CN114602323B - Clamping type filter membrane replacement method and system for environmental DNA sampling - Google Patents
Clamping type filter membrane replacement method and system for environmental DNA sampling Download PDFInfo
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- CN114602323B CN114602323B CN202210149466.2A CN202210149466A CN114602323B CN 114602323 B CN114602323 B CN 114602323B CN 202210149466 A CN202210149466 A CN 202210149466A CN 114602323 B CN114602323 B CN 114602323B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01D—SEPARATION
- B01D63/00—Apparatus in general for separation processes using semi-permeable membranes
- B01D63/08—Flat membrane modules
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01D—SEPARATION
- B01D65/00—Accessories or auxiliary operations, in general, for separation processes or apparatus using semi-permeable membranes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01D—SEPARATION
- B01D65/00—Accessories or auxiliary operations, in general, for separation processes or apparatus using semi-permeable membranes
- B01D65/10—Testing of membranes or membrane apparatus; Detecting or repairing leaks
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- C—CHEMISTRY; METALLURGY
- C02—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
- C02F—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
- C02F1/00—Treatment of water, waste water, or sewage
- C02F1/44—Treatment of water, waste water, or sewage by dialysis, osmosis or reverse osmosis
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- C—CHEMISTRY; METALLURGY
- C12—BIOCHEMISTRY; BEER; SPIRITS; WINE; VINEGAR; MICROBIOLOGY; ENZYMOLOGY; MUTATION OR GENETIC ENGINEERING
- C12M—APPARATUS FOR ENZYMOLOGY OR MICROBIOLOGY; APPARATUS FOR CULTURING MICROORGANISMS FOR PRODUCING BIOMASS, FOR GROWING CELLS OR FOR OBTAINING FERMENTATION OR METABOLIC PRODUCTS, i.e. BIOREACTORS OR FERMENTERS
- C12M23/00—Constructional details, e.g. recesses, hinges
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- C—CHEMISTRY; METALLURGY
- C12—BIOCHEMISTRY; BEER; SPIRITS; WINE; VINEGAR; MICROBIOLOGY; ENZYMOLOGY; MUTATION OR GENETIC ENGINEERING
- C12M—APPARATUS FOR ENZYMOLOGY OR MICROBIOLOGY; APPARATUS FOR CULTURING MICROORGANISMS FOR PRODUCING BIOMASS, FOR GROWING CELLS OR FOR OBTAINING FERMENTATION OR METABOLIC PRODUCTS, i.e. BIOREACTORS OR FERMENTERS
- C12M33/00—Means for introduction, transport, positioning, extraction, harvesting, peeling or sampling of biological material in or from the apparatus
- C12M33/04—Means for introduction, transport, positioning, extraction, harvesting, peeling or sampling of biological material in or from the apparatus by injection or suction, e.g. using pipettes, syringes, needles
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- C—CHEMISTRY; METALLURGY
- C12—BIOCHEMISTRY; BEER; SPIRITS; WINE; VINEGAR; MICROBIOLOGY; ENZYMOLOGY; MUTATION OR GENETIC ENGINEERING
- C12M—APPARATUS FOR ENZYMOLOGY OR MICROBIOLOGY; APPARATUS FOR CULTURING MICROORGANISMS FOR PRODUCING BIOMASS, FOR GROWING CELLS OR FOR OBTAINING FERMENTATION OR METABOLIC PRODUCTS, i.e. BIOREACTORS OR FERMENTERS
- C12M33/00—Means for introduction, transport, positioning, extraction, harvesting, peeling or sampling of biological material in or from the apparatus
- C12M33/14—Means for introduction, transport, positioning, extraction, harvesting, peeling or sampling of biological material in or from the apparatus with filters, sieves or membranes
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- C—CHEMISTRY; METALLURGY
- C12—BIOCHEMISTRY; BEER; SPIRITS; WINE; VINEGAR; MICROBIOLOGY; ENZYMOLOGY; MUTATION OR GENETIC ENGINEERING
- C12M—APPARATUS FOR ENZYMOLOGY OR MICROBIOLOGY; APPARATUS FOR CULTURING MICROORGANISMS FOR PRODUCING BIOMASS, FOR GROWING CELLS OR FOR OBTAINING FERMENTATION OR METABOLIC PRODUCTS, i.e. BIOREACTORS OR FERMENTERS
- C12M41/00—Means for regulation, monitoring, measurement or control, e.g. flow regulation
- C12M41/48—Automatic or computerized control
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- 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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A20/00—Water conservation; Efficient water supply; Efficient water use
- Y02A20/20—Controlling water pollution; Waste water treatment
Abstract
The invention provides a clamping type filter membrane replacement method for environmental DNA sampling, which comprises the following steps of: acquiring a first position of a filter cake through a detection device, and generating first position information; controlling the clamp to move to a first position according to the first position information by the control device; the control device controls the clamp to clamp the filter cake at the first position; acquiring a second position of the sampling area through a detection device, and generating second position information; the clamp controlled by the control device according to the second position information moves from the first position to the second position so as to collect the water sample. The defect of the replacement error caused by different manual replacement methods in the prior art caused by manual filter cake replacement and collection is overcome, and the precision of filter cake replacement and the efficiency of water sample collection are improved.
Description
Technical Field
The invention belongs to the technical field of water sample collection, and particularly relates to a clamping type filter membrane replacement method and system for environmental DNA sampling.
Background
Along with the advancement of new strategies for global biodiversity management and the implementation of the united nations 'biodiversity convention', the importance of biodiversity investigation and research is becoming more and more prominent. With the development of biodiversity research, large-scale and high-frequency metagenomic analysis of environmental DNA and microorganisms in water is generally required, which requires large-scale filtration of water samples and high-frequency replacement of filter membranes. Different from the common filter membrane replacement scene, in the environment DNA sampling or microorganism sampling scene, special attention is required to avoid cross contamination between samples and avoid introducing new pollution in the operation process, thereby ensuring the independence of the samples and the accuracy of detection results. In the past, the method for simply and directly replacing the filter membrane is that after a water sample is filtered by a wafer filter membrane, an experimenter manually opens the filter head and takes out the filter membrane containing the sample by using clean tweezers, then the filter head is manually reinstalled after the filter membrane is replaced by a new wafer filter membrane by using the clean tweezers. Whether applied to long-term continuous monitoring at a fixed site or to sequential sampling of multiple sites following a survey vessel, this means a large-scale high-frequency disc filter replacement operation. The major problems and disadvantages of the prior art include: due to the current manual replacement of the disc filter membrane, the operation is complicated, and different experimenters may introduce errors due to different operation methods. And the operation flow of disassembling, film taking, film changing and reinstalling is excessively consumed, so that a great deal of time and labor are wasted, and the high-frequency sampling is not facilitated. Again, manual replacement of the filters also tends to introduce contamination, causing deviations in the sample survey results. Finally, the manual filter membrane replacement mode is not separated from the operation of people, is not beneficial to automatic sampling and filtering, and is also not beneficial to standardized long-term continuous sampling or online continuous monitoring activities. The scheme of replacing the filter membranes by pneumatic adsorption used in other fields is easy to cause cross contamination between the filter membranes. The scheme of rotating disc type filter membrane replacement used in other fields has the advantages that the number of the filter membranes which can be accommodated is small, and the large-scale high-frequency application of the scene of disc filter membrane replacement cannot be met.
That is, in the prior art, the filter membrane is replaced manually, so that there are drawbacks in that the operation is complicated, errors may be introduced by different experimenters due to different operation methods, and the replacement efficiency is low.
Therefore, how to improve the replacement speed of the filter membrane and reduce the error occurring in the replacement process, so as to improve the replacement efficiency of the filter membrane is a technical problem that needs to be solved by those skilled in the art.
Disclosure of Invention
The invention provides a clamping type filter membrane replacement method for environmental DNA sampling, which at least solves the technical problems;
in order to solve the above problems, a first aspect of the present invention provides a method for replacing a filter membrane for environmental DNA sampling, the method performing filter membrane replacement by a sampling device, the filter membrane being assembled as a filter cake of unitary structure by an annular housing; the sampling device comprises a magazine type mechanism, a clamp, a sampling area, a detection device and a control device, wherein a plurality of filter cakes to be sampled are arranged in the magazine type mechanism, a channel capable of passing through one filter cake is reserved at the bottom of the magazine type mechanism, the sampling area is used for receiving the filter cakes and sampling the filter cakes to be sampled, and the control device is correspondingly connected with the clamp and the detection device; the method comprises the following steps: acquiring a first position of the filter cake through the detection device, and generating first position information; controlling the clamp to move to the first position according to the first position information by a control device; the control device controls the clamp to clamp the filter cake at the first position; acquiring a second position of the sampling area through the detection device, and generating second position information; and controlling the clamp to move from the first position to the second position by the control device according to the second position information so as to collect the water sample.
In a first aspect, the method further includes, after the controlling, by the control device, the movement of the clamp from the first position to the second position according to the second position information: and controlling the clamp to execute clamp loosening action by the control device so as to place the filter cake in the sampling area.
In a first aspect, the detection device includes an electronic map and the electronic eye, the obtaining, by the detection device, a first location of the filter cake, and generating first location information includes: and acquiring a first image of the filter cake through an electronic eye, generating first image information, and determining the first position of the filter cake according to a first coordinate of the first image on the electronic map so as to generate the first position information.
In a first aspect, the controlling, by the control device, the movement of the gripper to the first position according to the first position information includes: acquiring a third head portrait of the clamp through the electronic eye, generating third image information, and determining the third position of the clamp according to a third coordinate of the third image on the electronic map; calculating the distance between the third coordinate and the first coordinate; the clamp is controlled to move from a third position to the first position.
In a first aspect, the sampling area includes a top cover and a bottom plate, a water inlet pipe is provided on the top cover, a water outlet pipe is provided on the bottom plate, a space for accommodating the filter cake is reserved between the top cover and the bottom plate, the second position of the sampling area is acquired by the detection device, and generating second position information includes: and acquiring a second image of the space through the electronic eye, generating second image information, and determining a second position of the space according to a second coordinate of the second image on the electronic map so as to generate the second position information.
In a first aspect, controlling movement of the clamp from a third position to the first position comprises: generating a first movement path of the gripper from the third position to the first position; detecting whether an obstacle exists on the first moving path, if so, re-planning the first moving path, and if not, continuously controlling the clamp to move from the third position to the first position according to the first moving path.
In a first aspect, controlling the movement of the clamp from the first position to the second position comprises: generating a second movement path of the clamp from the first position to the third position; detecting whether the second moving path has an obstacle or not, if yes, re-planning the second moving path, and if not, continuously controlling the clamp to move from the first position to the second position according to the second moving path.
In a first aspect, the sampling device further comprises: a first drive means and a gear mechanism; the fixture comprises a left claw finger and a right claw finger, one ends of the left claw finger and the right claw finger are connected through a gear mechanism, the fixture is controlled by a control device to clamp the filter cake at the first position, and the clamping action comprises the following steps: the first driving device is controlled by the control device to drive the gear mechanism to rotate, so that the gear mechanism drives the other ends of the left claw finger and the right claw finger to open and move to the first position, and the filter cake is positioned between the left claw finger and the right claw finger; the first driving device is controlled by the control device to drive the gear mechanism to rotate, so that the gear mechanism drives the other ends of the left claw finger and the right claw finger to be gradually closed, and the filter cake is clamped.
In a first aspect, the apparatus further comprises a pair of pressure sensors disposed on opposite sides of the left and right fingers, respectively, the causing the gear mechanism to drive the other ends of the left and right fingers to progressively close to grip the filter cake comprises: and detecting whether the pressure of the pair of pressure sensors reaches a preset pressure, and if so, controlling the gear mechanism to keep the current driving pose, so that the left claw and the right claw clamp the filter cake.
In a second aspect, the present invention provides a replacement system for a gripping filter for environmental DNA sampling, the replacement system being applied to any one of the above-described replacement methods for a gripping filter for environmental DNA sampling.
The beneficial effects are that: the invention provides a clamping type filter membrane replacement method for environmental DNA sampling, which comprises the steps of firstly detecting a first position of a filter cake through a detection device, generating first position information, controlling a clamp to move to the first position through a control device according to the first position information, clamping the filter cake at the first position through the control device, then acquiring a second position of a sampling area through the detection device, generating second position information, and finally controlling the clamp to move from the first position to the second position through the control device according to the second position information so as to collect a water sample; in sum, acquire the first position of the filter cake that detection device detected and the second position of sampling area through controlling means, then press from both sides the filter cake to the sampling area according to first position, second position control anchor clamps and carry out the water sample sampling, solved among the prior art through the manual work change the filter cake collection produced, because the drawback of the change error that different manual work change methods lead to, improved the precision that the filter cake was changed and the efficiency of water sample collection.
Drawings
In order to more clearly illustrate the embodiments of the present description or the technical solutions in the prior art, the drawings that are needed in the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a method for replacing a clamped filter for environmental DNA sampling according to an embodiment of the invention.
Detailed Description
The following description of the embodiments of the present invention will be made more apparent and fully hereinafter with reference to the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which are derived by a person skilled in the art based on the embodiments of the invention, fall within the scope of protection of the invention.
Meanwhile, in the embodiment of the present specification, when an element is referred to as being "fixed to" another element, it may be directly on the other element or may be present with an intervening element. When a component is considered to be "connected" to another component, it can be directly connected to the other component or intervening components may also be present. When an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. The terms "vertical", "horizontal", "left", "right" and the like are used in the embodiments of the present specification for the purpose of illustration only and are not intended to limit the present invention.
Embodiment one:
as shown in fig. 1, the first embodiment provides a method for replacing a filter membrane by clamping for sampling environmental DNA, wherein the filter membrane is replaced by a sampling device, and the filter membrane is assembled into a filter cake with an integral structure by an annular shell; the sampling device comprises a magazine mechanism, a clamp, a sampling area, a detection device and a control device;
a plurality of filter cakes to be sampled are arranged in the magazine type mechanism,
the bottom of the magazine mechanism is reserved with a channel which can pass through a filter cake;
the sampling area is used for receiving the filter cake and sampling the filter cake to be sampled;
the control device is correspondingly connected with the clamp and the detection device;
the method comprises the following steps:
acquiring a first position of a filter cake through a detection device, and generating first position information;
controlling the clamp to move to a first position according to the first position information by the control device;
the control device controls the clamp to clamp the filter cake at the first position;
acquiring a second position of the sampling area through a detection device, and generating second position information;
the clamp controlled by the control device according to the second position information moves from the first position to the second position so as to collect the water sample.
In the technical scheme of the first embodiment, the first position of the filter cake is detected by the detection device, first position information is generated, the control device controls the clamp to move to the first position according to the first position information, the clamp is controlled to clamp the filter cake at the first position, then the second position of the sampling area is obtained by the detection device, second position information is generated, and finally the control device controls the clamp to move from the first position to the second position according to the second position information, so that water sample collection is performed; in sum, acquire the first position of the filter cake that detection device detected and the second position of sampling area through controlling means, then press from both sides the filter cake to the sampling area according to first position, second position control anchor clamps and carry out the water sample sampling, solved among the prior art through the manual work change the filter cake collection produced, because the drawback of the change error that different manual work change methods lead to, improved the precision that the filter cake was changed and the efficiency of water sample collection.
Specifically, after the step of moving the jig controlled by the control device according to the second position information from the first position to the second position in the first embodiment, the first embodiment further proposes an implementation manner, which includes: the control device controls the clamp to execute the clamp loosening action so as to place the filter cake in the sampling area.
Specifically, the detection device in the first embodiment includes an electronic map and an electronic eye, and for the step of acquiring the first position of the filter cake by the detection device and generating the first position information, the first embodiment proposes an implementation manner, which includes: the method comprises the steps of obtaining a first image of a filter cake through an electronic eye, generating first image information, and determining a first position of the filter cake according to a first coordinate of the first image on an electronic map so as to generate first position information.
In the first embodiment, the step of controlling the movement of the clamp to the first position by the control device according to the first position information includes: acquiring a third head portrait of the clamp through the electronic eye, generating third image information, and determining a third position of the clamp according to a third coordinate of the third image on the electronic map; calculating the distance between the third coordinate and the first coordinate; the control clamp moves from the third position to the first position.
Further, for the step of obtaining the second position of the sampling area by the detection device and generating the second position information in the first embodiment, an implementation manner is provided in this embodiment, where the first position information includes: and acquiring a second image of the space through the electronic eye, generating second image information, and determining a second position of the space according to a second coordinate of the second image on the electronic map so as to generate second position information.
Still further, for the step of moving the control clamp from the third position to the first position in the first embodiment, the first embodiment proposes an implementation manner, which includes: planning a first moving path of the clamp from the third position to the first position; detecting whether an obstacle exists on the first moving path, if yes, re-planning the first moving path, otherwise, continuously controlling the clamp to move from the third position to the first position according to the first moving path, for example, in the process that the clamp moves to the filter cake, the clamp is in contact with the outer wall of the magazine mechanism at the upper part of the channel because the height of the clamp is larger than the position of the filter cake.
Further, for the step of moving the controlled clamp from the first position to the second position in the above embodiment, the embodiment proposes an implementation manner, which includes: planning a second moving path of the clamp from the first position to a third position; detecting whether the second moving path has an obstacle, if so, re-planning the second moving path, otherwise, continuously controlling the clamp to move from the first position to the second position according to the second moving path, for example, after the clamp clamps the filter cake, the clamp needs to accurately place the filter cake at the sampling position of the sampling area, so that the second moving path needs to be detected to ensure that the clamp can accurately reach the second position.
Specifically, for the sampling device in the first embodiment, it further includes: a first drive means and a gear mechanism; and as for the specific structure of the fixture, the first embodiment also proposes a specific implementation manner: the fixture includes a left claw finger and a right claw finger, wherein one ends of the left claw finger and the right claw finger are connected through a gear mechanism, and based on this, the embodiment first proposes a specific implementation manner combining the first driving device, the gear mechanism, the left claw finger and the right claw finger, and the implementation manner includes: the first driving device is controlled by the control device to drive the gear mechanism to rotate, so that the gear mechanism drives the other ends of the left claw finger and the right claw finger to open and move to a first position, and a filter cake is positioned between the left claw finger and the right claw finger; the first driving device is controlled by the control device to drive the gear mechanism to rotate, so that the gear mechanism drives the other ends of the left claw finger and the right claw finger to be gradually closed, and the filter cake is clamped. It should be noted that, the rotation fit mode of the gear mechanism and the left and right claw fingers, that is, the opening and closing of the left and right claw fingers is realized by driving the gear mechanism, is a more conventional application in the art, so that the description is omitted in the first embodiment.
Further, for the apparatus in the first embodiment, the apparatus further includes: a pair of pressure sensors, and a pair of pressure sensors are disposed on opposite sides of the left and right fingers, based on which, for the step of gradually closing the other ends of the left and right fingers driven by the gear mechanism to clamp the filter cake in the above embodiment, the embodiment also proposes an implementation manner, which includes: and detecting whether the pressure of the pair of pressure sensors reaches a preset pressure, and if so, controlling the gear mechanism to keep the current driving pose so that the left claw fingers and the right claw fingers clamp the filter cake.
Embodiment two:
the second embodiment provides a system for replacing a clamping type filter membrane for environmental DNA sampling, and the replacement system is applied to any one of the method for replacing the clamping type filter membrane for environmental DNA sampling, so that the defect of replacement errors caused by manually replacing and collecting filter cakes in the prior art is overcome, and the precision of filter cake replacement and the efficiency of water sample collection are improved.
Since the second embodiment and the first embodiment are an embodiment with the same inventive concept, the partial structures thereof are completely the same, and therefore, the structures substantially the same as those of the first embodiment in the second embodiment are not described in detail, and the detailed description thereof is omitted herein.
Finally, it should be noted that: the above examples are only specific embodiments of the present invention, and are not intended to limit the scope of the present invention, but it should be understood by those skilled in the art that the present invention is not limited thereto, and that the present invention is described in detail with reference to the above examples: any person skilled in the art may modify or easily conceive of the technical solution described in the foregoing embodiments, or perform equivalent substitution of some of the technical features, while remaining within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit of the corresponding technical solutions. Are intended to be encompassed within the scope of the present invention. Therefore, the protection scope of the invention is subject to the protection scope of the claims.
Although embodiments of the present invention have been disclosed above, it is not limited to the details and embodiments shown and described, it is well suited to various fields of use for which the invention would be readily apparent to those skilled in the art, and accordingly, the invention is not limited to the specific details and illustrations shown and described herein, without departing from the general concepts defined in the claims and their equivalents.
Claims (7)
1. The method comprises the steps of replacing a filter membrane by a sampling device, wherein the filter membrane is assembled into a filter cake with an integrated structure by an annular shell; the sampling device comprises a magazine type mechanism, a clamp, a sampling area, a detection device and a control device, wherein a plurality of filter cakes to be sampled are arranged in the magazine type mechanism, a channel capable of passing through one filter cake is reserved at the bottom of the magazine type mechanism, the sampling area is used for receiving the filter cakes and sampling the filter cakes to be sampled, and the control device is correspondingly connected with the clamp and the detection device; characterized in that the method comprises:
acquiring a first position of the filter cake through the detection device, and generating first position information; the detection device comprises an electronic map and an electronic eye, the first position of the filter cake is obtained through the detection device, and the generation of the first position information comprises the following steps: acquiring a first image of the filter cake through an electronic eye, generating first image information, and determining the first position of the filter cake according to a first coordinate of the first image on the electronic map so as to generate the first position information;
controlling the clamp to move to the first position according to the first position information by a control device; the controlling, by the control device, the movement of the clamp to the first position according to the first position information includes: acquiring a third image of the clamp through the electronic eye, generating third image information, and determining a third position of the clamp according to a third coordinate of the third image on the electronic map; calculating the distance between the third coordinate and the first coordinate; controlling the clamp to move from a third position to the first position; controlling movement of the clamp from a third position to the first position includes: generating a first movement path of the gripper from the third position to the first position; detecting whether an obstacle exists on the first moving path, if so, re-planning the first moving path, and if not, continuously controlling the clamp to move from the third position to the first position according to the first moving path;
the control device controls the clamp to clamp the filter cake at the first position;
acquiring a second position of the sampling area through the detection device, and generating second position information;
and controlling the clamp to move from the first position to the second position by the control device according to the second position information so as to collect the water sample.
2. The method according to claim 1, wherein the controlling means controls the gripper to move from the first position to the second position according to the second position information, and further comprises:
and controlling the clamp to execute clamp loosening action by the control device so as to place the filter cake in the sampling area.
3. The method for replacing a filter membrane for sampling environmental DNA according to claim 1, wherein the sampling area includes a top cover and a bottom plate, a water inlet pipe is provided on the top cover, a water outlet pipe is provided on the bottom plate, and a space for accommodating the filter cake is reserved between the top cover and the bottom plate, and the step of acquiring the second position of the sampling area by the detection device and generating the second position information includes:
and acquiring a second image of the space through the electronic eye, generating second image information, and determining a second position of the space according to a second coordinate of the second image on the electronic map so as to generate the second position information.
4. The method of claim 1, wherein controlling the movement of the clamp from the first position to the second position comprises:
generating a second movement path of the clamp from the first position to the third position;
detecting whether the second moving path has an obstacle or not, if yes, re-planning the second moving path, and if not, continuously controlling the clamp to move from the first position to the second position according to the second moving path.
5. The method for changing a cartridge filter for environmental DNA sampling of claim 1, said sampling device further comprising: a first drive means and a gear mechanism; the fixture comprises a left claw finger and a right claw finger, wherein one ends of the left claw finger and the right claw finger are connected through a gear mechanism, and the fixture is characterized in that the control device is used for controlling the fixture to clamp the filter cake at the first position, and the clamping action comprises the following steps:
the first driving device is controlled by the control device to drive the gear mechanism to rotate, so that the gear mechanism drives the other ends of the left claw finger and the right claw finger to open and move to the first position, and the filter cake is positioned between the left claw finger and the right claw finger;
the first driving device is controlled by the control device to drive the gear mechanism to rotate, so that the gear mechanism drives the other ends of the left claw finger and the right claw finger to be gradually closed, and the filter cake is clamped.
6. The method of claim 5, wherein the step of gradually closing the other ends of the left and right fingers to hold the filter cake comprises:
and detecting whether the pressure of the pair of pressure sensors reaches a preset pressure, and if so, controlling the gear mechanism to keep the current driving pose, so that the left claw and the right claw clamp the filter cake.
7. A system for replacing a gripping filter membrane for environmental DNA sampling, characterized in that the replacement system is applied to the method for replacing a gripping filter membrane for environmental DNA sampling according to any one of the preceding claims 1 to 6.
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| CN202210149466.2A CN114602323B (en) | 2022-02-18 | 2022-02-18 | Clamping type filter membrane replacement method and system for environmental DNA sampling |
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