A device for hierarchical sampling of water body suspensions

Abstract

The application provides a water body suspended matter grading sampling device, which comprises a driving unit and a grading sampling unit, a plurality of collection modules are nested to form the grading sampling unit, the collection modules with different filter screen cloth aperture diameters are sequentially nested and fixed from top to bottom by using a lock chain structure, and the aperture diameter of the nested collection module is larger than that of the nested collection module, so that the grading sampling of the water body suspended matter with different particle sizes is realized at one time, and the grading sampling work flow of the water body suspended matter is simplified; the collecting bottle is directly fixed on the collector by using the combination of a buckle and a nut for sampling, instead of the mode of "collecting the water body suspended matter sample by using the collector and then pouring the sample into the collecting bottle by controlling the valve", so that the whole sampling process can be realized by one person, and the sampling efficiency of the water body suspended matter is improved.

Description

Technical Field

[0001] The present invention relates to the field of water body sampling, and more particularly to a water body suspended matter graded sampling device. Background Art

[0002] Suspended matter in water bodies includes phytoplankton, zooplankton, and other suspended particles, all of which are important components of the aquatic ecosystem and often need to be sampled separately according to particle size. However, existing water suspended matter sampling devices use a single-aperture net bag, which can only collect suspended matter with a particle size larger than the aperture, and cannot achieve graded sampling. Although graded sampling can be achieved to a certain extent by filtering the water body multiple times with net bags of different apertures, its operation is complicated and inefficient, and the adhesion of the filter will lead to incomplete sampling and cross-contamination between different samples.

[0003] Furthermore, existing suspended matter collection nets employ a valve-controlled method to pour the collected suspended matter into a sampling bottle, to which a fixative solution is then added. This method requires one person to hold the net, another to tighten the valve and cap, and to add the fixative solution. This requires at least two people to perform field sampling, resulting in low sampling efficiency and the operation process being easily affected by field environmental conditions, reducing accuracy. Summary of the Invention

[0004] (1) Purpose of the invention: In order to solve the problems existing in the above-mentioned prior art, the purpose of the present invention is to provide a water suspended matter classification sampling device to improve the efficiency of water suspended matter sampling.

[0005] (2) Technical solution: In order to solve the above technical problems, the present technical solution provides a water suspended matter graded sampling device, comprising a driving unit and a graded sampling unit, wherein the driving unit is used to provide power to the graded sampling unit so that the graded sampling unit completes the sampling work in the water body.

[0006] The graded sampling unit is composed of multiple identical collection modules nested in sequence; the collection module includes a net bag, a fixing sleeve, a collector, a collection bottle and a pull ring, the net bag is used to filter suspended matter in the water body, the fixing sleeve is used to nest and fix the collection module, the collector is used to collect suspended matter in the water body filtered by the net bag, and the collection bottle is used to store the suspended matter in the water body collected by the collector.

[0007] For two adjacent collection modules, the aperture of the filter mesh cloth of the net bag of the nested collection module is larger than the aperture of the filter mesh cloth of the net bag of the nested collection module.

[0008] Furthermore, the driving unit includes a fixed rod and a rope, and the water suspended matter graded sampling device is moved by controlling the fixed rod. One end of the rope is connected to the fixed rod, and the other end is connected to the graded sampling unit.

[0009] Furthermore, the drive unit also includes a drive unit housing, a drive unit battery, a drive motor, a horizontal propeller, a vertical propeller, a camera, a connecting chain, a display screen and a control module.

[0010] The drive unit shell is made of waterproof material, and a drive unit battery is arranged inside it. A drive motor is arranged on the outer wall of the drive unit shell. The drive motor is connected to a horizontal propeller and a vertical propeller. The horizontal propeller is used to control the movement of the drive unit in the horizontal direction, and the vertical propeller is used to control the movement of the drive unit in the vertical direction.

[0011] A camera is provided at the front end of the driving unit housing, and is used to take pictures during the movement of the driving unit on the waterway and upload the pictures to a control module.

[0012] At the rear end of the driving unit housing, a connecting chain is provided around the driving unit housing, and the connecting chain is used to connect the driving unit and the graded sampling unit.

[0013] At the front end of the drive unit housing, a display screen is provided on the side of the sandwich between the inner wall and the outer wall of the drive unit housing. The display screen is used to receive the volume data of the collected water output by the control module and display it on the display screen.

[0014] Furthermore, the process of generating a navigation path by the control module of the driving unit includes:

[0015] The control module establishes a first coordinate system, obtains an initial course, and controls the movement of the driving device according to the initial course;

[0016] The camera calculates the monitoring position, takes a picture of the monitoring position and uploads it to the control system to determine whether there is an obstacle at the monitoring position;

[0017] The control module calculates the regression position and establishes a second coordinate system;

[0018] The control module generates an obstacle avoidance path in the second coordinate system and controls the driving unit to move from the current position to the return position along the obstacle avoidance path;

[0019] The control module controls the driving unit to continue moving along the initial course.

[0020] Furthermore, the net bag includes a net ring, a filter mesh and a cable tie; the net ring is arranged at the top of the upper opening of the net bag; the filter mesh is in the shape of a funnel with a large upper opening and a small lower opening, and the top of the upper opening is completely and tightly wrapped around the net ring by curling inward and sewing; the cable tie is arranged at the bottom of the lower opening of the net bag.

[0021] Furthermore, the fixing sleeve includes an annular waterproof cloth bag, an upper edge chain, a lower edge chain and a connecting lock buckle; the upper edge chain is tightly fixed to the upper edge of the annular waterproof cloth bag, the lower edge chain is tightly fixed to the lower edge of the annular waterproof cloth bag, and the shape and size of the connecting lock buckle match the upper edge chain and the lower edge chain.

[0022] Furthermore, the collector includes a collector body, a collector opening and a collector nut; the collector body is an annular stainless steel barrel, a collector opening is provided on one side of the collector body, and a collector nut is provided at a lower position on the opposite side of the collector opening, and the collector nut can control the depth of the nut head entering the annular structure of the collector body by rotating.

[0023] Furthermore, the collecting bottle includes a bottle cap, a bottle cap protrusion, a bottle cap connecting portion, an upper bottle body, a bottle body connecting section and a lower bottle body; the bottle cap is an inverted conical trapezoid, and the larger circular bottom surface at the top is consistent with the inner diameter circular cross-section of the upper bottle body; the cross-section of the upper bottle body is annular; a bottle cap connecting portion is provided on one side of the bottle cap, and the bottle cap connecting portion is used to connect the bottle cap and the upper bottle body; on the opposite side of the bottle cap connecting portion, a bottle cap protrusion is provided on the bottle cap, and the bottle cap protrusion is a right trapezoid with the lower portion slightly larger than the upper portion, and the cross-section of the bottle cap protrusion is consistent with the collector opening.

[0024] Furthermore, a pull ring is fixed on the network port ring, and the pull ring is used to connect the drive unit.

[0025] Furthermore, the collection bottle with the nested collection module is placed in the collector, the protrusion of the bottle cap is completely inserted into the collector opening, and the collector nut is tightened to lock the bottle body connection section;

[0026] The collection bottle of the nested collection module is placed in the collector, the protrusion of the bottle cap is completely inserted into the collector opening, and the collector nut is tightened to lock the bottle body connection section;

[0027] The lower edge chain of the nested collection module and the upper edge chain of the nested collection module are connected through a connecting lock buckle, and a rope is connected to the pull ring of the fixing rod to form a graded sampling unit.

[0028] (III) Beneficial effects: The present invention provides a device for sampling suspended matter in water bodies by nesting multiple collection modules to form a graded sampling unit. The collection modules with different filter mesh apertures are fixed in sequence from top to bottom using a chain structure. The aperture of the filter mesh of the nested collection module is larger than the aperture of the filter mesh of the nested collection module, thereby achieving graded sampling of plankton of different particle sizes at one time, and simplifying the graded sampling workflow of suspended matter in water bodies. Secondly, the present invention adopts a combination of snaps and nuts to fix the collection bottle directly on the collector for sampling. Instead of using the collector to collect suspended matter samples and then controlling the valve to pour the samples into the collection bottle, a single person can complete the entire sampling process, thereby improving the efficiency of suspended matter sampling in water bodies. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 This is a schematic structural diagram of a water suspended fraction floating matter sampling device provided in Example 1 of the present invention;

[0030] Figure 2 This is a schematic diagram of the structure of the acquisition module provided in Example 1 of the present invention;

[0031] Figure 3 This is a schematic structural diagram of a collector of a collection module provided in Example 1 of the present invention;

[0032] Figure 4 Schematic diagram of the structure of the collection bottle of the collection module provided in Example 1 of the present invention;

[0033] Figure 5 This is a schematic structural diagram of a water suspended fraction floating matter sampling device provided in Example 2 of the present invention;

[0034] Figure 6 is a schematic structural diagram of a drive unit provided in Example 2 of the present invention;

[0035] Figure 7 Schematic diagram of the navigation path of the drive unit provided in Example 2 of the present invention;

[0036] Figure 8 This is a schematic diagram of the flow of the control module generating a route provided by Example 2 of the present invention.

[0037] Reference numerals:

[0038] 1-fixed rod, 2-rope, 3-graded collection module, 3a-upper collection module, 3b-lower collection module, 4-drive unit;

[0039] 31-net bag, 32-fixing sleeve, 33-collector, 34-collecting bottle, 35-pull ring;

[0040] 311-net ring, 312-filter cloth, 313-cable tie;

[0041] 321-ring waterproof cloth bag, 322-upper edge chain, 323-lower edge chain, 324-connecting lock buckle;

[0042] 331-collector body, 332-collector opening, 333-collector nut;

[0043] 341-bottle cap, 342-bottle cap protrusion, 343-bottle cap connection portion, 344-upper bottle body, 345-bottle body connection section, 346-lower bottle body;

[0044] 41 - drive unit housing, 42 - drive unit battery, 43 - drive motor, 44 - horizontal propeller, 45 - vertical propeller, 46 - camera, 47 - connection chain, 48 - display screen;

[0045] O-origin of the first coordinate system, A-the farthest position from the origin O in the X direction on the initial course in the first coordinate system, Q1-the first quadrant of the first coordinate system, Q2-the second quadrant of the first coordinate system, Q3-the third quadrant of the first coordinate system, Q4-the fourth quadrant of the first coordinate system, a-current position, b-monitoring position, c-regression position, B-origin of the second coordinate system, d-the highest point of the obstacle in the second coordinate system, d'-the position of the highest buffer point in the second coordinate system. DETAILED DESCRIPTION

[0046] The present invention is further described in detail below in conjunction with preferred embodiments. More details are set forth in the following description to facilitate a full understanding of the present invention. However, the present invention can obviously be implemented in a variety of other ways different from the description. Those skilled in the art can make similar generalizations and deductions based on actual application situations without violating the connotation of the present invention. Therefore, the scope of protection of the present invention should not be limited by the content of this specific embodiment.

[0047] The accompanying drawings are schematic diagrams of embodiments of the present invention. It should be noted that the drawings are merely examples and are not drawn to scale, and should not be used to limit the actual scope of protection claimed in the present invention.

[0048] In existing technology, to collect suspended matter, a valve is used to control the collection net bag, pour the collected suspended matter into a sampling bottle, and then add a fixative solution to the sampling bottle. This operation requires at least two people, has low sampling efficiency, and the operation process is easily restricted by field environmental conditions, reducing accuracy.

[0049] The present invention provides a water suspended matter classification sampling device, which can be operated by a single person and can accurately classify and sample suspended matter, thereby greatly improving sampling efficiency.

[0050] like Figure 1-4As shown, a water suspended matter graded sampling device provided by Example 1 of the present invention includes a fixed rod 1, a rope 2 and a graded sampling unit 3, wherein the fixed rod 1 is used to manipulate the water suspended matter graded sampling device to perform sampling operations in the target water layer, one end of the rope 2 is connected to one end of the fixed rod 1, and the other end of the rope 2 is connected to the pull ring 35 of the graded sampling unit 3, and the fixed rod 1 and the rope 2 are used to connect and move the graded sampling unit 3.

[0051] The hierarchical sampling unit 3 is composed of multiple identical acquisition modules nested in sequence, with two adjacent acquisition modules serving as a nested acquisition module and a nesting acquisition module, respectively. Taking this embodiment as an example, the hierarchical sampling unit 3 is formed by an upper acquisition module 3a and a lower acquisition module 3b, which are nested together. The lower edge chain 323 of the upper acquisition module 3a and the upper edge chain 322 of the lower acquisition module 3b are nested together via a connecting buckle 324. The upper acquisition module 3a is nested within the lower acquisition module 3b, with the upper acquisition module 3a serving as the nested acquisition module and the lower acquisition module 3b serving as the nesting acquisition module.

[0052] The upper collection module 3a and the lower collection module 3b are collection modules with the same structure, and the collection modules include: a net bag 31, a fixing sleeve 32, a collector 33, a collection bottle 34, and a pull ring 35. The net bag 31 is configured to be in the shape of a funnel with a large upper opening and a small lower opening. The net bag 31 is used to filter suspended matter in the water body. The top end of the upper opening is connected to the fixing sleeve 32, and the fixing sleeve 32 is used for nesting and connecting two or more collection modules. The bottom end of the lower opening of the net bag 31 is connected to the collector 33, and the collector 33 is used to collect suspended matter in the water body filtered by the net bag 31. The other end of the collector 33 is connected to the collection bottle 34, and the collection bottle 34 is used to store the suspended matter in the water body collected by the collector 33. A pull ring 35 is provided at the top end of the upper opening of the net bag 31, and the pull ring 35 is fixed to the net bag 31 for connecting the rope 2.

[0053] The specific structure of the net bag 31 includes a net ring 311, a filter mesh 312 and a tie 313. The net ring 311 is arranged at the top of the upper opening of the net bag 31, and the pull ring 35 is fixed to the net ring 311 by welding. The filter mesh 312 is in the shape of a funnel with a large upper opening and a small lower opening. The top of the upper opening is completely and tightly wrapped around the net ring 311 by curling and sewing. The material of the filter mesh 312 can be polymer fiber, metal mesh or nylon cloth. The filter mesh 312 can be set with different apertures. Taking this embodiment as an example, the aperture of the filter mesh of the upper collection module 3a is larger than the aperture of the lower filter mesh 3b. The tie 313 is arranged at the bottom of the lower opening of the net bag 31, and is used to tightly connect the filter mesh 312 and the collector 33.

[0054] The fixing sleeve 32 includes an annular waterproof cloth bag 321, an upper edge chain 322, a lower edge chain 323 and a connecting lock buckle 324. The annular waterproof cloth bag 321 is fixed to the outside of the mesh ring 311 and is tightly combined with the mesh ring 311. The upper edge chain 322 is tightly fixed to the upper edge of the annular waterproof cloth bag 321, and the lower edge chain 323 is tightly fixed to the lower edge of the annular waterproof cloth bag 321. The shape and size of the connecting lock buckle 324 match the upper edge chain 322 and the lower edge chain 323, and are used to nest and connect two or more collection modules to form a graded sampling unit.

[0055] The collector 33 includes a collector body 331, a collector opening 332, and a collector nut 333. The collector body 331 is an annular stainless steel barrel. The collector opening 332 is provided on one side of the collector body 331. A collector nut 333 is provided at the lower position opposite the collector opening 332. The collector nut 333 can be rotated to control the depth of the nut head entering the annular structure of the collector body 33.

[0056] The collection bottle 34 includes a bottle cap 341, a bottle cap protrusion 342, a bottle cap connection portion 343, an upper bottle body 344, a bottle body connection section 345, and a lower bottle body 346. The bottle cap 341 is an inverted conical trapezoidal shape, with its larger circular bottom surface at the top coinciding with the circular cross-section of the inner diameter of the upper bottle body 344, ensuring that the bottle cap 341 can be completely closed and prevent the liquid from leaking out. A bottle cap connection portion 343 is provided on one side of the bottle cap 341, which is used to connect the bottle cap 341 and the upper bottle body 344 to prevent the bottle cap 341 from falling off. On the opposite side of the bottle cap connection portion 343, the bottle cap 341 is provided with a bottle cap protrusion 342. The bottle cap protrusion 342 is a regular trapezoidal shape, with the lower portion slightly larger than the upper portion. The cross-section of the bottle cap protrusion 342 is consistent with the collector opening 332, ensuring that the bottle cap protrusion 342 can be fully inserted into the collector opening 332.

[0057] The upper body 344 of the collection bottle 34 has a circular cross-section, and its inner circular cross-section aligns with the larger circular bottom surface of the bottle cap 341, ensuring that the bottle cap can be fully closed. The outer circular cross-section of the upper body 344 aligns with the inner circular cross-section of the collector body 331, ensuring that the collection bottle 34 fits tightly into the collector 33 when the collection bottle 34 is installed.

[0058] The upper cross-section of the bottle connecting section 345 is annular, with a smaller radius than the upper bottle body 344. The distance from the bottom of the bottle cap protrusion 342 to the top of the bottle connecting section 345 is equal to the distance from the bottom of the collector opening 332 to the top of the collector nut 333. This ensures that when the bottle cap protrusion 342 is inserted into the collector opening 332, the collector nut 333 simultaneously engages the bottle connecting section 345, thereby securing the collection bottle 34 to the collector 33.

[0059] The pull ring 35 is arranged on the net mouth ring 311 and is tightly connected to the net mouth ring 311 . One end of the rope 2 is connected to the fixing rod 1 , and the other end is connected to the pull ring 35 .

[0060] The sampling process of embodiment 1 of the water body suspended matter sampling device includes:

[0061] Step 1: Based on the sampling target, set the aperture of the filter cloth 3a-312 of the upper collection module 3a and the aperture of the filter cloth 3b-312 of the lower collection module 3b, so that the aperture of the filter cloth 3a-312 of the upper collection module 3a is greater than the aperture of the filter cloth 3b-312 of the lower collection module 3b;

[0062] Step 2: The upper collection module 3a of the collection bottle 3a-34 into the collector 3a-33, so that the cap protrusion 3a-342 completely snap into the collector opening 3a-332, the collector nut 3a-333 tightened, stuck bottle connecting section 3a-345;

[0063] Step 3: The lower collection module 3b of the collection bottle 3b-34 into the collector 3b-33, so that the cap protrusion 3b-342 is completely snapped into the collector opening 3b-332, the collector nut 3b-333 is tightened, the bottle connecting section 3b-345 is locked;

[0064] Step 4: Connect the lower chain 3a-323 of the upper collection module 3a and the upper chain 3b-322 of the lower collection module 3b through the connecting buckle 324, and connect the rope 2 to the fixed rod 1 and the pull ring 35 to form a graded sampling unit;

[0065] Step 5: Place the graded sampling unit 3 to the surface of the water body at a depth of 0.5m, and slowly drag the graded sampling unit 3 back and forth in an "∞" shape at a speed of 20cm / s to 30cm / s for about 1min to 3min, and then drag the graded sampling unit 3 out of the water;

[0066] Step 6: Rotate and loosen the collector nut 3b-333 of the lower collection module 3b, and pull out the collection bottle 3b-34, and collect the water suspended matter sample with a particle size between the pore size of 3a-312 and the pore size of 3b-312 into the collection bottle 3b-34;

[0067] Step 7: By connecting the lock 324, open the upper edge of the chain 3a-323 of the lower acquisition module 3a and the upper edge of the chain 3b-322 of the lower acquisition module 3b;

[0068] Step 8: Rotate and loosen the collector nut 3a-333 of the upper collection module 3a, and pull out the collection bottle 3a-34, collect the water suspended matter sample with a particle size larger than the pore size of 3a-323 into the collection bottle 3a-34, and complete the sample classification sampling.

[0069] Example 1 of the present invention uses a combination of clips and nuts to secure the collection bottle directly to the collector for sampling. This replaces the "collecting suspended matter samples with the collector and then pouring them into the collection bottle via valve control" approach, allowing a single person to perform the entire sampling process, improving the efficiency of suspended matter sampling in water. A chain structure is used to nest and secure collection modules with meshes of varying apertures from top to bottom, with the apertures of the nested collection modules' filter meshes larger than those of the nesting collection modules. This allows for simultaneous, graded sampling of suspended matter in water of varying particle sizes, simplifying the workflow for graded sampling of suspended matter in water.

[0070] Optionally, a water suspended matter classification sampling device provided in Example 2 of the present invention is as follows: Figure 5 、 6 As shown, the device comprises a graded sampling unit 3 and a driving unit 4. The graded sampling unit 3 has the same structure as the graded sampling unit 3 in Example 1. The graded sampling unit 3 and the driving unit 4 are connected by an upper chain 322 provided on the graded sampling unit 3, a connecting chain 47 provided on the driving unit 4, and a connecting lock buckle 324. During the sampling process, the driving unit 4 moves horizontally with the graded sampling unit 3 in the sampling water layer. The driving unit 4 is used to repeatedly move the graded sampling unit 3 back and forth along the waterway in the sampling water layer, thereby providing power and control for the sample collection process.

[0071] The driving unit 4 includes a driving unit housing 41, a driving unit battery 42, a driving motor 43, a horizontal propeller 44, a vertical propeller 45, a camera 46 connecting chain 47, a display screen 48 and a control module.

[0072] The drive unit housing 41 is configured as a tubular structure with a hollow interior made of waterproof material. The cross-section of the inner wall of the drive unit housing 41 is a circle with a diameter R. A drive unit battery 42 is provided in the interlayer between the inner wall and the outer wall of the drive unit housing 41. The drive unit battery 42 is used to provide power supply for the drive unit 4.

[0073] The outer wall of the drive unit housing 41 is connected to a drive motor 43. The housing of the drive motor 43 is made of waterproof material, and the drive motor 43 is electrically connected to the drive unit battery 42. In this embodiment, the drive motors 43 are set to three, and two of them are arranged on a straight line with the center of the driver housing 41, and the remaining one is arranged in a perpendicular direction to this straight line. One end of the housing of the two drive motors 43 on a straight line is connected to the drive unit housing 41, and the other end is connected to a horizontal propeller 44, respectively. The horizontal propeller 44 is used to control the movement of the drive unit 4 in the horizontal direction. One end of the housing of the remaining drive motor 43 is connected to the drive unit housing 41, and the other end is connected to a vertical propeller 45. The vertical propeller 45 is used to control the movement of the drive unit 4 in the vertical direction, so that the water suspended matter graded sampling device of the present invention can be suspended in the target sampling water layer.

[0074] At the front end of the drive unit housing 41, a camera 46 is set at a position parallel to the vertical propeller 45 and the drive motor 43. The camera 46 is an underwater camera. The camera 46 is connected to the outer wall of the drive unit housing 41 and is electrically connected to the drive unit battery 42. The camera 46 is used to take pictures during the movement of the drive unit 4 and upload them to the control module. The control module receives the pictures collected by the camera 46 and determines whether there are obstacles on the initial course based on the pictures. If there are obstacles, the control unit generates an obstacle avoidance course and controls the rotation speed of the horizontal propeller 44 and the vertical propeller 45, so that the drive unit 4 moves according to the generated obstacle avoidance course and then returns to the initial course.

[0075] At the rear end of the driving unit housing 41, a connecting chain 47 is provided around the driving unit housing 41. The connecting chain 47 is used to connect with the upper edge chain 322 of the graded sampling unit 3 through a connecting lock buckle 324, thereby connecting the driving unit 4 and the graded sampling unit 3 together.

[0076] At the front end of the drive unit housing 41, a display screen 48 is set on the side of the interlayer between the inner wall and the outer wall of the drive unit housing 41. The display screen 48 is electrically connected to the drive unit 42. The display screen 48 is used to receive the volume data of the collected water output by the control module and display it on the display screen 48.

[0077] The control module includes a processor, a GPU, a memory and an input / output device. The control module is used to generate a channel for the driving unit 4 and control the driving unit 4 to move along the channel; record the moving distance of the driving unit 4 on the channel, calculate the volume of water sampled by the water suspended matter graded sampling device of the present invention during the sampling process, and output the calculation result to the display screen 48.

[0078] The channel includes an initial channel and an obstacle avoidance channel. The initial channel is the movement trajectory of the drive unit 4 generated by the control module before the drive unit 4 starts to move. The obstacle avoidance channel is the movement trajectory of the drive unit 4 generated by the control module for avoiding obstacles when an obstacle is detected on the initial channel.

[0079] The process of the control module generating the channel is as follows: Figure 7 、 8 Shown, including:

[0080] Step 1: The control module establishes a first coordinate system, obtains an initial course, and controls the movement of the driving device according to the initial course.

[0081] The control module takes the position of the driving unit 4 before it starts moving as the origin O, establishes a first coordinate system in the horizontal direction of the driving unit 4, namely the rectangular coordinate system XOY, and sets the maximum movement distance of the driving unit 4 centered on the origin O to 1m, namely A=(1,0). This embodiment is based on the Bernoulli lemniscate. , -1≤x≤1, generate an initial channel, the movement direction of the initial channel is Q1→Q4→Q2→Q3→Q1→..., the control module controls the driving unit 4 to move back and forth in the above movement direction for about 1 minute to 3 minutes, and the control module controls the driving unit 4 to move according to the initial channel;

[0082] Step 2: The camera calculates the monitoring location, takes a photo of the monitoring location and uploads it to the control system to determine whether there are any obstacles.

[0083] The camera 46 takes a picture of a monitoring position b (Xb, Yb) on the waterway that is 0.1 m away from the current position a (Xa, Ya) at intervals of 0.01 s;

[0084] The monitoring position b is calculated using the curve length calculation formula , when L=0.1 and the current position a (Xa, Ya) is known, the coordinates of the monitoring position b can be obtained by calculating (Xb, Yb);

[0085] The camera 46 uploads the captured photos to the control module, and the control module determines whether there is an obstacle at the monitoring position b based on the photos. If there is no obstacle at the monitoring position b, the control module controls the drive unit 4 to continue moving along the initial course. If an obstacle is detected at the monitoring position b, the following steps are executed.

[0086] Step 3: The control module calculates the regression position and establishes the second coordinate system.

[0087] When the control module detects that there is an obstacle at monitoring position b, the control module calculates the length of the curve according to the formula , calculate the return position c (Xc, Yc) on the initial course which is 0.1m away from the monitoring position b (Xb, Yb);

[0088] With line segment ac as the W axis direction, the intersection B of the perpendicular line passing through point b and line segment ac as the origin. With the perpendicular line Bb passing through point b as the V axis direction, a second coordinate system is established, namely the rectangular coordinate system WBV.

[0089] Step 4: The control module generates an obstacle avoidance course in the second coordinate system, and controls the driving unit 4 to move from the current position a to the return position c along the obstacle avoidance course.

[0090] The control module calculates the height h of the obstacle in the second coordinate system in the tangential direction of the initial channel at the initial position a with reference to a digital elevation model (DEM), and calculates the coordinates (Wd, Vd) of the highest point d of the obstacle;

[0091] Set a buffer height h', which should be greater than the maximum radius of the drive unit 4. The buffer height h' can be set independently according to the specific conditions of the sampling waters. According to the highest point d (Wd, Vd) of the obstacle, the height h of the obstacle, and the buffer height h', calculate the highest buffer point d' (Wd', Vd'), Wd' = Wd, Vd' = Vd + h';

[0092] Take the position coordinates of the current position a, the return position c, and the highest buffer point d' in the second coordinate system (Wa, Va), (Wc, Vc), (Wd', Vd'), and the direction of the coordinate axis W as the symmetry axis direction of the parabola, according to the parabola function , calculate the values ​​of m, n and l

[0093]

[0094] The control module uses the parabola segment determined by the current position a, the return position c, and the highest buffer point d' as the obstacle avoidance route, and controls the driving unit 4 to move from the current position a to the return position c along the obstacle avoidance route.

[0095] Step 5: The control module controls the driving unit to continue moving along the initial course.

[0096] When the control module controls the driving unit 4 to move to the return position c along the obstacle avoidance route, the obstacle avoidance program is completed, and the control module controls the driving unit 4 to continue moving along the initial route.

[0097] The process of the control module calculating the sampled water volume includes:

[0098] 1. The control module records the moving distance L of the driving unit 4 during the acquisition process 采 .

[0099] like Figure 7 As shown, the number of movement cycles of the driving unit 4 along the initial motion trajectory is N. In the case of only one obstacle avoidance, ,in The length of the line segment of the initial motion trajectory in the first quadrant of the first coordinate system, is the length of the initial motion trajectory segment that is not passed during obstacle avoidance, is the length of the line segment of the obstacle avoidance trajectory in the second coordinate system.

[0100] 2. The control module calculates the area S of the inner wall cross section of the drive unit housing 41 .

[0101] The area of ​​the inner circular cross section of the drive unit housing 41 is , where R is the diameter of the inner wall circular section of the drive unit housing 41.

[0102] 3. The control module calculates the volume of sampled water during the sampling process of the driving unit 4.

[0103] Collected water volume , where R is the diameter of the inner circular section of the drive unit housing 41, L 采 is the moving distance of the driving unit 4 during the acquisition process.

[0104] 4. The control module calculates the volume V of the sampled water 采 Output to the display screen 48 for display.

[0105] Embodiment 2 of the present invention adopts a chain structure to fix the graded sampling unit on the driving unit. The driving unit uses an automatic control method to set the initial channel and the obstacle avoidance channel, and calculates the volume of water sampled by the unit during the sampling process. Embodiment 2 of the present invention directly uses automatic collection instead of manual collection, saving labor costs. It can avoid fish, shrimp or other obstacles in the water body during the sampling process, making the collection process safer. At the same time, after the graded sampling is completed, the water suspended matter samples of different particle sizes obtained are measured, and the distribution density of water suspended matter of different particle sizes in the sampled water body can be obtained according to the volume of the sampled water.

[0106] The above content is an explanation of the preferred embodiments of the present invention, which can help those skilled in the art to more fully understand the technical solutions of the present invention. However, these embodiments are merely illustrative, and it cannot be determined that the specific implementation methods of the present invention are limited to the description of these embodiments. For those skilled in the art of the present invention, without departing from the concept of the present invention, several simple deductions and transformations can be made, which should be deemed to fall within the scope of protection of the present invention.

Claims

1. A water suspended matter classification sampling device, characterized in that: The device comprises a driving unit and a graded sampling unit, wherein the driving unit is used to provide power for the graded sampling unit so that the graded sampling unit completes sampling work in the water body; the driving unit comprises a horizontal propeller, a vertical propeller, a camera and a control module, wherein the number of the horizontal propellers is two and they are located on the same straight line, and the number of the vertical propeller is one and it is located on the perpendicular midline of the two horizontal propellers; The control module takes the position of the driving unit before it starts moving as the origin O and establishes a first coordinate system in the horizontal direction of the driving unit. , -1≤x≤1, generate the initial channel, The camera takes a picture of the monitoring position b (Xb, Yb) on the initial channel; the monitoring position b is calculated using the curve length calculation formula , when L=0.1, the current position a (Xa, Ya) is known, calculate (Xb, Yb) to get the coordinates of the monitoring position b; upload the taken photos to the control module, the control module determines whether there is an obstacle at the monitoring position b based on the photos, and when the control module detects that there is an obstacle at the monitoring position b, the control module calculates the length of the curve according to the formula , calculate the return position c (Xc, Yc) on the initial course; A second coordinate system is established with line segment ac as the W-axis direction, the intersection B of the vertical line of line segment ac passing through point b and line segment ac as the origin, and the vertical line Bb of line segment ac passing through point b as the V-axis direction; the control module calculates the height h of the obstacle in the second coordinate system in the tangent direction of the obstacle along the initial course at the position a with reference to the digital elevation model, and calculates the coordinates (Wd, Vd) of the highest point d of the obstacle; a buffer height h' is set, the buffer height h' is greater than the maximum radius of the drive unit, and the highest buffer point d'(Wd', Vd') is calculated based on the highest point d (Wd, Vd) of the obstacle, the height h of the obstacle, and the buffer height h', Wd'=Wd, Vd'=Vd+h'; the position coordinates (Wa, Va), (Wc, Vc), (Wd', Vd') of the three points, the current position a, the regression position c, and the highest buffer point d', in the second coordinate system, are taken as follows: , calculate the values ​​of m, n and l: ， The control module uses the parabola segment determined by the current position a, the return position c, and the highest buffer point d' as the obstacle avoidance path, and controls the drive unit to move from the current position a to the return position c along the obstacle avoidance path; when the control module controls the drive unit to move to the return position c along the obstacle avoidance path, the obstacle avoidance program is completed, and the control module controls the drive unit to continue moving along the initial path.

2. The water suspended matter classification sampling device according to claim 1, characterized in that: The driving unit includes a fixed rod and a rope. The fixed rod is used to control the movement of the water suspended matter graded sampling device. One end of the rope is connected to the fixed rod, and the other end is connected to the graded sampling unit.

3. The water suspended matter classification sampling device according to claim 1, characterized in that: The drive unit further includes a drive unit housing, a drive unit battery, a drive motor, a horizontal propeller, a vertical propeller, a camera, a connecting chain, a display screen, and a control module; The drive unit housing is made of waterproof material, and a drive unit battery is arranged inside the housing. A drive motor is arranged on the outer wall of the drive unit housing. The drive motor is connected to a horizontal propeller and a vertical propeller. The horizontal propeller is used to control the movement of the drive unit in the horizontal direction, and the vertical propeller is used to control the movement of the drive unit in the vertical direction. A camera is provided at the front end of the driving unit housing, and is used to take pictures of the driving unit during its movement on the waterway and upload the pictures to a control module; At the rear end of the driving unit housing, a connecting chain is provided around the driving unit housing, and the connecting chain is used to connect the driving unit and the graded sampling unit; At the front end of the drive unit housing, a display screen is provided on the side of the sandwich between the inner wall and the outer wall of the drive unit housing. The display screen is used to receive the volume data of the collected water output by the control module and display it on the display screen.

4. The water suspended matter classification sampling device according to claim 2, characterized in that: The graded sampling unit is composed of a plurality of identical collection modules nested in sequence; the collection module includes a net bag, a fixing sleeve, a collector, a collection bottle and a pull ring, the net bag is used to filter suspended matter in the water body, the fixing sleeve includes an upper edge chain, a lower edge chain and a connecting lock buckle, and the collection module is nested and fixed by the connecting lock buckle of the lower edge chain and the upper edge chain, the collector includes a collector body, a collector opening and a collector nut, which is used to collect suspended matter in the water body filtered by the net bag, and the collection bottle includes a bottle cap, a bottle cap protrusion, a bottle cap connecting part, an upper bottle body, a bottle body connecting section, and a lower bottle body, which is used to store the suspended matter in the water body collected by the collector; the collector opening is engaged with the bottle cap protrusion of the collection bottle, and the collector nut is tightened to clamp the bottle body connecting section; Two adjacent collection modules, the filter mesh of the nested collection module has a larger pore size than the filter mesh of the nested collection module; the net bag includes a net ring, a filter mesh and a tie; The mesh ring is arranged at the top of the upper opening of the net bag; the filter mesh cloth is in the shape of a funnel with a large upper opening and a small lower opening, and the top of the upper opening is completely and tightly wrapped around the mesh ring by curling inward and sewing; the cable tie is arranged at the bottom of the lower opening of the net bag.

5. The water suspended matter classification sampling device according to claim 4, characterized in that: The fixing sleeve comprises an annular waterproof cloth bag, an upper edge chain, a lower edge chain and a connecting buckle; The upper edge chain is tightly fixed to the upper edge of the annular waterproof bag, and the lower edge chain is tightly fixed to the lower edge of the annular waterproof bag. The shape and size of the connecting lock buckle match the upper edge chain and the lower edge chain.

6. The water suspended matter classification sampling device according to claim 4, characterized in that: The collector body is an annular stainless steel barrel, a collector opening is provided on one side of the collector body, and a collector nut is provided at a lower position on the opposite side of the collector opening. The collector nut can control the depth of the nut head entering the annular structure of the collector body by rotating.

7. The water suspended matter classification sampling device according to claim 4, characterized in that: The bottle cap is an inverted conical trapezoid, and the larger circular bottom surface at the top is consistent with the inner diameter circular cross-section of the upper bottle body; the cross-section of the upper bottle body is annular; a bottle cap connecting portion is provided on one side of the bottle cap, and the bottle cap connecting portion is used to connect the bottle cap and the upper bottle body; on the opposite side of the bottle cap connecting portion, a bottle cap protrusion is provided on the bottle cap, and the bottle cap protrusion is a right trapezoid with the lower part slightly larger than the upper part, and the cross-section of the bottle cap protrusion is consistent with the collector opening.

8. The water suspended matter classification sampling device according to claim 4, characterized in that: The pull ring is fixed on the network port ring, and the pull ring is used to connect the drive unit.

9. The water suspended matter classification sampling device according to any one of claims 4 to 7, characterized in that: The collection bottle with the nested collection module is placed in the collector, the protrusion of the bottle cap is completely inserted into the collector opening, and the collector nut is tightened to lock the bottle body connection section; The collection bottle of the nested collection module is placed in the collector, the protrusion of the bottle cap is completely inserted into the collector opening, and the collector nut is tightened to lock the bottle body connection section; The lower edge chain of the nested collection module and the upper edge chain of the nested collection module are connected by a connecting lock buckle, and a rope connects the fixing rod and the pull ring to form a graded sampling unit.

10. The water suspended matter classification sampling device according to claim 3, characterized in that: The control module records the moving distance L of the drive unit during the acquisition process 采 , the number of movements of the driving unit along the initial motion trajectory is N. In the case of only one obstacle avoidance operation, ,in is the length of the line segment of the initial motion trajectory in the first quadrant of the first coordinate system, is the length of the initial motion trajectory segment that is not passed during obstacle avoidance, is the length of the line segment of the obstacle avoidance trajectory in the second coordinate system; The area of ​​the inner circular cross-section of the drive unit housing , where R is the diameter of the inner circular section of the drive unit housing; the water volume .

Images