Artificial channel bottom mud separation and collection method

Abstract

The invention belongs to the technical field of bottom mud collection, and particularly relates to an artificial channel bottom mud separation and collection method which comprises the following steps: S1, controlling a sampling device to move to a to-be-detected area of an artificial channel; s2, collecting sediments at the bottom of the artificial navigation channel and putting the sediments into a detection chamber of a sampling device to detect the sample type; s3, if the detection sample is in a sandy type or the detection sample is abnormal and does not meet the collection standard, controlling the sampling device to find a new to-be-sampled area and repeating the step S2; if the detection sample is in a bottom mud type and meets the collection standard, performing the step S4; and S4, sampling the bottom mud in the to-be-sampled area, putting the sample into a sampling chamber of the sampling device, and controlling the sampling device to return after sampling is completed. According to the invention, through a separation and collection method of first detection and second sampling, a complex process of laboratory screening after blind collection in traditional sampling is avoided, generation of invalid samples is reduced from the source, the workload of subsequent laboratory analysis is reduced, and the sampling efficiency is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of bottom mud collection, and in particular relates to a method for separating and collecting bottom mud in an artificial waterway. Background Art

[0002] Artificial waterways are crucial infrastructure for water transportation and water conservancy. The composition and properties of their bottom sediments directly impact navigation safety, the aquatic ecosystem, and the ecological balance of surrounding areas. Sediments can accumulate pollutants such as heavy metals and organic matter, and can also develop unique bottom structures due to factors such as waterway maintenance and ship navigation. Therefore, regular collection and testing of artificial waterway sediments is a crucial prerequisite for conducting waterway environmental assessments, pollution control, and ecological restoration.

[0003] At present, the collection of artificial waterway sediment mostly relies on traditional handheld sampling devices, such as grab samplers and column samplers. However, the collected samples may contain a large amount of sandy sediments, which makes it difficult to reflect the pollution and ecological characteristics of the sediment, resulting in a high proportion of invalid sampling. In addition, the type of sediment needs to be determined after sampling and then brought back to the laboratory for analysis. It is impossible to judge in real time at the sampling site whether the bottom sediment meets the collection standards. This leads to a certain probability of taking sediment that meets the requirements. The staff needs to collect several samples and bring them back to the laboratory to ensure that at least one group of samples meets the requirements, which greatly increases the workload of the staff. Summary of the Invention

[0004] In order to solve the problems existing in the above-mentioned prior art, the present invention provides a method for separating and collecting artificial waterway bottom sediment. By adopting the separation and collection method of first detecting and then sampling, the complicated process of blind collection and then laboratory screening in traditional sampling is avoided. By judging and screening the sampling area in real time on site, the generation of invalid samples is reduced from the source, the workload of subsequent laboratory analysis is reduced, and the sampling efficiency is improved.

[0005] The specific technical solution adopted in the present invention is:

[0006] A method for separating and collecting artificial waterway sediment comprises the following steps:

[0007] S1. Place the sampling device into the artificial waterway and control the sampling device to move to the area to be tested in the artificial waterway;

[0008] S2. The sampling device is lowered to the bottom of the artificial channel, and then sediment at the bottom of the artificial channel is collected and placed into the detection chamber of the sampling device to detect the sample type;

[0009] S3. If the sample is sandy or abnormal, it does not meet the collection criteria, control the sampling device to find a new area to be sampled and repeat step S2; if the sample is sediment, it meets the collection criteria, proceed to step S4;

[0010] S4. Then, the bottom mud in the sampling area is sampled and placed in the sampling chamber of the sampling device. After the sampling is completed, the sampling device is controlled to return.

[0011] Furthermore, the sampling device includes a frame and a controller, a communication module, a moving mechanism, a sampling mechanism and a detection mechanism arranged on the frame. The remote control is connected to the controller via the communication module and controls the driving components of the moving mechanism, the sampling mechanism and the detection mechanism.

[0012] Furthermore, the moving mechanism includes a lifting turbine and a propulsion turbine, which are symmetrically arranged on both sides of the frame. At least two groups of lifting turbines and propulsion turbines are arranged on each side of the frame. The power input end of each group of lifting turbines and propulsion turbines is respectively provided with a group of moving motors. The axial direction of the lifting turbine is arranged along the vertical direction, and the axial direction of the propulsion turbine is arranged along the horizontal plane. The axial directions of adjacent propulsion turbines on both sides of the frame are 110-130°.

[0013] Furthermore, the detection mechanism includes a detection cylinder, a detection swing motor and a detection telescopic cylinder. The detection cylinder is hinged to the frame with the help of the detection swing motor and has the freedom to swing. The inner chamber of the detection cylinder is formed as a detection chamber of the sampling device. The inner wall of the detection cylinder near the sampling end opening is hinged with a detection sealing plate. The sampling end opening of the detection cylinder is blade-shaped. The fixed end of the detection telescopic cylinder is fixedly connected to the top of the frame. The telescopic end of the detection telescopic cylinder is connected to a detection piston. The detection end of the detection piston is provided with a pressure sensor. The pressure sensor is connected to the controller. The detection piston is extended into the detection chamber along the detection end opening of the detection cylinder with the help of the detection telescopic cylinder and has the freedom to move back and forth.

[0014] Furthermore, the wall of the detection cylinder has a mesh structure, and the mesh diameter of the wall of the detection cylinder is 1.5-2 mm.

[0015] Furthermore, a gap is provided between the detection piston and the detection cylinder, and the width of the gap is less than or equal to the diameter of the mesh.

[0016] Furthermore, the specific method for testing the sediment type in steps S2-S3 is as follows:

[0017] S201: The detection cylinder is swung to a vertical direction by the detection swing motor, with the sampling end of the detection cylinder facing the bottom of the artificial waterway. The moving mechanism is driven to lower the sampling device, and the detection cylinder is inserted into the bottom sediment of the artificial waterway. The detection sealing plate is pushed by the sediment to expose the detection chamber. When the bottom plate of the sampling device contacts the sediment, the moving mechanism is driven in the reverse direction to raise the sampling device and completely extract the detection cylinder from the sediment. The detection sealing plate is reset and re-seals the sampling end of the detection cylinder.

[0018] S202: Drive the detection telescopic cylinder to extend and drive the detection piston to squeeze the test sample in the test chamber. After the pressure sensor contacts the test sample and reaches the pre-pressure value, stop extending the detection telescopic cylinder. At this time, the distance between the detection piston and the detection sealing plate is recorded as L1;

[0019] S203: The detection piston is reset and separated from the detection chamber by means of the detection telescopic cylinder, and then the output end of the detection swing motor is driven to rotate alternately forward and reverse, causing the detection cylinder to swing. Sediments in the detection chamber that are smaller than the mesh diameter are discharged along the mesh. During the swing, the swing angle between the detection cylinder and the vertical plane is less than 30°.

[0020] S204, turning off the detection swing motor, driving the detection telescopic cylinder to extend again, and the detection piston to squeeze the residual test sample in the detection chamber until the detection telescopic cylinder can no longer extend due to the resistance of the residual test sample. The extension of the detection telescopic cylinder is stopped, and the distance between the detection piston and the detection sealing plate is recorded as L2;

[0021] S205, the detection piston is reset and separated from the detection chamber by means of the detection telescopic cylinder, and then the detection cylinder is reset and becomes horizontal by means of the detection swing motor;

[0022] S3. Determine the sample type based on the numerical relationship between L1 and L2;

[0023] S301. When L2≥0.3L1, it indicates that the sample is sandy and does not meet the collection standard. The sampling device is controlled to move 10-20m, and then steps S201-S205 are repeated.

[0024] S302: When L2 < 0.03L1, it indicates that the sample is abnormal, and the sampling device is controlled to move 0.3-0.5m, and then steps S201-S205 are repeated;

[0025] S303. When 0.03L1≤L2<0.3L1, it indicates that the test sample is of clay type and meets the collection standard, and step S4 is performed.

[0026] Furthermore, the pre-pressure value in step S202 is 5-10 kPa.

[0027] Furthermore, the sampling mechanism includes a sampling tank body and a sampling swing motor. The inner chamber of the sampling tank body is formed as a sampling chamber of the sampling device. The sampling tank body is connected to the frame with the help of the sampling swing motor and has the freedom to swing. The inner wall of the sampling tank body near the sampling opening is hinged with a sampling sealing plate, and the opening of the sampling tank body is blade-shaped.

[0028] Furthermore, the specific method of sampling in step S4 is as follows:

[0029] S401. When the testing agency determines that the sediment type in the sampling area meets the sampling standards, the sampling device is controlled to move 0.1-0.2 m in the opposite direction to the water flow.

[0030] S402: The sampling tank body is swung to a vertical direction by means of a sampling swing motor, with the sampling opening of the sampling tank body facing the area to be sampled. The moving mechanism is driven to lower the sampling device, and the sampling tank body is inserted into the sediment in the sampling area to collect samples. The sampling sealing plate is pushed by the sediment to expose the sampling chamber. When the bottom plate of the sampling device contacts the sediment, the moving mechanism is driven in the reverse direction to raise the sampling device and completely extract the sampling tank body from the sediment. The sampling sealing plate is reset and re-seals the sampling end of the sampling tank body.

[0031] S403, the sampling tank is reset with the help of the sampling swing motor and the sampling is completed.

[0032] The beneficial effects of the present invention are:

[0033] 1. The present invention adopts a separation collection method of first detection and then sampling. The sampling device collects a small amount of sediment before sampling to determine the type, and only samples the areas of sediment type that meet the standards, thereby avoiding the complex process of blind collection and then laboratory screening in traditional sampling. By screening the sampling area in real time on site, the generation of invalid samples is reduced from the source.

[0034] It has achieved targeted separation and collection of artificial waterway bottom mud, significantly improved sampling effectiveness, reduced invalid sampling, reduced the workload of subsequent laboratory analysis, and improved sampling efficiency.

[0035] 2. The present invention also provides a standardized method for determining sediment types, which enables rapid and objective type differentiation, avoids subjective judgment errors, and improves the reliability of sampling area screening.

[0036] The wall of the detection cylinder is a mesh structure. After the sample is collected, the detection piston is used to press the test sample. The bottom mud and sand particles with a diameter smaller than the mesh holes can be discharged through the mesh holes, while the gravel with large particles remains in the detection chamber. By comparing the initial sediment volume in the detection chamber with the sediment volume after squeezing, it is determined whether the sediment type in the area to be sampled is the required sampling type.

[0037] When determining the sample type, if L2 ≥ 30% of L1, it indicates that more than 30% of the material in the test chamber cannot pass through the mesh and be discharged. Therefore, it can be determined that the sediment in the sampling area has a high content of large-grained gravel, and it is necessary to move away from this area and re-sample and test.

[0038] When L2 is less than 3% of L1, it indicates that the test sample in the test chamber has been almost completely discharged. However, the sediment will contain a certain amount of gravel or other large particles of impurities. Therefore, when L2 is too low, there is obviously a problem with the test sample, and the test sample is abnormal.

[0039] When L2 ≥ 3% L1 and < 30% L1, it indicates that the content of small-sized sediment and sand in the detection chamber is relatively high, which meets the sampling requirements, and sampling can be carried out in the area to be sampled. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 Schematic diagram of the method flow of the present invention;

[0041] Figure 2 It is the control diagram of the sampling device;

[0042] Figure 3 It is a front view structural diagram of the sampling device;

[0043] Figure 4 It is a schematic diagram of the top view of the sampling device;

[0044] Figure 5 This is a schematic diagram of the front view structure when sampling the detection cylinder;

[0045] Figure 6 This is a schematic diagram of the cross-sectional structure of the detection cylinder before the detection piston is pressed;

[0046] Figure 7 This is a schematic diagram of the cross-sectional structure of the detection cylinder after the detection piston is pressed;

[0047] Figure 8 This is a schematic diagram of the front view structure of the sampling tank when sampling;

[0048] Figure 9 Schematic diagram of the cross-sectional structure of the sampling tank;

[0049] In the accompanying drawings, 1. frame, 2. controller, 3. pressure sensor, 4. lifting turbine, 5. propulsion turbine, 6. moving motor, 7. detection cylinder, 8. detection swing motor, 9. detection telescopic cylinder, 10. detection sealing plate, 11. detection piston, 12. sampling tank body, 1201, tank body, 1202, cap body, 13. sampling swing motor, 14. sampling sealing plate, 15. mesh, 16. magnet, 17. drainage hole. DETAILED DESCRIPTION

[0050] The present invention will be further described below with reference to the accompanying drawings and specific embodiments:

[0051] Specific embodiments, such as Figure 1 As shown, the present invention provides a method for separating and collecting artificial waterway sediment, comprising the following steps:

[0052] S1. Place the sampling device into the artificial waterway and control the sampling device to move to the area to be tested in the artificial waterway;

[0053] S2. The sampling device is lowered to the bottom of the artificial waterway, and then sediment at the bottom of the artificial waterway is collected and placed into a detection chamber of the sampling device. The detection mechanism of the sampling device tests the type of the test sample in the detection chamber.

[0054] S3. If the sample is sandy or abnormal, it does not meet the collection criteria, control the sampling device to find a new area to be sampled and repeat step S2; if the sample is sediment, it meets the collection criteria, proceed to step S4;

[0055] S4. Then, the bottom mud in the sampling area is sampled and placed in the sampling chamber of the sampling device. After the sampling is completed, the sampling device is controlled to return.

[0056] At present, the collection of artificial waterway sediment mostly relies on traditional handheld sampling devices, such as grab samplers and column samplers. However, the collected samples may contain a large amount of sandy sediments, which makes it difficult to reflect the pollution and ecological characteristics of the sediment, resulting in a high proportion of invalid sampling. In addition, the type of sediment needs to be determined after sampling and then brought back to the laboratory for analysis. It is impossible to judge in real time at the sampling site whether the bottom sediment meets the collection standards. This leads to a certain probability of taking sediment that meets the requirements. The staff needs to collect several samples and bring them back to the laboratory to ensure that at least one group of samples meets the requirements, which greatly increases the workload of the staff.

[0057] Therefore, the present invention adopts a separation collection method of first detection and then sampling. The sampling device first collects a small amount of sediment for type judgment before sampling, and only samples the areas of sediment type that meet the standards, thereby avoiding the complex process of blind collection and then laboratory screening in traditional sampling. By screening the sampling area through real-time on-site judgment, the generation of invalid samples is reduced from the source.

[0058] The present invention realizes the targeted separation and collection of artificial waterway bottom mud, significantly improves the sampling effectiveness, reduces invalid sampling, reduces the workload of subsequent laboratory analysis, and improves sampling efficiency.

[0059] like Figures 2-4 As shown, the sampling device includes a frame 1 and a controller 2, a communication module, a moving mechanism, a sampling mechanism and a detection mechanism arranged on the frame 1. The remote control is connected to the controller 2 via the communication module and controls the driving components of the moving mechanism, the sampling mechanism and the detection mechanism.

[0060] The sampling device of the present invention integrates a PLC controller 2, a communication module, and a drive assembly. The communication module is a cable. The remote control establishes signal transmission with the controller 2 via the cable, realizing remote control of the mobile mechanism, sampling mechanism, and detection mechanism. At the same time, because the water depth of the artificial channel is not too deep, the cable can also be used to recover the sampling device. The operator can use the cable to pull the sampling device directly ashore. The operator can complete the sampling operation without entering the water, avoiding the risks of underwater operations. The device action can be adjusted through remote commands.

[0061] In addition, the frame 1 is also equipped with an underwater camera and a positioning radar. Through the underwater camera, the staff can observe the complex underwater environment and prevent the sampling device from touching sharp rocks during movement. The positioning radar can detect the position of the sampling device in real time to ensure that the sampling device is sampling in the designated area to be sampled.

[0062] like Figures 3-4 As shown, the moving mechanism includes a lifting turbine 4 and a propulsion turbine 5, which are symmetrically arranged on both sides of the frame 1. At least two groups of lifting turbines 4 and propulsion turbines 5 are provided on each side of the frame 1. The power input end of each group of lifting turbines 4 and propulsion turbines 5 is provided with a group of moving motors 6. The axial direction of the lifting turbine 4 is arranged in the vertical direction, and the axial direction of the propulsion turbine 5 is arranged in the horizontal plane. The axial directions of adjacent propulsion turbines 5 on both sides of the frame 1 are 110-130°.

[0063] The lifting turbine 4 is arranged in the vertical direction and is driven by the symmetrically distributed mobile motor 6 to control the lifting action of the device and ensure the stability of settlement and ascent; the propulsion turbine 5 is arranged along the horizontal plane. Through the thrust combination of the propulsion turbines 5 in different directions, the thrust difference is used to generate a steering torque, which can realize the forward, backward and multi-angle steering of the device. When it is necessary to move forward or backward, one group of propulsion turbines 5 on both sides is opened. When it is necessary to turn, only one group of propulsion turbines 5 on one side is opened.

[0064] like Figure 3 and Figures 5-7As shown, the detection mechanism comprises a detection cylinder 7, a detection swing motor 8 and a detection telescopic cylinder 9, the detection cylinder 7 is hinged to the rack 1 by the detection swing motor 8 and has a swing degree of freedom, the inner cavity of the detection cylinder 7 is formed as a detection chamber of the sampling device, the inner wall of the detection cylinder 7 near the sampling end opening is hinged with a detection sealing plate 10, the sampling end opening of the detection cylinder 7 is in the shape of a blade, the fixed end of the detection telescopic cylinder 9 is fixedly connected to the top of the rack 1, the telescopic end of the detection telescopic cylinder 9 is connected with a detection piston 11, the detection end of the detection piston 11 is provided with a pressure sensor 3, the pressure sensor 3 is connected with a controller 2, and the detection piston 11 is inserted into the detection chamber along the detection end opening of the detection cylinder 7 by the detection telescopic cylinder 9 and has a reciprocating moving degree of freedom.

[0065] The cylinder wall of the detection cylinder 7 is in a mesh structure, and the mesh hole 15 of the cylinder wall of the detection cylinder 7 has a diameter of 1.5-2mm.

[0066] The detection swing motor 8 can adjust the angle of the detection cylinder 7, so that the detection cylinder 7 is inserted into the sediment for sampling in cooperation with the blade-shaped sampling end opening. The cylinder wall of the detection cylinder 7 is in a mesh structure, and the mesh hole 15 of the cylinder wall of the detection cylinder 7 has a diameter of 1.5-2mm.

[0067] The detection piston 11 and the detection cylinder 7 are provided with a gap, and the width of the gap is less than or equal to the diameter of the mesh hole 15.

[0068] The gap is used to facilitate the reciprocating movement of the detection piston 11 along the chamber of the detection cylinder 7, avoid the contact between the edge of the detection piston 11 and the inner wall of the detection cylinder 7 to cause jamming, and increase the discharge path of the small particle size sand and silt, so that the sand and silt can be squeezed out along the gap, thereby improving the detection efficiency.

[0069] The specific method for testing the type of silt in steps S2-S3 is as follows:

[0070] S201, the detection cylinder 7 is swung to be in a vertical direction by the detection swing motor 8, the sampling end of the detection cylinder 7 faces the bottom of the artificial channel, the sampling device is lowered by driving the moving mechanism, the detection cylinder 7 is inserted into the sediment at the bottom of the artificial channel, the detection sealing plate 10 is exposed from the detection chamber by the pushing of the sediment, after the bottom plate of the sampling device contacts with the sediment, the sampling device is raised by reversely driving the moving mechanism, and the detection cylinder 7 is completely pulled out from the sediment, the detection sealing plate 10 is reset and re-seals the sampling end of the detection cylinder 7;

[0071] S202: Drive the detection telescopic cylinder 9 to extend and drive the detection piston 11 to squeeze the test sample in the test chamber. After the pressure sensor 3 contacts the test sample and reaches the pre-pressure value, stop extending the detection telescopic cylinder 9. At this time, the distance between the detection piston 11 and the detection sealing plate 10 is recorded as L1.

[0072] The pre-pressure value is 5-10kPa;

[0073] S203, the detection piston 11 is reset and separated from the detection chamber by means of the detection telescopic cylinder 9, and then the output end of the detection swing motor 8 is driven to rotate alternately forward and reverse, so that the detection cylinder 7 is swung, and the sediment in the detection chamber that is smaller than the diameter of the mesh 15 is discharged along the mesh 15. During the swing, the swing angle between the detection cylinder 7 and the vertical plane is less than 30°;

[0074] S204, turning off the detection swing motor 8, driving the detection telescopic cylinder 9 to extend again and the detection piston 11 to squeeze the residual test sample in the detection chamber until the detection telescopic cylinder 9 can no longer extend due to the resistance of the residual test sample. The extension of the detection telescopic cylinder 9 is stopped, and the distance between the detection piston 11 and the detection sealing plate 10 is recorded as L2;

[0075] S205, the detection piston 11 is reset and separated from the detection chamber by means of the detection telescopic cylinder 9, and then the detection cylinder 7 is reset and becomes horizontal by means of the detection swing motor 8;

[0076] S3. Determine the sample type based on the numerical relationship between L1 and L2;

[0077] S301. When L2≥0.3L1, it indicates that the sample is sandy and does not meet the collection standard. The sampling device is controlled to move 10-20m, and then steps S201-S205 are repeated.

[0078] S302: When L2 < 0.03L1, it indicates that the sample is abnormal, and the sampling device is controlled to move 0.3-0.5m, and then steps S201-S205 are repeated;

[0079] S303. When 0.03L1≤L2<0.3L1, it indicates that the test sample is of clay type and meets the collection standard, and step S4 is performed.

[0080] The detection sealing plate 10 is a one-way valve structure. Since the diameter of the detection sealing plate 10 is larger than the sampling end opening of the detection cylinder 7, the detection sealing plate 10 cannot swing toward the sampling end opening and cross the sampling end opening.

[0081] When the detection cylinder 7 is inserted into the sediment, with the help of the force of the lifting turbine 4, the detection cylinder 7 continues to apply force downward, thereby gradually penetrating into the sediment, and the detection sealing plate 10 is subjected to the thrust of the sediment to form a swing, and the maximum swing angle of the detection sealing plate 10 is about 60° with the horizontal plane. As the detection sealing plate 10 swings, the sediment will flow into the detection chamber, and the height of the sediment will be higher than the top of the detection sealing plate 10. Since the sediment has a certain fluidity, the sediment above the top of the detection sealing plate 10 will flow to the angle between the detection sealing plate 10 and the inner wall of the detection cylinder 7. When the detection cylinder 7 is pulled out, the detection sealing plate 10 will be reset under the action of the hinge and the gravity of the sediment at the angle, and the sampling end of the detection cylinder 7 will be closed again, so that part of the sediment will remain in the detection chamber to form a detection sample.

[0082] Since the test sample just collected in the test chamber is relatively loose and the current volume of the test sample is larger than its actual volume, the test piston 11 is first used to pre-compact the test sample with a lighter force that does not exceed the pre-compression value, so as to avoid a large amount of bottom mud being discharged along the mesh 15 during the pre-compaction process, thereby ensuring that the value of L1 can reflect the actual situation of the test sample.

[0083] After recording L1, the detection swing motor 8 is used to swing the detection cylinder 7. During the swinging, the swing amplitude of the detection cylinder 7 does not exceed 30° to prevent sandy sediments from escaping along the opening of the detection end. Under the action of the swinging, the sediments in the detection chamber, including bottom mud and small particles with a diameter smaller than the diameter of the mesh 15, are discharged along the mesh 15, and large particles of sandy sediments remain in the sampling chamber. After the swinging, the detection piston 11 is used again to compact the remaining detection sample and record L2.

[0084] The present invention also provides a standardized method for determining sediment types, which enables rapid and objective type differentiation, avoids subjective judgment errors, and improves the reliability of sampling area screening.

[0085] When determining the type of sample to be tested, if L2 ≥ 0.3L1, it indicates that more than 30% of the material in the test chamber cannot pass through the mesh 15 and be discharged. Therefore, it can be determined that the sediment in the area to be sampled has a high content of large-grained gravel, and it is necessary to move away from this area and re-sample and test.

[0086] Since the detection piston 11 is reset after the detection is completed, the detection end of the detection cylinder 7 is not blocked by the detection piston 11 at this time, so the large particles of gravel remaining in the detection chamber will float out and be cleared along the detection end of the detection cylinder 7 during the movement of the sampling device.

[0087] When L2 is less than 0.03L1, it indicates that almost all the test samples in the test chamber have been discharged. However, the sediment will basically contain a certain amount of gravel or other large-particle impurities. Therefore, when L2 is too low, there is obviously a problem with the test sample. For example, there are large-diameter stones in the sampling area, which causes the bottom plate of the sampling device to be stuck in advance. In fact, no test sample is collected in the test chamber. Therefore, it is necessary to move 0.3-0.5m and re-test. If the test result is still the same, it is considered that there is no bottom mud sediment in this area, and re-sampling is carried out away from this area.

[0088] When 0.03L1≤L2<0.3L1, it indicates that the content of small-sized sediment and sand in the detection chamber is relatively high, which meets the sampling requirements, and sampling can be carried out in the area to be sampled.

[0089] like Figure 3 and Figures 8-9 As shown, the sampling mechanism includes a sampling tank body 12 and a sampling swing motor 13. The inner chamber of the sampling tank body 12 forms a sampling chamber of the sampling device. The sampling tank body 12 is connected to the frame 1 by means of the sampling swing motor 13 and has the freedom to swing. The inner wall of the sampling tank body 12 near the sampling opening is hinged with a sampling sealing plate 14, and the opening of the sampling tank body 12 is blade-shaped.

[0090] The specific method of sampling in step S4 is as follows:

[0091] S401. When the testing agency determines that the sediment type in the sampling area meets the collection standards, the sampling device is controlled to move 0.1-0.2 m in the direction opposite to the water flow.

[0092] S402: The sampling tank body 12 is swung to a vertical direction by the sampling swing motor 13, and the sampling opening of the sampling tank body 12 is directed toward the area to be sampled. The moving mechanism is driven to lower the sampling device, and the sampling tank body 12 is inserted into the sediment in the sampling area to collect samples. The sampling sealing plate 14 is pushed by the sediment to expose the sampling chamber. When the bottom plate of the sampling device contacts the sediment, the moving mechanism is driven in the reverse direction to raise the sampling device and completely extract the sampling tank body 12 from the sediment. The sampling sealing plate 14 is reset and re-seals the sampling end of the sampling tank body 12.

[0093] S403 , the sampling tank 12 is reset with the help of the sampling swing motor 13 and the sampling is completed.

[0094] When sampling for testing, the area will be stirred, which may cause some impurities to float to the bottom of the sampling tank 12, affecting the quality of the sample. Therefore, the sampling device is moved a distance in the opposite direction of the water flow to avoid surface floating objects carried by the water flow or sediment in non-target areas, ensuring that the sampling tank 12 is inserted into the original bottom mud of the area to be sampled.

[0095] The sampling process of the sampling can body 12 is basically the same as that of the detection cylinder body 7, except that a magnet 16 is arranged on the inner wall of the sampling can body 12 close to the free end of the sampling sealing plate 14. When the sampling can body 12 is inserted into the sediment by the action force of the lifting turbine 4, the sampling sealing plate 14 is subjected to a greater pushing force of the sediment than the attracting force of the magnet 16, so as to form a swing. The maximum angle of the swing of the sampling sealing plate 14 is about 60° with the horizontal plane. With the swing of the sampling sealing plate 14, the sediment will flow into the sampling chamber. When the sampling can body 12 is pulled away, the sampling end of the sampling can body 12 is firmly closed under the action force of the magnet 16. During the movement of the sampling device under water, the sampling sealing plate 14 will not be pushed open by the impact force of water, so as to avoid the leakage of the sample in the sampling chamber.

[0096] The sampling can body 12 comprises a cap body 1202 and a can body 1201 connected by screw threads. The cap body 1202 is in a cylindrical structure, and the magnet 16 and the sampling sealing plate 14 are arranged in the interior of the cap body 1202. One end of the cap body 1202 is in a blade structure and forms the sampling end of the sampling can body 12. The can body 1201 forms the sampling chamber of the sampling can body 12. The closed end of the can body 1201 is provided with a drain hole 17, and the diameter of the drain hole 17 is smaller than that of the sediment particles.

[0097] When the sampling can body collects the sample, the water in the sampling chamber can be discharged along the drain hole 17. After the sampling device collects the sample and lands, the staff can separate the cap body 1202 and the can body 1201, so as to facilitate the collection of the sample in the can body 1201.

Claims

1. A method for separating and collecting sediment from an artificial waterway, characterized in that: The following steps are involved: S1. Place the sampling device into the artificial waterway and control the sampling device to move to the area to be tested in the artificial waterway; S2. The sampling device is lowered to the bottom of the artificial channel, and then sediment at the bottom of the artificial channel is collected and placed into the detection chamber of the sampling device to detect the sample type; S3. If the sample is sandy or abnormal, it does not meet the collection criteria, control the sampling device to find a new area to be sampled and repeat step S2; if the sample is sediment, it meets the collection criteria, proceed to step S4; S4. Then, the bottom mud in the sampling area is sampled and placed in the sampling chamber of the sampling device. After the sampling is completed, the sampling device is controlled to return.

2. The method for separating and collecting artificial waterway sediment according to claim 1, characterized in that: The sampling device comprises a frame (1), a controller (2) arranged on the frame (1), a communication module, a moving mechanism, a sampling mechanism and a detection mechanism; the remote controller is connected to the controller (2) via the communication module and controls the driving components of the moving mechanism, the sampling mechanism and the detection mechanism.

3. The method for separating and collecting artificial waterway sediment according to claim 2, characterized in that: The moving mechanism comprises a lifting turbine (4) and a propulsion turbine (5), which are symmetrically arranged on both sides of the frame (1). At least two groups of lifting turbines (4) and propulsion turbines (5) are arranged on each side of the frame (1). A group of moving motors (6) are respectively arranged at the power input end of each group of the lifting turbines (4) and propulsion turbines (5). The axial direction of the lifting turbine (4) is arranged in the vertical direction, and the axial direction of the propulsion turbine (5) is arranged in the horizontal plane. The axial directions of adjacent propulsion turbines (5) on both sides of the frame (1) are 110-130 degrees.

4. The method for separating and collecting artificial waterway sediment according to claim 2, characterized in that: The detection mechanism comprises a detection cylinder (7), a detection swing motor (8) and a detection telescopic cylinder (9). The detection cylinder (7) is hinged to the frame (1) by means of the detection swing motor (8) and has the freedom of swinging. The inner chamber of the detection cylinder (7) forms the detection chamber of the sampling device. A detection sealing plate (10) is hinged to the inner wall of the detection cylinder (7) near the sampling end opening. The sampling end opening of the detection cylinder (7) is in the shape of a knife edge. The fixed end of the detection telescopic cylinder (9) is fixedly connected to the top of the frame (1). The telescopic end of the detection telescopic cylinder (9) is connected to a detection piston (11). The detection end of the detection piston (11) is provided with a pressure sensor (3). The pressure sensor (3) is connected to the controller (2). The detection piston (11) extends into the detection chamber along the detection end opening of the detection cylinder (7) by means of the detection telescopic cylinder (9) and has the freedom of reciprocating movement.

5. The method for separating and collecting artificial channel sediment according to claim 4, characterized in that: The wall of the detection cylinder (7) is in a mesh structure, and the diameter of the mesh holes (15) of the wall of the detection cylinder (7) is 1.5-2 mm.

6. The method for separating and collecting artificial waterway sediment according to claim 5, characterized in that: A gap is provided between the detection piston (11) and the detection cylinder (7), and the width of the gap is less than or equal to the diameter of the mesh (15).

7. The method for separating and collecting artificial waterway sediment according to claim 5, characterized in that: The specific method for testing the sediment type in steps S2-S3 is as follows: S201, the detection cylinder (7) is swung to a vertical direction by means of the detection swing motor (8), the sampling end of the detection cylinder (7) is directed toward the bottom of the artificial waterway, the moving mechanism is driven to lower the sampling device, the detection cylinder (7) is inserted into the bottom sediment of the artificial waterway, the detection sealing plate (10) is pushed by the sediment to expose the detection chamber, when the bottom plate of the sampling device contacts the sediment, the moving mechanism is driven in the reverse direction to raise the sampling device and completely extract the detection cylinder (7) from the sediment, the detection sealing plate (10) is reset and re-seals the sampling end of the detection cylinder (7); S202, driving the detection telescopic cylinder (9) to extend and driving the detection piston (11) to squeeze the detection sample in the detection chamber, and after the pressure sensor (3) contacts the detection sample and reaches the pre-pressure value, stopping the extension of the detection telescopic cylinder (9), at this time, the distance between the detection piston (11) and the detection sealing plate (10) is recorded as L1; S203, the detection piston (11) is reset and separated from the detection chamber by means of the detection telescopic cylinder (9), and then the output end of the detection swing motor (8) is driven to rotate alternately forward and reverse, so that the detection cylinder (7) is swung, and the sediment in the detection chamber that is smaller than the diameter of the mesh (15) is discharged along the mesh (15). During the swing, the swing angle between the detection cylinder (7) and the vertical plane is less than 30°; S204, turning off the detection swing motor, driving the detection telescopic cylinder (9) to extend again and the detection piston (11) to squeeze the residual detection sample in the detection chamber until the detection telescopic cylinder (9) can no longer extend under the resistance of the residual detection sample, and stopping the extension of the detection telescopic cylinder (9). At this time, the distance between the detection piston (11) and the detection sealing plate (10) is recorded as L2; S205, the detection piston (11) is reset and separated from the detection chamber by means of the detection telescopic cylinder (9), and then the detection cylinder (7) is reset and becomes horizontal by means of the detection swing motor (8); S3. Determine the sample type based on the numerical relationship between L1 and L2; S301. When L2≥0.3L1, it indicates that the sample is sandy and does not meet the collection standard. The sampling device is controlled to move 10-20m, and then steps S201-S205 are repeated. S302: When L2 < 0.03L1, it indicates that the sample is abnormal, and the sampling device is controlled to move 0.3-0.5m, and then steps S201-S205 are repeated; S303. When 0.03L1≤L2<0.3L1, it indicates that the test sample is of clay type and meets the collection standard, and step S4 is performed.

8. The method for separating and collecting sediment from an artificial waterway according to claim 7, characterized in that: The pre-pressure value in step S202 is 5-10 kPa.

9. The method for separating and collecting sediment from an artificial waterway according to claim 2, characterized in that: The sampling mechanism comprises a sampling tank body (12) and a sampling swing motor (13). The inner chamber of the sampling tank body (12) forms a sampling chamber of the sampling device. The sampling tank body (12) is connected to the frame (1) by means of the sampling swing motor (13) and has the freedom of swinging. A sampling sealing plate (14) is hingedly connected to the inner wall of the sampling tank body (12) near the sampling opening. The opening of the sampling tank body (12) is in the shape of a knife edge.

10. The method for separating and collecting bottom mud of an artificial waterway according to claim 9, characterized in that: The specific method of sampling in step S4 is as follows: S401. When the testing agency determines that the sediment type in the sampling area meets the sampling standards, the sampling device is controlled to move 0.1-0.2 m in the opposite direction to the water flow. S402, the sampling tank body (12) is swung to a vertical direction by means of the sampling swing motor (13), the sampling opening of the sampling tank body (12) is directed toward the area to be sampled, the moving mechanism is driven to lower the sampling device, the sampling tank body (12) is inserted into the sediment in the sampling area for sampling, the sampling sealing plate (14) is pushed by the sediment to expose the sampling chamber, when the bottom plate of the sampling device contacts the sediment, the moving mechanism is driven in the reverse direction to raise the sampling device and completely extract the sampling tank body (12) from the sediment, the sampling sealing plate (14) is reset and re-seals the sampling end of the sampling tank body (12); S403, the sampling tank (12) is reset with the aid of the sampling swing motor (13) and the sampling is completed.

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