CN105424412A - Underwater water sample collecting apparatus based on autonomous underwater vehicle - Google Patents

Underwater water sample collecting apparatus based on autonomous underwater vehicle Download PDF

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Publication number
CN105424412A
CN105424412A CN201510988860.5A CN201510988860A CN105424412A CN 105424412 A CN105424412 A CN 105424412A CN 201510988860 A CN201510988860 A CN 201510988860A CN 105424412 A CN105424412 A CN 105424412A
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CN
China
Prior art keywords
water
water sample
underwater
underwater vehicle
collection tube
Prior art date
Application number
CN201510988860.5A
Other languages
Chinese (zh)
Inventor
王日鑫
魏恒来
王映翔
周杨
梁昊姣
刘书强
Original Assignee
西安海士铂电子科技有限公司
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Application filed by 西安海士铂电子科技有限公司 filed Critical 西安海士铂电子科技有限公司
Priority to CN201510988860.5A priority Critical patent/CN105424412A/en
Publication of CN105424412A publication Critical patent/CN105424412A/en

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Classifications

    • GPHYSICS
    • G01MEASURING; TESTING
    • G01NINVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N1/00Sampling; Preparing specimens for investigation
    • G01N1/02Devices for withdrawing samples
    • G01N1/10Devices for withdrawing samples in the liquid or fluent state
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01NINVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N1/00Sampling; Preparing specimens for investigation
    • G01N1/02Devices for withdrawing samples
    • G01N1/10Devices for withdrawing samples in the liquid or fluent state
    • G01N1/20Devices for withdrawing samples in the liquid or fluent state for flowing or falling materials
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/10Simultaneous control of position or course in three dimensions

Abstract

The invention belongs to the technical field of underwater vehicles and discloses an underwater water sample collecting apparatus based on an autonomous underwater vehicle. The underwater water sample collecting apparatus includes a total support which is mounted on the autonomous underwater vehicle. A plurality of water sample collecting units are symmetrically disposed on the total support relative to the autonomous underwater vehicle. Each water sample collecting unit includes a collecting pipe arranged vertically, two ends of the collecting pipe being opened. A one-way valve for exhausting air in the tube is arranged on the upper end of the collecting pipe. An electromagnetic valve for controlling water inlet and outlet is arranged on the lower end of the collecting pipe. A control end of the electromagnetic valve is electrically connected to a relay. The apparatus solves the problems of underwater sampling through a conventional manual water sample collecting method and under serious conditions. The apparatus is simple in structure and convenient to use.

Description

A kind of underwater water sample harvester based on Autonomous Underwater Vehicle
Technical field
The invention belongs to submarine navigation device technical field, particularly a kind of underwater water sample harvester based on Autonomous Underwater Vehicle.
Background technology
Autonomous Underwater Vehicle (AutonomousUnderwaterVehicle, AUV) a kind ofly independently navigates by water in sail body under water without the need to manual control, and it can complete the tasks such as underwater prospecting, detecting or even military attack defence.AUV can carry the various kinds of sensors such as attitude sensor, camera, sonar, has navigation algorithm, can independently navigate by water under water, keep away barrier, plan optimal path in real time.AUV has that scope of activities is large, diving depth is dark, can enter in labyrinth, do not need the advantages such as huge water surface support, also has cost and maintenance cost is low, can reuse, throw in and reclaim the features such as convenient, flying power is long.In today that ocean development becomes more and more important, various countries Efforts To Develop AUV technical research, makes it can have in military affairs, geologic prospecting, environmental monitoring, scientific experiment, undersea detection etc. and applies more specifically.
Water quality monitoring is the problem that everybody is concerned about very much, and the quality of water quality directly affects proprietary healthy.But the method for existing water quality monitoring still adopts more traditional mode, adopt rope to hang container aboard ship and enter hydromining sample, consuming time comparatively large, and be difficult to the accurate sampling depth accurately controlling water quality when water velocity is larger, the accuracy of impact sampling.Be difficult to the sampling request meeting the regions such as social water system water source, river course, harbour, fishery cultivating.
Summary of the invention
The object of this invention is to provide a kind of underwater water sample harvester based on Autonomous Underwater Vehicle, which solves method and Sampling under water under severe conditions that Traditional Man gathers water sample; And this apparatus structure is simple, easy to use.
For reaching above object, the present invention is achieved by the following technical solutions.
Scheme one:
A kind of underwater water sample harvester based on Autonomous Underwater Vehicle, it is characterized in that: comprise the total support for being arranged on Autonomous Underwater Vehicle, described total support is symmetrically arranged with multiple water sampling unit relative to the relative two side ends of this Autonomous Underwater Vehicle, the collection tube that the two ends that described water sampling unit comprises vertically setting are opened, the upper end of described collection tube seals the retaining valve be provided with for discharging inner air tube, the lower end of described collection tube seals the solenoid valve be provided with for controlling Inlet and outlet water, the control end of described solenoid valve is electrically connected with the relay of the switch for controlling it.
The feature of technique scheme and improvement further:
Further, described underwater water sample harvester also comprises the Water depth measuring sensor for sounding the depth of the water, for the single-chip microcomputer according to depth of water pilot relay break-make, the I/ Ο input end of the I/ Ο output terminal electrical connection single-chip microcomputer of described Water depth measuring sensor, the I/ Ο output terminal of described single-chip microcomputer is electrically connected the control end of described relay.
Further, described total support comprises takes the horizontal support plate on Autonomous Underwater Vehicle for horizontal, and the two ends correspondence of described horizontal support plate is symmetrically arranged with two web joints and multiple water sampling unit rack;
Further, described water sampling unit rack comprises two vertical side plates be oppositely arranged, two end winding support plates are horizontally connected with between described vertical side plate, the middle part of described end winding support plate is provided with the through hole run through for collection tube, the both ends of the surface of described collection tube are set to step surface, the two ends step surface of described collection tube is fastened between two end winding support plates, and both sides bending and the vertical side plate of described end winding support plate are fitted, and are fixed by screw.
Further, described vertical side plate is vertically installed with multiple fixed orifice fixing with the both sides bending part of end winding support plate, described fixed orifice is set to oval hole.
Further, the upper end of described collection tube to be tightly connected described retaining valve by PPR straight tube.
Further, the lower end of described collection tube is sealedly connected with one end of PPR bend pipe, and the other end of described PPR bend pipe is sealedly connected with copper straight pipe, and described copper straight pipe arranges described solenoid valve.
Further, the angle of bend of described PPR bend pipe is 90 °.
Scheme two:
A kind of underwater water sample collector, it is characterized in that: comprise above-mentioned underwater water sample harvester, described underwater water sample harvester is arranged on Autonomous Underwater Vehicle, and described Autonomous Underwater Vehicle comprises total framework, and described total framework is provided with buoyancy aid and equipment compartment; The top of described buoyancy aid is provided with vertical pusher, and its sidepiece is provided with horizontal propeller; The front portion of described total framework is provided with forward sight camera, and its underpart is provided with down looks camera, and described total framework is also provided with probe microphone.
Underwater water sample harvester based on Autonomous Underwater Vehicle of the present invention, controllability is strong, can operation under severe conditions, can carry at most multiple water sampling unit, compact conformation, can be used as the direct carry of separate modular on open-shelf submarine navigation device; This device independently navigates by water to assigned position by pre-setting, and can adapt to complicated hydrologic regime in the process can autonomous classification evade underwater obstacles, can the accurate water quality sampling of the many degree of depth in the many waters of disposable enforcement.In the fields such as social water system water source, river course, harbour, fishery cultivating, realize high precision water sampling, and a large amount of manpower and materials can be saved.
Accompanying drawing explanation
Fig. 1 is the structural representation of a kind of underwater water sample harvester based on Autonomous Underwater Vehicle of the present invention;
The structural representation that Fig. 2 is the total support shown in Fig. 1 and water sampling unit;
Fig. 3 is the structural representation of the water sampling unit shown in Fig. 1;
Fig. 4 is the schematic side view of Fig. 3;
In figure: 1, total support; 2, buoyancy aid; 3, horizontal propeller; 4, vertical pusher; 5, probe microphone; 6, forward sight camera; 7, camera is looked under; 8, total framework; 9, equipment compartment; 10, horizontal support plate; 11, web joint; 12, water sampling unit; 13, end winding support plate; 14, vertical side plate; 15, collection tube; 16, retaining valve; 17, solenoid valve; 18, PPR straight tube; 19, PPR bend pipe; 20, fixed orifice; 21, copper straight pipe.
Embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in detail.
With reference to Fig. 1, Fig. 2, Fig. 3, Fig. 4, it is the structural representation of a kind of underwater water sample harvester based on Autonomous Underwater Vehicle of the present invention; This underwater water sample harvester comprises the total support for being arranged on Autonomous Underwater Vehicle, total support 1 is symmetrically arranged with multiple water sampling unit 12 relative to the relative two side ends of this Autonomous Underwater Vehicle, and water sampling unit 12 is all symmetrical relative to Autonomous Underwater Vehicle all around; The collection tube 15 that the two ends that water sampling unit 12 comprises vertically setting are opened, the upper end of collection tube 15 seals the retaining valve 16 be provided with for discharging inner air tube, the lower end of collection tube 15 seals the solenoid valve 17 be provided with for controlling Inlet and outlet water, and the control end of solenoid valve 17 is electrically connected with the switch relay for controlling it.
Underwater water sample harvester also comprises the Water depth measuring sensor for sounding the depth of the water, for the single-chip microcomputer according to depth of water pilot relay break-make, the I/ Ο input end of the I/ Ο output terminal electrical connection single-chip microcomputer of Water depth measuring sensor, the control end of the I/ Ο output terminal electrical connection relay of single-chip microcomputer.
After arriving the degree of depth needing to adopt water, solenoid valve 17 is opened by Single-chip Controlling relay, and due to the effect of pressure reduction under water, it is inner that water flows into collection tube 15 by solenoid valve 17, air simultaneously in collection tube 15 is discharged by retaining valve 16, closes after water is full of collection tube 15 at Controlling solenoid valve 17.
Total support 1 comprises takes the horizontal support plate 10 on Autonomous Underwater Vehicle for horizontal, and the two ends correspondence of horizontal support plate 10 is symmetrically arranged with two web joints 11 and multiple water sampling unit rack.
Water sampling unit rack comprises two vertical side plates 14 be oppositely arranged, two end winding support plates 13 are horizontally connected with between vertical side plate 14, the middle part of end winding support plate 13 is provided with the through hole run through for collection tube 15, the both ends of the surface of collection tube 15 are set to step surface, the two ends step surface of collection tube 15 is fastened between two end winding support plates 13, is fixed between two vertical side plates 14 by two end winding support plates 13 by collection tube 15; Both sides bending and the vertical side plate 14 of end winding support plate 13 are fitted, and are fixed by screw.
Vertical side plate 14 is vertically installed with multiple fixed orifice 20 fixing with the both sides bending part of end winding support plate 13, is vertically installed with multiple fixed orifice 20 to be suitable for the collection tube 15 of the larger different length of length difference; Fixed orifice 20 is set to oval hole, to be suitable for the collection tube 15 of the less different length of length difference, by the slidable adjustment of screw in fixed orifice 20, collection tube 15 capacity in the present embodiment is about 250ml, can regulate the capacity of collection tube 15 in actual applications as required.
The upper end of collection tube 15 to be tightly connected retaining valve 16 by PPR straight tube 18, prevents the backflow of extraneous water.The lower end of collection tube 15 is sealedly connected with one end of PPR bend pipe 19, and the other end of PPR bend pipe 19 is sealedly connected with copper straight pipe 21, and copper straight pipe 21 arranges solenoid valve 17.The angle of bend of PPR bend pipe is 90 °, makes solenoid valve 17 be horizontally set on copper straight pipe 21, ensures that the water flowing into collection tube 15 is the water of same layer.
Total support 1 and total framework 8 all adopt aluminum alloy material to make, and quality is light, intensity is high.
Underwater water sample collector comprises above-mentioned underwater water sample harvester, and underwater water sample harvester is arranged on Autonomous Underwater Vehicle, and Autonomous Underwater Vehicle comprises total framework 8, total framework 8 is provided with buoyancy aid 2 and equipment compartment 9; The top of buoyancy aid 2 is provided with vertical pusher 4, and its sidepiece is provided with horizontal propeller 3, controls the dive of aircraft floating by vertical pusher 4, is provided the power advancing and turn by horizontal propeller 3; The front portion of total framework 8 is provided with forward sight camera 6, and its underpart is provided with down looks camera 7, and total framework 8 is also provided with probe microphone 5.Acoustics, vision and Laser Detecting Set, provide image information in the degree of depth and water, coordinates automatic control system can realize the functions such as the submerge of aircraft depthkeeping, Track control, identification target and obstacle avoidance.
The course of work of this device: first each water sampling unit 12 is numbered, and be stored in single-chip microcomputer, and in single-chip microcomputer, design the depth of water of adopting water of each water sampling unit 12, after reaching the degree of depth needing to adopt water, four vertical thrusters work of AUV make Autonomous Underwater Vehicle be stabilized in a specific height, the water sampling unit 12 of single-chip microcomputer to the corresponding degree of depth sends the instruction gathering water sample, relay is opened, solenoid valve 17 is started working, valve opened by solenoid valve 17, now water enters collection tube 15 and is discharged from retaining valve 16 by the air in collection tube 15, until water is full of whole collection tube 15.The opening time that single-chip microcomputer setting solenoid valve 17 is specified, after having sampled, single-chip microcomputer sends to cut out and gathers water sample instruction, and shut electromagnetic valve 17, a water sampling completes.By setting the ship trajectory of AUV, water sampling can be carried out in optional position under water.
Underwater water sample harvester based on Autonomous Underwater Vehicle of the present invention, controllability is strong, can operation under severe conditions, can carry at most multiple water sampling unit 12, compact conformation, can be used as the direct carry of separate modular on open-shelf submarine navigation device; This device independently navigates by water to assigned position by pre-setting, and can adapt to complicated hydrologic regime in the process can autonomous classification evade underwater obstacles, can the accurate water quality sampling of the many degree of depth in the many waters of disposable enforcement.In the fields such as social water system water source, river course, harbour, fishery cultivating, realize high precision water sampling, and a large amount of manpower and materials can be saved.
Although be below described embodiment of the present invention by reference to the accompanying drawings, the present invention is not limited to above-mentioned specific embodiments and applications field, and above-mentioned specific embodiments is only schematic, guiding, instead of restrictive.Those of ordinary skill in the art is under the enlightenment of instructions, and when not departing from the scope that the claims in the present invention are protected, can also make a variety of forms, these all belong to the row of the present invention's protection.

Claims (9)

1. the underwater water sample harvester based on Autonomous Underwater Vehicle, it is characterized in that: comprise the total support (1) for being arranged on Autonomous Underwater Vehicle, described total support (1) is symmetrically arranged with multiple water sampling unit (12) relative to the relative two side ends of this Autonomous Underwater Vehicle, the collection tube (15) that the two ends that described water sampling unit (12) comprises vertically setting are opened, the upper end of described collection tube (15) seals the retaining valve (16) be provided with for discharging inner air tube, the lower end of described collection tube (15) seals the solenoid valve (17) be provided with for controlling Inlet and outlet water, the control end of described solenoid valve (17) is electrically connected with the relay of the switch for controlling it.
2. a kind of underwater water sample harvester based on Autonomous Underwater Vehicle as claimed in claim 1, it is characterized in that: described underwater water sample harvester also comprises the Water depth measuring sensor for sounding the depth of the water, for the single-chip microcomputer according to depth of water pilot relay break-make, the I/ Ο input end of the I/ Ο output terminal electrical connection single-chip microcomputer of described Water depth measuring sensor, the I/ Ο output terminal of described single-chip microcomputer is electrically connected the control end of described relay.
3. a kind of underwater water sample harvester based on Autonomous Underwater Vehicle as claimed in claim 1, it is characterized in that: described total support (1) comprises takes the horizontal support plate (10) on Autonomous Underwater Vehicle for horizontal, and the two ends correspondence of described horizontal support plate (10) is symmetrically arranged with two web joints (11) and multiple water sampling unit rack.
4. a kind of underwater water sample harvester based on Autonomous Underwater Vehicle as claimed in claim 3, it is characterized in that: described water sampling unit rack comprises two vertical side plates (14) be oppositely arranged, two end winding support plates (13) are horizontally connected with between described vertical side plate (14), the middle part of described end winding support plate (13) is provided with the through hole run through for collection tube (15), the both ends of the surface of described collection tube (15) are set to step surface, the two ends step surface of described collection tube (15) is fastened between two end winding support plates (13), both sides bending and the vertical side plate (14) of described end winding support plate (13) are fitted, and fixed by screw.
5. a kind of underwater water sample harvester based on Autonomous Underwater Vehicle as claimed in claim 4, it is characterized in that: described vertical side plate (14) is vertically installed with multiple fixed orifice (20) fixing with the both sides bending part of end winding support plate (13), described fixed orifice (20) is set to oval hole.
6. a kind of underwater water sample harvester based on Autonomous Underwater Vehicle as described in any one of claim 1-5, is characterized in that: the upper end of described collection tube (15) to be tightly connected described retaining valve (16) by PPR straight tube (18).
7. a kind of underwater water sample harvester based on Autonomous Underwater Vehicle as described in any one of claim 1-5, it is characterized in that: the lower end of described collection tube (15) is sealedly connected with one end of PPR bend pipe (19), the other end of described PPR bend pipe (19) is sealedly connected with copper straight pipe (21), and described copper straight pipe (21) arranges described solenoid valve (17).
8. a kind of underwater water sample harvester based on Autonomous Underwater Vehicle as claimed in claim 7, is characterized in that: the angle of bend of described PPR bend pipe (19) is 90 °.
9. a underwater water sample collector, it is characterized in that: comprise claim 1 ~ underwater water sample harvester according to claim 8, described underwater water sample harvester is arranged on Autonomous Underwater Vehicle, described Autonomous Underwater Vehicle comprises total framework (8), described total framework (8) is provided with buoyancy aid (2) and equipment compartment (9); Described total framework (8) is provided with vertical pusher (4) and horizontal propeller (3); The front portion of described total framework (8) is provided with forward sight camera (6), and its underpart is provided with down looks camera (7), and described total framework (8) is also provided with probe microphone (5).
CN201510988860.5A 2015-12-24 2015-12-24 Underwater water sample collecting apparatus based on autonomous underwater vehicle CN105424412A (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106017984A (en) * 2016-05-14 2016-10-12 上海大学 Intelligent multi-depth seawater collecting device
CN108844782A (en) * 2018-08-15 2018-11-20 成都赋阳技术开发有限公司 A kind of sampling of water quality equipment for water quality detection
CN109506986A (en) * 2018-12-28 2019-03-22 浙江省海洋水产养殖研究所 A kind of remote water sample acquisition device

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Publication number Priority date Publication date Assignee Title
CN101403660A (en) * 2008-11-14 2009-04-08 郑雨 Underwater movement sampling platform
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CN202494583U (en) * 2012-04-04 2012-10-17 颜培东 Water quality sampler
CN103808529A (en) * 2013-12-23 2014-05-21 青岛优维奥信息技术有限公司 Autonomous navigation water sample collector
CN104458330A (en) * 2014-12-17 2015-03-25 中国科学院重庆绿色智能技术研究院 Underwater sediment sampling robot and sampling method thereof
CN205449549U (en) * 2015-12-24 2016-08-10 西安海士铂电子科技有限公司 Water sample collection system and collector under water based on autonomic underwater vehicle

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101403660A (en) * 2008-11-14 2009-04-08 郑雨 Underwater movement sampling platform
CN101592649A (en) * 2009-05-27 2009-12-02 深圳市华测检测技术股份有限公司 But a kind of remote-control self-navigation water quality sampling and analyzing device
US20120096958A1 (en) * 2009-07-03 2012-04-26 Stiftung Alfred-Wegener-Institut Fuer Polar-Und Meeresforschung Water sampling device
CN202494583U (en) * 2012-04-04 2012-10-17 颜培东 Water quality sampler
CN103808529A (en) * 2013-12-23 2014-05-21 青岛优维奥信息技术有限公司 Autonomous navigation water sample collector
CN104458330A (en) * 2014-12-17 2015-03-25 中国科学院重庆绿色智能技术研究院 Underwater sediment sampling robot and sampling method thereof
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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106017984A (en) * 2016-05-14 2016-10-12 上海大学 Intelligent multi-depth seawater collecting device
CN108844782A (en) * 2018-08-15 2018-11-20 成都赋阳技术开发有限公司 A kind of sampling of water quality equipment for water quality detection
CN109506986A (en) * 2018-12-28 2019-03-22 浙江省海洋水产养殖研究所 A kind of remote water sample acquisition device

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