CN114739742B - Cross-pollution-preventing unmanned water quality sampling ship and unmanned water quality sampling method - Google Patents
Cross-pollution-preventing unmanned water quality sampling ship and unmanned water quality sampling method Download PDFInfo
- Publication number
- CN114739742B CN114739742B CN202210337052.2A CN202210337052A CN114739742B CN 114739742 B CN114739742 B CN 114739742B CN 202210337052 A CN202210337052 A CN 202210337052A CN 114739742 B CN114739742 B CN 114739742B
- Authority
- CN
- China
- Prior art keywords
- water
- water outlet
- outlet pipe
- sampling
- control module
- 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
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A20/00—Water conservation; Efficient water supply; Efficient water use
- Y02A20/20—Controlling water pollution; Waste water treatment
Landscapes
- Chemical & Material Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Physics & Mathematics (AREA)
- Immunology (AREA)
- Physics & Mathematics (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- Hydrology & Water Resources (AREA)
- Health & Medical Sciences (AREA)
- Pathology (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Sampling And Sample Adjustment (AREA)
Abstract
The invention relates to the field of unmanned ship water quality sampling, in particular to a cross-pollution-preventing unmanned ship for water quality sampling and a water quality sampling method of the unmanned ship. The novel water sampling device comprises a ship body, wherein a navigation positioning module, a driving module and an electromechanical control module are arranged in the ship body, a water pumping device and a sample storage bin are further arranged in the ship body, a sampling pipe is arranged outside the water pumping device, the water pumping device further comprises a water outlet pipe, the water outlet pipe extends into the sample storage bin, and a water sample collecting device, a water outlet pipe guiding device and a water outlet are arranged in the sample storage bin. Through driving the hull to arrive at the waters of waiting to gather, the water in this waters of extraction is earlier with pumping device, sampling tube and play water conduit inner chamber washs to discharge from the outlet, accomplish to wash the back, collect again, so guarantee to get into the interior collection water of water sample collecting bottle and not polluted by the residual impurity in the pipe and the water liquid in last waters. The collected water is not polluted, the collection amount of each water area can be reduced, and the load of the ship body is reduced.
Description
Technical Field
The invention relates to the field of unmanned ship water quality sampling, in particular to a cross-pollution-preventing unmanned ship for water quality sampling and a water quality sampling method of the unmanned ship.
Background
In the field of water environment monitoring, in order to obtain real, accurate and complete water quality monitoring data, a representative water quality sample needs to be obtained first. When water samples are collected for surface water bodies such as rivers, lakes, reservoirs, coastal areas and the like, not only water quality samples of the coastal sampling points but also water quality samples far away from the coastal sampling points are required to be collected. In the process of manually collecting water quality samples, sampling personnel are required to take ships to take sampling points to complete the collection. The manual operation is closer to the water surface and is influenced by conditions such as climate, water flow and the like, and the risk coefficient is large; the man-hour of the personnel is required to be consumed, the expenses such as ship use, fuel power and the like exist, and the manpower and material resources are consumed greatly; the operation is complex, the single sampling time is long, the time consumption between different sampling points is long, and the timeliness of water sample analysis is affected; the difference of sample collection quality can be caused by habit differences in personnel operation, which is not beneficial to water quality analysis and comparison; when the sampling point is in a special topography such as a narrow or insufficient water depth, it is difficult for common vessels and personnel to reach and complete the sampling.
An existing water quality sampling unmanned ship is disclosed in a Chinese patent application document with the application number of 201910921738.4, when a multi-water area sampling operation task is carried out, after one water area sampling operation is finished, sampling water pipe and a sampler, namely, the sampling water liquid in the water pump cavity, of the water area still remain, complete elimination cannot be ensured, when the next water area sampling operation is carried out, the residual water sample is inevitably injected into a collecting container together, so that the situation that the water sample in the next container is cross-polluted can be caused, the sampling accuracy of each water area is influenced, the error caused by small amount of sampling in different water areas is particularly serious, only the large water amount can be collected, the error can be reduced, the load of the unmanned ship is increased, and the collecting efficiency is influenced.
The invention discloses a self-cleaning unmanned ship and a self-cleaning method thereof, wherein the self-cleaning unmanned ship comprises an unmanned ship body, a controller, a water inlet device and an automatic cleaning device, wherein the water inlet device and the automatic cleaning device are arranged on the unmanned ship body, the automatic cleaning device comprises pontoons arranged on two sides of the unmanned ship body, high-pressure spray heads arranged near the pontoons, and pontoon lifting devices connected with the pontoons, the water inlet device is used for pumping water from a water body where the unmanned ship body is located to the high-pressure spray heads of the automatic cleaning device, and the controller is used for controlling the pontoon lifting devices to descend the pontoons so that the unmanned ship is lifted off the water surface, or ascend the pontoons so that the unmanned ship floats on the water surface, and is also used for controlling the high-pressure spray heads to clean the unmanned ship body and the pontoons. The invention also provides a self-cleaning unmanned ship self-cleaning method. The invention can automatically control and clean the unmanned ship, replaces the traditional manual cleaning operation, has convenient use, high reliability and thorough cleaning, and can clean the ship body for a plurality of times before the water collection task is finished, thereby having high cleaning efficiency. Therefore, the unmanned ship has the effect of cleaning the unmanned ship body, and the technical scheme for cleaning the sampling water pipe is not provided. In addition, as disclosed in the above-mentioned chinese patent application 201910921738.4, the unmanned ship device for automatic sampling of water quality, the collected water sample is water that goes deep under the water surface, so the pollution of the hull on the water surface to the water sample is negligible.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides the unmanned ship for water quality sampling for preventing cross contamination and the unmanned ship water quality sampling method, which ensure that the collected water is not polluted, thereby reducing the collection amount of each water area and the load of the ship body.
In order to achieve the above object, the present invention is realized by the following technical scheme: an anti-cross-contamination water sampling unmanned ship comprising: the navigation positioning module and the driving module are electrically connected with the electromechanical control module; the water pumping device is provided with a sampling pipe outwards from the hull, the water pumping device further comprises a water outlet pipe, the water outlet pipe extends into the sample storage bin, and the water pumping device is electrically connected with the electromechanical control module; the water sample collection device comprises at least 2 water sample collection bottles, the water outlet pipe guide device comprises a water outlet pipe fixer and a driving part, the water outlet end of the water outlet pipe is fixed on the water outlet pipe fixer, the water outlet pipe fixer is connected with the driving part, and the driving part is electrically connected with the electromechanical control module; the water outlet pipe guide device comprises a first travel position state and a second travel position state, and in the first travel position state, the water outlet end of the water outlet pipe is aligned with one of the water sample collecting bottles in the water sample collecting device; in the second stroke state, the water outlet end of the water outlet conduit is aligned with the water outlet.
In the device, the water sampling unmanned ship capable of preventing cross contamination is characterized in that a ship body is driven to reach a water area to be collected, water in the water area is extracted, the inner cavities of a water pumping device, a sampling tube and a water outlet guide tube are cleaned, the water is discharged from a water outlet, and collection is performed after the cleaning is finished, so that collected water entering a water sample collecting bottle is prevented from being polluted by impurities remained in the water pumping device, the sampling tube and the water outlet guide tube and water liquid in the water area. Because the collected water is ensured not to be polluted, the collection amount of each water area can be reduced, and the load of the ship body is reduced.
The working method comprises the following steps:
s1: the navigation positioning module and the electromechanical control module control the driving module to enable the ship body to reach a specified sampling water area;
s2: the electromechanical control module controls the driving part to drive the water outlet pipe fixer, so that the water outlet pipe guiding device enters a second stroke position state;
s3: starting a pumping device to pump a certain amount of water in a sampling water area through an electromechanical control module, and discharging the water out of the ship body from a water outlet to finish the cleaning of the pumping device, the sampling tube and the inner cavity of the water outlet guide tube;
s4: the electromechanical control module controls the driving part to drive the water outlet pipe fixer, so that the water outlet pipe guiding device enters a first travel position state;
s5: starting a pumping device to pump a certain amount of water in a sampling water area through an electromechanical control module, and filling the water into one of water sample collecting bottles corresponding to the water outlet of the water outlet guide pipe to finish the sampling of the water area;
s6: repeating S1, S2, S3 and S4, reaching the next appointed sampling water area, completing the cleaning operation, and enabling the water outlet pipe guide device to enter a first travel position state;
s7: the electromechanical control module is used for controlling the water sample collecting device to enable the empty next water sample collecting bottle to replace the position of the last water sample collecting bottle filled with the water sample;
s8: repeating S5;
s9: repeating S6, S7 and S8 until sampling of all the appointed sampling water areas is completed;
s10: and controlling a driving module through the navigation positioning module and the electromechanical control module to enable the ship body to reach a designated return area.
Step S7 can be performed after repeating step S2, namely, after the water outlet pipe leaves the position aligned with the water sample collecting bottle, the water sample collecting bottle is replaced, so that the water in the upper water area remained in the water outlet pipe is prevented from dripping into the next water sample collecting bottle.
Further, the unmanned ship for water sampling capable of preventing cross contamination is characterized in that the water outlet is arranged on the side wall of the sample storage bin and extends out of the outer wall of the ship body, and the water sample collecting device is arranged at the bottom of the sample storage bin. As the preferable scheme of the invention, the water for cleaning the inner cavities of the water pumping device, the sampling tube and the water outlet guide tube is directly discharged from the side wall of the ship body, and the invention has the advantage of simple structure.
Further, the unmanned ship for preventing cross contamination from water sampling, the driving part comprises a driving cylinder, a first connecting rod and a second connecting rod, the driving cylinder drives a controller to be electrically connected with an electromechanical control module, the driving cylinder is rotationally connected to the bottom of a sample storage bin, a telescopic rod of the driving cylinder is rotationally connected to the first connecting rod, one end of the first connecting rod is rotationally connected to the sample storage bin, the other end of the first connecting rod is rotationally connected with the end of the second connecting rod, one end of the second connecting rod, far away from the first connecting rod, is rotationally provided with a sliding block, a guide rail is fixed on the side wall of the sample storage bin, the sliding block is clamped on the guide rail and is in sliding connection with the guide rail, a front extending rod is extended from one end of the second connecting rod, and a water outlet pipe fixer is fixed on the front extending rod; when the driving cylinder telescopic rod is at a small stroke position, the front extension rod is vertically downward, the corresponding water sample collecting bottle is arranged below the front extension rod, and the water outlet pipe guide device is in a first stroke position state; when the first connecting rod telescopic rod is ejected from the small stroke position to the large stroke position, the front extension rod finishes the action of swinging upwards outwards, and the water outlet pipe fixer arranged on the front extension rod drives the water outlet end of the water outlet pipe to extend into the water outlet and extend out of the outer wall of the ship body, so that the water outlet pipe guiding device is in the second stroke position state.
As a preferable scheme of the invention, based on the device, when the water sampling unmanned ship capable of preventing cross contamination enters the second travel position from the first travel position, the driving cylinder is used for driving the first connecting rod, the second connecting rod and the front extension rod, wherein the sliding block and the guide rail limit the movement of the second connecting rod away from one end of the first connecting rod, and finally, the water outlet pipe fixer fixed on the front extension rod finishes the upward swing and forward extension movement. Therefore, the water outlet end of the water outlet conduit arranged on the water outlet pipe fixer extends out of the water outlet, and the water pumping device is started at the moment to perform water discharging and cleaning operation so as to complete cleaning of the water pumping device, the sampling tube and the inner cavity of the water outlet conduit. When the driving cylinder is reset, the corresponding water outlet pipe fixer is driven to complete the movement of the inward shrinkage lower hem, and finally the water outlet pipe guiding device is stopped at a first travel position state, at this time, the water outlet end of the water outlet pipe downwards faces the water receiving port of the water sample collecting device, and the water pumping device is started to pump quantitative water and pour the quantitative water into the water sample collecting device, so that the sampling and collecting operation is completed. By adopting the structure, the unmanned water sampling ship capable of preventing cross contamination can complete the conversion of the two states of the water outlet pipe guiding device corresponding to the first travel position and the second travel position only by controlling one driving piece, namely the driving cylinder, and has the advantages of simple control system, accurate positioning effect and low cost. The switching between the first travel position and the second travel position may also be accomplished using a drive mechanism, such as: the change of the orientation angle of the water outlet pipe is finished through rotating the driving device, and then a pair of driving cylinders are adopted to respectively finish the linear movement in the vertical direction and the horizontal direction, so that the conversion of the position relation of the water outlet pipe guiding device corresponding to the first travel position and the second travel position is finished, and only the driving parts applied in the mode are too many, the structure and the control mode are too complex, and the hardware cost is high. And the projection of the front extension rod and the second connecting rod in the axial direction of the rotating shaft forms an included angle, wherein the included angle ranges from 120 degrees to 140 degrees, and the included angle is preferably 130 degrees. Preferably, the driving cylinder is an electric cylinder. Preferably, the water outlet pipe fixer is integrally formed at the front end of the front extension rod, and the water outlet pipe fixer and the front extension rod are axially provided with perforations, and the water outlet pipe is arranged in the perforations.
Further, the water sampling unmanned ship capable of preventing cross contamination, the second connecting rod further comprises a vertical extension section, the vertical extension section is arranged between the front extension rod and the second connecting rod, and the extension direction of the vertical extension section is perpendicular to the front extension rod and the second connecting rod. As the preferable scheme of the invention, if the vertical extension section is not arranged, the whole front extension rod is too close to the side wall of the sample storage bin provided with the guide rail, and interference is easy to generate, so that the vertical extension section is arranged to ensure that the position of the water outlet pipe fixer vertical to the second connecting rod is matched with the water sample collecting device and the water outlet, and interference is avoided.
Furthermore, the unmanned ship for water quality sampling capable of preventing cross contamination is arranged in the water outlet guide pipe in the water outlet pipe fixer, a tight pipe pressing piece is arranged between the water outlet pipe fixer and the inner wall of the water outlet pipe fixer, a group of fastening screws are arranged at the positions, corresponding to the tight pipe pressing piece, of the water outlet pipe fixer in a penetrating manner, and the front ends of the fastening screws press the tight pipe pressing piece on the water outlet guide pipe. As the preferable scheme of the invention, the firmness of the fixed water outlet end of the water outlet pipe is ensured by the pipe tightening pressing piece and the fastening screw.
Furthermore, the cross-contamination-preventing water quality sampling unmanned ship is characterized in that a cover plate capable of rotating outwards is arranged on the outer wall of the ship body corresponding to the water outlet; the water outlet is characterized by further comprising a magnetic strip and a sealing strip, wherein the magnetic strip is fixed below the outer wall of the water outlet, and the sealing strip is fixed at the outer edge of the inner side of the cover plate. When the water outlet pipe fixer is retracted, the cover plate is covered on the water outlet, the sealing effect is achieved through the matching of the magnetic strips and the sealing strips, and when the water outlet is submerged, the sealing effect of the cover plate is better due to the effect of water pressure.
Further, prevent cross contamination's unmanned ship of quality of water sampling, water sample collection device including rotating the carousel that sets up in the storehouse bottom of depositing, circumference is equipped with a set of water sample collecting bottle on the carousel, corresponds water sample collecting bottle bottom, the carousel bottom is equipped with a set of slot part, works as outlet pipe guider is in the state of first stroke position, the outlet pipe goes out the bottleneck of water sample collecting bottle of water end pair one of them, water sample collection device still includes driving motor, driving motor and electromechanical control module electric connection, driving motor fixes on the storehouse of depositing the driving motor with carousel transmission is connected. As a preferable scheme of the invention, preferably, the periphery of the turntable is provided with transmission teeth, and correspondingly, the output shaft of the driving motor is provided with a driving gear. The electromechanical control module drives the driving motor to drive the turntable to rotate by a designated angle so as to replace the water sample collecting bottle which is empty and has been sampled.
Further, prevent cross contamination's unmanned ship of quality of water sampling, water sample collection device still includes consolidates the lid, consolidate the lid setting and be in carousel top corresponds the slot part, consolidate and be equipped with a set of through-hole on the lid, the carousel is in a set of slot part periphery is equipped with the flange, consolidate the lid and pass through screw connection and fix on the flange. As a preferable mode of the invention, the hull sails on the water surface, the water sample collecting bottle floating in the groove part on the water surface is easy to topple, the structure of the flange and the reinforcing cover body is equivalent to the depth of the groove part, and compared with the groove part with the same depth formed on a thick plate, the cross-pollution prevention water sampling unmanned ship has lighter structure.
Further, the unmanned ship for water sampling capable of preventing cross contamination, the water sample collecting device further comprises a thrust bearing, a bearing installation counter bore is arranged in the corresponding thrust bearing of the sample storage bin, a seat ring at the lower end of the thrust bearing is clamped in the bearing installation counter bore, and the turntable is arranged on the thrust bearing. As a preferable scheme of the invention, the stability of rotation of the turntable is ensured by the thrust bearing, and the bearing mounting counter bore is used for positioning the thrust bearing. Preferably, the sleeve shaft is arranged on the turntable, the reinforcing cover body and the thrust bearing in a penetrating mode, a nut is arranged at one end, close to the reinforcing cover body, of the sleeve shaft, a positioning protrusion is arranged at one end, far away from the nut, of the sleeve shaft in an extending mode, an avoidance groove is formed in the bottom of the bearing mounting counter bore corresponding to the positioning protrusion, and the turntable is connected with the thrust bearing through the sleeve shaft.
The technical scheme can be seen that the invention has the following beneficial effects:
1. the invention provides a water sampling unmanned ship capable of preventing cross contamination, which is characterized in that a ship body is driven to reach a water area to be collected, water in the water area is extracted, a water pumping device, a sampling tube and an inner cavity of a water outlet guide tube are cleaned, and are discharged from a water outlet, and then are collected after cleaning is finished, so that collected water entering a water sample collecting bottle is prevented from being polluted by impurities remained in the water pumping device, the sampling tube and the water outlet guide tube and water liquid in the water area. Because the collected water is ensured not to be polluted, the collection amount of each water area can be reduced, and the load of the ship body is reduced.
2. The invention provides a water sampling unmanned ship capable of preventing cross contamination, the mechanical structure of a driving part adopted by a water pipe guiding device can finish the conversion of two states of a water outlet pipe guiding device corresponding to a first travel position and a second travel position only by controlling one driving piece, namely a driving cylinder, and the water pipe guiding device has the advantages of simple control system, accurate positioning effect and low cost.
3. The invention provides a cross-contamination-preventing water sampling unmanned ship, wherein the ship body sails on the water surface, and because a water sample collecting bottle floating on the water surface and arranged in a groove part is easy to incline, the structure of a flange and a reinforcing cover body is equivalent to the depth of the groove part, and compared with the structure that a groove part with the same depth is arranged on a thick plate, the cross-contamination-preventing water sampling unmanned ship has lighter structure.
4. The invention provides a water quality sampling method of an unmanned ship, which ensures that after a water outlet conduit leaves a position aligned with a water sample collecting bottle, the water sample collecting bottle is replaced, so that water drops in the upper water area remained in the water outlet conduit are prevented from being dripped into the next water sample collecting bottle.
Drawings
FIG. 1 is a schematic structural view of an unmanned cross-contamination-preventing water sampling vessel according to an embodiment of the present invention;
FIG. 2 is a top plan view of the sample storage compartment of the cross-contamination prevention water sampling unmanned ship according to an embodiment of the present invention;
FIG. 3 is a cross-sectional view taken along the direction D-D in FIG. 2;
FIG. 4 is an exploded view of the water sample collection device components of the cross-contamination prevention unmanned water sampling vessel according to an embodiment of the present invention;
FIG. 5 is a schematic view of the plane structure and the dimensional position parameters of each component of the outlet pipe guiding device of the cross-contamination-preventing water sampling unmanned ship according to the embodiment of the invention;
FIG. 6 is a plan cross-sectional view taken along the direction C-C in FIG. 5;
FIG. 7 is a schematic view of the structure of the cover plate of the cross-contamination-preventing water sampling unmanned ship according to the embodiment of the invention;
FIG. 8 is a schematic diagram of a cross-contamination prevention water sampling unmanned ship outlet pipe guiding device according to an embodiment of the present invention from a first travel position to a second travel position.
In the figure: 1-a hull; 2-a water pumping device; 21-a sampling tube; 22-a water outlet conduit; 3-a sample storage bin; 31-a bearing mounting counterbore; 311-avoiding grooves; 4-a water sample collecting device; 41-a turntable; 411-slot portion; 412-gear teeth; 413-flanges; 42-a water sample collection bottle; 43-driving a motor; 431-drive gear; 44-thrust bearings; 45-reinforcing the cover; 451-a through hole; 46-sleeve shaft; 461-nuts; 462-positioning projections; 5-a water outlet pipe guide device; 501-a first run bit; 502-a second trip bit; 51-outlet pipe holder; 511-tube tightening tabletting; 512-fastening screw; 52-a driving part; 521-driving cylinder; 522-a first link; 523-a second link; 5231-forward boom; 5232-vertical extensions; 524-a slider; 525—a guide rail; 6-a water outlet; 61-cover plate; 62-magnetic stripe; 63-sealing strip.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "clockwise", "counterclockwise", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, unless otherwise specified, the meaning of "a plurality" is two or more, unless otherwise clearly defined.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In the present invention, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.
Examples
The device comprises a ship body 1, wherein a navigation positioning module, a driving module and an electromechanical control module are arranged in the ship body 1, and the navigation positioning module and the driving module are electrically connected with the electromechanical control module; still be equipped with pumping device 2 and deposit appearance storehouse 3 in the hull 1, pumping device 2 outwards extends to hull 1 and is equipped with sampling tube 21, pumping device 2 still includes out water pipe 22, out water pipe 22 extends into deposit appearance storehouse 3, pumping device 2 and electromechanical control module electric connection. The water sample collecting device 4, the water outlet pipe guiding device 5 and the water outlet 6 are arranged in the sample storage bin 3, the water sample collecting device 4 comprises 8 water sample collecting bottles 42, the water outlet pipe guiding device 5 comprises a water outlet pipe fixing device 51 and a driving part 52, the water outlet end of the water outlet pipe 22 is fixed on the water outlet pipe fixing device 51, the water outlet pipe fixing device 51 is connected with the driving part 52, and the driving part 52 is electrically connected with the electromechanical control module; the water outlet pipe guiding device 5 comprises a first travel position state and a second travel position state, and in the first travel position state, the water outlet end of the water outlet pipe 22 is aligned with one of the water sample collecting bottles 42 in the water sample collecting device 4; in the second stroke position, the water outlet end of the water outlet conduit 22 is aligned with the water outlet 6.
The invention relates to a water sampling unmanned ship capable of preventing cross contamination, which is characterized in that a ship body 1 is driven to reach a water area to be collected, water in the water area is extracted, firstly, the inner cavities of a water pumping device 2, a sampling tube 21 and a water outlet guide pipe 22 are cleaned, the water is discharged into a water outlet 6, and after the cleaning is finished, the water is collected, so that the collected water entering a water sample collecting bottle 42 is ensured not to be polluted by residual impurities in the water pumping device 2, the sampling tube 21 and the water outlet guide pipe 22 and water in the water area. Since the collected water is ensured not to be polluted, the collection amount per water area can be reduced, and the load of the hull 1 can be reduced.
The working method comprises the following steps:
s1: the navigation positioning module and the electromechanical control module control the driving module to enable the ship body 1 to reach a specified sampling water area;
s2: the electromechanical control module controls the driving part 52 to drive the water outlet pipe fixer 51, so that the water outlet pipe guiding device 5 enters a second stroke position state;
s3: the electromechanical control module starts the water pumping device 2 to pump a certain amount of water in the sampling water area, and the water is discharged out of the ship body 1 from the water outlet 6, so that the cleaning of the inner cavities of the water pumping device 2, the sampling tube 21 and the water outlet guide tube 22 is completed;
s4: the electromechanical control module controls the driving part 52 to drive the water outlet pipe fixer 51, so that the water outlet pipe guiding device 5 enters a first travel position state;
s5: the electromechanical control module starts the water pumping device 2 to pump a certain amount of water in the sampling water area, and fills the water into one of the water sample collecting bottles 42 corresponding to the water outlet of the water outlet conduit 22 to finish the sampling of the water area;
s6: repeating S1, S2, S3 and S4, reaching the next appointed sampling water area, completing the cleaning operation, and enabling the water outlet pipe guide device 5 to enter a first travel position state;
s7: the electromechanical control module controls the water sample collecting device 4 to enable the empty next water sample collecting bottle 42 to replace the position of the last water sample collecting bottle 42 filled with water sample;
s8: repeating S5;
s9: repeating S6, S7 and S8 until sampling of all the appointed sampling water areas is completed;
s10: and the navigation positioning module and the electromechanical control module control the driving module to enable the ship body 1 to reach a designated return area.
Wherein step S7 may occur after repeating step S2, i.e., after ensuring that the outlet conduit 22 is out of alignment with the water sample collection bottle 42, the water sample collection bottle 42 is replaced to prevent water from the remaining water area in the outlet conduit 22 from dripping into the next water sample collection bottle 42.
In this embodiment, the water outlet 6 is arranged on the side wall of the sample storage bin 3 and extends out of the outer wall of the hull 1, and the water sample collecting device 4 is arranged at the bottom of the sample storage bin 3. The water in the inner cavities of the cleaning water pumping device 2, the sampling tube 21 and the water outlet conduit 22 is directly discharged from the side wall of the ship body 1, and the device has the advantage of simple structure.
In this embodiment, as shown in fig. 5, the driving portion 52 includes a driving cylinder 521, a first link 522 and a second link 523, where the driving cylinder 521 drives a controller to be electrically connected with an electromechanical control module, the driving cylinder 521 is rotatably connected to the bottom of the sample storage bin 3, a telescopic rod of the driving cylinder 521 is rotatably connected to the first link 522, one end of the first link 522 is rotatably connected to the sample storage bin 3, the other end of the first link 522 is rotatably connected to an end of the second link 523, one end of the second link 523 far from the first link 522 is rotatably provided with a slider 524, a guide rail 525 is fixed on a sidewall of the sample storage bin 3, the slider 524 is clamped on the guide rail 525 and is slidably connected with the guide rail 525, one end of the second link 523 near the first link 522 is extended with a front extension rod 5231, and the water outlet pipe fixer 51 is fixed on the front extension rod 5231; when the telescopic rod of the driving cylinder 521 is at the small stroke position, the front extension rod 5231 is vertically downward, and the corresponding water sample collecting bottle 42 is arranged below the front extension rod 5231, and the water outlet pipe guide device 5 is in the first stroke position state; when the first link 522 is pushed out from the small stroke position to the large stroke position, the front extension rod 5231 completes the swinging and extending action, and the water outlet pipe fixer 51 provided on the front extension rod 5231 drives the water outlet end of the water outlet pipe 22 to extend into the water outlet 6 and extend out of the outer wall of the hull 1, and at this time, the water outlet pipe guiding device 5 is in the second stroke position.
Based on the above device, when the water outlet pipe guiding device 5 enters the second travel position from the first travel position, the water outlet pipe guiding device drives the first connecting rod 522, the second connecting rod 523 and the front extending rod 5231 by using the driving cylinder 521, wherein the sliding block 524 and the guide rail 525 limit the movement of the second connecting rod 523 away from one end of the first connecting rod 522, and finally the water outlet pipe fixer 51 fixed on the front extending rod 5231 finishes the swinging and extending movement. So that the water outlet end of the water outlet conduit 22 arranged on the water outlet pipe fixer 51 extends out of the water outlet 6, and at the moment, the water pumping device 2 is started to perform water discharging and cleaning operation so as to complete the cleaning of the water pumping device 2, the sampling tube 21 and the inner cavities of the water outlet conduit 22. When the driving cylinder 521 is reset, the water outlet pipe fixer 51 is correspondingly driven to complete the movement of the retraction lower hem, and finally the water outlet pipe guiding device 5 is stopped at the first travel position, at this time, the water outlet end of the water outlet pipe 22 is downward opposite to the water receiving port of the water sample collecting device 4, and the water pumping device 2 is started to pump quantitative water and pour the quantitative water into the water sample collecting device 4, so that the sampling and collecting operation is completed. By adopting the structure, the unmanned water sampling ship capable of preventing cross contamination can complete the conversion of two states of the water outlet pipe guide device 5 corresponding to the first travel position and the second travel position only by controlling one driving piece, namely the driving cylinder 521, and has the advantages of simple control system, accurate positioning effect and low cost. The switching between the first travel position and the second travel position may also be accomplished using a drive mechanism, such as: the change of the water outlet direction angle of the water outlet pipe 22 is completed through rotating the driving device, and then a pair of driving cylinders are adopted to respectively complete the linear movement in the vertical direction and the horizontal direction, so that the conversion of the position relationship of the water outlet pipe guiding device 5 corresponding to the first travel position and the second travel position is completed. In addition, the projection of the forward extending rod 5231 and the second connecting rod 523 in the axial direction of the rotating shaft forms an included angle, the included angle ranges from 120 ° to 140 °, in this embodiment, the included angle is 130 °, the size and position parameters of other related components are as shown in fig. 5, the size and position parameters of fig. 5 are scaled down, and the parameters are scaled up according to practical situations when in practical implementation. In this embodiment, the driving cylinder 521 is an electric cylinder. In this embodiment, the outlet pipe holder 51 is integrally formed at the front end of the front extension rod 5231, and the outlet pipe holder 51 and the front extension rod 5231 are axially provided with perforations, and the outlet pipe 22 is disposed in the perforations.
In this embodiment, the second link 523 further includes a vertical extension 5232, the vertical extension 5232 is disposed between the front extension 5231 and the second link 523, and the vertical extension 5232 extends in a direction perpendicular to the front extension 5231 and the second link 523. If the vertical extension 5232 is not provided, the whole front extension 5231 is too close to the side wall of the sample storage bin 3 provided with the guide rail 525, and interference is easy to occur, so that the vertical extension 5232 is provided to ensure that the position of the water outlet pipe fixer 51 perpendicular to the second connecting rod 523 is suitable for the water sample collecting device 4 and the water outlet 6, and interference is avoided.
In this embodiment, a fastening screw 512 is disposed between the water outlet pipe 22 disposed inside the water outlet pipe holder 51 and the inner wall of the water outlet pipe holder 51, where the water outlet pipe holder 51 corresponds to the fastening screw 511, and the front end of the fastening screw 512 presses the fastening screw 511 on the water outlet pipe 22. The fastening screw 512 and the fastening pipe pressing piece 511 ensure the firmness of the water outlet end of the water outlet pipe 22.
In addition, a cover plate 61 capable of rotating outwards is arranged on the outer wall of the ship body 1 corresponding to the water outlet 6; the water drain outlet 6 further comprises a magnetic strip 62 and a sealing strip 63, wherein the magnetic strip 62 is fixed below the outer wall of the water drain outlet 6, and the sealing strip 63 is fixed at the outer edge of the inner side of the cover plate 61. Therefore, when the outlet pipe holder 51 is extended from the outlet 6, the cover plate 61 is pushed to be rotated outwards, when the outlet pipe holder 51 is retracted, the cover plate 61 is covered on the outlet 6, the sealing effect is achieved through the matching of the magnetic strips 62 and the sealing strips 63, and when the outlet 6 is submerged, the sealing effect of the cover plate 61 is better due to the effect of water pressure.
In this embodiment, the water sample collection device 4 includes the carousel 41 that rotates the setting in the bottom of the storehouse 3, circumference is equipped with a set of water sample collecting bottle 42 on the carousel 41, corresponds water sample collecting bottle 42 bottom, carousel 41 bottom is equipped with a set of slot part 411, works as outlet pipe guider 5 is in the first stroke position state, the water outlet end of outlet pipe 22 is just facing the bottleneck of one of them water sample collecting bottle 42, water sample collection device 4 still includes driving motor 43, driving motor 43 and electromechanical control module electric connection, driving motor 43 fixes on the storehouse 3 driving motor 43 with carousel 41 transmission is connected. In this embodiment, a transmission gear 412 is disposed on the outer periphery of the turntable 41, and a driving gear 431 is disposed on the output shaft of the driving motor 43. The electromechanical control module drives the driving motor 43 to drive the turntable 41 to rotate by a designated angle so as to replace the water sample collecting bottle 42 which is sampled last by the next empty water sample collecting bottle 42.
In addition, the water sample collecting device 4 further comprises a reinforcing cover 45, the reinforcing cover 45 is arranged above the rotary disc 41, a group of through holes 451 are formed in the reinforcing cover 45 corresponding to the slots 411, the rotary disc 41 is provided with a flange 413 at the periphery of a group of slots 411, and the reinforcing cover 45 is fixed on the flange 413 through screw connection. When the hull 1 sails on the water surface, the water sample collecting bottle 42 floating in the groove 411 is easy to topple, the structure of the flange 413 and the reinforced cover 45 is equivalent to the depth of the groove 411, and compared with the groove 411 with the same depth formed on a thick plate, the cross-contamination-preventing water sample unmanned ship has lighter structure.
In addition, the water sample collecting device 4 further comprises a thrust bearing 44, the sample storage bin 3 is provided with a bearing mounting counter bore 31 corresponding to the thrust bearing 44, a seat ring at the lower end of the thrust bearing 44 is clamped in the bearing mounting counter bore 31, and the rotary disc 41 is arranged on the thrust bearing 44. The stability of the rotation of the turntable 41 is ensured by the thrust bearing 44, and the bearing mounting counter bore 31 is used for positioning the thrust bearing 44. In this embodiment, the connecting device further includes a sleeve shaft 46, the sleeve shaft 46 is disposed on the turntable 41, the reinforcing cover 45 and the thrust bearing 44 in a penetrating manner, a nut 461 is disposed at one end of the sleeve shaft 46 near the reinforcing cover 45, a positioning protrusion 462 is disposed at one end of the sleeve shaft 46 far away from the nut 461 in an extending manner, a avoiding groove 311 is disposed at the bottom of the bearing mounting counter bore 31 corresponding to the positioning protrusion 462, and connection between the turntable 41 and the thrust bearing 44 is completed through the sleeve shaft 46. The sleeve shaft 46 is in interference fit with the upper end seat ring of the thrust bearing 44, the turntable 41 and the reinforcing cover body 45, and the sleeve shaft 46 is in clearance fit with the lower end seat ring of the thrust bearing 44. The technical principles of the present invention have been described above in connection with specific embodiments, which are provided for the purpose of explaining the principles of the present invention and are not to be construed as limiting the scope of the present invention in any way. Other embodiments of the invention will be apparent to those skilled in the art from consideration of this specification without undue burden.
Claims (9)
1. The water quality sampling unmanned ship capable of preventing cross contamination comprises a ship body (1), wherein a navigation positioning module, a driving module and an electromechanical control module are arranged in the ship body (1), and the navigation positioning module and the driving module are electrically connected with the electromechanical control module; the novel water pump is characterized in that a water pumping device (2) and a sample storage bin (3) are further arranged in the ship body (1), the water pumping device (2) is provided with a sampling tube (21) outwards of the ship body (1), the water pumping device (2) further comprises a water outlet conduit (22), the water outlet conduit (22) extends into the sample storage bin (3), and the water pumping device (2) is electrically connected with an electromechanical control module; the method is characterized in that: the water sample collection device (4), the water outlet pipe guiding device (5) and the water outlet (6) are arranged in the sample storage bin (3), the water sample collection device (4) comprises at least 2 water sample collection bottles (42), the water outlet pipe guiding device (5) comprises a water outlet pipe fixer (51) and a driving part (52), the water outlet end of the water outlet pipe (22) is fixed on the water outlet pipe fixer (51), the water outlet pipe fixer (51) is connected with the driving part (52), and the driving part (52) is electrically connected with the electromechanical control module; the water outlet pipe guide device (5) comprises a first travel position state and a second travel position state, and in the first travel position state, the water outlet end of the water outlet pipe (22) is aligned with one of the water sample collecting bottles (42) in the water sample collecting device (4); in the second stroke position state, the water outlet end of the water outlet conduit (22) is aligned with the water outlet (6);
the driving part (52) comprises a driving cylinder (521), a first connecting rod (522) and a second connecting rod (523), wherein a driving controller of the driving cylinder (521) is electrically connected with an electromechanical control module, the driving cylinder (521) is rotationally connected to the bottom of the sample storage bin (3), a telescopic rod of the driving cylinder (521) is rotationally connected to the first connecting rod (522), one end of the first connecting rod (522) is rotationally connected to the sample storage bin (3), the other end of the first connecting rod is rotationally connected with the end of the second connecting rod (523), one end of the second connecting rod (523) far away from the first connecting rod (522) is rotationally provided with a sliding block (524), a guide rail (525) is fixed on the side wall of the sample storage bin (3), the sliding block (524) is clamped on the guide rail (525) and is in sliding connection with the guide rail (525), a front extension rod (5231) is arranged at one end of the second connecting rod (523) near the first connecting rod (522), and the water outlet pipe fixer (51) is fixed on the front extension rod (5231). When the telescopic rod of the driving cylinder (521) is at a small stroke position, the front extension rod (5231) is vertically downward, the corresponding water sample collecting bottle (42) is arranged below the front extension rod (5231), and the water outlet pipe guide device (5) is in a first stroke position state; when the telescopic rod of the first connecting rod (522) is ejected from the small stroke position to the large stroke position, the forward extending rod (5231) finishes the action of swinging upwards and outwards, and the water outlet pipe fixer (51) arranged on the forward extending rod (5231) drives the water outlet end of the water outlet pipe (22) to extend into the water outlet (6) and extend out of the outer wall of the ship body (1), so that the water outlet pipe guide device (5) is in the second stroke position state.
2. The cross-contamination resistant water sampling unmanned ship of claim 1, wherein: the water outlet (6) is arranged on the side wall of the sample storage bin (3) and extends out of the outer wall of the ship body (1), and the water sample collecting device (4) is arranged at the bottom of the sample storage bin (3).
3. The cross-contamination resistant water sampling unmanned ship of claim 1, wherein: the second connecting rod (523) further comprises a vertical extension section (5232), the vertical extension section (5232) is arranged between the front extension rod (5231) and the second connecting rod (523), and the extension direction of the vertical extension section (5232) is perpendicular to the front extension rod (5231) and the second connecting rod (523).
4. A cross-contamination prevention water sampling unmanned ship according to claim 3, wherein: the water outlet pipe fixing device is characterized in that a water outlet pipe (22) arranged inside the water outlet pipe fixing device (51) and a tightening pipe pressing piece (511) are arranged between the water outlet pipe fixing device and the inner wall of the water outlet pipe fixing device (51), a group of fastening screws (512) penetrate through the water outlet pipe fixing device (51) corresponding to the tightening pipe pressing piece (511), and the front ends of the fastening screws (512) press the tightening pipe pressing piece (511) on the water outlet pipe (22).
5. The cross-contamination resistant water sampling unmanned ship of claim 4, wherein: a cover plate (61) capable of rotating outwards is arranged on the outer wall of the ship body (1) corresponding to the water outlet (6); the water drain outlet is characterized by further comprising a magnetic strip (62) and a sealing strip (63), wherein the magnetic strip (62) is fixed below the outer wall of the water drain outlet (6), and the sealing strip (63) is fixed at the outer edge of the inner side of the cover plate (61).
6. The cross-contamination resistant water sampling unmanned ship of claim 5, wherein: the water sample collection device (4) is including rotating carousel (41) that sets up in storage appearance storehouse (3) bottom, circumference is equipped with a set of water sample collecting bottle (42) on carousel (41), corresponds water sample collecting bottle (42) bottom, carousel (41) bottom is equipped with a set of slot part (411), works as outlet pipe guider (5) are in when first stroke position state, the bottleneck of one of them water sample collecting bottle (42) is just being right to outlet pipe (22), water sample collection device (4) still include driving motor (43), driving motor (43) and electromechanical control module electric connection, driving motor (43) are fixed on storage appearance storehouse (3) driving motor (43) with carousel (41) transmission is connected.
7. The cross-contamination resistant water sampling unmanned ship of claim 6, wherein: the water sample collection device (4) further comprises a reinforcing cover body (45), the reinforcing cover body (45) is arranged above the rotary disc (41) and corresponds to the groove part (411), a group of through holes (451) are formed in the reinforcing cover body (45), a flange (413) is arranged on the periphery of the rotary disc (41) in a group of groove parts (411), and the reinforcing cover body (45) is fixed to the flange (413) through screw connection.
8. The cross-contamination resistant water sampling unmanned ship of claim 7, wherein: the water sample collecting device (4) further comprises a thrust bearing (44), the sample storage bin (3) is provided with a bearing installation counter bore (31) corresponding to the thrust bearing (44), a seat ring at the lower end of the thrust bearing (44) is clamped in the bearing installation counter bore (31), and the rotary disc (41) is arranged on the thrust bearing (44).
9. The unmanned ship water quality sampling method of the unmanned ship for cross-contamination prevention water quality sampling according to any one of claims 1 to 8, wherein: the method comprises the following steps:
s1: the navigation positioning module and the electromechanical control module control the driving module to enable the ship body (1) to reach a specified sampling water area;
s2: the driving part (52) is controlled by the electromechanical control module to drive the water outlet pipe fixer (51) so that the water outlet pipe guiding device (5) enters a second stroke position state;
s3: the electromechanical control module starts the water pumping device (2) to pump a certain amount of water in the sampling water area, and the water is discharged out of the ship body (1) from the water outlet (6), so that the inner cavities of the water pumping device (2), the sampling tube (21) and the water outlet guide tube (22) are cleaned;
s4: the driving part (52) is controlled by the electromechanical control module to drive the water outlet pipe fixer (51) so that the water outlet pipe guiding device (5) enters a first travel position state;
s5: starting a pumping device (2) to pump a certain amount of water in a sampling water area through an electromechanical control module, and filling the water into one water sample collecting bottle (42) corresponding to the water outlet of a water outlet conduit (22) to finish the sampling of the water area;
s6: repeating S1, S2, S3 and S4, reaching the next appointed sampling water area, completing the cleaning operation, and enabling the water outlet pipe guide device (5) to enter a first travel position state;
s7: the electromechanical control module controls the water sample collecting device (4) to enable the empty next water sample collecting bottle (42) to replace the position of the last water sample collecting bottle (42) filled with the water sample;
s8: repeating S5;
s9: repeating S6, S7 and S8 until sampling of all the appointed sampling water areas is completed;
s10: and controlling a driving module through the navigation positioning module and the electromechanical control module to enable the ship body (1) to reach a designated return area.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210337052.2A CN114739742B (en) | 2022-03-31 | 2022-03-31 | Cross-pollution-preventing unmanned water quality sampling ship and unmanned water quality sampling method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210337052.2A CN114739742B (en) | 2022-03-31 | 2022-03-31 | Cross-pollution-preventing unmanned water quality sampling ship and unmanned water quality sampling method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114739742A CN114739742A (en) | 2022-07-12 |
| CN114739742B true CN114739742B (en) | 2023-10-10 |
Family
ID=82278665
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210337052.2A Active CN114739742B (en) | 2022-03-31 | 2022-03-31 | Cross-pollution-preventing unmanned water quality sampling ship and unmanned water quality sampling method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114739742B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115791299B (en) * | 2022-12-16 | 2023-09-05 | 上海博取仪器有限公司 | Water sample collection system of unmanned ship for water quality monitoring |
| CN118150254A (en) * | 2024-05-10 | 2024-06-07 | 湖北省疾病预防控制中心（湖北省预防医学科学院） | Amphibious water sample collection device and collection method thereof |
Citations (29)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1294011A (en) * | 1970-04-08 | 1972-10-25 | Ronald James Fleming | Improvements in cleaning ships hulls |
| JP2002365176A (en) * | 2001-06-06 | 2002-12-18 | Advantech Toyo Kk | Underwater sampling device |
| JP2005345315A (en) * | 2004-06-04 | 2005-12-15 | Shimadzu Corp | Automatic water quality measuring instrument |
| JP2008058045A (en) * | 2006-08-30 | 2008-03-13 | Karuto Kk | Sample collection device for soil pollution investigation, and soil pollution investigation device using it |
| RU122729U1 (en) * | 2012-08-06 | 2012-12-10 | Федеральное государственное бюджетное образовательное учреждение высшего профессионального образования "Казанский государственный энергетический университет" (ФГБОУ ВПО "КГЭУ") | SWIVEL-LEVER MECHANISM WITH CRANKSHAFT, THREE Crankset, BALANCER AND TWO HORIZONTAL SLIDERS |
| KR20140058877A (en) * | 2012-11-07 | 2014-05-15 | 한국해양과학기술원 | Water transportation type multiful apparatus for collecting sediment and sampling water using unmanned surface vehicle |
| CN107476949A (en) * | 2017-09-07 | 2017-12-15 | 方宣崇 | A kind of sustainable water plug of water supply and drainage |
| CN107585266A (en) * | 2017-09-29 | 2018-01-16 | 北京东方园林环境股份有限公司 | A kind of unmanned boat equipment sampled automatically for water quality and the method for sampling |
| CN107702946A (en) * | 2017-10-19 | 2018-02-16 | 海南海大信息产业园有限公司 | A kind of environmentally safe intelligence water quality sampling system peculiar to vessel |
| CN108267342A (en) * | 2018-04-20 | 2018-07-10 | 南京信息工程大学 | A kind of unmanned boat sampling system and sampling method |
| CN108275250A (en) * | 2018-03-14 | 2018-07-13 | 武汉大学 | A kind of automatically cleaning unmanned boat and its self cleaning method |
| CN108318296A (en) * | 2018-05-03 | 2018-07-24 | 南京信息工程大学 | A kind of unmanned boat water quality sampling device |
| CN108360596A (en) * | 2018-02-02 | 2018-08-03 | 姚美蓉 | A kind of hydraulic engineering channel cleanout device |
| CN208109444U (en) * | 2018-04-28 | 2018-11-16 | 青岛市宇驰检测技术有限公司 | A kind of contaminated soil sampling apparatus |
| CN108974267A (en) * | 2018-08-01 | 2018-12-11 | 芜湖绿琼农业科技有限公司 | A kind of environmental improvement detection water quality sampling ship |
| CN208737790U (en) * | 2018-07-18 | 2019-04-12 | 唐山职业技术学院 | A kind of publicity equipment |
| CN110091964A (en) * | 2019-05-22 | 2019-08-06 | 江苏海事职业技术学院 | One kind being used for unmanned boat detecting devices |
| CN110104132A (en) * | 2019-05-22 | 2019-08-09 | 合肥学院 | A kind of unmanned boat for water quality detection |
| CN110759597A (en) * | 2019-11-11 | 2020-02-07 | 青岛青知企业管理咨询有限公司 | Movable domestic sewage treatment device |
| CN111024451A (en) * | 2019-12-30 | 2020-04-17 | 湖南千智机器人科技发展有限公司 | Self-cleaning water taking and sampling device |
| CN111307528A (en) * | 2020-03-11 | 2020-06-19 | 上海交通大学 | Ballast water sample collection device and depth regulation and control sampling method |
| CN111693659A (en) * | 2020-06-24 | 2020-09-22 | 华开瑞 | Food detection structure and detection method thereof |
| WO2021073371A1 (en) * | 2019-10-18 | 2021-04-22 | 青岛海尔洗衣机有限公司 | Ultrasonic apparatus and garment treatment device |
| CN213239561U (en) * | 2020-09-30 | 2021-05-18 | 河南科正检测技术有限公司 | Water environment detects uses collection system |
| CN213544117U (en) * | 2020-10-30 | 2021-06-25 | 浙江科新藻业科技有限公司 | Unmanned aerial vehicle sampling device |
| CN113532942A (en) * | 2021-07-08 | 2021-10-22 | 安徽欣思创科技有限公司 | Sampling device for unmanned ship and sampling method thereof |
| CN214844238U (en) * | 2021-06-16 | 2021-11-23 | 刘仲 | Water sampling vessel for water quality detection |
| CN113984453A (en) * | 2021-10-22 | 2022-01-28 | 淮阴师范学院 | Water environment monitoring's sampling device |
| CN215699370U (en) * | 2021-09-17 | 2022-02-01 | 山东智迈德智能科技有限公司 | Overturning driving mechanism and section steel overturning device |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6837362B2 (en) * | 2017-03-17 | 2021-03-03 | 株式会社日立ハイテク | Automatic analyzer |
-
2022
- 2022-03-31 CN CN202210337052.2A patent/CN114739742B/en active Active
Patent Citations (29)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1294011A (en) * | 1970-04-08 | 1972-10-25 | Ronald James Fleming | Improvements in cleaning ships hulls |
| JP2002365176A (en) * | 2001-06-06 | 2002-12-18 | Advantech Toyo Kk | Underwater sampling device |
| JP2005345315A (en) * | 2004-06-04 | 2005-12-15 | Shimadzu Corp | Automatic water quality measuring instrument |
| JP2008058045A (en) * | 2006-08-30 | 2008-03-13 | Karuto Kk | Sample collection device for soil pollution investigation, and soil pollution investigation device using it |
| RU122729U1 (en) * | 2012-08-06 | 2012-12-10 | Федеральное государственное бюджетное образовательное учреждение высшего профессионального образования "Казанский государственный энергетический университет" (ФГБОУ ВПО "КГЭУ") | SWIVEL-LEVER MECHANISM WITH CRANKSHAFT, THREE Crankset, BALANCER AND TWO HORIZONTAL SLIDERS |
| KR20140058877A (en) * | 2012-11-07 | 2014-05-15 | 한국해양과학기술원 | Water transportation type multiful apparatus for collecting sediment and sampling water using unmanned surface vehicle |
| CN107476949A (en) * | 2017-09-07 | 2017-12-15 | 方宣崇 | A kind of sustainable water plug of water supply and drainage |
| CN107585266A (en) * | 2017-09-29 | 2018-01-16 | 北京东方园林环境股份有限公司 | A kind of unmanned boat equipment sampled automatically for water quality and the method for sampling |
| CN107702946A (en) * | 2017-10-19 | 2018-02-16 | 海南海大信息产业园有限公司 | A kind of environmentally safe intelligence water quality sampling system peculiar to vessel |
| CN108360596A (en) * | 2018-02-02 | 2018-08-03 | 姚美蓉 | A kind of hydraulic engineering channel cleanout device |
| CN108275250A (en) * | 2018-03-14 | 2018-07-13 | 武汉大学 | A kind of automatically cleaning unmanned boat and its self cleaning method |
| CN108267342A (en) * | 2018-04-20 | 2018-07-10 | 南京信息工程大学 | A kind of unmanned boat sampling system and sampling method |
| CN208109444U (en) * | 2018-04-28 | 2018-11-16 | 青岛市宇驰检测技术有限公司 | A kind of contaminated soil sampling apparatus |
| CN108318296A (en) * | 2018-05-03 | 2018-07-24 | 南京信息工程大学 | A kind of unmanned boat water quality sampling device |
| CN208737790U (en) * | 2018-07-18 | 2019-04-12 | 唐山职业技术学院 | A kind of publicity equipment |
| CN108974267A (en) * | 2018-08-01 | 2018-12-11 | 芜湖绿琼农业科技有限公司 | A kind of environmental improvement detection water quality sampling ship |
| CN110104132A (en) * | 2019-05-22 | 2019-08-09 | 合肥学院 | A kind of unmanned boat for water quality detection |
| CN110091964A (en) * | 2019-05-22 | 2019-08-06 | 江苏海事职业技术学院 | One kind being used for unmanned boat detecting devices |
| WO2021073371A1 (en) * | 2019-10-18 | 2021-04-22 | 青岛海尔洗衣机有限公司 | Ultrasonic apparatus and garment treatment device |
| CN110759597A (en) * | 2019-11-11 | 2020-02-07 | 青岛青知企业管理咨询有限公司 | Movable domestic sewage treatment device |
| CN111024451A (en) * | 2019-12-30 | 2020-04-17 | 湖南千智机器人科技发展有限公司 | Self-cleaning water taking and sampling device |
| CN111307528A (en) * | 2020-03-11 | 2020-06-19 | 上海交通大学 | Ballast water sample collection device and depth regulation and control sampling method |
| CN111693659A (en) * | 2020-06-24 | 2020-09-22 | 华开瑞 | Food detection structure and detection method thereof |
| CN213239561U (en) * | 2020-09-30 | 2021-05-18 | 河南科正检测技术有限公司 | Water environment detects uses collection system |
| CN213544117U (en) * | 2020-10-30 | 2021-06-25 | 浙江科新藻业科技有限公司 | Unmanned aerial vehicle sampling device |
| CN214844238U (en) * | 2021-06-16 | 2021-11-23 | 刘仲 | Water sampling vessel for water quality detection |
| CN113532942A (en) * | 2021-07-08 | 2021-10-22 | 安徽欣思创科技有限公司 | Sampling device for unmanned ship and sampling method thereof |
| CN215699370U (en) * | 2021-09-17 | 2022-02-01 | 山东智迈德智能科技有限公司 | Overturning driving mechanism and section steel overturning device |
| CN113984453A (en) * | 2021-10-22 | 2022-01-28 | 淮阴师范学院 | Water environment monitoring's sampling device |
Non-Patent Citations (2)
| Title |
|---|
| Sampling, Sorting, and Characterizing Microplastics in Aquatic Environments with High Suspended Sediment Loads and Large Floating Debris;Martin, K.M. 等;《Journal of visualized experiments》;第e57969页 * |
| 智能型多参数水质监测采样无人船系统设计;宋云鹏 等;《科技与创新》;第51-55页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114739742A (en) | 2022-07-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN114739742B (en) | Cross-pollution-preventing unmanned water quality sampling ship and unmanned water quality sampling method | |
| CN111650001B (en) | Water quality layered sampling system and control method | |
| CN112394186B (en) | Sampling detection device for water quality detection | |
| CN212872428U (en) | COD water quality testing device | |
| CN209327049U (en) | A kind of more depth water body sampling devices | |
| CN110967462A (en) | Distributed automatic water quality monitoring device, monitoring ship and monitoring method | |
| CN113532942A (en) | Sampling device for unmanned ship and sampling method thereof | |
| CN114659838A (en) | Hydrological monitoring water quality sampling ship and using method thereof | |
| CN108181134B (en) | Rainfall runoff sampler | |
| CN116575441A (en) | Automatic control system and control method for mud weight | |
| CN214503034U (en) | Waste water monitoring sampling device | |
| CN109628288B (en) | Aquatic microorganism sampling device | |
| CN219200993U (en) | Water environment detection sampling device of multiple spot sampling | |
| CN112229678A (en) | Sampling device for environmental protection equipment sewage with quantitative extraction function | |
| CN112393954B (en) | Shipborne water quality sampler | |
| CN220454963U (en) | Water quality sampling device for engineering construction discharged wastewater | |
| CN211426465U (en) | Distributed automatic water quality monitoring device for rainwater pump station | |
| CN219870461U (en) | Sampling device for detecting acidic industrial wastewater | |
| CN218956157U (en) | Sediment sampling device | |
| CN112394188B (en) | Continuous online water body detection method based on unmanned ship | |
| CN220819524U (en) | Sampler for detecting sand content of river | |
| CN218180404U (en) | Marine ballast water zooplankton detects sampling equipment | |
| CN221028316U (en) | Beer wort fermentation tank with double tank bodies | |
| CN216955988U (en) | Water ecological detection device | |
| CN217717080U (en) | Wall-attached sampler for inner cavity of chemical tank |
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 |