CN113203432A - Intertidal zone deposit analysis sampling intelligent robot - Google Patents
Intertidal zone deposit analysis sampling intelligent robot Download PDFInfo
- Publication number
- CN113203432A CN113203432A CN202110291904.4A CN202110291904A CN113203432A CN 113203432 A CN113203432 A CN 113203432A CN 202110291904 A CN202110291904 A CN 202110291904A CN 113203432 A CN113203432 A CN 113203432A
- Authority
- CN
- China
- Prior art keywords
- module
- sampling
- sediment
- crawler
- robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/065—Multi-track vehicles, i.e. more than two tracks
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/04—Devices for withdrawing samples in the solid state, e.g. by cutting
- G01N1/08—Devices for withdrawing samples in the solid state, e.g. by cutting involving an extracting tool, e.g. core bit
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/10—Devices for withdrawing samples in the liquid or fluent state
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N2001/021—Correlating sampling sites with geographical information, e.g. GPS
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/10—Devices for withdrawing samples in the liquid or fluent state
- G01N2001/1006—Dispersed solids
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/10—Devices for withdrawing samples in the liquid or fluent state
- G01N2001/1031—Sampling from special places
Landscapes
- General Physics & Mathematics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Biochemistry (AREA)
- Analytical Chemistry (AREA)
- General Health & Medical Sciences (AREA)
- Health & Medical Sciences (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Engineering & Computer Science (AREA)
- Hydrology & Water Resources (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Sampling And Sample Adjustment (AREA)
Abstract
The invention discloses an intertidal zone sediment analysis and sampling intelligent robot which comprises a crawler chassis, an observation module, a communication and positioning module, a data acquisition control module, a power supply module, an analysis module, a sampling module and other modules, wherein each module is fixed on an equipment bearing area in the middle of the crawler chassis and can safely operate on intertidal zone complex substrate terrain. The observation module collects images in the advancing direction, the sampling module is used for sampling, the analysis module can obtain environmental parameters, and the communication and positioning module realizes communication between the robot and the onshore operation terminal. The intelligent robot can move according to a set route and can also be controlled by a remote control, is suitable for the advance of the topography and salinity of an intertidal zone, can automatically collect sediment samples and automatically analyze key parameters in situ, can send back data, images and other functions in real time, meets the requirement of automatic fixed-point analysis and sampling of the intertidal zone, can greatly save other costs such as manpower and the like, ensures the safety of personnel, and efficiently finishes the task of sampling and analysis.
Description
Technical Field
The invention relates to the field of intelligent equipment, in particular to an intertidal zone sediment analysis and sampling intelligent robot.
Background
The intertidal zone is a narrow but highly productive area at the land-sea junction, typically a biphasic zone. Ranging from the highest high tide level to the lowest low tide level. Since the intertidal zone is generally rich in organic matter, it is an important place for many mollusks and crustaceans to live and is also the core area for the development of artificial breeding. Therefore, the method has important significance for environmental protection and fishery harvesting amount evaluation by sampling, analyzing, investigating and researching intertidal zone sediments.
However, in the intertidal zone of sandy and muddy soil, the soil is soft, wet and slippery, uneven and numerous in puddle distribution, and the existing manual sampling and in-situ observation methods all require human on-site survey, are extremely dangerous and time-consuming and labor-consuming. Therefore, intelligent automatic sampling and in-situ observation are urgently needed. However, no related products exist at present, which also severely limits the research and development of intertidal zones.
The invention aims to overcome the defects of the prior art and provides an intertidal zone sediment analyzing and sampling intelligent robot which can move according to a set route and can be remotely controlled. The device is provided with an advancing crawler suitable for intertidal zone terrain and salinity, and can automatically collect sediment samples and automatically analyze key parameters in situ. And the terrain and tidal water are observed in real time, and data, images and the like are sent back in real time.
Disclosure of Invention
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention firstly provides an intertidal zone sediment analyzing and sampling intelligent robot which comprises an observation module, a communication and positioning module, an analysis module, a sampling module, a data acquisition control module, a power supply module and a crawler chassis, wherein the middle area of the crawler chassis is an equipment bearing area;
the crawler chassis comprises an equipment bearing area and two crawler units positioned on two sides of the equipment bearing area, wherein each crawler unit comprises a crawler, a crawler driving mechanism, at least one driving wheel and a plurality of driven wheels; the crawler driving mechanism is connected with the driving wheel to drive the crawler to move;
the observation module is arranged at the front part of the equipment bearing area and is used for acquiring image information;
the analysis module, the sampling module and the power supply module are all positioned at the middle lower part of the equipment bearing area, so that the gravity center of the robot is lowered, wherein the analysis module comprises a first linear push rod motor and a multi-parameter sensor, the first linear push rod motor is arranged at the bottom of the equipment bearing area, and the multi-parameter sensor is positioned at the end part of a push rod of the first linear push rod motor; the sampling module comprises a second linear push rod motor and a sediment columnar sampler, the second linear push rod motor is arranged at the bottom of the equipment bearing area, and the sediment columnar sampler is positioned at the end part of a push rod of the second linear push rod motor;
the power supply module supplies power to each power utilization module of the intelligent robot,
the communication positioning module and the data acquisition control module are positioned at the rear part of the equipment bearing area, wherein the communication positioning module is in wireless communication with the shore operation terminal; the data acquisition control module is respectively connected with the observation module, the analysis module and the sampling module to acquire and control the information acquired by the modules, and is also respectively connected with the communication and positioning module and the crawler driving mechanism.
Further, the observation module include wide-angle camera and wireless communication module, wireless communication module can directly carry out wireless connection with the operation terminal on the bank with the image information that real-time transmission wide-angle camera was shot.
Further, the robot further comprises a cleaning module, the cleaning module is installed at the bottom of the equipment bearing area and located on the side of the sampling module and the analysis module, the cleaning module comprises a high-pressure faucet and a water tank, and the high-pressure faucet faces to the multi-parameter sensor and the sediment columnar sampler.
Furthermore, the crawler belt is made of rubber materials, and the surface of the crawler belt is provided with raised patterns; the driving wheel and the driven wheel are made of nylon materials.
Furthermore, the two crawler driving mechanisms on the two crawler units are direct current speed reducing motors which respectively and independently drive the driving wheels connected with the two crawler driving mechanisms, and the two direct current speed reducing motors can realize differential steering; the output shaft of the motor adopts a mechanical sealing structure.
Furthermore, the front end of the sediment columnar sampler is of an inwards concave lotus petal type elastic sheet structure; the rear end of the concave lotus petal type structure is connected with a hollow sampling tube.
Furthermore, a plurality of sediment columnar samplers are arranged at the front end of the second linear push rod motor.
The invention also provides an automatic acquisition method of the intertidal zone sediment analysis sampling intelligent robot, which comprises the following steps:
presetting sampling longitude and latitude, carrying out signal transmission between the onshore terminal and the robot through a communication and positioning module, and sending back travel track, position and data information by the robot in real time;
the robot advances according to preset coordinates; the observation module continuously works, acquires image information, judges that an obstacle exists in the front when the height of the obstacle in the front in the image information is higher than a set safe obstacle passing threshold, controls the two crawler units to do differential motion to steer at the moment, forwards for a set distance after steering, and then re-steers, positions to a specified station direction and drives; if the detected front object is lower than the set safety obstacle-crossing threshold value, directly traveling according to the original route;
after the ship arrives at a designated station, according to a preset requirement, a first linear stepping motor in an analysis module drives a multi-parameter sensor to slowly descend to a measured height from a safe height, so that the multi-parameter sensor is inserted into a puddle or a sediment, environmental data obtained by the multi-parameter sensor is collected into a data collection module and is sent to a shore terminal through a communication and positioning module; when the measurement is finished, the first linear stepping motor in the analysis module drives the sensor to rise to the safe height again
According to the preset requirement, if sampling is needed, a second linear stepping motor in the sampling module drives a columnar sampler to be inserted into the sediment for a certain depth, and the sediment enters a sampling pipe through the sediment columnar sampler; the deposit columnar sampler is in a concave elastic steel sheet lotus petal structure, and the deposit is supported by the elastic steel sheet and can only not enter after being extruded into the sampling pipe; after sampling, the second linear motor drives the sampler to ascend and contract into the crawler to finish primary sediment sampling;
the robot continues to the next designated station and samples or analyzes the task.
Compared with the prior art, the invention has the beneficial effects that:
by adopting the technical scheme, the intelligent robot has two working modes, wherein the robot can automatically move according to a set route and perform sampling in the automatic mode, and can remotely control and command the advancing and sampling through the shore end operation terminal in the manual mode. In the automatic mode, the observation module can judge whether to carry out the circumvention operation according to the height of the obstacle in front to realize the circumvention of the obstacle, and the analysis module and the sampling module can select to carry out analysis or sampling according to the sampling requirement of the appointed station. The multi-sensor sampling data of the analysis module can be transmitted to the shore end operation terminal in real time. When the onshore terminal considers that sampling is needed according to the sensor data, the sampling module can be controlled to operate for sampling.
The robot provided by the invention is provided with an advancing crawler suitable for intertidal zone terrain and salinity, and can automatically collect sediment samples and automatically analyze key parameters in situ. The invention can satisfy the automatic fixed-point analysis and sampling of intertidal zones, greatly save other costs such as manpower and the like, ensure the safety of personnel and efficiently finish the sampling and analysis tasks.
Drawings
FIG. 1 is a schematic structural diagram of an intertidal zone sediment analysis sampling intelligent robot;
FIG. 2 is a schematic diagram of an analysis module;
FIG. 3 is a schematic diagram of a sampling module;
FIG. 4 top view of lotus petal
FIG. 5 is a schematic view of lotus petal working in sampling deposit
Detailed Description
The following describes a detailed embodiment of the present invention with reference to the accompanying drawings.
As shown in fig. 1, the present invention provides a specific embodiment of an intertidal zone sediment analysis and sampling intelligent robot, which comprises an observation module 1, a communication and positioning module 2, an analysis module 3, a sampling module 4, a data acquisition module 5, a power supply module 6, a power control module 7, a tracked vehicle chassis 8, and a cleaning module 9.
Observe module 1 and include 270 wide-angle cameras and wireless communication module, wireless communication module can directly carry out wireless connection with shore operation terminal and with the image information that real-time transmission wide-angle cameras shot, observe module and also can transmit image information for data acquisition control module 5, and rethread communication and orientation module 2 transmit for shore operation terminal. The observation module 1 can transmit images in real time when the whole crawler runs, continuously calculates the height of the front obstacle through the images, and compares the height with the obstacle crossing capability (height) of the observation module. In this embodiment, when the height of the obstacle is greater than the obstacle crossing capability of the obstacle, the obstacle automatically turns to the right (left) for 45 degrees and then advances for 5 meters, and the obstacle is automatically turned and driven when being positioned to a target station, so that the automatic obstacle avoidance function is realized.
The communication and positioning module 2 comprises a wireless communication module and a GPS module, can acquire position information in real time, and can transmit environment measurement data to the operation terminal through 4G/5G signals or satellite communication.
As shown in fig. 2, the analysis module 3 includes a multi-parameter sensor and a first linear stepping motor, the multi-parameter sensor can measure parameters including sediment temperature, salinity, dissolved oxygen, pH and the like, and can measure the environmental changes of the sediment in real time. The multi-parameter sensor can be lifted up and down through the first linear stepping motor, and when the crawler runs, the sensor is lifted to a safe height. When the sensor reaches a designated position, the first linear stepping motor can drive the multi-parameter sensor to descend into a field sediment or water sample, and when the measurement is completed, the sensor is driven to ascend to a safe height again.
The sampling module 4 comprises a linear push rod motor and three single-tube sediment columnar samplers, the front end of each sampler is of an inwards concave lotus petal type elastic sheet structure, lotus petals can close a hollow tube in an initial state, and the lotus petals can only move inwards to open the hollow tube for a sample to enter, as shown in figures 3-5. When the crawler reaches a designated position, the linear push rod motor drives the sampler to be inserted into the sediment for a certain depth, and the sediment is extruded into the polycarbonate sampling tube through lotus petals under the action of the gravity of the crawler. As shown in figure 5, the lotus petals are of concave elastic steel sheet structures, and the restored elastic steel sheet is supported and stored in the sampling tube after the sediment enters the sampling tube. Then the linear motor drives the sampler to ascend and contract into the crawler to finish primary sediment sampling. The other two single-tube samplers may continue to repeat the same sampling steps.
The data acquisition module 5 can acquire the position information, the image information and the environmental parameter information of the tracked vehicle through various sensors and pack and transmit the data to the communication and positioning module.
The power supply module 6 supplies power to the chassis and other modules of the crawler, can meet the running time of at least 2 hours, and can increase the battery capacity according to the requirement.
The crawler chassis 8 comprises an equipment bearing area and two crawler units positioned at two sides of the equipment bearing area, wherein each crawler unit comprises a crawler, a power module 7 and a plurality of driven wheels (guide wheels); the power module 7 comprises two direct current speed reducing motors and two driving wheel wheels, and the driving wheels are made of nylon materials. Two direct current gear motors drive the action wheel, can carry out the differential and turn to. The motor output shaft adopts a mechanical sealing structure, so that seawater and silt are prevented from entering the electronic bin and the motor, and the driving wheel is connected with the driving track to drive the track to move.
The equipment bearing area of tracked vehicle chassis 8 bears other modules, and the track is rubber materials, and the width is 20cm, has protruding decorative pattern. The guide wheel is made of nylon material. Is suitable for various terrains in intertidal zones, can not sink into or overturn, and can prevent seawater corrosion.
The cleaning module 9 comprises a high-pressure tap and a water tank, can be loaded with distilled water, and can be used for manually or automatically spraying and cleaning the multi-parameter sensor and the sampler to remove silt and seawater.
The intertidal zone sediment analysis sampling intelligent robot (hereinafter referred to as the robot) has two operation modes. The manual mode is to use the remote controller to control the robot to move forward, backward, turn, sample, analyze and other actions, and simultaneously to return the information of site images, positions, data and the like in real time.
The automatic mode is to preset sampling longitude and latitude and an operation instruction, automatically finish the actions of sampling, analyzing, advancing and the like by the robot, and send back information such as an advancing track, a position, data and the like in real time. Taking the automatic mode as an example, the robot travels in a mud flat according to preset coordinates. The observation module 1 works continuously to judge whether larger obstacle stones exist in front; and if so, avoiding passing. The communication and positioning module 2 sends position information in real time, and automatically corrects the advancing route by comparing the position information with a preset position. After the terminal arrives at the designated station, according to the specific preset requirement, the first linear stepper motor 10 in the analysis module 3 drives the multi-parameter sensor 11 to slowly descend to the measuring height from the safe height, so that the sensor is inserted into a puddle or a sediment, the environmental data is collected into the data collection module 5 and is sent to the onshore terminal through the communication and positioning module 2. When the measurement is completed, the first linear stepping motor in the analysis module 3 drives the sensor to rise to the safe height again. According to the preset requirement, if sampling is needed, a second linear stepping motor 10 in the sampling module 4 drives a columnar sampler 12 to be inserted into the sediment to a certain depth, and the sediment enters a polycarbonate sampling tube 14 through lotus petals 13. As shown in figures 4 and 5, because the lotus petals are of concave elastic steel sheet structures, the deposit is supported by the elastic steel sheets after being extruded into the polycarbonate sampling tube 14, and can only enter and not exit when the sampler 12 is lifted. The linear motor drives the sampler to ascend and contract into the crawler to finish one-time sediment sampling, and the sediment is analyzed by onshore laboratory equipment. The robot continues to the next designated station and samples or analyzes the task.
It is to be emphasized that: the above embodiments are only preferred embodiments of the present invention, and are not intended to limit the present invention in any way, and all simple modifications, equivalent changes and modifications made to the above embodiments according to the technical spirit of the present invention are within the scope of the technical solution of the present invention.
Claims (8)
1. An intertidal zone sediment analysis and sampling intelligent robot is characterized by comprising an observation module (1), a communication and positioning module (2), an analysis module (3), a sampling module (4), a data acquisition control module (5), a power supply module (6) and a crawler chassis (8), wherein the middle area of the crawler chassis is an equipment bearing area, and the observation module (1), the communication and positioning module (2), the analysis module (3), the sampling module (4), the data acquisition control module (5) and the power supply module (6) are all arranged on the equipment bearing area;
the crawler chassis (8) comprises an equipment bearing area and two crawler units positioned on two sides of the equipment bearing area, wherein each crawler unit comprises a crawler, a crawler driving mechanism, at least one driving wheel and a plurality of driven wheels; the crawler driving mechanism is connected with the driving wheel to drive the crawler to move;
the observation module is arranged at the front part of the equipment bearing area and is used for acquiring image information;
the analysis module, the sampling module and the power supply module are all positioned at the middle lower part of the equipment bearing area, so that the gravity center of the robot is lowered, wherein the analysis module comprises a first linear push rod motor and a multi-parameter sensor, the first linear push rod motor is arranged at the bottom of the equipment bearing area, and the multi-parameter sensor is positioned at the end part of a push rod of the first linear push rod motor; the sampling module comprises a second linear push rod motor and a sediment columnar sampler, the second linear push rod motor is arranged at the bottom of the equipment bearing area, and the sediment columnar sampler is positioned at the end part of a push rod of the second linear push rod motor;
the power supply module supplies power to each power utilization module of the intelligent robot,
the communication positioning module and the data acquisition control module are positioned at the rear part of the equipment bearing area, wherein the communication positioning module is in wireless communication with the shore operation terminal; the data acquisition control module (5) is respectively connected with the observation module (1), the analysis module (3) and the sampling module (4) to acquire and control information acquired by the modules, and the data acquisition control module (5) is also respectively connected with the communication and positioning module (2) and the crawler driving mechanism.
2. The intertidal zone sediment analyzing and sampling intelligent robot as claimed in claim 1, wherein the observation module comprises a wide-angle camera and a wireless communication module, and the wireless communication module can be directly in wireless connection with an onshore operation terminal so as to transmit image information shot by the wide-angle camera in real time.
3. The intertidal zone sediment analyzing and sampling intelligent robot as claimed in claim 1, wherein the robot further comprises a cleaning module, the cleaning module is installed at the bottom of the equipment bearing area and is positioned at the side of the sampling module and the analyzing module, the cleaning module comprises a high-pressure tap and a water tank, and the high-pressure tap faces the multi-parameter sensor and the sediment column sampler.
4. The intertidal zone sediment analyzing and sampling intelligent robot as claimed in claim 1, wherein the crawler is made of rubber material, and the surface of the crawler is provided with raised patterns; the driving wheel and the driven wheel are made of nylon materials.
5. The intelligent intertidal zone sediment analyzing and sampling robot as claimed in claim 1, wherein the two crawler driving mechanisms on the two crawler units are both direct current speed reduction motors, and respectively and independently drive the driving wheels connected with the two crawler driving mechanisms, and the two direct current speed reduction motors can realize differential steering; the output shaft of the motor adopts a mechanical sealing structure.
6. The intertidal zone sediment analyzing and sampling intelligent robot as claimed in claim 1, wherein the front end of the sediment columnar sampler is of an inwards concave lotus petal type elastic sheet structure; the rear end of the concave lotus petal type structure is connected with a hollow sampling tube.
7. The intelligent intertidal zone sediment analyzing and sampling robot as claimed in claim 6, wherein the front end of the second linear push rod motor is provided with a plurality of sediment column samplers.
8. The method for automatically collecting the intertidal zone sediment analysis and sampling intelligent robot as claimed in claim 1, which is characterized by comprising the following steps:
presetting sampling longitude and latitude, carrying out signal transmission between the onshore terminal and the robot through a communication and positioning module, and sending back travel track, position and data information by the robot in real time;
the robot travels according to a preset traveling route; the observation module continuously works, acquires image information, judges that an obstacle exists in the front when the height of a front object in the image information is higher than a set safety obstacle-crossing threshold value, controls the two crawler units to do differential motion to steer at the moment, forwards for a set distance after steering, and then re-steers, positions to a specified station direction and runs; if the detected front object is lower than the set safety obstacle-crossing threshold value, directly traveling according to the original route;
after the ship arrives at a designated station, according to a preset requirement, a first linear stepping motor in an analysis module drives a multi-parameter sensor to slowly descend to a measured height from a safe height, so that the multi-parameter sensor is inserted into a puddle or a sediment, environmental data obtained by the multi-parameter sensor is collected into a data collection module and is sent to a shore terminal through a communication and positioning module; when the measurement is finished, the first linear stepping motor in the analysis module drives the sensor to rise to the safe height again
According to the preset requirement, if sampling is needed, a second linear stepping motor in the sampling module drives a columnar sampler to be inserted into the sediment for a certain depth, and the sediment enters a sampling pipe through the sediment columnar sampler; the deposit columnar sampler is in a concave elastic steel sheet lotus petal structure, and the deposit is supported by the elastic steel sheet and can only not enter after being extruded into the sampling pipe; after sampling, the second linear motor drives the sampler to ascend and contract into the crawler to finish primary sediment sampling;
the robot continues to the next designated station and samples or analyzes the task.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110291904.4A CN113203432A (en) | 2021-03-18 | 2021-03-18 | Intertidal zone deposit analysis sampling intelligent robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110291904.4A CN113203432A (en) | 2021-03-18 | 2021-03-18 | Intertidal zone deposit analysis sampling intelligent robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113203432A true CN113203432A (en) | 2021-08-03 |
Family
ID=77025427
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110291904.4A Pending CN113203432A (en) | 2021-03-18 | 2021-03-18 | Intertidal zone deposit analysis sampling intelligent robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113203432A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115824694A (en) * | 2022-11-16 | 2023-03-21 | 英飞智信(北京)科技有限公司 | Fixed-point sampling calibration device and method for sampler |
| CN116106071A (en) * | 2023-04-13 | 2023-05-12 | 中国科学院西北生态环境资源研究院 | Automatic sampling device |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1329148A1 (en) * | 2001-12-19 | 2003-07-23 | Deere & Company | Robot for sampling and analyzing soil |
| US20070256509A1 (en) * | 2003-03-13 | 2007-11-08 | Burton James D | Soil sampler apparatus and method |
| CN105040666A (en) * | 2015-07-06 | 2015-11-11 | 环境保护部环境规划院 | Crawler-type soil and underground water sampling device |
| CN206248127U (en) * | 2016-11-29 | 2017-06-13 | 丽水职业技术学院 | Ecological environment is perceived and precision agriculture integral application platform |
| CN109490006A (en) * | 2019-01-03 | 2019-03-19 | 国家海洋环境监测中心 | Intertidalite sampling apparatus and its method of sampling |
| CN109656251A (en) * | 2018-12-29 | 2019-04-19 | 中国矿业大学 | A kind of crusing robot and working method for Mine Abandoned Land Soil K+adsorption |
| CN210719765U (en) * | 2019-08-26 | 2020-06-09 | 张勋 | A appurtenance for mangrove wetland sampling |
| CN211061226U (en) * | 2019-10-16 | 2020-07-21 | 许远泉 | Soil collection system |
| CN212180310U (en) * | 2020-04-14 | 2020-12-18 | 淮安信息职业技术学院 | Environment measurement and control device of agricultural machine thing networking |
-
2021
- 2021-03-18 CN CN202110291904.4A patent/CN113203432A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1329148A1 (en) * | 2001-12-19 | 2003-07-23 | Deere & Company | Robot for sampling and analyzing soil |
| US20070256509A1 (en) * | 2003-03-13 | 2007-11-08 | Burton James D | Soil sampler apparatus and method |
| CN105040666A (en) * | 2015-07-06 | 2015-11-11 | 环境保护部环境规划院 | Crawler-type soil and underground water sampling device |
| CN206248127U (en) * | 2016-11-29 | 2017-06-13 | 丽水职业技术学院 | Ecological environment is perceived and precision agriculture integral application platform |
| CN109656251A (en) * | 2018-12-29 | 2019-04-19 | 中国矿业大学 | A kind of crusing robot and working method for Mine Abandoned Land Soil K+adsorption |
| CN109490006A (en) * | 2019-01-03 | 2019-03-19 | 国家海洋环境监测中心 | Intertidalite sampling apparatus and its method of sampling |
| CN210719765U (en) * | 2019-08-26 | 2020-06-09 | 张勋 | A appurtenance for mangrove wetland sampling |
| CN211061226U (en) * | 2019-10-16 | 2020-07-21 | 许远泉 | Soil collection system |
| CN212180310U (en) * | 2020-04-14 | 2020-12-18 | 淮安信息职业技术学院 | Environment measurement and control device of agricultural machine thing networking |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115824694A (en) * | 2022-11-16 | 2023-03-21 | 英飞智信(北京)科技有限公司 | Fixed-point sampling calibration device and method for sampler |
| CN115824694B (en) * | 2022-11-16 | 2023-07-25 | 英飞智信(北京)科技有限公司 | Sampler fixed-point sampling calibration device and method |
| CN116106071A (en) * | 2023-04-13 | 2023-05-12 | 中国科学院西北生态环境资源研究院 | Automatic sampling device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10794887B2 (en) | Intelligent device for integrated sampling of layered water and sediment core of deep reservoir | |
| CN103287549B (en) | A kind of smart water quality monitoring clears up ship with the water surface | |
| CN113203432A (en) | Intertidal zone deposit analysis sampling intelligent robot | |
| US20220147053A1 (en) | Robot with perception capability of livestock and poultry information and mapping approach based on autonomous navigation | |
| CN108189040B (en) | Sewage pipeline detection robot system | |
| US20100005857A1 (en) | Interactive mobile aquatic probing and surveillance system | |
| KR101494341B1 (en) | Unmanned Robot Automatic Water Quality Measurement System | |
| CN108731736A (en) | Automatic for bridge tunnel Structural defect non-destructive testing diagnosis climbs wall radar photoelectricity robot system | |
| CN103672293B (en) | The amphibious working pipe pipeline robot of a kind of multi-dimensions test | |
| US10076938B2 (en) | All-terrain vehicle | |
| CN109515086A (en) | Hydrospace detection robot and its operational method | |
| CN108303508B (en) | Ecological early warning system and method based on laser radar and deep learning path optimization | |
| Truong-Thinh et al. | A study of pipe-cleaning and inspection robot | |
| WO2013056893A1 (en) | Unmanned underwater vehicle and method for localizing and examining an object arranged at the bottom of a body of water and system having the unmanned underwater vehicle | |
| CN107470347A (en) | A kind of contaminated soil remediation system adopting recirculating and method based on GPS location | |
| CN112722282B (en) | Large-scale water sample collection system based on unmanned aerial vehicle and body combination | |
| CN112974497B (en) | Agricultural heavy metal pollution farmland soil repair system | |
| CN107817319A (en) | It is a kind of to be used for urban road and the Non-Destructive Testing robot system of pipe engineering underground defect | |
| CN211734978U (en) | Unmanned rapid comprehensive road detection vehicle system | |
| CN111942550A (en) | Three-dimensional mobile monitoring system for sea area hydrate exploitation environment | |
| RU2632342C1 (en) | Autonomous mobile robotic complex | |
| EP2885466A1 (en) | Device and method for mining solid materials from the sea bed | |
| CN109827027B (en) | Amphibious robot for urban pipeline detection and investigation and obstacle removal | |
| CN110667790A (en) | Aerodynamic water surface weeding and cleaning equipment and cleaning method | |
| CN203268293U (en) | Water quality monitoring and water surface cleaning ship |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210803 |