CN110116794B - Mini underwater robot capable of monitoring water quality and water sample collection method - Google Patents
Mini underwater robot capable of monitoring water quality and water sample collection method Download PDFInfo
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- CN110116794B CN110116794B CN201910457830.XA CN201910457830A CN110116794B CN 110116794 B CN110116794 B CN 110116794B CN 201910457830 A CN201910457830 A CN 201910457830A CN 110116794 B CN110116794 B CN 110116794B
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 120
- 238000012544 monitoring process Methods 0.000 title claims abstract description 25
- 238000000034 method Methods 0.000 title claims abstract description 9
- 238000007789 sealing Methods 0.000 claims abstract description 71
- 230000033001 locomotion Effects 0.000 claims abstract description 9
- 239000007787 solid Substances 0.000 claims abstract description 9
- 230000005484 gravity Effects 0.000 claims description 10
- 238000005070 sampling Methods 0.000 claims description 4
- 238000004064 recycling Methods 0.000 claims description 3
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000001514 detection method Methods 0.000 description 8
- 239000002775 capsule Substances 0.000 description 6
- 230000008901 benefit Effects 0.000 description 3
- 108010066057 cabin-1 Proteins 0.000 description 3
- 241000258957 Asteroidea Species 0.000 description 2
- 230000002457 bidirectional effect Effects 0.000 description 2
- 108010066114 cabin-2 Proteins 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000018109 developmental process Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000032683 aging Effects 0.000 description 1
- 210000005252 bulbus oculi Anatomy 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000008021 deposition Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000009189 diving Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000003628 erosive effect Effects 0.000 description 1
- 210000000887 face Anatomy 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000011089 mechanical engineering Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Hydrology & Water Resources (AREA)
- Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
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- General Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Sampling And Sample Adjustment (AREA)
Abstract
The invention discloses a mini underwater robot capable of monitoring water quality and a water sample collection method. The technical scheme adopted comprises the following steps: the sealed cabin mainly comprises a cabin pipe, a sealing flange, a flange big sealing ring, a hemisphere, a flange end cover fixing ring, a flange small sealing ring, a cabin cover, a hollow screw, a nut, a solid screw and a screw sealing ring; the water collecting cabin mainly comprises an electromagnet fixing plate, an electromagnet, a cabin body, a sealing ring, a movable plate and a buoyancy plate; the power frame mainly comprises a side support plate, a middle plate, a first sealed cabin fixing piece, a second sealed cabin fixing piece, a balancing weight and an underwater propeller. The beneficial effects are that: 1. the device can flexibly move in water, and can realize the movement of 6 degrees of freedom of the underwater space, namely translational movement: propulsion, heave and traversing, slewing motion: bow, trim and heel; 2. the water sample collection can be carried out, and the water sample with the specified position and the specified depth can be collected through the water collection cabin.
Description
Technical Field
The invention belongs to the field of mechanical engineering, and particularly relates to an underwater robot.
Background
At present, 9.8 thousands of reservoirs exist in China, and due to the normal flow of water blocked by a dam, the natural aging of a building, the influence of earthquake and other geological disasters, hydraulic engineering faces more and more safety problems, such as seepage of the dam, cracks of concrete, erosion of the concrete and other defects, so that the normal operation of the engineering and the exertion of benefits are influenced. However, the reservoir with a relatively large dam cannot be emptied for maintenance, and only underwater detection is performed, which is difficult nowadays.
With the development of the underwater robot, the underwater detection by using the underwater robot to carry the observation measuring instrument provides a new thought for the detection of the dam reservoir, and in hydraulic engineering, the detection by using the underwater robot has a plurality of advantages, so that various underwater detections can be performed by using the underwater robot.
(1) And detecting the seepage of the dam reservoir underwater.
(2) Underwater concrete damage detection for hydraulic building
(3) And detecting hidden danger of metal objects (gates, supporting pieces and the like) of the hydraulic building.
(4) And detecting underwater deposition and the like.
(5) And (3) underwater emergency detection and rescue engineering and the like.
The major tools currently in use for underwater observation and development have manned and unmanned submersible (UUV-un mannanedunderwatervhicles). Unmanned vehicles, which may also be called underwater robots, are classified into unmanned underwater vehicles (ROV-remote operated vehicles) and autonomous underwater vehicles (AUV-autonomous underwater vehicles). The ROV is connected with the surface ship through a cable and is used for transmitting power, and bidirectional control signals and data can be transmitted in real time. The AUV is not connected with the mother ship through a cable, and the AUV mainly depends on a power source carried by the AUV and intelligent autonomous navigation of the machine.
In the 70 s, the requirements of offshore oil exploitation, military and the like, the underwater robotics technology is rapidly developed, and a new industry is gradually formed: ROV industry. In 1975, the first underwater robot RCV-125 was introduced. Since the outline is much like a ball, so called "eyeball", the underwater robot starts to enter the line of sight of people, after which products related to the underwater robot are continuously appeared, typically as a japanese sea-ditch number (KAIKO) underwater robot, a french victoriy-6000 underwater robot, and the like. The sea ditch number of japan has been submerged under water 10911.4 meters at that time.
Currently, there are hundreds of underwater robots, and manufacturers worldwide can provide various types of underwater robots and parts thereof. The maximum submergence depth of the underwater robot has reached 11000 meters, so to speak, the working range of the underwater robot reaches almost the entire ocean location.
In recent years, various types of underwater robots have been sold as mature commercial products abroad. Such as the OUTLAND-1000 underwater robot from OUTLAND technologies, usa, which mounts various sensors such as sonar systems, depth gauges, etc. The sea or-300 underwater robot in canada is provided with a sonar system, an altimeter, a depth meter, a computer vision system and the like, 4 propellers which are symmetrically arranged in pairs form an angle of 45 degrees with the horizontal plane, and the maximum diving depth is 300 meters. The serial products of FALCON and FALCONDR in UK can reach 300-10000 meters in submergence depth, taking FALCON as an example, can submerge 300m under water, load 8.5kg, and the maximum cable length is 450m, and can be upgraded to 1100 meters. Is provided with an intelligent control system, a fully functional sensor system and a multifunctional manipulator system, etc. The H300-MKII underwater robot of ECAHYTEC company in France is a shallow water type ROV, the working range of the underwater ROV is 300m under the load of 8kg, various sensors such as a micro DST scanning sonar, a depth gauge, a compass, a computer vision system and the like can be installed, a manipulator is installed, and the maximum thrust of the ROV reaches 17.3kg. "Starfish 6000" underwater robot developed jointly by Shenyang automation research institute of China academy of sciences and China department of sciences. The first scientific task is completed in 2018, 10 and 26 days, and environmental samples and data are acquired in the sea area. The maximum submergence depth of the 'starfish 6000' underwater robot breaks through 6000 meters, and then the maximum submergence depth record of the unmanned remote-controlled submersible in China is created.
The 'exploration' series autonomous underwater robots independently developed in China can be used for exploration from 100 meters underwater to 4500 meters underwater. Among them, "exploration 100" is mainly used for shallow sea exploration, "exploration 1000" is mainly used for long-term continuous fixed point observation of ocean in specific sea areas, and "exploration 4500" is mainly used for exploration of complex geological environments and ecosystems in deep sea areas.
Disclosure of Invention
The invention aims at overcoming the defects of the prior art and provides a novel mini underwater machine capable of monitoring water quality.
The technical scheme adopted by the invention comprises the following steps:
the sealed cabin mainly comprises a cabin pipe, a sealing flange, a flange big sealing ring, a hemisphere, a flange end cover fixing ring, a flange small sealing ring, a cabin cover, a hollow screw, a nut, a solid screw and a screw sealing ring; the sealing flange is respectively fixed at two ends of the cabin tube through a large flange sealing ring, the hemispheres are fixed on the sealing flange through a fixing ring of the flange end cover, the fixing ring of the flange end cover is fixed with the sealing flange through bolts, a small flange sealing ring is arranged in the sealing flange groove to play a sealing role, the cabin cover is fixed on the sealing flange through bolts, hollow screws are matched with nuts and are fixed on the cabin cover through screw sealing rings in a sealing manner, and solid screws are matched with the nuts and are fixed on the cabin cover through screw sealing rings in a sealing manner;
the water collecting cabin mainly comprises an electromagnet fixing plate, an electromagnet, a cabin body, a sealing ring, a movable plate and a buoyancy plate; the electromagnet fixing plate is fixed with the electromagnet, the electromagnet fixing plate is fixed with the cabin body, the sealing ring is arranged in the cabin body and matched with the movable plate to play a sealing role, and the buoyancy plate is arranged in the cabin body and positioned below the movable plate;
the power frame mainly comprises a side support plate, a middle plate, a first sealed cabin fixing piece, a second sealed cabin fixing piece, a balancing weight and an underwater propeller; the side support plates are fixed on two sides of the middle plate, the first sealed cabin fixing piece is fixed on the middle plate, the second sealed cabin fixing piece is fixed on the first sealed cabin fixing piece, the balancing weight is fixed on the side support plates, and the underwater propeller is respectively fixed on the side support plates and the middle plate;
the sealed cabin is fixed at the bottom of the middle plate through a first sealed cabin fixing piece and a second sealed cabin fixing piece of the power frame; the water collection cabin is fixed at the top of the power frame.
The mini underwater robot capable of monitoring water quality is characterized in that: the water sampling cabin is closed by controlling the on-off of the electromagnet, and water samples are led out through the water outlet hole at the bottom of the cabin body.
The mini underwater robot capable of monitoring water quality is characterized in that: the position of the balancing weight is adjusted to adjust the integral gravity center, and the six-degree-of-freedom movement of the device under water is completed through the spatial arrangement and mutual cooperation operation of the underwater propeller.
The mini underwater robot capable of monitoring water quality is characterized in that: two underwater propellers which are vertically installed are arranged on two sides of the middle plate, two underwater propellers which are horizontally installed are arranged on two sides of the tail of the middle plate, and one underwater propeller which is vertically installed is arranged in the middle of the tail of the middle plate.
The mini underwater robot capable of monitoring water quality is characterized in that: the side support plate is provided with at least one first adjusting groove which is horizontally distributed, and the balancing weight is arranged on the first adjusting groove and can be adjusted back and forth.
The mini underwater robot capable of monitoring water quality is characterized in that: the middle plate is provided with at least one second adjusting groove which is horizontally distributed, and the balancing weight is arranged on the second adjusting groove and can be adjusted back and forth.
The mini underwater robot capable of monitoring water quality is characterized in that: the bottom of the cabin body is provided with an inclined plane, and the water outlet hole is arranged at the lowest part of the inclined plane.
The mini underwater robot capable of monitoring water quality is characterized in that: the side support plates are fixed on two sides of the middle plate through corner brackets.
The mini underwater robot capable of monitoring water quality is characterized in that: the underwater propeller is a T200 underwater propeller.
The water sample collection method of the underwater robot is realized by the mini underwater robot capable of monitoring water quality according to any one of the above steps, and is characterized by comprising the following steps:
(1) Before the water is discharged, a rubber tube is connected to the water outlet of the cabin body, and the other end of the rubber tube is clamped by a clamp to seal the rubber tube;
(2) When the water is discharged, the electromagnet is electrified to adsorb the movable plate on the surface of the electromagnet, and the interior of the cabin body is in a closed state at the moment, and the interior is isolated from the external environment;
(3) When the water is required to be collected in a designated area, the electromagnet is powered off, the movable plate and the buoyancy plate fall down due to gravity, the water collection cabin is in an open state, the electromagnet is electrified again to generate a magnetic field to wait for the next work, water flows in from a gap between the electromagnet and the cabin body, when the water quantity is gradually increased, the buoyancy plate generates buoyancy to push the movable plate to move upwards together, when the water level in the cabin body reaches a certain height, the movable plate is adsorbed on the surface of the cabin body again due to the magnetic force of the electromagnet, the water collection cabin is in a closed state again, the inside of the cabin body is isolated from the external environment, the water sample is stored in the cabin body, and the water collection process is completed;
(4) When the water sampling cabin rises to the water surface, after salvaging and recycling, the electromagnet is powered off, the internal environment is reconnected with the outside, the internal air pressure is the same as the external atmospheric pressure, at the moment, the clamp of the rubber tube is taken down, and because the bottom end of the cabin body is an inclined plane, an internal water sample flows into a specific container through the rubber tube due to the action of gravity, and the water sample collection of this time is completed.
The invention has the beneficial effects that:
1. the invention can flexibly move in water and realize the movement of 6 degrees of freedom of the underwater space, namely translational movement: propulsion, heave and traversing, slewing motion: bow, trim and heel;
2. the gravity center floating center can be adjusted, so that different devices can be conveniently carried;
3. the camera equipment can be placed in the sealed cabin and used for observing the underwater condition in real time and assisting other detection devices to operate;
4. the water sample can be collected, and the water sample with a designated position and a designated depth can be collected through the water collecting cabin;
5. the volume is small, the weight is light, the small volume is more sensitive to underwater activities, and the control is convenient.
The invention will be described in further detail with reference to the drawings and the detailed description.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a cross-sectional view of a capsule according to the present invention;
FIG. 3 is a cross-sectional view of the water collection chamber of the present invention;
fig. 4 is a schematic structural view of a power frame according to the present invention.
In the figure: 1. sealing the cabin; 2. a water collecting cabin; 3. a power frame; 1-1, cabin tube; 1-2, sealing the flange; 1-3, a large flange sealing ring; 1-4, hemispheres; 1-5, a flange end cover fixing ring; 1-6, a small flange sealing ring; 1-7, a hatch cover; 1-8, hollow screws; 1-9, nuts; 1-10, solid screws; 1-11, a screw sealing ring; 2-1, electromagnet fixing plate 2-1;2-2, an electromagnet; 2-3, cabin body; 2-4, sealing ring; 2-5, a movable plate; 2-6, buoyancy plates; 3-1, side support plates; 3-2, an intermediate plate; 3-3, a first sealed cabin fixing piece; 3-4, a second sealed cabin fixing piece; 3-5, balancing weight; 3-6, an underwater propeller; 3-7, angle code.
Detailed Description
Example 1:
as shown in fig. 1, the mini underwater robot capable of water quality monitoring comprises a sealed cabin 1, a water collecting cabin 2 and a power frame 3. The mini underwater robot capable of monitoring water quality is connected with the surface ship through a cable and used for transmitting power, and bidirectional control signals and data can be transmitted in real time.
As shown in FIG. 2, the sealed cabin 1 mainly comprises a cabin tube 1-1, a sealing flange 1-2, a large flange sealing ring 1-3, a hemisphere 1-4, a flange end cover fixing ring 1-5, a small flange sealing ring 1-6, a cabin cover 1-7, a hollow screw 1-8, a nut 1-9, a solid screw 1-10 and a screw sealing ring 1-11. The sealing flange 1-2 is respectively fixed at two ends of the cabin tube 1-1 through the large flange sealing ring 1-3, the hemispheres 1-4 are fixed on the sealing flange 1-2 through the flange end cover fixing rings 1-5, the flange end cover fixing rings 1-5 are fixed with the sealing flange 1-2 through bolts and nuts, the small flange sealing ring 1-6 is arranged in a groove of the sealing flange 1-2 to play a sealing role, the cabin cover 1-7 is fixed on the sealing flange 1-2 through bolts and nuts, the hollow screws 1-8 are matched with the nuts 1-9 to be fixed on two sides of the cabin cover in a sealing mode through the screw sealing rings 1-11, and the solid screws 1-10 are matched with the nuts 1-9 to be fixed on two sides of the cabin cover in a sealing mode through the screw sealing rings 1-11. The sealed cabin 1 can be used for mounting electronic components such as cameras, and the like, and provides a sealed space through the mutual matching of a cabin tube 1-1, a sealing flange 1-2, a flange large sealing ring 1-3, a hemisphere 1-4, a flange end cover fixing ring 1-5, a flange small sealing ring 1-6 and a cabin cover 1-7, and a control device in the sealed cabin is connected with an external device through a communication channel formed by matching hollow screws 1-8, nuts 1-9, solid screws 1-10 and screw sealing rings 1-11.
As shown in FIG. 3, the water collection cabin 2 mainly comprises an electromagnet fixing plate 2-1, an electromagnet 2-2, a cabin body 2-3, a sealing ring 2-4, a movable plate 2-5 and a buoyancy plate 2-6. The electromagnet fixing plate 2-1 is fixed with the electromagnet 2-2 through bolts, the cabin body 2-3 is fixed with the electromagnet fixing plate 2-1 and is fixed on the power frame 4, the sealing ring 2-4 is arranged in the cabin body 2-3 and is matched with the movable plate 2-5 to play a sealing role, the buoyancy plate 2-6 is arranged in the cabin body 2-3, and the lower part of the movable plate 2-5 is provided with a sealing ring.
As shown in fig. 4, the power frame 2 mainly comprises a side support plate 3-1, a middle plate 3-2, a first sealed cabin fixing piece 3-3, a second sealed cabin fixing piece 3-4, a balancing weight 3-5, an underwater propeller 3-6 and a corner bracket 3-7. The side support plates 3-1 are fixed on two sides of the middle plate 3-2 through corner brackets 3-7, the first sealed cabin fixing pieces 3-3 are fixed on the middle plate 3-2, the second sealed cabin fixing pieces 3-4 are fixed on the first sealed cabin fixing pieces 3-3, the balancing weights 3-5 are fixed on the side support plates 3-1, and the underwater propellers 3-6 are respectively fixed on the side support plates 3-1 and the middle plate 3-2. The underwater propeller 3-6 adopts a T200 underwater propeller. T200 (motor model) is a light-duty, low-priced and dependable performance underwater brushless motor propeller, has small, light in weight, advantage that thrust is big.
The capsule tube 1-1 of the capsule 1 is fixed to the bottom of the intermediate plate 3-2 by clamping the capsule tube with the first capsule fixing member 3-3 and the second capsule fixing member 3-4 of the power frame 3. A group of screws are arranged on the periphery of the tank body 2-3 of the water collection tank 2 and are screwed with the middle plate 3-2 of the middle plate 3-2, so that the water collection tank is fixed on the top of the middle plate 3-2.
Further, the opening and closing of the movable plate 2-5 are controlled by the on-off of the electromagnet 2-2 before water collection, the movable plate 2-5 is lifted by buoyancy generated by the buoyancy plate 2-6 through water after water collection, the water collection cabin is closed by controlling the on-off of the electromagnet 2-2, and the water sample is led out through the water outlet 2-7 at the bottom of the cabin body 2-3.
Furthermore, a first adjusting groove 3-8 which is horizontally distributed is respectively arranged at two ends of the side supporting plate 3-1, and the balancing weights 3-5 are arranged on the first adjusting groove 3-7, and the positions of the balancing weights can be adjusted back and forth. The middle part of the middle plate 3-2 is provided with a second adjusting groove 3-9 which is horizontally distributed, and the balancing weight 3-5 is arranged on the second adjusting groove 3-9, and the position of the balancing weight can be adjusted back and forth. The gravity center of the whole body is adjusted by adjusting the position of the balancing weight 3-5.
Further, two underwater propellers 3-6 which are vertically installed are arranged on two sides of the middle part of the middle plate 3-2, two underwater propellers 3-6 which are horizontally installed are arranged on two sides of the tail part of the middle plate 3-2, and one underwater propeller 3-6 which is vertically installed is arranged in the middle of the tail part of the middle plate 3-2. The six-degree-of-freedom motion of the device under water is completed through the spatial arrangement and the mutual cooperation operation of the underwater propellers 3-6.
Furthermore, an inclined plane 2-9 is arranged at the bottom of the cabin body 2-3, and the water outlet 2-7 is arranged at the lowest position of the inclined plane 2-9, so that a water sample in the cabin body 2-3 can be taken out conveniently.
Example 2:
the invention relates to a water sample collection method of an underwater robot. The mini underwater robot capable of water quality monitoring according to embodiment 1 is implemented as follows:
(1) Before the water is discharged, a rubber tube is connected to the water outlet of the cabin body, and the other end of the rubber tube is clamped by a clamp to seal the rubber tube;
(2) When the water is discharged, the electromagnet is electrified to adsorb the movable plate on the surface of the electromagnet, and the interior of the cabin body is in a closed state at the moment, and the interior is isolated from the external environment;
(3) When the water is required to be collected in a designated area, the electromagnet is powered off, the movable plate and the buoyancy plate fall down due to gravity, the water collection cabin is in an open state, the electromagnet is electrified again to generate a magnetic field to wait for the next work, water flows in from a gap between the electromagnet and the cabin body, when the water quantity is gradually increased, the buoyancy plate generates buoyancy to push the movable plate to move upwards together, when the water level in the cabin body reaches a certain height, the movable plate is adsorbed on the surface of the cabin body again due to the magnetic force of the electromagnet, the water collection cabin is in a closed state again, the inside of the cabin body is isolated from the external environment, the water sample is stored in the cabin body, and the water collection process is completed;
(4) When the water sampling cabin rises to the water surface, after salvaging and recycling, the electromagnet is powered off, the internal environment is reconnected with the outside, the internal air pressure is the same as the external atmospheric pressure, at the moment, the clamp of the rubber tube is taken down, and because the bottom end of the cabin body is an inclined plane, an internal water sample flows into a specific container through the rubber tube due to the action of gravity, and the water sample collection of this time is completed.
Finally, it should be noted that the above description is illustrative only and not limiting to the invention, and that many modifications, variations or equivalent arrangements may be made by those skilled in the art without departing from the spirit and scope of the invention as defined in the appended claims, which fall within the purview of the novel use of the claims.
Claims (9)
1. A mini underwater robot capable of water quality monitoring, comprising:
the sealed cabin (1) mainly comprises a cabin tube (1-1), a sealing flange (1-2), a flange big sealing ring (1-3), a hemisphere (1-4), a flange end cover fixing ring (1-5), a flange small sealing ring (1-6), a cabin cover (1-7), hollow screws (1-8), nuts (1-9), solid screws (1-10) and screw sealing rings (1-11); the sealing flange (1-2) is respectively fixed at two ends of the cabin tube (1-1) through a large flange sealing ring (1-3), the hemispheres (1-4) are fixed on the sealing flange (1-2) through a flange end cover fixing ring (1-5), the flange end cover fixing ring (1-5) is fixed with the sealing flange (1-2) through bolts, a small flange sealing ring (1-6) is arranged in a groove of the sealing flange (1-2) to play a sealing role, the cabin cover (1-7) is fixed on the sealing flange (1-2) through bolts, the hollow screws (1-8) are matched with nuts (1-9) and are fixed on the cabin cover (1-7) through screw sealing rings (1-11), and the solid screws (1-10) are matched with the nuts (1-9) and are fixed on the cabin cover (1-7) through the screw sealing rings (1-11);
the water collecting cabin (2) mainly comprises an electromagnet fixing plate (2-1), an electromagnet (2-2), a cabin body (2-3), a sealing ring (2-4), a movable plate (2-5) and a buoyancy plate (2-6); the electromagnet fixing plate (2-1) is fixed with the electromagnet (2-2), the electromagnet fixing plate (2-1) is fixed with the cabin body (2-3), the sealing ring (2-4) is arranged in the cabin body (2-3) and matched with the movable plate (2-5) to play a sealing role, and the buoyancy plate (2-6) is arranged in the cabin body and is positioned below the movable plate (2-5);
the power frame (3) mainly comprises a side supporting plate (3-1), a middle plate (3-2), a first sealed cabin fixing piece (3-3), a second sealed cabin fixing piece (3-4), a balancing weight (3-5) and an underwater propeller (3-6); the side support plates (3-1) are fixed on two sides of the middle plate (3-2), the first sealed cabin fixing piece (3-3) is fixed on the middle plate (3-2), the second sealed cabin fixing piece (3-4) is fixed on the first sealed cabin fixing piece (3-3), the balancing weights (3-5) are fixed on the side support plates (3-1), and the underwater propellers (3-6) are respectively fixed on the side support plates (3-1) and the middle plate (3-2);
the sealed cabin (1) is fixed at the bottom of the middle plate (3-2) through a first sealed cabin fixing piece (3-3) and a second sealed cabin fixing piece (3-4) of the power frame (3); the water collection cabin (2) is fixed at the top of the power frame (3);
before water collection, the opening and closing of the movable plate (2-5) are controlled through the on-off of the electromagnet (2-2), after water collection, the movable plate (2-5) is lifted through buoyancy generated by the buoyancy plate (2-6), the water collection cabin is closed through controlling the on-off of the electromagnet (2-2), and the water sample is led out through the water outlet (2-7) at the bottom of the cabin body (2-3).
2. The mini underwater robot capable of water quality monitoring according to claim 1, wherein: the position of the balancing weight (3-5) is adjusted to adjust the integral gravity center, and the six-degree-of-freedom movement of the device under water is completed through the spatial arrangement and the mutual cooperation operation of the underwater propellers (3-6).
3. The mini underwater robot capable of water quality monitoring according to claim 2, wherein: two underwater propellers (3-6) which are vertically installed are arranged on two sides of the middle plate (3-2), two underwater propellers (3-6) which are horizontally installed are arranged on two sides of the tail of the middle plate (3-2), and one underwater propeller (3-6) which is vertically installed is arranged in the middle of the tail of the middle plate (3-2).
4. The mini underwater robot capable of water quality monitoring according to claim 2, wherein: the side support plate (3-1) is provided with at least one first adjusting groove (3-8) which is horizontally distributed, and the balancing weight (3-5) is arranged on the first adjusting groove (3-7) and can be adjusted back and forth.
5. The mini underwater robot capable of water quality monitoring according to claim 2, wherein: the middle plate (3-2) is provided with at least one second adjusting groove (3-9) which is horizontally distributed, and the balancing weight (3-5) is arranged on the second adjusting groove (3-9) and the position of the balancing weight can be adjusted back and forth.
6. The mini underwater robot capable of water quality monitoring according to claim 1, wherein: the bottom of the cabin body (2-3) is provided with an inclined plane (2-9), and the water outlet hole (2-7) is arranged at the lowest part of the inclined plane (2-9).
7. The mini underwater robot capable of water quality monitoring according to claim 1, wherein: the side support plates (3-1) are fixed on two sides of the middle plate (3-2) through corner brackets (3-7).
8. The mini underwater robot capable of water quality monitoring according to claim 1, wherein: the underwater propeller (3-6) is a T200 underwater propeller.
9. A water sample collection method of an underwater robot, which is realized by the mini underwater robot capable of water quality monitoring according to any one of claims 1 to 8, and is characterized by comprising the following steps:
(1) Before the water is discharged, a rubber tube is connected to the water outlet of the cabin body, and the other end of the rubber tube is clamped by a clamp to seal the rubber tube;
(2) When the water is discharged, the electromagnet is electrified to adsorb the movable plate on the surface of the electromagnet, and the interior of the cabin body is in a closed state at the moment, and the interior is isolated from the external environment;
(3) When the water is required to be collected in a designated area, the electromagnet is powered off, the movable plate and the buoyancy plate fall down due to gravity, the water collection cabin is in an open state, the electromagnet is electrified again to generate a magnetic field to wait for the next work, water flows in from a gap between the electromagnet and the cabin body, when the water quantity is gradually increased, the buoyancy plate generates buoyancy to push the movable plate to move upwards together, when the water level in the cabin body reaches a certain height, the movable plate is adsorbed on the surface of the cabin body again due to the magnetic force of the electromagnet, the water collection cabin is in a closed state again, the inside of the cabin body is isolated from the external environment, the water sample is stored in the cabin body, and the water collection process is completed;
(4) When the water sampling cabin rises to the water surface, after salvaging and recycling, the electromagnet is powered off, the internal environment is reconnected with the outside, the internal air pressure is the same as the external atmospheric pressure, at the moment, the clamp of the rubber tube is taken down, and because the bottom end of the cabin body is an inclined plane, an internal water sample flows into a specific container through the rubber tube due to the action of gravity, and the water sample collection of this time is completed.
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| CN110514800A (en) * | 2019-08-24 | 2019-11-29 | 深圳市正杰智能工程有限公司 | A kind of underwater monitoring robot and its application method |
| CN110745220B (en) * | 2019-11-07 | 2021-02-26 | 江苏科技大学 | Power-off control method of micro underwater robot with power-off protection |
| CN211417560U (en) * | 2019-12-09 | 2020-09-04 | 深之蓝(天津)水下智能科技有限公司 | Underwater sealed cabin |
| CN111017164A (en) * | 2019-12-27 | 2020-04-17 | 穆小玲 | Underwater water quality detection robot |
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| CN113063909B (en) * | 2021-03-19 | 2023-05-26 | 南昌市湾里自来水有限责任公司 | Water quality safety guarantee monitoring system |
| CN115959271A (en) * | 2023-03-15 | 2023-04-14 | 南开大学 | Omnibearing automatic tracking water quality monitoring robot, system and monitoring method |
| CN116873129B (en) * | 2023-07-21 | 2023-12-19 | 河北盛丰测绘服务有限公司 | Hydrologic monitoring unmanned ship |
| CN116750170B (en) * | 2023-08-24 | 2023-11-14 | 山东省科学院海洋仪器仪表研究所 | Underwater photogrammetry device |
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