Water sampling submersible robot with multiple sample containers

Abstract

The present invention belongs to the technical field of water sampling equipment, and specifically relates to a water sampling diving robot with multiple sample containers, comprising a supporting frame, wherein propulsion modules are symmetrically arranged on both sides of the supporting frame, a pressure cabin is installed in the middle of the supporting frame, a main control unit is arranged in the pressure cabin, a depth sensor is arranged on the outside of the pressure cabin, the propulsion module and the depth sensor are electrically connected to the main control unit, a water sampling module is docked on the top of the supporting frame, the water sampling module comprises a plurality of sampling units, the sampling unit comprises a water sample container, the water sample container is connected with an upper through pipe and a lower through pipe with outer openings, electric control valves are arranged in the pipelines of the upper through pipe and the lower through pipe, an auxiliary propeller penetrating the upper and lower sides is vertically arranged in the middle of the water sampling module, and a plurality of sampling units can be used to realize multiple rapid sampling in one diving, thereby effectively improving the efficiency of water detection work.

Description

Technical Field

[0001] The invention relates to the technical field of water sampling equipment, and in particular to a water sampling diving robot with multiple sample containers. Background Art

[0002] Water resources are the basic resources for people's survival, and the quality of water is directly related to people's health. There are many chemical substances in the water environment. By chemically analyzing and testing the water quality, we can summarize the factors affecting the water quality and test results. In the process of water quality environment testing, many factors will affect the test results, resulting in inaccurate test results and affecting water environment management. Water quality environment testing mainly tests and analyzes the types, concentrations, and changing trends of pollutants in the water body, and then evaluates the quality performance of the water environment. The scope of water quality environment testing is becoming more and more extensive, covering many fields such as industry, agriculture, and national defense science and technology. In terms of purpose, water quality environment testing is to determine the quality grade standard of water resources by extracting and analyzing the parameters of water quality conditions.

[0003] The commonly used water sampling device on the market is shown in the patent document with patent number CN104316353A and the name "A deep water sampling device", which includes a bottle body, a base plate installed on the bottle body, the base plate is provided with a conical table-shaped water inlet, the water inlet of the base plate is connected with the water inlet of the bottle body, a conical table-shaped piston is provided at the water inlet of the base plate, a base frame is provided on the base plate, the base frame is provided with a limit hole, the piston rod of the piston is placed in the limit hole, a compression spring is set on the piston rod, one end of the compression spring is fixed on the base frame, and the other end of the compression spring is fixed on the piston, a micro submersible motor is also installed on the base plate, the rotating shaft of the micro submersible motor is connected to the piston through a pull rope, the base frame is also connected to a pipe rope, and the end of the power cable of the micro submersible motor passes through the pipe rope and is connected to a power plug. The device structure is relatively simple and can be easily submerged in water for water sample collection.

[0004] However, with the development of science and technology and the deepening of hydrological research, more complex sampling conditions such as comparative analysis of water quality differences in different areas of a water body have gradually become factors that researchers need to consider. Conventional deep-water sampling equipment is obviously unable to meet the needs of reaching a certain area of ​​a water body more accurately, such as reaching a certain depth for sampling. In addition, conventional water samplers can only collect one water sample at a time. If water samples from different areas of a water body need to be collected, each area can only be sampled one by one, which is extremely time-consuming and cumbersome. Summary of the invention

[0005] In order to solve the problem that general water sampling equipment cannot reach a certain area in the water body more accurately and usually can only sample one water sample at a time, if it is necessary to collect water samples from different areas of the water body, the sampling can only be carried out one by one, which is time-consuming and labor-intensive. A water sampling submersible robot with multiple sample containers is provided.

[0006] A water sampling diving robot with multiple sample containers comprises a supporting frame, wherein propulsion modules are symmetrically arranged on both sides of the supporting frame, a pressure cabin is installed in the middle of the supporting frame, a main control unit is arranged in the pressure cabin, a depth sensor is arranged on the outside of the pressure cabin, the propulsion module and the depth sensor are electrically connected to the main control unit, a water sampling module is docked on the top of the supporting frame, the water sampling module comprises multiple sampling units, the sampling unit comprises a water sample container, the water sample container is connected with an upper through pipe and a lower through pipe with outer openings, the upper through pipe and the lower through pipe are both provided with electric control valves, an auxiliary thruster is vertically arranged in the middle of the water sampling module to pass through the upper and lower sides, and the electric control valve and the auxiliary thruster are electrically connected to the main control unit.

[0007] Furthermore, the sampling unit comprises a sampling base, the water sample containers are movably buckled on the sampling base, and the upper through pipe and the lower through pipe are both arranged on the inner side of the sampling base.

[0008] Furthermore, a threaded buckle seat is provided on the side of the sampling base, one end of the upper through pipe passes through the threaded buckle seat, and the other end passes through the top of the sampling base, one end of the lower through pipe passes through the threaded buckle seat, and the other end passes through the bottom of the sampling base, and the opening thread of the water sample container is sleeved in the threaded buckle seat.

[0009] Furthermore, a wireless output component electrically connected to a main control unit is provided on the top of the pressure cabin, and a wireless receiving component electrically connected to an auxiliary thruster and an electric-controlled valve is provided at the bottom of the water sampling module corresponding to the wireless output component. The wireless output component includes a first electromagnetic induction coil and a first WIFI module, and the wireless receiving component includes a second electromagnetic induction coil and a second WIFI module. The first electromagnetic induction coil and the second electromagnetic induction coil are correspondingly fitted, and the first WIFI module and the second WIFI module are communicatively connected.

[0010] Furthermore, the openings of the plurality of down-through pipes are all connected to the output end of the multi-way connector, and the input end of the multi-way connector is connected to the filter module.

[0011] Furthermore, the propulsion module includes horizontal thrusters and vertical thrusters, a plurality of horizontal thrusters are symmetrically arranged at the tail of the support frame, and a plurality of vertical thrusters are symmetrically arranged at the middle of the support frame.

[0012] Furthermore, the propulsion module includes a lateral thruster, and the angle between the central axis of the lateral thruster and the central axis of the horizontal thruster is less than 90°, and the horizontal thruster and the lateral thruster are both horizontally installed on the support frame.

[0013] Furthermore, a camera module and a lighting module are provided at the front end of the pressure cabin, a USBL positioner is installed on the support frame, and the camera module, the lighting module and the USBL positioner are all electrically connected to the main control unit.

[0014] Furthermore, a battery module is provided in the pressure cabin, and a shore-based connection line is connected to the outside of the pressure cabin. The battery module and the shore-based connection line are electrically connected to the main control unit. The battery module includes a battery frame and a plurality of charging cells, and the charging cells are installed in the battery frame at equal intervals.

[0015] Furthermore, docking rails are provided on both upper and lower sides of the support frame, and the water sampling module is detachably buckled on the docking rails.

[0016] The advantages of the present invention are:

[0017] 1. The water sampling module has a multi-container design, which can perform multiple sampling in the water after one dive, improving work efficiency.

[0018] 2. The trigger mechanism of the water sampling module is a valve opening and closing design. While the air in the water sample container is discharged through the upper pipe, the water sample flows into the water sample container through the lower pipe. It is simple, energy-saving and not prone to malfunction.

[0019] 3. When spraying water upward, the auxiliary propeller can promote the flow of water into the downpipe, speeding up the water sample collection process, and when spraying water downward, it can increase the rising speed of the equipment, effectively improving work efficiency. Even if the auxiliary propeller is damaged, it will not cause the equipment to stop working, and it has strong reliability.

[0020] 4. It can move and dive more accurately to the location where sampling is required in the water, making it convenient for staff to carry out more complex water body detection operations.

[0021] 5. Since the lateral thrusters are installed at an angle, the equipment can be moved laterally when the lateral thrusters on the same side are running at the same time, and the lateral thrusters on the diagonal line can drive the equipment to rotate when they are running at the same time, which has strong mobility flexibility.

[0022] 6. The water sampling module and the pressure chamber are wirelessly connected, which makes installation and disassembly easy and improves the pressure resistance of each device. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0024] Figure 1 Axonometric view of the top side of a water sampling submersible robot with multiple sample containers;

[0025] Figure 2 It is a left view structural diagram of a water sampling submersible robot with multiple sample containers;

[0026] Figure 3 This is the internal structure diagram of the water sampling module;

[0027] Figure 4 This is the internal structure diagram of the pressure cabin;

[0028] Figure 5 Schematic diagram of the circuit components of a water sampling submersible robot with multiple sample containers.

[0029] Figure ID:

[0030] 1. Support frame; 201. Horizontal thruster; 202. Vertical thruster; 203. Lateral thruster; 3. Pressure cabin; 401. Main control unit; 402. Depth sensor; 403. Camera module; 404. Lighting module; 405. USBL positioner; 4061. Battery frame; 4062. Rechargeable battery; 5. Water sampling module; 501. Water sample container; 502. Electric control valve; 503. Sampling base; 504. Threaded buckle seat; 6. Upper through pipe; 7. Lower through pipe; 8. Multi-way connector; 9. Filter module; 10. Shore-based connection; 11. Docking rail; 12. Auxiliary thruster; 13. Wireless output component; 14. Wireless receiving component. DETAILED DESCRIPTION

[0031] In order to solve the problem that when occasional power outages occur, it is impossible for the maintenance staff and electricity users to make advance preparations. Even if the staff rush to the accident site for emergency repairs as soon as possible, the users always need to wait for a long time, which can easily lead to stagnation of production and life and cause irreparable losses. A water sampling submersible robot with multiple sample containers is provided.

[0032] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0033] It should be noted that the terms such as "within", "in" and "one" etc. cited in this specification are only for the convenience of description and are not used to limit the scope of the present invention. Changes or adjustments in their relative relationships, without substantially changing the technical content, should also be regarded as the scope of the present invention, and it is necessary to make it clear in advance.

[0034] In the description of the present invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", etc. indicate the orientation or position relationship based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, 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 cannot be understood as limiting the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the present invention, it should be noted that, unless otherwise clearly specified and defined, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected, or indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood by specific circumstances.

[0035] like Figures 1 to 5As shown, the present embodiment provides a water sampling diving robot with multiple sample containers, including a support frame 1, wherein propulsion modules are symmetrically arranged on both sides of the support frame 1, a pressure cabin 3 is installed in the middle of the support frame 1, a main control unit 401 is arranged in the pressure cabin 3, a depth sensor 402 is arranged on the outside of the pressure cabin 3, the propulsion module and the depth sensor 402 are electrically connected to the main control unit 401, a water sampling module 5 is docked on the top of the support frame 1, the water sampling module 5 includes four sampling units, the sampling unit includes a water sample container 501, the water sample container 501 is connected to an upper through pipe 6 and a lower through pipe 7 with outer openings, the upper through pipe 6 and the lower through pipe 7 are both provided with an electrically controlled valve 502, an auxiliary propeller 12 is vertically arranged in the middle of the water sampling module 5 to pass through the upper and lower sides, and the electrically controlled valve 502 and the auxiliary propeller 12 are electrically connected to the main control unit 401.

[0036] Among them, the propulsion module can drive this embodiment to the position where sampling is required, and cooperate with the depth sensor 402 to ensure that the submersible robot is located at a suitable depth position when sampling. When sampling is required, the main control unit 401 opens the electric control valves 502 of the upper through pipe 6 and the lower through pipe 7 corresponding to one of the water sample containers 501, so that the internal space of the water sample container 501 is connected to the external water body through the upper through pipe 6 and the lower through pipe 7. Under the action of water pressure, the air inside the water sample container 501 is discharged through the upper through pipe 6, and the water sample flows into the water sample container 501 through the lower through pipe 7. Subsequently, the electric control valves 502 of the upper through pipe 6 and the lower through pipe 7 are closed, so that the water sample is sealed in the water sample container 501, and the propulsion module drives the submersible robot to reach another area and opens the electric control valve 502 corresponding to another water sample container 501 to sample the water body in another area. In addition, when it is necessary to take out the water sample, in addition to directly removing the water sample container 501, the electric control valve 502 can also be opened and a container can be placed under the lower through pipe 7 to collect water.

[0037] The auxiliary propeller 12 can play a variety of roles. When the submersible robot rises or descends, it can run synchronously with the vertical propeller 202 to increase the vertical movement speed of the submersible robot. In the process of collecting water samples, the auxiliary propeller 12 can spray water upward to attract water into the downpipe 7 to improve the collection efficiency of water samples; at this time, in order to reduce the downward thrust generated by the auxiliary propeller 12, the vertical propeller 202 can spray water downward to maintain the depth position of the submersible robot stable. It is worth mentioning that even if the auxiliary propeller 12 is damaged, it will not cause the equipment to fail to operate normally, and the equipment has strong reliability.

[0038] The sampling unit includes a sampling base 503, and the water sample container 501 is movably buckled on the sampling base 503. A threaded buckle seat 504 is provided on the side of the sampling base 503. One end of the upper through pipe 6 passes through the threaded buckle seat 504, and the other end passes through the top of the sampling base 503. One end of the lower through pipe 7 passes through the threaded buckle seat 504, and the other end passes through the bottom of the sampling base 503. The opening thread of the water sample container 501 is sleeved in the threaded buckle seat 504. The upper through pipe 6 and the lower through pipe 7 are both installed in the sampling base 503, with strong structural stability, and the pipeline is not easily damaged. The water sample container 501 with threaded focus is quick to assemble and disassemble, which is convenient for disassembling the water sample container 501 to take out water samples and clean the water sample container 501.

[0039] The top of the pressure-resistant cabin 3 is provided with a wireless output component 13 electrically connected to the main control unit 401, and the bottom of the water sampling module 5 is provided with a wireless receiving component 14 electrically connected to the auxiliary propeller 12 and the electric control valve 502 corresponding to the wireless output component 13, and the wireless output component 13 includes a first electromagnetic induction coil and a first WIFI module, and the wireless receiving component 14 includes a second electromagnetic induction coil and a second WIFI module, and the first electromagnetic induction coil and the second electromagnetic induction coil are correspondingly arranged, and the first WIFI module and the second WIFI module are connected in communication. It should be noted that magnets with opposite polarities can be set in the wireless output component 13 and the wireless receiving component 14 to achieve stable adsorption docking; in addition, a card slot for the wireless receiving component 14 can also be set on the wireless output component 13. The power and control transmission between the water sampling module 5 and the pressure-resistant cabin 3 of the main body are both wirelessly designed, which can improve the sealing and pressure resistance performance of the pressure-resistant cabin 3, and the water sampling module 5 can be quickly assembled and disassembled, eliminating the docking and separation operations at the joint.

[0040] The openings of the down-tube 7 are all connected to the output end of the multi-way connector 8, and the input end of the multi-way connector 8 is connected to the filter module 9. Installing the filter module 9 at the entrance of the down-tube 7 can prevent large foreign objects such as water plants from clogging the pipeline and causing sampling failure. It is worth mentioning that in order to prevent the water from the previous area from remaining in the pipeline of the multi-way connector 8, causing the water sample to mix with the water from the previous area when sampling the next area, a one-way valve can be set at the front end of the branch of the multi-way connector 8, so that the water sample can only flow into the pipeline where the electric control valve 502 is opened. In addition, a filter module 9 can also be installed corresponding to each opening of the down-tube 7.

[0041] The propulsion module includes a horizontal propeller 201, a vertical propeller 202 and a lateral propeller 203. Two horizontal propellers 201 are symmetrically arranged at the tail of the support frame 1, and two vertical propellers 202 are symmetrically arranged at the middle of the support frame 1. The lateral propellers 203 are installed at the four corner points on the top of the support frame 1. The angle between the central axis of the lateral propeller 203 and the central axis of the horizontal propeller 201 is less than 90°. The horizontal propeller 201 and the lateral propeller 203 are both horizontally installed on the support frame 1. The horizontal propeller 201 and the vertical propeller 202 enable the submersible robot to move up and down and forward and backward, so that it can reach the designated area to collect water samples and adapt to the complex underwater environment. The obliquely installed lateral propeller 203 enables the submersible robot to rotate or move laterally, thereby improving the operational flexibility of the submersible robot. For example, by simultaneously opening the two lateral propellers 203 on the left or right side, the submersible robot can move laterally, while by simultaneously opening the lateral propellers 203 at both ends of the diagonal, the submersible robot can rotate.

[0042] The front end of the pressure-resistant cabin 3 is provided with a camera module 403 and a lighting module 404, and a USBL positioner 405 is installed on the support frame 1. The camera module 403, the lighting module 404 and the USBL positioner 405 are all electrically connected to the main control unit 401. The camera module 403 can transmit underwater images to land, which is convenient for staff to observe the underwater environment. The base of the camera module 403 can be connected to a pan-tilt head for adjusting the shooting angle. The lighting module 404 can be set as a fill light that surrounds the outside of the camera module 403 in a ring to ensure the uniformity of lighting. The USBL positioner 405 is an underwater positioning device used on the market. Its full name in Chinese is the ultra-short baseline positioning system, which consists of a transmitting transducer, a transponder, and a receiving matrix. The transmitting transducer and the receiving matrix are installed on the water surface, and the transponder is fixed on the underwater carrier. The transmitting transducer sends out an acoustic pulse, and after the transponder receives it, it sends back an acoustic pulse. After the receiving array receives it, it measures the phase difference in the X and Y directions, and calculates the distance R from the underwater device to the array based on the arrival time of the sound wave, thereby calculating the position of the underwater detector on the plane coordinates and the depth of the underwater detector. It can accurately obtain the position, navigation direction and trajectory of the submersible robot on the map, mark the target position, and draw the inspection route. Therefore, the USBL locator 405 can be used to accurately locate the underwater position of the submersible robot for sampling, ensuring the accuracy of the sampling area.

[0043] The pressure-resistant cabin 3 is provided with a battery module, and the outer side of the pressure-resistant cabin 3 is connected to a shore-based connection 10. The battery module and the shore-based connection 10 are electrically connected to the main control unit 401. The battery module includes a battery frame 4061 and a plurality of charging cells 4062, and the charging cells 4062 are installed in the battery frame 4061 at equal intervals. The shore-based connection 10 is a common power supply and data transmission design for diving robots on the market (such as underwater ROV), which is used to connect power supply equipment and remote control equipment on land, and can ensure the long-term underwater endurance and control stability of the equipment. The battery module can provide a backup emergency power supply to avoid the sudden interruption of external power supply causing the diving robot to be unable to return. The charging cells 4062 placed at intervals on the battery frame 4061 are evenly weighted and have good heat dissipation performance. In addition, they can be charged through the shore-based connection 10 in standby mode.

[0044] The upper and lower sides of the support frame 1 are provided with docking rails 11, the water sampling module 5 is detachably buckled on the docking rails 11, and the USBL positioner 405 is also detachably buckled on the docking rails 11. The docking rails 11 facilitate the installation and removal of additional components, which helps to reduce the space occupied by the equipment during transportation and storage. In addition, the submersible robot can also be used for other tasks after removing the water sampling module 5, increasing the versatility of the equipment.

[0045] The above contents are further detailed descriptions of the present invention in combination with specific preferred implementation modes. It cannot be considered that the specific implementation of the present invention is limited to these descriptions. That is, all equivalent changes and modifications made within the scope of this application should still fall within the scope of the present invention.

Claims

1. A water sampling submersible robot with multiple sample containers, comprising a support frame, characterized in that: Propulsion modules are symmetrically arranged on both sides of the support frame, a pressure cabin is installed in the middle of the support frame, a main control unit is arranged in the pressure cabin, a depth sensor is arranged on the outside of the pressure cabin, the propulsion module and the depth sensor are electrically connected to the main control unit, a water sampling module is docked on the top of the support frame, the water sampling module includes a plurality of sampling units, the sampling unit includes a water sample container, the water sample container is connected with an upper through pipe and a lower through pipe with outer openings, the upper through pipe and the lower through pipe are both provided with electric control valves, an auxiliary thruster penetrating the upper and lower sides is vertically arranged in the middle of the water sampling module, the electric control valve and the auxiliary thruster are electrically connected to the main control unit; The sampling unit comprises a sampling base, the water sample containers are movably buckled on the sampling base, and the upper through pipe and the lower through pipe are both arranged on the inner side of the sampling base; A threaded buckle seat is provided on the side of the sampling base, one end of the upper through pipe passes through the threaded buckle seat, and the other end passes through the top of the sampling base, one end of the lower through pipe passes through the threaded buckle seat, and the other end passes through the bottom of the sampling base, and the opening of the water sample container is threadedly sleeved in the threaded buckle seat; A wireless output component electrically connected to the main control unit is provided on the top of the pressure-resistant cabin, and a wireless receiving component electrically connected to the auxiliary thruster and the electric control valve is provided at the bottom of the water sampling module corresponding to the wireless output component, the wireless output component includes a first electromagnetic induction coil and a first WIFI module, the wireless receiving component includes a second electromagnetic induction coil and a second WIFI module, the first electromagnetic induction coil and the second electromagnetic induction coil are correspondingly fitted, and the first WIFI module and the second WIFI module are communicatively connected; The openings of the plurality of down-through pipes are all connected to the output end of the multi-way connector, and the input end of the multi-way connector is connected to the filter module; The propulsion module includes a horizontal propeller and a vertical propeller, a plurality of horizontal propellers are symmetrically arranged at the tail of the support frame, and a plurality of vertical propellers are symmetrically arranged at the middle of the support frame; The propulsion module comprises a lateral thruster, the central axis of the lateral thruster and the central axis of the horizontal thruster are at an angle of less than 90°, and the horizontal thruster and the lateral thruster are both horizontally mounted on the support frame; A camera module and a lighting module are provided at the front end of the pressure-resistant cabin, a USBL positioner is installed on the support frame, and the camera module, the lighting module and the USBL positioner are all electrically connected to the main control unit; A battery module is arranged in the pressure cabin, a shore-based connection line is connected to the outside of the pressure cabin, the battery module and the shore-based connection line are electrically connected to the main control unit, the battery module includes a battery frame and a plurality of charging cells, and the charging cells are installed in the battery frame at equal intervals; The upper and lower sides of the support frame are both provided with docking rails, and the water sampling module is detachably buckled on the docking rails.

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