Automatic water sample collecting device of unmanned ship

Abstract

The invention belongs to the technical field of water body monitoring, and particularly discloses an automatic water sample collecting device of an unmanned ship, which comprises a support table arranged on a mounting rack, a balance cylinder is arranged on the support table, ring frames are annularly and uniformly distributed on the support table along the balance cylinder, and odd-numbered sampling cylinders and even-numbered sampling cylinders with the same number are placed on the ring frames; the odd-number sampling cylinders and the even-number sampling cylinders are symmetrically distributed on the two sides of the gravity center position of the unmanned ship body, detachable first connecting pipes are arranged between the lower wall of the balance cylinder and the upper walls of the odd-number sampling cylinders in a sealed communication mode, and detachable second connecting pipes are arranged between the upper wall of the balance cylinder and the upper walls of the even-number sampling cylinders in a sealed communication mode; a transfer balance mechanism is arranged on the balance cylinder, an odd sampling mechanism is arranged on the odd sampling cylinder, an even sampling mechanism is arranged on the even sampling cylinder, and a lifting water taking mechanism is arranged on the lower side of the supporting table. Through an automatic gravity center adjusting mechanism, the ship body is always kept stable and balanced during independent sampling of each sampling cylinder, so that multi-point independent sampling is realized.

Description

Technical Field

[0001] The invention belongs to the technical field of water body monitoring, and specifically refers to an automatic water sample collection device for an unmanned boat. Background Art

[0002] Regular and accurate monitoring and sampling of water bodies is an important prerequisite and basis for assessing water quality, controlling pollution sources, and protecting water resources.

[0003] The traditional water sampling method mainly relies on manual operation, that is, the sampling personnel drive the boat or wade directly to the designated sampling point and use the sampler to take samples. This method has many limitations. In recent years, with the rapid development of unmanned ship technology, the use of unmanned ships equipped with water sample collection devices for automated sampling has become a new trend. Compared with traditional manual sampling, unmanned ship water sampling has significant advantages: unmanned ships can replace personnel to enter dangerous waters for sampling, avoiding the risk of casualties, and can achieve long-term and continuous operation. Sampling can be carried out in complex environments such as narrow waters and shallow waters. However, the unmanned ship water sample collection device in the existing technology still has some shortcomings: Limited by the size and carrying capacity of unmanned boats, existing water sample collection devices usually adopt a miniaturized design. In order to ensure the stability of the hull and avoid capsizing due to center of gravity shift, the number of sampling tubes is usually small (one or two). This design leads to limited sampling volume. In order to obtain water samples that are representative of the entire water area as much as possible, it is usually only possible to collect a small amount of water samples at different locations and mix them into the collection tube during a certain sampling. However, this cannot distinguish the differences in water quality at different locations, reducing the precision and analytical value of the samples.

[0004] If the unmanned ship is equipped with multiple sampling cylinders, in order to distinguish water samples at different locations, independent sampling should be adopted in theory, that is, separate sampling cylinders should be used for collection at different locations. However, due to the size and stability limitations of the unmanned ship, this ideal sampling method is very difficult to implement in practice. When one sampling cylinder is filled with water and the other is still empty, the center of gravity of the ship will be seriously shifted, resulting in obvious sinking, which will greatly affect the stability of the ship and may even cause a capsizing accident. Summary of the invention

[0005] In view of the above situation, the present invention provides an automatic water sample collection device for an unmanned boat. Through the automatic center of gravity adjustment mechanism, it ensures that the hull always maintains a stable balance when each sampling tube is independently sampling, avoiding the risk of sinking, and overcoming the defects of independent sampling of unmanned boats in the prior art, thereby realizing independent sampling at multiple points.

[0006] The technical solution adopted by the present invention is as follows: The present invention proposes an automatic water sample collection device for an unmanned boat, including an unmanned boat body, the unmanned boat body including double pontoons, a mounting frame arranged on the double pontoons, a propeller arranged at the tail end of the mounting frame and a support platform arranged on the mounting frame, a balancing cylinder is arranged on the support platform, the balancing cylinder is directly opposite to the center of gravity of the unmanned boat body, a ring frame is evenly distributed along the balancing cylinder in a ring shape on the support platform, an equal number of odd-numbered sampling cylinders and even-numbered sampling cylinders are placed on the ring frame, the odd-numbered sampling cylinders and even-numbered sampling cylinders are symmetrically distributed on both sides of the center of gravity of the unmanned boat body, a detachable first connecting pipe is provided between the lower wall of the balancing cylinder and the upper wall of the odd-numbered sampling cylinder, a detachable second connecting pipe is provided between the upper wall of the balancing cylinder and the upper wall of the even-numbered sampling cylinder, a transfer balancing mechanism is provided on the balancing cylinder, an odd-numbered sampling mechanism is provided on the odd-numbered sampling cylinder, an even-numbered sampling mechanism is provided on the even-numbered sampling cylinder, and a lifting and lowering water intake mechanism is provided on the lower side of the support platform.

[0007] The cam is an electrically conductive member which is adapted to move the camshaft towards the centre of the balancing cylinder, the cam being adapted to move the camshaft towards the centre of the balancing cylinder, the cam being adapted to move the camshaft towards the centre of the balancing cylinder.

[0008] Furthermore, the odd-numbered sampling mechanism includes a second slide column, a first one-way valve and a second one-way valve, the second slide column coaxially seals and passes through the odd-numbered sampling tube, the lower end of the second slide column is coaxially provided with a second push plate, the edge of the second push plate is tightly sealed against the inner wall of the odd-numbered sampling tube, the upper end of the second slide column is provided with a first handle, the first one-way valve and the second one-way valve are arranged on the first connecting pipe, the first one-way valve is closer to the upper wall of the odd-numbered sampling tube than the second one-way valve, the one-way flow direction of the first one-way valve is from the odd-numbered sampling tube to the balancing tube, and the one-way flow direction of the second one-way valve is from the inside of the first connecting tube to the outside.

[0009] Furthermore, the even-numbered sampling mechanism includes a sliding tube, which coaxially and sealedly passes through the even-numbered sampling tube, a third push plate is coaxially provided at the lower end of the sliding tube, the inside of the sliding tube is connected with the space below the third push plate, the edge of the third push plate is tightly sealed with the inner wall of the even-numbered sampling tube, a second handle is provided at the upper end of the sliding tube, a third one-way valve is provided on the second handle, the third one-way valve is connected to the sliding tube, and the one-way flow direction of the third one-way valve is from the inside of the sliding tube to the outside.

[0010] Furthermore, the balancing cylinder is located above the odd-numbered sampling cylinder and the even-numbered sampling cylinder, and the connecting ports of the first connecting tube, the second connecting tube and the balancing cylinder are distributed in a circular array around the axis of the balancing cylinder in the horizontal plane projection, and when the connecting port of the first connecting tube and the balancing cylinder coincides with the lower water outlet, the connecting port of the second connecting tube and the balancing cylinder coincides with the upper water outlet at the same time.

[0011] Furthermore, the lifting and water-intake mechanism includes a second electric telescopic rod, an inner tube and a fourth one-way valve, the second electric telescopic rod is arranged on the lower side of the support platform, the inner tube is coaxially sealed and connected to the lower walls of the odd-numbered sampling tube and the even-numbered sampling tube, the inner tube passes through the support platform, an umbrella frame is provided at the lower end of the second electric telescopic rod, a sleeve is provided at the outer end of the umbrella frame, the sleeve is tightly sleeved on the outer side of the inner tube, the fourth one-way valve is provided at the upper end of the inner tube, and the one-way flow direction of the fourth one-way valve is from bottom to top.

[0012] Furthermore, an air release valve is provided on the upper wall of the odd-numbered sampling tube and the even-numbered sampling tube.

[0013] Furthermore, the volumes of the odd-numbered sampling cylinders, the transfer cylinder and the even-numbered sampling cylinders are equal.

[0014] The beneficial effects achieved by the present invention using the above structure are as follows: (1) The present invention realizes the dynamic balance of the center of gravity during the sampling process by providing a balancing cylinder, a transfer balancing mechanism, and an equal number of odd-numbered sampling cylinders and even-numbered sampling cylinders symmetrically distributed on both sides of the center of gravity of the unmanned boat body. During odd-numbered sampling, the transfer water in the transfer cylinder enters the even-numbered sampling cylinder through the second connecting pipe, and the odd-numbered sampling cylinder sucks the water sample through the lifting water intake mechanism. During even-numbered sampling, the transfer water flows back to the transfer cylinder, and the even-numbered sampling cylinder sucks the water sample. Since the odd-numbered sampling cylinders and the even-numbered sampling cylinders are symmetrically arranged and the weight of the transfer water is equivalent to that of the water sample, no matter which sampling cylinder is used for sampling, the center of gravity of the unmanned boat can be kept stable at all times, thereby avoiding the tilting or even capsizing of the hull due to the shift of the center of gravity.

[0015] (2) The present invention drives the rotating drum to rotate by a servo motor, so that the water inlet and the water inlet on the rotating drum are aligned with different first connecting tubes and second connecting tubes in turn, thereby selecting different odd-numbered sampling tubes and even-numbered sampling tubes for sampling. Each sampling uses an independent sampling tube, avoiding the mixing of water samples from different sampling points, thereby ensuring the independence of the samples and the accuracy of the analysis results.

[0016] (3) In the present invention, the transfer water flows back and forth between the balance cylinder and the even-numbered sampling cylinder, playing the role of balancing the center of gravity without being discharged or consumed, thereby realizing efficient utilization of water resources. The first push plate in the transfer cylinder is controlled to move up and down by the first electric telescopic rod, pushing the transfer water into the even-numbered sampling cylinder during odd-numbered sampling, and sucking the transfer water back into the transfer cylinder during even-numbered sampling. This design reduces additional counterweight, simplifies the device structure, and improves the durability of use in water. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a first three-dimensional structural schematic diagram of an automatic water sample collection device for an unmanned boat proposed by the present invention.

[0018] Figure 2 This is a top view of an automatic water sample collection device for an unmanned boat proposed by the present invention.

[0019] Figure 3 This is a second stereoscopic structural schematic diagram of an automatic water sample collection device for an unmanned boat proposed by the present invention.

[0020] Figure 4 This is a schematic diagram of the exploded structure of the positional relationship between odd-numbered sampling tubes, even-numbered sampling tubes and a ring frame of an automatic water sample collection device for an unmanned boat proposed by the present invention.

[0021] Figure 5 This is a schematic diagram of the structure of an odd-numbered sampling mechanism of an automatic water sample collection device for an unmanned boat proposed by the present invention.

[0022] Figure 6 This is a schematic diagram of the exploded structure of the transfer balance mechanism of the automatic water sample collection device of an unmanned boat proposed by the present invention.

[0023] Figure 7 This is a schematic diagram of the structure of an even-numbered sampling mechanism of an automatic water sample collection device for an unmanned boat proposed by the present invention.

[0024] Figure 8 This is a diagram of the initial working state of the automatic water sample collection device of an unmanned boat proposed by the present invention.

[0025] Fig. 9 This is a working status diagram of the automatic water sample collection device for an unmanned boat proposed by the present invention after an odd number of samplings.

[0026] Fig.10 This is a working status diagram of the automatic water sample collection device of an unmanned boat proposed by the present invention after an even number of samplings.

[0027] Among them, 1. unmanned boat body, 11. double buoys, 12. mounting frame, 13. propeller, 14. support platform, 15. ring frame, 2. balance cylinder, 3. odd-numbered sampling cylinder, 31. first connecting pipe, 4. even-numbered sampling cylinder, 41. second connecting pipe, 5. transfer balance mechanism, 51. transfer cylinder, 52. rotating shaft, 53. upper water inlet, 54. lower water inlet, 55. servo motor, 56. first electric telescopic rod, 57. connecting rod, 58. first sliding column , 59, the first push plate, 6, the odd sampling mechanism, 61, the second slide column, 62, the first handle, 63, the second push plate, 64, the second one-way valve, 65, the first one-way valve, 7, the even sampling mechanism, 71, the slide tube, 72, the third push plate, 73, the second handle, 74, the third one-way valve, 8, the lifting water intake mechanism, 81, the inner tube, 82, the fourth one-way valve, 83, the second electric telescopic rod, 84, the umbrella stand, 85, the sleeve, 9, the air release valve.

[0028] The accompanying drawings are used to provide further understanding of the present invention and constitute a part of the specification. They are used to explain the present invention together with the embodiments of the present invention and do not constitute a limitation of the present invention. DETAILED DESCRIPTION

[0029] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments; based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0030] In the description of the present invention, it should be understood that terms such as “upper”, “lower”, “front”, “back”, “left”, “right”, “top”, “bottom”, “inside” and “outside” indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as limiting the present invention.

[0031] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Fig. 9 , Fig.10As shown, the present invention proposes an automatic water sample collection device for an unmanned boat, comprising an unmanned boat body 1, the unmanned boat body 1 comprising a double buoy 11, a mounting frame 12 arranged on the double buoy 11, a propeller 13 arranged at the tail end of the mounting frame 12 and a support platform 14 arranged on the mounting frame 12, a balancing cylinder 2 is arranged on the support platform 14, the balancing cylinder 2 is directly opposite to the center of gravity of the unmanned boat body 1, a ring frame 15 is evenly distributed along the balancing cylinder 2 on the support platform 14, and an equal number of odd-numbered sampling cylinders 3 and even-numbered sampling cylinders are placed on the ring frame 15 4, the odd-numbered sampling tubes 3 and the even-numbered sampling tubes 4 are symmetrically distributed on both sides of the center of gravity of the unmanned boat body 1, a detachable first connecting tube 31 is sealed and connected between the lower wall of the balancing tube 2 and the upper wall of the odd-numbered sampling tube 3, a detachable second connecting tube 41 is sealed and connected between the upper wall of the balancing tube 2 and the upper wall of the even-numbered sampling tube 4, a transfer balancing mechanism 5 is provided on the balancing tube 2, an odd-numbered sampling mechanism 6 is provided on the odd-numbered sampling tube 3, an even-numbered sampling mechanism 7 is provided on the even-numbered sampling tube 4, and a lifting and water-taking mechanism 8 is provided on the lower side of the support platform 14.

[0032] The unmanned boat body 1 is provided with buoyancy by double floats 11, the mounting frame 12 is used to fix various components, the propeller 13 provides power, and the support platform 14 serves as the installation platform for the core components. The balancing cylinder 2 is arranged in the middle of the support platform 14 and is aligned with the center of gravity of the unmanned boat body 1, which is the key to ensuring balance. The odd-numbered sampling cylinders 3 and the even-numbered sampling cylinders 4 are equal in number and are symmetrically arranged around the two sides of the balancing cylinder 2, which is convenient for balancing through the transfer balancing mechanism 5 in the balancing cylinder 2 to avoid center of gravity shift. The first connecting pipe 31 and the second connecting pipe 41 are detachable, which is convenient for installation, maintenance and replacement of the device.

[0033] The transfer balance mechanism 5 includes a transfer cylinder 51, an upper water inlet 53, a lower water inlet 54, a rotating shaft 52, a servo motor 55, a first electric telescopic rod 56 and a first sliding column 58. The transfer cylinder 51 is coaxially arranged in the balance cylinder 2. The outer surface of the transfer cylinder 51 is tightly attached to the inner surface of the balance cylinder 2. The upper water inlet 53 and the lower water inlet 54 are respectively arranged on the upper and lower walls of the transfer cylinder 51. The upper water inlet 53 and the lower water inlet 54 are symmetrical on both sides of the axis of the transfer cylinder 51 in the horizontal plane projection. The rotating shaft 52 is coaxially arranged at the lower wall of the transfer cylinder 51. The servo motor 55 is arranged on the lower wall of the balancing cylinder 2. The rotating shaft 52 is connected to the output end of the servo motor 55 after passing through the lower wall of the balancing cylinder 2 in a sealed manner. The first electric telescopic rod 56 is arranged on the upper wall of the balancing cylinder 2. The upward output end of the first electric telescopic rod 56 is provided with a connecting rod 57. The first sliding column 58 is arranged on the lower side of the connecting rod 57. The first sliding column 58 coaxially and seals and passes through the balancing cylinder 2 and the rotating cylinder 51. The lower end of the first sliding column 58 is coaxially provided with a first push plate 59. The edge of the first push plate 59 is tightly sealed with the inner wall of the rotating cylinder 51.

[0034] The servo motor 55 drives the rotating cylinder 51 to rotate through the rotating shaft 52, so that the upper water inlet 53 and the lower water inlet 54 can be aligned with different first connecting pipes 31 and second connecting pipes 41. The first electric telescopic rod 56 controls the up and down movement of the first push plate 59 through the connecting rod 57 and the first sliding column 58. The first push plate 59 acts as a piston in the rotating cylinder 51 to push the water flow. The outer surface of the rotating cylinder 51 is in close contact with the inner surface of the balance cylinder 2, ensuring the sealing of the rotating cylinder 51 when it rotates.

[0035] Among them, the odd-numbered sampling mechanism 6 includes a second sliding column 61, a first one-way valve 65 and a second one-way valve 64. The second sliding column 61 coaxially seals and passes through the odd-numbered sampling tube 3. The lower end of the second sliding column 61 is coaxially provided with a second push plate 63. The edge of the second push plate 63 is tightly sealed with the inner wall of the odd-numbered sampling tube 3. The upper end of the second sliding column 61 is provided with a first handle 62. The first one-way valve 65 and the second one-way valve 64 are arranged on the first connecting pipe 31. The first one-way valve 65 is closer to the upper wall of the odd-numbered sampling tube 3 than the second one-way valve 64. The one-way flow direction of the first one-way valve 65 is from the odd-numbered sampling tube 3 to the balancing tube 2, and the one-way flow direction of the second one-way valve 64 is from the inside of the first connecting tube 31 to the outside.

[0036] The odd-numbered sampling mechanism 6 is responsible for controlling the sampling of the odd-numbered sampling tube 3. The second push plate 63 moves upward in the odd-numbered sampling tube 3 to realize water pumping. The first handle 62 is used to manually operate the second sliding column 61 to adjust the initial position of the second push plate 63. The first one-way valve 65 only allows the medium to flow from the odd-numbered sampling tube 3 to the balance tube 2. The second one-way valve 64 only allows the medium to flow from the first connecting pipe 31 to the outside. This design ensures that during the sampling process, only the target water sample is sucked into the odd-numbered sampling tube 3, but will not be discharged.

[0037] Among them, the even-numbered sampling mechanism 7 includes a sliding tube 71, which coaxially and sealedly passes through the even-numbered sampling tube 4, and a third push plate 72 is coaxially provided at the lower end of the sliding tube 71. The interior of the sliding tube 71 is connected to the space below the third push plate 72, and the edge of the third push plate 72 is tightly sealed against the inner wall of the even-numbered sampling tube 4. A second handle 73 is provided at the upper end of the sliding tube 71, and a third one-way valve 74 is provided on the second handle 73. The third one-way valve 74 is connected to the sliding tube 71, and the one-way flow direction of the third one-way valve 74 is from the inside of the sliding tube 71 to the outside.

[0038] The structure of the even-numbered sampling mechanism 7 is similar to that of the odd-numbered sampling mechanism 6, but is slightly different. The sliding tube 71 replaces the second sliding column 61. The interior of the sliding tube 71 is hollow and connected to the space below the third push plate 72. The third push plate 72 moves up and down in the even-numbered sampling tube 4, acting as a piston. The third one-way valve 74 is installed on the second handle 73, and only allows the medium to flow from the inside of the sliding tube 71 to the outside. This design allows the air below to be discharged through the sliding tube 71 and the third one-way valve 74 when the third push plate 72 descends, and the air cannot enter from the outside when the third push plate 72 rises.

[0039] Among them, the balancing cylinder 2 is located above the odd-numbered sampling cylinder 3 and the even-numbered sampling cylinder 4, and the connecting ports of the first connecting tube 31, the second connecting tube 41 and the balancing cylinder 2 are distributed in a circular array around the axis of the balancing cylinder 2 in the horizontal plane projection. When the connecting port of the first connecting tube 31 and the balancing cylinder 2 coincides with the lower water outlet 54, the connecting port of the second connecting tube 41 and the balancing cylinder 2 coincides with the upper water outlet 53 at the same time.

[0040] This arrangement ensures that when the servo motor 55 rotates the rotating drum 51, the lower water port 54 is aligned with different first connecting tubes 31 in sequence, and the upper water port 53 is simultaneously aligned with the second connecting tube 41 opposite to the first connecting tube 31. In this way, by controlling the rotation of the rotating drum 51, different odd-numbered sampling tubes 3 and even-numbered sampling tubes 4 relative to each other along the center of gravity can be selected in sequence for sampling, thereby maintaining balance.

[0041] Among them, the lifting and water-taking mechanism 8 includes a second electric telescopic rod 83, an inner tube 81 and a fourth one-way valve 82. The second electric telescopic rod 83 is arranged on the lower side of the support platform 14. The inner tube 81 is coaxially sealed and connected to the lower walls of the odd-numbered sampling tubes 3 and the even-numbered sampling tubes 4. The inner tube 81 passes through the support platform 14. An umbrella frame 84 is provided at the lower end of the second electric telescopic rod 83. A sleeve 85 is provided at the outer end of the umbrella frame 84. The sleeve 85 is tightly sleeved on the outer side of the inner tube 81. The fourth one-way valve 82 is arranged at the upper end of the inner tube 81. The one-way flow direction of the fourth one-way valve 82 is from bottom to top.

[0042] The lifting water intake mechanism 8 is responsible for sucking water samples from underwater into the odd-numbered sampling tubes 3 and the even-numbered sampling tubes 4. The second electric telescopic rod 83 can control the lifting and lowering of the sleeve 85, thereby adjusting the water intake depth. The fourth one-way valve 82 is installed at the top of the inner tube 81, which only allows water to flow from bottom to top to prevent the water sample from flowing back.

[0043] Among them, the upper walls of the odd-numbered sampling tubes 3 and the even-numbered sampling tubes 4 are both provided with air relief valves 9, which are used to communicate with the outside atmosphere during initial settings, thereby adjusting the positions of the second push plate 63 and the third push plate 72 to prepare for subsequent sampling operations.

[0044] The volumes of the odd-numbered sampling cylinders 3 , the transfer cylinder 51 and the even-numbered sampling cylinders 4 are equal. This design ensures that the weight distribution is balanced during the sampling process.

[0045] The specific working process is as follows: Preparation before launching: ensure that the sleeve 85 in the lifting and water-taking mechanism 8 is located above the double buoys 11 to avoid obstruction when entering the water, confirm that the first push plate 59 in the transfer balance mechanism 5 is close to the lower wall of the transfer tube 51, and the first push plate 59 should be filled with water as a transfer medium, open the air relief valves 9 on all odd-numbered sampling tubes 3 and even-numbered sampling tubes 4 to connect their interiors with the external atmospheric pressure, push the first handle 62 in the odd-numbered sampling mechanism 6 to make the second push plate 63 close to the lower wall of the odd-numbered sampling tube 3, push the second handle 73 to make the third push plate 72 close to the upper wall of the even-numbered sampling tube 4, close all air relief valves 9, and launch the hull into the water.

[0046] The first sampling (odd-numbered sampling): the hull travels to the first sampling point, the lifting and water intake mechanism 8 is started, the second electric telescopic rod 83 extends downward, driving the umbrella frame 84 and the sleeve 85 into the water to reach the preset sampling depth, the transfer balance mechanism 5 is started, and the servo motor 55 drives the transfer cylinder 51 to rotate through the rotating shaft 52, so that the water outlet 54 is aligned with one of the first connecting pipes 31. At this time, the water outlet 53 will automatically align with the second connecting pipe 41 opposite to the first connecting pipe 31 and located on the other side of the center of gravity of the hull. In this way, a pair of positions are selected. The symmetrical odd-numbered sampling tubes 3 and even-numbered sampling tubes 4 are subsequently sampled, while the other unselected ones are in a closed state and are not affected. The first electric telescopic rod 56 is remotely controlled to extend upward, driving the first slide column 58 and the first push plate 59 to move upward. Since the first push plate 59 is filled with water, during the upward movement, water enters the even-numbered sampling tube 4 through the second connecting pipe 41 and is located above the third push plate 72. The third push plate 72 is forced to move downward under the action of water pressure. Since the third one-way valve 74 in the even-numbered sampling mechanism 7 only allows gas to flow from the slide pipe 71 to the outside Therefore, the air in the even-numbered sampling cylinder 4 is discharged through the slide pipe 71 and the third one-way valve 74 during the downward pressure of the third push plate 72. At the same time, due to the upward movement of the first push plate 59, the pressure in the first connecting pipe 31 decreases. In the odd-numbered sampling mechanism 6, the first one-way valve 65 only allows the medium to flow from the odd-numbered sampling cylinder 3 to the balance cylinder 2, and the second one-way valve 64 only allows the medium to flow from the first connecting pipe 31 to the outside. Therefore, the gas above the second push plate 63 enters the transfer cylinder 51 through the first one-way valve 65, and a negative pressure is formed below the second push plate 63. The one-way valve 82 (which only allows water to flow from bottom to top) and the inner tube 81 suck the water sample at the target point into the odd-numbered sampling tube 3 and locate it below the second push plate 63. When the final sampling is completed, the transfer tube 51 is filled with the air exhausted from the odd-numbered sampling tube 3, the odd-numbered sampling tube 3 is filled with the target water sample, and the even-numbered sampling tube 4 is filled with the transfer water from the transfer tube 51. Due to the action of the fourth one-way valve 82, the water sample will not flow back. At this time, since the odd-numbered sampling tubes 3 and the even-numbered sampling tubes 4 are symmetrically distributed, and the weight of the water sample is equivalent to that of the transfer water, the center of gravity of the ship remains balanced.

[0047] Second sampling (even-numbered sampling): lift the sleeve 85 out of the water, sail to the next sampling point, extend the sleeve 85 underwater again to reach the preset sampling depth, remotely control the transfer balance mechanism 5, and the first electric telescopic rod 56 contracts, driving the first push plate 59 to press down. In the odd-numbered sampling mechanism 6, due to the action of the first one-way valve 65 and the second one-way valve 64, the air below the first push plate 59 is discharged to the outside through the first connecting pipe 31 and the second one-way valve 64, while the water samples collected in the odd-numbered sampling tube 3 are not affected, the pressure above the first push plate 59 decreases, and the pressure in the even-numbered sampling tube 4 decreases. The third push plate 72 is forced to move upward under the pressure, and the transfer water begins to transfer to the transfer cylinder 51. In the even-numbered sampling mechanism 7, since the third one-way valve 74 only allows gas to flow from the slide tube 71 to the outside, a negative pressure is formed below the third push plate 72. The water sample at the target point is sucked into the even-numbered sampling cylinder 4 through the fourth one-way valve 82 and the inner tube 81 and is located below the third push plate 72. When the final sampling is completed, the odd-numbered sampling cylinder 3 is filled with the water sample collected for the first time, the even-numbered sampling cylinder 4 is filled with the water sample collected for the second time, and the transfer cylinder 51 is filled with transfer water. At this time, the center of gravity of the hull is still balanced.

[0048] Subsequent sampling: remotely control the transfer balance mechanism 5, and the servo motor 55 drives the transfer cylinder 51 to rotate, so that the lower water port 54 is aligned with the first connecting tube 31 on the next odd-numbered sampling cylinder 3 to be sampled, and the upper water port 53 is automatically aligned with the second connecting tube 41 on the even-numbered sampling cylinder 4 opposite thereto. At this time, the lower water port 54 and the upper water port 53 are disconnected from the odd-numbered sampling cylinder 3 and the even-numbered sampling cylinder 4 of the previous two samplings, and because the transfer cylinder 51 is now full of transfer water, the subsequent odd-numbered sampling process is exactly the same as the first sampling, and this cycle is repeated to perform odd-numbered sampling and even-numbered sampling in turn. Until all odd-numbered sampling tubes 3 and even-numbered sampling tubes 4 have collected the target water samples, since the connection ports between the first connecting tube 31 and the balancing tube 2, and the connection ports between the second connecting tube 41 and the balancing tube 2 are distributed in a circular array around the axis of the balancing tube 2 in the horizontal plane projection, this geometric layout allows the servo motor 55 to accurately rotate a specific angle each time through a preset program, thereby achieving precise docking of the water outlet 54 with the specific first connecting tube 31. This method of switching the fluid channel by accurately controlling the rotation angle through the servo motor 55 is a mature existing technology and can be implemented stably and reliably.

[0049] 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.

[0050] While the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that many changes, modifications, substitutions and alterations may be made to the embodiments without departing from the principles and spirit of the invention.

[0051] The present invention and its embodiments are described above, and such description is not restrictive. The drawings show only one embodiment of the present invention, and the actual structure is not limited thereto. In short, if ordinary technicians in the field are inspired by it, without departing from the purpose of the invention, they can design a structure and embodiment similar to the technical solution without creativity, which should belong to the protection scope of the present invention.

Claims

1. An automatic water sample collection device for an unmanned boat, comprising an unmanned boat body (1), the unmanned boat body (1) comprising a double buoy (11), a mounting frame (12) disposed on the double buoy (11), a propeller (13) disposed at the rear end of the mounting frame (12), and a support platform (14) disposed on the mounting frame (12), characterized in that: The support platform (14) is provided with a balancing cylinder (2), the balancing cylinder (2) facing the center of gravity of the unmanned boat body (1), the support platform (14) is evenly distributed with a ring frame (15) along the balancing cylinder (2), an equal number of odd-numbered sampling cylinders (3) and even-numbered sampling cylinders (4) are placed on the ring frame (15), the odd-numbered sampling cylinders (3) and even-numbered sampling cylinders (4) are symmetrically distributed on both sides of the center of gravity of the unmanned boat body (1), a detachable first connecting pipe (31) is provided in a sealed communication between the lower wall of the balancing cylinder (2) and the upper wall of the odd-numbered sampling cylinder (3), a detachable second connecting pipe (41) is provided in a sealed communication between the upper wall of the balancing cylinder (2) and the upper wall of the even-numbered sampling cylinder (4), a transfer balancing mechanism (5) is provided on the balancing cylinder (2), an odd-numbered sampling mechanism (6) is provided on the odd-numbered sampling cylinder (3), and an even-numbered sampling mechanism (7) is provided on the even-numbered sampling cylinder (4), and a lifting and lowering water intake mechanism (8) is provided on the lower side of the support platform (14).

2. The automatic water sample collection device for an unmanned boat according to claim 1, characterized in that: The transfer balancing mechanism (5) comprises a transfer cylinder (51), an upper water inlet (53), a lower water inlet (54), a rotating shaft (52), a servo motor (55), a first electric telescopic rod (56) and a first sliding column (58). The transfer cylinder (51) is coaxially arranged in the balancing cylinder (2). The outer surface of the transfer cylinder (51) is in close contact with the inner surface of the balancing cylinder (2). The upper water inlet (53) and the lower water inlet (54) are respectively arranged on the upper and lower walls of the transfer cylinder (51). The upper water inlet (53) and the lower water inlet (54) are symmetrical on both sides of the axis of the transfer cylinder (51) in horizontal plane projection. The rotating shaft (52) is coaxially arranged on the lower wall of the transfer cylinder (51). The servo motor (55) is arranged on the lower wall of the balancing cylinder (2); the rotating shaft (52) is connected to the output end of the servo motor (55) after passing through the lower wall of the balancing cylinder (2) in a sealed manner; the first electric telescopic rod (56) is arranged on the upper wall of the balancing cylinder (2); the output end of the first electric telescopic rod (56) facing upward is provided with a connecting rod (57); the first sliding column (58) is arranged on the lower side of the connecting rod (57); the first sliding column (58) coaxially passes through the balancing cylinder (2) and the rotating cylinder (51) in a sealed manner; the lower end of the first sliding column (58) is coaxially provided with a first push plate (59); the edge of the first push plate (59) is tightly sealed with the inner wall of the rotating cylinder (51).

3. The automatic water sample collection device for an unmanned boat according to claim 2, characterized in that: The odd-numbered sampling mechanism (6) comprises a second sliding column (61), a first one-way valve (65) and a second one-way valve (64); the second sliding column (61) coaxially and sealingly passes through the odd-numbered sampling tube (3); a second push plate (63) is coaxially provided at the lower end of the second sliding column (61); the edge of the second push plate (63) is tightly sealed against the inner wall of the odd-numbered sampling tube (3); a first handle (62) is provided at the upper end of the second sliding column (61); the first one-way valve (65) and the second one-way valve (64) are provided on the first connecting pipe (31); the first one-way valve (65) is closer to the upper wall of the odd-numbered sampling tube (3) than the second one-way valve (64); the one-way flow direction of the first one-way valve (65) is from the odd-numbered sampling tube (3) to the balancing tube (2); and the one-way flow direction of the second one-way valve (64) is from the inside of the first connecting pipe (31) to the outside.

4. The automatic water sample collection device for an unmanned boat according to claim 3, characterized in that: The even-numbered sampling mechanism (7) comprises a sliding tube (71), the sliding tube (71) coaxially and sealingly passes through the even-numbered sampling tube (4), a third push plate (72) is coaxially arranged at the lower end of the sliding tube (71), the interior of the sliding tube (71) is in communication with the space below the third push plate (72), the edge of the third push plate (72) is in tight sealing contact with the inner wall of the even-numbered sampling tube (4), a second handle (73) is arranged at the upper end of the sliding tube (71), a third one-way valve (74) is arranged on the second handle (73), the third one-way valve (74) is in communication with the sliding tube (71), and the one-way flow direction of the third one-way valve (74) is from the inside of the sliding tube (71) to the outside.

5. The automatic water sample collection device for an unmanned boat according to claim 4, characterized in that: The balancing cylinder (2) is located above the odd-numbered sampling cylinder (3) and the even-numbered sampling cylinder (4); the connection openings of the first connecting tube (31), the second connecting tube (41) and the balancing cylinder (2) are arranged in a circular array around the axis of the balancing cylinder (2) in horizontal plane projection; when the connection opening of the first connecting tube (31) and the balancing cylinder (2) coincides with the lower water opening (54), the connection opening of the second connecting tube (41) and the balancing cylinder (2) coincides with the upper water opening (53) at the same time.

6. The automatic water sample collection device for an unmanned boat according to claim 5, characterized in that: The lifting water intake mechanism (8) comprises a second electric telescopic rod (83), an inner tube (81) and a fourth one-way valve (82); the second electric telescopic rod (83) is arranged at the lower side of the support platform (14); the inner tube (81) is coaxially sealed and connected to the lower wall of the odd-numbered sampling tube (3) and the even-numbered sampling tube (4); the inner tube (81) passes through the support platform (14); an umbrella frame (84) is arranged at the lower end of the second electric telescopic rod (83); a sleeve (85) is arranged at the outer end of the umbrella frame (84); the sleeve (85) is tightly sleeved on the outer side of the inner tube (81); the fourth one-way valve (82) is arranged at the upper end of the inner tube (81); and the one-way flow direction of the fourth one-way valve (82) is from bottom to top.

7. The automatic water sample collection device for an unmanned boat according to claim 6, characterized in that: An air release valve (9) is provided on the upper wall of each of the odd-numbered sampling cylinders (3) and the even-numbered sampling cylinders (4).

8. The automatic water sample collection device for an unmanned boat according to claim 7, characterized in that: The volumes of the odd-numbered sampling cylinders (3), the transfer cylinder (51) and the even-numbered sampling cylinders (4) are equal.

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