Seawater sampling device and positioning sampling system based on unmanned remote control equipment

Abstract

The invention discloses a seawater sampling device and a positioning sampling system based on unmanned remote control equipment, the seawater sampling device comprises a sea surface unmanned ship, the sea surface unmanned ship is communicated with a sample transmission pipeline, an underwater sampling robot comprises an upper sampling robot and a lower sampling robot, the upper sampling robot comprises a shell, the top surface of the shell is provided with a vertical propeller, and the lower sampling robot comprises a vertical propeller; a horizontal propeller is installed on the bottom surface of the shell, the sample transmission pipeline is communicated with the lower sampling robot through a sampling connecting pipe, the lower sampling robot is fixedly connected to the shell, a dysprosium lamp, an underwater sensor and an underwater sampler are installed on the lower sampling robot, and a fixed camera and an LED lamp are installed on the sampling connecting pipe; the sample conveying pipeline comprises an umbilical cable, a gas conveying pipe and a sampling pipe, the gas conveying pipe is communicated with the lower sampling robot, and the sampling pipe is communicated with the sampling connecting pipe. According to the invention, multi-point and multi-depth mobile matrix type monitoring and sampling can be carried out at a specified seabed, the working range is wide, and monitoring and sampling can be carried out on a sea area in a specified space in real time.

Description

Technical Field

[0001] The present invention relates to the technical field of seawater sampling, and in particular to a seawater sampling device and a positioning sampling system based on an unmanned remote control equipment. Background Art

[0002] Sampling of seawater samples plays an important role in marine scientific research. Currently, the traditional sampling methods for marine seawater mainly include free collection and sampling with a sampler. Free collection: directly using a sampling bottle or sampler to collect water samples in the ocean. This method is simple to operate and is suitable for sampling in coastal waters or on ships, but it is affected by the movement of the ocean water body and possible pollutants. Sampling with a sampler: using a special steel bottle sampler, lowering it to a specific depth, opening the valve, and enabling the bottle to automatically collect water samples within a certain time. This method is suitable for collecting water samples at different depths to study the changes in the vertical distribution of seawater. However, its sampling depth is also limited, and each sampling requires stretching the sampler to the sea surface, which is different from the original sampling environment and reduces the representativeness of the sample. It can neither continuously sample seawater at different depths nor conduct real-time monitoring during sampling. The above existing seawater sampling methods cannot meet the requirements of multi-point and multi-depth seawater sampling.

[0003] Therefore, a seawater sampling device and a positioning sampling system based on an unmanned remote control equipment are proposed to solve the above problems. Summary of the Invention

[0004] The purpose of the present invention is to provide a seawater sampling device and a positioning sampling system based on an unmanned remote control equipment to solve the problems existing in the above prior art.

[0005] To achieve the above purpose, the present invention provides the following solutions: The present invention provides a seawater sampling device and a positioning sampling system based on an unmanned remote control equipment, including:

[0006] A surface unmanned boat, a sample transmission pipeline is connected to the surface unmanned boat, the surface unmanned boat is connected to an underwater sampling robot through the sample transmission pipeline. The underwater sampling robot includes an upper sampling robot and a lower sampling robot. A protection bracket is fixedly connected to the bottom surface of the upper sampling robot. The upper sampling robot includes a housing. A vertical thruster is installed on the top surface of the housing, a horizontal thruster is installed on the bottom surface of the housing. A sampling connection pipe and a movable camera are installed on the housing. The sample transmission pipeline and the lower sampling robot are connected through the sampling connection pipe. The lower sampling robot is fixedly connected to the housing. A dysprosium lamp, an underwater sensor, and an underwater sampler are installed on the lower sampling robot. A fixed camera and an LED lamp are installed on the sampling connection pipe;

[0007] The sample transfer pipeline includes an umbilical cable, a gas pipeline, and a sampling pipe. The gas pipeline is connected to the lower sampling robot, and the sampling pipe is connected to the sampling connection pipe.

[0008] Preferably, the underwater sensor includes a water quality sensor and a temperature and pressure sensor, and both the water quality sensor and the temperature and pressure sensor are installed on the lower sampling robot.

[0009] Preferably, the underwater sampler includes an underwater sampling pipe and a sampling filter pipe. The underwater sampling pipe is installed on the lower sampling robot, and the sampling filter pipe is installed inside the underwater sampling pipe.

[0010] Preferably, a fixed baffle is installed on the protective bracket.

[0011] The present invention discloses the following technical effects: The present invention adopts a suspended pipeline, a gas-liquid mixed fluid drive, a sampling control system, and a sample selection and installation. It uses a bubble mixed fluid to carry the mixed fluid in seawater (reducing the pipeline load and preventing the suspended pipeline from bending and blocking). The pipeline is connected to an unmanned surface vessel on the water surface and conducts continuous sampling. It can sample at multiple points and multiple depths in a matrix pattern in a specified sea area, completely sampling and analyzing the components and properties of seawater in a rectangular space. Various sensors can be installed on the sample sampler, and the unmanned surface vessel provides power. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required to be used in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0013] Figure 1 It is a schematic structural diagram of the seawater sampling device and the positioning sampling system based on an unmanned remote control equipment of the present invention;

[0014] Figure 2 It is a schematic structural diagram of the sample transfer pipeline of the present invention;

[0015] Figure 3 It is a right view of the underwater sampling robot of the present invention;

[0016] Figure 4 It is a left view of the underwater sampling robot of the present invention;

[0017] Figure 5 It is a top view of the underwater sampling robot of the present invention;

[0018] Among them, 1. unmanned surface vessel; 2. sample transmission pipeline; 21. umbilical cable; 22. gas transmission pipe; 23. sampling pipe; 3. underwater sampling robot; 301. sampling connection pipe; 311. vertical thruster; 312. horizontal thruster; 321. upper sampling robot; 322. lower sampling robot; 323. protection bracket; 324. fixed baffle; 331. fixed camera; 332. movable camera; 341. LED lamp; 342. dysprosium lamp; 35. underwater sensor; 351. water quality sensor; 352. temperature and pressure sensor; 36. underwater sampler; 361. underwater sampling pipe; 362. sampling filter pipe. Detailed implementation manners

[0019] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0020] To make the above objects, features, and advantages of the present invention more obvious and understandable, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific implementation manners.

[0021] Referring to Figures 1-5 , the present invention provides a seawater sampling device and a positioning sampling system based on unmanned remote control equipment, including:

[0022] An unmanned surface vessel 1, a sample transmission pipeline 2 is connected to the unmanned surface vessel 1, the unmanned surface vessel 1 is connected to an underwater sampling robot 3 through the sample transmission pipeline 2. The underwater sampling robot 3 includes an upper sampling robot 321 and a lower sampling robot 322. A protection bracket 323 is fixedly connected to the bottom surface of the upper sampling robot 321. The upper sampling robot 321 includes a housing. A vertical thruster 311 is installed on the top surface of the housing, a horizontal thruster 312 is installed on the bottom surface of the housing, a sampling connection pipe 301 and a movable camera 332 are installed on the housing. The sample transmission pipeline 2 and the lower sampling robot 322 are connected through the sampling connection pipe 301. The lower sampling robot 322 is fixedly connected to the housing. A dysprosium lamp 342, an underwater sensor 35 and an underwater sampler 36 are installed on the lower sampling robot 322. A fixed camera 331 and an LED lamp 341 are installed on the sampling connection pipe 301;

[0023] The sample transmission pipeline 2 includes an umbilical cable 21, a gas transmission pipe 22 and a sampling pipe 23. The gas transmission pipe 22 is connected to the lower sampling robot 322, and the sampling pipe 23 is connected to the sampling connection pipe 301.

[0024] In this device, the unmanned surface vessel is used to receive and send remote transmission signals, provide power for the underwater robot to take samples, release the sampling robot underwater after moving to the designated sea area, control the sampling robot to move in the sea water, and receive and store the samples transmitted by the underwater robot.

[0025] The sample transmission pipeline 2 is used to transmit the samples taken by the underwater sampling robot 3, and at the same time provide power for the underwater sampling robot 3. Except for the umbilical cable for transmitting the power line which is made of metal material, other pipeline materials can be organic materials such as metal or plastic. The diameter of the umbilical cable 21 is about 1 / 4 inch, and the diameters of the gas transmission pipe 22 and the sampling pipe 23 can be 1 / 4, 1 / 8 or 1 / 16 inch according to requirements; the gas transmission pipe 22 and the sampling pipe 23 can provide additional buoyancy to ensure that the sample transmission pipeline floats in the sea water when the underwater robot moves underwater for sampling. The sample transmission pipeline 2 can achieve the suspension state of the pipeline during the whole sampling process by fixing and installing floats on the pipeline and changing the density of the fluid in the pipeline when sampling.

[0026] The umbilical cable 21 provides power or signals for the underwater sampling robot 3; the gas transmission pipe 22 provides high-pressure gas for the underwater robot during sampling, and the gas source is the high-pressure gas cylinder or air pressurizing pump on the unmanned surface vessel 1; after the underwater robot takes samples, the sampling pipe 23 transmits the samples to the unmanned surface vessel in the form of a uniform gas-liquid-solid mixed bubble flow, which can prevent the pipeline from sinking due to the excessive gravity of the samples during the movement of the underwater robot, ensuring that the sampling pipeline can normally float in the sea water.

[0027] The underwater sampling robot 3 takes samples by absorbing sea water at the designated ocean and designated depth, and can move underwater for sampling; the sampling robot is equipped with sensors to monitor the composition and state of the samples in real time.

[0028] The sampling connection pipe 301 is used to connect the sample transmission pipeline 2 and the underwater sampling robot 3.

[0029] The lower sampling robot 322 is the main component for sampling work. It can generate bubbles to drive the mixed-flow samples to be transported to the water surface, and can also flush the internal pipeline of the underwater sampler.

[0030] The function of the protection bracket 323 is to protect and fixedly support the underwater robot.

[0031] The function of the fixed camera 331 is to navigate and position the underwater robot and provide a fixed observation field of view for the underwater robot; the movable camera 332 consists of an external protective cover and an internal camera. The internal camera can move in the horizontal and vertical directions to provide a movable observation field of view for the underwater robot.

[0032] The LED lamp 341 provides an underwater light source for the robot, and the dysprosium lamp 342 provides an additional large-range underwater light source when the underwater lighting environment is poor.

[0033] For a further optimized solution, the underwater sensor 35 includes a water quality sensor 351 and a temperature and pressure sensor 352, and both the water quality sensor 351 and the temperature and pressure sensor 352 are installed on the lower sampling robot 322.

[0034] The underwater sensor 35 monitors the real-time state of the seawater and assists in sampling; the water quality sensor 351 monitors real-time data such as the pH, ORP, and conductivity of the seawater; the temperature and pressure sensor 352 monitors the real-time temperature and pressure of the seawater.

[0035] For a further optimized solution, the underwater sampler 36 includes an underwater sampling tube 361 and a sampling filter tube 362. The underwater sampling tube 361 is installed on the lower sampling robot 322, and the sampling filter tube 362 is installed inside the underwater sampling tube 361.

[0036] The underwater sampling tube 361 is a channel for the seawater mixed sample to enter the sampling robot; the sampling filter tube 362 filters the seawater mixed sample entering the underwater sampling tube to prevent large particle samples and large plankton from entering the pipeline and blocking the pipeline.

[0037] For a further optimized solution, a fixed baffle 324 is installed on the protection bracket 323.

[0038] External components can be installed inside the fixed baffle 324 to reinforce the protection bracket.

[0039] The working principle of this device is that seawater enters the lower sampling robot 322 through the underwater sampling tube 361. The lower sampling robot 322 can generate bubbles and mix them into the sampled seawater, and drive the mixed flow sample to enter the sampling tube 23 through the sampling connection tube 301, and then enter the sea surface unmanned boat 1 through the sampling tube 23.

[0040] The present invention adopts a suspended pipeline, gas-liquid mixed fluid drive, sampling control system and sample selection and installation. It uses a bubble mixed fluid to carry the mixed fluid in the seawater (reducing the pipeline load and preventing the suspended pipeline from bending and blocking). The pipeline is connected to the sea surface unmanned boat and continuous sampling can be carried out. It can sample at multiple points and multiple depths in a matrix form in a specified sea area, completely sample and analyze the composition and properties of the seawater in a rectangular space. Various sensors can be installed on the sample sampler, and the unmanned boat provides power.

[0041] The sea surface unmanned boat 1 of the present invention is connected to the underwater sampling robot 3 through a self-balancing transmission pipeline, and can move in a matrix form to monitor and sample at multiple points and multiple depths on the specified seabed. It has a wide working range and can monitor and sample the sea area of a specified space in real time.

[0042] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the present invention.

[0043] The embodiments described above are only descriptions of the preferred embodiments of the present invention, and do not limit the scope of the present invention. Without departing from the design spirit of the present invention, various deformations and improvements made by those of ordinary skill in the art to the technical solutions of the present invention shall fall within the protection scope determined by the claims of the present invention.

Claims

1. A seawater sampling device and a positioning sampling system based on unmanned remote control equipment, characterized in that: include: An unmanned sea surface boat (1), the unmanned sea surface boat (1) being connected to a sample transmission pipeline (2), the unmanned sea surface boat (1) being connected to an underwater sampling robot (24) via the sample transmission pipeline (2), the underwater sampling robot (24) comprising an upper sampling robot (321) and a lower sampling robot (322), the bottom surface of the upper sampling robot (321) being fixedly connected to a protective bracket (323), the upper sampling robot (321) comprising an outer shell, the top surface of the outer shell being equipped with a vertical thruster (311), and the bottom surface of the outer shell being equipped with a A horizontal thruster (312), a sampling connection pipe (301) and a movable camera (332) are installed on the housing, the sample transmission pipeline (2) and the lower sampling robot (322) are connected through the sampling connection pipe (301), the lower sampling robot (322) is fixedly connected to the housing, a dysprosium lamp (342), an underwater sensor (35) and an underwater sampler (36) are installed on the lower sampling robot (322), and a fixed camera (331) and an LED lamp (341) are installed on the sampling connection pipe (301); The sample transmission pipeline (2) comprises an umbilical cable (21), an air supply pipe (22) and a sampling pipe (23); the air supply pipe (22) is connected to the lower sampling robot (322); and the sampling pipe (23) is connected to the sampling connecting pipe (301).

2. A seawater sampling device and a positioning sampling system based on unmanned remote control equipment according to claim 1, characterized in that: The underwater sensor (35) comprises a water quality sensor (351) and a temperature and pressure sensor (352), and both the water quality sensor (351) and the temperature and pressure sensor (352) are installed on the lower sampling robot (322).

3. The seawater sampling device and the positioning sampling system based on unmanned remote control equipment according to claim 1 are characterized in that: The underwater sampler (36) comprises an underwater sampling tube (361) and a sampling filter tube (362); the underwater sampling tube (361) is installed on the lower sampling robot (322); and the sampling filter tube (362) is installed in the underwater sampling tube (361).

4. The seawater sampling device and the positioning sampling system based on unmanned remote control equipment according to claim 1 are characterized in that: A fixed baffle (324) is installed on the protection bracket (323).

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