CN214420678U

CN214420678U - Unmanned underwater vehicle for water quality monitoring

Info

Publication number: CN214420678U
Application number: CN202023312789.4U
Authority: CN
Inventors: 陈良
Original assignee: Hangzhou Carboniferous Environmental Protection Technology Co ltd
Current assignee: Hangzhou Carboniferous Environmental Protection Technology Co ltd
Priority date: 2020-12-31
Filing date: 2020-12-31
Publication date: 2021-10-19
Anticipated expiration: 2030-12-31

Abstract

The utility model relates to a water quality testing technical field especially relates to a water quality monitoring is with unmanned underwater vehicle, including the underwater vehicle body, set up the propulsion head at the body front end to and set up the screw at the body afterbody, body bottom surface bilateral symmetry is provided with the balancing weight, and inside sampling device, diverging device, detection device and the drainage device of having set gradually of body, inside reducing mechanism and the filter equipment of being provided with of diverging device, diverging device upper portion is provided with washing unit. This unmanned underwater vehicle can dive deep water department and realize the depth direction and gather the water sample, can increase or change as required and detect sensing module, can open simultaneously or close one or several sensor module as required, and the utility model discloses increased filter equipment and washing unit, made the detection sensor keep clean, it is still higher to ensure to detect the sensor and detect the precision after long-time the use.

Description

Unmanned underwater vehicle for water quality monitoring

Technical Field

The utility model relates to a water quality testing technical field especially relates to a water quality monitoring is with unmanned underwater vehicle.

Background

Water is one of important natural resources on which human beings rely to live, and the quality safety of water is closely related to the production and the life of people, so that the water has direct influence on the physical health of people. At present, China is short of water resources, uneven in distribution and serious in water pollution phenomenon, and treatment efficiency, ecological environment improvement and sustainable development realization need to be improved through scientific and technical means. The water quality monitoring work plays a key role in protecting water resources, controlling water pollution, improving the quality of drinking water and the like. The main measurement indexes are pH value, conductivity, ammonia nitrogen, total phosphorus, CDD, turbidity and the like. The existing sewage quality detection system consists of sewage discharge monitoring points (an image station, a water quality station and a flow station) and a sewage quality online monitoring platform, and can realize automatic sampling, flow online monitoring and main pollution factor online monitoring of enterprise wastewater, urban sewage, rural sewage and aquaculture sewage and snapshot of site conditions; the total pollutant discharge amount in the sewage is mastered in real time, and the automatic transmission of monitoring data is realized; the monitoring point automatically collects, processes, stores and remotely communicates water quality parameters, and the online sewage quality monitoring platform is deployed on a cloud server to collect, arrange and comprehensively analyze data.

At present, the water quality detection of the ocean water mainly adopts the following modes: the method comprises the steps of on-site sampling ship-based or shore-based laboratory analysis, buoy mooring system sensor in-situ detection and continuous sailing instrument detection. The detection of the continuous sailing instrument is a method for extracting a water sample from the original position and automatically detecting the water sample through a sensor or an instrument, has higher data real-time performance than a field sampling analysis method, saves labor and time, has lower maintenance cost than the original position detection method of the sensor, and is easier to control the data quality. And the device can be conveniently carried on scientific research ships, commercial ships or fishing ships, thereby covering most oceans of the world and acquiring precious data. But carry out water quality testing to the area of deep water such as river, lake, sea and carry out water quality testing time, along with the depth of water is big more, it is difficult more to sample, can not in time acquire water quality testing sample fast, the different condition of pH valve can appear in the waters of the different degree of depth, consequently, detect the waters of the different degree of depth, need sample one by one, detect fastly, peracid or the water of excessive alkali can influence sampling device's normal work to long-time the use can cause the detection sensor by impurity cladding, detect the precision not high. The unmanned underwater vehicle is an instrument which is unmanned and navigated underwater by remote control or automatic control, mainly refers to an intelligent system which replaces a diver or a manned small submarine to carry out high-risk underwater operations such as deep sea detection, lifesaving, mine removal and the like, and can also be used for water quality monitoring, so the unmanned underwater vehicle is also called as a diving robot or an underwater robot.

The utility model aims to solve the technical problem that overcome current technical defect, provide a water quality monitoring is with unmanned underwater vehicle, this unmanned underwater vehicle can dive deep water department and realize the direction of depth collection water sample, can increase or change detection sensing module as required, can open simultaneously or close one or several sensor module, and the utility model discloses increased filter equipment and washing unit, made detection sensor keep clean, ensured that detection sensor detects the precision after long-time the use and still higher. Additionally, the utility model discloses an unmanned underwater vehicle can make the screw obtain the protection, is difficult for being twined by debris such as pasture and water under water.

SUMMERY OF THE UTILITY MODEL

The utility model discloses can't follow the sampling in the sea water depth direction among the prior art, the testing result has certain limitation, and long-time the use can cause the detection sensor by the impurity cladding, detect the not high grade shortcoming of precision, provide a water quality monitoring uses unmanned underwater vehicle, this unmanned underwater vehicle can dive deep water department and realize the depth direction and gather the water sample, can increase as required or change and detect sensing module, can open simultaneously as required or close one or several sensor module, and the utility model discloses filter equipment and washing unit have been increased, make the detection sensor keep clean, ensure that the detection sensor detects the precision after long-time the use and still higher.

In order to solve the technical problem, the utility model discloses a following technical scheme can solve: water

Unmanned underwater vehicle is used in quality monitoring, including the underwater vehicle body, set up the propulsion head of underwater vehicle body front end to and set up the screw at the underwater vehicle body afterbody, bilateral symmetry is provided with the balancing weight around the underwater vehicle body bottom surface, inside sampling device, diverging device, detection device and the drainage device of having set gradually of underwater vehicle body, inside reducing mechanism and the filter equipment of being provided with of diverging device, diverging device upper portion is provided with washing unit. Under the common power action of the propelling head, the propeller and the balancing weight, the unmanned submarine advances forward and submerges in deep water, samples and detects after submerging to a specified position and depth, the detection device sends a detection result to the ground control panel, and finally a water sample in the detection cavity is discharged to a water body. The diverging device is used for shunting to each detection sensor module to the water sample of extraction, reducing mechanism and filter equipment smash and filter the bulky impurity that gets into in the diverging device, discharge to the water through drainage device at last, make the pure free from impurity of water sample that gets into diverging device and each detection sensor module, washing unit is used for washing the cleanness to diverging device and each inside detection sensor module, avoids large granule impurity to remain the corrosion unit inner wall.

Preferably, a power module and an obstacle avoidance device connected with the power module are arranged inside the propelling head, the obstacle avoidance device comprises a detection needle and an obstacle avoidance sensor, and a camera is arranged on the propelling head. The power module is used for supplying power to whole device, and the probe is used for surveying whether the place ahead has the barrier of great volume, if there is the barrier, then keeps away barrier sensor and can change the navigation orbit in good time with signal transmission to ground control panel, operating personnel according to the condition. The camera is an underwater high-definition camera, can shoot underwater conditions and upload the underwater conditions to a ground server, and can assist detection personnel to analyze and judge the reason that the water quality of a certain position exceeds the standard so as to find out a specific pollution source when the water quality detection result of the certain position exceeds the standard.

Preferably, the detection device comprises 5 sensor modules connected with the shunt device, and the number of the sensor modules is 5, wherein the sensor modules are a dissolved oxygen detection sensor module, a pH value detection sensor module, a heavy metal detection sensor module, an organic pollutant detection sensor module and a microorganism detection sensor module in sequence. The sensor types with different quantities and accuracies can also be set according to the characteristics of the water quality in different regions and different geographical positions, for example: salinity measuring sensor, chlorophyll measuring sensor, temperature measuring sensor, conductivity measuring sensor, ammonia nitrogen measuring sensor, total phosphorus measuring sensor, CDD measuring sensor, turbidity measuring sensor, etc.

Preferably, one end of the sensor module is connected with the flow dividing device through a first water inlet pipeline, the other end of the sensor module is connected with a first drainage pipeline, and electromagnetic valves are arranged on the first water inlet pipeline and the first drainage pipeline at the two ends of the sensor module. The extracted water sample flows into each sensor module through the flow dividing device, the electromagnetic valves are used for controlling the opening and closing of the sensor modules, if only one parameter needs to be detected, only one corresponding electromagnetic valve needs to be opened, if 5 parameters need to be detected, the corresponding 5 electromagnetic valves need to be opened, the sensor modules and the electromagnetic valves are connected with an external control panel, and a user can selectively open or close any one sensor module according to needs.

Preferably, the sampling device is arranged at the lower end of the side face of the flow dividing device and used for extracting a required sample into the flow dividing device, the sampling device comprises a water pump and a second water inlet pipeline connected with the water pump and the flow dividing device, and a pressure sensor is arranged on the second water inlet pipeline. The water pump is connected with the power module and the control panel, and the water pump is started to pump the water sample at the required position into the flow dividing device through the second water inlet pipe. The pressure sensor calculates the pressure according to the submergence depth of the submersible vehicle, thereby positioning the submergence depth of the submersible vehicle and providing a basis for sampling operation of operators.

Preferably, the drainage device comprises a first drainage pipeline and a second drainage pipeline, the bottom of the flow dividing device is provided with the second drainage pipeline, and the second drainage pipeline is provided with an electromagnetic valve. The first drainage pipeline is connected with the detection sensor module and used for discharging a water sample after detection, and the second drainage pipeline is connected with the flow dividing device and used for discharging residual impurities after flushing from the flow dividing device.

Preferably, a crushing device for crushing large-particle impurities is arranged in a cavity between the flow dividing device and the filtering device, and the crushing device is a rotary blade. Because the situation is different under water of different geographical position, have some major diameter algae and suspended solid to be taken out and to block up diverging device behind the diverging device, and then block up detection sensor module, in order to avoid this kind of condition, set up reducing mechanism between diverging device and filter equipment, smash the back with the impurity of major diameter, through washing of upper portion washing unit, through second drainage pipe discharge device outside.

Preferably, the flushing device comprises a fresh water tank, a flushing pipeline and an electromagnetic valve which are sequentially communicated, and a flushing pump is further communicated and fixed at one end of the flushing pipeline close to the fresh water tank. If need wash diverging device, under control system's effect, flush pump and solenoid valve are opened, wash the impurity in the diverging device, eliminate impurity and the corrosive substance attached to on the diverging device inner wall, protect diverging device and detection sensor module not corroded.

Preferably, a net surface protection cover is arranged outside the propeller. The propeller is easy to be entangled by sundries such as aquatic weeds and the like under water, so that the underwater vehicle cannot return to cause economic loss, and the propeller is protected by the net surface protection cover.

Preferably, the sampling device, the flow dividing device, the detection device, the flushing device, the crushing device and the drainage device are all connected with the power module and the control system.

The utility model discloses owing to adopted above technical scheme, have following apparent technological effect:

(1) the unmanned underwater vehicle can submerge into deep water to realize water sample collection in the depth direction,

(2) the detection sensing modules can be added or replaced according to the needs, one or more sensor modules can be turned on or off simultaneously according to the needs,

(3) the utility model discloses increased filter equipment and washing unit, made the detection sensor keep clean, ensured that the detection sensor detects the precision after long-time the use and still higher.

(4) The utility model discloses an unmanned underwater vehicle can make the screw obtain the protection, is difficult for being twined by debris such as pasture and water under water.

Drawings

Fig. 1 is the overall structure schematic diagram of the unmanned underwater vehicle of the utility model.

Fig. 2 is the internal structure schematic diagram of the unmanned underwater vehicle body of the utility model. Reference numerals in the drawings

The names of the indicated sites are as follows: 1-body; 2-a propulsion head; 21-a power supply module; 22-obstacle avoidance device; 221-a probe needle; 222-obstacle avoidance sensor; 23-a camera; 3, a propeller; 31-mesh surface protective cover; 4-a balancing weight; 5-a sampling device; 51-a water pump; 52-a second water inlet conduit; 53-a pressure sensor; 6-a flow dividing device; 61-a crushing device; 611-rotating blades; 62-a filtration device; 63-a washing device; 631-fresh water tank; 633-flushing the pipeline; 7-a detection device; 71-a sensor module; 711-dissolved oxygen detection sensing module; 712-a pH detection sensing module; 713-heavy metal detection sensing module; 714-organic pollutant detection sensing module; 715-a microorganism detection sensing module; 72-a first water inlet conduit; 73-a solenoid valve;

8-a drainage device; 81-a first drain conduit; 82-second drain line.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples.

As shown in fig. 1-2, an unmanned underwater vehicle for water quality monitoring comprises an underwater vehicle body 1, a propulsion head 2 arranged at the front end of the underwater vehicle body 1, and a propeller 3 arranged at the tail of the underwater vehicle body 1, wherein balancing weights 4 are symmetrically arranged on the front side and the rear side of the bottom surface of the underwater vehicle body 1, a sampling device 5, a flow dividing device 6, a detection device 7 and a drainage device 8 are sequentially arranged in the underwater vehicle body 1, a crushing device 61 and a filtering device 62 are arranged in the flow dividing device 6, and a flushing device 63 is arranged on the upper portion of the flow dividing device 6.

The propulsion head 2 is internally provided with a power module 21 and an obstacle avoidance device 22 connected with the power module 21, the obstacle avoidance device 22 comprises a detection needle 221 and an obstacle avoidance sensor 222, and the upper part of the propulsion head 2 is provided with a camera 23.

The detection device 7 comprises 5 sensor modules 71 connected with the shunt device 6, wherein the 5 sensor modules are a dissolved oxygen detection sensing module 711, a pH value detection sensing module 712, a heavy metal detection sensing module 713, an organic pollutant detection sensing module 714 and a microorganism detection sensing module 715 in sequence.

One end of the sensor module 71 is connected with the flow dividing device 6 through a first water inlet pipeline 72, the other end of the sensor module is connected with a first drainage pipeline 81, and electromagnetic valves 73 are arranged on the first water inlet pipeline 72 and the first drainage pipeline 81 at the two ends of the sensor module 71.

Sampling device 5 sets up in diverging device 6 side lower extreme for in required sample extraction to diverging device 6, sampling device 5 includes water pump 51 and connects water pump 51 and diverging device 6 second inlet channel 52, is equipped with pressure sensor 53 on the second inlet channel.

Drainage device 8 includes first drainage pipe 81 and second drainage pipe 82, diverging device 6 bottom is provided with second drainage pipe 82, is provided with solenoid valve 73 on the second drainage pipe 82. Said division

A crushing device 61 for crushing large-particle impurities is arranged in the cavity between the flow device 6 and the filtering device 62, and the crushing device 61 is a rotating blade 611.

The flushing device 63 comprises a fresh water tank 631, a flushing pipeline 633 and an electromagnetic valve 73 which are sequentially communicated, wherein a flushing pump is further communicated and fixed at one end of the flushing pipeline 633 close to the fresh water tank 631.

The propeller 3 is externally provided with a mesh surface protecting cover 31.

The sampling device 5, the flow dividing device 6, the detection device 7, the flushing device 63, the crushing device 61 and the drainage device 8 are all connected with the power module 21 and the control system.

Under the common power action of the propelling head, the propeller and the balancing weight, the unmanned submarine advances forward and submerges in deep water, samples and detects after submerging to a specified position and depth, the sensor sends a detection result to the ground control panel, and finally a water sample in the detection cavity is discharged to a water body. The extracted water sample flows into each sensor module through the flow dividing device, the electromagnetic valves are used for controlling the opening and closing of the sensor modules, if only one parameter needs to be detected, only one corresponding electromagnetic valve needs to be opened, if 5 parameters need to be detected, the corresponding 5 electromagnetic valves need to be opened, the sensor modules and the electromagnetic valves are connected with an external control panel, and a user can selectively open or close any one sensor module according to needs. The diverging device is used for shunting to each detection sensor module to the water sample of extraction, reducing mechanism and filter equipment smash and filter the bulky impurity that gets into in the diverging device, discharge to the water through drainage device at last, make the pure free from impurity of water sample that gets into diverging device and each detection sensor module, washing unit is used for washing the cleanness to diverging device and each inside detection sensor module, avoids large granule impurity to remain the corrosion unit inner wall.

The above embodiments are only used for illustrating the present invention, and not for limiting the present invention, and those skilled in the relevant technical field can make various changes and modifications without departing from the spirit and scope of the present invention, so that all equivalent technical solutions also belong to the scope of the present invention, and the protection scope of the present invention should be defined by the claims.

Claims

1. The utility model provides a water quality monitoring is with unmanned underwater vehicle which characterized in that: including submarine craft body (1), set up propulsion head (2) of submarine craft body (1) front end, and set up and be in screw (3) of submarine craft body (1) afterbody, both sides symmetry is provided with balancing weight (4) around the submarine craft body (1) bottom surface, inside sampling device (5), diverging device (6), detection device (7) and the drainage device (8) of having set gradually of submarine craft body (1), diverging device (6) inside is provided with reducing mechanism (61) and filter equipment (62), diverging device (6) upper portion is provided with washing unit (63).

2. The unmanned underwater vehicle for water quality monitoring according to claim 1, characterized in that: the device is characterized in that a power supply module (21) and an obstacle avoidance device (22) connected with the power supply module (21) are arranged inside the propelling head (2), the obstacle avoidance device (22) comprises a detection needle (221) and an obstacle avoidance sensor (222), and a camera (23) is arranged on the upper portion of the propelling head (2).

3. The unmanned underwater vehicle for water quality monitoring according to claim 1, characterized in that: the detection device (7) comprises 5 sensor modules (71) connected with the shunt device (6), and the number of the sensor modules (71) is 5, wherein the sensor modules (71) sequentially comprise a dissolved oxygen detection sensing module (711), a PH value detection sensing module (712), a heavy metal detection sensing module (713), an organic pollutant detection sensing module (714) and a microorganism detection sensing module (715).

4. The unmanned underwater vehicle for water quality monitoring according to claim 3, characterized in that: one end of the sensor module (71) is connected with the flow dividing device (6) through a first water inlet pipeline (72), the other end of the sensor module is connected with a first drainage pipeline (81), and electromagnetic valves (73) are arranged on the first water inlet pipeline (72) and the first drainage pipeline (81) at the two ends of the sensor module (71).

5. The unmanned underwater vehicle for water quality monitoring according to claim 1, characterized in that: sampling device (5) set up at diverging device (6) side lower extreme for with required sample extract in diverging device (6), sampling device (5) include water pump (51) and connect second inlet channel (52) of water pump (51) and diverging device (6), be equipped with pressure sensor (53) on second inlet channel (52).

6. The unmanned underwater vehicle for water quality monitoring according to claim 1, characterized in that: drainage device (8) include first drainage pipe (81) and second drainage pipe (82), diverging device (6) bottom is provided with second drainage pipe (82), be provided with solenoid valve (73) on second drainage pipe (82).

7. The unmanned underwater vehicle for water quality monitoring according to claim 1, characterized in that: a crushing device (61) for crushing large-particle impurities is arranged in a cavity between the flow dividing device (6) and the filtering device (62), and the crushing device (61) is a rotary blade (611).

8. The unmanned underwater vehicle for water quality monitoring according to claim 1, characterized in that: the flushing device (63) comprises a fresh water tank (631), a flushing pipeline (633) and an electromagnetic valve (73) which are sequentially communicated, wherein a flushing pump is further communicated and fixed to one end, close to the fresh water tank (631), of the flushing pipeline (633).

9. The unmanned underwater vehicle for water quality monitoring according to claim 1, characterized in that: and a net surface protective cover (31) is arranged outside the propeller (3).

10. The unmanned underwater vehicle for water quality monitoring according to any one of claims 1 to 9, characterized in that: the sampling device (5), the shunt device (6), the detection device (7), the flushing device (63), the crushing device (61) and the drainage device (8) are all connected with the power module (21) and the control system.