CN117330361A - Unmanned ship-borne seawater sampling method - Google Patents
Unmanned ship-borne seawater sampling method Download PDFInfo
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- CN117330361A CN117330361A CN202311343177.7A CN202311343177A CN117330361A CN 117330361 A CN117330361 A CN 117330361A CN 202311343177 A CN202311343177 A CN 202311343177A CN 117330361 A CN117330361 A CN 117330361A
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- 238000005070 sampling Methods 0.000 title claims abstract description 138
- 239000013535 sea water Substances 0.000 title claims abstract description 76
- 238000000034 method Methods 0.000 title claims abstract description 23
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 268
- 238000004804 winding Methods 0.000 claims abstract description 74
- 238000011010 flushing procedure Methods 0.000 claims abstract description 39
- 238000005086 pumping Methods 0.000 claims abstract description 14
- 238000007789 sealing Methods 0.000 claims description 44
- 238000004891 communication Methods 0.000 claims description 43
- 230000003068 static effect Effects 0.000 claims description 28
- 239000000945 filler Substances 0.000 claims description 18
- 239000002184 metal Substances 0.000 claims description 16
- 238000009413 insulation Methods 0.000 claims description 12
- 239000007788 liquid Substances 0.000 claims description 10
- 230000007246 mechanism Effects 0.000 claims description 8
- 230000006835 compression Effects 0.000 claims description 2
- 238000007906 compression Methods 0.000 claims description 2
- 238000001514 detection method Methods 0.000 abstract description 6
- 230000005611 electricity Effects 0.000 description 4
- 238000012856 packing Methods 0.000 description 4
- 238000003825 pressing Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000003756 stirring Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 238000007792 addition Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/10—Devices for withdrawing samples in the liquid or fluent state
- G01N1/14—Suction devices, e.g. pumps; Ejector devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/02—Driving gear
- B66D1/12—Driving gear incorporating electric motors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/60—Rope, cable, or chain winding mechanisms; Capstans adapted for special purposes
-
- 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
- G01N1/16—Devices for withdrawing samples in the liquid or fluent state with provision for intake at several levels
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- Life Sciences & Earth Sciences (AREA)
- Hydrology & Water Resources (AREA)
- Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Sampling And Sample Adjustment (AREA)
Abstract
The invention discloses an unmanned shipborne seawater sampling method, which comprises the following steps: s1, fixing each sampling bottle on an unmanned boat. S2, starting the unmanned ship, and reaching a first water taking point. S3, the driving assembly drives the winding drum to rotate so as to lower the water intake pipe, and after the water intake pipe reaches the set depth, the winding drum stops rotating, and the lower port of the water intake pipe is kept at the set depth. S4, the adjustable throttle valve is opened, the flushing pump starts to work, and seawater enters the water intake pipe to flush the water inlet main pipe. S5, opening a two-way electromagnetic valve between the first sampling bottle and the water inlet main pipe and the water outlet main pipe, and opening a sampling pump to sample seawater. S6, repeating the steps S2 to S5, sequentially completing seawater sampling of the rest secondary water taking points, and returning the unmanned ship. The seawater sampling point depth is accurate, the seawater is not interfered by water flow, a pumping mode is replaced by a drawing mode, the seawater does not need to pass through a pump before entering the sample bottle, the influence of the pump on a water sample is eliminated, the unmanned ship load miniaturization requirement is met, and the water quality detection accuracy is improved.
Description
Technical Field
The invention relates to the technical field of marine environment detection, in particular to an unmanned ship-borne seawater sampling method.
Background
With the continuous development of intelligent industry and unmanned ship technology, unmanned ships with simple water sample collection equipment for water quality monitoring have been developed and applied to marine environment water quality detection. The shipborne seawater sampling equipment replaces manual seawater sampling labor operation, reduces the workload of personnel, reduces the dangerous coefficient of the personnel, and avoids the influence of the variability of manual repeated operation on the sampling quality.
The adoption of unmanned ships for ocean science investigation has become an important means, and especially the operation mode is near shore (within 10 km), and has the advantages of small body quantity, low cost, strong task response maneuverability and the like. Unmanned boats are adopted to carry hydrologic, meteorological and geophysical equipment, and are gradually mature. Then, seawater sampling is currently adopted in a form of lowering a water sampler by a rear deck winch of a scientific research ship. The main reasons of the unmanned water sampler are the conflict between the large volume and the large weight of the water sampler and the task load light-weight requirement of the unmanned ship carrying platform, and the unmanned operation cannot be realized.
A Chinese patent with publication number of CN109506985A relates to a multi-point layered water sample collection system for an unmanned ship, which comprises a sampling tube automatic retraction module, an air bag type vacuum water collection module, a main control module and a plurality of sampling bottles; and the automatic sampling pipe collecting and releasing module is used for driving the automatic sampling pipe collecting and releasing module to release the sampling pipe into water after receiving the instruction, recording the depth of the sampling pipe in water, and setting the encoder on the coupler, wherein the encoder is used for acquiring the rotation cycle number of the coupler so as to determine the collecting and releasing length of the sampling pipe. Because the oblique angle of the sampling tube is continuously changed due to water flow, the water depth of the actual sampling position cannot be accurately determined, and the accuracy of the sampled water sample is poor.
In addition, the current water sample collection mode adopts the pumping mode to draw the sea water of ocean lower floor and enters into in the sample bottle, and the suspended solid and the inside composition that contain in the water sample of taking receive the stirring, can have the difference with actual lower floor's sea water after the stirring of the water sample that obtains in the sample bottle, leads to there is the deviation in testing result, and the accuracy is greatly discounted. Accordingly, there is a need in the art for further improvements and enhancements.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide an unmanned ship-borne seawater sampling method, which solves the problems that the accuracy of the depth of sampled water in the existing water sampling mode is not guaranteed, the accuracy of the water sampling position is low, floating substances and internal components contained in a water sample are stirred by adopting a pumping mode, the water sample obtained in a sampling bottle is different from the actual lower-layer seawater after being stirred, the detection result is deviated, and the influence on water sample detection is large.
In order to solve the technical problems, the invention adopts the following technical scheme:
the unmanned shipborne seawater sampling method comprises the steps of using a shipborne seawater sampling device comprising a hoisting mechanism, a water intake pipe, a communication cable, a hydropower switching unit, a flushing assembly, a sampling bottle group, a pumping assembly and a control unit, wherein the hoisting mechanism comprises a winding drum and a driving assembly, one end of the winding drum is transversely arranged, the other end of the winding drum is connected with the driving assembly, and the hydropower switching unit is arranged at the other end of the winding drum.
The water-electricity switching unit comprises a rotor flange cover, a hollow rotating shaft, a stator sleeve, a static end flange and an electric slip ring assembly, wherein the hollow rotating shaft is fixedly arranged on the inner side of the winding drum through the rotor flange cover, one end of the hollow rotating shaft is connected with the water intake pipe, and the other end of the hollow rotating shaft is connected with the static end flange fixed on the unmanned ship in a rotating and sealing manner.
The control unit comprises a controller and a communication module, the controller can be in signal connection with a handheld terminal of a worker through the communication module, the water intake pipe is arranged on the circumferential surface of the winding drum, the lower end of the water intake pipe is provided with a CTD weight body, and signals of the CTD weight body are communicated with the controller through a communication cable and an electric slip ring assembly.
The flushing assembly comprises a main water inlet pipe, a flushing pump and an adjustable throttle valve, wherein the inlet end of the main water inlet pipe is connected and communicated with the end part of the static end flange, and the inlet end of the flushing pump is connected through the adjustable throttle valve. The sampling bottle group comprises a plurality of sampling bottles arranged on the unmanned boat, and each sampling bottle is connected with the water inlet main pipe through a two-way electromagnetic valve.
The pumping unit comprises a main water outlet pipe and sampling pumps, the sampling pumps are arranged at the outlet end of the main water outlet pipe, and each sampling bottle is connected with the main water outlet pipe through the same two-way electromagnetic valve.
The unmanned ship seawater sampling method comprises the following steps:
s1, fixing each sampling bottle on an unmanned ship, and respectively and hermetically connecting the sampling bottles with a water inlet main pipe and a water outlet main pipe.
The staff inputs the coordinate and depth data information of each water taking point on the handheld terminal in sequence, and sends the information to the controller through the communication module.
S2, starting the unmanned ship, and stopping the unmanned ship on the sea surface after the unmanned ship reaches the first water taking point under the guidance of the positioning device.
And S3, after the driving assembly receives the instruction of the controller, the driving assembly drives the winding drum to rotate so as to lower the water intake pipe, the CTD counterweight body drives the water intake pipe to enter water and descend in seawater, and after the lower port of the water intake pipe reaches a set depth, the winding drum stops rotating, and the lower port of the water intake pipe is kept at the set depth position.
S4, the controller controls the adjustable throttle valve to be opened through an instruction, the flushing pump starts to work, seawater is pumped into the flushing pump through the lower port of the water intake pipe, the water intake main pipe is flushed through the hollow rotating shaft, and after the flushing work is completed according to the set time, the flushing pump stops working, and the adjustable throttle valve is closed.
S5, opening a two-way electromagnetic valve between the first sampling bottle and the main water inlet pipe and the main water outlet pipe.
Then, the sampling pump starts to work, the inside of the first sampling bottle is in a negative pressure state, seawater in the water inlet main pipe enters the first sampling bottle, after the liquid level in the sampling bottle reaches the position of the liquid level sensor, the sampling bottle finishes seawater sampling, the sampling pump stops working, and the driving assembly drives the winding drum to reversely rotate to retract the water intake pipe.
S6, repeating the steps S2 to S5, sequentially completing the seawater sampling of the other secondary water taking points, returning the unmanned ship, and taking out the sampling bottle filled with the seawater from the unmanned ship by staff.
Further, after the lower port of the water intake pipe enters water in the S3, the CTD counterweight body collects water depth data in real time and sends the data to the controller through the communication cable and the electric slip ring assembly, and the CTD counterweight body is used for measuring the water entering depth of the lower port of the water intake pipe.
When the water inlet depth of the lower port of the water intake pipe is smaller than the set depth, the controller enables the winding drum to continuously rotate to lower the water intake pipe through the instruction, when the water inlet depth of the lower port of the water intake pipe is equal to the set depth, the CTD counterweight body sends a signal to the controller, the controller records the water intake pipe depth, and enables the winding drum to stop rotating through the instruction, and the lower port of the water intake pipe is kept at the set depth position.
Further, after the controller judges that the lower port of the water intake pipe has reached the set depth, the water depth of the lower port of the water intake pipe is changed near the set depth under the influence of the flow of the seawater.
When the absolute value of the difference between the water inlet depth of the lower port of the water intake pipe and the set depth is smaller than 0.5cm, the winding drum keeps a static state.
When the lower port of the water intake pipe is positioned below the set depth and the difference between the water inlet depth and the set depth is larger than 0.5cm, the controller enables the winding drum to rotate to extract the water pipe through instructions, and when the distance between the lower port of the water intake pipe and the set depth is smaller than 0.5cm, the winding drum stops rotating.
When the lower port of the water intake pipe is positioned above the set depth and the difference between the water inlet depth and the set depth is larger than 0.5cm, the controller enables the winding drum to rotate the lower water intake pipe through instructions, and when the distance between the lower port of the water intake pipe and the set depth is smaller than 0.5cm, the winding drum stops rotating.
The flushing pump and the sampling pump stop working under the rotating state of the winding drum.
Further, each two-way electromagnetic valve arranged between the sampling bottle and the water inlet main pipe is arranged close to the outer side wall of the water inlet main pipe, and the signal end of each two-way electromagnetic valve is connected with the controller through signals.
And S4, before the adjustable throttle valve is opened, all two-way electromagnetic valves between the sampling bottle and the main water inlet pipe are kept in a closed state, and the time for flushing the main water inlet pipe is controlled by adopting time delay.
Further, the water intake pipe is arranged on the circumferential surface of the winding drum, one end of the water intake pipe is fixedly and hermetically connected with the hollow rotating shaft, the CTD counterweight body is arranged at the lower port of the water intake pipe, and the CTD counterweight body is communicated with the control unit through the electric slip ring assembly.
The water intake pipe adopts a soft rubber pipe with a framework, and the communication cable is fixed on one side of the inner wall of the water intake pipe.
The CTD counter weight body comprises a counter weight and a CTD sensor, the counter weight is fixed on the outer side of the lower port of the water intake pipe, the CTD sensor is fixed on the counter weight in an embedded mode, and the signal end of the CTD sensor is electrically connected with the electric slip ring assembly through a communication cable.
Further, the stator sleeve is arranged between the hollow rotating shaft and the rotor flange cover, the electric slip ring assembly is arranged between the stator sleeve and the inner wall of the rotor flange cover, and in addition, the static end flange is in rotary sealing connection with the hollow rotating shaft through the stator sleeve.
The hollow rotating shaft and the winding drum are coaxially arranged and synchronously rotate, and the other end of the water intake pipe enters the inside of the hollow rotating shaft through a perforation positioned on the winding drum and is fixedly and hermetically connected with one end of the hollow rotating shaft.
Further, the stator sleeve is a cylinder with a stepped hole inside, and the stator sleeve and the hollow rotating shaft are coaxially and oppositely arranged.
The stator sleeve is in running fit with the hollow rotating shaft through a ball bearing and a self-lubricating bearing which are arranged along the axial direction, and the ball bearing is positioned on one side of the stator sleeve, which is close to the closed end of the rotor flange cover.
Further, a lip-shaped sealing ring is arranged on the inner side of the stator sleeve, the lip-shaped sealing ring is positioned between the ball bearing and the self-lubricating bearing, and a first sealing filler is arranged between the lip-shaped sealing ring and the ball bearing.
An annular baffle and a second sealing filler are axially arranged between the self-lubricating bearing and the static end flange, the annular baffle is positioned between the second sealing filler and the self-lubricating bearing, and a compression plate and a sealing gasket are arranged between the second sealing filler and the end face of the static end flange.
One end of the static end flange is embedded into the inner side of the stator sleeve and is connected with the stator sleeve in a sealing way through bolts, one side of the compacting plate is tightly propped against the side wall of the second sealing filler, and the inner wall of the sealing gasket is attached to the circumferential outer wall of the hollow rotating shaft.
Further, the electric slip ring assembly comprises a rotor insulating sleeve, an electric brush, a stator insulating sleeve and a conductive metal ring, wherein the rotor insulating sleeve is arranged on the circumferential inner wall of the rotor flange cover, the stator insulating sleeve is fixedly embedded on the outer side of the stator sleeve, and an annular gap is reserved between the stator insulating sleeve and the rotor insulating sleeve.
The inner wall of the rotor insulating sleeve is provided with a plurality of electric brushes which are arranged at intervals along the axial direction of the rotor insulating sleeve, the other end of the communication cable penetrates out of the hollow rotating shaft, and the core wire of the communication cable is respectively connected with each electric brush.
The outside of the stator insulating sleeve is provided with conductive metal rings which are equal to the brushes in number and correspond to the brushes one by one in position, each brush is respectively kept in contact with the corresponding conductive metal ring, and each conductive metal ring is electrically connected with the control unit through another identical communication cable.
By adopting the technical scheme, the invention has the beneficial technical effects that: the invention has reasonable structural design, high control precision of sampling depth and good stability, the seawater sampling is not interfered by water flow, the hydropower switching unit adopts high-integration optimization design, the reliability is greatly improved, the stable signal transmission is ensured, the pumping mode in the prior art is replaced by the pumping mode, the interference of the pump on the seawater sample is eliminated, the sampled seawater is consistent with the seawater composition and state of the lower layer, and the water quality detection accuracy is improved.
Drawings
Fig. 1 is a schematic diagram of the structure principle of an unmanned ship-borne seawater sampling method of the invention.
Fig. 2 is an enlarged view of a portion of the invention showing a hydroelectric power transfer unit.
Detailed Description
The invention is described in detail below with reference to the attached drawing figures:
embodiment 1, combine fig. 1 and 2, an unmanned ship-borne seawater sampling method, including hoist mechanism, intake pipe 11, communication cable 12, water and electricity switching unit 8, flushing component 5, sample bottle group 6, pumping component 7 and control unit, hoist mechanism includes reel 1 and drive assembly, reel 1 is furnished with the mounting bracket, and reel 1 transversely sets up on unmanned ship through the mounting bracket, and the circumference outer wall of reel 1 passes through bearing and mounting bracket normal running fit, and reel 1 can be for mounting bracket and unmanned ship horizontal rotation. The control unit comprises a controller and a chargeable storage battery, wherein the controller adopts a PLC controller existing in the prior art, program control is carried out on an electric component of the unmanned ship-borne seawater sampling device, and seawater is automatically sampled according to a set program.
The left end of the winding drum 1 is connected with the driving assembly, and the water and electricity switching unit is arranged at the right end of the winding drum 1. The driving assembly comprises a servo motor, a large gear and a small gear, the large gear is arranged on an output shaft of the servo motor, the servo motor is fixed on the unmanned ship through a motor bracket and is powered by a chargeable storage battery, and a signal end of the servo motor is connected with a port of the PLC in a communication mode. The pinion is coaxially fixed at the left end of the winding drum 1, the pinion is meshed with the large gear, the servo motor drives the winding drum 1 to rotate in a gear transmission mode, in addition, the PLC controls the rotation direction, the rotation speed and the rotation angle of an output shaft of the servo motor through signals, and further accurate control of rotation of the winding drum 1 is achieved.
The main body of the water intake pipe 11 is regularly wound on the circumferential surface of the winding drum 1, and the other end of the water intake pipe 11 extends into the winding drum 1 and is fixedly and hermetically connected with the hollow rotating shaft 22. The front side of the winding drum 1 is provided with pipeline guides adjacently, the pipeline guides can enable the water intake pipe 11 to be regularly wound on the circumferential surface of the winding drum 1, the lower end of the water intake pipe 11 is away from the circumferential surface of the winding drum 1, is erected on a moving block of the pipeline guides and sags, the lower end of the water intake pipe 11 is provided with a CTD counterweight 13, the water intake pipe 11 is in a straight vertical state under the gravity action of the CTD counterweight 13, and signals of the CTD counterweight 13 are communicated with a control unit through a communication cable 12 and an electric slip ring assembly. Specifically, the water intake pipe 11 adopts a soft rubber pipe with a framework, and the communication cable 12 is fixed on one side of the inner wall of the water intake pipe 11.
The CTD counterweight body 13 comprises a counterweight block and a CTD sensor, the counterweight block is fixed on the outer side of the lower end of the water intake pipe 11, a metal supporting ring is embedded in the lower end of the water intake pipe 11, the counterweight block is fixedly connected with the water intake pipe 11 through a clamp, the CTD sensor is fixed on the counterweight block in an embedded mode, a signal end of the CTD sensor is electrically connected with an electric slip ring assembly through a communication cable 12, the CTD sensor can transmit collected water depth data to a PLC (programmable logic controller) in real time, the PLC controls the rotation of a winding drum 1 through the data of the CTD sensor, the lower port of the water intake pipe 11 reaches a set depth position, and the adjustment is carried out according to actual conditions.
The water and electricity switching unit 8 comprises a rotor flange cover 21, a hollow rotating shaft 22, a stator sleeve 23, a static end flange 24 and an electric slip ring component, wherein the hollow rotating shaft 22 and the winding drum 1 are coaxially and oppositely arranged, and the hollow rotating shaft 22 is fixedly arranged on the inner side of the winding drum 1 through the rotor flange cover 21. The rotor flange cover 21 is of a circular shell structure with a closed left end, a flange plate is fixedly arranged on the outer side of the right end of the rotor flange cover 21, the rotor flange cover 21 and the winding drum 1 are coaxially and oppositely arranged, and the rotor flange cover 21 is fixedly connected with the right end of the winding drum 1 through the flange plate at the end part of the rotor flange cover. The closed end of the rotor flange cover 21 is fixedly connected with the winding drum 1 through a clamp spring 211, and the winding drum 1 drives the rotor flange cover 21 to rotate synchronously with the rotor flange cover 21.
The right end of the hollow rotating shaft 22 passes through the closed end of the rotor flange cover 21, the outer wall of the hollow rotating shaft 22 and the closed end of the rotor flange cover 21 are fixedly welded into a whole, the hollow rotating shaft 22 and the rotor flange cover 21 synchronously rotate along with the winding drum 1, and the other end of the water intake pipe 11 enters the inside of the water intake pipe through a perforation on the winding drum 1 and is fixedly and hermetically connected with the left end of the hollow rotating shaft 22. In the working state, seawater enters the hollow rotating shaft 22 through the lower port of the water intake pipe 11 and then enters the water inlet main pipe 51 through the static end flange 24.
A stator sleeve 23 is disposed between the hollow rotating shaft 22 and the rotor flange cover 21, the stator sleeve 23 is a cylinder having a stepped hole therein, and the stator sleeve 23 and the hollow rotating shaft 22 are coaxially and oppositely disposed. The stator sleeve 23 and the hollow rotating shaft 22 are in running fit through a ball bearing 31 and a self-lubricating bearing 32 which are axially arranged, the ball bearing 31 is positioned on one side of the stator sleeve 23 close to the closed end of the rotor flange cover 21, and the ball bearing 31 and the self-lubricating bearing 32 realize running fit between the hollow rotating shaft 22 and the stator sleeve 23 and keep coaxiality between the hollow rotating shaft 22 and the stator sleeve 23.
The inner side of the stator sleeve 23 is provided with a lip seal ring 33, the lip seal ring 33 is positioned between the ball bearing 31 and the self-lubricating bearing 32, and a first sealing filler 34 is arranged between the lip seal ring 33 and the ball bearing 31.
An annular baffle 35 and a second sealing filler 36 are axially arranged between the self-lubricating bearing 32 and the static end flange 24, the annular baffle 35 is positioned between the second sealing filler 36 and the self-lubricating bearing 32, the first sealing filler 34 and the second sealing filler 36 are all sealing fillers existing in the prior art, and the packing is pressed by a pressing plate 37 to generate pressing force, so that the packing is pressed on the inner side end face of the stepped hole of the stator sleeve 23, and radial force of sealing effect is generated, thereby playing a role in sealing.
A pressing plate 37 and a sealing gasket 38 are arranged between the sealing packing II 36 and the end face of the static end flange 24, the left end of the static end flange 24 is embedded into the inner side of the stator sleeve 23 and is connected with the stator sleeve in a bolt sealing manner, the left side of the pressing plate 37 is tightly pressed against the side wall of the sealing packing II 36, and the inner wall of the sealing gasket 38 is attached to the circumferential outer wall of the hollow rotating shaft 22. In the process that the seawater in the hollow rotating shaft 22 enters the static end flange 24, the seawater cannot reach the position of the electric slip ring assembly through the gap between the stator sleeve 23 and the hollow rotating shaft 22 due to the sealing effect of the sealing gasket 38, the sealing filler II 36 and the sealing filler I34, so that the seawater is prevented from leaking.
The electric slip ring assembly is arranged between the stator sleeve 23 and the inner wall of the rotor flange cover 21, and in addition, the static end flange 24 is in rotary sealing connection with the hollow rotating shaft 22 through the stator sleeve 23. The electric slip ring assembly comprises a rotor insulation sleeve 41, an electric brush 42, a stator insulation sleeve 43 and a conductive metal ring 44, wherein the rotor insulation sleeve 41 is arranged on the circumferential inner wall of the rotor flange cover 21, the stator insulation sleeve 43 is fixedly embedded on the outer side of the stator sleeve 23, and an annular gap is formed between the stator insulation sleeve and the rotor insulation sleeve 41.
The inner wall of the rotor insulating sleeve 41 is provided with a plurality of electric brushes 42 which are arranged at intervals along the axial direction, the other end of the communication cable 12 extends to the outside through an inclined hole 221 positioned on the side wall of the hollow rotating shaft 22, the outer wall of the communication cable 12 is fixedly and hermetically connected with the inner wall of the inclined hole 221, and the core wires of the communication cable 12 are respectively connected with the electric brushes 42. The outside of the stator insulating sleeve 43 is provided with conductive metal rings 44 which are equal in number and in one-to-one correspondence with the brushes 42, each brush 42 is kept in contact with the corresponding conductive metal ring 44, and each conductive metal ring 44 is electrically connected with the control unit through another identical communication cable.
Specifically, the circumferential outer wall of the stator insulating sleeve 43 is provided with a plurality of annular grooves arranged at intervals along the axial direction of the stator insulating sleeve, the cross section of each annular groove is semicircular, the conductive metal rings 44 are fixedly embedded on the inner wall of each annular groove, each conductive metal ring 44 is respectively and electrically connected with each core wire of another identical communication cable, the end part of each electric brush 42 is always positioned in the corresponding annular groove and keeps in contact with the conductive metal ring 44, the communication cable 12 in the water intake pipe 11 is electrically connected with another identical communication cable through the electric slip ring assembly, the signal smoothness between the CTD sensor and the controller is ensured, and the data is conducted.
The water outlet end of the static end flange 24 is connected and communicated with the water inlet end of the flushing assembly 5, and the flushing assembly 5 is connected and communicated with the pumping assembly 7 through the sampling bottle group 6.
Specifically, the flushing assembly 5 includes a main water inlet pipe 51, a flushing pump 52 and an adjustable throttle valve 53, the water inlet end of the main water inlet pipe 51 is connected to the right end of the stationary end flange 24 through a sealing joint, the water inlet of the flushing pump 52 is connected to the water outlet end of the main water inlet pipe 51 through the adjustable throttle valve 53, and the signal end of the adjustable throttle valve 53 is connected to the controller. In the descending process after the lower end of the water intake pipe 11 is filled with water, seawater enters the water intake pipe 11, and after the lower end of the water intake pipe 11 reaches a set depth, the rotation of the winding drum 1 is stopped. The controller controls the adjustable throttle valve 53 to open by instructions, the flushing pump 52 starts to work to pump water, and the seawater which enters the water intake pipe 11 before is discharged and flushed into the main water pipe 51. Thereafter, the adjustable throttle 53 is closed, the flushing pump 52 is stopped, and the seawater in the water intake pipe 11, the hollow rotary shaft 22, and the main water intake pipe 51 is seawater of a set depth.
The sampling bottle group 6 comprises a bottle rack 61 and six sampling bottles 62 arranged on the bottle rack, a rubber plug is arranged at the bottle mouth of each sampling bottle 62, a liquid level sensor is arranged in each sampling bottle 62, and the liquid level sensor is in communication connection with the controller. Each sampling bottle 62 is respectively provided with a water inlet branch pipe 63 and a water outlet branch pipe 64, the sampling bottles 62 are communicated with the water inlet main pipe 51 through the water inlet branch pipes 63, each water inlet branch pipe 63 and each water outlet branch pipe 64 are respectively provided with a two-way electromagnetic valve 65, and the signal ends of the two-way electromagnetic valves 65 are communicated with the controller. The pumping unit 7 comprises a water outlet main pipe 71 and a sampling pump 72, one end of the water outlet main pipe 71 is closed, the other end of the water outlet main pipe is connected with a water inlet of the sampling pump 72, and each sampling bottle 62 is connected and communicated with the water outlet main pipe 71 through a water outlet branch pipe 64.
After the flushing is finished, the controller controls the two-way electromagnetic valves 65 on the water inlet branch pipe 63 and the water outlet branch pipe 64 corresponding to the preset sampling bottle to be opened through the instructions, then the sampling pump 72 starts to work, seawater enters the sampling bottle through the water inlet branch pipe 63 under the condition of negative pressure in the sampling bottle, the liquid level sensor determines that the seawater in the sampling bottle is full, then the liquid level sensor sends the instructions to the controller, the two-way electromagnetic valves 65 are closed, and then the sampling pump 72 stops working, and the sampling bottle finishes seawater sampling. Before sampling the next sampling bottle, after the lower end of the water intake pipe 11 is adjusted to the corresponding set depth, the pipeline is flushed, and then the sampling of the corresponding sampling bottle is completed in the above manner, and the rest sampling bottles adopt the above operation.
Embodiment 2, with reference to fig. 1 and 2, embodiment 2, and with reference to fig. 1 and 2, an unmanned ship-borne seawater sampling method uses the ship-borne seawater sampling device described in embodiment 1 to sample seawater, where the ship-borne seawater sampling device includes a hoisting mechanism, a water intake pipe 11, a communication cable 12, a hydropower switching unit 8, a flushing assembly 5, a sampling bottle 62 set 6, a pumping assembly 7 and a control unit, the hoisting mechanism includes a drum 1 and a driving assembly, the drum 1 is transversely arranged, one end of the drum 1 is connected with the driving assembly, and the hydropower switching unit 8 is disposed at the other end of the drum 1.
The water and electricity switching unit 8 comprises a rotor flange cover 21, a hollow rotating shaft 22, a stator sleeve 23, a static end flange 24 and an electric slip ring assembly, wherein the hollow rotating shaft 22 is fixedly arranged on the inner side of the winding drum 1 through the rotor flange cover 21, one end of the hollow rotating shaft is connected with the water intake pipe 11, and the other end of the hollow rotating shaft is connected with the static end flange 24 fixed on the unmanned ship in a rotating and sealing manner.
The control unit comprises a controller and a communication module, the controller can be in signal connection with a handheld terminal of a worker through the communication module, the water intake pipe 11 is arranged on the circumferential surface of the winding drum 1, the CTD counterweight body 13 is arranged at the lower end of the water intake pipe 11, and the CTD counterweight body 13 is in communication connection with the controller through the electric slip ring assembly.
The flushing assembly 5 comprises a main water inlet pipe 51, a flushing pump 52 and an adjustable throttle valve 53, wherein the inlet end of the main water inlet pipe 51 is communicated with the end part of the static end flange 24, and the inlet end of the flushing pump 52 is connected through the adjustable throttle valve 53. The sampling bottle 62 group 6 comprises six sampling bottles 62 installed on the unmanned boat, and each sampling bottle 62 is connected with the water inlet main pipe 51 through a two-way electromagnetic valve 65.
The pumping unit 7 comprises a main water outlet pipe 71 and a sampling pump 72, the sampling pump 72 is arranged at the outlet end of the main water outlet pipe 71, and each sampling bottle 62 is connected with the main water outlet pipe 71 through the same two-way electromagnetic valve 65.
The unmanned ship seawater sampling method comprises the following steps:
s1, fixing each sampling bottle 62 on an unmanned ship, and respectively connecting the sampling bottles with a water inlet main pipe 51 and a water outlet main pipe 71 in a sealing way.
The staff inputs the coordinate and depth data information of each water taking point on the handheld terminal in sequence, and sends the information to the controller through the communication module.
S2, starting the unmanned ship, and stopping the unmanned ship on the sea surface after the unmanned ship reaches the first water taking point under the guidance of the positioning device.
And S3, after the driving assembly receives the instruction of the controller, the driving assembly drives the winding drum 1 to rotate so as to lower the water intake pipe 11, the CTD counterweight body 13 drives the water intake pipe 11 to enter water and descend in seawater, and after the lower port of the water intake pipe 11 reaches a set depth, the winding drum 1 stops rotating, and the lower port of the water intake pipe 11 is kept at the set depth position.
S4, the controller controls the adjustable throttle valve 53 to be opened through instructions, the flushing pump 52 starts to work, seawater is pumped into the water intake pipe 11 through the lower port of the water intake pipe, the water intake main pipe 51 is flushed through the hollow rotating shaft 22, after the flushing work is completed according to the set time, the flushing pump 52 stops working, and the adjustable throttle valve 53 is closed.
S5, opening a two-way electromagnetic valve 65 between the first sampling bottle 62 and the main water inlet pipe 51 and the main water outlet pipe 71.
Then, the sampling pump 72 starts to work, the inside of the first sampling bottle 62 is in a negative pressure state, the seawater in the water inlet main pipe 51 enters the first sampling bottle 62, after the liquid level in the sampling bottle 62 reaches the position of the liquid level sensor, the sampling bottle 62 finishes seawater sampling, the sampling pump 72 stops working, and the driving component drives the winding drum 1 to reversely rotate to retract the water intake pipe 11.
S6, repeating the steps S2 to S5, sequentially completing the seawater sampling of the other secondary water taking points, returning the unmanned ship, and taking out the sampling bottle 62 filled with the seawater from the unmanned ship by staff.
Further, after the water intake pipe 11 in S3 is put into water, the CTD weight 13 collects water depth data in real time and sends the data to the controller through the communication cable 12 and the electrical slip ring assembly, and the CTD weight 13 is used for measuring the water intake depth of the water intake pipe 11.
When the water depth of the lower port of the water intake pipe 11 is smaller than the set depth, the controller enables the winding drum 1 to continue to rotate to lower the water intake pipe 11 through instructions, when the water depth of the lower port of the water intake pipe 11 is equal to the set depth, the CTD counterweight body 13 sends a signal to the controller, the controller records the water intake pipe 11 depth, and enables the winding drum 1 to stop rotating through instructions, and the lower port of the water intake pipe 11 is kept at the set depth position.
Further, the controller judges that the water intake depth of the lower port of the water intake pipe 11 changes around the set depth under the influence of the flow of the seawater after the lower port of the water intake pipe 11 has reached the set depth.
When the absolute value of the difference between the water inlet depth of the lower port of the water intake pipe 11 and the set depth is smaller than 0.5cm, the winding drum 1 is kept in a static state.
When the lower port of the water intake pipe 11 is positioned below the set depth and the difference between the water inlet depth and the set depth is larger than 0.5cm, the controller makes the winding drum 1 rotate to extract the water pipe 11 through instructions, and when the distance between the lower port of the water intake pipe 11 and the set depth is smaller than 0.5cm, the winding drum 1 stops rotating.
When the lower port of the water intake pipe 11 is positioned above the set depth and the difference between the water inlet depth and the set depth is larger than 0.5cm, the controller makes the winding drum 1 rotate the lower water intake pipe 11 through instructions, and when the distance between the lower port of the water intake pipe 11 and the set depth is smaller than 0.5cm, the winding drum 1 stops rotating.
In the rotated state of the spool 1, both the flushing pump 52 and the sampling pump 72 stop operating.
Further, each two-way electromagnetic valve 65 arranged between the sampling bottle 62 and the main water inlet pipe 51 is installed close to the outer side wall of the main water inlet pipe 51, and the signal end of each two-way electromagnetic valve 65 is respectively connected with a controller signal.
Before the adjustable throttle valve 53 in S4 is opened, each two-way electromagnetic valve 65 between the sampling bottle 62 and the main water inlet pipe 51 is kept in a closed state, and the time for flushing the main water inlet pipe 51 is controlled by adopting a delay.
The parts not described in the invention can be realized by adopting or referring to the prior art.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be understood that the directions or positional relationships indicated by the terms "upper", "lower", "front", "rear", "left", "right", etc., are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.
It should be understood that the above description is not intended to limit the invention to the particular embodiments disclosed, but to limit the invention to the particular embodiments disclosed, and that the invention is not limited to the particular embodiments disclosed, but is intended to cover modifications, adaptations, additions and alternatives falling within the spirit and scope of the invention.
Claims (9)
1. The unmanned shipborne seawater sampling method is characterized in that the shipborne seawater sampling device comprises a hoisting mechanism, a water intake pipe, a communication cable, a hydropower switching unit, a flushing assembly, a sampling bottle group, a pumping assembly and a control unit, wherein the hoisting mechanism comprises a winding drum and a driving assembly, one end of the winding drum is transversely arranged, the other end of the winding drum is connected with the driving assembly, and the hydropower switching unit is arranged at the other end of the winding drum;
the water-electricity switching unit comprises a rotor flange cover, a hollow rotating shaft, a stator sleeve, a static end flange and an electric slip ring assembly, wherein the hollow rotating shaft is fixedly arranged on the inner side of the winding drum through the rotor flange cover, one end of the hollow rotating shaft is connected with the water intake pipe, and the other end of the hollow rotating shaft is in rotary sealing connection with the static end flange fixed on the unmanned ship;
the control unit comprises a controller and a communication module, the controller can be in signal connection with a handheld terminal of a worker through the communication module, the water intake pipe is arranged on the circumferential surface of the winding drum, the lower end of the water intake pipe is provided with a CTD weight body, and the signal of the CTD weight body is in communication connection with the controller through a communication cable and an electric slip ring assembly;
the flushing assembly comprises a main water inlet pipe, a flushing pump and an adjustable throttle valve, wherein the inlet end of the main water inlet pipe is connected and communicated with the end part of the static end flange, and the inlet end of the flushing pump is connected through the adjustable throttle valve; the sampling bottle group comprises a plurality of sampling bottles arranged on the unmanned boat, and each sampling bottle is connected with a water inlet main pipe through a two-way electromagnetic valve respectively;
the pumping assembly comprises a main water outlet pipe and sampling pumps, the sampling pumps are arranged at the outlet end of the main water outlet pipe, and each sampling bottle is connected with a main water outlet pipe through the same two-way electromagnetic valve respectively;
the unmanned ship seawater sampling method comprises the following steps:
s1, fixing each sampling bottle on an unmanned boat, and respectively and hermetically connecting the sampling bottles with a water inlet main pipe and a water outlet main pipe; the staff sequentially inputs the coordinates and depth data information of each water taking point on the handheld terminal and sends the coordinates and depth data information to the controller through the communication module;
s2, starting the unmanned ship, and stopping the unmanned ship on the sea surface after the unmanned ship reaches the first water taking point under the guidance of the positioning device;
s3, after the driving assembly receives the instruction of the controller, the driving assembly drives the winding drum to rotate so as to enable the water intake pipe to be lowered, the CTD counterweight body drives the water intake pipe to enter water and descend in seawater, and after the lower port of the water intake pipe reaches a set depth, the winding drum stops rotating, and the lower port of the water intake pipe is kept at the set depth position;
s4, the controller controls the adjustable throttle valve to be opened through an instruction, the flushing pump starts to work, seawater is pumped into the flushing pump from the lower port of the water intake pipe, the water intake main pipe is flushed through the hollow rotating shaft, the flushing pump stops working after the flushing work is completed according to the set time, and the adjustable throttle valve is closed;
s5, opening a two-way electromagnetic valve between the first sampling bottle and the water inlet main pipe and the water outlet main pipe;
then, the sampling pump starts to work, the inside of the first sampling bottle is in a negative pressure state, seawater in the water inlet main pipe enters the first sampling bottle, and after the liquid level in the sampling bottle reaches the position of the liquid level sensor, the sampling bottle finishes seawater sampling, and the sampling pump stops working;
the driving assembly drives the winding drum to reversely rotate to retract the water intake pipe;
s6, repeating the steps S2 to S5, sequentially completing the seawater sampling of the other secondary water taking points, returning the unmanned ship, and taking out the sampling bottle filled with the seawater from the unmanned ship by staff.
2. The unmanned shipborne seawater sampling method of claim 1, wherein after the lower port of the water intake pipe is filled with water in the S3, the CTD counterweight body collects water depth data in real time and sends the data to the controller through the communication cable and the electric slip ring assembly, and the CTD counterweight body is used for measuring the water filling depth of the lower port of the water intake pipe;
when the water inlet depth of the lower port of the water intake pipe is smaller than the set depth, the controller enables the winding drum to continuously rotate to lower the water intake pipe through the instruction, when the water inlet depth of the lower port of the water intake pipe is equal to the set depth, the CTD counterweight body sends a signal to the controller, the controller records the water intake pipe depth, and enables the winding drum to stop rotating through the instruction, and the lower port of the water intake pipe is kept at the set depth position.
3. The unmanned shipborne seawater sampling method of claim 2, wherein the controller determines that the depth of entry of the lower port of the intake pipe changes near the set depth under the influence of the flow of seawater after the lower port of the intake pipe has reached the set depth;
when the absolute value of the difference between the water inlet depth of the lower port of the water intake pipe and the set depth is smaller than 0.5cm, the winding drum keeps a static state;
when the lower port of the water intake pipe is positioned below the set depth and the difference between the water inlet depth and the set depth is larger than 0.5cm, the controller enables the winding drum to rotate to extract the water pipe through instructions, and when the distance between the lower port of the water intake pipe and the set depth is smaller than 0.5cm, the winding drum stops rotating;
when the lower port of the water intake pipe is positioned above the set depth and the difference between the water inlet depth and the set depth is larger than 0.5cm, the controller enables the winding drum to rotate the lower water intake pipe through instructions, and when the distance between the lower port of the water intake pipe and the set depth is smaller than 0.5cm, the winding drum stops rotating;
the flushing pump and the sampling pump stop working under the rotating state of the winding drum.
4. The unmanned shipborne seawater sampling method of claim 1, wherein each two-way electromagnetic valve arranged between the sampling bottle and the water inlet main pipe is arranged close to the outer side wall of the water inlet main pipe, and the signal end of each two-way electromagnetic valve is respectively connected with the signal of the controller;
and S4, before the adjustable throttle valve is opened, all two-way electromagnetic valves between the sampling bottle and the main water inlet pipe are kept in a closed state, and the time for flushing the main water inlet pipe is controlled by adopting time delay.
5. The unmanned shipborne seawater sampling method of claim 1, wherein the water intake pipe is arranged on the circumferential surface of the winding drum, one end of the water intake pipe is fixedly and hermetically connected with the hollow rotating shaft, the lower port of the water intake pipe is provided with a CTD counterweight body, and the CTD counterweight body is in communication connection with the control unit through the electric slip ring assembly;
the water intake pipe adopts a soft rubber pipe with a framework, and the communication cable is fixed on one side of the inner wall of the water intake pipe;
the CTD counter weight body comprises a counter weight and a CTD sensor, the counter weight is fixed on the outer side of the lower port of the water intake pipe, the CTD sensor is fixed on the counter weight in an embedded mode, and the signal end of the CTD sensor is electrically connected with the electric slip ring assembly through a communication cable.
6. The unmanned shipborne seawater sampling method of claim 1, wherein a stator sleeve is arranged between the hollow rotating shaft and the rotor flange cover, the electrical slip ring assembly is arranged between the stator sleeve and the inner wall of the rotor flange cover, and in addition, the static end flange is in rotary sealing connection with the hollow rotating shaft through the stator sleeve;
the hollow rotating shaft and the winding drum are coaxially arranged and synchronously rotate, and the other end of the water intake pipe enters the inside of the hollow rotating shaft through a perforation positioned on the winding drum and is fixedly and hermetically connected with one end of the hollow rotating shaft.
7. The unmanned shipborne seawater sampling method of claim 1, wherein the stator sleeve is a cylinder with a stepped hole inside, and the stator sleeve and the hollow rotating shaft are coaxially and oppositely arranged;
the stator sleeve is in running fit with the hollow rotating shaft through a ball bearing and a self-lubricating bearing which are arranged along the axial direction, and the ball bearing is positioned on one side of the stator sleeve, which is close to the closed end of the rotor flange cover.
8. The unmanned shipborne seawater sampling method of claim 1, wherein a lip seal ring is arranged on the inner side of the stator sleeve, the lip seal ring is positioned between the ball bearing and the self-lubricating bearing, and a first sealing filler is arranged between the lip seal ring and the ball bearing;
an annular baffle and a second sealing filler are axially arranged between the self-lubricating bearing and the static end flange, the annular baffle is positioned between the second sealing filler and the self-lubricating bearing, and a compression plate and a sealing gasket are arranged between the second sealing filler and the end face of the static end flange;
one end of the static end flange is embedded into the inner side of the stator sleeve and is connected with the stator sleeve in a sealing way through bolts, one side of the compacting plate is tightly propped against the side wall of the second sealing filler, and the inner wall of the sealing gasket is attached to the circumferential outer wall of the hollow rotating shaft.
9. The unmanned shipborne seawater sampling method of claim 1, wherein the electrical slip ring assembly comprises a rotor insulation sleeve, an electric brush, a stator insulation sleeve and a conductive metal ring, wherein the rotor insulation sleeve is arranged on the circumferential inner wall of a rotor flange cover, the stator insulation sleeve is fixedly embedded on the outer side of a stator sleeve, and an annular gap is formed between the stator insulation sleeve and the rotor insulation sleeve;
the inner wall of the rotor insulating sleeve is provided with a plurality of electric brushes which are arranged at intervals along the axial direction of the rotor insulating sleeve, the other end of the communication cable penetrates out of the hollow rotating shaft, and the core wire of the communication cable is respectively connected with each electric brush;
the outside of the stator insulating sleeve is provided with conductive metal rings which are equal to the brushes in number and correspond to the brushes one by one in position, each brush is respectively kept in contact with the corresponding conductive metal ring, and each conductive metal ring is electrically connected with the control unit through another communication cable.
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| CN202311343177.7A CN117330361A (en) | 2023-10-16 | 2023-10-16 | Unmanned ship-borne seawater sampling method |
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| CN202311343177.7A CN117330361A (en) | 2023-10-16 | 2023-10-16 | Unmanned ship-borne seawater sampling method |
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