CN112394187A - Water quality sampling detection system based on unmanned ship - Google Patents
Water quality sampling detection system based on unmanned ship Download PDFInfo
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- CN112394187A CN112394187A CN202011610188.3A CN202011610188A CN112394187A CN 112394187 A CN112394187 A CN 112394187A CN 202011610188 A CN202011610188 A CN 202011610188A CN 112394187 A CN112394187 A CN 112394187A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
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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
- G01N1/18—Devices for withdrawing samples in the liquid or fluent state with provision for splitting samples into portions
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
- G01N35/10—Devices for transferring samples or any liquids to, in, or from, the analysis apparatus, e.g. suction devices, injection devices
- G01N35/1009—Characterised by arrangements for controlling the aspiration or dispense of liquids
- G01N35/1016—Control of the volume dispensed or introduced
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
- G01N35/10—Devices for transferring samples or any liquids to, in, or from, the analysis apparatus, e.g. suction devices, injection devices
- G01N35/1065—Multiple transfer devices
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
- G01N35/10—Devices for transferring samples or any liquids to, in, or from, the analysis apparatus, e.g. suction devices, injection devices
- G01N35/1095—Devices for transferring samples or any liquids to, in, or from, the analysis apparatus, e.g. suction devices, injection devices for supplying the samples to flow-through analysers
- G01N35/1097—Devices for transferring samples or any liquids to, in, or from, the analysis apparatus, e.g. suction devices, injection devices for supplying the samples to flow-through analysers characterised by the valves
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
- B63B2035/008—Unmanned surface vessels, e.g. remotely controlled remotely controlled
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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
- G01N2001/021—Correlating sampling sites with geographical information, e.g. GPS
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
- G01N2035/00178—Special arrangements of analysers
- G01N2035/00277—Special precautions to avoid contamination (e.g. enclosures, glove- boxes, sealed sample carriers, disposal of contaminated material)
- G01N2035/00287—Special precautions to avoid contamination (e.g. enclosures, glove- boxes, sealed sample carriers, disposal of contaminated material) movable lid/cover for sample or reaction tubes
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Abstract
The invention belongs to the technical field of environmental monitoring, and particularly relates to a water quality sampling detection system based on an unmanned ship, which comprises a sampling module, a detection module, a GPS (global positioning system) positioning module, an unmanned ship power control module, a sampling detection control module, a data processing module and a human-computer interaction module, wherein the sampling module, the detection module and the GPS positioning module are arranged on the unmanned ship; the unmanned ship further comprises a wireless communication module for realizing data transmission between the unmanned ship and the remote terminal equipment. The invention utilizes the shipborne sampling module and the detection module to carry out continuous online detection on the target water area, and transmits the detection data back to the remote terminal through the wireless communication module, thereby realizing the continuous online detection of the water quality in the large water area and providing reliable basis for environment-friendly law enforcement.
Description
Technical Field
The invention belongs to the technical field of environmental monitoring, and particularly relates to a water quality sampling and detecting system based on an unmanned ship.
Background
Nowadays, along with the continuous deepening of treatment degree, the difficulty of water pollution prevention and control is also bigger and bigger, mainly because there are illegal steal and arrange the phenomenon in many enterprises, cause at present still have the water quality of the water that many monitoring sections detected still not up to standard, but the pollution source is difficult to find, and the phenomenon that government department supervision is difficult, the evidence is difficult in the law enforcement process is more and more prominent. The reason is that the lack of law enforcement resources and the limited energy are often key factors, so a brand-new water pollution detection system is needed to replace manual detection. Nowadays, intelligent vehicles such as unmanned aerial vehicles and unmanned ships are gradually introduced into the field of environmental monitoring, but a plurality of problems still exist in the practical application process. For example, the unmanned vehicle has limited carrying capacity, and cannot perform long-time high-frequency continuous sampling detection, and a container pipeline and the like cannot be effectively cleaned in the sampling process, so that mutual interference exists among different samples, and the accuracy of detection data is influenced.
Disclosure of Invention
The invention aims to provide a water quality sampling detection system based on an unmanned ship, which can realize continuous online detection of water quality of a target water area.
The technical scheme adopted by the invention is as follows:
a water quality sampling detection system based on an unmanned ship comprises a sampling module, a detection module, a GPS positioning module, an unmanned ship power control module, a sampling detection control module, a data processing module and a human-computer interaction module, wherein the sampling module, the detection module and the GPS positioning module are arranged on the unmanned ship; the system also comprises a wireless communication module for realizing data transmission between the unmanned ship and the remote terminal equipment; the sampling module is used for collecting a water sample of a target water area, the water sample collected by the sampling module is conveyed to the detection module, detection data of the detection module and coordinate data of the GPS positioning module are sent to the data processing module through the wireless communication module, the unmanned ship power control module controls and plans a navigation path of the unmanned ship through the wireless communication module, the sampling detection control module controls sampling detection frequency and sampling detection period of the sampling module and the detection module through the wireless communication module, the data processing module receives the detection data and the GPS coordinate data, carries out graphical processing on the detection data by combining with satellite map data and then sends the processed data to the human-computer interaction module, and the human-computer interaction module is used for displaying graphical data of water quality parameters and inputting an unmanned ship control instruction and a sampling detection control instruction.
Sampling module includes the arch runner, the front end slant downwardly extending of arch runner extends to the bottom of hull front end, and the rear end of arch runner extends to the hull afterbody, and the middle part of arch runner has the arch section of upwards arching, arch section below is equipped with the sample cell, is equipped with the shunt tubes that are used for the intercommunication the two between arch section and the sample cell, is equipped with the dodge gate in the arch section, and the dodge gate accompanies the assembly for having following two stations: in the first station, the movable door closes the flow dividing pipe to directly discharge a water sample flowing into the front end of the arched flow channel from the rear end of the arched flow channel so as to clean the inner wall of the arched flow channel; and a second station, wherein the movable door closes a channel between the arch section and the rear end of the arch flow channel, so that a water sample flowing into the front end of the arch flow channel enters the sample pool from the flow dividing pipe; still including washing the mechanism, wash the mechanism and be assembled into and make the water discharge in order to wash remaining liquid in the sample cell when sampling the previous time again after can pouring into the sample cell with the water in sampling area.
The sample cell comprises a cylindrical body, the axis direction of the cylindrical body is arranged along the front and back sides of the ship body in a square mode, two ends of the cylindrical body are respectively provided with an end cover, the end covers are pivoted with the cylindrical body to enable the end covers to close or open the two ends of the cylindrical body, and the end faces of the end covers are in a horizontal state when the end covers are opened; the flushing mechanism comprises a driving component for driving the sample pool to reciprocate along the vertical direction, the driving component is assembled to be capable of firstly opening the end covers at the two ends of the cylindrical local part and then driving the cylindrical body and the end covers to be immersed into the water body of the sampling area when the driving component drives the sample pool to move downwards, and is capable of firstly driving the cylindrical body and the end covers to float out of the water body of the sampling area and then driving the end covers at the two ends of the cylindrical body to be closed when the driving component drives the sample pool to move upwards; the driving component comprises a piston cylinder arranged on the mounting support along the vertical direction, a piston rod of the piston cylinder is fixedly connected with a driving frame, a swing arm is arranged on a pivot between the end cover and the cylindrical body, a pin shaft is arranged at the end part of the swing arm, a horizontal waist-shaped hole is arranged on the driving frame, the pin shaft is in sliding pin joint fit with the horizontal waist-shaped hole, the cylindrical body is movably connected with the mounting support along the vertical direction, a first elastic unit is arranged between the cylindrical body and the mounting support, the first elastic unit is assembled to enable the cylindrical body to move upwards in real time due to the elasticity of the first elastic unit, and a limiting part in blocking connection with the mounting support is arranged.
A linkage mechanism is arranged between the sample pool and the movable door, and is assembled to enable the movable door to be switched from the first station to the second station when the driving component drives the sample pool to move downwards, and to enable the movable door to be switched from the first station to the second station when the driving component drives the sample pool to move upwards; the shunt tube is fixedly connected with the mounting bracket, the shunt tube is movably inserted and matched with a liquid inlet hole formed in the cylindrical body along the vertical direction, the linkage mechanism comprises an ejector rod movably arranged in the shunt tube along the vertical direction, the movable door is pivoted on the bottom wall of the arched flow channel along the horizontal axis, one end, away from the pivot, of the movable door is arranged towards the front end of the arched flow channel and covers the upper end of the shunt tube, a sliding groove is formed in the bottom of the movable door, the upper end of the ejector rod is slidably pivoted with the sliding groove, the movable door can be lifted to be located at the second station when the ejector rod moves upwards, and the movable door can be pulled down to be located at the first station when the ejector rod moves downwards; and a second elastic unit is arranged between the ejector rod and the flow dividing pipe, the second elastic unit is assembled to enable the elastic force of the second elastic unit to drive the ejector rod to move downwards, a baffle is arranged in the cylindrical body and is in blocking connection with the lower end of the ejector rod, and the ejector rod can be lifted upwards by the baffle when the driving component drives the sample cell to move upwards.
The front end of the arched runner is provided with a water collecting device which is assembled to have the following two stations: the water collecting device closes the front end of the arched flow passage at a station a, and opens the front end of the arched flow passage to form a funnel-shaped structure so that water flow in front of the ship body is injected into the arched flow passage at an accelerated speed at a station b.
The water collecting device comprises a mounting seat arranged at the bottom of the front end of the ship body and a water shoveling plate pivoted with the mounting seat, side plates are arranged on two sides of the water shoveling plate and comprise a first sector and a second sector, the fan centers of the first sector and the second sector are both positioned on the pivot axis of the water shoveling plate, the first sector faces the front of the water shoveling plate, the second sector faces the rear of the water shoveling plate, and the radius of the first sector is larger than that of the second sector; a drainage hole is formed in the mounting seat at the rear end of the water shoveling plate and communicated with the front end of the arched runner; when the front end of the water shoveling plate is inclined downwards, the front end of the water shoveling plate can be submerged below the liquid level of the sampling water area, the rear end of the water shoveling plate is flush with the bottom surface of the drainage hole, and the water shoveling plate, the two side plates and the bottom wall of the mounting seat form the funnel-shaped structure together; when the front end of the water shoveling plate inclines upwards, the front end of the water shoveling plate is closed with the bottom wall of the mounting seat, the rear end of the water shoveling plate inclines downwards and is separated from the mounting seat, and at the moment, the water body in the front half section of the arched flow channel can flow back downwards and is discharged from a gap between the rear end of the water shoveling plate and the mounting seat.
Still include the actuating mechanism that catchments, the actuating mechanism that catchments includes connecting rod, slide bar, pivot, peach-shaped wheel and motor, the slide bar is along vertical direction and mount pad sliding connection, peach-shaped wheel and pivot rigid coupling, and the pivot is followed hull width direction horizontal rotation and is set up, and the pivot is connected with motor drive, the one end and the slide bar pin joint of connecting rod, the other end with the curb plate pin joint, the slide bar upper end is equipped with the backing pin, and the backing pin keeps off with peach-shaped wheel upper end wheel face and connects, is equipped with the third elastic unit between slide bar and the mount pad, and the third elastic unit is assembled and can orders about the slide bar for its elasticity and descend.
The arched flow channel, the sample pool, the water collecting devices and the water collecting driving mechanisms are all provided with a plurality of groups along the width direction of the ship body, and the peach-shaped wheels of the water collecting driving mechanisms of the water collecting devices are fixedly connected with the same rotating shaft.
The detection module comprises a sample liquid pumping mechanism and a water quality analyzer, wherein the sampling mechanism is used for collecting a water body sample of a target water area into the sample pool, the sample liquid pumping mechanism is used for pumping the sample liquid in the sample pool into the water quality analyzer, and the water quality analyzer is used for detecting water sample parameters; the number of the sample tanks is multiple, electromagnetic valves are arranged between each sample tank and the water quality analyzer, and the electromagnetic valves are assembled to enable each sample tank to be alternatively communicated with the water quality analyzer; the sample liquid pumping mechanism comprises an overflow tank, the overflow tank is respectively communicated with the water quality analyzer and the vacuum pump through pipelines, the sample liquid pumping mechanism pumps the sample liquid in the sample tank to the water quality analyzer in an overtravel pumping mode, namely the sample liquid pumping mechanism continues pumping for a period of time after the water quality analyzer is filled with the sample liquid, so that the sample liquid entering the water quality analyzer at the most is pumped into the overflow tank.
The bottom of the water quality analyzer is provided with a first liquid discharge valve, and the bottom of the overflow tank is provided with a second liquid discharge valve.
The invention has the technical effects that: the invention utilizes the shipborne sampling module and the detection module to carry out continuous online detection on the target water area, and transmits the detection data back to the remote terminal through the wireless communication module, thereby realizing the continuous online detection of the water quality in the large water area and providing reliable basis for environment-friendly law enforcement.
Drawings
Fig. 1 is a schematic perspective view of an unmanned water quality testing ship according to an embodiment of the present invention;
fig. 2 is a schematic perspective view of another view of the unmanned water quality testing vessel according to the embodiment of the present invention;
fig. 3 is a schematic perspective view of a sampling module according to an embodiment of the present invention;
FIG. 4 is a cross-sectional view of a sampling module provided by an embodiment of the present invention;
fig. 5 is a schematic perspective view of a water collecting apparatus according to an embodiment of the present invention;
fig. 6 is a sectional view of one state of a water collecting apparatus according to an embodiment of the present invention;
fig. 7 is a sectional view of another state of a water collecting apparatus according to an embodiment of the present invention;
FIG. 8 is a schematic perspective view of a water shoveling plate provided by an embodiment of the invention;
FIG. 9 is a schematic perspective view of a detection module according to an embodiment of the present invention;
FIG. 10 is a functional block diagram of an unmanned ship-based water quality detection system provided by an embodiment of the present invention;
the power mechanism of the unmanned ship is hidden in the figure, and the specific form can be selected from the prior art.
Detailed Description
In order that the objects and advantages of the invention will be more clearly understood, the following description is given in conjunction with the accompanying examples. It is to be understood that the following text is merely illustrative of one or more specific embodiments of the invention and does not strictly limit the scope of the invention as specifically claimed.
Example 1
As shown in fig. 1, 2 and 10, a water quality sampling detection system based on an unmanned ship comprises a sampling module, a detection module 30 and a GPS positioning module which are arranged on the unmanned ship 10, as well as a power control module, a sampling detection control module, a data processing module and a human-computer interaction module of the unmanned ship 10 which are positioned on a remote terminal device; the unmanned ship 10 is used for being connected with a remote terminal device; the sampling module is used for collecting the water sample of target waters, and the water sample that the sampling module was gathered is carried to detection module 30, and detection module 30's the test data and the coordinate data of GPS orientation module send to data processing module through wireless communication module, and unmanned ship 10 power control module passes through the navigation route of wireless communication module control and planning unmanned ship 10, and sampling detection control module passes through the sampling detection frequency and the sampling detection cycle of wireless communication module control sampling module and detection module 30, data processing module receives test data and GPS coordinate data and combines satellite map data to carry out the imaging processing to test data and then with the data transmission after handling to human-computer interaction module, and human-computer interaction module is used for the graphic data of show water quality parameter and is used for inputing unmanned ship 10 control command and sampling detection control command.
As shown in fig. 3 and 4, the sampling module includes an arched flow channel 21, the front end of the arched flow channel 21 extends downward obliquely to the bottom of the front end of the ship body, the rear end of the arched flow channel 21 extends to the tail of the ship body, an arched section which arches upward is arranged in the middle of the arched flow channel 21, a sample pool 20 is arranged below the arched section, a shunt pipe 211 for communicating the arched section and the sample pool 20 is arranged between the arched section and the sample pool 20, a movable door 213 is arranged in the arched section, and the movable door 213 is assembled together to have the following two stations: in the first working position, the movable door 213 closes the diversion pipe 211 to directly discharge the water sample flowing in from the front end of the arched flow channel 21 from the rear end of the arched flow channel 21 so as to clean the inner wall of the arched flow channel 21; and a second station, the movable door 213 closes the channel between the arch section and the rear end of the arch flow channel 21, so that the water sample flowing into the front end of the arch flow channel 21 enters the sample cell 20 from the shunt pipe 211; the device also comprises a flushing mechanism which is assembled to be capable of filling the water body in the sampling area into the sample pool 20 and then discharging the water body from the sample pool 20 to clean the liquid remained in the sample pool 20 during the previous sampling.
Specifically, the sample cell 20 includes a cylindrical body 201, the axial direction of the cylindrical body 201 is arranged along the front and rear directions of the ship, two ends of the cylindrical body 201 are respectively provided with an end cover 202, the end covers 202 are pivoted with the cylindrical body 201 so that the end covers 202 can close or open the two ends of the cylindrical body 201, and when the end covers 202 are opened, the end faces of the end covers 202 are in a horizontal state; the flushing mechanism comprises a driving component for driving the sample pool 20 to reciprocate along the vertical direction, the driving component is assembled to firstly open the end covers 202 at the two ends of the cylindrical local body when the driving component drives the sample pool 20 to move downwards and then drive the cylindrical body 201 and the end covers 202 to be immersed into the water body of the sampling area, and when the driving component drives the sample pool 20 to move upwards, the cylindrical body 201 and the end covers 202 can be firstly driven to float out of the water body of the sampling area and then drive the end covers 202 at the two ends of the cylindrical body 201 to be closed; the driving component comprises a piston cylinder 206 arranged on the mounting bracket 203 along the vertical direction, a piston rod of the piston cylinder 206 is fixedly connected with a driving frame 204, a swing arm 208 is arranged on a pivot between the end cover 202 and the cylindrical body 201, a pin shaft is arranged at the end part of the swing arm 208, a horizontal waist-shaped hole is arranged on the driving frame 204, the pin shaft is in sliding pivoted fit with the horizontal waist-shaped hole, the cylindrical body 201 is movably connected with the mounting bracket 203 along the vertical direction, a first elastic unit 205 is arranged between the cylindrical body 201 and the mounting, the first elastic unit 205 is assembled to enable the cylindrical body 201 to move upwards in real time due to the elasticity of the first elastic unit, and a limiting part in blocking connection with the mounting bracket 203 is arranged above the cylindrical.
Further, as shown in fig. 4, a linkage mechanism is provided between the sample cell 20 and the movable door 213, and the linkage mechanism is configured to enable the movable door 213 to switch from the first station to the second station when the driving member drives the sample cell 20 to move downwards, and to enable the movable door 213 to switch from the first station to the second station when the driving member drives the sample cell 20 to move upwards; the shunt tube 211 is fixedly connected with the mounting bracket 203, the shunt tube 211 and a liquid inlet hole formed in the cylindrical body 201 form movable splicing fit along the vertical direction, the linkage mechanism comprises a top rod 212 movably arranged in the shunt tube 211 along the vertical direction, the movable door 213 is pivoted on the bottom wall of the arched flow channel 21 along the horizontal axis, one end of the movable door 213, which is far away from the pivot, is arranged towards the front end of the arched flow channel 21 and covers the upper end of the shunt tube 211, a sliding groove is formed in the bottom of the movable door 213, the upper end of the top rod 212 is slidably pivoted with the sliding groove, the movable door 213 can be lifted up to be positioned at the second station when the top rod 212 moves upwards, and the movable door 213 can be pulled down to be positioned at the first station when the top rod; a second elastic unit 214 is arranged between the top rod 212 and the shunt tube 211, the second elastic unit 214 is assembled such that the elastic force thereof can drive the top rod 212 to move downwards, a baffle 209 is arranged in the cylindrical body 201, the baffle 209 is in blocking contact with the lower end of the top rod 212, and the baffle 209 can lift the top rod 212 upwards when the driving member drives the sample cell 20 to move upwards.
Further, as shown in fig. 5 to 8, a water collecting device 40 is provided at the front end of the arched flow passage 21, and the water collecting device 40 is assembled to have the following two positions: at the working position a, the water collecting device 40 closes the front end of the arched flow channel 21, and at the working position b, the water collecting device 40 opens the front end of the arched flow channel 21 and forms a funnel-shaped structure so that the water flow in front of the ship body is accelerated to be injected into the arched flow channel 21.
Specifically, the water collecting device 40 includes a mounting seat 41 disposed at the bottom of the front end of the hull, and a water shoveling plate 42 pivoted to the mounting seat 41, side plates 43 are disposed on two sides of the water shoveling plate 42, each side plate 43 includes a first sector 431 and a second sector 432, the centers of the first sector 431 and the second sector 432 are both located on the pivot axis of the water shoveling plate 42, wherein the first sector 431 is disposed toward the front of the water shoveling plate 42, the second sector 432 is disposed toward the rear of the water shoveling plate 42, the "front and rear" are defined by taking the general name of the hull as a standard, and the radius of the first sector 431 is greater than that of the second sector 432; a drainage hole 411 is formed in the mounting seat 41 at the rear end of the water shoveling plate 42, and the drainage hole 411 is communicated with the front end of the arched runner 21; when the front end of the water shoveling plate 42 is inclined downwards, the front end of the water shoveling plate 42 can be submerged below the liquid level of the sampled water area, and the rear end of the water shoveling plate 42 is flush with the bottom surface of the drainage hole 411, at this time, the water shoveling plate 42, the two side plates 43 and the bottom wall of the mounting seat 41 are enclosed together to form the funnel-shaped structure; when the front end of the water shoveling plate 42 inclines upwards, the front end of the water shoveling plate 42 is closed with the bottom wall of the mounting seat 41, and the rear end of the water shoveling plate 42 inclines downwards and is separated from the mounting seat 41, at this time, the water in the front half section of the arched runner 21 can flow back downwards and is discharged from a gap between the rear end of the water shoveling plate 42 and the mounting seat 41.
Preferably, the ship-mounted ship is characterized by further comprising a water collecting driving mechanism, wherein the water collecting driving mechanism comprises a connecting rod.
Preferably, the arch-shaped flow channel 21, the sample cell 20, the water collecting device 40 and the water collecting driving mechanism are all provided with a plurality of groups along the width direction of the ship body, and the peach-shaped wheel 48 of the water collecting driving mechanism of each water collecting device 40 is fixedly connected with the same rotating shaft 49.
As shown in fig. 9, the detection module 30 includes a sample liquid pumping mechanism for pumping the sample liquid in the sample cell 20 into the water quality analyzer 32, and the water quality analyzer 32 for detecting the water sample parameters; a plurality of sample tanks 20 are arranged, electromagnetic valves 31 are arranged between each sample tank 20 and the water quality analyzer 32, and the electromagnetic valves 31 are assembled to enable each sample tank 20 to be alternatively communicated with the water quality analyzer 32; the sample liquid pumping mechanism comprises an overflow tank 33, the overflow tank 33 is respectively communicated with the water quality analyzer 32 and the vacuum pump through pipelines, the sample liquid pumping mechanism pumps the sample liquid in the sample tank 20 to the water quality analyzer 32 in an overtravel pumping mode, namely the sample liquid pumping mechanism continues pumping for a period of time after the water quality analyzer 32 is filled with the sample liquid, so that the sample liquid which firstly enters the water quality analyzer 32 is pumped into the overflow tank 33. The bottom of the water quality analyzer 32 is provided with a first drain valve 35, and the bottom of the overflow tank 33 is provided with a second drain valve 36. The electromagnetic valve 31 is communicated with a sampling pipe on the mounting bracket 203 through a pipeline, and the sampling pipe and a sampling hole arranged on the sample cell 20 form movable splicing matching.
Example 2
A continuous online water body detection method based on an unmanned ship 10 comprises the following steps:
step 1: collecting a water body sample of a target water area on a ship voyage into a sample pool 20 by using a ship-mounted sampling module, and replacing one sample pool 20 for sampling every section of preset journey of the ship;
step 2: pumping the water sample in the sample cell 20 into the onboard water quality analyzer 32;
and step 3: the water quality analyzer 32 detects the water quality parameters and sends the water quality parameters to the remote terminal through the wireless communication module;
and 4, step 4: discharging the sample liquid in the sample cell 20 and the water quality analyzer 32 which have been detected;
and 5: flushing the sample pool 20 and the sampling pipeline by using the water body of the new target water area, and waiting for next sampling;
in the step 2, an over-travel pumping mode is adopted when the water sample is pumped to the water quality analyzer 32, that is, after the water quality analyzer 32 is filled with the sample liquid, the water sample is continuously pumped for a period of time, so that part of the sample liquid initially entering the water quality analyzer 32 is discharged from the water quality analyzer 32, and the sample liquid remained in the water quality analyzer 32 during the last detection is flushed.
In the step 5, the cleaning method of the sampling pipeline comprises the following steps: the movable door 213 is adjusted to the first station, so that the water in the arched flow channel 21 directly flows through the arched flow channel 21 for a period of time without passing through the sample cell 20.
In the step 5, the method for washing the sample cell 20 includes: the driving mechanism drives the two end covers 202 of the sample pool 20 to open, and then drives the cylindrical body 201 and the two end covers 202 to sink into the water body below the ship, so that the cylindrical body 201 and the end covers 202 are flushed in the water body for a period of time.
In the step 2, the sample liquid in the sample cell 20 is pumped to the water quality analyzer 32 by the sample liquid pumping mechanism.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that those skilled in the art can make various improvements and modifications without departing from the principle of the present invention, and these improvements and modifications should also be construed as the protection scope of the present invention. Structures, devices, and methods of operation not specifically described or illustrated herein are generally practiced in the art without specific recitation or limitation.
Claims (10)
1. The utility model provides a quality of water sampling detecting system based on unmanned ship which characterized in that: the system comprises a sampling module, a detection module and a GPS positioning module which are arranged on an unmanned ship, an unmanned ship power control module, a sampling detection control module, a data processing module and a man-machine interaction module which are positioned on remote terminal equipment; the system also comprises a wireless communication module for realizing data transmission between the unmanned ship and the remote terminal equipment; the sampling module is used for collecting a water sample of a target water area, the water sample collected by the sampling module is conveyed to the detection module, detection data of the detection module and coordinate data of the GPS positioning module are sent to the data processing module through the wireless communication module, the unmanned ship power control module controls and plans a navigation path of the unmanned ship through the wireless communication module, the sampling detection control module controls sampling detection frequency and sampling detection period of the sampling module and the detection module through the wireless communication module, the data processing module receives the detection data and the GPS coordinate data, carries out graphical processing on the detection data by combining with satellite map data and then sends the processed data to the human-computer interaction module, and the human-computer interaction module is used for displaying graphical data of water quality parameters and inputting an unmanned ship control instruction and a sampling detection control instruction.
2. The unmanned ship-based water quality sampling and detecting system according to claim 1, characterized in that: sampling module includes the arch runner, the front end slant downwardly extending of arch runner extends to the bottom of hull front end, and the rear end of arch runner extends to the hull afterbody, and the middle part of arch runner has the arch section of upwards arching, arch section below is equipped with the sample cell, is equipped with the shunt tubes that are used for the intercommunication the two between arch section and the sample cell, is equipped with the dodge gate in the arch section, and the dodge gate accompanies the assembly for having following two stations: in the first station, the movable door closes the flow dividing pipe to directly discharge a water sample flowing into the front end of the arched flow channel from the rear end of the arched flow channel so as to clean the inner wall of the arched flow channel; and a second station, wherein the movable door closes a channel between the arch section and the rear end of the arch flow channel, so that a water sample flowing into the front end of the arch flow channel enters the sample pool from the flow dividing pipe; still including washing the mechanism, wash the mechanism and be assembled into and make the water discharge in order to wash remaining liquid in the sample cell when sampling the previous time again after can pouring into the sample cell with the water in sampling area.
3. The unmanned ship-based water quality sampling and detecting system according to claim 2, characterized in that: the sample cell comprises a cylindrical body, the axis direction of the cylindrical body is arranged along the front and back sides of the ship body in a square mode, two ends of the cylindrical body are respectively provided with an end cover, the end covers are pivoted with the cylindrical body to enable the end covers to close or open the two ends of the cylindrical body, and the end faces of the end covers are in a horizontal state when the end covers are opened; the flushing mechanism comprises a driving component for driving the sample pool to reciprocate along the vertical direction, the driving component is assembled to be capable of firstly opening the end covers at the two ends of the cylindrical local part and then driving the cylindrical body and the end covers to be immersed into the water body of the sampling area when the driving component drives the sample pool to move downwards, and is capable of firstly driving the cylindrical body and the end covers to float out of the water body of the sampling area and then driving the end covers at the two ends of the cylindrical body to be closed when the driving component drives the sample pool to move upwards; the driving component comprises a piston cylinder arranged on the mounting support along the vertical direction, a piston rod of the piston cylinder is fixedly connected with a driving frame, a swing arm is arranged on a pivot between the end cover and the cylindrical body, a pin shaft is arranged at the end part of the swing arm, a horizontal waist-shaped hole is arranged on the driving frame, the pin shaft is in sliding pin joint fit with the horizontal waist-shaped hole, the cylindrical body is movably connected with the mounting support along the vertical direction, a first elastic unit is arranged between the cylindrical body and the mounting support, the first elastic unit is assembled to enable the cylindrical body to move upwards in real time due to the elasticity of the first elastic unit, and a limiting part in blocking connection with the mounting support is arranged.
4. The unmanned ship-based water quality sampling and detecting system according to claim 3, characterized in that: a linkage mechanism is arranged between the sample pool and the movable door, and is assembled to enable the movable door to be switched from the first station to the second station when the driving component drives the sample pool to move downwards, and to enable the movable door to be switched from the first station to the second station when the driving component drives the sample pool to move upwards; the shunt tube is fixedly connected with the mounting bracket, the shunt tube is movably inserted and matched with a liquid inlet hole formed in the cylindrical body along the vertical direction, the linkage mechanism comprises an ejector rod movably arranged in the shunt tube along the vertical direction, the movable door is pivoted on the bottom wall of the arched flow channel along the horizontal axis, one end, away from the pivot, of the movable door is arranged towards the front end of the arched flow channel and covers the upper end of the shunt tube, a sliding groove is formed in the bottom of the movable door, the upper end of the ejector rod is slidably pivoted with the sliding groove, the movable door can be lifted to be located at the second station when the ejector rod moves upwards, and the movable door can be pulled down to be located at the first station when the ejector rod moves downwards; and a second elastic unit is arranged between the ejector rod and the flow dividing pipe, the second elastic unit is assembled to enable the elastic force of the second elastic unit to drive the ejector rod to move downwards, a baffle is arranged in the cylindrical body and is in blocking connection with the lower end of the ejector rod, and the ejector rod can be lifted upwards by the baffle when the driving component drives the sample cell to move upwards.
5. The unmanned ship-based water quality sampling and detecting system according to claim 4, characterized in that: the front end of the arched runner is provided with a water collecting device which is assembled to have the following two stations: the water collecting device closes the front end of the arched flow passage at a station a, and opens the front end of the arched flow passage to form a funnel-shaped structure so that water flow in front of the ship body is injected into the arched flow passage at an accelerated speed at a station b.
6. The unmanned ship-based water quality sampling and detecting system according to claim 5, characterized in that: the water collecting device comprises a mounting seat arranged at the bottom of the front end of the ship body and a water shoveling plate pivoted with the mounting seat, side plates are arranged on two sides of the water shoveling plate and comprise a first sector and a second sector, the fan centers of the first sector and the second sector are both positioned on the pivot axis of the water shoveling plate, the first sector faces the front of the water shoveling plate, the second sector faces the rear of the water shoveling plate, and the radius of the first sector is larger than that of the second sector; a drainage hole is formed in the mounting seat at the rear end of the water shoveling plate and communicated with the front end of the arched runner; when the front end of the water shoveling plate is inclined downwards, the front end of the water shoveling plate can be submerged below the liquid level of the sampling water area, the rear end of the water shoveling plate is flush with the bottom surface of the drainage hole, and the water shoveling plate, the two side plates and the bottom wall of the mounting seat form the funnel-shaped structure together; when the front end of the water shoveling plate inclines upwards, the front end of the water shoveling plate is closed with the bottom wall of the mounting seat, the rear end of the water shoveling plate inclines downwards and is separated from the mounting seat, and at the moment, the water body in the front half section of the arched flow channel can flow back downwards and is discharged from a gap between the rear end of the water shoveling plate and the mounting seat.
7. The unmanned ship-based water quality sampling and detecting system according to claim 6, characterized in that: still include the actuating mechanism that catchments, the actuating mechanism that catchments includes connecting rod, slide bar, pivot, peach-shaped wheel and motor, the slide bar is along vertical direction and mount pad sliding connection, peach-shaped wheel and pivot rigid coupling, and the pivot is followed hull width direction horizontal rotation and is set up, and the pivot is connected with motor drive, the one end and the slide bar pin joint of connecting rod, the other end with the curb plate pin joint, the slide bar upper end is equipped with the backing pin, and the backing pin keeps off with peach-shaped wheel upper end wheel face and connects, is equipped with the third elastic unit between slide bar and the mount pad, and the third elastic unit is assembled and can orders about the slide bar for its elasticity and descend.
8. The unmanned ship-based water quality sampling and detecting system according to claim 7, characterized in that: the arched flow channel, the sample pool, the water collecting devices and the water collecting driving mechanisms are all provided with a plurality of groups along the width direction of the ship body, and the peach-shaped wheels of the water collecting driving mechanisms of the water collecting devices are fixedly connected with the same rotating shaft.
9. The unmanned ship-based water quality sampling and detecting system according to claim 8, wherein: the detection module comprises a sample liquid pumping mechanism and a water quality analyzer, wherein the sampling mechanism is used for collecting a water body sample of a target water area into the sample pool, the sample liquid pumping mechanism is used for pumping the sample liquid in the sample pool into the water quality analyzer, and the water quality analyzer is used for detecting water sample parameters; the number of the sample tanks is multiple, electromagnetic valves are arranged between each sample tank and the water quality analyzer, and the electromagnetic valves are assembled to enable each sample tank to be alternatively communicated with the water quality analyzer; the sample liquid pumping mechanism comprises an overflow tank, the overflow tank is respectively communicated with the water quality analyzer and the vacuum pump through pipelines, the sample liquid pumping mechanism pumps the sample liquid in the sample tank to the water quality analyzer in an overtravel pumping mode, namely the sample liquid pumping mechanism continues pumping for a period of time after the water quality analyzer is filled with the sample liquid, so that the sample liquid entering the water quality analyzer at the most is pumped into the overflow tank.
10. The unmanned-vessel-based water quality sampling and detecting system according to claim 9, wherein: the bottom of the water quality analyzer is provided with a first liquid discharge valve, and the bottom of the overflow tank is provided with a second liquid discharge valve.
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