CN115266228A - An unmanned sampling device for marine oil slick pollutants and its online cleaning method - Google Patents

Abstract

The invention relates to the field of unmanned aerial vehicles, and discloses an unmanned sampling device for marine oil slick pollutants. The unmanned sampling device includes: an unmanned aerial vehicle, a sampling structure, a cleaning structure and a mounting bracket. The unmanned aerial vehicle is provided with a control unit, and the control unit is used to control the start and stop of the unmanned aerial vehicle. The sampling structure is electrically connected with the control unit, and is used for collecting the oily sewage at the target water intake point. The cleaning structure is electrically connected with the control unit for cleaning the sampling structure. One end of the mounting bracket is connected with the side close to the ground when the unmanned aerial vehicle is in flight, and the other end is connected with the sampling structure and the cleaning structure respectively. The invention realizes that, in view of the scene of an offshore oil spill accident, combining with remote sensing monitoring technology, the marine oily sewage is sampled and the structure is cleaned on-line, so that the sampling structure can be cleaned in a timely and efficient manner during multi-point sampling and prepared for the next location. Point-of-sampling preparation improves the quality and purity of the sample.

Description

An unmanned sampling device for marine oil slick pollutants and its online cleaning method

technical field

The invention relates to the field of unmanned aerial vehicles, and more specifically, to an unmanned sampling device for marine oil slick pollutants and an online cleaning method thereof.

Background technique

In recent years, with the rapid development of the economy, the maritime transportation industry has gradually developed, and the accidents of oil spills from ships have also occurred frequently. The pollution of petroleum to water body has become an environmental problem that people pay more and more attention to. my country's environmental monitoring technical specifications stipulate that petroleum is one of the must-test items for surface water and wastewater discharged by related industries. However, most of the oil spill accidents occur in the open sea. Using ships and other tools will consume a lot of manpower, financial resources and time. Therefore, it is necessary to use remote sensing monitoring methods to monitor oil pollution. In the 1960s, remote sensing technology has been applied to surface oil pollution. pollution monitoring.

The prior art "Marine Oil Pollution Monitoring System and Method Based on UAV and BP Neural Network" discloses a marine oil pollution monitoring system based on UAV and BP neural network, including sea surface image information acquisition module, image decomposition and data processing Module, image oil pollution analysis module and alarm module; the sea surface image information acquisition module uses drone low-altitude cruise to take pictures to obtain sea surface image information; image decomposition and data processing module uses RGB to separate the red (R), green (G), blue (B) Three-channel data; the image oil pollution analysis module uses the prediction result of BP neural network as the basis for judging whether there is oil pollution on the sea surface; the alarm module uses VHF communication technology to realize real-time automatic alarm of oil pollution on the sea surface. In this scheme, only the identification, monitoring and cleaning of marine oil pollution are carried out, and no specific sampling module is designed to sample and detect oily sewage.

The prior art "A Rapid Response UAV for Ocean Oil Spill Cleaning" discloses a rapid response drone for marine oil slick cleanup, which includes an aircraft body, a conveying mechanism inside the aircraft body, and a nozzle at the bottom. The folding and rotating mechanism communicates with the conveying mechanism. The conveying mechanism is used to transport the cleaning liquid to the nozzle and spray it. The folding and rotating mechanism is used to store the nozzle and adjust the spraying angle of the nozzle. Multiple cameras are arranged around the aircraft body. The camera is used to collect the image information of the ocean area where the aircraft is located; it also includes a processor, the processor is connected to the drive module, the autonomous navigation module, the oil slick analysis module, and multiple cameras, the drive module is used to drive the aircraft to sail, and the autonomous navigation module is used for Plan the route of the aircraft. The oil slick recognition module is used to analyze the image information of multiple cameras and identify the oil slick parameters contained in it. The processor controls the delivery mechanism to deliver the cleaning liquid to the nozzle according to the oil slick parameters, and at the same time controls the adjustment of the folding and rotating mechanism. The spraying angle of the nozzle is used for spraying and cleaning. This plan only has a cleaning structure for offshore oil slicks, and does not design related functions such as sampling.

It can be seen that among the current monitoring methods for offshore oil, there are only monitoring or cleaning methods for oily sewage, but no further research has been carried out on sampling methods for offshore oil pollution, let alone the related cleaning problems caused by oil pollution. At the same time, according to the "Water and Wastewater Monitoring and Analysis Methods" (Fourth Edition), it is strictly forbidden to use lipid detergents, soapy water, detergents, etc. when washing petroleum sampling bottles, because these detergents contain organic substances such as unsaturated fatty acids. , these substances will affect the monitoring results and make the data higher. At the same time, when using remote sensing technology to sample offshore oil, it is far away from the land, and manual cleaning is more difficult. The sampling structure for petroleum wastewater cannot be cleaned directly with detergent. However, due to the incompatibility of oil and water, the ability of pure water to clean oil is limited. Therefore, it is urgent to invent an online cleaning structure for oil sampling structures.

Contents of the invention

The present invention provides an unmanned sampling device for marine oil slick pollutants and an online cleaning method thereof in order to overcome the defects of the lack of oily sewage sampling device or the sampling device not being effectively cleaned in the prior art.

In order to solve the problems of the technologies described above, the technical solution of the present invention is as follows:

An unmanned sampling device for marine oil slick pollutants, comprising: an unmanned aerial vehicle, a sampling structure, a cleaning structure and an installation bracket.

Further, the unmanned aerial vehicle is provided with a control unit, and the control unit is used to control the start and stop of the unmanned aerial vehicle.

Further, the unmanned aerial vehicle is any one of unmanned helicopter, unmanned rotorcraft, unmanned airship and unmanned parawing aircraft.

Further, the sampling structure is electrically connected to the control unit, and is used for collecting oily sewage at the target water intake point. The sampling structure is coordinated with the UAV to realize remote sensing control and realize remote offshore oil sampling.

Further, the cleaning structure is electrically connected to the control unit for cleaning the sampling structure. The cleaning structure is used to clean the structure during the sampling time gap between the previous sampling point and the next sampling point, so as to improve the quality and purity of the sample while achieving multiple sampling.

Further, one end of the mounting bracket is connected to the side close to the ground when the UAV is in flight, and the other end is respectively connected to the sampling structure and the cleaning structure. The mounting bracket is used to fix the oily sewage sampling system on the drone.

Further, the sampling structure includes: a sampling container, a sampling tube, a sampling pump and a solenoid valve. The sampling container is fixed on the mounting bracket to store the samples to be tested; one end of the sampling tube is connected to the sampling container, and the other end is used to connect to the oily sewage; the sampling pump is set at the end of the sampling tube away from the sampling container, and the water inlet of the sampling pump is used For extracting samples to be tested, the water outlet of the sampling pump is connected to the sampling pipe; the sampling pump is electrically connected to the control unit; the solenoid valve is arranged on the pipeline of the sampling pipe and is electrically connected to the control unit. Specifically, the control unit in the unmanned aerial vehicle cooperates with the sampling pump and the solenoid valve to realize flexible control of the water intake component to start and stop sampling.

Furthermore, the sampling tube is detachably connected to the sampling container, and the sampling tube is detachably connected to the electromagnetic valve. It can realize that each structure of the water intake assembly is convenient to assemble and disassemble, and is convenient to replace and clean.

Furthermore, the water inlet of the sampling pump is provided with a filter head, and the shape of the filter head is circular, triangular, square, pentagonal, hexagonal, or octagonal. The filter mesh of the filter head is 100, 200, 300, 400 mesh, etc. It can be realized that the fine impurities in the water can be further filtered during water quality sampling.

Further, the sampling pipe includes: a sampling main pipe and a sampling branch pipe. One end of the sampling main pipe communicates with the water inlet of the solenoid valve, and the other end is used for communicating with oily sewage. One end of the sampling branch pipe communicates with the water outlet of the solenoid valve, and the other end communicates with the sampling container.

Furthermore, there are 1, 2, 3, 4, 5, 6, 7 or 8 branch pipes, which are evenly distributed around the main pipe. It can be realized that different branch pipes correspond to collect water samples from different sampling points, and each branch pipe is independently connected to the preset sampling container to avoid mutual pollution between water samples.

Furthermore, a flow sensor is provided on the main pipe. The flow sensor is electrically connected with the control unit, which can realize real-time monitoring of the flow rate of the sampling pump when the sample is drawn by the remote command, and control the injection volume.

Further, the sampling container is any one of a sampling bottle and a sampling bag. When the sampling bottle is installed in the unmanned sampling device, the stability of the system can be improved; when the sampling bag is installed in the unmanned sampling device, the actual occupied volume can be reduced, and the load on the sampling container during the transportation of the unmanned sampling device can be reduced. At the same time, the shape of the bag is flexible and changeable, which is convenient for storing the samples to be tested.

Further, the cleaning structure includes: an air compressor, a water tank, a cleaning main pipe and a cleaning control valve.

The air compressor is connected to the end of the mounting bracket that is far away from the UAV and is close to the ground when it is in flight; the water tank is connected to the end of the mounting bracket that is far away from the UAV when it is in flight and is close to the ground; one end of the cleaning pipe is connected to the air compressor and the water tank. The other end communicates with the pipe wall at the end of the main pipe close to the oily sewage; the cleaning control valve is set at the intersection of the cleaning main pipe and the sampling main pipe to control the connection between the cleaning main pipe and the sampling main pipe. Through the cooperation between the above four structures, when sampling, after sampling at the target sampling point, use the air compressor to provide compressed gas and the water tank to provide clean water. After the two are mixed, they are blown into the sampling main pipe for cleaning, and the gas-liquid mixture The impact force is relatively large, and the pipeline can be cleaned efficiently to avoid oil residue remaining on the pipe wall and affecting subsequent sampling.

Further, the cleaning structure also includes: an air outlet branch pipe, an air outlet valve, a water outlet branch pipe and a water pump.

One end of the air outlet branch pipe is connected with the air compressor, and the other end is connected with the cleaning main pipe; the air outlet valve is set on the pipeline of the air outlet branch pipe and connected with the control unit; one end of the water outlet branch pipe is connected with the water tank, and the other end is connected with the cleaning main pipe; the water pump is set On the pipeline of the air outlet branch, and connected with the control unit. The air outlet valve and the water pump are respectively electrically connected to the control unit, which can realize remote command control of the air compressor and the water tank to output air and water respectively, so that the air and liquid can be evenly mixed to improve the cleaning efficiency.

Further, the cleaning structure also includes: a detergent storage container, a detergent delivery pipe and a detergent delivery pump. The detergent storage container is connected to the mounting bracket away from the end near the ground when the unmanned aerial vehicle is in flight; one end of the detergent delivery pipe communicates with the detergent storage container, and the other end communicates with the cleaning main pipe; the detergent delivery pump is arranged on the detergent delivery On the pipeline of the pipe and connected with the control unit. If the oily sewage is too heavy and cannot be completely cleaned by a simple gas-liquid mixture, detergent can be used for cleaning, that is, the air outlet valve and detergent delivery pump are opened first, and the mixture of detergent and compressed air is used for cleaning. After cleaning, turn off the detergent delivery pump, turn on the water pump, and perform secondary cleaning to wash off the residual detergent in the sampling main pipe. Finally, you can turn off the water pump and use compressed air to wash away the remaining water droplets to improve the accuracy of sampling and the quality of samples. purity.

Further, the cleaning structure also includes: a waste liquid pipe and a waste liquid collection container. One end of the waste liquid pipe communicates with the water outlet of the solenoid valve. The open end of the waste liquid collection container is provided with a vent hole, which communicates with the end of the waste liquid pipe away from the electromagnetic valve. On the one hand, the waste liquid collection container can be used to collect the oil-water mixture after cleaning the sampling main pipe to avoid secondary pollution to the environment caused by direct discharge. The vent hole of the waste liquid collection container is used to balance the air pressure in the pipeline, so that the Compressed gas can enter the pipeline smoothly. On the other hand, when sampling, close the cleaning structure, immerse the mouth of the sampling tube in the water body to be tested, draw a small amount of water sample to rinse the pipeline of the sampling main pipe, and store the waste liquid generated after the rinse in the waste liquid collection container; then control The solenoid valve connects the pipeline of the sampling main pipe with the preset sampling container to further collect water samples. This operation can be repeated cyclically when collecting the water sample at the next site, which is applicable to multi-site sampling.

Further, the cleaning structure also includes: a turbidity detector. The turbidity detector is connected with the mounting bracket to detect the turbidity of the sampling main pipe.

Furthermore, the turbidity detector is electrically connected with the control unit. It can be realized that the turbidity of the sampling supervisor can be detected online by controlling the turbidity detector through remote commands, and the result of the turbidity detection can be used to judge whether to stop cleaning or continue cleaning; if the turbidity reaches the standard, stop cleaning; if the turbidity does not meet the standard, Carry out secondary cleaning until the turbidity reaches the standard.

The present invention also provides a method for online cleaning of water quality sampling using the above-mentioned unmanned sampling device for marine oil slick pollutants, comprising the following steps:

S1: Control the unmanned sampling device to reach the first target water intake point for sampling;

S2: After the sampling is completed, the solenoid valve is controlled to open the branch pipe leading to the waste liquid pipe, and the cleaning control valve is controlled to connect the cleaning main pipe with the sampling main pipe;

S3: Turn on the air outlet valve and the water pump, and selectively open the detergent control valve at the same time to form a gas-liquid mixture between the gas and the liquid, blow it into the cleaning main pipe and the sampling main pipe for cleaning operation, and the cleaned waste liquid is transported into the waste liquid collected in collection containers;

S4: Use the turbidity detector to detect the turbidity of the sampling main pipe. If the turbidity reaches the standard, close the air outlet valve and the water pump; if the turbidity does not reach the standard, perform secondary cleaning;

S5: After cleaning, control the unmanned sampling device to fly to the next target sampling point for re-sampling, and repeat the above steps 1-4 cyclically.

Compared with the prior art, the beneficial effects of the technical solution of the present invention are:

1. The present invention uses unmanned aerial vehicles to cooperate with the sampling structure and cleaning structure in the oily sewage sampling system, which can realize the scene of oil spill accidents at sea, and combine the remote sensing monitoring technology to sample and detect the oily sewage at sea. At the same time, in the Adding a cleaning structure to the unmanned sampling device can realize online cleaning of the UAV sampling system, and then realize timely and efficient cleaning of the sampling structure during multi-site sampling and preparation for sampling at the next site.

2. The present invention adopts the method of assembling unmanned aerial vehicle, sampling structure and cleaning structure. Among them, the unmanned aerial vehicle is flexible and compact, can carry out long-distance operations, and has high maneuverability. In terms of methods, labor and fuel costs are saved, and the safety factor of sampling is also improved.

3. The cleaning structure in the present invention is provided with an air compressor, a water tank and a detergent storage container, and the best cleaning method can be selected according to the actual degree of oil pollution, single air washing, single water washing, air-water combination, air agent combination, The combination of water agent and other methods can be used. The cleaning method is more flexible and diverse, and is suitable for a variety of pollution situations. The quality and purity of the sample are finally improved by the online cleaning method.

4. In the present invention, a waste liquid pipe is also provided to communicate with the waste liquid collection container. On the one hand, the waste liquid generated by cleaning can be collected, and on the other hand, the waste liquid generated by rinsing the sampling pipe can be collected. One thing is multi-functional, while fully expanding the practicability of the structure, it improves the quality and purity of the finally collected samples.

5. Each container and pipeline in the present invention is equipped with control structures such as valves and pumps, which are electrically connected to the control unit, realizing the automatic control mode of remote commands, reducing professional requirements, and being easy to learn and use.

Description of drawings

FIG. 1 is a schematic structural view of an unmanned sampling device provided in Embodiment 1 of the present invention;

2 is a schematic structural view of an unmanned sampling device provided in Embodiment 1 of the present invention;

3 is an enlarged view of the turbidity detector in Example 1 or Example 2 of the present invention;

Among them: 100-unmanned aerial vehicle; 200-sampling structure; 300-cleaning structure; 400-installation bracket;

201-sampling container; 202-sampling tube; 2021-sampling supervisor; 2022-sampling branch; 203-sampling pump; 204-solenoid valve;

301-air compressor; 302-water tank; 303-cleaning supervisor; 304-cleaning control valve; 305-outlet branch pipe; 306-air outlet valve; 307-water outlet branch pipe; Detergent delivery pipe; 311-detergent delivery pump; 312-waste liquid pipe; 313-waste liquid collection container; 314-turbidity detector.

Detailed ways

In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions of the present application will be clearly and completely described below in conjunction with the drawings of the embodiments of the present application. Apparently, the described embodiments are some of the embodiments of the present application, but not all of them. Based on the described embodiments, all other embodiments obtained by persons of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

Unless otherwise defined, the technical terms or scientific terms used in the application shall have the ordinary meanings understood by those skilled in the art to which the application belongs. "First", "second" and similar words used in this application do not indicate any order, quantity or importance, but are only used to distinguish different components. "Comprising" or "comprising" and similar words mean that the elements or items appearing before the word include the elements or items listed after the word and their equivalents, without excluding other elements or items. Words such as "connected" or "connected" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "Down", "Left", "Right" and so on are only used to indicate the relative positional relationship. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

Example 1

This embodiment discloses an unmanned sampling device for marine oil slick pollutants, as shown in FIG. 1 , including: an unmanned aerial vehicle 100 , a sampling structure 200 , a cleaning structure 300 and a mounting bracket 400 .

The UAV 100 is provided with a control unit, and the control unit is used to control the start and stop of the UAV 100 . The unmanned aerial vehicle 100 is specifically an unmanned helicopter.

The sampling structure 200 is electrically connected with the control unit, and is used to collect oily sewage at the target water intake point. The sampling structure 200 coordinates with the UAV to realize remote sensing control and remote offshore oil sampling.

The cleaning structure 300 is electrically connected with the control unit, and is used for cleaning the sampling structure 200 . One end of the mounting bracket 400 is connected to the side close to the ground when the UAV 100 is in flight, and the other end is respectively connected to the sampling structure 200 and the cleaning structure 300 . The mounting bracket 400 is used to fix the oily sewage sampling system on the drone.

The sampling structure 200 includes: a sampling container 201 , a sampling tube 202 , a sampling pump 203 and a solenoid valve 204 . The sampling container 201 is fixed on the mounting bracket 400 for storing samples to be tested; one end of the sampling tube 202 is connected to the sampling container 201, and the other end is used to communicate with the oily sewage; the sampling pump 203 is arranged on the sampling tube 202 away from the end of the sampling container 201 , the water inlet of the sampling pump 203 is used to extract the sample to be tested, and the water outlet of the sampling pump 203 communicates with the sampling pipe 202; the sampling pump 203 is electrically connected with the control unit; The unit is electrically connected.

The sampling tube 202 is detachably connected to the sampling container 201 , and the sampling tube 202 is detachably connected to the solenoid valve 204 . The water inlet of the sampling pump 203 is provided with a filter head, and the shape of the filter head is circular. The filter mesh of the filter head is 200 mesh. It can be realized that the fine impurities in the water can be further filtered during water quality sampling.

The sampling pipe 202 includes: a sampling main pipe 2021 and a sampling branch pipe 2022 . One end of the sampling main pipe 2021 communicates with the water inlet of the solenoid valve 204, and the other end is used for communicating with oily sewage. One end of the sampling branch pipe 2022 communicates with the water outlet of the solenoid valve 204 , and the other end communicates with the sampling container 201 . There are 4 branch pipes, which are evenly distributed on the right side of the main pipe. There is a flow sensor on the main pipe. The flow sensor is electrically connected with the control unit. The sampling container 201 is specifically a sampling bottle.

The cleaning structure 300 includes: an air compressor 301 , a water tank 302 , a cleaning main pipe 303 and a cleaning control valve 304 .

The air compressor 301 is connected with the end of the mounting bracket 400 near the ground when the UAV 100 is in flight; the water tank 302 is connected with the end of the installation bracket 400 near the ground when the UAV 100 is in flight; the cleaning main pipe 303 is connected at one end The air compressor 301 and the water tank 302 are connected, and the other end is connected with the pipe wall at the end of the main pipe close to the oily sewage; the cleaning control valve 304 is arranged at the intersection of the cleaning main pipe 303 and the sampling main pipe 2021, and controls the cleaning between the main pipe 303 and the sampling main pipe 2021. between breaks.

The cleaning structure 300 also includes: an air outlet branch pipe 305 , an air outlet valve 306 , a water outlet branch pipe 307 and a water pump 308 .

One end of the air outlet branch pipe 305 communicates with the air compressor 301, and the other end communicates with the cleaning main pipe 303; the air outlet valve 306 is arranged on the pipeline of the air outlet branch pipe 305 and is connected with the control unit; one end of the water outlet branch pipe 307 communicates with the water tank 302, and the other end It communicates with the cleaning main pipe 303; the water pump 308 is arranged on the pipeline of the air outlet branch pipe 305, and is connected with the control unit. The air outlet valve 306 and the water pump 308 are electrically connected to the control unit respectively, so that the air compressor 301 and the water tank 302 can be controlled by remote commands to output air and water respectively, so that the air and liquid can be evenly mixed to improve cleaning efficiency.

The cleaning structure 300 also includes: a detergent storage container 309 , a detergent delivery pipe 310 and a detergent delivery pump 311 . The detergent storage container 309 is connected with the mounting bracket 400 away from the end near the ground when the UAV 100 is in flight; one end of the detergent delivery pipe 310 is communicated with the detergent storage container 309, and the other end is communicated with the cleaning main pipe 303; The pump 311 is arranged on the pipeline of the detergent delivery pipe 310 and connected with the control unit.

The cleaning structure 300 also includes: a waste liquid pipe 312 and a waste liquid collection container 313 . One end of the waste liquid pipe 312 communicates with the water outlet of the solenoid valve 204 . The open end of the waste liquid collection container 313 is provided with a ventilation hole, which communicates with the end of the waste liquid pipe 312 away from the solenoid valve 204 .

The cleaning structure 300 also includes: a turbidity detector 314 . As shown in FIG. 3 , the turbidity detector 314 is connected to the mounting bracket 400 for detecting the turbidity of the sampling main pipe 2021 . The turbidity detector 314 is electrically connected with the control unit. It can be realized that the turbidity detector 314 is controlled by remote commands to detect the turbidity of the sampling supervisor 2021 online, and the result of the turbidity detection can be used to judge whether to stop cleaning or continue cleaning; if the turbidity reaches the standard, then stop the cleaning; if the turbidity does not meet the standard , carry out secondary cleaning until the turbidity reaches the standard.

In the specific implementation process, the following steps are included:

S1: Control the unmanned sampling device to reach the first target water intake point for sampling;

S2: After the sampling is completed, the solenoid valve 204 is controlled to open the branch pipeline leading to the waste liquid pipe 312, and the cleaning control valve 304 is controlled to communicate the cleaning main pipe 303 with the sampling main pipe 2021;

S3: Open the air outlet valve 306 and the detergent control valve to form an aerosol mixture between the gas and the detergent, blow it into the cleaning main pipe 303 and the sampling main pipe 2021 to perform a cleaning operation; then close the detergent control valve, turn on the water pump 308, A mixture of steam and water is formed between the compressed gas and clean water, which is blown into the cleaning main pipe 303 and the sampling main pipe 2021 for secondary cleaning operation; the cleaned waste liquid is transported into the waste liquid collection container 313 for collection;

S4: Detect the turbidity of the sampling main pipe 2021 by a turbidity detector, if the turbidity reaches the standard, close the outlet valve 306 and the water pump 308; if the turbidity is not up to the standard, perform secondary cleaning;

S5: After cleaning, control the unmanned sampling device to fly to the next target sampling point for re-sampling, and repeat the above steps 1-4 cyclically.

Example 2

Both the UAV 100 and the sampling structure 200 in this embodiment are the same as those in Embodiment 1. The difference is that in the cleaning structure 300, only the air compressor 301 and the water tank 302 are provided in this embodiment, and the detergent storage container 309 is not provided. The specific structure is shown in Figure 2.

In the specific implementation process, the following steps are included:

S1: Control the unmanned sampling device to reach the first target water intake point for sampling;

S2: After the sampling is completed, the solenoid valve 204 is controlled to open the branch pipeline leading to the waste liquid pipe 312, and the cleaning control valve 304 is controlled to communicate the cleaning main pipe 303 with the sampling main pipe 2021;

S3: Open the air outlet valve 306 and the water pump 308 to form a mixture of steam and water between the compressed gas and clean water, and blow it into the cleaning main pipe 303 and the sampling main pipe 2021 for cleaning operation; the cleaned waste liquid is transported into the waste liquid collection container 313 for collection ;

S4: Detect the turbidity of the sampling main pipe 2021 by a turbidity detector, if the turbidity reaches the standard, close the outlet valve 306 and the water pump 308; if the turbidity is not up to the standard, perform secondary cleaning;

S5: After cleaning, control the unmanned sampling device to fly to the next target sampling point for re-sampling, and repeat the above steps 1-4 cyclically.

Example 3

Both the UAV 100 and the cleaning structure 300 in this embodiment are the same as those in Embodiment 1. The difference is that in the sampling structure 200, the sampling container 201 is designed as a bag. When the sampling bag is selected and installed in the unmanned sampling device, the actual occupied volume can be reduced, and the weight of the sampling container 201 during the transportation of the unmanned sampling device can be reduced. , At the same time, the shape of the bag is flexible and changeable, which is convenient for storing the samples to be tested.

In the specific implementation process, the following steps are included:

S1: Control the unmanned sampling device to reach the first target water intake point for sampling;

S2: After the sampling is completed, the solenoid valve 204 is controlled to open the branch pipeline leading to the waste liquid pipe 312, and the cleaning control valve 304 is controlled to communicate the cleaning main pipe 303 with the sampling main pipe 2021;

S3: Open the air outlet valve 306 and the detergent control valve to form an aerosol mixture between the gas and the detergent, blow it into the cleaning main pipe 303 and the sampling main pipe 2021 to perform a cleaning operation; then close the detergent control valve, turn on the water pump 308, A mixture of steam and water is formed between the compressed gas and clean water, which is blown into the cleaning main pipe 303 and the sampling main pipe 2021 for secondary cleaning operation; the cleaned waste liquid is transported into the waste liquid collection container 313 for collection;

S4: Detect the turbidity of the sampling main pipe 2021 by a turbidity detector, if the turbidity reaches the standard, close the outlet valve 306 and the water pump 308; if the turbidity is not up to the standard, perform secondary cleaning;

S5: After cleaning, control the unmanned sampling device to fly to the next target sampling point for re-sampling, and repeat the above steps 1-4 cyclically.

Apparently, the above-mentioned embodiments of the present invention are only examples for clearly illustrating the present invention, rather than limiting the implementation of the present invention. For those of ordinary skill in the art, other changes or changes in different forms can be made on the basis of the above description. It is not necessary and impossible to exhaustively list all the implementation manners here. All modifications, equivalent replacements and improvements made within the spirit and principles of the present invention shall be included within the protection scope of the claims of the present invention.

Claims (10)

1. An unmanned sampling device for marine floating oil contamination, comprising:

the unmanned aerial vehicle is provided with a control unit, and the control unit is used for controlling the starting and stopping of the unmanned aerial vehicle;

the sampling structure is electrically connected with the control unit and is used for collecting oily sewage of a target water taking point;

the cleaning structure is electrically connected with the control unit and used for cleaning the sampling structure;

and one end of the mounting bracket is connected with one side, close to the ground, of the unmanned aerial vehicle in a flying state, and the other end of the mounting bracket is connected with the sampling structure and the cleaning structure respectively.

2. The unmanned sampling device for marine oil slick contamination of claim 1, wherein the sampling structure comprises:

the sampling container is fixed on the mounting bracket and is used for storing a sample to be detected;

one end of the sampling pipe is communicated with the sampling container, and the other end of the sampling pipe is used for communicating oily sewage;

the sampling pump is arranged at one end of the sampling pipe, which is far away from the sampling container, a water inlet of the sampling pump is used for extracting a sample to be detected, and a water outlet of the sampling pump is communicated with the sampling pipe; the sampling pump is electrically connected with the control unit;

and the electromagnetic valve is arranged on the pipeline of the sampling pipe and is electrically connected with the control unit.

3. The unmanned sampling device for marine oil slick contamination of claim 2, wherein the sampling tube comprises:

one end of the sampling main pipe is communicated with a water inlet of the electromagnetic valve, and the other end of the sampling main pipe is communicated with oily sewage;

and one end of the sampling branch pipe is communicated with the water outlet of the electromagnetic valve, and the other end of the sampling branch pipe is communicated with the sampling container.

4. The unmanned sampling device for marine oil slick contamination of claim 2 or 3, wherein the sampling container is any one of a sampling bottle and a sampling bag.

5. The unmanned sampling device for marine oil slick contamination of claim 3, wherein the cleaning structure comprises:

the air compressor is connected with one end, far away from the unmanned aerial vehicle, of the mounting bracket, close to the ground when the unmanned aerial vehicle is in a flying state;

the water tank is connected with one end, far away from the unmanned aerial vehicle, of the mounting bracket, close to the ground when the unmanned aerial vehicle is in a flying state;

a cleaning main pipe, one end of which is communicated with the air compressor and the water tank, and the other end of which is communicated with the pipe wall of one end of the main pipe close to the oily sewage;

and the cleaning control valve is arranged at the intersection of the cleaning main pipe and the sampling main pipe and used for controlling the on-off of the cleaning main pipe and the sampling main pipe.

6. The unmanned sampling device for marine oil slick contamination of claim 5, wherein the cleaning structure further comprises:

one end of the air outlet branch pipe is communicated with the air compressor, and the other end of the air outlet branch pipe is communicated with the cleaning main pipe;

the air outlet valve is arranged on a pipeline of the air outlet branch pipe and is connected with the control unit;

one end of the water outlet branch pipe is communicated with the water tank, and the other end of the water outlet branch pipe is communicated with the cleaning main pipe;

and the water pump is arranged on the pipeline of the air outlet branch pipe and is connected with the control unit.

7. The unmanned sampling device for marine oil slick contamination of claim 5, wherein the cleaning structure further comprises:

the detergent storage container is connected with one end, far away from the unmanned aerial vehicle, of the mounting bracket, close to the ground when the unmanned aerial vehicle is in a flying state;

one end of the detergent delivery pipe is communicated with the detergent storage container, and the other end of the detergent delivery pipe is communicated with the cleaning main pipe;

and the detergent delivery pump is arranged on a pipeline of the detergent delivery pipe and is connected with the control unit.

8. The unmanned sampling device for marine oil slick contamination of claim 6 or 7, wherein the cleaning structure further comprises:

one end of the waste liquid pipe is communicated with the water outlet of the electromagnetic valve;

and the open end of the waste liquid collecting container is provided with an air vent which is communicated with one end of the waste liquid pipe far away from the electromagnetic valve.

9. The unmanned sampling device for marine oil slick contamination of claim 8, wherein the cleaning structure further comprises:

and the turbidity detector is connected with the mounting bracket and used for detecting the turbidity of the sampling main pipe.

10. The method for online cleaning of water sampling by the unmanned sampling device for ocean floating oil pollutants as claimed in any one of claims 1 to 9 is characterized by comprising the following steps:

s1: controlling the unmanned sampling device to reach a first target water taking point for sampling;

s2: after sampling is finished, the electromagnetic valve is controlled to open a branch pipe pipeline leading to the waste liquid pipe, and the cleaning control valve is controlled to enable the cleaning main pipe to be communicated with the sampling main pipe;

s3: opening an air outlet valve and a water pump, selectively opening a detergent delivery pump at the same time to form a gas-liquid mixture between gas and liquid, blowing the gas-liquid mixture into a cleaning main pipe and a sampling main pipe for cleaning, and delivering the cleaned waste liquid into a waste liquid collecting container for collecting;

s4: detecting the turbidity of the sampling main pipe through a turbidity detector, and closing the air outlet valve and the water pump if the turbidity reaches the standard; if the turbidity does not reach the standard, performing secondary cleaning;

s5: and after the cleaning is finished, controlling the unmanned sampling device to fly to the next target sampling point for sampling again, and circularly repeating the steps 1-4.

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