CN114739742A - Cross-contamination-preventing water quality sampling unmanned ship and water quality sampling method of unmanned ship - Google Patents
Cross-contamination-preventing water quality sampling unmanned ship and water quality sampling method of unmanned ship Download PDFInfo
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- CN114739742A CN114739742A CN202210337052.2A CN202210337052A CN114739742A CN 114739742 A CN114739742 A CN 114739742A CN 202210337052 A CN202210337052 A CN 202210337052A CN 114739742 A CN114739742 A CN 114739742A
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 480
- 238000005070 sampling Methods 0.000 title claims abstract description 109
- 238000000034 method Methods 0.000 title claims abstract description 14
- 238000005086 pumping Methods 0.000 claims abstract description 41
- 238000003860 storage Methods 0.000 claims abstract description 37
- 238000012864 cross contamination Methods 0.000 claims abstract description 34
- 238000004140 cleaning Methods 0.000 claims description 25
- 238000007789 sealing Methods 0.000 claims description 13
- 238000003825 pressing Methods 0.000 claims description 12
- 238000009434 installation Methods 0.000 claims description 8
- 230000005540 biological transmission Effects 0.000 claims description 5
- 230000009471 action Effects 0.000 claims description 4
- 238000007599 discharging Methods 0.000 claims description 2
- 239000012535 impurity Substances 0.000 abstract description 4
- 239000007788 liquid Substances 0.000 abstract description 2
- 238000005406 washing Methods 0.000 abstract 1
- 230000003014 reinforcing effect Effects 0.000 description 12
- 238000006243 chemical reaction Methods 0.000 description 8
- 230000000694 effects Effects 0.000 description 8
- 230000002265 prevention Effects 0.000 description 8
- 230000008901 benefit Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 239000007921 spray Substances 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000002787 reinforcement Effects 0.000 description 2
- GQWNECFJGBQMBO-UHFFFAOYSA-N Molindone hydrochloride Chemical compound Cl.O=C1C=2C(CC)=C(C)NC=2CCC1CN1CCOCC1 GQWNECFJGBQMBO-UHFFFAOYSA-N 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000000151 deposition Methods 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 238000011086 high cleaning Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000002352 surface water Substances 0.000 description 1
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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
- G01N1/14—Suction devices, e.g. pumps; Ejector devices
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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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- 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
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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
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Abstract
The invention relates to the field of unmanned ship water quality sampling, in particular to an anti-cross-contamination water quality sampling unmanned ship and an unmanned ship water quality sampling method. The ship body is internally provided with a navigation positioning module, a driving module and an electromechanical control module, the ship body is internally provided with a water pumping device and a sample storage bin, the water pumping device extends out of the ship body and is provided with a sampling pipe, the water pumping device further comprises a water outlet pipe, the water outlet pipe extends into the sample storage bin, and the sample storage bin is internally provided with a water sample collecting device, a water outlet pipe guiding device and a water outlet. The ship body is driven to reach the water area to be collected, the water in the water area is extracted to wash the water pumping device, the sampling tube and the inner cavity of the water outlet pipe, and is discharged from the water outlet, and then the water is collected after the washing is finished, so that the collected water entering the water sample collecting bottle is prevented from being polluted by residual impurities in the water tube and the water liquid in the previous water area. The collected water is ensured not to be polluted, the collection amount of each water area can be reduced, and the load of the ship body is reduced.
Description
Technical Field
The invention relates to the field of unmanned ship water quality sampling, in particular to an anti-cross-contamination water quality sampling unmanned ship and an unmanned ship water quality sampling method.
Background
In the field of water environment monitoring, a representative water quality sample is required to be obtained firstly to obtain real, accurate and complete water quality monitoring data. When water samples are collected for surface water bodies such as rivers, lakes, reservoirs, offshore areas and the like, not only water quality samples of shore sampling points need to be collected, but also water quality samples far away from the shore sampling points need to be collected. In the manual collection process of water quality samples, a sampling person needs to take a ship to a sampling point to complete collection. The manual operation is close to the water surface and is influenced by conditions such as climate, water flow and the like, and the danger coefficient is large; the labor and the time are consumed, the cost of ship use, fuel power and the like is high, and the consumption of manpower and material resources is high; the operation is complex, the single sampling time is long, the time consumption between different sampling points is long, and the timeliness of water sample analysis is influenced; the difference of the sample collection quality can be caused by habit difference in the operation of personnel, which is not beneficial to the analysis and comparison of water quality; when the sampling point is in a narrow or special terrain with insufficient water depth, common ships and personnel are difficult to reach and finish sampling.
The prior unmanned ship for sampling water quality discloses an unmanned ship device for automatically sampling water quality as Chinese invention patent application document with application number 201910921738.4, when a multi-water area sampling task is carried out, after sampling in one water area is completed, a sampling water liquid in the last water area still remains in a sampling water pipe and a sampler, namely an inner cavity of a water pump, and complete discharge cannot be ensured, when sampling in the next water area is carried out, the residual water sample is inevitably injected into a collecting container together, so that the situation that the water sample in the next container is cross-polluted can be caused, the sampling accuracy of each water area is influenced, when a small amount of sampling in different water areas is carried out, the caused error is particularly serious, so that the error can be reduced only by keeping the acquisition of a large water amount, the load of the unmanned ship is increased, and the acquisition efficiency is influenced.
The invention discloses a self-cleaning unmanned ship and a self-cleaning method thereof, which comprises an unmanned ship body, a controller, a water inlet device and an automatic cleaning device, wherein the water inlet device and the automatic cleaning device are arranged on the unmanned ship body, the automatic cleaning device comprises floating cylinders arranged on two sides of the unmanned ship body, high-pressure spray heads arranged near the floating cylinders, and a floating cylinder lifting device connected with the floating cylinders, the water inlet device is used for pumping water from a water body where the unmanned ship body is located to the high-pressure spray heads of the automatic cleaning device, the controller is used for controlling the floating cylinder lifting device to lower the floating cylinders to lift the unmanned ship from the water surface, or to lift the floating cylinders to float the unmanned ship on the water surface, and the controller is also used for controlling the high-pressure spray heads to clean the unmanned ship body and the floating cylinders. The invention also provides a self-cleaning method of the self-cleaning unmanned ship. The invention can automatically control and clean the unmanned ship, replaces the traditional manual cleaning operation, has convenient use, high reliability and thorough cleaning, can clean the ship body for many times before the water collection task is finished, and has high cleaning efficiency. Therefore, the effect is that the unmanned ship hull is cleaned, and no technical scheme for cleaning the sampling water pipe is provided. In addition, as disclosed in the above-mentioned chinese patent application No. 201910921738.4, the unmanned ship device for automatic sampling of water quality collects water samples deep below the water surface, so that the pollution of the ship body on the water surface to the water samples is negligible.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides the cross-contamination-prevention water quality sampling unmanned ship and the water quality sampling method of the unmanned ship, which ensure that the collected water is not polluted, thereby reducing the collection amount of each water area and reducing the load of a ship body.
In order to achieve the purpose, the invention is realized by the following technical scheme: anti-cross contamination unmanned water sampling vessel, comprising: the navigation positioning module and the driving module are electrically connected with the electromechanical control module; the ship body is internally provided with a water pumping device and a sample storage bin, the water pumping device extends outwards of the ship body and is provided with a sampling pipe, the water pumping device further comprises a water outlet pipe, the water outlet pipe extends into the sample storage bin, and the water pumping device is electrically connected with the electromechanical control module; a water sample collecting device, a water outlet pipe guiding device and a water outlet are arranged in the sample storage bin, the water sample collecting device comprises at least 2 water sample collecting bottles, the water outlet pipe guiding device comprises a water outlet pipe fixing device and a driving part, the water outlet end of the water outlet pipe is fixed on the water outlet pipe fixing device, the water outlet pipe fixing device is connected with the driving part, and the driving part is electrically connected with the electromechanical control module; the water outlet pipe guiding device comprises a first stroke position state and a second stroke position state, and when in the first stroke position state, the water outlet end of the water outlet pipe is aligned with one of the water sample collecting bottles in the water sample collecting device; and when in the second stroke position state, the water outlet end of the water outlet conduit is aligned with the water outlet.
In the device, the principle of the anti-cross-contamination unmanned water sampling ship is that the ship body is driven to reach a water area to be collected, water in the water area is extracted, the inner cavities of the water pumping device, the sampling pipe and the water outlet guide pipe are cleaned and discharged from the water outlet, and after the cleaning is finished, the collected water is collected, so that the collected water entering the water sample collecting bottle is prevented from being contaminated by impurities remained in the water pumping device, the sampling pipe and the water outlet guide pipe and water in the previous water area. As the collected water is ensured not to be polluted, the collection amount of each water area can be reduced, and the load of the ship body is reduced.
The working method comprises the following steps:
s1: the driving module is controlled through the navigation positioning module and the electromechanical control module, so that the ship body reaches a specified sampling water area;
s2: the driving part is controlled by the electromechanical control module to drive the water outlet pipe fixer, so that the water outlet pipe guiding device enters a second stroke position state;
s3: starting the water pumping device through the electromechanical control module to pump a certain amount of water in a sampled water area, and discharging the water out of the ship body from the water outlet to complete the cleaning of the water pumping device, the sampling pipe and the inner cavity of the water outlet conduit;
s4: the driving part is controlled by the electromechanical control module to drive the water outlet pipe fixer, so that the water outlet pipe guiding device enters a first stroke position state;
s5: starting the water pumping device through the electromechanical control module to pump a certain amount of water in a sampled water area, and filling the water into one of the water sample collecting bottles corresponding to the water outlet of the water outlet pipe to finish sampling of the water area;
s6: repeating S1, S2, S3 and S4 to reach the next designated sampling water area, completing the cleaning operation, and enabling the water outlet pipe guide device to enter the first travel position state;
s7: controlling the water sample collecting device through the electromechanical control module to replace the position of the previous water sample collecting bottle filled with the water sample by the empty next water sample collecting bottle;
s8: repeating S5;
s9: repeating S6, S7 and S8 until the sampling of all the designated sampling water areas is completed;
s10: and controlling a driving module through the navigation positioning module and the electromechanical control module to enable the ship body to reach an appointed return area.
Wherein, the step S7 can be performed after repeating the step S2, that is, after the outlet conduit is away from the position aligned with the water sample collection bottle, the water sample collection bottle is replaced to prevent the residual water in the outlet conduit from dropping into the next water sample collection bottle.
Furthermore, the water sampling unmanned ship capable of preventing cross contamination is characterized in that the water outlet is formed in the side wall of the sample storage bin and extends out of the outer wall of the ship body, and the water sample collecting device is arranged at the bottom of the sample storage bin. As the preferable scheme of the invention, the water for cleaning the inner cavities of the water pumping device, the sampling tube and the water outlet guide tube is directly discharged from the side wall of the ship body, and the invention has the advantage of simple structure.
Furthermore, the unmanned ship for sampling water quality capable of preventing cross contamination comprises a driving part, a first connecting rod and a second connecting rod, wherein the driving part comprises a driving cylinder, the first connecting rod and the second connecting rod, the driving cylinder is electrically connected with an electromechanical control module, the driving cylinder is rotatably connected to the bottom of a sample storage bin, a telescopic rod of the driving cylinder is rotatably connected to the first connecting rod, one end of the first connecting rod is rotatably connected to the sample storage bin, the other end of the first connecting rod is rotatably connected to the end part of the second connecting rod, one end of the second connecting rod, which is far away from the first connecting rod, is rotatably provided with a sliding block, a guide rail is fixed on the side wall of the sample storage bin, the sliding block is clamped on the guide rail and is slidably connected with the guide rail, one end of the second connecting rod, which is near the first connecting rod, extends to form a front extending rod, and the water outlet fixer pipe is fixed on the front extending rod; when the telescopic rod of the driving cylinder is in a small stroke position, the forward extending rod is vertically downward, the corresponding water sample collecting bottle is arranged below the forward extending rod, and the water outlet pipe guiding device is in a first stroke position state; when the first connecting rod telescopic rod is ejected out from the small stroke position to the large stroke position, the forward extending rod completes the action of swinging upwards and extending outwards, the water outlet pipe fixer arranged on the forward extending rod drives the water outlet end of the water outlet pipe to extend into the water outlet and extend out of the outer wall of the ship body, and at the moment, the water outlet pipe guiding device is in a second stroke position state.
As a preferable aspect of the present invention, based on the above apparatus, the cross contamination prevention unmanned water sampling vessel according to the present invention drives the first link, the second link, and the forward extending rod by using the driving cylinder when entering the second stroke position from the first stroke position, wherein the slide block and the guide rail limit the movement of the second link away from one end of the first link, and finally the water outlet pipe fixing device fixed on the forward extending rod completes the swinging up and forward extending movement. So that the water outlet end of the water outlet conduit arranged on the water outlet pipe fixing device extends out of the water outlet, and at the moment, the water pumping device is started to perform water drainage cleaning operation so as to finish cleaning of the water pumping device, the sampling pipe and the inner cavity of the water outlet conduit. When the driving cylinder is reset, correspondingly, the water outlet pipe fixer is driven to complete the movement of the inward shrinkage and downward swing, finally, the water outlet pipe guiding device stops at the first stroke position state, at the moment, the water outlet end of the water outlet pipe downwards faces the water receiving port of the water sample collecting device, and the water pumping device is started to pump a certain amount of water to be filled into the water sample collecting device, so that the sampling and collecting operation is completed. According to the cross-contamination-preventing unmanned water sampling ship, by adopting the structure, the conversion of the two states of the water outlet pipe guiding device corresponding to the first stroke position and the second stroke position can be completed only by controlling one driving piece, namely the driving cylinder, and the cross-contamination-preventing unmanned water sampling ship has the advantages of being simple in control system, accurate in positioning effect and low in cost. The conversion between the first stroke position and the second stroke position can also be completed by adopting a driving mechanism, such as: the change of the orientation angle of the water outlet pipe is completed by rotating the driving device, and then the linear movement in the vertical direction and the linear movement in the horizontal direction are respectively completed by adopting the pair of driving cylinders, so that the conversion of the position relation of the water outlet pipe guiding device corresponding to the first stroke position and the second stroke position is completed. Moreover, an included angle is formed between the projection of the front extension rod and the projection of the second connecting rod in the axial direction of the rotating shaft, the included angle is 120-140 degrees, and preferably, the included angle is 130 degrees. Preferably, the driving cylinder is an electric cylinder. Preferably, the water outlet pipe holder is integrally formed at the front end of the front extension rod, a through hole is axially formed in the water outlet pipe holder and the front extension rod, and the water outlet conduit is arranged in the through hole.
Furthermore, the unmanned ship for sampling water quality is prevented from cross contamination, the second connecting rod further comprises a vertical extension section, the vertical extension section is arranged between the front extension rod and the second connecting rod, and the extension direction of the vertical extension section is perpendicular to the front extension rod and the second connecting rod. As a preferable scheme of the present invention, if the vertical extension section is not provided, the distance between the whole forward-extending rod and the side wall of the sample storage chamber provided with the guide rail is too short, and interference is easily generated, so the vertical extension section is provided to ensure that the position of the water outlet pipe fixer vertical to the second connecting rod is adapted to the water sample collecting device and the water outlet, and interference is avoided.
Furthermore, the cross contamination prevention unmanned ship for water sampling comprises a water outlet guide pipe arranged inside the water outlet pipe fixing device, and a pipe tightening pressing sheet is arranged between the water outlet pipe fixing device and the inner wall of the water outlet pipe fixing device, a group of fastening screws penetrate through the position, corresponding to the pipe tightening pressing sheet, of the water outlet pipe fixing device, and the pipe tightening pressing sheet is pressed on the water outlet guide pipe by the front ends of the fastening screws. As a preferable scheme of the invention, the fastness of the fixation of the water outlet end of the water outlet conduit is ensured by the pipe tightening pressing sheet and the fastening screw.
Furthermore, the anti-cross-contamination water sampling unmanned ship is characterized in that a cover plate capable of rotating outwards is arranged on the outer wall of the ship body corresponding to the water outlet; still include magnetic stripe and sealing strip, the below at the outlet outer wall is fixed to the magnetic stripe, the edge department at apron inboard is fixed to the sealing strip. As a preferable scheme of the present invention, when the outlet pipe holder extends out of the outlet port, the cover plate is pushed to rotate outwards, and when the outlet pipe holder is retracted, the cover plate covers the outlet port, and through the cooperation of the magnetic strip and the sealing strip, a sealing effect is achieved, and when the outlet port is submerged in water, the sealing effect of the cover plate is better due to the effect of water pressure.
Furthermore, the cross contamination prevention unmanned ship for water sampling comprises a rotary disc which is rotatably arranged at the bottom of a sample storage bin, a group of water sample collecting bottles are circumferentially arranged on the rotary disc and correspond to the bottoms of the water sample collecting bottles, a group of groove portions are arranged at the bottom of the rotary disc, when the water outlet pipe guiding device is in a first travel position state, the water outlet end of the water outlet pipe is over against the bottle mouth of one of the water sample collecting bottles, the water sample collecting device further comprises a driving motor, the driving motor is electrically connected with an electromechanical control module, and the driving motor is fixed on the sample storage bin and is in transmission connection with the rotary disc. As a preferable aspect of the present invention, it is preferable that the outer periphery of the turntable is provided with a transmission gear, and correspondingly, the output shaft of the driving motor is provided with a driving gear. The drive motor is driven by the electromechanical control module to drive the turntable to rotate by a specified angle so as to replace the previous water sample collecting bottle which has finished sampling with the next vacant water sample collecting bottle.
Furthermore, the cross contamination prevention unmanned water sampling ship, the water sample collection device further comprises a reinforcing cover body, the reinforcing cover body is arranged above the thrust bearing and corresponds to the groove portion, a group of through holes are formed in the reinforcing cover body, the turntable is arranged in a group in the periphery of the groove portion, and the reinforcing cover body is fixed on the flange through screw connection. In a preferred embodiment of the present invention, the hull is made to travel on the water surface, the water sample collection bottle arranged in the groove part in a floating manner is prone to toppling, the depth of the groove part is extended by the structure of the flange and the reinforcing cover body, and the whole structure adopted by the cross contamination prevention unmanned water sampling vessel is lighter than that of the water sample collection bottle arranged in the groove part in a thick plate.
Furthermore, the unmanned ship of water sampling of preventing cross contamination, water sample collection device still includes thrust bearing, the storehouse of depositing a sample corresponds thrust bearing and is equipped with bearing installation counter bore, thrust bearing lower extreme seat circle card is established in the bearing installation counter bore, the carousel sets up on thrust bearing. As the preferable scheme of the invention, the rotating stability of the turntable is ensured through a thrust bearing, and the bearing mounting counter bore is used for positioning the thrust bearing. Preferably, still include the sleeve axle, the sleeve axle is worn to establish on carousel, reinforcement lid and thrust bearing, the sleeve axle is nearly consolidated lid one end and is equipped with the nut, the sleeve axle is kept away from nut one end and is extended and be equipped with the location protruding, corresponds the location is protruding bearing installation counter bore bottom is equipped with and dodges the groove, through the connection of carousel and thrust bearing is accomplished to the sleeve axle.
The technical scheme shows that the invention has the following beneficial effects:
1. the invention provides an anti-cross-contamination unmanned water sampling ship, which is based on the principle that a ship body is driven to reach a water area to be collected, water in the water area is extracted, an inner cavity of a water pumping device, a sampling pipe and a water outlet guide pipe is cleaned and discharged from a water outlet, and then the water is collected after the cleaning is finished, so that collected water entering a water sample collecting bottle is prevented from being contaminated by impurities remained in the water pumping device, the sampling pipe and the water outlet guide pipe and water in the previous water area. As the collected water is ensured not to be polluted, the collection amount of each water area can be reduced, and the load of the ship body is reduced.
2. The invention provides a cross-contamination-preventing water sampling unmanned ship.A mechanical structure of a driving part adopted by a water pipe guiding device can finish the conversion of two states of a water outlet pipe guiding device corresponding to a first stroke position and a second stroke position only by controlling a driving piece, namely a driving cylinder.
3. The invention provides an anti-cross-contamination unmanned water sampling ship, wherein a ship body sails on the water surface, a water sample collecting bottle arranged in a groove part in a floating mode on the water surface is easy to topple, the depth of the groove part is extended through the structure of a flange and a reinforcing cover body, and compared with the structure that the groove part with the same depth is arranged on a thick plate, the anti-cross-contamination unmanned water sampling ship is lighter in whole.
4. The invention provides a water sampling method for an unmanned ship, which is characterized in that after a water outlet guide pipe is separated from a position aligned with a water sample collecting bottle, the water sample collecting bottle is replaced, and water in the last water area remained in the water outlet guide pipe is prevented from dropping into the next water sample collecting bottle.
Drawings
Fig. 1 is a schematic structural diagram of a cross-contamination-preventing water sampling unmanned ship according to an embodiment of the invention;
fig. 2 is a top plan view of the sample storage bin of the cross-contamination resistant unmanned water sampling vessel according to an embodiment of the present invention;
FIG. 3 is a cross-sectional view taken along line D-D of FIG. 2;
fig. 4 is an exploded view of the components of the water sample collection device of the cross-contamination prevention unmanned water sampling vessel according to the embodiment of the invention;
fig. 5 is a schematic diagram illustrating a plane structure and dimensional and positional parameters of various components of the outlet pipe guide device of the cross-contamination prevention unmanned water sampling ship according to the embodiment of the invention;
FIG. 6 is a plan sectional view taken in the direction C-C of FIG. 5;
fig. 7 is a schematic structural diagram of the cover plate of the cross-contamination-preventing unmanned water sampling vessel according to the embodiment of the invention;
fig. 8 is a schematic diagram illustrating the conversion of the outlet pipe guide device of the anti-cross contamination unmanned water sampling vessel from the first stroke position to the second stroke position according to the embodiment of the present invention.
In the figure: 1, a ship body; 2, a water pumping device; 21-a sampling tube; 22-a water outlet conduit; 3-a sample storage bin; 31-bearing mounting counterbores; 311-avoidance slots; 4-a water sample collecting device; 41-a turntable; 411-slot portion; 412-gear teeth; 413-flange; 42-water sample collection bottle; 43-a drive motor; 431-a drive gear; 44-a thrust bearing; 45-reinforcing the cover body; 451-through holes; 46-a sleeve shaft; 461-nut; 462-positioning boss; 5-water outlet pipe guiding device; 501-a first travel position; 502-second trip position; 51-outlet pipe fixer; 511-pressing the tube; 512-fastening screws; 52-a drive section; 521-a driving cylinder; 522-a first link; 523-a second link; 5231-a front extension bar; 5232-vertical extension; 524-a slide block; 525-a guide rail; 6-a water outlet; 61-a cover plate; 62-a magnetic strip; 63-sealing strip.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be considered as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, unless otherwise specified, "a plurality" means two or more unless explicitly defined otherwise.
In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood according to specific situations by those of ordinary skill in the art.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature "on," "above" and "over" the second feature may include the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is at a higher level than the second feature. "beneath," "under" and "beneath" a first feature includes the first feature being directly beneath and obliquely beneath the second feature, or simply indicating that the first feature is at a lesser elevation than the second feature.
Examples
The ship comprises a ship body 1, wherein a navigation positioning module, a driving module and an electromechanical control module are arranged in the ship body 1, and the navigation positioning module and the driving module are electrically connected with the electromechanical control module; still be equipped with pumping device 2 and deposit kind storehouse 3 in the hull 1, pumping device 2 extends to hull 1 outward and is equipped with sampling tube 21, pumping device 2 still includes outlet conduit 22, outlet conduit 22 extends into and deposits kind storehouse 3, pumping device 2 and electromechanical control module electric connection. The sample storage bin 3 is internally provided with a water sample collecting device 4, a water outlet pipe guiding device 5 and a water outlet 6, the water sample collecting device 4 comprises 8 water sample collecting bottles 42, the water outlet pipe guiding device 5 comprises a water outlet pipe fixer 51 and a driving part 52, the water outlet end of the water outlet pipe 22 is fixed on the water outlet pipe fixer 51, the water outlet pipe fixer 51 is connected with the driving part 52, and the driving part 52 is electrically connected with an electromechanical control module; the outlet pipe guiding device 5 comprises a first stroke position state and a second stroke position state, and when in the first stroke position state, the water outlet end of the outlet pipe 22 is aligned with one of the water sample collecting bottles 42 in the water sample collecting device 4; in the second stroke position, the water outlet end of the water outlet pipe 22 is aligned with the water outlet 6.
The principle of the cross contamination prevention water sampling unmanned ship is that a ship body 1 is driven to reach a water area to be collected, water in the water area is extracted, inner cavities of a water pumping device 2, a sampling tube 21 and a water outlet guide tube 22 are cleaned firstly, the water is discharged from a water discharge opening 6, and after the water is cleaned, the water is collected, so that collected water entering a water sample collecting bottle 42 is guaranteed not to be contaminated by impurities left in the water pumping device 2, the sampling tube 21 and the water outlet guide tube 22 and water in the previous water area. Since the collected water is ensured not to be polluted, the collected water volume per water area can be reduced, and the load of the ship body 1 can be reduced.
The working method comprises the following steps:
s1: the driving module is controlled through the navigation positioning module and the electromechanical control module, so that the ship body 1 reaches a specified sampling water area;
s2: the driving part 52 is controlled by the electromechanical control module to drive the water outlet pipe fixer 51, so that the water outlet pipe guiding device 5 enters a second stroke position state;
s3: the electromechanical control module starts the water pumping device 2 to pump a certain amount of water in a sampled water area, and the water is discharged out of the ship body 1 from the water outlet 6, so that the cleaning of the inner cavities of the water pumping device 2, the sampling pipe 21 and the water outlet conduit 22 is completed;
s4: the driving part 52 is controlled by the electromechanical control module to drive the water outlet pipe fixer 51, so that the water outlet pipe guiding device 5 enters a first stroke position state;
s5: starting the water pumping device 2 through the electromechanical control module to pump a certain amount of water in the sampled water area, and filling the water into one of the water sample collecting bottles 42 corresponding to the water outlet of the water outlet conduit 22 to finish sampling of the water area;
s6: repeating S1, S2, S3 and S4, reaching the next designated sampling water area, completing the cleaning operation, and enabling the water outlet pipe guide device 5 to enter the first travel position state;
s7: the electromechanical control module controls the water sample collecting device 4 to replace the position of the previous water sample collecting bottle 42 filled with the water sample by the empty next water sample collecting bottle 42;
s8: repeating S5;
s9: repeating the steps S6, S7 and S8 until the sampling of all the designated sampling water areas is completed;
s10: and controlling a driving module through the navigation positioning module and the electromechanical control module to enable the ship body 1 to reach an appointed return area.
Wherein the step S7 can be performed after repeating the step S2, i.e. after the water outlet pipe 22 is ensured to be away from the position aligned with the water sample collecting bottle 42, the water sample collecting bottle 42 is replaced to prevent the residual water in the previous water area in the water outlet pipe 22 from dropping into the next water sample collecting bottle 42.
In this embodiment, the water outlet 6 is arranged on the side wall of the sample storage bin 3 and extends out of the outer wall of the ship body 1, and the water sample collecting device 4 is arranged at the bottom of the sample storage bin 3. The water for cleaning the inner cavities of the water pumping device 2, the sampling tube 21 and the water outlet conduit 22 is directly discharged from the side wall of the ship body 1, and the device has the advantage of simple structure.
In this embodiment, as shown in fig. 5, the driving portion 52 includes a driving cylinder 521, a first connecting rod 522 and a second connecting rod 523, the driving cylinder 521 drives the controller to be electrically connected to the electromechanical control module, the driving cylinder 521 is rotatably connected to the bottom of the sample storage bin 3, an expansion rod of the driving cylinder 521 is rotatably connected to the first connecting rod 522, one end of the first connecting rod 522 is rotatably connected to the sample storage bin 3, the other end of the first connecting rod 523 is rotatably connected to an end of the second connecting rod 523, one end of the second connecting rod 523 away from the first connecting rod 522 is rotatably provided with a sliding block 524, a guide rail 525 is fixed on a side wall of the sample storage bin 3, the sliding block 524 is clamped on the guide rail 525 and is slidably connected to the guide rail 525, one end of the second connecting rod 523 close to the first connecting rod 522 is provided with a forward extending rod 5231 in an extending manner, and the water outlet pipe fixer 51 is fixed on the forward extending rod 5231; when the telescopic rod of the driving cylinder 521 is in the small stroke position, the forward extending rod 5231 is vertically downward, the corresponding water sample collecting bottle 42 is arranged below the forward extending rod 5231, and the water outlet pipe guiding device 5 is in a first stroke position state at the moment; when the first link 522 is pushed out from the small stroke position to the large stroke position, the forward extending rod 5231 completes the outward swinging and extending action, the outlet pipe fixer 51 arranged on the forward extending rod 5231 drives the outlet end of the outlet pipe 22 to extend into the water outlet 6 and extend out of the outer wall of the ship body 1, and at this time, the outlet pipe guiding device 5 is in the second stroke position state.
Based on the above device, when the outlet pipe guide device 5 enters the second stroke position from the first stroke position, the first link 522, the second link 523 and the forward extending rod 5231 are driven by using the driving cylinder 521, wherein the slider 524 and the guide rail 525 limit the movement of the second link 523 away from one end of the first link 522, and finally the outlet pipe fixer 51 fixed on the forward extending rod 5231 completes the swinging-up and forward extending movement. So that the water outlet end of the water outlet conduit 22 arranged on the water outlet pipe fixing device 51 extends out of the water outlet 6, and at the moment, the water pumping device 2 is started to perform water drainage and cleaning operation, so as to complete the cleaning of the inner cavities of the water pumping device 2, the sampling pipe 21 and the water outlet conduit 22. When the driving cylinder 521 is reset, correspondingly, the outlet pipe fixer 51 is driven to complete the movement of retracting and swinging, finally, the outlet pipe guiding device 5 stops at the first stroke position state, at the moment, the outlet end of the outlet pipe 22 faces downwards to the water receiving port of the water sample collecting device 4, the water pumping device 2 is started to pump a certain amount of water to be filled into the water sample collecting device 4, and thus, the sampling and collecting operation is completed. According to the anti-cross-contamination unmanned water sampling ship, by adopting the structure, the conversion of the two states of the first stroke position and the second stroke position of the water outlet pipe guiding device 5 can be completed by only controlling one driving piece, namely the driving cylinder 521, and the anti-cross-contamination unmanned water sampling ship has the advantages of being simple in control system, accurate in positioning effect and low in cost. The conversion between the first stroke position and the second stroke position can also be completed by adopting a driving mechanism, such as: the change of the direction angle of the water outlet pipe 22 is completed by rotating the driving device, and then the linear movement in the vertical direction and the linear movement in the horizontal direction are respectively completed by adopting a pair of driving cylinders, so that the conversion of the position relation of the water outlet pipe guiding device 5 corresponding to the first stroke position and the second stroke position is completed. Moreover, the projection of the forward extending rod 5231 and the second connecting rod 523 in the axial direction of the rotating shaft forms an included angle, the included angle is in a range of 120 ° to 140 °, in this embodiment, the included angle is 130 °, the size and position parameters of other related components are as shown in fig. 5, the size and position parameters of fig. 5 are reduced in proportion, and the parameters may be enlarged in proportion according to actual conditions during specific implementation. In this embodiment, the driving cylinder 521 is an electric cylinder. In this embodiment, the outlet pipe holder 51 is integrally formed at the front end of the forward rod 5231, and the outlet pipe holder 51 and the forward rod 5231 are axially provided with through holes, and the outlet conduit 22 is disposed in the through holes.
In this embodiment, the second link 523 further includes a vertically extending section 5232, the vertically extending section 5232 is disposed between the forward rod 5231 and the second link 523, and the extending direction of the vertically extending section 5232 is perpendicular to the forward rod 5231 and the second link 523. If the vertical extension 5232 is not provided, the whole of the forward extension 5231 is too close to the sidewall of the sample storage chamber 3 where the guide rail 525 is provided, and interference is easily generated, so the vertical extension 5232 is provided to ensure that the position of the outlet pipe holder 51 perpendicular to the second link 523 is adapted to the sample collection device 4 and the drain outlet 6, and interference is avoided.
In this embodiment, a pipe fastening pressing sheet 511 is disposed between the water outlet pipe 22 disposed inside the water outlet pipe holder 51 and the inner wall of the water outlet pipe holder 51, a set of fastening screws 512 penetrate through the water outlet pipe holder 51 corresponding to the pipe fastening pressing sheet 511, and the front ends of the fastening screws 512 press the pipe fastening pressing sheet 511 onto the water outlet pipe 22. The firmness of the fixed water outlet end of the water outlet guide pipe 22 is ensured by the pipe tightening pressing plate 511 and the fastening screw 512.
In addition, a cover plate 61 which can rotate outwards is arranged on the outer wall of the ship body 1 corresponding to the water outlet 6; the water outlet structure further comprises a magnetic strip 62 and a sealing strip 63, wherein the magnetic strip 62 is fixed below the outer wall of the water outlet 6, and the sealing strip 63 is fixed at the outer edge of the inner side of the cover plate 61. Therefore, when the outlet pipe holder 51 is extended from the water outlet 6, the cover plate 61 is pushed to rotate outwards, when the outlet pipe holder 51 is retracted, the cover plate 61 covers the water outlet 6, the sealing effect is achieved through the cooperation of the magnetic strip 62 and the sealing strip 63, and the sealing effect of the cover plate 61 is better under the action of water pressure when the water outlet 6 is submerged.
In this embodiment, the water sample collecting device 4 includes a rotary disc 41 rotatably disposed at the bottom of the sample storage bin 3, a set of water sample collecting bottles 42 is circumferentially disposed on the rotary disc 41, and corresponds to the bottoms of the water sample collecting bottles 42, a set of slot portions 411 is disposed at the bottom of the rotary disc 41, when the water outlet pipe guiding device 5 is in the first stroke position state, the water outlet end of the water outlet pipe 22 faces the bottle mouth of one of the water sample collecting bottles 42, the water sample collecting device 4 further includes a driving motor 43, the driving motor 43 is electrically connected with the electromechanical control module, and the driving motor 43 is fixed on the sample storage bin 3, and the driving motor 43 is in transmission connection with the rotary disc 41. In this embodiment, the periphery of the turntable 41 is provided with a transmission gear 412, and correspondingly, an output shaft of the driving motor 43 is provided with a driving gear 431. The driving motor 43 is driven by the electromechanical control module to drive the turntable 41 to rotate by a specified angle, so that the next empty water sample collecting bottle 42 can be replaced by the last water sample collecting bottle 42 which has finished sampling.
In addition, water sample collection device 4 still includes reinforcing lid 45, reinforcing lid 45 sets up thrust bearing 44 top, corresponds slot portion 411, be equipped with a set of through-hole 451 on reinforcing lid 45, carousel 41 is in a set of slot portion 411 periphery is equipped with flange 413, reinforcing lid 45 passes through screwed connection and fixes on the flange 413. When the ship body 1 sails on the water surface, the water sample collecting bottles 42 which are arranged in the groove 411 in a floating mode are prone to toppling, the depth of the groove 411 is extended through the structure of the flange 413 and the reinforcing cover body 45, and compared with the structure that the groove 411 with the same depth is formed in a thick plate, the whole structure adopted by the anti-cross-contamination water sampling unmanned ship is lighter.
In addition, the water sample collecting device 4 further comprises a thrust bearing 44, the sample storage bin 3 is provided with a bearing installation counterbore 31 corresponding to the thrust bearing 44, a race at the lower end of the thrust bearing 44 is clamped in the bearing installation counterbore 31, and the turntable 41 is arranged on the thrust bearing 44. The stability of the rotation of the turntable 41 is ensured by a thrust bearing 44, which bearing mounting counterbore 31 serves to locate the thrust bearing 44. In this embodiment, still include sleeve 46, sleeve 46 wears to establish on carousel 41, reinforcement lid 45 and thrust bearing 44, sleeve 46 nearly reinforces lid 45 one end and is equipped with nut 461, sleeve 46 keeps away from nut 461 one end and extends and be equipped with location protruding 462, corresponds location protruding 462 bearing installation counter bore 31 bottom is equipped with and dodges groove 311, through sleeve 46 accomplishes the connection of carousel 41 and thrust bearing 44. The sleeve shaft 46 is in interference fit with the race at the upper end of the thrust bearing 44, the rotating disc 41 and the reinforcing cover body 45, and the sleeve shaft 46 is in clearance fit with the race at the lower end of the thrust bearing 44. The technical principles of the present invention have been described above in connection with specific embodiments, which are intended to explain the principles of the present invention and should not be construed as limiting the scope of the present invention in any way. Based on the explanations herein, those skilled in the art will be able to conceive of other embodiments of the present invention without inventive effort, which would fall within the scope of the present invention.
Claims (10)
1. The water sampling unmanned ship capable of preventing cross contamination comprises a ship body (1), wherein a navigation positioning module, a driving module and an electromechanical control module are arranged in the ship body (1), and the navigation positioning module and the driving module are electrically connected with the electromechanical control module; the water pumping device (2) and the sample storage bin (3) are further arranged in the ship body (1), the water pumping device (2) is provided with a sampling pipe (21) extending out of the ship body (1), the water pumping device (2) further comprises a water outlet pipe (22), the water outlet pipe (22) extends into the sample storage bin (3), and the water pumping device (2) is electrically connected with the electromechanical control module; the method is characterized in that: a water sample collecting device (4), a water outlet pipe guiding device (5) and a water outlet (6) are arranged in the sample storage bin (3), the water sample collecting device (4) comprises at least 2 water sample collecting bottles (42), the water outlet pipe guiding device (5) comprises a water outlet pipe fixing device (51) and a driving part (52), the water outlet end of the water outlet guide pipe (22) is fixed on the water outlet pipe fixing device (51), the water outlet pipe fixing device (51) is connected with the driving part (52), and the driving part (52) is electrically connected with the electromechanical control module; the water outlet pipe guide device (5) comprises a first stroke position and a second stroke position, and when in the first stroke position, the water outlet end of the water outlet pipe (22) is aligned with one of the water sample collecting bottles (42) in the water sample collecting device (4); in the second travel position state, the water outlet end of the water outlet conduit (22) is aligned with the water outlet (6).
2. The anti-cross-contamination unmanned water-sampling vessel of claim 1, wherein: the water outlet (6) is arranged on the side wall of the sample storage bin (3) and extends out of the outer wall of the ship body (1), and the water sample collecting device (4) is arranged at the bottom of the sample storage bin (3).
3. The cross-contamination resistant unmanned water sampling vessel of claim 2, wherein: the driving part (52) comprises a driving cylinder (521), a first connecting rod (522) and a second connecting rod (523), the driving cylinder (521) is electrically connected with an electromechanical control module, the driving cylinder (521) is rotatably connected to the bottom of the sample storage bin (3), a telescopic rod of the driving cylinder (521) is rotatably connected to the first connecting rod (522), one end of the first connecting rod (522) is rotatably connected to the sample storage bin (3), the other end of the first connecting rod (523) is rotatably connected to the end of the second connecting rod, a sliding block (524) is rotatably arranged at one end, far away from the first connecting rod (522), of the second connecting rod (523), a guide rail (525) is fixed on the side wall of the sample storage bin (3), the sliding block (524) is clamped on the guide rail (525) and is slidably connected with the guide rail (525), and a front extension rod (5231) is arranged at one end, close to the first connecting rod (522), of the second connecting rod (523), the water outlet pipe fixer (51) is fixed on the front extension rod (5231); when the telescopic rod of the driving cylinder (521) is in a small stroke position, the front stretching rod (5231) is vertically downward, the corresponding water sample collecting bottle (42) is arranged below the front stretching rod (5231), and the water outlet pipe guide device (5) is in a first stroke position state at the moment; when the telescopic rod of the first connecting rod (522) is ejected out from a small stroke position to a large stroke position, the front extension rod (5231) completes the action of swinging upwards and extending outwards, the water outlet pipe fixing device (51) arranged on the front extension rod (5231) drives the water outlet end of the water outlet guide pipe (22) to extend into the water outlet (6) and extend out of the outer wall of the ship body (1), and at the moment, the water outlet pipe guiding device (5) is in a second stroke position state.
4. The anti-cross-contamination unmanned water-sampling vessel of claim 3, wherein: the second link (523) further includes a vertically extending section (5232), the vertically extending section (5232) is disposed between the forward rod (5231) and the second link (523), and an extending direction of the vertically extending section (5232) is perpendicular to the forward rod (5231) and the second link (523).
5. The anti-cross-contamination unmanned water-sampling vessel of claim 4, wherein: the water outlet pipe (22) is arranged in the water outlet pipe fixing device (51), a pipe pressing piece (511) is arranged between the water outlet pipe fixing device (51) and the inner wall of the water outlet pipe fixing device (51), a group of fastening screws (512) penetrate through the position, corresponding to the pipe pressing piece (511), of the water outlet pipe fixing device (51), and the pipe pressing piece (511) is pressed on the water outlet pipe (22) through the front ends of the fastening screws (512).
6. The anti-cross-contamination unmanned water-sampling vessel of claim 5, wherein: a cover plate (61) capable of rotating outwards is arranged on the outer wall of the ship body (1) corresponding to the water outlet (6); still include magnetic stripe (62) and sealing strip (63), magnetic stripe (62) are fixed in the below of outlet (6) outer wall, sealing strip (63) are fixed in the inboard periphery department of apron (61).
7. The anti-cross-contamination unmanned water-sampling vessel of claim 6, wherein: the water sample collecting device (4) comprises a rotary disc (41) which is rotatably arranged at the bottom of the sample storage bin (3), a group of water sample collecting bottles (42) are circumferentially arranged on the rotary disc (41) and correspond to the bottoms of the water sample collecting bottles (42), a group of groove parts (411) are arranged at the bottom of the rotary disc (41), when the water outlet pipe guiding device (5) is in a first travel position state, the water outlet end of the water outlet pipe (22) is right opposite to the bottle opening of one of the water sample collecting bottles (42), the water sample collecting device (4) further comprises a driving motor (43), the driving motor (43) is electrically connected with an electromechanical control module, and the driving motor (43) is fixed on the sample storage bin (3) and is in transmission connection with the rotary disc (41).
8. The anti-cross-contamination unmanned water-sampling vessel of claim 7, wherein: water sample collection device (4) are still including consolidating lid (45), it sets up to consolidate lid (45) thrust bearing (44) top, corresponding slot part (411), be equipped with a set of through-hole (451) on consolidating lid (45), carousel (41) are in a set of slot part (411) periphery is equipped with flange (413), it fixes through screwed connection to consolidate lid (45) on flange (413).
9. The anti-cross-contamination unmanned water-sampling vessel of claim 8, wherein: the water sample collection device (4) further comprises a thrust bearing (44), the sample storage bin (3) is provided with a bearing installation counter bore (31) corresponding to the thrust bearing (44), a seat ring at the lower end of the thrust bearing (44) is clamped in the bearing installation counter bore (31), and the rotary disc (41) is arranged on the thrust bearing (44).
10. The unmanned ship water sampling method of the cross-contamination-preventive water sampling unmanned ship according to any one of claims 1 to 9, wherein: the method comprises the following steps:
s1: the driving module is controlled through the navigation positioning module and the electromechanical control module, so that the ship body (1) reaches a specified sampling water area;
s2: the driving part (52) is controlled by the electromechanical control module to drive the water outlet pipe fixer (51), so that the water outlet pipe guiding device (5) enters a second stroke position state;
s3: the electromechanical control module is used for starting the water pumping device (2) to pump a certain amount of water in a sampled water area, and discharging the water out of the ship body (1) from the water outlet (6) to complete the cleaning of the inner cavities of the water pumping device (2), the sampling pipe (21) and the water outlet conduit (22);
s4: the driving part (52) is controlled by the electromechanical control module to drive the water outlet pipe fixer (51), so that the water outlet pipe guiding device (5) enters a first stroke position state;
s5: the electromechanical control module starts the water pumping device (2) to pump a certain amount of water in a sampled water area, and the water is filled into one of the water sample collecting bottles (42) corresponding to the water outlet of the water outlet conduit (22) to finish sampling of the water area;
s6: repeating S1, S2, S3 and S4, reaching the next designated sampling water area, completing the cleaning operation, and enabling the water outlet pipe guide device (5) to enter a first travel position state;
s7: controlling the water sample collecting device (4) through the electromechanical control module to replace the position of the previous water sample collecting bottle (42) filled with the water sample with the empty next water sample collecting bottle (42);
s8: repeating S5;
s9: repeating the steps S6, S7 and S8 until the sampling of all the designated sampling water areas is completed;
s10: and controlling a driving module through the navigation positioning module and the electromechanical control module to enable the ship body (1) to reach a designated return area.
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| CN118150254A (en) * | 2024-05-10 | 2024-06-07 | 湖北省疾病预防控制中心（湖北省预防医学科学院） | Amphibious water sample collection device and collection method thereof |
| CN119510055A (en) * | 2024-11-29 | 2025-02-25 | 宜春江理锂电新能源产业研究院 | A portable sampler for heavy metal detection in water environment for mines |
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