A mobile sampling robot and sampling system

Abstract

The embodiment of the application relates to the technical field of robot sampling, and discloses a mobile sampling robot, which comprises a communication module, a controller, a moving assembly and a sampling assembly; the communication module is in communication connection with the controller, the communication module is configured to establish communication with other robots and / or external control equipment; the controller is in communication connection with the moving assembly and the sampling assembly, the controller is configured to control the moving assembly and / or the sampling assembly according to received instructions to control the robot to move to a sampling point to perform a sampling operation; the communication module and the controller are arranged in a robot main body, the moving assembly is arranged below the robot main body, and the sampling assembly is arranged above the moving assembly. The robot is connected with the external controller and other robots through the communication module to establish a communication connection, so that the robot can also perform data transmission with the external controller in a complex sampling scene to complete a sampling operation.

Description

Technical Field

[0001] This application relates to the field of robotic sampling technology, and more particularly to a mobile sampling robot and sampling system. Background Technology

[0002] Currently, as people pay increasing attention to environmental issues, the demand for environmental monitoring and sampling is constantly rising. In typical scenarios, exploration personnel carry communication and sampling equipment into the environment where sampling is required. They use sampling tools to collect samples and record the sampling location information using communication tools. After sampling is completed, the exploration personnel bring the collected samples back to the ground and analyze them in conjunction with the location information of the sampling points to obtain data information about the sampling environment.

[0003] However, in some special scenarios that could pose a life-threatening risk to exploration personnel or where the terrain is complex, it can be difficult for exploration personnel to complete the sampling work. Utility Model Content

[0004] The embodiments of this application mainly provide a mobile sampling robot that can complete sampling work in complex environments.

[0005] To solve the above-mentioned technical problems, the embodiments of this application adopt the following technical solutions:

[0006] In a first aspect, this application provides a mobile sampling robot, including: a communication module, a controller, a moving component, and a sampling component;

[0007] The communication module is connected to the controller and is configured to establish communication with other robots and / or external control devices.

[0008] The controller is communicatively connected to the moving component and the sampling component. The controller is configured to control the moving component and / or the sampling component according to the received instructions, so as to control the robot to move to the sampling point to perform sampling operations.

[0009] The communication module and controller are located in the robot body, the moving component is located below the robot body, and the sampling component is located above the moving component.

[0010] In some embodiments, the communication module includes a wireless cellular communication device.

[0011] In some embodiments, the sampling assembly includes a robotic arm, a water sampling tube, a water pump, and a sample container;

[0012] The water sampling tube includes a first water sampling tube and a second water sampling tube. The inlet of the first water sampling tube is exposed to the environment, and the outlet of the first water sampling tube is connected to the first end of the water pump.

[0013] The inlet of the second water sampling tube is connected to the second end of the water pump, and the outlet of the second water sampling tube is connected to the sample container.

[0014] The robotic arm is positioned below the first water sampling tube.

[0015] In some embodiments, the robot further includes a positioning module and a data acquisition module;

[0016] The positioning module is connected to the controller. The positioning module is configured to acquire the robot's position information and send it to the controller. The controller then sends the position information to an external control device through the communication module.

[0017] The data acquisition module is connected to the controller. The data acquisition module is configured to collect environmental information about the robot's location and send it to the controller. The controller then sends the environmental information to external control devices through the communication module.

[0018] In some embodiments, the positioning module includes a positioning chip.

[0019] In some embodiments, the data acquisition module includes a sensor, and the sensor includes a data acquisition unit;

[0020] The data collector is configured to acquire environmental data at the robot's location, and / or the data collector is configured to acquire data from samples collected by the robot.

[0021] In some embodiments, the sensor further includes a vision acquisition unit configured to acquire an environmental image of the robot's location.

[0022] In some embodiments, the robot also includes a lighting component configured to assist the vision collector in acquiring environmental images.

[0023] In some embodiments, the robot's main body surface is coated with a waterproof coating.

[0024] Secondly, embodiments of this application also provide a sampling system, including:

[0025] External control equipment;

[0026] And, as in the first aspect, any kind of mobile sampling robot.

[0027] The beneficial effects of this application's embodiments are as follows: Unlike existing technologies, this application provides a mobile sampling robot, comprising: a communication module, a controller, a moving component, and a sampling component. The communication module is communicatively connected to the controller and configured to establish communication with other robots and / or external control devices. The controller is communicatively connected to the moving component and the sampling component and configured to control the moving component and / or the sampling component according to received instructions, thereby controlling the robot to move to a sampling point for sampling operations. The communication module and the controller are disposed within the robot's main body, with the moving component located below the robot's main body and the sampling component located above the moving component. The robot establishes communication connections with external controllers and other robots through the communication module, enabling data transmission with external controllers even in complex sampling scenarios. Simultaneously, the robot controls the moving component and / or the sampling component according to received instructions through the controller to complete the sampling operation. Attached Figure Description

[0028] One or more embodiments are illustrated by way of example with reference numerals in the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.

[0029] Figure 1 This is a schematic diagram of the structure of a mobile sampling robot provided in an embodiment of this application;

[0030] Figure 2 This is a partial structural schematic diagram of a mobile sampling robot provided in an embodiment of this application;

[0031] Figure 3 This is a schematic diagram of a mobile sampling robot provided in an embodiment of this application;

[0032] Figure 4 This is a partial structural schematic diagram of a mobile sampling robot provided in an embodiment of this application;

[0033] Figure 5 This is a schematic diagram of the structure of a mobile sampling robot system provided in an embodiment of this application;

[0034] Figure 6 This is a schematic diagram of a water sampling vessel provided in an embodiment of this application. Detailed Implementation

[0035] The present application will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present application, but do not limit the present application in any way. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present application. These all fall within the protection scope of the present application.

[0036] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0037] It should be noted that, unless there is a conflict, the various features in the embodiments of this application can be combined with each other, all of which are within the protection scope of this application. Furthermore, although functional modules are divided in the device schematic diagram and a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order than the module division in the device or the order in the flowchart. In addition, the terms "first," "second," and "third" used herein do not limit the data or execution order, but only distinguish identical or similar items with essentially the same function and effect.

[0038] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of this application. The term "and / or" as used in this specification includes any and all combinations of one or more of the associated listed items.

[0039] Furthermore, the technical features involved in the various embodiments of this application described below can be combined with each other as long as they do not conflict with each other.

[0040] Please see Figure 1 This application provides a mobile sampling robot 100, including: a communication module 10, a controller 20, a moving component 30, and a sampling component 40. The communication module 10 is communicatively connected to the controller 20, and the controller 20 is communicatively connected to the moving component 30 and the sampling component 40. The communication module 10 and the controller 20 are disposed within the robot body 50, the moving component 30 is disposed below the robot body 50, and the sampling component 40 is disposed above the moving component 30.

[0041] The aforementioned communication module 10 is used for establishing communication between the mobile sampling robot 100 and other mobile sampling robots 100 and / or external control devices 200 to transmit data. For example, during the sampling process, the mobile sampling robot 100 collects data from the sampled sample or sampling environment and sends the collected data to the external control device 200 via the communication module 10 to assist in the analysis of problems in the current sampling environment.

[0042] The external control device 200 is used to send control commands to control the sampling work of the mobile sampling robot 100 based on the data returned by the mobile sampling robot 100. For example, if the data returned by the mobile sampling robot 100 includes data information of already sampled points, the external control device 200 sends control commands to the mobile sampling robot 100 based on the data information of the required sampling points and the data information of already sampled points sent by the mobile sampling robot 100, combined with factors such as the current sampling environment. These control commands can be planned path information or direct movement commands; this application does not impose any limitations on this.

[0043] The controller 20 of the mobile sampling robot 100 is used to control the moving component 30 and / or the sampling component 40 according to the instructions sent by the external control device 200 after the communication module 10 receives the instructions. For example, if the mobile sampling robot 100 receives a sampling instruction, the communication module 10 sends the received sampling instruction to the controller 20, and the controller 20 controls the moving component 30 to stop and controls the sampling component 40 to start sampling. If the mobile sampling robot 100 receives planned path information, the communication module 10 sends the path information to the controller 20, and the controller 20 controls the forward direction of the moving component 30 according to the path information, and controls the moving component 30 to stop after reaching the sampling point, and controls the sampling component 40 to perform sampling.

[0044] It is evident that even in complex scenarios where exploration personnel cannot work effectively, the mobile sampling robot 100 can still transmit data with the external controller 20 through the communication module 10. After receiving instructions from the external controller 20, it controls the mobile component 30 and / or the sampling component 40 according to the controller 20 to complete the sampling work, thereby increasing the applicable scenarios of the mobile sampling robot 100 and improving its applicability.

[0045] Please see Figure 2 and Figure 3The communication module 10 includes a wireless cellular communication device 11. That is, the mobile sampling robot 100 establishes communication connections with the external control device 200 and other mobile sampling robots 100 via a wireless cellular network. This enables the mobile sampling robot 100 to perform sampling and monitoring in scenarios where other forms of communication (such as radio waves or radar) are unavailable or sensitive, and also avoids communication connections being affected by electromagnetic interference, thus improving the applicability of the mobile sampling robot 100. In some embodiments, using high-speed wireless cellular network communication devices such as fifth-generation mobile communication technology (5G) can further improve the speed of information transmission, enabling real-time transmission of information such as location, path, and detection parameters to the external control device and other mobile sampling robots.

[0046] The sampling assembly 40 includes a robotic arm 41, a water sampling tube 42, a water pump 43, and a sample container 44. The water sampling tube 42 includes a first water sampling tube 421 and a second water sampling tube 422. The inlet end of the first water sampling tube 421 is exposed to the environment, and the outlet end of the first water sampling tube 421 is connected to one end of the water pump 43. The inlet end of the second water sampling tube 422 is connected to the second end of the water pump 43, and the outlet end of the second water sampling tube 422 is connected to the sample container 44. The robotic arm 41 is positioned below the first water sampling tube 421. The robotic arm 41 and the water pump 43 are communicatively connected to the controller 20. The movement assembly 30 is used for the robot's positional movement within the sampling environment. The movement assembly 30 is a device that enables the robot to move smoothly within the sampling environment, such as tracks or mountain rollers.

[0047] During the sampling process, the controller 20 controls the robotic arm 41 according to the instructions sent by the communication module 10, thereby controlling the position of the inlet end of the first water sampling tube 421 to control the sampling position. After the controller 20 completes the control of the robotic arm 41, it controls the water pump 43 to turn on, and samples are taken through the inlet of the first water sampling tube 421. The water pump 43 then transports the sample to the sample container 44 for storage through the second water sampling tube 422. For example, if it is necessary to sample wastewater at different depths in the same area, with a first sampling depth of 2 mm and a second sampling depth of 5 mm, after sampling at the first sampling depth, the controller 20 controls the robotic arm 41 to move down to achieve the second sampling depth. After the controller 20 controls the inlet of the first water sampling tube 421 to reach the first sampling depth or / and the second sampling depth, it controls the water pump 43 to turn on, and the water pump 43 transports the sample obtained from the first water sampling tube 421 to the second water sampling tube 422. The second water sampling tube 422 then transports the sample to the sample container 44 for storage.

[0048] By mounting the first water sampling tube 421 onto the robotic arm 41, the mobile sampling robot 100 can control the sampling position and depth via the controller 20, enabling it to perform various sampling tasks and improve sampling efficiency. In addition, the robotic arm 41 can also be used to collect solid samples, such as soil or silt samples, and combine these samples for comprehensive analysis.

[0049] Please see Figure 4 The mobile sampling robot 100 also includes a positioning module 60 and a data acquisition module 70. The positioning module 60 and data acquisition module 70 are communicatively connected to the controller 20. The controller 20 controls the positioning module 60 and data acquisition module 70 to acquire data information according to instructions sent by the external control device 200, and then sends the data information to the external control device 200 through the communication module 10. The positioning module 60 is used to acquire the location information of the mobile sampling robot 100 and send the acquired location information to the controller 20, which then sends it to the external control device 200 through the communication module 10. The data acquisition module 70 is used to collect environmental information about the location of the mobile sampling robot 100 and send it to the controller 20, which then sends the received environmental information to the external control device 200 through the motion module.

[0050] Please refer to it again. Figure 4 The positioning module 60 includes a positioning chip 61, which is a chip used to implement positioning functions. Alternatively, the positioning module 60 includes multiple components capable of implementing positioning functions. The positioning module 60 is communicatively connected to the controller 20. The mobile sampling robot 100 obtains position information through the positioning module 60 and sends the position information to the controller 20. The controller 20 sends the received position information to the external control device 200 through the communication module 10.

[0051] It is understood that the aforementioned location information includes not only the real-time location information of the mobile sampling robot 100, but also the location information of the sampling points where sampling has been completed. For example, if the external control device 200 only sends the required sampling area to the mobile sampling robot 100 and controls its movement and sampling based on the real-time location information of the mobile sampling robot 100, the mobile sampling robot 100 records the sampling point location information and sends it back to the external control device 200. The external control device 200 then controls the mobile sampling robot 100 to move based on the location information of the sampling points that have been sampled and performs the next sampling operation.

[0052] On the one hand, by setting a positioning chip 61 on the mobile sampling robot 100, the external control device 200 can obtain the position information of the mobile sampling robot 100 in real time, and adjust its travel path in combination with the position information of the sampling points that have been sampled, so as to ensure that the position distribution of the sampling points is uniform and reduce the impact of sample differences caused by uneven sampling on the final detection results. On the other hand, when the mobile sampling robot 100 is performing sampling operations, it can transmit the specific position information of the sampling points to the external control device 200 in combination with the positioning chip 61, so that when performing sample analysis, it can also perform comprehensive analysis based on the specific position information of the sampling points, thereby improving the efficiency of sample analysis.

[0053] The data acquisition module 70 includes a sensor 71, which includes a data acquisition unit 711. The data acquisition unit 711 is a sensor used to collect environmental data, such as a temperature sensor or a humidity sensor. The data acquisition unit 711 is communicatively connected to the controller 20 to collect environmental data at the location of the mobile sampling robot 100 and send the collected data to the controller 20. The controller 20 sends the received environmental data to the external control device 200 through the communication module 10. Alternatively, the data acquisition unit 711 obtains sample data of the samples collected by the mobile sampling robot 100 and sends it to the controller 20. The controller 20 sends the sample data to the external control device 200 through the communication module 10.

[0054] For example, during the sampling operation, the mobile sampling robot 100 can acquire specific data about the surrounding environment, such as air humidity or temperature, through the data acquisition device 711. The mobile sampling robot 100 can record the specific environmental data of the sampling point using the above method, and after sending it to the external control device 200, the external control device 200 can perform a comprehensive analysis by combining the sample and the environment of the sampling point, thereby improving the accuracy of the analysis results.

[0055] In some embodiments, the data acquisition device 711 can also acquire sample data and send it to the external control device 200 while the mobile sampling robot 100 is collecting samples. For example, if the current sample is a gas, the data acquisition device 711 acquires sample data such as gas concentration and humidity of the air sample in the current sample container 44 and sends it to the external control device 200.

[0056] According to specific sampling requirements, corresponding sensors 71 are set on the mobile sampling robot 100 to help the mobile sampling robot 100 acquire sample data when performing sampling work and transmit it back to the external control device 200 in real time to improve the effectiveness of sample detection results.

[0057] It is understood that the sample data and environmental data of the mobile sampling robot 100 mentioned above can be sent to the external control device 200 in real time during the sampling process, or they can be sent to the external control device 200 after the mobile sampling robot 100 returns to the ground after the sampling work is completed. This application does not make any restrictions here.

[0058] Please refer to it again. Figure 4 The sensor 71 also includes a vision acquisition unit 712 for acquiring environmental images of the location of the mobile sampling robot 100, including a wide-angle camera, an infrared camera, and a lidar. During the sampling operation, the mobile sampling robot 100 can acquire surrounding environmental images through the vision acquisition unit 712. On one hand, the mobile sampling robot 100 can record the environment of the sampling point through the aforementioned environmental images, and after sending them to the external control device 200, the external control device 200 can perform comprehensive analysis by combining the sample and the environment of the sampling point, thereby improving the accuracy of the analysis results. On the other hand, the controller 20 of the mobile sampling robot 100 can control the movement route of the mobile sampling robot 100 through the vision acquisition unit 712, identify obstacles in the environment through the acquired environmental images, and thus reasonably avoid obstacles on the movement route to prevent damage to the mobile sampling robot 100 due to collisions with obstacles.

[0059] Please see Figure 4 In addition, in some embodiments, the mobile sampling robot 100 also includes a lighting assembly 80 and a signal light 90, such as a lamp or any other device that can be used to supplement light, to assist the vision acquisition unit 712 in acquiring the current environmental image of the mobile sampling robot 100 in sampling environments with insufficient light. The signal light 90 can be used to indicate the robot's working status, such as start-up, running, paused, fault, etc. Different colors of signal lights or flashing patterns can represent different states.

[0060] By installing a lighting component 80 on the mobile sampling robot 100, the mobile sampling robot 100 can still obtain clear environmental images through the vision acquisition device 712 even in dimly lit sampling environments, thus enabling the mobile sampling robot 100 to efficiently complete sampling operations in low-light environments.

[0061] Please see Figure 3 The robot body 50 is also coated with a waterproof coating 51, which enables the robot to complete sampling work in high humidity sampling environments, such as underground channels, reducing the risk of damage to the mobile sampling robot 100 caused by high humidity sampling environments and reducing sampling costs.

[0062] This application also provides a sampling system, including an external control device 200 and any of the mobile sampling robots 100 described above.

[0063] Please see Figure 5 The mobile sampling robot 100 includes a first mobile sampling robot 101 and a second mobile sampling robot 102. The first mobile sampling robot 101 establishes communication connections with an external control device 200 and other first mobile sampling robots 101 and / or other second mobile sampling robots 102 via a wireless cellular network. The second mobile sampling robot 102 establishes communication connections with other second mobile sampling robots 102 via a wireless cellular network. That is, the external control device 200, the first mobile sampling robot 101, and the second mobile sampling robot 102 establish a mesh communication structure via a wireless cellular network.

[0064] The above method ensures that a malfunction in any mobile sampling robot 100 within the communication network will not affect the entire network, allowing other mobile sampling robots 100 that have not malfunctioned to continue operating. Furthermore, the mesh communication structure is easily expandable, allowing new mobile sampling robots 100 to be added to the network at any time without impacting the operation of the existing network. This enables the sampling system to flexibly adjust its scale according to task requirements, improving its applicability.

[0065] In some embodiments, the mobile sampling robot 100 is further equipped with a waypoint automatic navigation system and / or an automatic obstacle avoidance system. The first mobile sampling robot 101 receives preset waypoint information sent by the external control device 200 and sends it to the second mobile sampling robot 102; the waypoint automatic navigation system performs path planning based on the received preset waypoint information to obtain a preset path; the mobile sampling robot 100 performs sampling operations according to the obtained preset path.

[0066] The automatic pathpoint navigation system is a system that enables a mobile sampling robot 100 to autonomously move to predetermined pathpoints and perform sampling tasks. It determines the current position and obstacle situation of the mobile sampling robot 100 based on environmental information acquired by the robot, constructs an environmental map based on this information, and uses path planning algorithms (such as A*, Dijkstra's algorithm, RRT, etc.) to determine the optimal path from the current position to the target pathpoint. Simultaneously, the system also adjusts the speed and direction of the mobile sampling robot 100 via a controller 20 according to the planned path, thereby tracking the pathpoints.

[0067] In addition, the mobile sampling robot 100 collects information about the surrounding environment in real time during its movement. The automatic path navigation system dynamically adjusts the path according to the changes in the environmental information updated in real time, so as to avoid obstacles or choose a better path.

[0068] The preset path points are the pre-defined sampling points where the mobile sampling robot 100 needs to perform sampling work. The path point automatic navigation system can plan a path based on the preset path point information and determine a suitable travel path. During the movement of the mobile sampling robot 100, the automatic obstacle avoidance system can determine obstacle information based on the environmental information acquired by the mobile sampling robot 100 in real time and perform reasonable obstacle avoidance. At the same time, the path point automatic navigation system can automatically plan a path based on the real-time position of the mobile device to avoid obstacles, ensuring that the mobile device can accurately reach the path points to perform sampling work. The path obtained by the path point automatic navigation system and / or automatic obstacle avoidance system based on the preset path point information is the preset path.

[0069] By combining the mobile sampling robot 100 with an automatic waypoint navigation system and / or an automatic obstacle avoidance system, the mobile sampling robot 100 can automatically perform repetitive navigation tasks without human control. That is, it can automatically plan a path according to preset waypoints to complete the sampling operation, which not only saves manpower but also improves sampling efficiency.

[0070] Please see Figure 6 In some embodiments, the mobile sampling robot 100 can be implemented as a water sampling boat 300, including a signal light 310, a wide-angle camera 320, a water sampling tube 330, a sample container 340, an antenna 350, a turbojet engine 360, a main body 370, and a robotic arm 380; the main body 370 includes a positioning chip, a 5G wireless cellular network device, a controller, a water pump, a motor, and a power supply, and the surface of the main body 370 is also provided with a handle 377 to facilitate the operator to retrieve the water sampling boat 300 without contacting the contaminated water.

[0071] A signal light 310 is mounted on the surface of the main body 370 and communicates with the controller to indicate whether the water sampling vessel 300 is working properly. A wide-angle camera 320 is mounted in front of the main body 370 to acquire environmental images of the location of the water sampling vessel 300. A water sampling tube 330 is connected to a water pump and a sample container 340. One end of the water sampling tube 330 is located at the rear of the main body 370 to collect samples and transport them to the sample container 340 via the water pump. An antenna 350 is mounted on the upper part of the main body 370 and is used in conjunction with a positioning chip to acquire the location information of the water sampling vessel 300. A turbojet engine 360 ​​is mounted below the main body 370 to provide the water sampling vessel 300 with mobility in the water, helping it to reach the sampling point and perform sampling.

[0072] The 5G wireless cellular network device in the main body 370 is connected to the controller to establish communication connections with other water sampling vessels 300 and / or external control devices for data transmission; the power supply is used to provide the necessary power to the above components.

[0073] In summary, this solution uses a wireless cellular communication device to establish a communication connection between the external control equipment and the mobile sampling robot. This enables the mobile sampling robot to successfully complete sampling work in scenarios where other communication methods are unavailable or sensitive, or in complex terrain. This reduces the exposure of exploration personnel to high-risk conditions, improves the safety of exploration personnel, and enhances the overall efficiency and effectiveness of environmental monitoring.

[0074] Furthermore, the external control equipment, the first mobile sampling robot, and the second mobile sampling robot form a mesh communication structure via a wireless cellular network. This ensures that a malfunction in any one mobile sampling robot within the network will not affect the entire network, allowing other mobile sampling robots to continue operating. The mesh communication structure is also easily expandable; new mobile sampling robots can be added to the network at any time without disrupting the existing network. This allows the sampling system to flexibly adjust its scale according to task requirements, improving its applicability.

[0075] It should be noted that the device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0076] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and not to limit them; under the concept of this application, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of different aspects of this application as described above, which are not provided in detail for the sake of brevity; although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A mobile sampling robot, characterized in that, include: Communication module, controller, motion component, and sampling component; The communication module is communicatively connected to the controller, and the communication module is configured to establish communication with other robots and / or external control devices. The controller is communicatively connected to the moving component and the sampling component, and is configured to control the moving component and / or the sampling component according to received instructions, so as to control the robot to move to the sampling point to perform sampling operations; The communication module and the controller are located in the robot body, the moving component is located below the robot body, and the sampling component is located above the moving component.

2. The robot according to claim 1, characterized in that, The communication module includes a wireless cellular communication device.

3. The robot according to claim 1, characterized in that, The sampling assembly includes a robotic arm, a water sampling tube, a water pump, and a sample container; The water sampling tube includes a first water sampling tube and a second water sampling tube. The inlet of the first water sampling tube is exposed to the environment, and the outlet of the first water sampling tube is connected to the first end of the water pump. The inlet of the second water sampling tube is connected to the second end of the water pump, and the outlet of the second water sampling tube is connected to the sample container. The robotic arm is positioned below the first water sampling tube.

4. The robot according to claim 1, characterized in that, The robot also includes a positioning module and a data acquisition module; The positioning module is communicatively connected to the controller. The positioning module is configured to acquire the robot's position information and send it to the controller. The controller then sends the position information to the external control device through the communication module. The data acquisition module is communicatively connected to the controller. The data acquisition module is configured to collect environmental information about the location of the robot and send it to the controller. The controller then sends the environmental information to the external control device through the communication module.

5. The robot according to claim 4, characterized in that, The positioning module includes a positioning chip.

6. The robot according to claim 5, characterized in that, The data acquisition module includes a sensor, and the sensor includes a data acquisition unit; The data collector is configured to acquire environmental data of the robot's location, and / or the data collector is configured to acquire sample data of samples obtained by the robot.

7. The robot according to claim 6, characterized in that, The sensor also includes a vision acquisition unit configured to acquire an environmental image of the robot's location.

8. The robot according to claim 7, characterized in that, The robot also includes a lighting component configured to assist the vision acquisition unit in acquiring images of the environment.

9. The robot according to any one of claims 1-8, characterized in that, The robot's main body surface is coated with a waterproof coating.

10. A sampling system, characterized in that, include: External control equipment; And, a mobile sampling robot as described in any one of claims 1-9.

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