CN111579747B - Underwater robot for water quality detection - Google Patents
Underwater robot for water quality detection Download PDFInfo
- Publication number
- CN111579747B CN111579747B CN202010637571.1A CN202010637571A CN111579747B CN 111579747 B CN111579747 B CN 111579747B CN 202010637571 A CN202010637571 A CN 202010637571A CN 111579747 B CN111579747 B CN 111579747B
- Authority
- CN
- China
- Prior art keywords
- sampling
- controller
- water quality
- module
- water
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/18—Water
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
-
- 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
- G01N2001/1418—Depression, aspiration
- G01N2001/1427—Positive displacement, piston, peristaltic
Landscapes
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Health & Medical Sciences (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Hydrology & Water Resources (AREA)
- Computer Networks & Wireless Communication (AREA)
- Food Science & Technology (AREA)
- Medicinal Chemistry (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Sampling And Sample Adjustment (AREA)
Abstract
The invention provides an underwater robot for water quality detection, which comprises: a housing in which a controller is installed; the moving module is arranged outside the shell, is used for driving the underwater robot to move, and is electrically connected with the controller; the water quality detection module is arranged on the shell, is used for detecting water quality and is electrically connected with the controller; the GPS module is integrated in the controller, and the controller can at least acquire the position information of a detection point through the GPS module when the water quality detection module detects that the water quality is abnormal; the communication module is integrated with the controller, and the controller can carry out remote communication by utilizing the communication module; still including setting up the sampling module in the casing, with the controller electricity is connected, when the controller detects quality of water unusual through the water quality testing module, controls sampling module and takes a sample. The underwater robot can detect water areas of different depths, and can sample when water quality is detected to be abnormal.
Description
Technical Field
The invention relates to the field of water quality detection robots, in particular to an underwater robot for water quality detection.
Background
Urban water pollution has seriously affected daily life and health of residents on both sides of a river channel, and water quality improvement is imminent. Urban water pollution has seriously affected daily life and health of residents on both sides of a river channel, and water quality improvement is imminent. However, the current investigation and detection of the underwater sewage draining exit mainly depend on two modes of manual investigation and river channel drainage, the investigation and detection cost of the sewage draining exit is high, the efficiency is low, the time consumption is long, and the investigation mode cannot become a generally applicable investigation mode.
Disclosure of Invention
The invention aims to solve the technical problem of providing an underwater robot for detecting the water quality of a river channel area, which can be automatically or remotely controlled to move to a specified detection point without being followed by workers and can particularly go deep into places where the workers are inconvenient to detect.
In order to achieve the purpose, the invention provides the following technical scheme:
an underwater robot for river channel area water quality detection, comprising:
a housing in which a controller is installed;
the moving module is arranged outside the shell, is used for driving the shell to move and is electrically connected with the controller;
the water quality detection module is arranged on the shell, is used for detecting water quality and is electrically connected with the controller;
the GPS module is integrated in the controller, and the controller can at least acquire the position information of a detection point through the GPS module when the water quality detection module detects that the water quality is abnormal;
the communication module is integrated with the controller, and the controller can carry out remote communication by utilizing the communication module;
it is characterized in that the preparation method is characterized in that,
still include the sampling module, with the controller electricity is connected, when the controller detects quality of water abnormal through the water quality testing module, controls the sampling module and takes a sample.
Preferably, the water quality detection module includes:
the detection box is arranged in the shell and is provided with a water inlet and a water outlet, the water inlet is communicated with the outside of the shell through a water inlet pipe, the water outlet is communicated with the outside of the shell through a water outlet pipe, a first through valve for selectively opening or closing the water inlet pipe and a water pump for delivering water outside the shell into the detection box through the water inlet pipe are sequentially arranged on the water inlet pipe along the water flow direction, the water outlet pipe is provided with a second stop valve for selectively opening or closing the water outlet pipe, the water pump, the first stop valve and the second stop valve are electrically connected with the controller, an exhaust pipe communicated with the outside of the shell is further arranged at the position above the detection box, and the exhaust pipe is provided with a one-way valve for preventing water outside the shell from entering the detection box from the exhaust pipe and an exhaust valve electrically connected with the controller;
and the water quality sensors are respectively electrically connected with the controller, and the detection ends of the water quality sensors are inserted into the detection box.
Preferably, the detection box is a long-strip-shaped box body, the bottom of the detection box is inclined along the length direction, the water inlet is formed in the top of the detection box and located at the higher end of the bottom, and the water outlet is formed in the bottom of the detection box and located at the lower end of the bottom.
Preferably, still include the sampling module that sets up in the casing, the sampling module includes the sample support that sets up in the casing and sets up a plurality of samplers on the sample support, the sampler includes:
the sampling tube is fixed on the sampling support, two ends of the sampling tube are opened, one end of the sampling tube is opened to be smaller, the other end of the sampling tube is opened to be larger, a connecting tube is arranged at one end with a smaller opening, a plurality of sampling ports are arranged at one side of the detection box along the length direction of the detection box, the number of the sampling ports is the same as that of the samplers, and the connecting tube of each sampler is inserted into one sampling port so that the sampling tube is communicated with the detection box;
a plunger slidably disposed in the sampling tube.
Preferably, each sampler further comprises a piston rod, the piston being arranged at one end of the piston rod, the other end of the piston rod extending from the open end of the sampling tube.
Preferably, the sampling module further comprises a sampling unlocking mechanism, the sampling unlocking mechanism comprising:
a slide rail supported inside the housing on a side of the piston rod opposite to the piston and extending in a longitudinal direction of the detection box;
and the sliding strip can be supported on the sliding rail in a sliding manner along the length direction of the detection box, can move between the piston rod and the sliding rail or move out of the space between the piston rod and the sliding rail, and when the sliding strip is positioned between the piston rod and the sliding rail, the piston abuts against one end of the smaller opening of the sampling tube.
Preferably, the slide rail is configured such that before the piston falls off from the sampling tube, the end of the piston rod extending out from the sampling tube can abut against the slide rail, a strain gauge electrically connected to the controller is disposed at a position on the slide rail corresponding to each piston rod, and the controller can determine whether the piston should abut against the slide rail through the strain gauge to determine whether sampling is completed.
Preferably, the sampling unlocking mechanism comprises a first linear driver electrically connected with the controller, and the controller controls the distance of each movement of the first linear driver to be configured to only allow the first linear driver to move out of the space between one piston rod and the sliding rail.
Preferably, the sampling holder comprises:
the sampling bracket is arranged on one side of the detection box, which is provided with a sampling port, the upper surface of the sampling bracket is provided with first grooves which have the same number as the samplers and are semicircular in cross section, and the diameters of the first grooves are matched with the diameters of the sampling tubes;
the sampling cover frame is positioned above the sampling bracket and detachably connected with the sampling bracket, second grooves with semicircular cross sections and the same number as the samplers are formed on the lower surface of the sampling cover frame, the diameters of the second grooves are matched with the diameters of the sampling tubes, and the distance between every two adjacent first grooves and the distance between every two adjacent second grooves are the same as the distance between every two adjacent sampling ports.
Preferably, the moving module includes an underwater propulsion module, the underwater propulsion module includes a first propeller, a second propeller, a third propeller, a fourth propeller, and a fifth propeller, the first propeller and the second propeller are respectively disposed at the left and right sides of the housing to propel the housing in the front and rear directions, the third propeller and the fourth propeller are also respectively disposed at the left and right sides of the housing to propel the housing in the up and down directions, the fifth propeller is disposed at one end of the housing in the front and rear directions to propel one end of the housing in the front and rear directions in the up and down directions, the propellers each include a cylinder disposed at the outer side of the housing and having openings at both ends, an underwater motor installed inside the cylinder, and propellers disposed on an output shaft of the underwater motor, the rotation axis of the propellers is collinear with the axis of the cylinder, and the underwater motor is electrically connected to the controller, the controller can control one or more underwater motors respectively.
Compared with the prior art, the invention has the following beneficial effects:
the underwater robot can realize water quality detection of deeper water areas, is particularly suitable for water areas with large areas such as rivers, lakes and the like, and the water quality sensor is arranged in the robot, so that impact of water flow on the water quality sensor in the moving process is avoided; the current robot is also provided with a sampling module, and when the water quality is abnormal, the sampling module can sample water at a detection point, so that a worker can conveniently perform further detection; the controller is integrated with a GPS module, the position of a detection point, particularly the position of a detection point with abnormal water quality can be acquired through the GPS module, and the controller stores the detected water quality data and the position information together.
Drawings
FIGS. 1 and 5 are perspective views of the present invention from two different perspectives;
FIG. 2 is a front view of the present invention;
FIG. 3 is a top view of the present invention;
FIG. 4 is a cross-sectional view at section A-A of FIG. 3;
FIG. 6 is a perspective view of the internal structure of the present invention;
FIG. 7 is a perspective view of a water quality detection module and a sampling module according to the present invention;
FIG. 8 is a front view of the water quality detection module and sampling module of the present invention;
FIG. 9 is a cross-sectional view at section B-B of FIG. 8;
FIG. 10 is a top view of the water quality detection module and sampling module of the present invention;
FIG. 11 is a cross-sectional view at section C-C of FIG. 10;
figure 12 is a perspective view of the retainer bracket and watersample retainer assembly process of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1 to 12, an underwater robot for water quality detection includes a housing 1, a moving module 2 disposed outside the housing 1 and used for driving the housing 1 to move, a water quality detecting module 3 disposed on the housing 1 and used for detecting water quality, and a sampling module 4 disposed in the housing 1 and used for sampling abnormal water when the water quality detecting module 3 detects abnormal water quality.
The water quality detection module 3 is including setting up detection case 3c in casing 1 and being used for carrying out a plurality of water quality sensors that detect to the water sample in the detection case 3c, detection case 3c has water inlet 3c2 and delivery port 3c3, water inlet 3c2 is through inlet tube 3f and casing 1's external intercommunication, delivery port 3c3 is through outlet pipe 3h and casing 1's external intercommunication, has set gradually along the direction of rivers on inlet tube 3f for selectively open or the first logical check valve 3a that closes with inlet tube 3f, is used for sending into the water pump 3b in the detection case 3c with the outside water of casing 1 through inlet tube 3f, be provided with on outlet tube 3h and be used for selectively opening or the second logical check valve 3d that closes outlet tube 3 f. The first and second check valves 3a and 3d are electrically connected to the controller.
The water quality monitoring device is characterized in that a controller 1c is arranged in the casing 1, the water quality sensors comprise an ammonia nitrogen sensor 3e2, a COD sensor 3e3, a conductivity sensor 3e4, a PH sensor 3e5, an ORP sensor 3e6 and a turbidity sensor 3e7 which are respectively electrically connected with the controller 1c, the ammonia nitrogen sensor 3e2, the COD sensor 3e3, the conductivity sensor 3e4, the PH sensor 3e5, the ORP sensor 3e6 and the turbidity sensor 3e7 are arranged in a row, a detection end extends into the detection box 3c, and when the water pump 3b injects water into the detection box 3c, the controller 1c can detect water samples in the detection box 3c through the water quality sensors and obtain corresponding parameter values so as to judge whether the water quality is abnormal or not.
Specifically, detection case 3c is rectangular shape box, and its bottom inclines along length direction, water inlet 3c2 sets up at the top of detection case 3c and is located the higher one end in bottom, delivery port 3c3 sets up in the bottom of detection case and is located the lower one end in bottom. In order to avoid the influence of the water sample stored in the detection box 3c in the previous detection point on the water sample of the new detection point, when the new detection point is reached from one detection point, the water pump 3b can be used for injecting water into the detection box 3c for a period of time, and the second stop valve 3d is opened during water injection, so that the original water sample in the detection box 3c is discharged during water injection, and the water sample is continuously discharged for a period of time to ensure that the original water sample is completely discharged as far as possible, and the bottom is an inclined plane, so that the original water sample is favorably discharged from the water outlet 3c 3.
Because need guarantee to have sufficient water in detection case 3c when detecting the water sample and when taking a sample, for the convenience of water enters detection case 3c, can set up blast pipe 3c5 in the position that leans on of detection case 3c, like this when the water injection to detection case 3c, can close second check valve 3d, the inside gas of detection case can be followed and is discharged in blast pipe 3c5 simultaneously. And the exhaust pipe 3c5 is extended to the outside of the case 1, when the water in the detection tank 3c is filled, the excess water can be discharged from the exhaust pipe 3c5, and when the water amount in the detection tank 3c reaches a certain value, the water pump 3b is turned off, and at this time, the detection can be performed. Further, a check valve 3c7 is provided in the exhaust pipe 3c5 to prevent water outside the casing 1 from entering the detection chamber 3c from the exhaust pipe 3c 5.
The sampling module 4 comprises a sampling support 4a arranged in the shell 1 and a plurality of samplers 4b arranged on the sampling support 4a, and when water quality abnormality is detected at a detection point, water samples at the position can be sent to one or more of the samplers 4 b.
Further, the sampler 4b includes a sampling tube 4b1 fixed in the sampling holder 4a and having both ends opened, a piston 4b3 slidably disposed in the sampling tube 4b1, the sampling tube 4b1 has one end opened smaller and the other end opened larger, and a connection tube 4b4 is disposed at one end of the smaller opening of the sampling tube 4b1, a plurality of sampling ports 3c4 are disposed at one side of the detection box 3c along the length direction of the detection box, the number of the sampling ports 3c4 is the same as the number of the samplers 4b, and the connection tube 4b4 of each sampler 4b is inserted into one sampling port 3c4 to communicate the sampling tube 4b1 with the detection box 3 c.
Each sampler 4b further comprises a piston rod 4b2, the piston 4b3 being arranged at one end of the piston rod 4b2, the other end of the piston rod 4b2 projecting from the open, larger end of the sampling tube 4b 1.
Further, the sampling module 4 further includes a sampling unlocking mechanism 4 c. The sampling unlocking mechanism 4c includes a slide rail 4c1 supported inside the housing 1 and extending along the length direction of the detection box 3c, a slide bar 4c2 slidably supported on the slide rail 4c1, and a linear driver 4c3 for driving the slide bar 4c2 to move along the slide rail 4c 1. The slide bar 4c2 is located on the opposite side of the piston rod 4b2 from the piston 4b3, and the slide bar 4c2 can move between the other end of the piston rod 4b2 and the slide rail 4c1 or out of between the other end of the piston rod 4b2 and the slide rail 4c1, the width of the slide bar 4c2 is configured such that when the slide bar 4c2 is located between the other end of the piston rod 4b2 and the slide rail 4c1, the piston 4b3 abuts against the smaller opening end of the sampling tube 4b1, so that water in the detection box 3c cannot enter the sampling tube 4b 1. When sampling is needed, the linear driver 4c3 drives the slide bar 4c2 to move for a certain distance, so that the slide bar 4c2 moves out of the space between the other end of one of the piston rods 4b2 and the slide rail 4c1, the water pump 3b and the first check valve 3a are opened, the second check valve 3d is closed, the water pump 3b injects water into the detection box 3c, the water pressure is increased, thus the water in the detection box 3c pushes the piston 4b3 to move towards the larger end of the sampling tube 4b1, and a part of the water in the detection box 3c enters the sampling tube 4b1 to realize sampling. The slide rail 4c1 is configured such that when the piston rod 4b2 moves a distance toward the end away from the smaller opening of the sampling tube 4b1, the piston rod 4b2 can abut against the slide rail 4c1 to ensure that the piston rod 4b2 does not fall out of the sampling tube 4b 1. The slide 4c is moved each time by a distance of moving out from between only one of the piston rods 4b2 and the slide 4c1 to feed sampled water into the sampling tubes 4b1 in the order in which the samplers 4b are arranged.
In order to ensure the pressure in the detection box 3c, an exhaust valve 3c6 electrically connected to the controller 1c is further provided on the exhaust pipe 3c5, and the controller 1c can close the exhaust valve 3c6 as required to ensure that the detection box 3c has sufficient pressure for sampling.
A strain gauge electrically connected with the controller 1c is arranged on the slide rail 4c1 corresponding to the position of each piston rod 4b2, the controller 1c judges whether the piston rod 4b2 abuts against the slide rail 4c1 according to the data of the strain gauge, and when the piston rod 4b2 abuts against the slide rail 4c1, the controller 1c controls the water pump 3b to stop working.
Preferably, a check valve (not shown) may be installed at the position of the sampling port 3c4, which allows sampled water in the detection chamber 3c to enter the sampling pipe 4b 1.
The sampling bracket 4a comprises a sampling bracket 4a1 arranged at one side of the detection box 3c and a sampling cover frame 4a2 in clamping fit with the sampling bracket 4a1, a plurality of first grooves with semicircular cross sections are arranged on the upper surface of the sampling bracket 4a1, a plurality of second grooves with semicircular cross sections are arranged on the lower surface of the sampling cover frame 4a2, the number of the first grooves and the number of the second grooves are the same as that of the samplers 4b, the plurality of first grooves and the plurality of second grooves respectively extend along the length direction of the detection box 3c and are arranged at equal intervals, the distance between adjacent first grooves and the distance between adjacent second grooves are the same as that between adjacent sampling ports 3c4, the diameters of the first grooves and the second grooves are the same as that of the sampling tube 4b1, when the sampling cover frame 4a2 is in clamping fit with the sampling bracket 4a1, the sampling tube 4b1 is clamped between the sampling cover frame 4a2 and the sampling bracket 4a1, when the sampling tube 4b1 needs to be taken out, the sampling cap holder 4a2 is simply removed from the sampling holder 4a 1.
The moving module 2 comprises an underwater propulsion module, the underwater propulsion module comprises a first propeller 2a, a second propeller 2b, a third propeller 2c, a fourth propeller 2d and a fifth propeller 2e, the first propeller 2a and the second propeller 2b are respectively arranged on the left side and the right side of the shell 1 and used for propelling the shell 1 along the front-back direction, the third propeller 2c and the fourth propeller 2d are also respectively arranged on the left side and the right side of the shell 1 and used for propelling the shell 1 along the up-down direction, the fifth propeller 2e is arranged at one end of the shell 1 in the front-back direction and used for propelling the shell 1 along the up-down direction, the propellers are electrically connected with the controller 1c, and the controller 1c can respectively control one or more of the propellers.
The first propeller 2a, the second propeller 2b, the third propeller 2c, the fourth propeller 2d and the fifth propeller 2e have the same structure, and each propeller comprises a cylinder 2e1 arranged outside the housing 1 and with openings at two ends, an underwater motor 2e2 arranged inside the cylinder 2e1 and a propeller 2e3 arranged on an output shaft of the underwater motor 2e2, wherein the rotation axis of the propeller 2e3 is collinear with the axis of the cylinder 2e1, the underwater motor 2e2 is electrically connected with the controller 1c, and the control of the movement of the housing 1 can be realized by controlling the forward and reverse rotation of the propeller 2e 3. Two ends of the cylinder 2e1 are provided with protective nets 2e4 to protect the underwater motor 2e2 and the propeller 2e 3.
Specifically, the moving module 2 further includes a floating and submerging control module 2f, the floating and submerging control module 2f includes a floating and submerging cylinder 2f1 which is communicated with the inside and the outside of the main body 1 and has openings at two ends, a floating and submerging piston 2f2 which is arranged in the floating and submerging cylinder 2f1 in a manner of moving back and forth along the axis of the floating and submerging cylinder 2f1, and a linear driver 2f3 which drives the piston 2f2 to move back and forth along the axis of the buoy 2f1, the opening at the lower end of the floating and submerging cylinder 2f1 is located at the bottom of the casing 1 and is communicated with the outside, and the volume of the cavity in the casing 1 can be changed by controlling the position of the floating and submerging piston 2f2 in the floating and submerging cylinder 2f1, so that floating and submerging can be realized. Of course, other means known in the art may be used to achieve snorkeling.
Preferably, a storage battery 1b is further installed in the housing 1, and the storage battery 1b is used for supplying power to other electric devices. A plurality of sonars 1e electrically connected to the controller 1c are further installed outside the housing 1, the plurality of sonars 1e are installed at different positions outside the housing 1, and surrounding obstacles can be detected by the sonars 1 e.
Preferably, the front side of the housing 1 is further provided with a camera 1f and an illuminating lamp 1g which are electrically connected with the controller 1c, the camera 1f can record videos or take pictures of the surrounding environment, and the illuminating lamp 1g has the light supplementing function.
Preferably, still be provided with communication module 1d in the casing 1, through communication module 1d, controller 1c can detect data transmission and give the staff, and the staff also can come to control propeller, water quality testing module and sampling module through communication module 1 d. A GPS module may be integrated into the controller 1c, and the GPS module may be used to obtain the real-time position of the robot, and in particular, may be used to record the position of the detection point in time when a water quality abnormality is detected. A navigation module can be integrated in the controller 1c, a detection point can be preset in the controller 1c through the navigation module and the GPS module, and the controller 1c can automatically drive the robot to reach the designated detection point for detection.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (5)
1. An underwater robot for water quality detection, comprising:
a housing in which a controller is installed;
the moving module is arranged outside the shell, is used for driving the shell to move, and is electrically connected with the controller;
the water quality detection module is arranged on the shell, is used for detecting water quality and is electrically connected with the controller;
the GPS module is integrated in the controller, and the controller can at least acquire the position information of a detection point through the GPS module when the water quality detection module detects that the water quality is abnormal;
the communication module is integrated with the controller, and the controller can carry out remote communication by utilizing the communication module;
it is characterized in that the preparation method is characterized in that,
the water quality detection module is arranged in the shell and is electrically connected with the controller, and when the controller detects that the water quality is abnormal through the water quality detection module, the sampling module is controlled to sample;
the water quality detection module comprises:
the detection box is arranged in the shell and is provided with a water inlet and a water outlet, the water inlet is communicated with the outside of the shell through a water inlet pipe, the water outlet is communicated with the outside of the shell through a water outlet pipe, a first through valve for selectively opening or closing the water inlet pipe and a water pump for delivering water outside the shell into the detection box through the water inlet pipe are sequentially arranged on the water inlet pipe along the water flow direction, the water outlet pipe is provided with a second stop valve for selectively opening or closing the water outlet pipe, the water pump, the first stop valve and the second stop valve are electrically connected with the controller, an exhaust pipe communicated with the outside of the shell is further arranged at the position above the detection box, and the exhaust pipe is provided with a one-way valve for preventing water outside the shell from entering the detection box from the exhaust pipe and an exhaust valve electrically connected with the controller;
the water quality sensors are respectively and electrically connected with the controller, and the detection ends of the water quality sensors are inserted into the detection box;
the water inlet is arranged at the top of the detection box and is positioned at the higher end of the bottom, and the water outlet is arranged at the bottom of the detection box and is positioned at the lower end of the bottom;
the sampling module is including setting up the sample support in the casing and setting up a plurality of samplers on the sample support, the sampler includes:
the sampling tube is fixed on the sampling support, two ends of the sampling tube are opened, one end of the sampling tube is opened to be smaller, the other end of the sampling tube is opened to be larger, a connecting tube is arranged at one end with a smaller opening, a plurality of sampling ports are arranged at one side of the detection box along the length direction of the detection box, the number of the sampling ports is the same as that of the samplers, and the connecting tube of each sampler is inserted into one sampling port so that the sampling tube is communicated with the detection box;
a piston slidably disposed in the sampling tube;
each sampler also comprises a piston rod, the piston is arranged at one end of the piston rod, and the other end of the piston rod extends out of the end, with the larger opening, of the sampling tube;
the sampling module still includes sample release mechanism, sample release mechanism includes:
a slide rail supported inside the housing on a side of the piston rod opposite to the piston and extending in a longitudinal direction of the detection box;
and the sliding strip can be supported on the sliding rail in a sliding manner along the length direction of the detection box, can move between the piston rod and the sliding rail or move out of the space between the piston rod and the sliding rail, and when the sliding strip is positioned between the piston rod and the sliding rail, the piston abuts against one end of the smaller opening of the sampling tube.
2. The underwater robot for water quality detection according to claim 1, wherein the slide rail is configured such that before the piston falls off the sampling pipe, the end of the piston rod protruding from the sampling pipe can abut against the slide rail, a strain gauge electrically connected to the controller is disposed on the slide rail at a position corresponding to each piston rod, and the controller can determine whether the piston rod abuts against the slide rail through the strain gauge to determine whether sampling is completed.
3. The underwater robot for water quality detection of claim 2, wherein the sampling unlocking mechanism comprises a first linear driver electrically connected with the controller, and the controller controls the distance of each movement of the first linear driver to be configured to only allow the first linear driver to move out of the space between one piston rod and the slide rail.
4. An underwater robot for water quality inspection as claimed in claim 1, wherein the sampling support comprises:
the sampling bracket is arranged on one side of the detection box, which is provided with a sampling port, the upper surface of the sampling bracket is provided with first grooves which have the same number as the samplers and are semicircular in cross section, and the diameters of the first grooves are matched with the diameters of the sampling tubes;
the sampling cover frame is positioned above the sampling bracket and detachably connected with the sampling bracket, second grooves with semicircular cross sections and the same number as the samplers are formed on the lower surface of the sampling cover frame, the diameters of the second grooves are matched with the diameters of the sampling tubes, and the distance between every two adjacent first grooves and the distance between every two adjacent second grooves are the same as the distance between every two adjacent sampling ports.
5. The underwater robot for water quality inspection according to claim 1, wherein the moving module includes an underwater propulsion module, the underwater propulsion module includes a first propeller, a second propeller, a third propeller, a fourth propeller, and a fifth propeller, the first propeller and the second propeller are respectively disposed at left and right sides of the housing for propelling the housing in a front-rear direction, the third propeller and the fourth propeller are also respectively disposed at left and right sides of the housing for propelling the housing in an up-down direction, the fifth propeller is disposed at one end of the housing in the front-rear direction for propelling one end of the housing in the up-down direction, the propellers each include a cylinder disposed at an outer side of the housing and having openings at both ends, an underwater motor mounted inside the cylinder, and a propeller disposed on an output shaft of the underwater motor, the rotation axis of the propeller is collinear with the axis of the barrel, the underwater motor is electrically connected with the controller, and the controller can control one or more underwater motors respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010637571.1A CN111579747B (en) | 2020-07-05 | 2020-07-05 | Underwater robot for water quality detection |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010637571.1A CN111579747B (en) | 2020-07-05 | 2020-07-05 | Underwater robot for water quality detection |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111579747A CN111579747A (en) | 2020-08-25 |
| CN111579747B true CN111579747B (en) | 2022-03-01 |
Family
ID=72127619
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010637571.1A Active CN111579747B (en) | 2020-07-05 | 2020-07-05 | Underwater robot for water quality detection |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111579747B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114264502A (en) * | 2021-11-28 | 2022-04-01 | 高鹏翔 | Underwater detection device for ocean engineering |
| CN114537598B (en) * | 2022-01-24 | 2023-02-28 | 河北先河环保科技股份有限公司 | Unmanned ship of miniature water quality testing |
| CN114750909B (en) * | 2022-05-24 | 2023-05-12 | 鲁东大学 | Submersible ocean pollutant observation equipment and working method thereof |
| CN115372072A (en) * | 2022-08-15 | 2022-11-22 | 国家深海基地管理中心 | Cylindrical sediment pore water sampling and detecting device mounted on underwater robot |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017092479A1 (en) * | 2015-11-30 | 2017-06-08 | 天津大学 | Hybrid propulsion glider for water quality monitoring |
| CN107167571A (en) * | 2017-06-05 | 2017-09-15 | 防城港市水利水电勘测设计院 | A kind of Reservoir Water Quality detector |
| CN107804443A (en) * | 2017-10-23 | 2018-03-16 | 博雅工道（北京）机器人科技有限公司 | A kind of hybrid power underwater robot platform |
| CN110146673A (en) * | 2019-05-11 | 2019-08-20 | 泰州机电高等职业技术学校(江苏联合职业技术学院泰州机电分院) | Remote controlled water quality detection ship and the water quality detection method using it |
| 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 |
| CN110641629A (en) * | 2019-09-17 | 2020-01-03 | 九洲环境科技(天津)有限公司 | Automatic detection unmanned ship for black and odorous surface water body |
| CN210005519U (en) * | 2019-03-29 | 2020-01-31 | 浙江大学滨海产业技术研究院 | underwater robot for water quality detection |
| CN210639082U (en) * | 2019-06-11 | 2020-05-29 | 四川万江一泓环境科技有限责任公司 | Three-dimensional water quality monitoring system based on unmanned ship |
-
2020
- 2020-07-05 CN CN202010637571.1A patent/CN111579747B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017092479A1 (en) * | 2015-11-30 | 2017-06-08 | 天津大学 | Hybrid propulsion glider for water quality monitoring |
| CN107167571A (en) * | 2017-06-05 | 2017-09-15 | 防城港市水利水电勘测设计院 | A kind of Reservoir Water Quality detector |
| CN107804443A (en) * | 2017-10-23 | 2018-03-16 | 博雅工道（北京）机器人科技有限公司 | A kind of hybrid power underwater robot platform |
| CN210005519U (en) * | 2019-03-29 | 2020-01-31 | 浙江大学滨海产业技术研究院 | underwater robot for water quality detection |
| CN110146673A (en) * | 2019-05-11 | 2019-08-20 | 泰州机电高等职业技术学校(江苏联合职业技术学院泰州机电分院) | Remote controlled water quality detection ship and the water quality detection method using it |
| CN210639082U (en) * | 2019-06-11 | 2020-05-29 | 四川万江一泓环境科技有限责任公司 | Three-dimensional water quality monitoring system based on unmanned ship |
| 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 |
| CN110641629A (en) * | 2019-09-17 | 2020-01-03 | 九洲环境科技(天津)有限公司 | Automatic detection unmanned ship for black and odorous surface water body |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111579747A (en) | 2020-08-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111579747B (en) | Underwater robot for water quality detection | |
| CN111579746B (en) | Underwater robot for detecting water quality of river channel area | |
| WO2017092479A1 (en) | Hybrid propulsion glider for water quality monitoring | |
| CN114137175B (en) | Movable river water quality monitoring device | |
| CN209783948U (en) | automatic sampling device for soil remediation | |
| CN111707498A (en) | Underwater robot for sampling water quality in river channel area | |
| CN111745665A (en) | Underwater primary and secondary robot for river hidden pipe water quality sampling detection | |
| CN214729570U (en) | Underwater real-time monitoring data acquisition robot | |
| CN212540373U (en) | Underwater robot for water quality detection | |
| CN114136291B (en) | Hydrology monitoring device applied to river | |
| CN112346145A (en) | Underwater detection device convenient to fix accurate location | |
| CN212540374U (en) | Underwater robot for detecting water quality of river channel area | |
| CN110658026A (en) | Portable movable water sampling and detecting ship | |
| CN110658027A (en) | Portable movable water quality sampling ship | |
| CN213200105U (en) | Unmanned aerial vehicle is used in marine crude oil discernment with sample function | |
| CN210293298U (en) | Offshore area quality of water remote monitoring device | |
| CN113998082A (en) | Gas-electricity hybrid underwater detector | |
| CN211425962U (en) | Portable water sampling and detecting device | |
| CN113624560A (en) | Underwater environment surveying device for hydraulic engineering | |
| CN110658028A (en) | Portable water sampling and detecting device | |
| CN219178995U (en) | Remote control type water sample collection ship | |
| CN114994141B (en) | Coastal aquifer hydrogeology investigation device | |
| CN216926198U (en) | Water quality monitoring device | |
| CN218240012U (en) | Movable river water quality monitoring device | |
| CN212110742U (en) | Aquaculture water quality monitoring device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |