1721results about How to "Improve sampling efficiency" patented technology

The invention discloses detection equipment and a detection method. The detection equipment comprises a sampling device used for collecting a sample to be detected, a preprocessing sample injection device used for preprocessing the sample from the sampling device, and a sample analysis device used for separating the preprocessed sample from the preprocessing sample injection device and analyzing the separated sample. The detection equipment is miniaturized, can quickly and accurately detect gas-phase matters or particulate matters without unpacking, and is high in accuracy and suitable for security check of airports, ports, metro stations and the like.

The invention relates to methods and systems for modifying agents using fluidic fractionation chambers.

The invention relates to a sediment sampler for sampling bottom sediments under the water, in particular to a rotary sealing bottom type superficial layer in-situ sediment sampler. The sediment sampler comprises a sample bailer and is characterized by further comprising a casing pipe, a half cone-shaped underseal, a separation piece, a rotating shaft and a soft spring, wherein the casing pipe is connected with the top of the sample bailer and located on the outer side of the sample bailer, the bottom of the sample bailer is coated by the half cone-shaped underseal, the separation piece is arranged in the sample bailer, the bottom of the rotating shaft is connected with the half cone-shaped underseal, the soft spring is connected with the top of the rotating shaft, the rotating shaft is located in the sample bailer and the casing pipe, and the end portion of the soft spring extends to the outside of the casing pipe to be provided with a rotating handle. The soft spring can be rotated to drive the rotating shaft and the half cone-shaped underseal to rotate, during sampling, firstly the sample bailer is pressed into sediments, then the handle of the soft spring is rotated to enable the half cone-shaped underseal to rotate for 180 degrees to seal a sediment sample, and the sample bailer is lifted to obtain a complete semi-cylindrical sediment sample. The rotary sealing bottom type superficial layer in-situ sediment sampler has the advantages of being simple in operation, high in adaptability and sampling efficiency, small in sediment sample disturbance, convenient to take along and the like, and is particularly suitable for the in-situ accurate sampling of sediment samples of shallow water surface layers.

The invention relates to a river deposit columnar sampling device. The river deposit columnar sampling device consists of a force-applying handle, a connecting rod, a top cover, a gland, a hinge, a sampling outer pipe, a sampling inner pipe, a sampling cutter, screws and a sealing device, wherein an elliptic connecting hole on the force-applying handle is sleeved at an elliptic solid end at one end of the connecting rod and is fixed by the screws; the other end of the connecting rod is connected with the top cover through a threaded connection hole; the top cover is fixedly connected with the sampling outer pipe; the sampling inner pipe is arranged inside the sampling outer pipe; the sampling cutter is connected with an internal thread arranged on the inner wall of the sampling outer pipe through an external thread arranged on the sampling cutter; the sealing device is arranged between the gland and a water outlet in the top cover; and the gland is arranged on the top cover through the hinge. The river deposit columnar sampling device has a simple structure, is easy to operate, is convenient to carry, realizes batch sampling by directly replacing the sampling inner pipe, has high sampling efficiency, is suitable for field operation, and has relatively high practical value and wide application prospects in the technical field of ecological environment protection.

The invention discloses a method for determining in situ injection repair diffusion radiuses of contaminated soil and underground water. According to the method, points are distributed according to a triangle method, pitch-row is designed to be perpendicular to the flowing direction of the underground water, array pitch is in the flowing direction of the underground water, and the flow expansion of a repair reagent in the underground water within the reaction effective time is taken into account. The method comprises three steps: firstly, observation method: the repair reagent and a definite proportion of bromide ion serving as tracers are simultaneously injected into an aqueous stratum in the condition of high pressure whirl spraying injection. The diffusion of the reagent is judged by observing the phenomena of grout return and grout leaking between adjacent injection points; secondly, bromide ion tracer method: after the completion of injection, underground water depth setting rapid sampling is performed, the concentration of the tracers is rapidly detected in field, and the concentration of the bromide ion in the underground water is compared with a background value; thirdly, bromide ion tracer method and observation method: the optimum diffusion radiuses are determined through synthetic judgment. The method is applied to optimal design of diffusion radiuses and hole arrangement parameters and monitoring of injection effect in soil and underground water in situ injection tests and repair construction.

The invention discloses a cylinder type soil sampling device for detection. The cylinder type soil sampling device comprises a transverse plate and a sampling cylinder, wherein a spiral shaft is arranged between a top plate and the transverse plate; a bearing is arranged at the side wall of a lifting rod; a slide sleeve is arranged on the spiral shaft, and is connected with the spiral shaft in a thread matching way; the outside wall of the slide lifting rod is connected with the inner wall of a rotary sleeve pipe through a spline; the interior of the side wall of the sampling cylinder is provided with an annular cavity which is coaxial with the sampling cylinder; an annular press plate is arranged at the bottom part of the annular cavity; a plurality of inclined through holes are formed inthe inside wall of the annular cavity; a guide rod is arranged in each inclined through hole, the upper end of each guide rod is connected with the inclined surface of an annular press plate througha slide mechanism, and the lower side of the annular press plate is connected with the bottom wall of the annular cavity through a reset spring. The cylinder type soil sampling device has the advantages that the structure is simple, the sampling efficiency is higher, the bending and breaking of the sampling cylinder are avoided, the disengaging from the sampling cylinder due to moving-up of sampling soil is avoided, the labor intensity is lower, the operation is simple and convenient, and the practicality is stronger.

The invention relates to an unmanned aerial vehicle device for automatic water sampling and a sampling method. The unmanned aerial vehicle device comprises an unmanned aerial vehicle aircraft main body, an unmanned aerial vehicle supporting leg arranged on the side face of the unmanned aerial vehicle aircraft main body and an energy and control unit. The unmanned aerial vehicle device also comprises a mounting bracket arranged on the lower side of the unmanned aerial vehicle aircraft main body. An automatic water sampling unit is mounted on the mounting bracket. Driven by a stepping motor, a rotary guide shaft rotates to a position of a sampling bottle; and a water sample is imported into the sampling bottle successively through a sampling pump, a sampling hose and a groove flow guide mechanism. The unmanned aerial vehicle device provided by the invention can successively collect a plurality of sampling point water samples in a working period, so that synchronous analysis after the samples are returned is facilitated; furthermore, the sampling efficiency is increased, and the sample collecting quantity can be set flexibly according to the demand and the water sample collecting depth every time can be controlled flexibly, so that water samples in different regions or drainage basins are quickly and automatically collected.

The invention relates to a modularized multifunctional intelligent underwater sampler, which comprises a sealed cylinder, an upper end cover, a lower end cover, electrical plugs, a butt joint plate, a modularized hydraulic cylinder type liquid sampler, a modularized grab type sampler, an underwater camera, underwater lamps and a control module; wherein: the lower end cover is sealed at the lower part of the sealed cylinder, the modularized hydraulic cylinder type liquid sampler, the modularized grab type sampler and the underwater camera are fixed on the lower end cover, the underwater lamp is fixed outside the sealed cylinder, the upper end cover is sealed in the upper part of the sealed cylinder, the butt joint plate is fixed on the upper end cover, the electrical plugs pass through thebutt joint plate and the upper end cover, and are connected with the control module in the sealed cylinder, the control module is embedded and fixed in the space among the modularized hydraulic cylinder type liquid sampler, the modularized grab type sampler and the sealed cylinder, and is connected with the driving motors of two samplers and the underwater camera through wires. The invention has the advantages of modularized structure and diversified function, and is capable of being carried on an underwater vehicle for completing a plurality of sampling tasks.

The invention relates to an unmanned ship device and sampling method for automatic sampling of the water quality. The unmanned ship device comprises an unmanned ship body, an energy and control unit arranged in a bin of the unmanned ship body, and an automatic water quality sampling unit. The automatic water quality sampling unit comprises a sampling bottle, a supporting body mechanism for installation of the sampling bottle, a sampling pump arranged on the outer side of the unmanned ship body, a sample hose connected with the sampling pump, and an oscillating arm water-fetching mechanism forcontrolling the sampling hose to rotate. The oscillating arm water-fetching mechanism comprises a hollow pipe nested on the outer side of the tail section of the sampling hose, and a first stepping motor connected with the end, close to the sampling pump, of the hollow pipe. By means of the unmanned ship device and sampling method for automatic sampling of the water quality, water quality samplesof multiple sampling sites can be collected sequentially in a working cycle, the samples can be analyzed synchronously after being sent back, the sampling efficiency is further improved, and water quality samples of different areas or watersheds can be conveniently, quickly and automatically collected.

The invention discloses a drilling grabbing shovel type combined sampler device for planetoid detection and a use method of the drilling grabbing shovel type combined sampler device. The device comprises a feeding mechanism, a drilling mechanism, a grabbing shovel mechanism and a mounting plate. The use method comprises the following steps of (1) resetting a motor; (2) checking the motor; (3) performing sampling by a grabbing shovel motor; (4) detecting a shovel; (5) rotating a drilling rod to downwards move; (6) checking the drilling rod; (7) lifting the drilling rod; (8) checking the drilling rod; (9) performing sampling; (10) checking a sampling pipe; (11) enabling the drilling mechanism to upwards move; (12) checking a micro switch contact; (13) stopping a feeding motor; (14) checking a sampler; (15) arranging samples; (16) checking the shovel; (17) arranging the samples; (18) checking the sampling pipe; and (19) performing resetting. According to the drilling grabbing shovel type combined sampler device for planetoid detection and the use method of the drilling grabbing shovel type combined sampler device, sample collection can be realized on the surface of a planetoid, and deep sampling can be executed; bedding information of the samples can be kept; the device has the advantages of large sampling amount, various sample types, retention of original appearances of the samples and the like.

The invention discloses a whole process management and control-based environment sampling management system and method. The system comprises an environment sampling whole process management system, a laboratory data management system, a background database management system, one or more embedded system secondary development-based field sampling handheld management terminals, one or more cloud information distribution systems, one or more directed wireless data reception / transmission ends, one or more remote sampling terminals and one or more remote sampling tools, wherein the one or more cloud information distribution systems are supplied to the public for accessing environment sampling test data and reports, and the one or more directed wireless data reception / transmission ends are used for field short-distance data transmission. According to the system and method disclosed by the invention, the whole process management and control in an environment sampling process can be realized by utilizing technological means such as real-time video uploading, two-dimensional code encryption and task pushing.

The invention provides a testing method for the content of a coal seam methane sampled under a negative-pressure environment. The testing method comprises the following steps: sampling, namely carrying out in-situ measurement on the methane desorption amount; recording the final in-situ desorption amount V2; determining a methane desorption principle of a coal sample under the negative-pressure environment; carrying out lost methane amount calculation, namely calculating the loss amount V1 according to the measured methane desorption principle of the coal sample under the negative-pressure environment; carrying out residual methane amount laboratory determination, namely heating the coal sample in a sealed state and degassing in vacuum; testing the first-time degassing amount V3; crushing the coal sample by a ball grinding mill and degassing to determine the second-time degassing amount V4; carrying out gas component analysis in the degassing process; and determining the content X of the coal seam methane according to the V1, the V2, the V3 and the V4, and the weight m of the coal sample. The testing method for the content of the coal seam methane sampled under the negative-pressure environment is simple and feasible and particularly has important theoretical values and actual meanings on the desorption amount and the desorption principle of methane under the negative-pressure environment when negative-pressure pumping-out type spot sampling is carried out; the accuracy and the reliability of testing data can be greatly improved and theoretical data are provided for the coal mine safety production.

The invention discloses a path-based knowledge graph embedding method, which comprises the following steps of for a given single knowledge graph or a joint knowledge graph consisting of two knowledgegraphs, firstly sampling the given single knowledge graph by using a partial random walk method; next, modeling the obtained sampling path by using a new jumping cyclic network, so that the network can overcome the defect that the traditional cyclic neural network cannot identify the knowledge graph structure while effectively learning the dependency among elements in the path. For the output of the jump recurrent neural network, a type-based noise comparison estimation method is adopted to efficiently evaluate the loss of the network, and iteration is carried out in a feedback updating mode to carry out training. Compared with the prior art, the knowledge graph embedding trained by the method has the advantages of high expressibility, strong generalization ability and the like, and the accuracy and the efficiency of knowledge graph completion and entity alignment can be remarkably improved by applying the method.

The invention relates to a seabed type conical investigating and drilling integrated machine which comprises a tower, a power head, a drilling tool storeroom, a manipulator mechanism, a leveling mechanism, an instrument box, a winch, a drilling tool, a clamp holder and a hydraulic pump. According to the drilling process of a seabed drilling machine, the power head provides the rotation power and realizes the feeding and recycling of the drilling tool through a tower guide rail on the tower; the drilling tool storeroom is arranged on the two sides of the power head and used for storing variousdrilling tools; the drilling tools are automatically stored and fetched through the manipulator mechanism, and the leveling mechanism keeps the drilling tool vertical to the seafloor when the integrated machine works; a core barrel for wire line coring is released and recycled by the winch; and the drilling tool is clamped and removed by the clamp holder. The integrated machine provided by the invention has a scientific and reasonable structure, is simple and convenient to control and safe and reliable to use and is suitable for the large-depth deep hole core sampling on seabed and also for operation on land.

The invention relates to a sampling device for soil detection, in particular to a fast sampling device for soil detection. The fast sampling device for soil detection aims at achieving the technical purposes of being high in sampling efficiency, convenient to move and easy to operate. To achieve the technical purposes, the fast sampling device for soil detection comprises a box, a sliding rail, a first sliding block, a first bearing pedestal, a nut, a first motor, a rotating rod, a large gear, a collecting barrel, an air cylinder, a stop block, one-way feeding pipes and the like, wherein a through hole is formed in the right side of the bottom of the box, the sliding rail is vertically arranged on the upper part of the right side face in the box, the first sliding block is connected to the sliding rail in a sliding mode, and the first bearing pedestal is horizontally connected to the first sliding block. According to the fast sampling device for soil detection, the first motor is adopted for driving, the first motor rotates to make a drill move downwards and carry out drilling at the same time, and meanwhile the one-way feeding pipes are used.

The invention provides a method for estimating power system reliability. The method comprises the steps of (1) initializing the parameters of the power system, (2) calculating the PL(Xi) of each state of the power system, (3) calculating the W(Xi; u, v<k-1>) of each state of the power system, (4) updating the parameters as shown in the description, (5) determining whether the equation rk=PLtotal is satisfied, (6) calculating the dual sampled system load shedding flag as shown in the description and a shed load amount as shown in the description, (7) calculating W(Xi; u, v*), and calculating LOLP and EDNS as well as coefficients of convergence beta LOLP and beta EDNS, (8) determining whether beta LOLP is smaller than or equal to beta MAX and beta EDNS is smaller than or equal to beta MAX or N2 is greater than or equal to NMAX, and (9) outputting a reliability index. The method for estimating the power system reliability is still efficient and reliable in the reliability estimation of a reliable system having relatively low element failure rate, and therefore, the method is applicable to the reliability estimation of different reliable systems.

The invention relates to an original-state soil sampler comprising a soil sample collecting system and a soil sample pushing system. The original-state soil sampler is characterized in that the soil sample collecting system is formed by connecting a manual handle, an extension rod and a sampling head; the soil sample pushing system is formed by a shoving screw, a shoving rod, a shoving base and a shoving sheet, wherein the shoving screw is connected with the shoving rod inside the extension rod, and the shoving sheet is located inside the sampling head. In the invention, the sampling amount for one time can meet the requirement for monitoring regular pollutant index in soil, thereby greatly improving the sampling efficiency; the sampling head can be easily pushed out of the soil sample so as to ensure convenient and simple discharging process; the sample can be directly pushed out of the sampling head by the shoving sheet without using consumptive materials such as a circular ring, and the like, thereby saving resources; and the original soil level can be maintained and the sampling effect is ensured by controlling the whole process of sampling and discharging effectively.

The invention discloses a drone water sampling device for water quality monitoring. The device comprises a water intake pipe, a transfer pump, a water filling pipe and several sample storage devices. The several sample storage devices are uniformly distributed on a ring support, the inner side of which is provided with a tooth ring. The tooth ring is engaged with driving wheel, which is connected with a driving motor in a transmission way. The water intake pipe is communicated with the water filling pipe through the transfer pump. A water outlet of the water filling pipe is directed at one of the sample storage devices. The driving motor drives the ring support to rotate through the driving wheel. When the ring support rotates a certain angle, the water outlet of the water filling pipe is directed at another sample storage device. The transfer pump and the driving motor are both fixed on a pedestal, which is connected to a drone. By using the drone as a platform, acquisition of a water area's water samples to be observed can be rapidly completed, water samples of multiple sampling points can be acquired by one-time lift-off, and the platform is not directly contacted with the water surface so as to guarantee cleanness of the platform.

The invention relates to an energy consumption monitoring and evaluating system comprising a data collecting module, a control module, a data information processing module, a communication module, and an energy consumption management platform, wherein the data collecting module is used for collecting power energy consumption data, and transmitting the collected data to the data information processing module; the data information processing module calculates the collected power data to obtain an electric energy value, and transmits the electric energy value to the energy consumption management platform; the control module is used for receiving a control command emitted by the data information processing module, and controlling on / off of a power data collecting circuit; the communication module comprises a wired transmission channel, and a wireless transmission channel; the energy consumption management platform comprises a server and a data memory device, and is used for counting and analyzing energy consumption data, forming various energy consumption statistical reports and energy consumption evaluation models according to the analysis result, and guiding the energy conservation and emission reduction work. The energy consumption monitoring and evaluating system has the advantages of being accurate to sample, high in sampling efficiency, scientific and reasonable to evaluate and schedule, and the like; human disturbance factors are completely avoided.

The invention relates to a hydraulic model test method, in particular to a differential density flow model test method suitable for canyon-type reservoirs, belonging to the technical field of hydraulic engineering, and its IPC international patent classification number is E02B 1 / 02. In this test method, tracks are set on both sides of the model, and a sampling bridge that can move upstream and downstream along the track is set on the model. A sampling device composed of a sampling tube and a copper tube is integrated on the probe rod on the sampling bridge. The device is connected, and the negative pressure device includes a water ring pump, an air storage tank and a suction pipe. Through the negative pressure device and the sampling pipes installed at different water depths, it is very convenient and timely to sample multiple sections and different water depths, which improves the sampling efficiency and the validity of the sand content samples, and increases the data volume of the test data. The test accuracy is improved, and the work efficiency is significantly improved.

The invention discloses a sampling device for geotechnical exploration, and belongs to the technical field of geological exploration equipment. The sampling device comprises a base, a stabilizing mechanism, a rock cutting mechanism and a drilling and sampling mechanism; four driving wheels are arranged at the bottom of the base; a supporting frame is arranged on the top of the base; the drilling and sampling mechanism comprises a lifting assembly, a lifting plate and a drilling and sampling assembly; the drilling and sampling assembly comprises a sampling barrel and a connecting frame; a rotating shaft is arranged on the connecting frame; a spiral blade is arranged on the rotating shaft in a sleeved mode; and a drilling head is arranged at the bottom end of the rotating shaft in a sleevedmode. The sampling device has the beneficial effects that the lifting operation of the drilling and sampling assembly can be realized, and the sample can be conveyed to a material collecting hopper byvirtue of the drilling and sampling mechanism; the automatic cutting assembly can be used for cutting and crushing rock samples; and a rotary assembly can drive the automatic cutting assembly to rotate to a proper position, so that the interference of the automatic cutting assembly on the operation of the drilling and sampling mechanism is avoided.

The invention provides a soil sampling and detecting device. The soil sampling and detecting device comprises a box body, a soil sampling mechanism, a supporting adjusting mechanism, a movable adjusting mechanism, a crushing and detecting mechanism, an auxiliary operating mechanism and a limiting mechanism. The movable adjusting mechanism suitable for adjusting and transferring different road surfaces is connected with the bottom of the box body and comprises a hub, a supporting plate, a rectangular inner threaded pipe, a rectangular sleeve, a first bevel gear, a second bevel gear, an outer threaded rod, a T-shaped rotating rod, a circular box, a third rotating shaft and a bent plate. According to the soil sampling and detecting device provided by the invention, the form of the corresponding hub needs to be adjusted in the transferring process for pushing and transferring; the device can be suitable for rolling of different types of road surfaces; and when the road condition of the soil conveying road surface is poor, transferring can be conducted in a manual carrying mode; time and labor are saved in the operation process; the working efficiency is improved; the device is suitablefor transferring of two kinds of road surfaces; and the application range of the transferring process is widened.

The invention relates to an antenna assembly detection method. An antenna tower is a basic structure of the antenna. A set of sub-reflector assembly is respectively arranged on each side of the antenna tower. A feed assembly is respectively arranged below each sub-reflector assembly. The above-mentioned parts are assembled on an assembling platform. Detection systems employed by the detection method are a laser tracker system, a theodolite system and a laser radar system. A space calibration point is arranged, and a spatial calibration process is implemented, such that a coordinate transformation relationship among the three detection systems is determined. One detection system is used for measuring the assembling platform, and for determining the transformation relationship between the assembling platform and an assembling reference coordinate system. When the parts are installed, the parts are installed according to the installation requirements and measuring characteristics. Detection means with lower implementation intensity and higher sampling efficiency is adopted.

The invention relates to a sensor test system and method. The test system comprises a ground power supply module, a sensor module, a data collecting module, a parameter setting module, a sampling rate determining module, a demand determining module, a test module and an output and storage module. The sensor test method includes the steps that the parameter setting module conducts initial setting, test demands are determined, and a voltage signal output by the whole sensor module is collected; the collected voltage signal is input into the test module for testing, and test results are finally analyzed. By means of the sensor test system and method, the no-less-than-250-circuit sensor output voltage is measured, the single-sensor working performance is detected, the requirements that the system test circuit number can be increased and is easily increased can be met, and the test efficiency is high.

Belonging to medical diagnosis, especially the in vitro diagnosis field, the invention discloses a dry type biochemical immune mixed analysis system and a device thereof. The mixed analysis system includes a dry type biochemical and immune detection system able to individually or simultaneously complete biochemical and immune detection, and the system includes mixed type and parallel type two modes. The system device involved in the invention is combined by a support base plate, a reagent strip storage unit, a sample addition unit, a sample unit, a detection unit, and a circuit unit, and includes single reaction disk and double-reaction disk two forms. Specifically, the single reaction disk can complete biochemical and immune analysis mixedly, the double reaction disks correspond to biochemical and immune analysis procedures respectively, and the detection process of the two can be finished integratedly. According to the invention, between-sample pollution is effectively reduced, compared with single biochemical type or immune type, the system and the device greatly increase the number of detection items, and have the characteristics of fast detection speed and small blood collection amount, thus reducing the patient pain in the detection process.

The invention discloses a parameterized-sparse-representation-based single-bit target time delay estimation method of a compressed sensing radar. The method comprises: a possible delay range of a target is discretized; on the basis of a Taylor interpolation method, parameterized sparse representation of a radar echo is carried out at a nearest neighbor delay grid of the target; a single-bit compressed sensing model is constructed; a nearest neighbor delay grid of the target is calculated based on a single-bit compressed sensing sparse reconstruction algorithm; and according to an alternate optimization method, an offset value between the target delay and a nearest neighbor discrete grid and a target reflection coefficient are estimated to complete target delay parameter estimation. Therefore, problems of slow sampling rate, complicated quantization structure and high power consumption of the traditional compressed sensing radar re solved effectively, so that the cost is lowered and thesampling efficiency is improved. Meanwhile, the BIHT algorithm has the low computational complexity; the delay estimation precision obtained by the convex optimization method is high; and the anti-noise performance is good.

The invention relates to a three-dimensional scene reconstruction method based on a statistical model, which comprises the following steps: using a Harris corner detection algorithm to extract the corners in each image and generating a three-dimensional point set X and a camera parameter set M; using a Markov Chain Monte Carlo(MCMC) method to estimate the match probability among the image corners and the three-dimensional points and subjecting the image corners to weighted mean by using the match probability between the image corners and the three-dimensional points to obtain a virtual measuring point matrix V; subjecting the virtual measuring points to projective reconstruction by using a projective factorization algorithm capable of processing occlusion, adding a deterministic annealing algorithm to iteratively solve a global optimal protective reconstruction result, and using a camera self-calibration algorithm based on an absolute dual quadric surface to promote the projective reconstruction to metric reconstruction. The original process of one-time calculation is converted into a process of iterative refinement. Even though a matching relationship is unknown or a primary matching result is bad, a three-dimensional reconstruction result is finally obtained precisely through an iterative feedback method.

The invention discloses an autonomous navigation method of an AUV (Autonomous Underwater Vehicle) based on a FastSLAM (Simultaneous Localization and Mapping) algorithm. The autonomous navigation method comprises the steps that 1) the AUV acquires initial pose and position information through the GPS and a navigation sensor on the water surface; 2) predicting the pose and position and an environmental road sign of the AUV by adopting unscented particle filtering according to latest control variables inputted into the AUV and observation variables of the sensor; 3) generating a proposal distribution function for parameter adaptive adjustment by adopting fading adaptive unscented particle filtering, and sampling in the proposal distribution function; 4) associating the latest observation environment information according to each particle, and updating estimation for each characteristic by adopting unscented Kalman filtering; 5) performing resampling on a particle set by adopting an adaptive partial system resampling method; and 6) performing AUV positioning and map building. The autonomous navigation method can improve the particle sampling efficiency of the Unscented FastSLAM algorithm and reduce the degradation degree of the particles through improving the proposal distribution function and the resampling process of the Unscented FastSLAM algorithm, thereby enabling the consistency of AUV pose and position estimation and the accuracy of autonomous navigation to be greatly improved.

The invention provides an electrolyte analyzer and an automatic sampling method and belongs to the field of medical instruments. The electrolyte analyzer comprises a main unit and a sampling mechanism; the sampling mechanism includes a base as well as an automatic sampling device and automatic sample introduction device arranged on the base, wherein the automatic sampling device includes a sampling frame, a sampling pin, a first driving device that drives the sampling frame to move vertically and horizontally, a sample suction pump that drives the sampling pin to suction a sample, a washing nozzle, and a distribution valve; the automatic sample introduction device includes an automatic sample introduction disc, an automatic sample introduction disc control panel, a second driving device that drives the automatic sample introduction disc to rotate, and a test-tube recognition device; the periphery of the automatic sample introduction disc is provided with a plurality of test-tube clamps for holding test-tubes. Through automatic sampling, equipment utilization rate of the whole process is increased; through automated test-tube recognition and barcode scanning, information acquisition time is greatly shortened and manual cost is greatly reduced.

The invention relates to a split type gas displacement type underground water sampler which comprises a sample containing pipe, an inflation and deflation unit and a water acquirement pipeline; the inflation and deflation unit comprises an air source, an air pipe and an air pressure controller, the upper end of the sample containing pipe is communicated with the inflation and deflation unit, and the water acquirement pipeline comprises a water outlet pipe. The underground water sampler also comprises a sampling unit, wherein the sampling unit comprises a water outlet non-return valve, a tee and a water inlet non-return valve which are sequentially communicated from top to bottom; the water acquirement pipeline also comprises a hose which is communicated with the lower end of the sample containing pipe and a middle outlet of the tee, and the water outlet non-return valve is communicated with the water outlet pipe. The invention solves the technical problems of large disturbance of underground water, existence of a gas spilling phenomenon and the like during sampling. The invention realizes the sampling of the underground water under the conditions of low air pressure and small gas quantity and has the advantage of high sampling efficiency.