Self-driven underwater robot for water body sampling

Abstract

The invention provides a self-driven underwater robot for water sampling, and relates to the technical field of water environment detection.The self-driven underwater robot comprises a robot body and a driving control assembly, the driving control assembly is arranged in the robot body, a sample collecting assembly is arranged on the top face of the robot body, and water quality detection assemblies are symmetrically arranged on the two sides of the robot body; clamping assemblies are arranged on the two sides of the robot body, a power assembly is arranged on the surface of the robot body, a display panel is arranged on the front face of the robot body, a tracking and positioning assembly is arranged at the edge position of the display panel, and after the flexible detection pipe extends, different positions of the water quality environment are detected at the same time through multiple sets of first water quality sensors distributed on the surface. Under the condition that the position of the robot body is kept unchanged, equal-interval detection of the water environment within the circumferential range with the robot body as the circle center and the flexible detection pipe as the radius is achieved, movement of the robot body is reduced, and energy consumption of the robot body is reduced under the condition that the detection range of the water environment is increased.

Description

Technical Field

[0001] The invention relates to the technical field of water environment detection, and in particular to a self-driven underwater robot used for water body sampling. Background Art

[0002] According to the Chinese patent number "CN108557038A", a robot for underwater sensing and sampling is disclosed, and its structure includes a bracket, a horizontal thruster, a sealed cabin, a balanced buoyancy cabin, a GPS and a vertical thruster. The bracket is provided with a sealed cabin, and a sensing, sampling and control system is provided in the sealed cabin. The control system is connected to the GPS. The bracket is also provided with a horizontal thruster and a vertical thruster for driving the underwater robot to achieve horizontal or vertical movement, and a balanced buoyancy cabin for achieving the balance of the underwater robot under the auxiliary action of the horizontal thruster and the vertical thruster. The present invention adopts six thrusters and a balanced buoyancy cabin, a camera, and a three-axis accelerometer to achieve underwater robot sensing, sampling and self-balancing, improves test efficiency, and reduces energy consumption; when the underwater robot floats to the water surface, it can send relevant data to the monitoring center wirelessly through the GPS, and can also transmit relevant information to the mother ship in real time through Ethernet underwater, which is simple to operate and saves costs.

[0003] The above patent documents and prior art have the following technical problems when used:

[0004] Problem 1: When inspecting underwater environments, the above patent documents and their prior art generally use a single detection position and repeatedly move the detection position to detect different positions of the water environment. However, due to the wide range of the water environment, frequent and multiple movements will increase energy consumption, and the detection range is small, which cannot meet the needs.

[0005] Problem 2: In the above documents and existing technologies, when screening pollution sources, it is easy to miss or mischeck due to insufficient coverage, and the coverage is insufficient;

[0006] Question three: In the above patent documents and prior art, the sample collection for the water environment is single, the need for multiple sampling cannot be met, the degree of automation is not high, and it cannot be used for long-term deep-water inspections. Summary of the invention

[0007] Technical issues solved

[0008] In view of the shortcomings of the prior art, the present invention provides a self-driving underwater robot for water sampling, which solves the following problems:

[0009] 1. Multiple movements during sampling, resulting in a small detection range;

[0010] 2. Insufficient coverage of pollution source screening;

[0011] 3. The problem of insufficient automation during multiple sampling.

[0012] Technical Solution

[0013] To achieve the above objectives, the present invention is implemented through the following technical solutions:

[0014] A self-propelled underwater robot for water sampling comprises a robot body and a drive control component, wherein the drive control component is arranged inside the robot body, a sample collection component is arranged on the top surface of the robot body, water quality detection components are symmetrically arranged on both sides of the robot body, clamping components are arranged on both sides of the robot body near the sample collection components, a power component is arranged on the surface of the robot body, and the power component is respectively located on the top, back and bottom surfaces of the robot body, a display panel is arranged on the front surface of the robot body, and a tracking and positioning component is arranged at the edge of the display panel.

[0015] Preferably, the sample collection component includes a sampling tube and a storage bin. The storage bin is provided inside the robot body near the top surface. A storage screw groove is opened on the circumference of the top surface of the robot body, and the storage screw groove penetrates the interior of the storage bin. A thread that cooperates with the inner wall of the storage screw groove is provided on the outside of the sampling tube. A water pump is provided at the top end of the sampling tube, and a diaphragm electric control valve is provided at the bottom end of the sampling tube.

[0016] Preferably, the water quality detection component is located at the bottom of the sample collection component, the water quality detection component includes a flexible detection tube and a sampling screw seat, electric reels are movably embedded on both sides of the robot body, a flexible detection tube is wrapped around the surface of the electric reel, and the end of the flexible detection tube penetrates the side of the robot body, and the first water quality sensors are evenly spaced on the surface of the flexible detection tube, an end of the flexible detection tube away from the electric reel is internally bolted with a pneumatic telescopic shaft, the side of the sampling screw seat is externally bolted to the end of the flexible detection tube away from the electric reel, and the size of the sampling screw seat and the inner wall is the same as the size of the inner wall of the storage screw groove.

[0017] Preferably, the clamping assembly includes an electric-controlled clamp and an electric-controlled universal joint, the ends of the electric-controlled universal joint are threadedly connected to the two side surfaces of the robot body, the ends of the electric-controlled universal joint are axially connected to a multi-axis electric shaft arm, and the ends of the multi-axis electric shaft arm are axially connected to the ends of the electric-controlled clamp.

[0018] Preferably, the power assembly includes a power thread and a lifting main blade, the bottom surface of the robot body is symmetrically provided with telescopic support feet, the bottom surface of the telescopic support feet is embedded with a lifting auxiliary worm gear, the center position of the top surface of the robot body is embedded with an electric telescopic shaft, the top end of the electric telescopic shaft is connected with a lifting main blade, the center position of the back side of the robot body is connected with a power worm gear, and a power supply battery pack is provided inside the robot body.

[0019] Preferably, the tracking and positioning component includes a radar detection head and a laser ranging head, a laser ranging head is provided at the top edge of the display panel, and a radar detection head is provided on the top of the laser ranging head, and a second water quality sensor is distributed circumferentially on the edge of the outer surface of the display panel.

[0020] Preferably, the overall shape of the robot body is a spherical structure, the drive control component is screwed to the bottom surface of the robot body, and the drive control component is electrically connected to the sample collection component, water quality detection component, clamping component, power component, tracking and positioning component and display panel.

[0021] Preferably, the system inside the robot body consists of a power system, a path planning system, a sampling and detection system, and an information transmission system, wherein:

[0022] The power system is used to provide basic energy and movement power for the robot body, and is composed of power components, which are installed on the top, bottom and back surfaces of the robot body, and provide movement power for the robot body through the operating speed during opening and closing;

[0023] The path planning system is used to autonomously plan the path of the robot body when sampling the water tank and tracking the pollution source. It collects water environment data, uses the tracking and positioning components to perform positioning screening, cooperates with the internal grid method to plan the path, and uses the big data algorithm to perform automatic obstacle avoidance and speed adaptive adjustment;

[0024] The sampling and detection system is used to sample and detect the water environment range where the robot body is located. By controlling the extension distance of the water quality detection component, the detection range of the water environment is controlled, and water samples are collected at equal intervals, and the clamping component is controlled to automatically take the sampling tubes before and after the collection;

[0025] The information transmission system is used for storing, analyzing and transmitting back water sample collection information, detection information, path information and pollution source location information.

[0026] Beneficial Effects

[0027] The self-propelled underwater robot for water sampling in the present invention has the following beneficial effects:

[0028] 1. The present invention adopts water quality detection components on both sides of the surface of the robot body to collect water quality samples. After the flexible detection tube is extended to a certain length by the robot body, multiple groups of first water quality sensors distributed on the surface are used to simultaneously detect different positions of the water quality environment. When the robot body keeps the position unchanged, the water environment within the circumference with the robot body as the center and the flexible detection tube as the radius can be evenly spaced. The movement of the robot body is reduced, and the energy consumption of the robot body is reduced while the detection range of the water environment is increased.

[0029] 2. The present invention adopts a tracking and positioning component set on the surface of the robot body to carry out path planning of the water environment and positioning and tracking of pollution sources. The second water quality sensor on the surface of the robot body directly contacts the water environment to collect data, and compares it with the detection data of the water quality detection component to judge the concentration of water quality environment parameters, and tracks the pollution source according to the concentration. The water quality detection component increases the detection range of the same position, thereby increasing the coverage of the detection range, which is convenient for rapid and accurate screening and positioning of pollution sources.

[0030] 3. The present invention arranges a sample collection component on the surface of the robot body to place the sampling tube, samples the water environment and tracks the pollution source through the water quality detection component and the tracking and positioning component, and arranges a clamping component on the side to take the sampling tube before and after use. Through the arrangement of the sample collection component, the robot body can sample and store water environments in multiple groups and positions, and set up a separate storage space to prevent pollution. It has a high degree of automation and does not require manual operation. It has accurate data detection, a high detection range and coverage, and effectively reduces detection loopholes. It is suitable for various load underwater environments and provides strong support for the prevention and control of water pollution. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a three-dimensional structural diagram of the present invention;

[0032] Figure 2 For the present invention Figure 1 A magnified image of point A;

[0033] Figure 3 It is a back structural diagram of the present invention;

[0034] Figure 4 For the present invention Figure 3 A magnified view of point B;

[0035] Figure 5 It is a front cross-sectional view of the present invention;

[0036] Figure 6 For the present invention Figure 5 Enlarged view of point C;

[0037] Figure 7 This is a surface structure diagram of the sampling tube of the present invention;

[0038] Figure 8 is a system structure diagram of the present invention;

[0039] Fig. 9 A plane diagram showing the connection of the robot body of the present invention;

[0040] Fig.10 It is a schematic diagram of the installation and transmission of the power assembly of the present invention;

[0041] Fig.11 A schematic diagram of a designated cruise control of the present invention;

[0042] Fig.12 It is a designated sampling flow chart of the present invention.

[0043] Among them: 1. Robot body; 2. Display panel; 3. Drive control component; 4. Sample collection component; 401. Storage bin; 402. Storage screw groove; 403. Sampling tube; 404. Water pump; 405. Diaphragm electric control valve; 5. Water quality detection component; 501. Electric reel; 502. Flexible detection tube; 503. Pneumatic telescopic shaft; 504. First water quality sensor; 505. Sampling screw seat; 6. Clamping component; 601. Electric universal joint; 602. Multi-axis electric shaft arm; 603. Electric control gripper; 7. Power component; 701. Telescopic support foot; 702. Lifting auxiliary worm gear; 703. Power worm gear; 704. Electric telescopic shaft; 705. Lifting main blade; 706. Power supply battery pack; 8. Tracking and positioning component; 801. Radar detection head; 802. Laser ranging head; 803. Second water quality sensor. DETAILED DESCRIPTION

[0044] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention. Specific embodiment one:

[0046] like Figure 1-12As shown, the present embodiment provides a self-propelled underwater robot for water sampling, including a robot body 1 and a drive control component 3, wherein the drive control component 3 is arranged inside the robot body 1, a sample collection component 4 is arranged on the top surface of the robot body 1, water quality detection components 5 are symmetrically arranged on both sides of the robot body 1, and clamping components 6 are arranged on both sides of the robot body 1 near the sample collection component 4, a power component 7 is arranged on the surface of the robot body 1, and the power component 7 is respectively located on the top surface, back surface and bottom surface of the robot body 1, a display panel 2 is arranged on the front surface of the robot body 1, and a The tracking and positioning component 8, when the whole device is actually used, is mainly used to go deep into the water environment. In actual use, the power component 7 provides the whole robot body 1 with mobile power and power supply. When used for water environment detection, the tracking and positioning component 8 is used to screen the water environment, and the radar is used to patrol and the laser range is used to check the water environment, and the image parameters of the water environment are drawn to provide a basis for tracking the pollution source and collecting samples. The sample collection component 4 stores the sampling tube 403 to realize the storage of the sampling tube 403 before and after sampling, and the sampling tube 403 is stored by the clamping component 6. 03 is clamped and positioned, the water quality detection component 5 is opened to detect the water environment, the clamping component 6 clamps multiple sampling tubes 403 for automatic sampling, the robot body 1 displays the parameters of water quality detection, and transmits the detection information back, the overall shape of the robot body 1 is a spherical structure, the drive control component 3 is connected to the bottom surface of the robot body 1 with screws, the drive control component 3 is electrically connected to the sample collection component 4, the water quality detection component 5, the clamping component 6, the power component 7, the tracking and positioning component 8 and the display panel 2, and the sample collection component 4 is set on the surface of the robot body 1 The sampling tube 403 is placed through the component 4, the water environment is sampled and the pollution source is tracked through the water quality detection component 5 and the tracking and positioning component 8, and the sampling tube 403 is taken before and after use by the clamping component 6 arranged on the side. Through the arrangement of the sample collection component 4, the robot body 1 can sample and store water environments in multiple groups and positions, and set up a separate storage space to prevent pollution. It has a high degree of automation and does not require manual operation. The data detection is accurate, the detection range and coverage are high, and the detection loopholes are effectively reduced. It is suitable for various load underwater environments and provides strong support for the prevention and control of water pollution. Specific embodiment 2:

[0048] like Figure 1-12 As shown, in the entire device structure, the usage of each component of the robot body 1 is as follows:

[0049] When storing the sampling equipment, since the sample collection component 4 includes a sampling tube 403 and a storage bin 401, a storage bin 401 is provided inside the robot body 1 near the top surface, a storage screw groove 402 is opened circumferentially on the top surface of the robot body 1, and the storage screw groove 402 penetrates the interior of the storage bin 401, and a thread is provided on the outside of the sampling tube 403 to cooperate with the inner wall of the storage screw groove 402. When the sampling tube 403 is stored and used in the robot body 1, it is prevented from being stored in the storage screw groove 402 on the surface of the robot body 1. The surface of the sampling tube 403 is inserted into the storage screw groove 402 by rotation for storage, and the bottom end of the sampling tube 403 is abutted against the bottom surface of the storage bin 401. The sampling tube 403 is stored circumferentially on the surface of the robot body 1. The sampling tube 403 is stored and taken out by the clamping and rotation of the clamping component 6. By setting a plurality of groups of sampling tubes 403, it is possible to sample and store water environments in different areas, and store them in independent spaces to effectively prevent sampling contamination.

[0050] When the sampling tube 403 is used for sampling, since a water pump 404 is provided at the top end of the sampling tube 403 and a diaphragm electric control valve 405 is provided at the bottom end of the sampling tube 403, the internal environment of the entire sampling tube 403 remains sealed when the sampling tube 403 is collecting water from the water environment. When sampling, the sampling tube 403 is taken and installed on the surface of the water quality detection component 5 to perform sampling. The water pump 404 performs pressure extraction to open the diaphragm electric control valve 405 under the influence of pressure to sample the water in the external water environment. The sampling amount is proportional to the opening time of the diaphragm electric control valve 405. After sampling, the water pump 404 remains closed, and at this time, the diaphragm electric control valve 405 remains closed, thereby realizing the sample collection of the water environment. The structure of the diaphragm electric control valve 405 can effectively isolate garbage, sand and dust and other substances in the water environment during sample collection, thereby improving the purity of water sampling and reducing pollution.

[0051] When conducting water quality testing, since the water quality testing component 5 is located at the bottom of the sample collection component 4, the water quality testing component 5 includes a flexible testing tube 502 and a sampling screw seat 505. Electric reels 501 are movably embedded on both sides of the robot body 1. The surface of the electric reel 501 is wrapped with a flexible testing tube 502, and the end of the flexible testing tube 502 penetrates the side of the robot body 1. The entire water quality testing process is mainly achieved through the flexible testing tube 502. When not testing, the flexible testing tube 502 is recovered inside the robot body 1 through the electric reel 501. First water quality sensors 504 are evenly spaced on the surface of the flexible testing tube 502. The end of the flexible testing tube 502 away from the electric reel 501 is internally bolted with a pneumatic telescopic shaft 503, and the side of the sampling screw seat 505 is externally bolted to the end of the flexible testing tube 502 away from the electric reel 501. When in use, the electric reel 501 is extended to release the flexible testing tube 502. At the same time as the release, the pneumatic telescopic shaft 503 is pressurized and extended The extended end is against the side of the robot body 1 through the flexible sampling port, and the entire flexible detection tube 502 is lifted up, so that the interior of the entire flexible detection tube 502 is kept horizontal through the pneumatic telescopic shaft 503 and will not collapse. The first water quality sensor 504 on the surface is in full contact with the water environment, and various parameters of the water environment are detected, and the detection data is transmitted back. Since the sampling screw seat 505 and the inner wall size are the same as the inner wall size of the storage screw groove 402, the expanded pneumatic telescopic shaft 503 supports the flexible detection tube 502, so that the end of the flexible telescopic tube can support the sampling screw seat 505 at the end. The supported sampling screw seat 505 can be used to place the sampling tube 403, so that the water environment can be sampled through the sampling tube 403 during the detection. At the same time, the elongation distance of the pneumatic telescopic shaft 503 is coordinated with the electric reel 501 to control the elongation length of the flexible detection tube 502, so that different positions of the sampling screw seat 505 can be adjusted to achieve sampling of the water environment at different distances.

[0052] During the entire sampling process of the sampling tube 403, in order to improve the automated structure of sampling, a clamping assembly 6 is provided including an electric-controlled jaw 603 and an electric-controlled universal joint 601. The ends of the electric-controlled universal joint 601 are threadedly connected to the surfaces on both sides of the robot body 1. A multi-axis electric shaft arm 602 is axially connected to the ends of the electric-controlled universal joint 601. The ends of the multi-axis electric shaft arm 602 are axially connected to the ends of the electric-controlled jaw 603. The overall direction and angle of the electric-controlled jaw 603 are controlled by the electric-controlled universal joint 601 to adapt to different positions of the sampling screw seat 505. Each axis node of the multi-axis electric shaft arm 602 is an electric shaft, which can rotate autonomously. Its rotation angle and distance are controlled by the drive control assembly 3. The electric-controlled jaw 603 is controlled by the set program parameters to realize the clamping and rotation installation of the sampling tube 403.

[0053] When the entire robot body 1 is moving, since the power assembly 7 includes a power thread and a lifting main blade 705, the bottom surface of the robot body 1 is symmetrically provided with a telescopic support foot 701, and the bottom surface of the telescopic support foot 701 is embedded with a lifting auxiliary worm gear 702, and the center position of the top surface of the robot body 1 is embedded with an electric telescopic shaft 704, and the top of the electric telescopic shaft 704 is connected with a lifting main blade 705, and the center position of the back of the robot body 1 is connected with a power worm gear 703, and a power supply battery pack 706 is provided inside the robot body 1. The power supply battery pack 706 is used to provide energy for various energy-consuming structures inside the entire robot body 1 to provide electricity The robot body 1 is moved by the blades or worm gear structures on the top, back and bottom surfaces, and the main lifting blades 705 and the auxiliary lifting blades are used to move and lift the robot body 1 up and down. The power worm gear 703 on the back is used to move the robot body 1 forward. While the electric telescopic shaft 704 is adjusting the upward movement of the main lifting blade 705, a motor structure is set at the bottom to drive the entire robot body 1 to rotate autonomously, and cooperate with the shaft structure at the top of the telescopic support foot 701 to rotate the entire robot body 1, which is used to control the forward direction for adjustment.

[0054] When the whole device is tracking, positioning and path planning, since the tracking and positioning component 8 includes a radar detection head 801 and a laser ranging head 802, a laser ranging head 802 is provided at the top edge of the display panel 2, and a radar detection head 801 is provided on the top of the laser ranging head 802, and a second water quality sensor 803 is provided on the circumference of the outer surface edge of the display panel 2. When the robot body 1 moves forward, the radar detection head 801 detects obstacles in the surrounding environment, marks them inside the driving control component 3, and cooperates with the laser ranging head 802 to adjust and measure the distance, so as to realize the image reference of the water environment. The number of checks is used to internally draw the image of the water environment and the position of obstacles, so as to calculate the optimal path through the internal algorithm for tracing the source of pollution. At the same time, when tracing the source of pollutants, on the basis of the drawn water environment, the water environment parameters at the location are directly detected by the second water quality sensor 803, and the water quality detection component 5 is extended to detect the water quality parameters within the radius. As the robot body 1 moves, the water quality parameters within the coverage area are detected, and the concentration difference is obtained by comparing the parameter differences. The higher the concentration, the closer to the source of pollution, so as to trace the source of pollution. Specific embodiment three:

[0056] like Figure 1-12 As shown, the system inside the robot body 1 is composed of a power system, a path planning system, a sampling detection system and an information transmission system, among which:

[0057] The power system is used to provide basic energy and movement power to the robot body 1, and is composed of a power assembly 7, which is installed on the top, bottom and back surfaces of the robot body 1, and provides movement power to the robot body 1 through the operation speed during opening and closing;

[0058] The path planning system is used to autonomously plan the path of the robot body 1 when sampling the water tank and tracking the pollution source. It collects water environment data, uses the tracking and positioning component 8 to perform positioning screening, cooperates with the internal grid method to plan the path, and uses the big data algorithm to perform automatic obstacle avoidance and speed adaptive adjustment;

[0059] The sampling and detection system is used to perform sampling and detection on the water environment range where the robot body 1 is located, and the detection range of the water environment is controlled by controlling the extension distance of the water quality detection component 5, and the water samples are collected at equal intervals, and the clamping component 6 is controlled to automatically take the sampling tube 403 before and after the collection;

[0060] The information transmission system is used to store, analyze and transmit water sample collection information, detection information, path information and pollution source location information.

[0061] In the power system of the whole device, the lifting main blade 705 and the lifting auxiliary blade power worm gear 703 of the power assembly 7 are driven by a motor, and its power structure meets the demand for the overall movement of the robot body 1, and adopts a universal coupling indirect drive mode, such as Fig.10 The driving motor is built into the robot body 1, and the transmission rod is connected by a universal coupling and extends from the internal shaft system of the robot body 1 to the outside. In order to prevent water from entering the robot body 1, grease is used to seal the connection position of the robot body 1.

[0062] The information transmission system is connected to the water quality analyzer inside the robot body 1 to analyze and transmit back the data for storage. There is at least one set of positioning chips inside. The GPS data acquisition and processing module adopts the NEO-M8N-0-10 chip of Ub l ox. The M8N chip integrates IIC interface and UART interface, supports Beidou, Galileo, GPS and other positioning, and can transmit back a variety of specific data such as time, positioning status, longitude and latitude, satellite status information, etc. In this design, the RMC protocol containing more comprehensive information in the GPS protocol is used to facilitate real-time determination of the position of the robot body 1. An attitude sensor is set inside to control and transmit the attitude of the robot body 1 to realize the identification of heading and angle. The SCM345 three-dimensional electronic compass is used as an attitude sensor. The AS62-T20 wireless communication module is the communication module of this system, which has low power consumption, strong anti-interference of signal transmission and good stability. The communication module adopts serial port communication, and the pin connection is relatively convenient. The communication distance can reach 4000 meters, and it has good applicability. It is used to realize communication with the remote control. It can also view various data such as the speed and navigation attitude of the robot body 1 on the PC side through a radio station. The specific control chip and positioning chip models can be set according to the actual usage scenario in combination with existing public technologies. Specific embodiment four:

[0064] like Figure 1-12 As shown, when the water quality is detected, at least one group of water quality analyzers connected to the first water quality sensor 504 and the second water quality sensor 803 are provided inside the robot body 1. The robot body 1 releases the flexible detection tube 502. Since multiple groups of first water quality sensors 504 are provided on the surface of the flexible detection tube 502, each flexible sensor is provided with a corresponding number, which is named according to AZ along the direction of the robot body 1 away from the robot body 1. Each group of first water quality sensors 504 is composed of multiple specific water quality sensors. Taking the first water quality sensors 504 of group A as an example, the water quality sensors inside it are distributed circumferentially on the surface of the flexible detection tube 502, and are numbered a1, a2, a3...aN in clockwise order. While detecting, the first water quality sensors 504 transmit the detection values ​​back to the drive control component 3. The data transmitted back by each first water quality sensor 504 is stored inside a group. The sampling detection system obtains the data of each group, and performs data comparison and gradient analysis with the detection type of the same parameter, so as to determine the water quality parameters at different distances, and provide a data basis for tracking the source of water pollution.

[0065] In actual use, the types of sensors inside the first water quality sensor 504 are set according to the requirements of water quality detection parameters, such as setting sensor patches for dissolved oxygen, turbidity, nitrogen content, temperature, pH value, nitrite, temperature, sulfide detection, etc., where the sensor is set to a patch structure, which does not affect the winding and use of the flexible detection tube 502, and the winding of the flexible detection tube 502 will not damage the sensor surface, ensuring that the sensor can operate normally when the flexible detection tube 502 is unfolded. The detection type of the second water quality sensor 803 is the same as that of the first water quality sensor 504. In this application, Aquaread's multi-parameter water quality analyzer model AP-2000 can be used. The water quality sensor can be equipped with 13 probes such as temperature, dissolved oxygen content, pH, depth, conductivity, turbidity, etc. as needed. The sensor is 30 cm long and 4 cm in diameter, with high integration, small size, and easy to carry and install.

[0066] The first water quality sensor 504 and the second water quality sensor 803 both conduct signals through the MCU inside the driving control component 3 , and the specific connection circuit is set in combination with the existing circuit technology while maintaining signal transmission. Specific embodiment five:

[0068] like Figure 1-12 As shown, when the robot body 1 is used for water quality detection, the flexible detection tube 502 is extended to collect water quality at equal intervals. During the collection, after the flexible telescopic tube is extended, the first water quality sensor 504 at the position of the flexible telescopic tube is tested for water quality. While testing, the robot body 1 rotates, driving the flexible detection tube 502 to rotate an angle. Through multiple angle rotations, the water quality within the detection range with the robot body 1 as the center and the flexible telescopic tube as the radius can be covered. Detection, further, with the advancement of the robot body 1, a distance S is achieved to achieve coverage detection of the water environment inside the forward range, wherein:

[0069] S=L+2l

[0070] Wherein, S is the distance segment that the robot body 1 moves forward, L is the width of the robot body 1 , and l is the extended length of the flexible detection tube 502 .

[0071] During the movement, automatic obstacle avoidance is performed according to the water environment image given by the path planning system. When an obstacle appears during the forward movement and the flexible telescopic tube cannot pass through, the pneumatic telescopic shaft 503 is extended and retracted. After passing the obstacle, the flexible telescopic tube returns to its original length, thereby avoiding obstacles within the moving range. The flexible telescopic tube cooperates with the pneumatic telescopic shaft 503 to adjust the length, so that the entire device can realize automatic obstacle avoidance and adjustment in the water environment.

[0072] When tracing the source of pollution, the parameters of the second water quality sensor 803 are combined with the water quality detection method of the robot body 1 mentioned above to realize parameter detection and comparison in the water quality environment, so as to determine the location of the pollution source after determining the concentration. Specific embodiment six:

[0074] like Figure 1-12 As shown, when the robot body 1 is in use and is used for sampling and detecting a wide range of water environments, multiple groups of robot bodies 1 can be set up to connect different water environments in different areas. Adjacent robot bodies 1 are used for information transmission through an information transmission system. Multiple robot bodies 1 set up the same ground station on shore to transmit information and issue and receive commands. The ground station provides control commands and signal transmission base stations to ensure information exchange between the robot bodies 1, facilitate detection of the entire wide range of water environments, and improve detection efficiency.

[0075] In actual use, this application adopts the YW02-A diaphragm water pump 404. The diaphragm water pump 404 is designed according to the principle of a positive displacement pump. By controlling the inlet and outlet of the diaphragm, a reciprocating piston motion of the power drive mechanism is formed. The pump water sampling is controlled by the change of pressure. When extracting water samples, a flow rate that is too fast will cause the properties of the water sample to change. In order to reduce the flow rate of the water sample in the water pipe, the diaphragm water pump 404 used has a liquid extraction flow rate of 320mL / min. The water pump works relatively stably and can achieve time-proportional sampling. Specific embodiment seven:

[0077] like Figure 1-12 As shown, the modeling method for the water environment is set using the existing grid method, and the specific contents are as follows:

[0078] On the map of the river environment, the river map is divided equally according to the longitude and latitude directions, and the river environment is preprocessed into a certain number of grids of uniform size. Then, it is preprocessed according to the representation method of obstacles in the grids. Finally, the grids are encoded and feature marked.

[0079] When planning the path of the mobile water quality monitoring platform, the entire two-dimensional river environment space is set as E. When rasterizing the river information, the X-axis is the latitude direction and the Y-axis is the longitude direction. The plane space E is discretized according to the grid granularity g. Finally, the boundaries and obstacles of the river are expanded according to certain rules.

[0080] The rules for handling river boundaries and obstacles are as follows:

[0081] 1. In order to avoid collision between the mobile water quality platform and obstacles, if the obstacle is less than one grid, it will be expanded to an obstacle of one grid.

[0082] 2. Treat the boundaries of the river environment as obstacles.

[0083] 3. The corresponding mark value of the grid with obstacles is 1, represented by black; the corresponding mark value of the grid without obstacles is 0, represented by white.

[0084] In order to avoid collision of mobile water quality monitoring platforms, the size of mobile water quality monitoring must be smaller than the selected grid granularity. The content of the grid granularity selection algorithm can refer to the second chapter of the document "Research on Pollutant Tracking and Positioning Methods for River Pollution Incidents and Their Application on Small Mobile Monitoring Platforms-Tang Xueping". The two-dimensional coordinate method is used to encode the river environment. Specific embodiment eight:

[0086] like Figure 1-12 As shown, for the planning of obstacle avoidance paths, the global static path planning method of genetic algorithm and artificial potential field method in the publicly available technical documents is adopted. For specific content, please refer to the second chapter of the article "Research on Pollutant Tracking and Positioning Methods for River Pollution Incidents and Its Application on Small Mobile Monitoring Platforms-Tang Xueping", and it is set specifically in combination with the existing scenario.

[0087] The technical contents corresponding to the automatic obstacle avoidance technology and path planning contents in this application can be set with reference to the existing disclosed technologies. On the basis of the above contents and on the premise of meeting the functional requirements, the specific contents are not particularly limited. Specific embodiment nine:

[0089] like Figure 1-12 As shown, the automatic cruise of the present application can be divided into designated position cruise and autonomous cruise. For autonomous cruise, the robot body 1 repeatedly monitors the environment in the detected water environment in real time and feeds back data in real time. For designated position cruise, the ground station issues a cruise instruction so that the robot body 1 detects the designated position. The specific contents of the designated cruise are as follows:

[0090] In the specified cruising state, the location information of multiple monitoring points is set by the ground station. The robot body 1 automatically receives the current positioning information and the heading deviation angle from the preset route through the GPS positioning module and the attitude sensor to realize the cruising state perception. After the control algorithm is calculated, the power system is controlled to realize the real-time regulation of the navigation state of the robot body 1. Fig.11As shown, assuming that the starting position of the robot body 1 is A, the target position is B, the current position is C, the due north direction line is L0, the position point A is the endpoint, the connecting line between the starting position A and the next target point B is the theoretical route L1, the connecting line between the current position C and the target position B is the current route L2, the hull heading line is L3, then the angle α between L0 and L2 is the route angle, the angle β between L0 and L3 is the hull heading angle, the angle θ between the heading angle and the route angle is the yaw angle, and the distance between the current position C and the theoretical route is d.

[0091] The designated cruise algorithm is to control the yaw angle in real time through the cooperation of the power worm gear 703 and the electric telescopic shaft 704. When setting the route, the theoretical route is set with the starting point and the target point. When the robot body 1 is sailing, the current heading angle deviation of the robot body 1 and the vertical distance between the robot body 1 and the theoretical route are continuously calculated. When the robot body 1 is sailing, it takes the target point as the direction, and the heading of the robot body 1 is continuously adjusted to point to the target point through control. The control rate of the heading angle is determined by determining the current yaw angle, controlling the rotation speed of the left and right propellers to adjust the angle, and within the 12 angle intervals with an angle difference of 30°, specifically: when When the yaw angle is within the 12 angle ranges of (-180°, -150°), (-150°, -120°), (-120°, -90°), (-90°, -60°), (-60°, -30°), (-30°, 0°), (0°, 30°), (30°, 60°), (60°, 90°), (90°, 120°), (120°, 150°), and (150°, 180°), the rotation speed of the power worm gear 703 is different, and the angle adjustment force is also different. When the angle deviation is too large, the angle adjustment force is larger, and when the angle deviation is smaller, the adjustment force is correspondingly smaller.

[0092] During this period, the vertical distance d between the current point and the theoretical route is calculated. When it is determined that the vertical distance d between the robot body 1 and the theoretical route is greater than 2m, the original set route becomes invalid, and the theoretical route is reset based on the current point and the preset target point. Cruise control is then performed again, and the accuracy of the robot body 1's cruise is ensured through comprehensive calculation and adjustment of the yaw angle and route offset. After reaching the last monitoring point, the robot returns to the starting point through the cruise algorithm to complete a cruise operation task.

[0093] The above also applies to the use of the paths for sampling at designated locations and autonomous sampling. The flowchart specified by the system is as follows: Fig.12 shown.

[0094] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "comprising a reference structure" do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0095] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A self-propelled underwater robot for water sampling, comprising a robot body (1) and a drive control component (3), characterized in that: A driving control component (3) is provided inside the robot body (1); a sample collection component (4) is provided on the top surface of the robot body (1); water quality detection components (5) are symmetrically provided on both sides of the robot body (1); clamping components (6) are provided on both sides of the robot body (1) near the sample collection components (4); a power component (7) is provided on the surface of the robot body (1), and the power component (7) is respectively located on the top surface, back surface and bottom surface of the robot body (1); a display panel (2) is provided on the front surface of the robot body (1); and a tracking and positioning component (8) is provided at the edge of the display panel (2).

2. The self-propelled underwater robot according to claim 1, characterized in that: The sample collection component (4) comprises a sampling tube (403) and a storage bin (401); the storage bin (401) is provided inside the robot body (1) near the top surface; the top surface of the robot body (1) is provided with a storage screw groove (402), and the storage screw groove (402) penetrates the inside of the storage bin (401); the outside of the sampling tube (403) is provided with a thread that matches the inner wall of the storage screw groove (402); the top end of the sampling tube (403) is provided with a water pump (404); and the bottom end of the sampling tube (403) is provided with a diaphragm electric control valve (405).

3. The self-propelled underwater robot according to claim 2, characterized in that: The water quality detection component (5) is located at the bottom of the sample collection component (4), and comprises a flexible detection tube (502) and a sampling screw seat (505). Both sides of the robot body (1) are movably embedded with electric reels (501), the surface of the electric reel (501) is wound with a flexible detection tube (502), and the end of the flexible detection tube (502) penetrates the side of the robot body (1), and the surface of the flexible detection tube (502) is evenly spaced and provided with first water quality sensors (504).

4. The self-propelled underwater robot according to claim 3, characterized in that: The end of the flexible detection tube (502) away from the electric reel (501) is internally bolted with a pneumatic telescopic shaft (503), and the side of the sampling screw seat (505) is externally bolted to the end of the flexible detection tube (502) away from the electric reel (501).

5. The self-propelled underwater robot according to claim 1, characterized in that: The clamping assembly (6) comprises an electrically controlled clamping jaw (603) and an electrically controlled universal joint (601), the ends of the electrically controlled universal joint (601) being threadedly connected to the surfaces on both sides of the robot body (1), the ends of the electrically controlled universal joint (601) being axially connected to a multi-axis electric shaft arm (602), and the ends of the multi-axis electric shaft arm (602) being axially connected to the ends of the electrically controlled clamping jaw (603).

6. The self-propelled underwater robot according to claim 1, characterized in that: The power assembly (7) comprises a power thread and a lifting main blade (705); the bottom surface of the robot body (1) is symmetrically provided with telescopic support feet (701); the bottom surface of the telescopic support feet (701) is embedded with a lifting auxiliary worm gear (702); the center position of the top surface of the robot body (1) is embedded with an electric telescopic shaft (704); the top end of the electric telescopic shaft (704) is connected with a lifting main blade (705).

7. The self-propelled underwater robot according to claim 1, characterized in that: A power worm gear (703) is connected to the center of the back of the robot body (1), and a power supply battery pack (706) is provided inside the robot body (1).

8. The self-propelled underwater robot according to claim 1, characterized in that: The tracking and positioning component (8) comprises a radar detection head (801) and a laser distance measuring head (802); the laser distance measuring head (802) is provided at the top edge of the display panel (2), and the radar detection head (801) is provided on the top of the laser distance measuring head (802); and second water quality sensors (803) are distributed around the outer surface edge of the display panel (2).

9. The self-propelled underwater robot according to claim 1, characterized in that: The robot body (1) is spherical in shape, the drive control component (3) is screw-connected to the bottom surface of the robot body (1), and the drive control component (3) is electrically connected to the sample collection component (4), the water quality detection component (5), the clamping component (6), the power component (7), the tracking and positioning component (8) and the display panel (2).

10. The self-propelled underwater robot according to claim 1, characterized in that: The system inside the robot body (1) is composed of a power system, a path planning system, a sampling and detection system, and an information transmission system, wherein: The power system is used to provide basic energy and movement power for the robot body (1), and is composed of a power component (7) installed on the top surface, bottom surface and back surface of the robot body (1), and provides movement power for the robot body (1) through the operation speed during opening and closing; The path planning system is used to autonomously plan the path of the robot body (1) when sampling the water tank and tracking the pollution source. It collects water environment data, uses the tracking and positioning component (8) to perform positioning screening, cooperates with the internal grid method to perform path planning, and uses the big data algorithm to perform automatic obstacle avoidance and speed adaptive adjustment; The sampling and detection system is used to perform sampling and detection on the water environment range where the robot body (1) is located, and the detection range of the water environment is controlled by controlling the extension distance of the water quality detection component (5), and water samples are collected at equal intervals, and the clamping component (6) is controlled to automatically take the sampling tubes (403) before and after the collection; The information transmission system is used for storing, analyzing and transmitting back water sample collection information, detection information, path information and pollution source location information.

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