A deep water quality sampling unmanned boat and sampling method

Abstract

The present invention provides an unmanned boat for deep water quality sampling and a sampling method, comprising an unmanned boat body, a water quality sampling device arranged in the rear cabin of the unmanned boat body, a multi-water quality storage device arranged in the middle cabin of the unmanned boat body, and a control device arranged in the front cabin of the unmanned boat body, wherein the water quality sampling device is provided with a plurality of deep water sampling bottles and suction bottles, each deep water sampling bottle is provided with a sampling bottle normally closed clamping valve at the bottom, and each sampling bottle normally closed clamping valve is connected by a connecting pipe, the output end of the connecting pipe is connected to one side of the bottom of the suction bottle, and the other side of the bottom of the suction bottle is also provided with a normally open clamping valve, the output end of the normally open clamping valve is provided with a drain pipe, and the upper end of the suction bottle is connected to the multi-water quality storage device through a peristaltic pump assembly. The present invention relates to the technical field of unmanned boats.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned boats, and in particular to an unmanned boat for deep water quality sampling and a sampling method. Background Art

[0002] Water environment monitoring is crucial to environmental protection and scientific research. It can assess the impact of water quality on aquatic organisms and human health, and provide a scientific basis for environmental protection. Water quality data is also indispensable for climate change and ecological research. The monitoring process includes point layout, sampling and preservation, laboratory analysis, etc. The efficiency of the sampling link directly affects the entire monitoring progress.

[0003] Traditional manual sampling methods have limitations due to their low efficiency and labor dependence, especially in large areas or complex waters. This not only affects the representativeness of the samples, but may also reduce the accuracy and reliability of monitoring results. In addition, habitual differences in manual operations can also affect sample quality, which is not conducive to subsequent water quality analysis.

[0004] Although existing automated marine water quality sampling equipment has improved efficiency and data accuracy, these devices still have shortcomings. Some devices cannot collect samples at different locations at once, some are complicated to operate, and some cannot transmit multi-parameter data in a timely manner, requiring samples to be transported back for analysis. This may lead to changes in water quality or contamination that affect sample quality and data timeliness, thereby affecting monitoring results.

[0005] Therefore, in order to overcome the above difficulties, it is imperative to design a new type of deep water quality sampling unmanned boat and sampling method. Summary of the invention

[0006] In view of the above-mentioned defects of the prior art, the present invention provides an unmanned boat for deep water quality sampling and a sampling method, aiming to solve the problems of low water sampling efficiency and inability to collect water at different locations in the prior art.

[0007] To achieve the above-mentioned purpose, the technical scheme adopted by the present invention is: a deep water quality sampling unmanned boat and a sampling method, comprising an unmanned boat body, a water quality sampling device arranged in the rear cabin of the unmanned boat body, a multi-water quality storage device arranged in the middle cabin of the unmanned boat body, and a control device arranged in the front cabin of the unmanned boat body, wherein the water quality sampling device is provided with a plurality of deep water sampling bottles and suction bottles, a sampling bottle normally closed pinch valve is arranged at the bottom of each deep water sampling bottle, and each sampling bottle normally closed pinch valve is connected by a connecting pipe, the output end of the connecting pipe is connected to one side of the bottom of the suction bottle, and a normally open pinch valve is also arranged on the other side of the bottom of the suction bottle, and a drain pipe is arranged at the output end of the normally open pinch valve, the upper end of the suction bottle is connected to the multi-water quality storage device through a peristaltic pump assembly, and the sampling bottle normally closed pinch valve, the normally open pinch valve, and the peristaltic pump assembly are all connected to the control device by electrical signals;

[0008] The water quality sampling device is also provided with a water quality multi-parameter detector and a sampling mounting frame, the water quality multi-parameter detector, the suction bottle and the several deep water sampling bottles are all arranged on the sampling mounting frame, and the water quality multi-parameter detector and the suction bottle are located on both sides of the several deep water sampling bottles, and the water quality multi-parameter detector is connected to the control device by electrical signals;

[0009] A water inlet float and a sampling water inlet are provided at the inner bottom end of the deep-water sampling bottle, the water inlet float is provided at the upper end of the sampling water inlet, and the outer diameter of the water inlet float is larger than the inner diameter of the sampling water inlet, a number of float stoppers are evenly provided around the inner wall of the bottom end of the deep-water sampling bottle, and two half-top covers and a hinge are provided at the top of the deep-water sampling bottle, the hinge is installed on both sides of the middle part of the top end of the deep-water sampling bottle, the two half-top covers are symmetrically hinged on both sides of the hinge, and the top end of the deep-water sampling bottle is sealed, when stationary, the water inlet float seals the sampling water inlet, and there is a gap between the water inlet float and the float stopper, when sinking to the bottom of the water for sampling, the water inlet float floats up and is limited at the bottom end of the float stopper, the half-top cover is opened by the impact of water pressure, and the sampling water inlet starts to take in water.

[0010] Based on the above, the beneficial effect of a deep water quality sampling unmanned boat and sampling method is to solve the problems of slow water sampling efficiency and inability to collect water at different locations in the prior art; it is mainly reflected in: the present invention adopts an unmanned boat body and a control device to realize automated and remotely controlled ocean water quality sampling, thereby improving work efficiency; by setting up a deep-water sampling bottle and a suction bottle, and driven by a power winch and its steel cable, deep-water water quality sampling can be achieved, the monitoring depth is expanded, and it is conducive to obtaining more accurate ocean water quality data; by setting up a water quality multi-parameter detector, the water body can be analyzed in time when sampling the water body. The physical parameters, chemical parameters and biological parameters of the water sample can be measured and sent to the remote end immediately, providing basic data guarantee for water quality analysis. The orderly coordination of the normally closed pinch valve, connecting tube and normally open pinch valve of the sampling bottle, as well as the stable delivery of the peristaltic pump assembly, effectively prevents cross contamination between different samples during the sampling process, and ensures the authenticity of the samples. The design of the multi-water quality storage device and the peristaltic pump assembly enables the collection of different water quality samples at multiple locations. The collected water quality samples can be stably stored and transported under appropriate conditions, reducing the impact of chemical, biological and physical changes during storage and transportation on the analysis results.

[0011] The beneficial effect of the water inlet float is to seal or open the sampling water inlet; the beneficial effect of the sampling water inlet is to allow water to enter during water quality sampling; the beneficial effect of the float block limiter is to limit the floating height of the water inlet float to avoid damage to the deep water sampling bottle due to excessive external water flow pressure; the beneficial effect of the semi-top cover is to make the deep water sampling bottle unobstructed up and down, making it convenient for water to flow in from the sampling water inlet during sampling; the beneficial effect of the hinged part is to facilitate the opening and closing of the semi-top cover.

[0012] Furthermore, a power winch is provided on one side of the water quality sampling device, and a winch measuring device is provided on the power winch. The steel cable in the power winch is connected to the upper end of the sampling mounting frame through the winch measuring device. The power winch controls the lifting and lowering of the water quality sample of the water quality sampling device through the belt drive of the motor. The power winch and the winch measuring device are both connected to the control device by electrical signals.

[0013] Based on the above, the beneficial effect of the power winch is to control the deep water sampling of the water quality sampling device by lowering or retracting the steel cable through motor control.

[0014] Furthermore, the multi-water quality storage device is provided with a plurality of water quality storage barrels and a mounting rack for installing the plurality of water quality storage barrels, the peristaltic pump assembly includes a first peristaltic pump and a second peristaltic pump, and the input end of each of the water quality storage barrels is provided with two storage barrel normally closed clamping valves, wherein one of the storage barrel normally closed clamping valves is connected to the first peristaltic pump through a suction tube, and the other storage barrel normally closed clamping valve is connected to the second peristaltic pump through a suction tube, and a flushing valve is provided at the output end of the suction tube, and the storage barrel normally closed clamping valve, the first peristaltic pump and the second peristaltic pump are all electrically signal-connected to the control device.

[0015] Based on the above, the beneficial effect of the water quality storage barrel is to store sampled water; the beneficial effect of the storage barrel normally closed clamp valve is to control the input of sampled water into the water quality storage barrel; the beneficial effect of the storage barrel mounting rack is to install the water quality storage barrel; the beneficial effect of the first peristaltic pump and the second peristaltic pump is to increase the water sample flow rate into the water quality storage barrel.

[0016] Furthermore, two water quality input pipes are arranged inside the suction bottle, and the upper ends of the two water quality input pipes are respectively connected to the first peristaltic pump and the second peristaltic pump.

[0017] Based on the above, the beneficial effect of the water quality input tube is to enable the water in the suction bottle to be pumped into the water quality storage barrel through the first peristaltic pump and the second peristaltic pump.

[0018] Furthermore, an equipment bracket is provided on the front cabin top of the unmanned boat body, a loudspeaker is provided at the bottom of the equipment bracket, a sonar module is provided in the middle of the equipment bracket, a GPS module and a pair of 2.4G antennas are provided on the top of the equipment bracket, a pair of the 2.4G antennas are provided on both sides of the rear of the GPS module, a navigation light is provided on both sides of the equipment bracket, a 5G antenna is provided behind each of the navigation lights, a camera module is provided in front of the equipment bracket, and the loudspeaker, the sonar module, the GPS module, the 2.4G antenna, the navigation light, the 5G antenna and the camera module are all electrically connected to the control device by signals.

[0019] Based on the above, the beneficial effect of the loudspeaker is to play the warning information sampled by the unmanned ship or other information that needs to be played; the beneficial effect of the sonar module is to detect whether there are obstacles ahead; the beneficial effect of the GPS module is to provide navigation function support for ship cruising; the beneficial effect of the 2.4G antenna is that it can connect short-range signals and be controlled; the beneficial effect of the navigation light is to be used to warn other ships at sea at night; the beneficial effect of the 5G antenna is to connect long-range signals and be controlled; the beneficial effect of the camera module is to obtain the front picture information.

[0020] Furthermore, a middle cabin double door is provided above the middle cabin of the unmanned boat main body, the middle cabin double door is hinged on both sides of the unmanned boat main body and driven by an electric push rod, a front cabin door is provided at the front end of the middle cabin of the unmanned boat main body, the front cabin door is convenient for staff to inspect and repair the control device, a sampling double door is hinged at the rear end of the unmanned boat main body, the sampling double door is convenient for staff to inspect and repair the water quality sampling device, an energy storage battery compartment is provided below the middle cabin of the unmanned boat main body, an unmanned boat driving device is provided below the rear cabin of the unmanned boat main body, the energy storage battery compartment is electrically connected to all electrical equipment on the unmanned boat through a power distribution system, the unmanned boat driving device drives the unmanned boat for directional displacement operation, and a solar photovoltaic panel is embedded on the outer side of the middle cabin double door, and the solar photovoltaic panel is connected to the energy storage battery compartment with electrical signals.

[0021] Furthermore, wire burying parts are provided on both sides of the unmanned boat body, and a plurality of wire maintenance doors are provided on the wire burying parts.

[0022] Based on the above, the beneficial effect of the buried wire part is to install the wires of the unmanned boat to prevent water leakage; the beneficial effect of the wire inspection door is to facilitate the staff to inspect the wires and wires.

[0023] Furthermore, an energy storage battery compartment is provided below the middle cabin of the unmanned boat body, and an unmanned boat driving device is provided below the rear cabin of the unmanned boat body. The energy storage battery compartment is electrically connected to all electrical equipment on the unmanned boat through a power distribution system, and the unmanned boat driving device drives the unmanned boat for directional displacement operations.

[0024] A deep water quality sampling unmanned boat sampling method comprises the following steps:

[0025] S1. The user sets the sampling depth of the winch measuring device through the control device of the unmanned boat and sets the sampling coordinates according to the GPS module;

[0026] S2. After the unmanned boat arrives at the target sampling point, it compares the current sampling position coordinates through the GPS module to determine the position of the operation point. If the position is inaccurate, it readjusts the position according to the sampling coordinates set by the GPS module. If the position is accurate, it proceeds to step S3.

[0027] S3. After the unmanned boat reaches the accurate target point, the control device issues a sampling command to the power winch, and the power winch releases the water quality sampling device to the target depth in the water through the steel cable;

[0028] S4, the winch measuring device sends a signal to the control device to report that the target depth has been reached, the power winch stops working, and waits for the set time. During this period, the water quality multi-parameter detector starts to collect parameters such as water depth, pH, temperature, and turbidity. The water inlet float of the deep water sampling bottle is lifted to the bottom of several float limiters by the water pressure, and water sampling begins at the same time;

[0029] S5. After the set time, the water sample collection is completed, and the control device drives the power winch to reset the water quality sampling device;

[0030] S6. After the water sampling device rises, the normally closed clamp valves at the bottom of all deep water sampling bottles are opened, and the sampled water enters the suction bottle through the connecting tube. The first peristaltic pump, the second peristaltic pump and the flushing valve are opened at the same time, and the sampled water is used to flush the suction tube for 3 seconds;

[0031] S7, after flushing is completed, close the flushing valve, open the normally closed pinch valves of two storage barrels of a water quality storage barrel, and fill the water quality storage barrel;

[0032] S8. After the water quality storage barrel is full, close the normally closed pinch valves of the two storage barrels, the first peristaltic pump and the second peristaltic pump, open the normally open pinch valve, and drain all the water samples in the deep water sampling bottles and the suction bottles;

[0033] S9. The unmanned boat compares the pre-input coordinates of the next sampling position through the GPS module and repeats steps S2-S8 until the unmanned boat completes the sampling task of all sampling points and returns to the starting point.

[0034] In order to more clearly illustrate the above features of the present invention and its intended objectives, the present invention is further described below in conjunction with the accompanying drawings and specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 A perspective view of the present invention;

[0036] Figure 2 for Figure 1 A magnified schematic diagram of part A;

[0037] Figure 3 A three-dimensional diagram of another viewing angle of the present invention;

[0038] Figure 4 It is a schematic diagram of the internal structure of the present invention;

[0039] Figure 5 It is a bottom schematic diagram of the present invention;

[0040] Figure 6 It is a schematic diagram of the positions of the water quality sampling device, the multi-water quality storage device and the control device of the present invention;

[0041] Figure 7 is a three-dimensional diagram of the water quality sampling device of the present invention;

[0042] Figure 8 A bottom view of the water quality sampling device of the present invention;

[0043] Fig. 9 It is a schematic diagram of the principle of the water quality sampling device of the present invention;

[0044] Fig.10 It is a schematic diagram of the structure of the deep water sampling bottle of the present invention;

[0045] Fig.11 A schematic diagram of the principle of the multi-water quality storage device of the present invention;

[0046] Fig.12 It is a schematic diagram of the process of the present invention.

[0047] Description of the attached figures: 1-unmanned boat body, 11-equipment bracket, 110-middle cabin double door, 1101-solar photovoltaic panel, 111-front cabin door, 112-sampling double door, 113-unmanned boat driving device, 12-loudspeaker, 13-sonar module, 14-GPS module, 15-2.4G antenna, 16-navigation light, 17-5G antenna, 18-camera module, 19-buried wire part, 191-wire maintenance door, 2-water quality sampling device, 21-deep water sampling bottle, 211-water inlet float, 212-sampling water inlet, 213-float limiter, 2 14-half top cover, 215-hinge, 22-suction bottle, 221-drain pipe, 222-normally open clamp valve, 223-water quality input pipe, 23-connecting pipe, 24-normally closed clamp valve of sampling bottle, 25-water quality multi-parameter detector, 26-sampling mounting frame, 27-powered winch, 271-winch measuring device, 28-normally closed clamp valve of storage barrel, 281-suction pipe, 282-flush valve, 3-multi-water quality storage device, 31-peristaltic pump assembly, 311-first peristaltic pump, 312-second peristaltic pump, 32-water quality storage barrel, 33-mounting frame, 4-control device. DETAILED DESCRIPTION

[0048] like Figure 1-Figure 11As shown, a deep water quality sampling unmanned boat and a sampling method, comprising an unmanned boat body 1, a water quality sampling device 2 arranged in the rear cabin of the unmanned boat body 1, a multi-water quality storage device 3 arranged in the middle cabin of the unmanned boat body 1, and a control device 4 arranged in the front cabin of the unmanned boat body 1, wherein the water quality sampling device 2 is provided with a plurality of deep water sampling bottles 21 and suction bottles 22, each deep water sampling bottle 21 is provided with a sampling bottle normally closed pinch valve 24 at the bottom, and each sampling bottle normally closed pinch valve 24 is provided between The connecting tube 23 is connected, the output end of the connecting tube 23 is connected to one side of the bottom of the suction bottle 22, the other side of the bottom of the suction bottle 22 is also provided with a normally open pinch valve 222, the output end of the normally open pinch valve 222 is provided with a drain pipe 221, the upper end of the suction bottle 22 is connected to the multi-water quality storage device 3 through a peristaltic pump assembly 31, the sampling bottle normally closed pinch valve 24, the normally open pinch valve 222, and the peristaltic pump assembly 31 are all connected to the control device 4 with electrical signals;

[0049] The water quality sampling device 2 is also provided with a water quality multi-parameter detector 25 and a sampling mounting frame 26. The water quality multi-parameter detector 25, the suction bottle 22 and the plurality of deep water sampling bottles 21 are all arranged on the sampling mounting frame 26, and the water quality multi-parameter detector 25 and the suction bottle 22 are located on both sides of the plurality of deep water sampling bottles 21. The water quality multi-parameter detector 25 is connected to the control device 4 by electrical signals;

[0050] The inner bottom of the deep water sampling bottle 21 is provided with a water inlet float 211 and a sampling water inlet 212, the water inlet float 211 is provided at the upper end of the sampling water inlet 212, and the outer diameter of the water inlet float 211 is larger than the inner diameter of the sampling water inlet 212, a plurality of float stoppers 213 are evenly provided around the inner wall of the bottom end of the deep water sampling bottle 21, and two half top covers 214 and a hinge 215 are provided at the top of the deep water sampling bottle 21, and the hinge 215 is installed on the deep water sampling bottle On both sides of the middle part of the top of 21, the two pieces of the half-top cover 214 are symmetrically hinged on both sides of the hinge 215, and the top of the deep water sampling bottle 21 is sealed. When standing still, the water inlet float 211 seals the sampling water inlet 212, and there is a gap between the water inlet float 211 and the float limiter 213. When sinking to the bottom of the water for sampling, the water inlet float 211 floats up and is limited to the bottom of the float limiter 213, and the half-top cover 214 is opened by the impact of water pressure, and the sampling water inlet 212 starts to take in water.

[0051] A power winch 27 is provided on one side of the water quality sampling device 2, and a winch measuring device 271 is provided on the power winch 27. The steel cable in the power winch 27 is connected to the upper end of the sampling mounting frame 26 through the winch measuring device 271. The power winch 27 controls the lifting and lowering of the water quality sampling of the water quality sampling device 2 through the belt drive of the motor. The power winch 27 and the winch measuring device 271 are both connected to the control device 4 with electrical signals.

[0052] The multi-water quality storage device 3 is provided with a plurality of water quality storage barrels 32 and a mounting frame 33 for mounting the plurality of water quality storage barrels 32, the peristaltic pump assembly 31 includes a first peristaltic pump 311 and a second peristaltic pump 312, and the input end of each of the water quality storage barrels 32 is provided with two storage barrel normally closed clamping valves 28, wherein one of the storage barrel normally closed clamping valves 28 is connected to the first peristaltic pump 311 through a suction tube 281, and the other storage barrel normally closed clamping valve 28 is connected to the second peristaltic pump 312 through a suction tube 281, and a flushing valve 282 is provided at the output end of the suction tube 281, and the storage barrel normally closed clamping valve 28, the first peristaltic pump 311 and the second peristaltic pump 312 are all electrically signal-connected to the control device 4.

[0053] Two water input pipes 223 are arranged in the suction bottle 22 , and the upper ends of the two water input pipes 223 are connected to the first peristaltic pump 311 and the second peristaltic pump 312 respectively.

[0054] An equipment bracket 11 is arranged on the front cabin top of the unmanned boat body 1, a loudspeaker 12 is arranged at the bottom of the equipment bracket 11, a sonar module 13 is arranged in the middle of the equipment bracket 11, a GPS module 14 and a pair of 2.4G antennas 15 are arranged on the top of the equipment bracket 11, and the pair of 2.4G antennas 15 are arranged on both sides of the rear of the GPS module 14, a navigation light 16 is arranged on both sides of the equipment bracket 11, and a 5G antenna 17 is arranged behind each of the navigation lights 16, and a camera module 18 is arranged in front of the equipment bracket 11, and the loudspeaker 12, the sonar module 13, the GPS module 14, the 2.4G antenna 15, the navigation light 16, the 5G antenna 17 and the camera module 18 are all connected to the control device 4 by electrical signals.

[0055] A middle cabin double door 110 is arranged above the middle cabin of the unmanned boat body 1, and the middle cabin double door 110 is hinged on both sides of the unmanned boat body 1 and driven by an electric push rod. A front cabin door 111 is arranged at the front end of the middle cabin of the unmanned boat body 1, and the front cabin door 111 is convenient for staff to inspect and repair the control device 4. A sampling double door 112 is hinged at the rear end of the unmanned boat body 1, and the sampling double door 112 is convenient for staff to inspect and repair the water quality sampling device 2. An energy storage battery compartment is arranged below the middle cabin of the unmanned boat body 1, and an unmanned boat driving device 113 is arranged below the rear cabin of the unmanned boat body 1. The energy storage battery compartment is electrically connected to all electrical equipment on the unmanned boat through a power distribution system, and the unmanned boat driving device 113 drives the unmanned boat for directional displacement operation, and a solar photovoltaic panel 1101 is embedded on the outer side of the middle cabin double door 110, and the solar photovoltaic panel 1101 is connected to the energy storage battery compartment with electrical signals.

[0056] A wire burying portion 19 is provided on both sides of the unmanned boat body 1, and a plurality of wire inspection doors 191 are provided on the wire burying portion.

[0057] An energy storage battery compartment is arranged below the middle cabin of the unmanned boat body 1, and an unmanned boat driving device 113 is arranged below the rear cabin of the unmanned boat body 1. The energy storage battery compartment is electrically connected to all electrical equipment on the unmanned boat through a power distribution system, and the unmanned boat driving device 113 drives the unmanned boat for directional displacement operations.

[0058] A deep water quality sampling method using an unmanned boat, such as Fig.12 As shown, the following steps are included:

[0059] S1. The user sets the sampling depth of the winch measuring device 271 through the control device 4 of the unmanned boat, and sets the sampling coordinates according to the GPS module 14;

[0060] S2, after the unmanned boat arrives at the target sampling point, it compares the current sampling position coordinates through the GPS module 14 to determine the position of the operation point. If the position is inaccurate, it readjusts the position according to the sampling coordinates set by the GPS module 14. If the position is accurate, it proceeds to step S3;

[0061] S3, after the unmanned boat reaches the accurate target point, the control device 4 issues a sampling command to the power winch 27, and the power winch 27 releases the water quality sampling device 2 to the target depth in the water through the steel cable;

[0062] S4, the winch measuring device 271 sends a signal to the control device 4 to report that the target depth has been reached, the power winch 27 stops working, and waits for 2 seconds. During this period, the water quality multi-parameter detector 25 starts to collect parameters such as water depth, pH, temperature, and turbidity. The water inlet float 211 of the deep water sampling bottle 21 is lifted to the bottom of several float stoppers 213 by the water pressure, and water sampling starts at the same time;

[0063] S5, 2s later, the water sample collection is completed, and the control device 4 drives the power winch 27 to drive the water quality sampling device 2 to rise;

[0064] S6. After the water sampling device 2 rises, the normally closed clamp valves 24 at the bottom of all deep water sampling bottles 21 are opened, and the sampled water enters the suction bottle 22 through the connecting pipe 23. The first peristaltic pump 311, the second peristaltic pump 312 and the flushing valve 282 are opened at the same time, and the sampled water is used to flush the suction tube 281 for 3 seconds;

[0065] S7, after flushing is completed, close the flushing valve 282, open the two normally closed pinch valves 28 of a water quality storage barrel 32, and fill the water quality storage barrel 32;

[0066] S8, after the water quality storage barrel 32 is full, close the normally closed pinch valves 28 of the two storage barrels, the first peristaltic pump 311 and the second peristaltic pump 312, open the normally open pinch valve 222, and drain all the water samples in the deep water sampling bottles 21 and the suction bottles 22;

[0067] S9, the unmanned boat compares the pre-input coordinates of the next sampling position through the GPS module 14, and repeats steps S2-S8 until the unmanned boat completes the sampling tasks of all sampling points and returns to the starting point.

[0068] In summary, the specific implementation of the present invention is as follows: the remote operation center sets the cruising path and sampling point of the control device 4, and starts the unmanned boat body 1, navigates through the GPS module 14, and after arriving at the sampling point, starts the power winch 27 through the control device 4 to lower the water quality sampling device 2. The water quality sampling device 2 sinks under the action of gravity. At this time, the external pressure of the water body is greater than the internal pressure of the deep-water sampling bottle 21, the water inlet float 211 is pushed open, and the sampling water inlet 212 begins to take in water. At this time, the water inlet float 211 is limited by the float limiter 213 at the bottom. At the same time, the deep-water sampling bottle The half top cover 214 at the top of 21 is impacted by the water flow and opens along the hinge 215. After the collection is completed, the pressure inside and outside the deep water sampling bottle 21 is equal, and the water inlet float 211 naturally falls down with gravity to close the sampling water inlet 212, and the half top cover 214 also falls and closes, thereby ensuring that water from other positions will not be mixed into the water at the sampling point, avoiding parameter detection distortion, and then the water quality sampling device 2 is retrieved by the power winch. At this time, the normally closed pinch valve 24 of the sampling bottle of the water quality sampling device 2 is in an open state, and the normally open pinch valve 222 is in a closed state, and the water is quickly and evenly distributed through the connecting pipe 23. In the five deep water sampling bottles 21 and the suction bottle 22, until the water levels in all containers reach the same level, the first peristaltic pump 311, the second peristaltic pump 312 and the flushing valve 282 are opened at the same time, and the sampling water is used to flush the suction tube 281 for 3 seconds, and then the flushing valve 282 is closed. The first peristaltic pump 311 and the second peristaltic pump divert water to a water quality storage barrel 32 with an opened storage barrel normally closed clamping valve 28, so that the water quality storage barrel 32 is filled with water quality water at the sampling location. During the collection process, the water quality multi-parameter detector 25 analyzes the physical parameters and chemical parameters of the water body in real time. Parameters and biological parameters, and send the data to the remote data center. After the collection is completed, go to the next point to repeat the above process. After the collection is completed, the normally open pinch valve 222 can be controlled by the control device 4 to discharge the water sample in the suction bottle as needed. During the navigation process, the navigation information and environmental data are obtained through the sonar module 13, GPS module 14, 2.4G antenna 15, 5G antenna 17 and camera module 18 and other devices to ensure navigation safety and accuracy of data collection. The equipment is regularly inspected and maintained through the middle cabin double door 110, the front cabin door 111 and the sampling double door 112. If necessary, check and repair the wires through the wire inspection door 191.

[0069] The above description is only the optimal solution embodiment of the present invention and is not intended to limit the present invention. Various modifications or substitutions made by those skilled in the art to the present invention without departing from the essence and protection scope of the present invention should also be within the protection scope of the present invention.

Claims

1. A deep water quality sampling unmanned boat, characterized by: The invention comprises an unmanned boat body (1), a water quality sampling device (2) arranged in the rear cabin of the unmanned boat body (1), a multi-water quality storage device (3) arranged in the middle cabin of the unmanned boat body (1), and a control device (4) arranged in the front cabin of the unmanned boat body (1), wherein the water quality sampling device (2) is provided with a plurality of deep water sampling bottles (21) and suction bottles (22), the bottom of each deep water sampling bottle (21) is provided with a sampling bottle normally closed pinch valve (24), and each sampling bottle normally closed pinch valve (24) is connected via a connecting pipe (23). The output end of the connecting tube (23) is connected to one side of the bottom of the suction bottle (22); a normally open pinch valve (222) is also provided on the other side of the bottom of the suction bottle (22); a drain pipe (221) is provided at the output end of the normally open pinch valve (222); the upper end of the suction bottle (22) is connected to the multi-water quality storage device (3) via a peristaltic pump assembly (31); the normally closed pinch valve (24) of the sampling bottle, the normally open pinch valve (222), and the peristaltic pump assembly (31) are all electrically connected to the control device (4); The water quality sampling device (2) is further provided with a water quality multi-parameter detector (25) and a sampling mounting frame (26); the water quality multi-parameter detector (25), the suction bottle (22) and a plurality of the deep water sampling bottles (21) are all arranged on the sampling mounting frame (26); the water quality multi-parameter detector (25) and the suction bottle (22) are located on both sides of the plurality of the deep water sampling bottles (21); the water quality multi-parameter detector (25) is electrically connected to the control device (4); The inner bottom of the deep water sampling bottle (21) is provided with a water inlet float (211) and a sampling water inlet (212); the water inlet float (211) is arranged at the upper end of the sampling water inlet (212); and the outer diameter of the water inlet float (211) is larger than the inner diameter of the sampling water inlet (212); a plurality of float stoppers (213) are evenly arranged around the inner wall of the bottom end of the deep water sampling bottle (21); and the top of the deep water sampling bottle (21) is provided with two half top covers (214) and a hinge (215); the hinge (215) is installed on the deep water sampling bottle (211). On both sides of the middle of the top of the sample bottle (21), two pieces of the half-top cover (214) are symmetrically hinged to the two sides of the hinge (215) and seal the top of the deep-water sampling bottle (21). When at rest, the water inlet float (211) seals the sampling water inlet (212) and there is a gap between the water inlet float (211) and the float stopper (213). When sinking to the bottom of the water for sampling, the water inlet float (211) floats up and stops at the bottom of the float stopper (213), and the half-top cover (214) is opened by the impact of water pressure, and the sampling water inlet (212) starts to take in water.

2. The deep water quality sampling unmanned boat according to claim 1, characterized in that: A power winch (27) is provided on one side of the water quality sampling device (2), and a winch measuring device (271) is provided on the power winch (27). A steel cable in the power winch (27) is connected to the upper end of the sampling mounting frame (26) through the winch measuring device (271). The power winch (27) controls the lifting and lowering of the water quality sampling device (2) through the belt drive of the motor. The power winch (27) and the winch measuring device (271) are both connected to the control device (4) via electrical signals.

3. The deep water quality sampling unmanned boat according to claim 1, characterized in that: The multi-water quality storage device (3) is provided with a plurality of water quality storage barrels (32) and a mounting frame (33) for mounting the plurality of water quality storage barrels (32). The peristaltic pump assembly (31) comprises a first peristaltic pump (311) and a second peristaltic pump (312). The input end of each of the water quality storage barrels (32) is provided with two storage barrel normally closed pinch valves (28), wherein one of the storage barrel normally closed pinch valves (28) is connected to the first peristaltic pump (311) via a suction tube (281), and the other storage barrel normally closed pinch valve (28) is connected to the second peristaltic pump (312) via a suction tube (281). A flushing valve (282) is provided at the output end of the suction tube (281). The storage barrel normally closed pinch valves (28), the first peristaltic pump (311) and the second peristaltic pump (312) are all electrically signal-connected to the control device (4).

4. The deep water quality sampling unmanned boat according to claim 3 is characterized by: Two water input pipes (223) are arranged in the suction bottle (22), and the upper ends of the two water input pipes (223) are respectively connected to the first peristaltic pump (311) and the second peristaltic pump (312).

5. The deep water quality sampling unmanned boat according to claim 1, characterized in that: The front cabin top of the unmanned boat body (1) is provided with an equipment bracket (11), the bottom of the equipment bracket (11) is provided with a loudspeaker (12), the middle of the equipment bracket (11) is provided with a sonar module (13), the top of the equipment bracket (11) is provided with a GPS module (14) and a pair of 2.4G antennas (15), the pair of 2.4G antennas (15) are provided on both sides behind the GPS module (14), a navigation light (16) is provided on both sides of the equipment bracket (11), a 5G antenna (17) is provided behind each of the navigation lights (16), a camera module (18) is provided in front of the equipment bracket (11), and the loudspeaker (12), the sonar module (13), the GPS module (14), the 2.4G antenna (15), the navigation light (16), the 5G antenna (17) and the camera module (18) are all connected to the control device (4) by electrical signals.

6. The deep water quality sampling unmanned boat according to claim 1, characterized in that: A middle cabin double door (110) is provided above the middle cabin of the unmanned boat body (1), the middle cabin double door (110) is hinged to both sides of the unmanned boat body (1) and driven by an electric push rod, a front cabin door (111) is provided at the front end of the middle cabin of the unmanned boat body (1), the front cabin door (111) facilitates the staff to inspect and repair the control device (4), and a sampling double door (112) is hinged at the rear end of the unmanned boat body (1), the sampling double door (112) facilitates the staff to inspect and repair the water quality sampling device (2). During maintenance, an energy storage battery compartment is provided below the middle cabin of the unmanned boat body (1), an unmanned boat driving device (113) is provided below the rear cabin of the unmanned boat body (1), the energy storage battery compartment is electrically connected to all electrical equipment on the unmanned boat via a power distribution system, the unmanned boat driving device (113) drives the unmanned boat to perform directional displacement operations, and a solar photovoltaic panel (1101) is embedded on the outer side of the middle cabin double door (110), and the solar photovoltaic panel (1101) is electrically signal-connected to the energy storage battery compartment.

7. The deep water quality sampling unmanned boat according to claim 1, characterized in that: Wire burying parts (19) are provided on both sides of the unmanned boat body (1), and a plurality of wire inspection doors (191) are provided on the wire burying parts.

8. A sampling method for deep water quality sampling using an unmanned boat according to any one of claims 1 to 7, characterized in that: The following steps are involved: S1. The user sets the sampling depth of the winch measuring device (271) through the control device (4) of the unmanned boat, and sets the sampling coordinates according to the GPS module (14); S2, after the unmanned boat arrives at the target sampling point, it compares the current sampling position coordinates through the GPS module (14) to determine the position of the operation point. If the position is inaccurate, it readjusts the position according to the sampling coordinates set by the GPS module (14). If the position is accurate, it proceeds to step S3; S3, after the unmanned boat reaches the accurate target point, the control device (4) issues a sampling command to the power winch (27), and the power winch (27) releases the water quality sampling device (2) to the target depth in the water through the steel cable; S4, the winch measuring device (271) sends a signal to the control device (4) to report that the target depth has been reached, the power winch (27) stops working, and waits for a set time, during which the water quality multi-parameter detector (25) starts to collect parameters such as water depth, pH, temperature, and turbidity, and the water inlet float (211) of the deep water sampling bottle (21) is lifted to the bottom of the plurality of float stoppers (213) by the water pressure, and water sampling starts at the same time; S5, after the set time has passed, the water sample collection is completed, and the control device (4) drives the power winch (27) to drive the water quality sampling device (2) to rise; S6. After the water sampling device (2) rises, the normally closed clamp valves (24) at the bottom of all deep water sampling bottles (21) are opened, and the sampled water enters the suction bottle (22) through the connecting tube (23). The first peristaltic pump (311), the second peristaltic pump (312) and the flushing valve (282) are opened at the same time, and the sampled water is used to flush the suction tube (281) for 3 seconds; S7, after flushing is completed, close the flushing valve (282), open the two normally closed pinch valves (28) of a water quality storage barrel (32), and fill the water quality storage barrel (32); S8, after the water quality storage barrel (32) is filled, close the two storage barrel normally closed pinch valves (28), the first peristaltic pump (311) and the second peristaltic pump (312), open the normally open pinch valve (222), and drain all the water samples in the deep water sampling bottles (21) and the suction bottles (22); S9, the unmanned boat compares the pre-input coordinates of the next sampling position through the GPS module (14), and repeats steps S2-S8 until the unmanned boat completes the sampling tasks of all sampling points and returns to the starting point.

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