Underwater micro-plastic sampling device and method capable of multiple sampling

Abstract

The application belongs to the technical field of water micro-plastic sampling, and discloses an underwater micro-plastic sampling device and method capable of realizing multiple sampling, wherein the device comprises a waterproof shell, a sampling system and a filter screen storage and replacement system; the sampling system is used for collecting environmental samples in water and placing the environmental samples in a filter sampling screen, and comprises a water inlet baffle, a water inlet pipeline and a water pump connected in sequence; the filter screen storage and replacement system comprises a mechanical arm, a filter sampling screen storage groove, a filter sampling screen pre-storage groove and a closed sleeve mechanism covering a gap of the water inlet pipeline; the application improves the structure of each component of the device, the setting mode of the components and the cooperation mode between the components, and utilizes the sampling system and the filter screen storage and replacement system with specific structural composition and mutual cooperation to obtain an unmanned device capable of multiple sampling of micro-plastics, which is miniaturized and capable of automatically and efficiently sampling underwater.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of water microplastic sampling, more specifically, relates to an underwater microplastic sampling device and method that can achieve multiple sampling, especially for different horizontal positions and different water depths to achieve multiple sampling. BACKGROUND

[0002] Microplastics are a new type of pollutant, usually referring to plastic particles or fragments with a particle size of less than 5mm (of course, actual needs may also be further subdivided within the range of particle size less than 5mm, and the particle size of microplastics selected to meet the preset requirements), which has attracted more and more attention due to its wide distribution in the environment and potential ecological risks.

[0003] At present, there is no standardized method for sampling microplastics in water bodies. The main methods for sampling microplastics in water bodies include using a filter pump, using a trawl net, and directly collecting water samples. Chinese invention patent with publication number CN113607495A provides a microplastic intelligent sampling system based on an unmanned ship, which can collect water samples near the surface of the water body by carrying a filter screen on the unmanned sampling unit. This scheme cannot collect water samples at a certain depth of the water body, and the device can only collect one water sample at a time, with limited efficiency and range of use. Chinese invention patent with publication number CN114593952A provides a water microplastic collection device and a three-dimensional collection system, which collects samples by dragging a trawl net with an unmanned underwater collection unit. It also provides a scheme for parallel connection of multiple sampling units to collect multiple water samples at the same time, but a single run can only collect one water sample, and the parallel connection reduces the convenience of the scheme. Chinese invention patent with publication number CN111879566A provides an unmanned aerial automatic microplastic sampler, which collects water samples in the air above the water surface by mounting a sampling unit on a waterborne unmanned aerial vehicle. This scheme can achieve multiple sampling points and multiple samples in one run with one sampling unit, but it cannot collect samples at different water depths. Some patents, such as invention patent with publication number CN114166567A and utility model patent with publication number CN209911053U, provide schemes for collecting samples at different water depths by different ideas, but they are too dependent on ships, land and other carriers for installation and work, and lack convenience and scope of application. SUMMARY

[0004] In view of the above defects or improvement needs of the prior art, the purpose of the present application is to provide an underwater micro-plastic sampling device and method that can realize multiple sampling, wherein the structure of each component of the device and their setting mode, as well as the cooperation mode between each component are improved, a sampling system and a filter screen storage and replacement system with specific structural composition and mutual cooperation are used, and the corresponding unmanned device that can sample micro-plastics multiple times is obtained, which has miniaturized design and can automatically and efficiently perform underwater sampling. The present application can further be provided with a lifting system and a power system, which can control the device to a specified spatial position underwater, cooperate with the sampling system and the filter screen storage and replacement system, sample efficiently, and realize three-dimensional coordinate multiple sampling at different horizontal positions and different depths during a single underwater operation.

[0005] To achieve the above purpose, according to one aspect of the present application, a kind of underwater micro-plastic sampling device that can realize multiple sampling is provided, characterized by including waterproof shell, sampling system (2) and filter screen storage and replacement system (1), wherein,

[0006] The sampling system (2) is used to collect the water outside the waterproof shell and place it in the filter sampling net (22);The sampling system (2) includes water inlet baffle (25), water inlet pipeline and water pump (21) connected in turn;Wherein, the water inlet baffle (25) is used to switch the water outside the waterproof shell into the water inlet pipeline;The water pump (21) is used to empty the water in the water inlet pipeline;The side wall of the water inlet pipeline is provided with a notch, and the filter sampling net (22) can enter the water inlet pipeline through the notch to realize the collection of the water in the water inlet pipeline;

[0007] The filter screen storage and replacement system (1) is located in the waterproof shell, used to pre-store the filter sampling net (22) before collection, store the filter sampling net (22) after collection is completed, and replace the filter sampling net (22) in the water inlet pipeline;The filter screen storage and replacement system (1) includes mechanical arm (12), filter sampling net storage groove (16) and filter sampling net pre-storage groove (110), and also includes closed sleeve mechanism (14) covering the notch of the water inlet pipeline;Wherein, the closed sleeve mechanism (14) is used as a switch to open or close the notch of the water inlet pipeline;The filter sampling net pre-storage groove (110) is used to pre-store the filter sampling net (22) before collection;The filter sampling net storage groove (16) is used to store the filter sampling net (22) after collection is completed;The mechanical arm (12) can transfer the filter sampling net (22) from the filter sampling net pre-storage groove (110) to the water inlet pipeline and transfer the filter sampling net (22) from the water inlet pipeline to the filter sampling net storage groove (16) under the drive of the mechanical arm rudder (11);

[0008] And, any one filtering sampling net (22) includes the main body (221) and the cover (222) used in cooperation; wherein, the cover (222) adopts the openwork structure, and is fixed with the filter screen;The aperture size of the filter screen meets the aperture requirement set in advance, and corresponds to the microplastic particle size collected.

[0009] As a further preferred embodiment of the present application, the underwater microplastic sampling device capable of multiple sampling further comprises a lifting system (4) and a power system (3), wherein,

[0010] The lifting system (4) is arranged at the top of the waterproof shell and can change the spatial height position of the underwater microplastic sampling device capable of multiple sampling as a whole, comprising a cylinder (41), a lifting piston rod (42), a lifting intermediate rod (43), and a lifting main drive rod (44) connected in sequence, wherein the lifting main drive rod (44) is used to move under the drive of a lifting rudder (45); the cylinder (41) and the lifting piston rod (42) are connected through a sealing ring (46);

[0011] The power system (3) comprises a suspension rudder (34) arranged outside the waterproof shell, a ship model motor (33), and a positioning device (31) arranged inside the waterproof shell;Wherein, the suspension rudder (34) is used to directly contact with the water outside the waterproof shell and move the water under the drive of the ship model motor (33), so as to change the spatial position of the underwater microplastic sampling device capable of multiple sampling as a whole;The positioning device (31) is used to position the spatial position of the underwater microplastic sampling device capable of multiple sampling as a whole.

[0012] As a further preferred embodiment of the present application, the filtering sampling net (22) can be detachably installed in the water inlet pipe through snap fit;

[0013] There is also a cooperating buckle between the mechanical arm (12) and the filtering sampling net (22), so that the mechanical arm (12) can conveniently transfer the filtering sampling net (22);

[0014] The inner wall of the filtering sampling net storage groove (16) is provided with a groove guide rail, so as to facilitate the entry of the filtering sampling net (22).

[0015] As a further preferred embodiment of the present application, the filtering sampling net pre-storage groove (110) is connected with a transmission mechanism, which is used to adjust the position of the filtering sampling net (22) stored in the filtering sampling net pre-storage groove (110);

[0016] Preferably, the transmission mechanism comprises a horizontal rack and pinion mechanism and a vertical rack and pinion mechanism for adjusting the horizontal position and the vertical position of the filter sampling net (22) stored in the filter sampling net pre-storage tank (110).

[0017] As a further preferred embodiment of the present application, the filter sampling net storage tank (16) is further provided with an electrically controlled valve (15) for opening and closing the filter sampling net storage tank (16).

[0018] As a further preferred embodiment of the present application, the sampling system (2) is further provided with a water inlet flow meter (23) and a water inlet screen (24); wherein the water inlet flow meter (23) is located inside the water inlet end of the water inlet pipeline.

[0019] The water inlet screen (24) is located between the water inlet baffle (25) and the water inlet pipeline, and the aperture of the water inlet screen (24) is not greater than 5 mm.

[0020] As a further preferred embodiment of the present application, the filter net storage and replacement system (1) further comprises a compression top cover (17), a spring (18) and a limiting ring (19); wherein the compression top cover (17) is used to compact the upper part of the filter sampling net (22), prevent sample leakage and limit the position of the spring (18); the spring (18) is used to provide compacting elastic force; and the limiting ring (19) is used to limit the posture of the compression top cover (17).

[0021] According to another aspect of the present application, the present application provides an underwater micro-plastic sampling method based on the above-mentioned underwater micro-plastic sampling device capable of realizing multiple sampling, characterized in that the method comprises the following steps:

[0022] S1: preparing the above-mentioned underwater micro-plastic sampling device capable of realizing multiple sampling, wherein the water inlet pipeline of the underwater micro-plastic sampling device is provided with a filter sampling net, and a plurality of filter sampling nets are pre-stored in the filter sampling net pre-storage tank;

[0023] S2: moving the underwater micro-plastic sampling device to a target sampling point, so that the three-dimensional space coordinates of the underwater micro-plastic sampling device meet the pre-set requirements;

[0024] S3: under the condition that the water inlet pipeline gap is closed, opening the water inlet baffle to open the water inlet, and the water pump works to drive the water outside the waterproof shell into the water inlet pipeline and pass through the filter sampling net, so that the filter sampling net completes the collection;

[0025] S4: closing the water inlet baffle, closing the water inlet, opening the water pump to empty the water in the water inlet pipeline, then opening the water inlet pipeline gap; then, using the mechanical arm to transfer the filtered sampling net collected in the water inlet pipeline to the filtered sampling net storage tank for storage, and then transferring the pre-stored filtered sampling net in the pre-filtered sampling net storage tank to the water inlet pipeline;

[0026] S5: repeating steps S2 to S4 until multiple sampling at different three-dimensional coordinates is completed; then, moving the underwater micro-plastic sampling device to the pre-set return designated recovery point.

[0027] Through the above technical solutions of the present application, compared with the prior art, the present application utilizes the sampling system and the filter screen storage and replacement system that cooperate with each other to play a role, wherein the sampling system specifically includes a water inlet baffle, a water inlet pipeline, and a water pump; the filter screen storage and replacement system specifically includes a mechanical arm, a closed sleeve mechanism, a filtered sampling net storage tank, and a filtered sampling net pre-storage tank. By utilizing the cooperation of the sampling system and the filter screen storage and replacement system with a specific structure, underwater sampling can be automatically and efficiently performed, and the problems of low efficiency, insufficient convenience and application range, etc. of the commonly used filter pump method, trawl method, direct collection method, etc. can be effectively solved.

[0028] The present application can further load the sampling system and the filter screen storage and replacement system on the lifting system and the power system, control the device to a specified spatial position underwater, efficiently sample, and realize three-dimensional coordinate multiple sampling at different horizontal positions and different depths during a single underwater operation.

[0029] In summary, the underwater micro-plastic sampling device in the present application can achieve the following beneficial effects:

[0030] 1. The device has a sampling system that can realize multiple sampling, and can realize automatic sampling of micro-plastics in water bodies to realize the effects of liberating manpower and efficient sampling.

[0031] 2. The sampling system in the device can be loaded on the lifting system and the power system, and can realize multiple-point collection at different horizontal positions and different water depths during a single operation. BRIEF DESCRIPTION OF DRAWINGS

[0032] Figure 1 It is a general structural schematic diagram of the embodiment (corresponding to the front view).

[0033] Figure 2 It is a structural schematic diagram of the mechanical arm in the embodiment 1 (corresponding to the front view).

[0034] Figure 3Structure diagram of the mechanical arm in embodiment 2 of the present application (corresponding to front view).

[0035] Figure 4 Structure diagram of the filter sampling net in the embodiment of the present application, wherein, Figure 4 (a) in the above corresponds to the front view, Figure 4 (b) in the above corresponds to the left view.

[0036] Figure 5 Structure diagram of the filter sampling net storage tank in the embodiment of the present application, wherein, Figure 5 (a) in the above corresponds to the full view of the main view, Figure 5 (b) in the above corresponds to the bottom view.

[0037] Figure 6 Structure diagram of the lifting system in the embodiment of the present application, wherein, Figure 6 (a) in the above corresponds to the front view, Figure 6 (b) in the above corresponds to the top view (wherein the left side filled shadow part corresponds to the partial cross-sectional view).

[0038] Figure 7 Structure diagram of the closed sleeve mechanism in the embodiment of the present application, wherein, Figure 7 (a) in the above corresponds to the left view (wherein the right side filled shadow part corresponds to the partial cross-sectional view), Figure 7 (b) in the above corresponds to the front view.

[0039] The meanings of the respective reference numerals in the drawings are as follows: 1 is a filter net storage and replacement system; 11 is a mechanical arm rudder; 12 is a mechanical arm, 121 is a mechanical arm driving rod, 122 is a elastic rope, 123 is a mechanical arm intermediate rod, 124 is a mechanical arm connecting rod; 125 is a cooperative rudder; 13 is a vertical gear and rack mechanism; 14 is a closed sleeve mechanism, 141 is a sleeve, 142 is an intermediate rod (i.e., a closed intermediate rod), 143 is a driving rod (i.e., a closed driving rod), 144 is a sleeve rudder (i.e., a closed rudder); 15 is an electric control valve; 16 is a filter sampling net storage tank; 17 is a compression top cover; 18 is a spring; 19 is a limiting ring; 110 is a filter sampling net pre-storage tank; 111 is a horizontal gear and rack mechanism; 2 is a sampling system; 21 is a water pump; 22 is a filter sampling net, 221 is a main body (i.e., a filter sampling net main body), 222 is a cover; 23 is a water inlet flow meter; 24 is a water inlet screen; 25 is a water inlet baffle; 3 is a power system; 31 is a positioning device; 32 is a power supply control device; 33 is a ship model motor; 34 is a suspension rudder; 4 is a lifting system, 41 is a cylinder, 42 is a piston rod (i.e., a lifting piston rod), 43 is an intermediate rod (i.e., a lifting intermediate rod), 44 is a driving rod (i.e., a lifting driving rod), 45 is a lifting rudder, 46 is a sealing ring. DETAILED DESCRIPTION

[0040] In order to make the purpose, technical scheme and advantages of the present application clearer, the present application will be further described in detail below in combination with the drawings and examples. It should be understood that the specific examples described herein are only used to explain the present application and do not limit the present application. In addition, the technical features involved in each embodiment of the present application described below can be combined with each other as long as they do not conflict with each other.

[0041] Example 1

[0042] For example, the underwater micro-plastic sampling device capable of realizing multiple sampling of three-dimensional coordinates in the present application is arranged on a ship model, as shown in Figure 1 which is a schematic diagram of the overall structure of the device, which can include a sampling system, a filter screen storage and replacement system, a lifting system, a power system and a waterproof shell; wherein,

[0043] The sampling system includes a water inlet baffle, a water inlet screen, a water inlet flowmeter, a filter sampling screen and a water pump; the water inlet baffle is located at the water inlet end of the water inlet pipeline and is fixed at the rear end of the waterproof shell; the water pump is connected to the water outlet end of the water inlet pipeline and is fixed at the bottom end of the waterproof shell;

[0044] The filter screen storage and replacement system includes a mechanical arm steering engine, a mechanical arm, a filter sampling screen storage tank, a filter sampling screen pre-storage tank, a closed sleeve mechanism, an electric control valve, a horizontal gear and rack mechanism and a vertical gear and rack mechanism; the filter screen storage and replacement system is connected to the sampling system and is located inside the waterproof shell; further, the filter sampling screen storage tank can be located above the water inlet pipeline and the filter sampling screen; the mechanical arm steering engine is connected to the mechanical arm to control the mechanical arm to complete the collection and storage process according to the set program between the water inlet pipeline and the filter sampling screen storage tank;

[0045] The lifting system includes a gas cylinder, a lifting piston rod, a lifting intermediate rod, a lifting main drive rod, a lifting steering engine and a sealing ring; the lifting system is located at the top of the waterproof shell;

[0046] The power system includes a suspension rudder, a ship model motor, a power supply control device and a positioning device; the suspension rudder and the ship model motor are located at the bottom end of the waterproof shell and are in direct contact with the collected water environment; the power supply control device is located inside the filter sampling screen waterproof shell.

[0047] The water inlet screen and the water inlet flowmeter are embedded at the water inlet end of the sampling system, and the water inlet baffle is outside; the filter sampling screen and the mechanical arm are arranged behind the water inlet of the sampling system and are buckled together; below the water flow channel, there are two gear and rack mechanisms and a filter sampling screen pre-storage tank; above the water flow channel, there is a filter sampling screen storage tank; the water pump is embedded at the water outlet end of the sampling system. Specifically:

[0048] The water inlet flow meter is located inside the water inlet end of the water inlet pipe; the water inlet screen is connected between the water inlet end of the water inlet pipe and the water inlet baffle, and the aperture of the screen is not greater than 5 mm.

[0049] The filtering sampling net is connected to the water inlet pipe through a snap-fit connection, and the aperture of the filtering sampling net can be replaced according to the target sampling size.

[0050] A snap-fit connection is provided between the mechanical arm and the filtering sampling net, for controlling the movement of the filtering sampling net from the water inlet pipe to the filtering sampling net storage tank.

[0051] The inner wall of the filtering sampling net storage tank is provided with an inclined groove guide rail, for controlling the rotation of the filtering sampling net along the groove guide rail into the filtering sampling net storage tank.

[0052] The filtering sampling net pre-storage tank is located directly below the water inlet pipe, and a plurality of reserve filtering sampling nets are arranged in the filtering sampling net pre-storage tank, for replacing the filtering sampling net on the water inlet pipe after sampling.

[0053] The closing sleeve mechanism is located directly above the water inlet pipe, and includes a closing rudder, a closing intermediate rod, a closing driving rod and a closing sleeve; the closing rudder is electrically connected with the power supply control device; the closing rudder is fixedly connected with the closing driving rod; a hinge connection is provided between the closing driving rod, the closing intermediate rod and the closing sleeve, for controlling the opening and closing of the closing sleeve.

[0054] The electric control valve is located at the opening of the filtering sampling net storage tank; the electric control valve is electrically connected with the power supply control device; the electric control valve is opened when the filtering sampling net is stored in the filter screen storage replacement control program, and is then closed, for reducing the interference of water flow on the sampling sample.

[0055] The horizontal gear and rack mechanism is located directly below the filtering sampling net pre-storage tank, and includes a gear rudder, a gear and a horizontal movement rack; the gear rudder is electrically connected with the power supply control device; the horizontal movement rack is connected with the reserve filtering sampling net in the filtering sampling net pre-storage tank, for controlling the horizontal movement of the reserve filtering sampling net.

[0056] The vertical gear and rack mechanism is located directly behind the horizontal gear and rack mechanism, and includes a gear rudder, a gear and a vertical movement rack; the gear rudder is electrically connected with the power supply control device; the vertical movement rack is used to take down the reserve filtering sampling net on the horizontal movement rack snap-fit, and to push the reserve filtering sampling net to move vertically to the water inlet pipe.

[0057] The power supply control device is connected with the suspended rudder to control the swing of the suspended rudder; the power supply control device is connected with the ship model motor to control the movement of the underwater micro-plastic sampling device in the sampled water environment; and the power supply control device is also connected with the water inlet baffle, the water pump, the mechanical arm steering engine, the horizontal gear rack mechanism, the vertical gear rack mechanism and the lifting steering engine (all the components in the underwater micro-plastic sampling device which need to be driven by electricity can be connected with the power supply control device).

[0058] As shown in Figure 2 , it is a structural schematic diagram of the mechanical arm of the present application. As shown in the figure, there is a hinge connection between the mechanical arm driving rod 121, the mechanical arm intermediate rod 123 and the mechanical arm connecting rod 124. There is a spring wire 122 connected between the mechanical arm driving rod 121 and the mechanical arm intermediate rod 123 and between the mechanical arm intermediate rod 123 and the mechanical arm connecting rod 124 to limit the rotation between the connecting rods, thereby controlling the movement of the filter sampling net.

[0059] As shown in Figure 4 , it is a structural schematic diagram of the filter sampling net of the present application. As shown in the figure, the cover 222 fixes the filter sampling net on the filter sampling net body 221.

[0060] As shown in Figure 5 , it is a structural schematic diagram of the filter sampling net storage groove of the present application. As shown in the figure, the filter sampling net 22 can be stored by means of the guide rail in the filter sampling net storage groove 16.

[0061] As shown in Figure 6 , it is a structural schematic diagram of the lifting system of the present application. There is a hinge connection between the lifting piston rod, the lifting intermediate rod and the lifting driving rod; the sealing ring is embedded on the piston rod to close the gas in the cylinder; and the lifting steering engine is fixedly connected with the lifting driving rod to control the rotation of the connecting rod mechanism. As shown in the figure, the lifting steering engine 45 in the lifting system is rotated to a certain angle, the volume of the gas in the cylinder 41 is controlled through the piston rod 42, the intermediate rod 43 and the driving rod 44, thereby controlling the lifting of the device. Before use, the control program should be written into the control and power supply device 32, and the sampling site and the running path should be set in advance. In use, the device is placed at the initially set site, and then runs to a sampling site to start sampling under the guidance of the control and power supply device 32. After sampling is completed, it runs to the next sampling site. The cycle is repeated until it returns after all sampling is completed.

[0062] As shown in Figure 7 , it is a structural schematic diagram of the closing sleeve mechanism in the specific embodiment of the present application. As shown in the figure, the sleeve steering engine 144 in the closing sleeve mechanism is rotated to a certain angle, the horizontal position of the sleeve 141 on both sides is controlled through the driving rod 143 and the intermediate rod 142, so that the sleeve is closed during sampling and is opened during replacement of the filter net.

[0063] In use, the lifting system in the underwater micro-plastic sampling device and the power system can control the device to the designated position.

[0064] Specifically, the underwater micro-plastic sampling device capable of realizing three-dimensional coordinate multiple sampling in actual application can include:

[0065] 1. Run the total program:

[0066] Before sampling, the mechanical arm servo 11, the lifting servo 45, the ship model motor 33, the suspension rudder 34, the horizontal gear rack mechanism 111, the vertical gear rack mechanism 13, the closed sleeve mechanism 14, the electric control valve 15, the water pump 21, the water inlet flowmeter 23 and the positioning device 31 are electrically connected with the power supply control device 32. Then, the running control program is written into the power supply control device 32 (the main functions and steps of the running control program are described below), and the running trajectory and sampling site are pre-set. When the device travels to the sampling site, the device completes hovering under the coordinated adjustment of the power system 3 and the lifting system 4, and then the sampling control program and the filter screen storage replacement control program are started (the main functions and steps of the sampling control program and the filter screen storage replacement control program are described below). When all sampling is completed, the device starts the return control program to return to the designated recovery site.

[0067] 2. Sampling control program:

[0068] When starting sampling, the water inlet is opened by rotating the water inlet baffle 25, and the water pump 21 works to drive the water body to pass through the water inlet screen 24, then through the water inlet flowmeter 23, and then through the filter sampling screen 22, so as to collect micro-plastics of a specified particle size. After sampling is completed, the water inlet is closed by rotating the water inlet baffle 25. Then the filter screen storage replacement control program is started to complete the storage and replacement of the filter sampling screen 22. Thus, one sampling process is completed. The filter sampling screen pre-storage tank 110 contains a plurality of reserved filter sampling screens 22, which can realize multiple sampling processes. After all the filter sampling screens 22 are sampled, the device returns, the filter sampling screen storage tank 16 is disassembled, and the environmental micro-plastic samples collected can be obtained.

[0069] 3. Filter screen storage replacement control program:

[0070] The closed sleeve mechanism 14 is opened, the power supply control device 32 controls the mechanical arm steering gear 11 to rotate forward, the filter sampling net 22 is driven into the guide rail in the filter sampling net storage groove 16 through the mechanical arm 12; the mechanical arm 12 is rotated, and the filter sampling net 22 is left in the filter sampling net storage groove 16; after the filter sampling net 22 is left in the filter sampling net storage groove 16, the first filter sampling net 22 is guaranteed to be sealed at the top by the compression top cover 17, the spring 18 and the limiting ring 19, and the top of the second and subsequent stored filter sampling nets 22 is pressed and sealed under the elastic force of the spring 18 and the bottom of the previous filter sampling net 22; the power supply control device 32 controls the horizontal gear rack mechanism 111 to rotate and the vertical gear rack mechanism 13 to rotate in turn, so that the stored filter sampling net 22 moves to the sampling position (i.e., the water inlet pipe); the mechanical arm 12 is rotated forward to be buckled with the filter sampling net 22, and then the closed sleeve mechanism 14 is closed. Thus, the replacement of the filter sampling net 22 is completed, and the next sampling control program can be performed.

[0071] 4. Recovery device post-processing program

[0072] After the retrieval device, the filter sampling net storage groove 16 is removed in the laboratory, and the samples in the filter sampling net 22 are detected according to the microplastic detection steps, and the part in contact with the water body is washed clean with clean water. The filter sampling net 22, the filter sampling net storage groove 16 and the filter sampling net pre-storage groove 110 are washed with pure water. Then 10 mL of the washed liquid is put into a syringe with a 200 mesh filter (of course, other mesh filters can also be used according to the actual situation; the larger the mesh, the denser the mesh of the filter, and the larger the required pushing force due to the water pressure difference, and the corresponding components can also be adjusted accordingly), and the liquid is pushed out, and this is repeated three times. If the syringe is pushed out under the same conditions as the pure water without greater resistance, the device has been cleaned and can be reused.

[0073] Example 2

[0074] The main difference between this embodiment and example 1 is the change of the implementation form of the mechanical arm 12. As shown in Figure 3 , the movement of the mechanical arm 12 in this embodiment is adjusted through the mechanical arm steering gear 11 and the cooperative steering gear 125, so as to realize the storage of the filter sampling net 22 and the recovery of the posture of the mechanical arm 12; of course, the cooperative steering gear 125 is also connected with the power supply control device. Unlike the implementation form of the mechanical arm in example 1 (corresponding Figure 2 ), in this embodiment, the cooperative steering gear 125 is connected between the mechanical arm main shaft 121, the mechanical arm intermediate shaft 123 and the mechanical arm connecting rod 124 (as shown in Figure 3 ), for controlling the movement of the filter sampling net.

[0075] The above embodiment is an example of the underwater micro-plastic sampling device capable of realizing three-dimensional coordinate multiple sampling, which integrates a lifting system and a power system. Of course, the underwater micro-plastic sampling device can also be integrated into an existing unmanned underwater vehicle, an unmanned submarine, or the like. Since the submarine and the like already have functions of lifting and moving, the underwater micro-plastic sampling device does not need to separately set a lifting system and a power system.

[0076] Those skilled in the art will easily understand that the above description is only a preferred embodiment of the present application, and is not intended to limit the present application. Any modification, equivalent replacement, and improvement within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. An underwater microplastic sampling device capable of multiple sampling, characterized in that, It includes a waterproof housing, a sampling system (2), and a filter storage and replacement system (1), wherein, The sampling system (2) is used to collect water outside the waterproof shell and place it in the filter sampling net (22); the sampling system (2) includes an inlet baffle (25), an inlet pipe and a water pump (21) connected in sequence; wherein, the inlet baffle (25) is used to open and close the water outside the waterproof shell into the inlet pipe; the water pump (21) is used to empty the water in the inlet pipe; the side wall of the inlet pipe is provided with a notch, through which the filter sampling net (22) can enter the inlet pipe to collect water inside the inlet pipe; The filter storage and replacement system (1) is located inside a waterproof housing and is used to pre-store the filter sampling screen (22) before collection, store the filter sampling screen (22) after collection, and replace the filter sampling screen (22) located in the water inlet pipe. The filter storage and replacement system (1) includes a robotic arm (12), a filter sampling screen storage tank (16), and a filter sampling screen pre-storage tank (110), and also includes a closed sleeve mechanism (14) covering the gap in the water inlet pipe. The closed sleeve mechanism (14) serves as a switch for... Open or close the gap in the water inlet pipe; the filter sampling net pre-storage tank (110) is used to pre-store the filter sampling net (22) before collection; the filter sampling net storage tank (16) is used to store the filter sampling net (22) after collection is completed; the robotic arm (12) can transfer the filter sampling net (22) from the filter sampling net pre-storage tank (110) to the water inlet pipe and transfer the filter sampling net (22) from the water inlet pipe to the filter sampling net storage tank (16) under the drive of the robotic arm servo motor (11); Furthermore, each of the filter sampling nets (22) includes a main body (221) and a cover (222) for use; wherein, the cover (222) adopts a hollow structure and is fixed with a filter net; the pore size of the filter net meets the preset pore size requirements and corresponds to the target microplastic particle size.

2. The underwater microplastic sampling device as described in claim 1, characterized in that, The underwater microplastic sampling device capable of multiple sampling also includes a lifting system (4) and a power system (3), wherein, The lifting system (4) is located on the top of the waterproof housing and can change the overall spatial height of the underwater microplastic sampling device capable of multiple sampling. It includes a cylinder (41), a lifting piston rod (42), a lifting intermediate rod (43), and a lifting active rod (44) connected in sequence. The lifting active rod (44) is used to move under the drive of the lifting servo motor (45). The cylinder (41) and the lifting piston rod (42) are connected by a sealing ring (46). The power system (3) includes a suspended propeller (34) and a model boat motor (33) disposed outside the waterproof shell, and a positioning device (31) disposed inside the waterproof shell; wherein, the suspended propeller (34) is used to directly contact the water outside the waterproof shell and paddles the water under the drive of the model boat motor (33), thereby changing the overall spatial position of the underwater microplastic sampling device capable of multiple sampling; the positioning device (31) is used to position the overall spatial position of the underwater microplastic sampling device capable of multiple sampling.

3. The underwater microplastic sampling device as described in claim 1, characterized in that, The filter sampling screen (22) can be detachably installed inside the water inlet pipe through a snap-fit ​​mechanism; There is also a locking mechanism between the robotic arm (12) and the filter sampling net (22), which makes it easy for the robotic arm (12) to transfer the filter sampling net (22). The inner wall of the filter sampling mesh storage tank (16) is provided with a grooved guide rail to facilitate the entry of the filter sampling mesh (22).

4. The underwater microplastic sampling device as described in claim 1, characterized in that, The filter sampling mesh pre-storage slot (110) is connected to a transmission mechanism, which is used to adjust the position of the filter sampling mesh (22) stored in the filter sampling mesh pre-storage slot (110).

5. The underwater microplastic sampling device as described in claim 4, characterized in that, The transmission mechanism includes both a horizontal gear rack mechanism and a vertical gear rack mechanism, used to adjust the horizontal and vertical positions of the filter sampling net (22) stored in the filter sampling net pre-storage slot (110).

6. The underwater microplastic sampling device as described in claim 1, characterized in that, The filter sampling mesh storage tank (16) is also equipped with an electrically controlled valve (15) for switching the filter sampling mesh storage tank (16) on and off.

7. The underwater microplastic sampling device as described in claim 1, characterized in that, The sampling system (2) is also equipped with an inlet flow meter (23) and an inlet screen (24); wherein the inlet flow meter (23) is located inside the inlet end of the inlet pipe; The inlet mesh (24) is located between the inlet baffle (25) and the inlet pipe, and its aperture is no greater than 5mm.

8. The underwater microplastic sampling device as described in claim 1, characterized in that, The filter storage and replacement system (1) further includes a compression top cover (17), a spring (18), and a limiting ring (19), wherein the compression top cover (17) is used to compact the upper part of the filter sampling mesh (22), prevent sample leakage, and limit the position of the spring (18); the spring (18) is used to provide the compaction force; and the limiting ring (19) is used to limit the posture of the compression top cover (17).

9. An underwater microplastic sampling method based on the underwater microplastic sampling device capable of multiple sampling as described in any one of claims 1-8, characterized in that, Includes the following steps: S1: Prepare an underwater microplastic sampling device capable of multiple sampling as described in any one of claims 1-8, wherein the water inlet pipe of the underwater microplastic sampling device is provided with a filter sampling screen, and a plurality of filter sampling screens are pre-stored in the filter sampling screen pre-storage tank. S2: Move the underwater microplastic sampling device to the target sampling point so that the three-dimensional spatial coordinates of the underwater microplastic sampling device meet the preset requirements; S3: With the inlet pipe gap closed, open the inlet baffle to open the inlet, and the water pump will work to drive the water outside the waterproof shell into the inlet pipe and through the filter sampling screen, so that the filter sampling screen can complete the collection. S4: Close the inlet baffle to close the inlet, and at the same time turn on the water pump to drain the water in the inlet pipe. Then open the inlet pipe opening. Then, use the robotic arm to transfer the filter sampling net that has been collected in the inlet pipe to the filter sampling net storage tank for storage. Then transfer the filter sampling net that was pre-stored in the filter sampling net pre-storage tank before collection to the inlet pipe. S5: Repeat steps S2 to S4 until multiple samplings are completed under different three-dimensional coordinates; then, move the underwater microplastic sampling device to the pre-set designated return and recovery point.

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