Sewage sampling device for water environment monitoring

Abstract

The invention relates to a sewage sampling device for water environment monitoring. The sewage sampling device comprises a sampling unmanned aerial vehicle, a sampling floating platform and a sampling controller, the sampling unmanned aerial vehicle comprises a vehicle body, a hoisting assembly mounted at the bottom of the vehicle body and used for hoisting the sampling floating platform, and a camera used for collecting a water area image; the sampling floating platform comprises a floating body, a floating platform sub-controller, a floating body power supply embedded in the floating body, an automatic connecting piece arranged on the floating body and used for being connected with the sampling unmanned aerial vehicle, and a plurality of groups of sampling assemblies used for sampling sewage; the floating platform sub-controller, the floating body power supply, the automatic connecting piece and the plurality of groups of sampling assemblies are electrically connected with one another; the sampling controller receives a sampling request in real time, determines a sampling set through matching based on water area information and historical sampling information, and controls the sampling unmanned aerial vehicle to hang the sampling floating platform to sequentially reach each sampling area in the sampling set for sewage sampling. The method has the effect of effectively improving the water environment detection efficiency.

Description

Technical Field

[0001] The present application relates to the field of water environment monitoring, and in particular to a sewage sampling device for water environment monitoring. Background Art

[0002] As society pays more and more attention to environmental issues, it is urgent to systematically promote water pollution prevention and control, water ecological protection and water resources management. Efficient and comprehensive acquisition of water quality information is a prerequisite for water pollution prevention and control, and water quality sampling is the first link in sewage treatment. At present, most of the sampling work is done by hand-held sampling bottles. The disadvantages of manual sampling are: high cost, low efficiency, time-consuming and labor-intensive; unable to adapt to complex and unfamiliar environments, especially in environments with large water areas. Sampling personnel need to take boats to the middle of the water area to collect water samples, which is not only time-consuming, but also dangerous.

[0003] The Chinese patent with announcement number CN113188841B discloses a sewage purification sampling device, which involves the field of environmental governance equipment. The technical solution is that it includes a drone and a sampling ship connected to the sampling drone; the sampling ship includes a main frame, and a cylindrical floating body is symmetrically arranged on both sides of the main frame. The main line roller is arranged on the upper side of the main frame, and the roller shaft of the main line roller is connected to one end of the sling, and the other end of the sling is connected to the sampling drone; the main frame is provided with at least one auxiliary line roller, and the auxiliary line roller is connected to the main frame through the line roller frame; one end of the pull rope is fixedly connected to the roller shaft of the auxiliary line roller, and the other end of the pull rope is connected to the sampling bottle. The device is suitable for collecting water samples in a large area of ​​polluted waters, and the staff does not need to go to the middle of the waters themselves, which greatly improves the safety of sewage sampling work.

[0004] However, for water environment monitoring work in large areas of water, due to the uneven distribution of pollutants and the large area of ​​water, the water quality environment in different regions may vary greatly. Therefore, how to reasonably arrange sampling points to ensure that the samples are representative and conduct efficient and accurate monitoring of the water environment is a technical problem to be solved. Summary of the invention

[0005] In order to solve the above problems, the present application provides a sewage sampling device for water environment monitoring.

[0006] In the first aspect, the present application provides a sewage sampling device for water environment monitoring, which adopts the following technical solution: A sewage sampling device for water environment monitoring, comprising a sampling drone, a sampling platform and a sampling controller, wherein the sampling drone and the sampling platform are both connected to the sampling controller in communication, and the bottom of the sampling drone is connected to the sampling platform; The sampling drone includes a body, a hoisting assembly installed at the bottom of the body for hoisting a sampling floating platform, and a camera for collecting water area images; The sampling platform includes a float, a float sub-controller, a float power source embedded in the float, an automatic connector provided on the float for connecting with a sampling drone, and a plurality of sampling components for sewage sampling, wherein the float sub-controller, the float power source, the automatic connector, and the plurality of sampling components are electrically connected to each other; The sampling controller receives sampling requests in real time, determines the sampling set based on the water area information and historical sampling information, and controls the sampling drone carrying the sampling platform to arrive at each sampling area in the sampling set in turn to perform sewage sampling; the sampling request includes sampling type information and sampling supplementary information; the water area information includes water area GIS information, building information around the water area, and sampling site information around the water area; the sampling set includes at least one sampling area and sampling path information.

[0007] Preferably, multiple groups of the sampling components all include a sampling bottle, a sampling pump and a sampling tube, the sampling bottle is installed on a float, and an editable display screen is provided on the sampling bottle; one end of the sampling tube is connected to the sampling bottle through a sampling pump, and the other end is connected to a water intake jacket; multiple water intake jackets are all provided with sampling holes, and the sampling tube diameters and sampling hole apertures of multiple groups of the sampling components are not consistent, and the sampling tube diameter is proportional to the sampling hole aperture.

[0008] Preferably, the sampling assembly also includes an electric spool and a sampling counterweight, the electric spool is installed on the float and the thread end passes through the float and is connected to the sampling counterweight; the sampling counterweight is installed at the bottom of the water intake jacket, and a contact sensor is provided at the bottom of the sampling counterweight.

[0009] Preferably, the lifting assembly includes a lifting frame, the lifting frame includes a lifting ring and multiple lifting rods, the top ends of the multiple lifting rods are connected to the bottom of the body, and the bottom ends are connected to the lifting ring; the automatic connecting part includes three connecting rods, one end of the three connecting rods are connected together to form a conical frame, and the other end is connected to a sliding rod; the three connecting rods are bent to form a clamping groove for clamping the lifting ring; a telescopic slide groove for sliding the sliding rod is provided on the floating body, and an electric telescopic part is provided at one end of the telescopic slide groove away from the conical frame, and the telescopic end of the electric telescopic part is connected to the sliding rod.

[0010] Preferably, a hoisting winch is provided in the middle of the hoisting frame, and the hoisting end of the hoisting winch passes through a hoisting ring and is connected to the top of the conical frame.

[0011] Preferably, the sampling controller receives the sampling request in real time, and determines the sampling set based on the water area information and the historical sampling information matching, specifically including the following steps: The sampling controller receives a sampling request in real time, wherein the sampling request includes sampling type information and sampling supplementary information, and the sampling supplementary information includes sampling preference information and water area update information; Determine a preset fixed sampling area corresponding to the sampling type based on the sampling type information matching; Generate multiple random sampling areas according to the sampling request by matching a preset water environment prediction model, wherein the water environment prediction model is a convolutional neural network model obtained by deep learning and iterative training of water area information and historical sampling information; Integrate and plan fixed sampling areas and random sampling areas to generate sampling path information; The fixed sampling area, random sampling area and sampling path information are packaged to generate a sampling set.

[0012] Preferably, the integrated planning of the fixed sampling area and the random sampling area to generate the sampling path information specifically comprises the following steps: Determine the sampling times of each fixed sampling area according to the historical sampling information of each fixed sampling area and the water area update information; Determine the predicted water depth of each random sampling area according to the water area information and the water area update information in the sampling request, and generate the predicted sampling times of each random sampling area; Integrate the fixed sampling area and the random sampling area to generate a sampling area distribution map; The location of the land sampling operation point and the sampling platform configuration information are obtained, and the sampling path information with the shortest total sampling path is generated through a greedy algorithm based on the sampling times of each fixed sampling area and random sampling area in the sampling area distribution map and the predicted sampling times.

[0013] Preferably, the method of controlling the sampling drone to carry the sampling platform to sequentially arrive at each sampling area in the sampling set to perform sewage sampling specifically includes the following steps: S1. Self-test preparation: After starting the sampling drone for self-test, connect the sampling drone to the sampling platform through the hoisting assembly and the automatic connector; S2. Select sampling points: control the sampling drone to arrive at the sampling area according to the sampling path information and select sampling points; S3, lowering the floating platform: control the sampling drone to descend and place the sampling floating platform at the sampling point, control the sampling drone to ascend and synchronously control the automatic connector to disconnect the rigid connection between the sampling floating platform and the sampling drone, the sampling drone rises to a specified height, and the sampling floating platform is kept hoisted by the hoisting assembly; S4, sampling: controlling the sampling floating platform to perform sampling at the sampling point through the floating platform sub-controller; S5. Connecting to the floating platform: After the sampling is completed, the sampling drone is controlled to descend and connected to the sampling floating platform through the hoisting assembly and the automatic connector; S6, determine whether there is an unsampled sampling area, if yes, jump to step S2; S7. Complete sampling: If it does not exist, control the sampling drone to carry the sampling platform back to the sampling site according to the sampling path information to complete the sampling.

[0014] Preferably, the selection of sampling points in step S2 specifically includes: obtaining image information of the sampling area through a sampling drone, inputting the image of the sampling area into a pre-set water pollution analysis model, and selecting the point with the most serious water surface pollution in the sampling area as the sampling point, wherein the water pollution analysis model is based on the ChatGPT4.0 model and is trained by using images of waters with different pollution conditions as samples.

[0015] Preferably, the controlling the sampling floating platform to perform sampling at the sampling point by the floating platform sub-controller specifically includes the following steps: Determine whether the sampling area is a fixed sampling area; If it is a fixed sampling area, the fixed sampling process information of the fixed sampling area is obtained, and the specified electric line shaft is controlled to start in sequence through the floating platform sub-controller according to the fixed sampling information, the water intake sheath of the corresponding specification is sunk to the specified depth, and the sampling pump is started for sampling. After the sampling is completed, the sampling information summary is displayed on the editable display screen of the sampling bottle; the fixed sampling process information includes the sampling depth, sampling tube specifications and sampling pump control parameters of at least one sampling; If it is not a fixed sampling area, start the electric line shaft to sink the sampling weight block until the contact sensor feedback touches the ground to obtain the water depth of the sampling point; Based on the water depth of the sampling point and the preset sampling standard, the sampling times and the sampling depth of each sampling, the sampling tube specifications and the sampling pump control parameters are determined to generate random sampling process information; According to the random sampling process information, the designated electric reels are controlled by the floating platform sub-controller to start in sequence, the water intake sheath of the corresponding specification is sunk to the specified depth, and the sampling pump is started for sampling. After the sampling is completed, the sampling information summary is displayed on the editable display screen of the sampling bottle.

[0016] In summary, the present application includes at least one of the following beneficial technical effects: For water environment monitoring work in large areas of water, sampling requests are obtained in real time. According to the sampling type and the water area, the fixed sampling area of ​​the sampling type in the water area is first determined. Then, the water quality of the water area is determined by combining historical sampling information and water area update information. The sewage sampling point is predicted and determined according to the sampling information type required in the sampling request, which helps to achieve efficient and accurate sampling and effectively improve the efficiency of water environment detection. By setting up the hoisting frame and the automatic connector, the sampling drone and the sampling buoy can be automatically rigidly connected, which helps the sampling drone to stably carry and transport the sampling buoy. By setting up the hoisting winch, during the sampling work, in order to prevent the sampling drone from being too close to the water surface and affecting the sampling work, it helps to improve the efficiency of the sampling buoy restoring the rigid connection with the sampling drone on the water surface, thereby effectively improving the sampling efficiency. According to the actual situation of the fixed sampling area and the random sampling area, combined with the distribution of sampling sites in the water area, the sampling path information with the shortest total sampling path is planned through a greedy algorithm to avoid repeated round trips of the sampling drone to the same sampling area, thereby effectively improving the sampling efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a structural schematic diagram of a sewage sampling device for water environment monitoring in an embodiment of the present application; Figure 2 It is a system block diagram of a sewage sampling device for water environment monitoring in an embodiment of the present application; Figure 3 is a schematic cross-sectional structure diagram of an automatic connector in an embodiment of the present application; Figure 4 is a flow chart of a method for matching and determining a sampling set in an embodiment of the present application; Figure 5 is a flow chart of a method for planning and generating sampling path information in an embodiment of the present application; Figure 6 is a flow chart of a method for controlling a sewage sampling device to perform water area sampling in an embodiment of the present application; Figure 7 It is a flow chart of a method in which the floating platform sub-controller controls the sampling floating platform to perform sampling at the sampling point in an embodiment of the present application.

[0018] Explanation of the reference numerals: 1. Sampling UAV; 11. Airframe; 12. Hoisting assembly; 121. Hoisting frame; 122. Hoisting ring; 123. Hoisting rod; 13. Camera; 14. Hoisting winch; 2. Sampling platform; 21. Floating body; 22. Floating platform sub-controller; 23. Floating body power supply; 24. Automatic connector; 241. Connecting rod; 242. Conical frame; 243. Slide rod; 244. Snap-in groove; 245. Telescopic slide groove; 246. Electric telescopic member; 25. Sampling assembly; 251. Sampling bottle; 252. Sampling pump; 253. Sampling tube; 254. Editable display screen; 255. Water intake jacket; 256. Sampling hole; 257. Electric spool; 258. Sampling counterweight; 259. Contact sensor; 3. Sampling controller. DETAILED DESCRIPTION

[0019] The following is combined with Figure 1-Figure 7 This application is described in further detail.

[0020] The present application embodiment discloses a sewage sampling device for water environment monitoring. Figure 1 and Figure 2 , a sewage sampling device for water environment monitoring, including a sampling drone 1, a sampling platform 2 and a sampling controller 3, the sampling drone 1 and the sampling platform 2 are both connected to the sampling controller 3 in communication. The bottom of the sampling drone 1 is connected to the sampling platform 2. The sampling drone 1 includes a body 11 and a hoisting assembly 12 installed at the bottom of the body 11 for hoisting the sampling platform 2 and a camera 13 for collecting water area images. It should be noted that the sampling drone 1 is a purchased drone, and the specific structure of its body 11 is the prior art. The sampling platform 2 includes a float 21, a float sub-controller 22, a float power supply 23 embedded in the float 21, an automatic connector 24 arranged on the float 21 for connecting to the sampling drone, and a plurality of sampling components 25 for sewage sampling, and the float sub-controller 22, the float power supply 23, the automatic connector 24 and the plurality of sampling components 25 are electrically connected to each other. The sampling controller 3 receives the sampling request in real time, determines the sampling set based on the water area information and historical sampling information matching, and controls the sampling drone 1 to carry the sampling platform 2 to arrive at each sampling area in the sampling set in turn to sample sewage. Among them, the sampling request includes sampling type information and sampling supplementary information. The water area information includes water area GIS information, water area surrounding building information and water area surrounding sampling site information; the sampling set includes at least one sampling area and sampling path information. For water environment monitoring work in large areas of water, sampling requests are obtained in real time, and the fixed sampling area of ​​the sampling type in the water area is first determined according to the sampling type and the water area, and then the water quality of the water area is determined in combination with the historical sampling information and water area update information. The sewage sampling point is predicted and determined according to the sampling information type required in the sampling request, which helps to achieve efficient and accurate sampling and effectively improve the efficiency of water environment detection.

[0021] The above sampling type information can roughly include water quality physical and chemical properties, heavy metals, microorganisms, organic pollutants and other major categories set according to the actual situation of the water area and the surrounding pollution sources. If further subdivided, the water quality physical and chemical properties generally include conventional indicators: pH value, dissolved oxygen (DO), chemical oxygen demand (COD), biochemical oxygen demand (BOD) and nutrients: ammonia nitrogen (NH3-N), total phosphorus (TP) nitrate nitrogen (NO3-N), etc.; heavy metals generally include: mercury (Hg), cadmium (Cd), lead (Pb), chromium (Cr), etc.; microorganisms generally include total bacteria count, coliform group and pathogenic bacteria, etc.; and organic pollutants include: petroleum pollutants, polycyclic aromatic hydrocarbons (PAHs) pollutants and pesticide residues, etc.; the specific sampling type information can be set according to the actual water environment monitoring needs of the application water area.

[0022] Reference Figure 1 and Figure 2 , multiple sampling components 25 each include a sampling bottle 251, a sampling pump 252 and a sampling tube 253. The sampling bottle 251 is installed on the float 21, and an editable display screen 254 is provided on the sampling bottle 251. One end of the sampling tube 253 is connected to the sampling bottle 251 through the sampling pump 252, and the other end is connected to the water collection jacket 255; multiple water collection jackets 255 are provided with sampling holes 256, and the diameters of the sampling tubes 253 and the apertures of the sampling holes 256 of the multiple sampling components 25 are inconsistent, and the diameters of the sampling tubes 253 are proportional to the apertures of the sampling holes 256. By setting multiple sampling components 25, different specifications of sampling components 25 and water collection jackets 255 are provided, which can meet the sampling requirements of different water areas, water depths and water environments, and help efficient sampling, and an editable display screen 254 is provided on the sampling bottle 251, and the sampling information summary can be marked on the sampling bottle 251 after the sampling is completed, which helps to quickly determine the source of the water sample after the sampling work of a large area of ​​water is completed.

[0023] Reference Figure 1 and Figure 2 The sampling assembly 25 also includes an electric spool 257 and a sampling weight block 258. The electric spool 257 is installed on the float and the end of the spool passes through the float 21 and is connected to the sampling weight block 258. The sampling weight block 258 is installed at the bottom of the water collection jacket, and a contact sensor 259 is provided at the bottom of the sampling weight block 258. Through the arrangement of the electric spool 257 and the sampling weight block 258, the water collection jacket 255 of the sampling tube 253 can be stably carried to the specified depth at the sampling point, which helps to improve the sampling accuracy. In addition, by being arranged at the bottom of the sampling weight block 258, the contact sensor 259 can accurately measure the water depth at the random sampling point, and then perform one or more samplings according to the water depth according to the sampling standard document, so as to effectively improve the efficiency of water environment detection.

[0024] Reference Figure 1-Figure 3 The lifting assembly 12 includes a lifting frame 121, and the lifting frame 121 includes a lifting ring 122 and multiple lifting rods 123. The top ends of the multiple lifting rods 123 are connected to the bottom of the body 11, and the bottom ends are connected to the lifting ring 122; the automatic connecting member 24 includes three connecting rods 241, one end of the three connecting rods 241 is connected together to form a conical frame 242, and the other end is connected to a slide bar 243; the three connecting rods 241 are bent to have a clamping groove 244 for clamping the lifting ring 122; a telescopic slide groove 245 for the slide bar 243 to slide is provided on the floating body 21, and an electric telescopic member 246 is provided at one end of the telescopic slide groove 245 away from the conical frame 242, and the telescopic end of the electric telescopic member 246 is connected to the slide bar 243. A hoisting winch 14 is provided in the middle of the hoisting frame 121, and the hoisting end of the hoisting winch 14 passes through the hoisting ring 122 and is connected to the top of the conical frame 242. Through the arrangement of the hoisting frame 121 and the automatic connector 24, the automatic rigid connection between the sampling drone 1 and the sampling platform 2 can be achieved, which helps the sampling drone 1 to stably carry and transport the sampling platform 2. The arrangement of the hoisting winch 14 helps improve the efficiency of restoring the rigid connection between the sampling platform 2 and the sampling drone 1 on the water surface to prevent the sampling drone 1 from being too close to the water surface and affecting the sampling work during the sampling work, thereby effectively improving the sampling efficiency.

[0025] In the specific operation process, when sampling is carried out, the electric telescopic part 246 of the automatic connecting part 24 is extended, the conical frame 242 is contracted, and the sampling drone 1 drives the lifting frame 121 to slide down and disengage from the clamping groove 244 of the conical frame 242, and the connection between the automatic connecting part 24 and the lifting frame 121 is disconnected; the sampling drone 1 is still lifted and connected to the sampling floating platform 2 through the lifting winch 14, which does not affect the sampling and can maintain the connection; after the sampling is completed, the drone descends while the lifting winch 14 retracts the line to guide the conical frame 242 of the automatic connecting part 24 to be inserted into the lifting frame 121, the electric telescopic part 246 is extended, the conical frame 242 is contracted, and the lifting frame 121 at the bottom of the sampling drone 1 smoothly descends to the specified height. At this time, the electric telescopic part 246 retracts the conical frame 242 to recover, and the lifting ring 122 of the lifting frame 121 slides into the clamping groove 244, and the automatic connecting part 24 and the lifting frame 121 are restored to a rigid connection.

[0026] Reference Figure 4 The sampling controller 3 receives the sampling request in real time, and determines the sampling set based on the water area information and the historical sampling information matching, which specifically includes the following steps: A1. Real-time reception of sampling request: the sampling controller 3 receives the sampling request in real time, the sampling request includes sampling type information and sampling supplementary information, the sampling supplementary information includes sampling preference information and water area update information; A2. Matching and determining a fixed sampling area: matching and determining a preset fixed sampling area corresponding to the sampling type based on the sampling type information; A3. Matching and generating random sampling areas: according to the sampling request, a plurality of random sampling areas are generated by matching a preset water environment prediction model, wherein the water environment prediction model is a convolutional neural network model obtained by deep learning and iterative training of water area information and historical sampling information; the specific steps of using a convolutional neural network to train a water environment prediction model through historical sampling information are required to be described in the prior art, which will not be repeated here; A4. Plan and generate sampling path information: Integrate fixed sampling areas and random sampling areas to plan and generate sampling path information; A5. Packaging and generating sampling sets: Packing fixed sampling areas, random sampling areas and sampling path information to generate sampling sets. Through the above steps, the preset fixed sampling area corresponding to the water area is determined according to the sampling type information of the sampling request, and the water environment of the water area is predicted in real time through the water environment prediction model. According to the sampling type information, the area corresponding to the water area with poor parameters of this type is selected as the random sampling area, which helps to achieve efficient and accurate sampling and effectively improve the efficiency of water environment detection.

[0027] For example, when the sampling type information is pesticide residue, the fixed sampling area is pre-set according to the sampling type matching the water area, such as the area where the farmland confluence and the sewage outlet of the pesticide factory are located; then the water environment prediction model is used to determine the area where the pesticide residue in the water area may exceed the standard as the random sampling area, so as to achieve efficient, targeted and accurate sampling, thereby effectively improving the efficiency of water environment detection.

[0028] Reference Figure 5 The integrated planning of fixed sampling areas and random sampling areas to generate sampling path information specifically includes the following steps: B1. Determine the sampling times of each fixed sampling area: Determine the sampling times of each fixed sampling area according to the historical sampling information of each fixed sampling area and the water area update information; B2. Determine the predicted sampling times for each random sampling area: determine the predicted water depth for each random sampling area according to the water area information and the water area update information in the sampling request, and generate the predicted sampling times for each random sampling area; B3. Generate sampling area distribution map: Integrate the fixed sampling area and random sampling area to generate sampling area distribution map; B4. Plan and generate sampling path information: Obtain the location of the land sampling operation point and the configuration information of the sampling platform 2, and plan and generate the sampling path information with the shortest total sampling path according to the sampling times and predicted sampling times of each fixed sampling area and random sampling area in the sampling area distribution map through a greedy algorithm. According to the actual situation of the fixed sampling area and the random sampling area, combined with the distribution of sampling sites in the water area, the sampling path information with the shortest total sampling path is planned through a greedy algorithm to avoid the sampling drone 1 repeatedly going back and forth to the same sampling area, so as to effectively improve the sampling efficiency.

[0029] Reference Figure 6 The control of the sampling drone 1 carrying the sampling platform 2 to sequentially arrive at each sampling area in the sampling set to perform sewage sampling specifically includes the following steps: S1, self-test preparation: After starting the sampling drone 1 to perform a power-on self-test, the sampling drone 1 is connected to the sampling platform 2 through the hoisting assembly 12 and the automatic connector 24; S2. Select sampling points: control the sampling drone 1 to arrive at the sampling area according to the sampling path information and select sampling points; S3, lowering the floating platform: control the sampling drone 1 to descend and place the sampling floating platform 2 at the sampling point, control the sampling drone 1 to ascend and synchronously control the automatic connector 24 to disconnect the rigid connection between the sampling floating platform 2 and the sampling drone 1, and the sampling drone 1 rises to a specified height, and the sampling floating platform 2 is kept suspended by the lifting assembly 12; S4, sampling: controlling the sampling floating platform 2 to perform sampling at the sampling point through the floating platform sub-controller 22; S5, connecting to the floating platform: after the sampling is completed, the sampling drone 1 is controlled to descend and connected to the sampling floating platform 2 through the hoisting assembly 12 and the automatic connector 24; S6, determine whether there is an unsampled sampling area, if yes, jump to step S2; S7, complete sampling: if it does not exist, control the sampling drone 1 to bring the sampling platform 2 back to the sampling site according to the sampling path information to complete the sampling. Through the above steps, it is helpful to achieve efficient and accurate sampling, and effectively improve the efficiency of water environment detection.

[0030] Among them, the selection of sampling points in step 2 specifically includes: obtaining image information of the sampling area through the sampling drone 1, inputting the image of the sampling area into the pre-set water pollution analysis model, and selecting the most serious water pollution in the sampling area as the sampling point. The water pollution analysis model is based on the ChatGPT4.0 model and is trained by using water images of different pollution conditions as samples. Through the powerful image recognition ability of the ChatGPT4.0 model, the surface conditions of the collected sampling area can be quickly identified, and the places where pollutants float and accumulate seriously in the water area can be determined as sampling points, which can further improve the accuracy and pertinence of sewage sampling, and help to accurately understand the water pollution situation based on the sampled water samples in the future.

[0031] Reference Figure 7 The method of controlling the sampling floating platform 2 to perform sampling at the sampling point by the floating platform sub-controller 22 specifically includes the following steps: C1. Determine whether the sampling area is a fixed sampling area; C2. Sampling in a fixed sampling area: If it is a fixed sampling area, the fixed sampling process information of the fixed sampling area is obtained, and the specified electric line shaft 257 is controlled by the floating platform sub-controller 22 to start in sequence according to the fixed sampling information, and the water intake jacket 255 of the corresponding specification is sunk to the specified depth, and the sampling pump 252 is started for sampling. After the sampling is completed, the sampling information summary is displayed on the editable display screen 254 of the sampling bottle 251; the fixed sampling process information includes the sampling depth of at least one sampling, the specifications of the sampling tube 253 and the control parameters of the sampling pump 252; C3. Obtaining the water depth of the random sampling area: If it is not a fixed sampling area, start the electric line shaft 257 to sink the sampling counterweight 258 until the contact sensor 259 feedbacks that it touches the ground, and obtain the water depth of the sampling point; C4. Generate random sampling process information: Determine the sampling times and sampling depth of each sampling, the specifications of the sampling tube 253 and the control parameters of the sampling pump 252 based on the water depth of the sampling point and the preset sampling standard, and generate random sampling process information; C5. Sampling in random sampling areas: According to the random sampling process information, the floating platform sub-controller 22 controls the designated electric line shaft 257 to start in sequence, sinks the water collection jacket of the corresponding specification to the designated depth, and starts the sampling pump 252 for sampling. After the sampling is completed, the sampling information summary is displayed on the editable display screen 254 of the sampling bottle 251. Through the above steps, the contact sensor 259 at the bottom of the sampling counterweight 258 in the random sampling area can accurately measure the water depth and verify the water area conditions, and then according to the sampling standard file, one or more samplings are performed according to the water depth, so as to effectively improve the efficiency of water environment detection.

[0032] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the scope of protection of the invention. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. Based on these embodiments, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in this field can still combine, add, delete or make other adjustments to the features in the various embodiments of the present invention according to the circumstances without conflict, without making creative work, so as to obtain different other technical solutions that do not deviate from the concept of the present invention in essence, and these technical solutions also belong to the scope of protection of the present invention.

Claims

1. A sewage sampling device for water environment monitoring, characterized in that: It comprises a sampling drone (1), a sampling platform (2) and a sampling controller (3), wherein the sampling drone (1) and the sampling platform (2) are both communicatively connected to the sampling controller (3), and the bottom of the sampling drone (1) is connected to the sampling platform (2); The sampling drone (1) comprises a body (11), a hoisting assembly (12) installed at the bottom of the body (11) for hoisting a sampling floating platform (2), and a camera (13) for collecting images of water areas; The sampling platform (2) comprises a float (21), a float sub-controller (22), a float power supply (23) embedded in the float (21), an automatic connector (24) arranged on the float (21) for connecting with a sampling drone (1), and a plurality of sampling components (25) for performing sewage sampling, wherein the float sub-controller (22), the float power supply (23), the automatic connector (24) and the plurality of sampling components (25) are electrically connected to each other; The sampling controller (3) receives a sampling request in real time, determines a sampling set based on the water area information and historical sampling information matching, and controls a sampling drone (1) to carry a sampling platform (2) to sequentially arrive at each sampling area in the sampling set to perform sewage sampling; the sampling request includes sampling type information and sampling supplementary information; the water area information includes water area GIS information, water area surrounding building information, and water area surrounding sampling site information; the sampling set includes at least one sampling area and sampling path information.

2. A sewage sampling device for water environment monitoring according to claim 1, characterized in that: The plurality of sampling components (25) each comprises a sampling bottle (251), a sampling pump (252) and a sampling tube (253); the sampling bottle (251) is mounted on a floating body (21), and an editable display screen (254) is provided on the sampling bottle (251); one end of the sampling tube (253) is connected to the sampling bottle (251) via the sampling pump (252), and the other end is connected to a water intake jacket (255); a plurality of water intake jackets (255) are each provided with a sampling hole (256), and the diameters of the sampling tubes (253) and the apertures of the sampling holes (256) of the plurality of sampling components (25) are not consistent, and the diameter of the sampling tube (253) is proportional to the aperture of the sampling hole (256).

3. A sewage sampling device for water environment monitoring according to claim 2, characterized in that: The sampling assembly (25) further comprises an electric spool (257) and a sampling counterweight (258); the electric spool (257) is mounted on the float (21) and the end of the spool passes through the float (21) and is connected to the sampling counterweight (258); the sampling counterweight (258) is mounted on the bottom of the water intake jacket (255), and a contact sensor (259) is provided at the bottom of the sampling counterweight (258).

4. A sewage sampling device for water environment monitoring according to claim 1, characterized in that: The lifting assembly (12) comprises a lifting frame (121), the lifting frame (121) comprises a lifting ring (122) and a plurality of lifting rods (123), the top ends of the plurality of lifting rods (123) are all connected to the bottom of the machine body (11), and the bottom ends are all connected to the lifting ring (122); the automatic connecting member (24) comprises three connecting rods (241), one ends of the three connecting rods (241) are connected together to form a conical frame (242), The other ends are connected to a slide rod (243); the three connecting rods (241) are bent to form a clamping groove (244) for clamping the lifting ring (122); a telescopic slide groove (245) for the slide rod (243) to slide is provided on the floating body (21), and an electric telescopic component (246) is provided at one end of the telescopic slide groove (245) away from the conical frame (242), and the telescopic end of the electric telescopic component (246) is connected to the slide rod (243).

5. A sewage sampling device for water environment monitoring according to claim 4, characterized in that: A hoisting winch (14) is arranged in the middle of the hoisting frame (121), and a hoisting end of the hoisting winch (14) passes through a hoisting ring (122) and is connected to the top of the conical frame (242).

6. A sewage sampling device for water environment monitoring according to claim 3, characterized in that: The sampling controller (3) receives the sampling request in real time, and determines the sampling set based on the water area information and the historical sampling information matching, which specifically includes the following steps: The sampling controller (3) receives a sampling request in real time, wherein the sampling request includes sampling type information and sampling supplementary information, and the sampling supplementary information includes sampling preference information and water area update information; Determine a preset fixed sampling area corresponding to the sampling type based on the sampling type information matching; Generate multiple random sampling areas according to the sampling request by matching a preset water environment prediction model, wherein the water environment prediction model is a convolutional neural network model obtained by deep learning and iterative training of water area information and historical sampling information; Integrate and plan fixed sampling areas and random sampling areas to generate sampling path information; The fixed sampling area, random sampling area and sampling path information are packaged to generate a sampling set.

7. A sewage sampling device for water environment monitoring according to claim 6, characterized in that: The integrated planning of the fixed sampling area and the random sampling area to generate the sampling path information specifically includes the following steps: Determine the sampling times of each fixed sampling area according to the historical sampling information of each fixed sampling area and the water area update information; Determine the predicted water depth of each random sampling area according to the water area information and the water area update information in the sampling request, and generate the predicted sampling times of each random sampling area; Integrate the fixed sampling area and the random sampling area to generate a sampling area distribution map; The location of the land sampling operation point and the configuration information of the sampling platform (2) are obtained, and the sampling path information with the shortest total sampling path is generated by planning through a greedy algorithm according to the sampling times of each fixed sampling area and random sampling area in the sampling area distribution map and the predicted sampling times.

8. A sewage sampling device for water environment monitoring according to claim 7, characterized in that: The control of the sampling drone (1) to carry the sampling platform (2) to sequentially arrive at each sampling area in the sampling set to perform sewage sampling specifically comprises the following steps: S1, self-test preparation: after starting the sampling drone (1) to perform a power-on self-test, the sampling drone (1) is connected to the sampling platform (2) via a hoisting assembly (12) and an automatic connector (24); S2. Selecting sampling points: controlling the sampling drone (1) to arrive at the sampling area according to the sampling path information and selecting sampling points; S3, lowering the floating platform: controlling the sampling drone (1) to descend and placing the sampling floating platform (2) at the sampling point, controlling the sampling drone (1) to ascend and synchronously controlling the automatic connector (24) to disconnect the rigid connection between the sampling floating platform (2) and the sampling drone (1), and the sampling drone (1) ascends to a specified height, and the sampling floating platform (2) is kept suspended by the suspension assembly (12); S4, sampling: controlling the sampling floating platform (2) to perform sampling at the sampling point through the floating platform sub-controller (22); S5, connecting the floating platform: after the sampling is completed, the sampling drone (1) is controlled to descend and connected to the sampling floating platform (2) through the lifting assembly (12) and the automatic connector (24); S6, determine whether there is an unsampled sampling area, if yes, jump to step S2; S7, complete sampling: if it does not exist, control the sampling drone (1) to carry the sampling platform (2) back to the sampling site according to the sampling path information to complete the sampling.

9. A sewage sampling device for water environment monitoring according to claim 8, characterized in that: The step S2 of selecting the sampling point specifically includes: obtaining image information of the sampling area through a sampling drone (1), inputting the image of the sampling area into a pre-set water pollution analysis model, and selecting the point with the most serious water pollution in the sampling area as the sampling point. The water pollution analysis model is based on the ChatGPT4.0 model and is trained by using water images with different pollution conditions as samples.

10. A sewage sampling device for water environment monitoring according to claim 8, characterized in that: The method of controlling the sampling floating platform (2) to perform sampling at the sampling point by means of the floating platform sub-controller (22) specifically comprises the following steps: Determine whether the sampling area is a fixed sampling area; If it is a fixed sampling area, the fixed sampling process information of the fixed sampling area is obtained, and the specified electric line shaft (257) is controlled to start in sequence through the floating platform sub-controller (22) according to the fixed sampling information, the water intake jacket (255) of the corresponding specification is sunk to the specified depth, and the sampling pump (252) is started to sample, and after the sampling is completed, the sampling information summary is displayed on the editable display screen (254) of the sampling bottle (251); the fixed sampling process information includes the sampling depth of at least one sampling, the specifications of the sampling tube (253) and the control parameters of the sampling pump (252); If it is not a fixed sampling area, the electric line shaft (257) is started to sink the sampling counterweight (258) until the contact sensor (259) feedbacks that it touches the ground, and the water depth of the sampling point is obtained; Based on the water depth of the sampling point and the preset sampling standard, the sampling times and the sampling depth of each sampling, the sampling tube specifications and the sampling pump control parameters are determined to generate random sampling process information; According to the random sampling process information, the floating platform sub-controller (22) controls the designated electric reels (257) to start in sequence, sinks the water intake jacket (255) of the corresponding specification to the designated depth, and starts the sampling pump (252) for sampling. After the sampling is completed, the sampling information summary is displayed on the editable display screen (254) of the sampling bottle (251).

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