CN114062031A - Water sample collection device and method with cross-medium navigation function - Google Patents
Water sample collection device and method with cross-medium navigation function Download PDFInfo
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- CN114062031A CN114062031A CN202111346620.7A CN202111346620A CN114062031A CN 114062031 A CN114062031 A CN 114062031A CN 202111346620 A CN202111346620 A CN 202111346620A CN 114062031 A CN114062031 A CN 114062031A
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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
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
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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
- G01N2001/1031—Sampling from special places
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Abstract
The invention provides a water sample collecting device with a cross-medium navigation function and a method thereof, wherein the device comprises a shell, a control module and a depth sensor are arranged on the shell, and the shell comprises an upper cavity and a lower cavity; the lower cavity is provided with a second valve, the control module is used for controlling the second valve to be opened and closed to collect a water sample, and the depth sensor is used for closing the second valve when the detected water depth position reaches a preset water depth position; go up the cavity and be provided with first valve and elastic element, go up still include in the cavity and can react with water and generate gaseous material, the first valve of cavity is opened in the control module control, and rivers go into behind the cavity, go up the material in the cavity and meet water back production gas, thereby gaseous can make the elastic element volume that sets up on the cavity take place to expand and provide the buoyancy that makes water sample collection system come-up and lift off. The water sample collection speed is higher.
Description
Technical Field
The invention relates to the technical field of water sample collection robots, in particular to a water sample collection device with a cross-medium navigation function and a method.
Background
Modern technology is rapidly developing, and intelligent equipment is more and more frequently used in the fields of scientific research and daily life. In the marine field, the same is true for the collection of water samples. Along with the continuous development and maturity of internet of things, the requirements on the intellectualization and the automation of the water sample collection device are higher and higher. The automatic water sampling device has the characteristics of relatively low cost, no casualty risk, good maneuverability, convenient use and the like, so that the automatic water sampling device is widely applied to civil use and is mainly applied to a plurality of fields such as fresh water culture, water quality detection, seawater sampling and the like in the market.
The existing water sample collecting device and method only generally collect water in a single medium field, and because the physical properties of air and water are greatly different, the density of water is more than 800 times of air, and the viscosity coefficient is 59 times of air, the water sample collecting device and method with the capability of navigating across media in air and water needs to be provided, and the response is faster than that of an underwater collecting system in a single field.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a water sample collecting device and a water sample collecting method which have a medium-crossing navigation function and are higher in water sample collecting speed.
In order to solve the problems, the technical scheme of the invention is as follows:
a water sample collecting device with a cross-medium navigation function comprises a shell, wherein a control module and a depth sensor are arranged on the shell, and the shell comprises an upper cavity and a lower cavity; the lower cavity is provided with a second valve, the control module is used for controlling the second valve to be opened and closed to collect a water sample, and the depth sensor is used for closing the second valve when the detected water depth position reaches a preset water depth position; go up the cavity and be provided with first valve and elastic element, go up still include in the cavity and can react with water and generate gaseous material, the first valve of cavity is opened in the control module control, and rivers go into behind the cavity, go up the material in the cavity and meet water back production gas, thereby gaseous can make the elastic element volume that sets up on the cavity take place to expand and provide the buoyancy that makes water sample collection system come-up and lift off.
Optionally, the housing further comprises a middle cavity for separating the upper cavity and the lower cavity.
Optionally, the elastic unit is a balloon, the gas is connected with the balloon through a conduit, and the substance in the upper cavity is stored in a capsule which is dissolved or softened by water.
Optionally, first valve and second valve are the solenoid valve or other valves that can receive electric signal control, the filter screen is installed to the water inlet of first valve and delivery port department for material meets water outflow in preventing the upper chamber body.
Optionally, the water sample collection device further comprises a communication module electrically connected with the control module.
Optionally, the water sample collection device further comprises a positioning module electrically connected to the control module, and the positioning module is used for determining the position of the water sample collection device and planning a new air route.
Optionally, the housing is further provided with a propeller for providing power and a side wing for controlling the direction.
Further, the invention also provides a water sample collecting method, which comprises the following steps:
inputting a preset water sampling depth into a control module of the water sample collecting device, and then sinking the water sample collecting device into water;
the water sample collecting device reaches a preset position to collect a water sample, and after the water sample collecting task is completed, the water sample collecting device floats out of the water surface; and
and when the water sample collecting device is completely separated from the water surface and is lifted to a certain position, executing the next water sample collecting task sent by the control module until the whole water sample collecting task is completed, and recording the data collected by the water sample.
Optionally, the method further comprises the steps of: the control module of the water sample collection device receives information with preset water sampling depth sent by the remote terminal in a wireless communication mode, and the control module can also receive target information sent by the remote terminal in a wireless communication mode to supply the water sample collection device with the target information, so that the next water sampling target task is carried out until the whole water sampling task is completed.
Optionally, the method further comprises the steps of: and the water sample collecting device receives the positioning signal after floating out of the water surface and sends the self positioning information to the remote terminal in a wireless communication mode.
Compared with the prior art, the invention provides a water sample collecting device with a cross-medium navigation function and a method thereof, and the invention combines an aircraft with a submarine vehicle, has the movement capability in water and in the air at the same time, can collect samples in a water area, record data, then discharge water, and quickly transfer the water to the next target water area from the air to continuously collect information, thereby collecting and providing water quality information of different positions to a remote terminal in a short time.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
fig. 1 is an underwater perspective view of a water sample collecting device with a cross-medium navigation function according to an embodiment of the present invention;
FIG. 2 is an aerial perspective view of a water sample collecting device with a cross-medium navigation function according to an embodiment of the present invention;
fig. 3 is a flow chart of a water sample collection method according to an embodiment of the present invention.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
Specifically, fig. 1 is an underwater perspective view of a water sample collecting device with a cross-medium navigation function according to an embodiment of the present invention, and fig. 2 is an aerial perspective view of the water sample collecting device with the cross-medium navigation function according to the embodiment of the present invention, as shown in fig. 1 and fig. 2, the device includes a housing 10, a control module (not shown) and a depth sensor 5 are disposed on the housing 10, a propeller 4 is mounted on the top of the housing 10 for providing power to the device, and in addition, side wings 8 are mounted on two outer sides of the housing 10 for controlling the direction of the device.
The casing 10 includes an upper cavity 11, a lower cavity 13, and a middle cavity 12 separating the upper cavity 11 and the lower cavity 13, in this embodiment, the casing 10 is cylindrical, and the upper cavity 11, the middle cavity 12, and the lower cavity 13 are sequentially and fixedly disposed along an axial direction of the casing 10.
In an alternative embodiment, the upper cavity 11, the middle cavity 12 and the lower cavity 13 may also be sequentially and fixedly arranged along the circumferential direction of the housing 10. In addition, the order of arrangement of the upper chamber 11, the middle chamber 12, and the lower chamber 13 can be adjusted. In an alternative embodiment, the middle chamber 12 and the lower chamber 13 are preferably configured as a hard material, such as a metal material, and more preferably a metal material that is pressure resistant and corrosion resistant.
The surface of the upper cavity 11 is provided with a first valve and an elastic unit 15 made of an elastic material, in this embodiment, the first valve is an electromagnetic valve or other valves capable of receiving an electric signal for control, the elastic unit 15 may specifically be a balloon, and the balloon 15 is connected to the upper cavity 11 through a catheter 16. The upper cavity 11 contains a substance which can generate hydrogen when meeting water, the substance can react with water to generate gas, the gas is connected with the balloon 15 through the guide tube 16, and the volume of the balloon 15 outside the upper cavity 11 can be expanded so as to provide buoyancy for floating and lifting the water sample collecting device. In order to make the substance fully contact with water and react to generate hydrogen, the substance is preferably present in the upper cavity 11 in a granular form, and in order to prevent the granular water from flowing out, a filter screen 14 is further installed at the water inlet and the water outlet of the first valve. And for the convenience of storing and placing the substance, the substance may be stored in a capsule wrapped in the upper cavity 11, wherein the capsule is dissolved or softened by water, such as a plant fiber capsule or a gelatin capsule, preferably a plant fiber capsule capable of being dissolved by water in this embodiment.
And a second valve is arranged on the surface of the lower cavity 13, and a water collecting and draining mechanism 6 is arranged in the lower cavity 13. The water collecting and discharging mechanism 6 is embodied as a second valve for performing water collecting operation and water discharging operation, and the lower chamber 13 is used for storing the collected water. In this embodiment, the second valve is disposed on a side of the surface of the lower cavity 13 away from the middle cavity 12, and the second valve is a solenoid valve or other valve capable of receiving an electric signal for control.
The depth sensor 5 may be installed at any position on the surface of the housing 10, in this embodiment, the depth sensor 5 is fixedly installed on the surface of the lower cavity 13 and is close to the position of the second valve, so that the position of the water depth detected by the depth sensor 5 is the water inlet position of the second valve, thereby ensuring that the inlet water is the required water.
The working process of the water sample collecting device with the cross-medium navigation function is as follows: firstly, inputting a preset water sampling depth into a control module of a water sample collecting device, then sinking the water sample collecting device into water to enable the water sample collecting device to sink by means of self weight, wherein a depth sensor 5 works in the sinking process and sends a detection signal to the control module, and the control module processes the detection signal and obtains real-time water depth data; when the water depth data reaches the preset depth, the control module controls the generator to enable the propeller 4 to work, the propeller 4 pushes water flow out in the rotating process, and at the moment, propulsion force is generated on the blades. The current is "head-on" for the side wing 8, and the water sample collection device must be turned over by the side wing 8 if the water sample collection device is to be turned. The left wing is not changed, when the right wing is turned over, the flow direction of the incident flow is changed, and the water sample collecting device turns left; the right wing does not change, and when the left wing overturns, the head-on flow turns to the right and changes, and water sample collection system turns to the right.
After the water sample collecting device reaches the target position, the control module controls the second valve on the lower cavity 13 to be opened, so that water at a preset depth position enters the lower cavity 13, and after the water collecting operation is completed, the control module controls the second valve to be closed, so that the water in the water sample collecting device is prevented from flowing out, and the water sample collection is completed; then the control module controls the first valve on the upper cavity 11 to be opened, after water flows into the upper cavity 11, the capsule is dissolved when encountering water, the substance wrapped in the capsule generates gas when encountering water, and the gas is input into the elastic unit 15 through the guide pipe 16, so that the elastic unit 15 attached outside the cavity is expanded, the buoyancy is increased, and the device which has finished water collection floats upwards.
Go up cavity 11 and close first valve promptly after getting into proper amount water, the proper amount hydroenergy that gets into can make water and material fully expand and produce gas, thereby guarantee that buoyancy increases and is greater than the increase of dead weight, the open time of the first valve that the inflow passes through control module control decides, when buoyancy is greater than gravity, water sample collection device progressively rises to the surface of water that floats, when water sample collection device breaks away from the surface of water completely and rises to a certain position, send next water sample collection task by control module, until whole water sample collection task is accomplished.
In an alternative embodiment, a communication module may be mounted on the surface of the housing 10, preferably the lower housing 13, and electrically connected to the control module. The communication module is used for receiving the information with the preset water sampling depth sent by the remote terminal in a wireless communication mode and forwarding the information to the control module, so that an operator can input the preset water sampling depth to the control module at the remote terminal or modify the preset water sampling depth.
In an optional embodiment, a positioning module may be further installed on the surface of the housing 10, preferably the lower housing 13, and the module is electrically connected to the control module, and the positioning module is configured to receive a positioning signal and determine positioning information of the positioning module after the water collection device is floated off the water surface, and then send the positioning information to the communication module through the control module, and the communication module sends the positioning information to the remote terminal.
Fig. 3 is a block flow diagram of a water sample collecting method according to an embodiment of the present invention, and as shown in fig. 3, the method includes the following steps:
s1: inputting a preset water sampling depth into a control module of the water sample collecting device, and then sinking the water sample collecting device into water;
specifically, a preset water sampling depth is input into a control module of the water sample collecting device in advance, the water sample collecting device is then placed in water to sink by means of self weight, a depth sensor works in the sinking process, a detection signal is sent to the control module, the control module processes the detection signal, and real-time water depth data are obtained; when the water depth data reaches the preset depth, the control module controls the generator to enable the propeller to work, the propeller pushes water flow out in the rotating process, and at the moment, propulsion force is generated on the blades.
In addition, the direction of the water sample collecting device is controlled by the turning of the side wing, the water flow at the time is 'head-on flow' for the side wing, if the water sample collecting device is to turn, the water sample collecting device must be turned over through the side wing, wherein the left wing is not changed, when the right wing is turned over, the flow direction of the head-on flow is changed, and the water sample collecting device turns left; the right wing does not change, and when the left wing overturns, the water sample collection system turns to the right.
S2: the water sample collecting device reaches a preset position to collect a water sample, and after the water sample collecting task is completed, the water sample collecting device floats out of the water surface;
specifically, after the water sample collecting device reaches the target position, the control module controls the second valve on the lower cavity 13 to be opened, so that water at a preset depth position enters the lower cavity 13, and after the water collecting operation is completed, the control module controls the second valve to be closed, so that the water in the water sample collecting device is prevented from flowing out, and the water sample collection is completed; then the control module controls the first valve on the upper cavity 11 to be opened, after water flows into the upper cavity 11, the capsule in the upper cavity 11 is dissolved when meeting water, the substance wrapped in the capsule generates gas when meeting water, and the gas is input into the elastic unit 15 through the conduit 16, so that the elastic unit 15 attached outside the cavity is expanded, the buoyancy is increased, and the device which finishes water collection floats upwards. The upper cavity 11 closes the first valve after entering a proper amount of water, the entered proper amount of water can enable the water and the substances to fully expand to generate gas, so that the buoyancy increase is larger than the increase of the self weight, and the water inflow is determined by the opening time of the first valve controlled by the control module. When the buoyancy is larger than the gravity, the water sample collecting device gradually rises to the floating water surface.
In an optional embodiment, a preset time may be input to the control module in advance to enable the first valve to perform a valve opening operation, and after the preset time elapses, the control module sends a valve closing signal to the first valve to enable the first valve to perform a valve closing operation after receiving the valve closing signal, so that the amount of water entering the upper chamber 11 is controllable, and it is not only ensured that water and a substance are fully expanded or reacted, but also floating is not affected due to excessive inflow.
S3: and when the water sample collecting device is completely separated from the water surface and is lifted to a certain position, executing the next water sample collecting task sent by the control module until the whole water sample collecting task is completed, and recording the data collected by the water sample.
In an optional embodiment, the method further comprises the following steps: the control module of the water sample collection device receives information with preset water sampling depth sent by the remote terminal in a wireless communication mode, and the control module can also receive target information sent by the remote terminal in a wireless communication mode to supply the water sample collection device with the target information, so that the next water sampling target task is carried out until the whole water sampling task is completed.
In an optional embodiment, the method further comprises the following steps:
and the water sample collecting device receives the positioning signal after floating out of the water surface and sends the self positioning information to the remote terminal in a wireless communication mode.
Compared with the prior art, the invention provides a water sample collecting device with a cross-medium navigation function and a method thereof, and the invention combines an aircraft with a submarine vehicle, has the movement capability in water and in the air at the same time, can collect samples in a water area, record data, then discharge water, and quickly transfer the water to the next target water area from the air to continuously collect information, thereby collecting and providing water quality information of different positions to a remote terminal in a short time.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (10)
1. A water sample collecting device with a cross-medium navigation function is characterized by comprising a shell, wherein a control module and a depth sensor are arranged on the shell, and the shell comprises an upper cavity and a lower cavity; the lower cavity is provided with a second valve, the control module is used for controlling the second valve to be opened and closed to collect a water sample, and the depth sensor is used for closing the second valve when the detected water depth position reaches a preset water depth position; go up the cavity and be provided with first valve and elastic element, go up still include in the cavity and can react with water and generate gaseous material, the first valve of cavity is opened in the control module control, and rivers go into behind the cavity, go up the material in the cavity and meet water back production gas, thereby gaseous can make the elastic element volume that sets up on the cavity take place to expand and provide the buoyancy that makes water sample collection system come-up and lift off.
2. The water sample collection device with the function of navigating through media according to claim 1, wherein the housing further comprises a middle cavity for separating the upper cavity from the lower cavity.
3. The water sample collection device with the function of navigating through media according to claim 1, wherein the elastic unit is a balloon, the gas is connected with the balloon through a conduit, and the substance in the upper cavity is stored in a capsule which is dissolved or softened by water.
4. The water sample collecting device with the cross-medium navigation function according to claim 1, wherein the first valve and the second valve are both solenoid valves or other valves capable of receiving electric signal control, and filter screens are installed at the water inlet and the water outlet of the first valve, so as to prevent substances in the upper cavity from flowing out when encountering water.
5. The water sample collection device with cross-medium navigation function according to claim 1, further comprising a communication module electrically connected with the control module.
6. The water sample collection device with the cross-medium navigation function according to claim 1, further comprising a positioning module electrically connected to the control module, wherein the positioning module is used for determining the position of the water sample collection device and planning a new air route.
7. The water sample collecting device with the function of navigating through media as claimed in claim 1, wherein the housing is further provided with a propeller for providing power and side wings for controlling the direction.
8. A water sample collection method, characterized in that the method comprises the following steps:
inputting a preset water sampling depth into a control module of the water sample collecting device, and then sinking the water sample collecting device into water;
the water sample collecting device reaches a preset position to collect a water sample, and after the water sample collecting task is completed, the water sample collecting device floats out of the water surface; and
and when the water sample collecting device is completely separated from the water surface and is lifted to a certain position, executing the next water sample collecting task sent by the control module until the whole water sample collecting task is completed, and recording the data collected by the water sample.
9. A water sample collection method according to claim 8, further comprising the steps of:
the control module of the water sample collection device receives information with preset water sampling depth sent by the remote terminal in a wireless communication mode, and the control module can also receive target information sent by the remote terminal in a wireless communication mode to supply the water sample collection device with the target information, so that the next water sampling target task is carried out until the whole water sampling task is completed.
10. A water sample collection method according to claim 8, further comprising the steps of: and the water sample collecting device receives the positioning signal after floating out of the water surface and sends the self positioning information to the remote terminal in a wireless communication mode.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111346620.7A CN114062031A (en) | 2021-11-15 | 2021-11-15 | Water sample collection device and method with cross-medium navigation function |
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| CN202111346620.7A CN114062031A (en) | 2021-11-15 | 2021-11-15 | Water sample collection device and method with cross-medium navigation function |
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