of this application and are not intended to limit the protection scope of the embodiments of this application. Any modifications, equivalent substitutions, improvements, etc., made on the basis of the technical solutions of the embodiments of this application should be included within the protection scope of the embodiments of this application.

Claims

1. An automated sampling and preprocessing device, characterized in that, include: The system comprises a main control module, a sampling execution module, a workstation support module, and a preprocessing module. The workstation support module includes a gas processing area, a liquid processing area, and a solid processing area. The main control module is used to receive target sampling task instructions and generate target sampling schemes and target preprocessing schemes according to the target sampling task instructions. The sampling execution module is used to perform sampling operations according to the target sampling scheme to obtain a samples; where a is a positive integer; and to determine a sample media corresponding to the a samples; each sample medium includes any one of the following: gas, liquid, or solid; The gas processing area in the workstation module is used to place b samples of the a samples whose sample medium is gas; the liquid processing area is used to place c samples of the a samples whose sample medium is liquid; and the solid processing area is used to place d samples of the a samples whose sample medium is solid; b, c, and d are all natural numbers, and b + c + d = a. The preprocessing module is used to preprocess the a samples according to the target preprocessing scheme to obtain a preprocessed samples.

2. The apparatus as claimed in claim 1, characterized in that, The target sampling scheme includes a sets of sampling parameters; the target preprocessing scheme includes a sets of preprocessing parameters; In generating the target sampling scheme and target preprocessing scheme according to the target sampling task instruction, the main control module is specifically used for: The target sampling task instruction is parsed to obtain a sample name, a sample location, and a sample purpose; Determine the names and locations of the a samples, and determine the sets of a sampling parameters; Based on the names and uses of the a samples, determine the a sets of preprocessing parameters.

3. The apparatus as described in claim 2, characterized in that, The sampling execution module includes: a robotic arm and a positioning unit; the positioning unit is disposed on the robotic arm; In the process of performing a sampling operation according to the target sampling scheme to obtain a samples, the sampling execution module is specifically used for: The first position of the robotic arm is determined by the positioning unit; Obtain the gas storage location corresponding to the gas processing zone, the liquid storage location corresponding to the liquid processing zone, and the solid storage location corresponding to the solid processing zone; The target trajectory is determined based on the first position, the a sample positions, the gas storage position, the liquid storage position, and the solid storage position. The robotic arm is controlled to perform a sampling operation based on the target motion trajectory to obtain the a samples.

4. The apparatus as described in claim 3, characterized in that, The sampling execution module also includes: a peristaltic pump, an air pump, a gripper actuator, and a suction cup actuator; In controlling the robotic arm to perform a sampling operation based on the target motion trajectory to obtain the a samples, the sampling execution module is specifically used for: Based on the target motion trajectory, the robotic arm is controlled to move to the first sample position where the first sample is located; the first sample is one of the a samples; the first sample corresponds to the first sampling parameter set in the a sampling parameter set; Determine the first sample medium corresponding to the first sample; When the first sample medium includes gas, the gas pump is started based on the first sampling parameter set to draw the gas sample into the gas sampling container at the gas storage location to obtain the first sample. When the first sample medium includes liquid, the peristaltic pump is started based on the first sampling parameter set to draw the liquid sample into the liquid sampling container at the liquid storage location to obtain the first sample. When the first sample medium includes a solid, the robotic arm drives the gripper or the suction cup actuator based on the first sampling parameter set to collect the solid sample and place the solid sample into the solid sampling container at the solid storage location to obtain the first sample.

5. The apparatus as described in claim 4, characterized in that, The pretreatment module includes: a gas pretreatment unit, a liquid pretreatment unit, and a solid pretreatment unit; the a pretreatment sample includes: b pretreatment sample, c pretreatment sample, and d pretreatment sample. In the process of preprocessing the a samples according to the target preprocessing scheme to obtain a preprocessed samples, the preprocessing module is specifically used for: The gas pretreatment unit pretreats the b samples according to the target pretreatment scheme to obtain the b pretreated samples. The c samples are pretreated using the liquid pretreatment unit according to the target pretreatment scheme to obtain the c pretreated samples. The solid pretreatment unit pretreats the d samples according to the target pretreatment scheme to obtain the d pretreated samples.

6. The apparatus as claimed in claim 5, characterized in that, The gas pretreatment unit includes: a reaction tube and a first toxicity detection vial; the reaction tube contains an absorption liquid. In the process of pretreating the b samples according to the target pretreatment scheme to obtain the b pretreated samples, the gas pretreatment unit is specifically used for: Determine the first preprocessing parameter set corresponding to the second sample from the set of a preprocessing parameters; the second sample is any one of the b samples. Based on the first set of pretreatment parameters, the gas pump is controlled to send the second sample into the reaction tube, and the second sample is gas-liquid converted by the absorption liquid to obtain the target sample liquid. The target sample liquid is fed into the first toxicity detection vial to obtain the pretreated sample corresponding to the second sample.

7. The apparatus as described in claim 5 or 6, characterized in that, The liquid pretreatment unit includes: a toxicity detection liquid sampling unit and a contaminant concentration detection liquid sampling unit; In the process of pretreating the c samples according to the target pretreatment scheme to obtain the c pretreated samples, the liquid pretreatment unit is specifically used for: Determine the second preprocessing parameter set corresponding to the third sample from the a preprocessing parameter set; the third sample is any one of the c samples. The third sample is divided into a first part of the sample and a second part of the sample; The first portion of the sample is processed by the toxicity detection liquid sampling unit according to the second preprocessing parameter set to obtain the first sub-sample; The second sample is processed by the pollutant concentration detection liquid sampling unit according to the second preprocessing parameter set to obtain the second sub-sample; Based on the first sub-sample and the second sub-sample, determine the pre-treated sample corresponding to the third sample.

8. The apparatus as claimed in claim 7, characterized in that, The toxicity detection liquid sampling unit includes: a first filter funnel, a first water sample tube, a second toxicity detection vial, and a resuscitation fluid storage component; the resuscitation fluid storage component contains resuscitation fluid; the second pretreatment parameter set includes: the first resuscitation fluid dosage; In the process of processing the first portion of the sample according to the second preprocessing parameter set to obtain the first sub-sample, the toxicity detection liquid sampling unit is specifically used for: The first portion of the sample is filtered through the first filter funnel to obtain the filtered first portion of the sample; The filtered first portion of the sample is sent into the second toxicity test vial through the first water sample tube, and the first amount of resuscitation fluid is sent into the second toxicity test vial through the resuscitation fluid storage assembly, so that the resuscitation fluid is mixed with the filtered first portion of the sample to obtain the first sub-sample.

9. The apparatus as claimed in claim 8, characterized in that, The pollutant concentration detection liquid sampling unit includes: a second filter funnel, a second water sample tube, and at least one multi-size detection vial; the second pretreatment parameter set includes: at least one sample dosage. In the process of processing the second portion of the sample according to the second preprocessing parameter set to obtain the second sub-sample, the contaminant concentration detection liquid sampling unit is specifically used for: The second part of the sample is filtered through the second filter funnel to obtain the filtered second part of the sample; Based on the amount of at least one sample, the filtered second portion of the sample is sent into the at least one multi-specification test vial through the second water sample tube to obtain the second sub-sample.

10. The apparatus as claimed in claim 5 or 6, characterized in that, The solid pretreatment unit includes: a solid sampling unit for toxicity detection and a solid sampling unit for pollutant concentration detection; In the process of preprocessing the d samples according to the target preprocessing scheme to obtain the d preprocessed samples, the solid preprocessing unit is specifically used for: Determine the third preprocessing parameter set corresponding to the fourth sample from the a preprocessing parameter set; the fourth sample is any one of the d samples. The fourth sample is divided into a third part sample and a fourth part sample; The third sub-sample is obtained by processing the third part of the sample using the toxicity detection solid sampling unit according to the third preprocessing parameter set. The fourth sub-sample is obtained by processing the fourth part of the sample using the pollutant concentration detection solid sampling unit according to the third preprocessing parameter set; Based on the third sub-sample and the fourth sub-sample, determine the pre-treated sample corresponding to the fourth sample.

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