Marine environment survey drone and method thereof

Abstract

The present invention belongs to the technical field of unmanned boats, and is particularly concerned with a marine environment survey drone and a method thereof. Aiming at the problem that the sampling depth is not deep due to the limited length of the telescopic rod in the prior art when performing deep-water sampling, the following scheme is proposed, including a ship body with an overall flat tubular structure, a ventral groove that is recessed upward and runs through the bow and stern of the ship body is reserved in the middle of the lower surface of the ship body, which is reflected in the interior of the ship body as a raised platform, and side covers that are parallel to each other and have a long strip structure are fixed on the left and right sides of the ship body; a driving mechanism and a steering mechanism are arranged near the tail of the ship body at the bottom of the ventral groove. The present invention can put more suction pipes into the water when sampling, and can discharge the unnecessary layers of seawater in the suction pipe through a reversing valve before suction, and then suction the layers of seawater that need to be sampled, and the counterweight ring can ensure that the suction position is located directly below the position of the ship body.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned ships, and in particular to a marine environment survey unmanned aerial vehicle and a method thereof. Background Art

[0002] Water quality monitoring is the process of monitoring and measuring the types of pollutants in water bodies, the concentrations of various pollutants and their changing trends, and evaluating the water quality. The monitoring scope is very wide, including unpolluted and polluted natural water and various industrial drainage. In order to improve the monitoring efficiency and reduce the demand for human resources during the monitoring process, unmanned boat operation was born, which has the advantages of automatic inspection and detection and reduced human resources.

[0003] After searching, it is found that the existing ocean monitoring unmanned boats can only sample at different depths according to the length of the telescopic rod carried by the hull when performing variable depth sampling. This sampling method is very limited in length of the telescopic rod carried by the hull, so it can only sample the surface and subsurface water at different depths. Therefore, we propose a sampling device that can cope with deeper levels. Summary of the invention

[0004] In view of the technical problem in the prior art that the sampling depth is not deep due to the limited length of the telescopic rod when performing variable depth sampling, the present invention adopts the following technical solution:

[0005] A marine environment survey drone comprises a ship body with an overall flat tubular structure, wherein a ventral cavity groove which is concave upward and runs through the bow and stern of the ship body is reserved in the middle of the lower surface of the ship body, and is reflected in the interior of the ship body as a raised platform, and side baffles which are parallel to each other and have a long strip structure are fixed on the left and right sides of the ship body respectively; a driving mechanism and a steering mechanism are arranged at the bottom of the ventral cavity groove near the stern of the ship body; a suction hole is arranged in the middle of the raised platform, a piston cylinder hole is arranged at the top of the ship body above the suction hole, and a sampling mechanism is arranged in the piston cylinder hole, and the sampling mechanism comprises A piston cylinder with an upward barrel-shaped opening and embedded in the piston cylinder hole, wherein two connecting tubes are arranged at the bottom of the piston cylinder, and a reversing valve is arranged at the bottom ends of the two connecting tubes, and a suction tube and a docking hose are respectively fixed at the two outlets at the bottom of the reversing valve, and a rubber sealing connecting tube is fixed at the end of the docking hose away from the reversing valve, and an L-shaped drainage pipe is rotatably connected to the top of the rubber sealing connecting tube, which is used to discharge the sample after suction; a weight ring is fixed at the end of the suction tube away from the reversing valve, and a lifting rope is fastened to the upper surface of the weight ring, and a rope winding roller is fixed to the lifting rope passing through the suction hole.

[0006] The present invention is further configured in that the upper surface of the raised platform is fixed with support rod columns on both sides of the suction hole, and the same convex track is fixed between the top ends of the two support rod columns, and the reversing valve comprises a C-shaped groove rod slidably connected to the outer wall of the convex track, and mutually symmetrical fixing blocks are fixed near one end on both sides of the C-shaped groove rod, and arc-shaped grooves are opened on the opposite sides of the two fixing blocks, and the two arc-shaped grooves are respectively clamped with a one-way valve 1 and a one-way valve 3 in opposite directions; the upper surface of the end of the C-shaped groove rod away from the fixing block is fixed with two one-way valves in opposite directions On the contrary, both are horizontally placed one-way valves 2, and oblique cross pipes symmetrically distributed with respect to the center are arranged in the middle of the two one-way valves 2; the inlet and outlet of the two oblique cross pipes, as well as the inlet and outlet of the one-way valve 1 and the one-way valve 3 are flush, and two groups of mutually parallel shifting slides are sleeved at the eight pipe openings; an electric control locating pin is fixed near one end of the upper surface of the convex track, and the pin shaft end of the electric control locating pin is fixed to the end of the C-shaped groove rod; a servo winding motor is fixed on the side of the support rod column, and the top end of the output shaft of the servo winding motor is connected to the rope winding roller through a coupling.

[0007] The present invention is further configured in that the inner cavity of the ship body is located on both sides of the raised platform and strip chambers are reserved, and airbags are arranged in the strip chambers on both sides; and a plurality of sample storage barrels are fixed near the tail end in one of the strip chambers, and a connecting hose is plugged into the top of each of the sample storage barrels; a hose hole is opened on the upper surface of the ship body at the top of the sample storage barrel, and an inclined tube bracket is fixed on the upper surface of the ship body near the edge of the hose hole, and three material receiving inclined tubes converging to the drain pipe at equal angles are embedded in the middle of the inclined tube bracket, and the outlet end of the material receiving inclined tube is connected to the connecting hose; a convex ridge is reserved on the circumferential outer wall at the water outlet of the drain pipe, and a sliding sleeve is slidably connected at the water outlet of the drain pipe. The sleeve has an anti-twist groove running through both ends on the inner wall of the sliding sleeve. An electric push rod is fixed to the outer wall of the drain pipe near the top, and the end of the extension rod of the electric push rod is fixed to the end of the sliding sleeve. After the sliding sleeve is pushed out by the electric push rod, it is just inserted into the inclined pipe for receiving materials. The outlet of the drain pipe is arranged in an inclined downward shape to ensure that the pumped water will not flow out from the joint. The vertical pipe part of the drain pipe is sleeved with a driven gear, and a stepper motor is embedded at the top of the ship body near the rubber sealing pipe, and a driving gear meshing with the driven gear is fixed to the top of the output shaft of the stepper motor. The drain pipe can be accurately transferred to the required drainage position by the arranged stepper motor.

[0008] A further configuration of the present invention is that a rotating shaft hole is opened on the upper surface of the raised platform near the tail end, and the steering mechanism includes a steering drive fixed above the rotating shaft hole, and a long shaft rod passing through the rotating shaft hole and extending downward is fixed to the output end of the steering drive, and a vertical steering baffle is fixed to the outer wall of the long shaft rod; the forward direction of the ship body can be controlled by controlling the angle of the steering baffle in cooperation with the driving mechanism.

[0009] The present invention is further configured in that a belt through hole is provided on the upper surface of the raised platform between the rotating shaft hole and the suction hole, and the driving mechanism includes an arc-shaped through hole provided at the belt through hole, an arc-shaped support rod with an arc structure is slidably connected in the arc-shaped through hole, and a bearing seat is fixed at the bottom end of the arc-shaped support rod, a bearing is embedded in the middle of the bearing seat, and a transmission shaft is rotatably connected in the bearing, a propulsion blade and a ball are respectively fixed at both ends of the transmission shaft, and a steering ball seat adapted to the ball is fixed at the bottom of the ventral groove; a guide convex shaft is fixed on the side of the bearing seat, and the lower surface of the ship body is close to An arc-shaped slide rail is fixed on the side of the bearing seat, and a guide slide hole matching the guide cam is opened on the arc-shaped slide rail; a motor mounting seat is fixed to the top of the arc-shaped support rod, and a main motor is fixed to the lower surface of the motor mounting seat, a driving pulley is fixed to the top of the output shaft of the main motor, and a driven pulley forming a transmission connection with the driving pulley is fixed to the outer wall of the transmission shaft, and an arc-shaped rack with the same curvature as the arc-shaped support rod is fixed to the top of the arc-shaped support rod; a servo motor 1 is fixed to the top inner wall of the hull; and a worm sleeve meshing with the arc-shaped rack is fixed to the top of the output shaft of the servo motor 1.

[0010] A further configuration of the present invention is that a sealing ring groove is provided on the side of the side cover close to the ship body, the shape of the sealing ring groove is adapted to the side shape of the ship body, and a sealing strip is clamped in the sealing ring groove; a sampling port for taking the sample storage barrel is provided on the side cover close to the sample storage barrel; a sealing cover is fixed on the surface of the sampling port; and it is convenient to take samples at a later time.

[0011] A further configuration of the present invention is that a support column is reserved at the top of the ship body near the bow, and a windshield cone cover with an internal cavity and an overall four-sided pyramid structure is fixed to the top of the support column; and the bottom of the windshield cone cover is located above the piston cylinder and has a rectangular hole, and a driving motor is fixed to the bottom inner wall of the windshield cone cover near the rectangular hole, and a wheel is fixed to the end of the output shaft of the driving motor, and a connecting rod is rotatably connected to the side of the wheel away from the driving motor near the circumferential edge, and the bottom end of the connecting rod is rotatably connected to the piston disk; a searchlight is arranged on the lower surface of the windshield cone cover; and the piston disk can be powered by the arranged driving motor and connecting rod.

[0012] A further configuration of the present invention is that an upwardly raised uplift cavity is fixed near the bow section of the raised platform, and the lower surface of the raised cavity is rotatably connected to a clamping frame of a rectangular frame structure, an oil-absorbing sponge is clamped in the clamping frame, a horizontal axis is fixed near the tail end of the clamping frame, and a rotating mechanism is fixed to one end of the horizontal axis, and a positioning mechanism is provided at the end of the raised platform away from the horizontal axis.

[0013] A further configuration of the present invention is that the clamping frame is configured as a reverse bending structure, and the clamping frame bends the oil absorbing sponge into a C-shaped structure, which is convenient for collecting oil pollution.

[0014] A marine environment investigation method comprises the following steps:

[0015] Step 1: Arrive at the survey waters through the remote control device. At this time, control the rope roller to slowly lower the counterweight ring until it reaches the depth for sampling. At the same time, energize the electric control positioning pin and push the position of the oblique cross pipe to the bottom of the connecting pipe of the piston cylinder. At this time, as the piston cylinder operates, gas is continuously pumped into the suction pipe. When it is necessary to extract samples, control the pin shaft of the electric control positioning pin to withdraw, that is, let the one-way valve 1 and the one-way valve 3 return to the working position. At this time, control the piston cylinder to work and prepare for liquid extraction.

[0016] Step 2: Before pumping the liquid, control the stepper motor to start, then rotate the outlet of the drain pipe to the inclined pipe where the material needs to be discharged, and then control the electric push rod to complete the sleeve connection between the sliding sleeve and the inclined pipe; then the suction work can be carried out;

[0017] Step 3: The bent-shaped card-joint frame and the oil-absorbing sponge are set. When encountering oil on the water surface during driving, the card-joint frame is adjusted to a vertical state, and the water in the area passed by can be slowly filtered with the forward movement of the device, and the oil is then retained. After the detection is completed, the card-joint frame is folded, and the oil-absorbing sponge is removed for detection after the device returns to the shore;

[0018] When returning, if the sample storage barrel containing the samples is too heavy and causes the rear side of the hull to sink, at this time, the propulsion blades are properly adjusted to propel at an oblique downward angle, and part of the force generated is converted into an upward force on the rear end of the unmanned boat.

[0019] The beneficial effects of the present invention are:

[0020] 1. Since a counterweight ring and a rope capable of controlling the depth are fixed at the mouth of the suction pipe, more suction pipes can be lowered into the water during sampling, and the unnecessary layers of seawater in the suction pipe can be discharged through the reversing valve before suction, and then the required layers of seawater can be sucked. The counterweight ring can ensure that the suction position is directly below the main body of the ship.

[0021] 2. Through the provision of the electrically controlled positioning pin and two sets of reverse flow reversing valves, when it is necessary to discharge the liquid in the suction pipe extending into the water, it is only necessary to control the electrically controlled positioning pin to push the position of the oblique cross pipe to the bottom of the connecting pipe of the piston cylinder. At this time, with the operation of the piston cylinder, gas can be continuously pumped into the suction pipe; when it is necessary to extract samples, the pin shaft of the electrically controlled positioning pin is controlled to be withdrawn, that is, the one-way valve 1 and the one-way valve 3 are returned to the working position, and the liquid can be extracted normally at this time.

[0022] 3. Due to the change in the angle of the propulsion blade driven by the worm gear, when the load of the device increases, the propulsion blade can be properly pushed in an oblique downward angle, and part of the force generated is converted into an upward force for lifting the rear end of the unmanned boat.

[0023] 4. Through the provided card-joint frame and oil-absorbing sponge, if there is oil on the water surface during driving, the card-joint frame can be adjusted to a vertical state, and the water in the area passed by can be slowly filtered with the forward movement of the device, and then the oil can be retained. After the detection is completed, the card-joint frame can be folded. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a schematic diagram of the overall structure of a marine environment survey drone proposed by the present invention;

[0025] Figure 2 This is a front view of a marine environment survey drone proposed by the present invention;

[0026] Figure 3 A marine environment survey drone proposed by the present invention Figure 2 Schematic diagram of the cross-sectional structure along line AA;

[0027] Figure 4 This is a schematic diagram of the assembly structure of a drainage pipe of a marine environment survey drone proposed by the present invention;

[0028] Figure 5 This is a three-dimensional structural schematic diagram of a reversing valve in a marine environment survey UAV proposed by the present invention;

[0029] Figure 6 This is a schematic diagram of the structure of a marine environment survey UAV proposed by the present invention after removing the side covers and a wind cone cover;

[0030] Figure 7 This is a schematic diagram of the structure of the main body of a marine environment survey UAV ship proposed by the present invention;

[0031] Figure 8 This is a schematic diagram of the three-dimensional structure of a driving mechanism in a marine environment survey UAV proposed by the present invention;

[0032] Fig. 9 This is a schematic diagram of the three-dimensional structure of a sampling mechanism in a marine environment survey UAV proposed by the present invention.

[0033] In the figure: 1. Ship body; 101. Abdominal groove; 102. Uplift cavity; 103. Suction hole; 104. Belt perforation; 105. Shaft hole; 106. Hose hole; 107. Piston cylinder hole; 2. Material receiving inclined pipe; 201. Connecting hose; 3. Inclined pipe bracket; 4. Wind cone cover; 5. Searchlight; 6. Support column; 7. Side cover; 8. Sampling port; 9. Lifting rope; 10. Counterweight ring; 11. Suction tube; 12. Sample storage barrel; 13. Steering baffle; 14. Steering ball seat; 15. Arc support rod; 16. Steering drive; 17. Servo motor 1; 18. Arc rack; 19. Worm sleeve; 20 , drainage pipe; 2001, electric push rod 1; 2002, sliding sleeve; 2003, anti-twist slide groove; 2004, rubber sealing pipe; 21, piston cylinder; 22, oil absorption sponge; 23, snap-on frame; 24, rope roller; 25, reversing valve; 251, fixing block; 252, one-way valve 1; 253, shifting slide plate; 254, oblique cross pipe; 255, one-way valve 2; 256, one-way valve 3; 26, wheel; 27, airbag; 28, main motor; 29, driven pulley; 30, transmission shaft; 31, bearing seat; 32, propulsion blade; 33, arc slide rail; 34, servo winding motor. DETAILED DESCRIPTION

[0034] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0035] Reference Figure 1-9A marine environment survey drone comprises a ship body 1 which is an overall flat tubular structure, a belly groove 101 which is recessed upward and runs through the bow and stern of the ship body 1 is reserved in the middle of the lower surface of the ship body 1, and is reflected in the interior of the ship body 1 as a raised platform, and side baffles 7 which are parallel to each other and have a long strip structure are fixed on the left and right sides of the ship body 1 respectively; a driving mechanism and a steering mechanism are arranged at the bottom of the belly groove 101 near the stern of the ship body 1; a suction hole 103 is arranged in the middle of the raised platform, a piston cylinder hole 107 is arranged at the top of the ship body 1 above the suction hole 103, and a sampling mechanism is arranged in the piston cylinder hole 107, and the sampling mechanism comprises a piston cylinder 21 which is embedded in the piston cylinder hole 107 and has a barrel-shaped structure with an opening upward, two connecting pipes are arranged at the bottom of the piston cylinder 21, and a reversing valve 25 is arranged at the bottom end of the two connecting pipes, and two reversing valves 25 are arranged at the bottom of the reversing valve 25. A suction pipe 11 and a docking hose are fixed at each outlet, and a rubber sealing pipe 2004 is fixed to the end of the docking hose away from the reversing valve 25, and an L-shaped drainage pipe 20 is rotatably inserted at the top of the rubber sealing pipe 2004; it is used to discharge the sample after suction; a counterweight ring 10 is fixed to the end of the suction pipe 11 away from the reversing valve 25, and a lifting rope 9 is tied to the upper surface of the counterweight ring 10, and a rope roller 24 is fixed to the lifting rope 9 through the suction hole 103; since the counterweight ring 10 and the lifting rope 9 that can control the depth are fixed at the pipe mouth of the suction pipe 11, more suction pipes 11 can be put into the water when sampling, and before suction, the unnecessary layers of seawater in the suction pipe 11 can be discharged through the reversing valve 25, and then the required layers of seawater can be sucked, and the counterweight ring 10 can ensure that the suction position is located directly below the position of the ship body 1.

[0036] Please refer to Figure 3 , Figure 5 and Fig. 9, the upper surface of the raised platform is located on both sides of the suction hole 103, and support rods are fixed, and the same convex track is fixed between the tops of the two support rods, and the reversing valve 25 includes a C-shaped groove rod slidably connected to the outer wall of the convex track, and fixed blocks 251 that are symmetrical to each other are fixed on both sides of the C-shaped groove rod near one end, and arc-shaped grooves are opened on the opposite sides of the two fixed blocks 251, and the two arc-shaped grooves are respectively clamped with a one-way valve 1 252 and a one-way valve 3 256 in opposite directions; two one-way valves 255 in opposite directions and both are horizontally arranged are fixed on the upper surface of the end of the C-shaped groove rod away from the fixed block 251, and oblique cross pipes 254 that are symmetrically distributed with each other are arranged in the middle of the two one-way valves 255; the inlet and outlet of the two oblique cross pipes 254, as well as the inlet and outlet of the one-way valve 1 252 and the one-way valve 3 256 are flush, and the eight pipe openings are sleeved with Two groups of mutually parallel transposition slide plates 253; an electric control positioning pin is fixed near one end of the upper surface of the convex track, and the pin shaft end of the electric control positioning pin is fixed to the end of the C-shaped groove rod; a servo winding motor 34 is fixed on the side of the support rod column, and the top end of the output shaft of the servo winding motor 34 is connected to the rope winding roller 24 through a coupling; through the set electric control positioning pin and two groups of reverse flow reversing valves 25, when it is necessary to discharge the liquid extended into the water suction pipe 11, it is only necessary to control the electric control positioning pin to push the position of the oblique cross pipe 254 to the bottom of the connecting pipe of the piston cylinder 21. At this time, with the operation of the piston cylinder 21, gas can be continuously pumped into the suction pipe 11; when it is necessary to extract samples, the pin shaft of the electric control positioning pin is controlled to withdraw, that is, the one-way valve 1 252 and the one-way valve 3 256 return to the working position, and the liquid can be extracted normally at this time;

[0037] Please refer to Figure 1 , Figure 4 and Figure 6The inner cavity of the ship body 1 is located on both sides of the raised platform and is reserved with strip chambers, and airbags 27 are arranged in the strip chambers on both sides; and a plurality of sample storage barrels 12 are fixed near the tail end in one of the strip chambers, and a connecting hose 201 is plugged into the top of each sample storage barrel 12, and a hose hole 106 is opened on the upper surface of the ship body 1 at the top of the sample storage barrel 12, and an inclined tube bracket 3 is fixed on the upper surface of the ship body 1 near the edge of the hose hole 106, and three material receiving inclined tubes 2 that gather at equal angles to the drainage pipe 20 are embedded in the middle of the inclined tube bracket 3, and the outlet end of the material receiving inclined tube 2 is connected to the connecting hose 201; a convex ridge is reserved on the circumferential outer wall at the water outlet of the drainage pipe 20, and a sliding sleeve 2002 is slidably sleeved at the water outlet of the drainage pipe 20, and the sliding sleeve 20 The inner wall of the drain pipe 20 is provided with an anti-twist groove 2003 running through both ends, an electric push rod 2001 is fixed to the outer wall of the drain pipe 20 near the top, and the end of the extension rod of the electric push rod 2001 is fixed to the end of the sliding sleeve 2002, and the sliding sleeve 2002 is just inserted into the material receiving inclined tube 2 used for receiving materials after being pushed out by the electric push rod 2001; the outlet of the drain pipe 20 is arranged in an inclined downward shape to ensure that the pumped water will not flow out from the joint; the vertical pipe part of the drain pipe 20 is sleeved with a driven gear, and a stepper motor is embedded with the rubber sealing pipe 2004 at the top of the hull 1, and a driving gear meshing with the driven gear is fixed to the top of the output shaft of the stepper motor; driven by the set stepper motor, the drain pipe 20 can be accurately transferred to the required drainage position.

[0038] Please refer to Figure 3 and Figure 7 A shaft hole 105 is provided on the upper surface of the raised platform near the tail end, and the steering mechanism includes a steering drive 16 fixed above the shaft hole 105, a long shaft rod passing through the shaft hole 105 and extending downward is fixed to the output end of the steering drive 16, and a vertical steering baffle 13 is fixed to the outer wall of the long shaft rod; the forward direction of the ship body 1 can be controlled by controlling the angle of the steering baffle 13 in conjunction with the driving mechanism.

[0039] Please refer to Figure 3 , Figure 7 and Figure 8The upper surface of the raised platform is provided with a belt through hole 104 between the rotating shaft hole 105 and the suction hole 103, and the driving mechanism includes an arc through hole provided at the belt through hole 104, in which an arc support rod 15 with an arc structure is slidably connected, and a bearing seat 31 is fixed at the bottom end of the arc support rod 15, a bearing is embedded in the middle of the bearing seat 31, and a transmission shaft 30 is rotatably connected in the bearing, and propulsion blades 32 and a ball are respectively fixed at both ends of the transmission shaft 30, and a steering ball seat 14 adapted to the ball is fixed to the bottom of the groove of the abdominal groove 101; a guide cam is fixed to the side of the bearing seat 31, and an arc slide rail 33 is fixed to the lower surface of the ship body 1 near the side of the bearing seat 31, and a guide slide hole adapted to the guide cam is provided on the arc slide rail 33; the arc support rod 15 A motor mounting seat is fixed to the top, and a main motor 28 is fixed to the lower surface of the motor mounting seat, a driving pulley is fixed to the top of the output shaft of the main motor 28, and a driven pulley 29 is fixed to the outer wall of the transmission shaft 30 to form a transmission connection with the driving pulley, and an arc-shaped rack 18 with the same curvature as the arc-shaped support rod 15 is fixed to the top of the arc-shaped support rod 15; a servo motor 17 is fixed to the top inner wall of the boat body 1; and a worm sleeve 19 meshing with the arc-shaped rack 18 is fixed to the top of the output shaft of the servo motor 17; due to the angle change of the propulsion blade 32 driven by the worm sleeve 19, when propelling, when the load-bearing capacity of the device increases, the propulsion blade 32 can be properly pushed in an oblique downward angle, and a part of the component force generated is converted into an upward force for lifting the stern end of the unmanned boat.

[0040] In the present invention, a sealing ring groove is provided on the side of the side cover 7 close to the ship body 1, the shape of the sealing ring groove is adapted to the side shape of the ship body 1, and a sealing strip is clamped in the sealing ring groove; a sampling port 8 for taking the sample storage barrel 12 is provided on the side cover 7 close to the sample storage barrel 12; a sealing cover is fixed on the surface of the sampling port 8; it is convenient to take the sample at a later time.

[0041] Please refer to Figure 4 and Figure 6 A support column 6 is reserved at the top of the ship body 1 near the bow, and a windshield cone cover 4 with an internal cavity and an overall quadrangular pyramid structure is fixed to the top of the support column 6; and the bottom of the windshield cone cover 4 is located above the piston cylinder 21 and has a rectangular hole, and a driving motor is fixed to the inner wall of the bottom of the windshield cone cover 4 near the rectangular hole, and a wheel disc 26 is fixed to the end of the output shaft of the driving motor, and a connecting rod is rotatably connected to the side of the wheel disc 26 away from the driving motor near the circumferential edge, and the bottom end of the connecting rod is rotatably connected to the piston disc; a searchlight 5 is arranged on the lower surface of the windshield cone cover 4; the driving motor and connecting rod can provide power for the piston disc.

[0042] Please refer to Figure 3An upwardly raised uplift cavity 102 is fixed to the raised platform near the bow section, and a rectangular frame-shaped clamping frame 23 is rotatably connected to the lower surface of the raised cavity 102, an oil-absorbing sponge 22 is clamped in the clamping frame 23, a horizontal axis is fixed to the clamping frame 23 near the tail end, and a rotating mechanism is fixed to one end of the horizontal axis, and a positioning mechanism is provided at the end of the raised platform away from the horizontal axis; through the provided clamping frame 23 and the oil-absorbing sponge 22, if oil is encountered on the water surface during driving, the clamping frame 23 can be adjusted to a vertical state, and the water in the area passed by can be slowly filtered in conjunction with the forward movement of the device, and then the oil is retained, and the clamping frame 23 is folded after the detection is completed.

[0043] In the present invention, the clamping frame 23 is configured to be a reversely bent structure, and the clamping frame 23 bends the oil-absorbing sponge 22 into a C-shaped structure, which is convenient for collecting oil pollution.

[0044] A marine environment investigation method comprises the following steps:

[0045] Step 1: Arrive at the survey waters through the remote control device. At this time, control the rope roller 24 to slowly lower the counterweight ring 10 until it reaches the depth for sampling. At the same time, the electric control positioning pin is energized to push the position of the oblique cross tube 254 to the bottom of the connecting tube of the piston cylinder 21. At this time, as the piston cylinder 21 operates, gas is continuously pumped into the suction tube 11. When it is necessary to extract samples, control the pin shaft of the electric control positioning pin to withdraw, that is, let the one-way valve 1 252 and the one-way valve 3 256 return to the working position. At this time, control the piston cylinder 21 to work and prepare for liquid extraction.

[0046] Step 2: Before pumping, control the stepper motor to start, and then rotate the outlet of the drain pipe 20 to the material receiving inclined pipe 2 where the drainage is required, and then control the electric push rod 1 2001 to complete the sleeve connection between the sliding sleeve 2002 and the material receiving inclined pipe 2; then the suction work can be carried out;

[0047] Step 3: The bent-shaped card-joint frame 23 and the oil-absorbing sponge 22 are set. When encountering oil stains on the water surface during driving, the card-joint frame 23 is adjusted to a vertical state, and the water in the passing area can be slowly filtered with the advance of the device, and then the oil stains are retained. After the detection is completed, the card-joint frame 23 is folded, and the oil-absorbing sponge 22 is removed for detection after the device returns to the shore;

[0048] When returning home, if the sample storage barrel 12 containing samples is too heavy and causes the rear side of the hull to sink, at this time, the propulsion blade 32 is properly adjusted to propel it at an oblique downward angle, and a part of the force generated is converted into an upward force to lift the rear end of the unmanned boat.

[0049] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A marine environment survey drone, comprising a ship body (1) of overall flat tubular structure, wherein a ventral groove (101) is reserved in the middle of the lower surface of the ship body (1) and is concave upward and runs through the bow and stern of the ship body (1), and the interior of the ship body (1) is a raised platform, and side covers (7) of mutually parallel long strip structures are fixed on the left and right sides of the ship body (1); the characteristics are as follows: A driving mechanism and a steering mechanism are arranged at the bottom of the ventral groove (101) near the tail of the ship body (1); a suction hole (103) is arranged in the middle of the raised platform, a piston cylinder hole (107) is arranged at the top of the ship body (1) above the suction hole (103), and a sampling mechanism is arranged in the piston cylinder hole (107), and the sampling mechanism comprises a piston cylinder (21) embedded in the piston cylinder hole (107) and opening upward in a barrel-shaped structure, two connecting pipes are arranged at the bottom of the piston cylinder (21), and a reversing valve (25) is arranged at the bottom end of the two connecting pipes, and two outlets at the bottom of the reversing valve (25) are respectively fixed A suction pipe (11) and a docking hose, wherein a rubber sealing pipe (2004) is fixed to one end of the docking hose away from the reversing valve (25), and a drain pipe (20) of an L-shaped structure is rotatably plugged into the top of the rubber sealing pipe (2004); a weight ring (10) is fixed to one end of the suction pipe (11) away from the reversing valve (25), and a lifting rope (9) is tied to the upper surface of the weight ring (10), and the lifting rope (9) passes through the suction hole (103) and is fixed to a rope winding roller (24); support rods are fixed to the upper surface of the raised platform on both sides of the suction hole (103), and the same convex rail is fixed between the tops of the two support rods. The reversing valve (25) comprises a C-shaped groove rod slidably connected to the outer wall of the convex track, and mutually symmetrical fixed blocks (251) are fixed on both sides of the C-shaped groove rod near one end, and arc-shaped clamping grooves are opened on the opposite sides of the two fixed blocks (251), and the two arc-shaped clamping grooves are respectively clamped with a check valve 1 (252) and a check valve 3 (256) in opposite directions; two check valves 2 (255) in the same direction and both are horizontally arranged are fixed on the upper surface of one end of the C-shaped groove rod away from the fixed block (251), and oblique cross pipes (254) distributed symmetrically with each other are arranged in the middle of the two check valves 2 (255); the two oblique cross pipes (254) are arranged in a centrally symmetrical manner; 4), as well as the inlet and outlet of the one-way valve 1 (252) and the one-way valve 3 (256), are flush, and two sets of mutually parallel shifting slide plates (253) are sleeved at the eight pipe openings; an electric control positioning pin is fixed near one end of the upper surface of the convex track, and the pin shaft end of the electric control positioning pin is fixed to the end of the C-shaped groove rod; a servo winding motor (34) is fixed to the side of the support rod column, and the top end of the output shaft of the servo winding motor (34) is connected to the rope winding roller (24) through a coupling; the inner cavity of the ship body (1) is located on both sides of the raised platform and has reserved strip chambers, and airbags (27) are arranged in the strip chambers on both sides;A plurality of sample storage barrels (12) are fixed near the tail end of one of the strip chambers, and a connecting hose (201) is plugged into the top of each of the sample storage barrels (12). A hose hole (106) is opened on the upper surface of the ship body (1) at the top of the sample storage barrel (12), and an inclined tube bracket (3) is fixed at the edge of the upper surface of the ship body (1) near the hose hole (106). Three material receiving inclined tubes (2) are embedded in the middle of the inclined tube bracket (3) and converge toward the drainage pipe (20) at equal angles, and the outlet end of the material receiving inclined tube (2) is connected to the connecting hose (201); a convex ridge is reserved on the circumferential outer wall at the water outlet of the drainage pipe (20), and a sliding sleeve (2002) is slidably sleeved at the water outlet of the drainage pipe (20), and the sliding sleeve (200 2) has an anti-twist sliding groove (2003) running through both ends, an electric push rod (2001) is fixed to the outer wall of the drainage pipe (20) near the top, and the end of the extension rod of the electric push rod (2001) is fixed to the end of the sliding sleeve (2002), and the sliding sleeve (2002) is inserted into the material receiving inclined pipe (2) for receiving materials after being pushed out by the electric push rod (2001); the outlet of the drainage pipe (20) is arranged in an inclined downward shape to ensure that the pumped water does not flow out from the joint; the vertical pipe part of the drainage pipe (20) is sleeved with a driven gear, and a stepping motor is embedded at the top of the boat body (1) near the rubber sealing pipe (2004), and a driving gear meshing with the driven gear is fixed to the top of the output shaft of the stepping motor. ; 2. The marine environment survey drone according to claim 1, characterized in that: A rotating shaft hole (105) is formed on the upper surface of the raised platform near the rear end, and the steering mechanism comprises a steering drive (16) fixed above the rotating shaft hole (105), a long shaft rod passing through the rotating shaft hole (105) and extending downward is fixed to the output end of the steering drive (16), and a vertical steering baffle (13) is fixed to the outer wall of the long shaft rod.

3. The marine environment survey drone according to claim 2, characterized in that: The upper surface of the raised platform is provided with a belt through hole (104) located between the rotating shaft hole (105) and the suction hole (103), and the driving mechanism includes an arc-shaped through hole provided at the belt through hole (104), an arc-shaped support rod (15) having an arc structure is slidably connected in the arc-shaped through hole, and a bearing seat (31) is fixed at the bottom end of the arc-shaped support rod (15), a bearing is embedded in the middle of the bearing seat (31), and a transmission shaft (30) is rotatably connected in the bearing, and a propulsion blade (32) and a ball are respectively fixed at both ends of the transmission shaft (30), and a steering ball seat (14) adapted to the ball is fixed at the bottom of the ventral groove (101); a guide convex shaft is fixed on the side of the bearing seat (31), and the lower surface of the ship body (1) is close to the bearing seat (3 1) A curved slide rail (33) is fixed on the side, and a guide slide hole matched with the guide convex shaft is opened on the curved slide rail (33); a motor mounting seat is fixed on the top of the curved support rod (15), and a main motor (28) is fixed on the lower surface of the motor mounting seat, a driving pulley is fixed on the top of the output shaft of the main motor (28), and a driven pulley (29) is fixed on the outer wall of the transmission shaft (30) to form a transmission connection with the driving pulley, and a curved rack (18) with the same curvature as the curved support rod (15) is fixed on the top of the curved support rod (15); a servo motor 1 (17) is fixed on the top inner wall of the boat body (1); and a worm sleeve (19) meshing with the curved rack (18) is fixed on the top of the output shaft of the servo motor 1 (17).

4. The marine environment survey drone according to claim 3, characterized in that: A sealing ring groove is provided on a side of the side cover (7) close to the ship body (1); the shape of the sealing ring groove matches the side shape of the ship body (1); a sealing strip is clamped in the sealing ring groove; a sampling port (8) for taking out the sample storage barrel (12) is provided on the side cover (7) close to the sample storage barrel (12); and a sealing cover is fixed on the surface of the sampling port (8).

5. The marine environment survey drone according to claim 4, characterized in that: A support column (6) is reserved at the top of the ship body (1) near the bow, and a windshield cone cover (4) with an internal cavity and an overall four-sided pyramid structure is fixed to the top of the support column (6); a rectangular hole is opened at the bottom of the windshield cone cover (4) above the piston cylinder (21); a driving motor is fixed to the inner wall of the bottom of the windshield cone cover (4) near the rectangular hole, a wheel disc (26) is fixed to the end of the output shaft of the driving motor, a connecting rod is rotatably connected to the side of the wheel disc (26) away from the driving motor near the circumferential edge, and the bottom end of the connecting rod is rotatably connected to the piston disc; a searchlight (5) is arranged on the lower surface of the windshield cone cover (4).

6. The marine environment survey drone according to claim 5, characterized in that: A raised cavity (102) that is raised upward is fixed to the raised platform near the bow section, and a rectangular frame-shaped clamping frame (23) is rotatably connected to the lower surface of the raised cavity (102), an oil-absorbing sponge (22) is clamped inside the clamping frame (23), a horizontal axis is fixed to the clamping frame (23) near the tail end, and a rotating mechanism is fixed to one end of the horizontal axis, and a positioning mechanism is provided at the end of the raised platform away from the horizontal axis.

7. The marine environment survey drone according to claim 6, characterized in that: The clamping frame (23) is arranged in a reverse bending structure, and the clamping frame (23) bends the oil absorbing sponge (22) into a C-shaped structure.

8. A method for marine environment investigation, comprising a marine environment investigation drone as claimed in claim 7, characterized in that: The following steps are involved: Step 1: Arrive at the detection water area through the remote control device. At this time, control the rope roller (24) to slowly lower the counterweight ring (10) until it reaches the depth for sampling. At the same time, by setting the electric control positioning pin to be energized, the position of the oblique cross tube (254) is pushed below the connecting tube of the piston cylinder (21). At this time, as the piston cylinder (21) operates, gas is continuously pumped into the suction tube (11). When it is necessary to extract samples, the pin shaft of the electric control positioning pin is controlled to withdraw, that is, the one-way valve 1 (252) and the one-way valve 3 (256) return to the working position. At this time, the piston cylinder (21) is controlled to work and prepare for liquid extraction. Step 2: Before pumping the liquid, the stepper motor is controlled to start, and then the outlet of the drainage pipe (20) is rotated to the material receiving inclined pipe (2) to be discharged, and then the electric push rod 1 (2001) is controlled to complete the sleeve connection between the sliding sleeve (2002) and the material receiving inclined pipe (2); then the suction work can be carried out; Step 3: The bent-shaped card-joint frame (23) and the oil-absorbing sponge (22) are arranged. When encountering oil stains on the water surface during driving, the card-joint frame (23) is adjusted to a vertical state, and the water in the area passed by is slowly filtered with the advancement of the device, and the oil stains are then retained. After the detection is completed, the card-joint frame (23) is folded, and the oil-absorbing sponge (22) is removed for detection after the device returns to the shore; When returning home, if the sample storage barrel (12) containing the samples is too heavy and causes the rear side of the hull to sink, at this time, the propulsion blade (32) is properly adjusted to propel it at an oblique downward angle, and a part of the force generated is converted into a force that lifts up the rear end of the unmanned boat.

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