An automatic water sample collection device for an unmanned ship

Abstract

The present invention belongs to the technical field of water body monitoring, and specifically discloses an automatic water sample collection device for an unmanned ship, which includes a support platform arranged on a mounting frame. A balance cylinder is provided on the support platform. Ring frames are evenly distributed along the circumference of the balance cylinder on the support platform. An odd number of sampling cylinders and an even number of sampling cylinders with equal quantities are placed on the ring frames. The odd-numbered sampling cylinders and the even-numbered sampling cylinders are symmetrically distributed on both sides of the center of gravity position of the unmanned ship body. A detachable first connecting pipe is hermetically connected between the lower wall of the balance cylinder and the upper wall of the odd-numbered sampling cylinder. A detachable second connecting pipe is hermetically connected between the upper wall of the balance cylinder and the upper wall of the even-numbered sampling cylinder. A transfer balance mechanism is provided on the balance 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. A lifting water intake mechanism is provided on the lower side of the support platform. Through the automatic center of gravity adjustment mechanism, the present invention ensures that the hull always maintains stable balance when each sampling cylinder independently samples, so as to realize independent sampling at multiple points.

Description

Technical Field

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

[0002] Regular and accurate monitoring and sampling of water bodies are important prerequisites and foundations for evaluating water quality, controlling pollution sources, and protecting water resources.

[0003] Traditional water sample collection methods mainly rely on manual operation, that is, sampling personnel drive a boat or wade directly to the designated sampling point and use a sampler to take samples. This method has many limitations. In recent years, with the rapid development of unmanned ship technology, using an unmanned ship equipped with a water sample collection device for automated sampling has become a new trend. Compared with traditional manual sampling, unmanned ship water sample collection has significant advantages: unmanned ships can replace personnel to enter dangerous waters for sampling, avoiding the risk of casualties, can achieve long-term and continuous operation, and can sample in complex environments such as narrow waters and shallow waters. However, there are still some deficiencies in the existing unmanned ship water sample collection devices:

[0004] Limited by the size and load capacity of the unmanned ship, existing water sample collection devices usually adopt a miniaturized design. To ensure the stability of the hull and avoid capsizing caused by the center of gravity shifting, the number of sampling cylinders is usually small (one or two). This design results in limited sampling volume. To obtain water samples that are as representative of the entire water area as possible, usually only a small amount of water samples are collected at different locations and mixed into the sampling cylinder during a single underwater sampling. However, this cannot distinguish the water quality differences at different locations, reducing the fineness and analysis value of the samples.

[0005] If an unmanned ship is equipped with multiple sampling cylinders, in order to distinguish water samples at different locations, theoretically, independent sampling should be adopted, that is, separate sampling cylinders are used for collection at different locations. However, due to the size and stability limitations of the unmanned ship, this ideal sampling method has great difficulties in actual operation. When one sampling cylinder is filled with water while the other is still empty, it will cause a serious shift in the center of gravity of the ship, resulting in an obvious tilting and sinking phenomenon, greatly affecting the stability of the hull and even possibly causing capsizing accidents. Summary of the Invention

[0006] In view of the above situation, the present invention provides an automatic water sample collection device for an unmanned ship. Through a center of gravity automatic adjustment mechanism, it ensures that the hull always maintains a stable balance during independent sampling of each sampling cylinder, avoids the risk of tilting and sinking, overcomes the defects of independent sampling of unmanned ships in the prior art, and thus realizes independent sampling at multiple points.

[0007] The technical solution adopted by the present invention is as follows: The present invention provides an automatic water sample collection device for an unmanned ship, which includes an unmanned ship body. The unmanned ship body includes a double buoy, a mounting frame provided on the double buoy, a thruster provided at the end of the mounting frame, and a support platform provided on the mounting frame. A balance cylinder is provided on the support platform, and the balance cylinder is directly opposite to the center of gravity of the unmanned ship body. Ring frames are evenly distributed in a ring shape along the balance cylinder on the support platform. An equal number of odd-numbered sampling cylinders and even-numbered sampling cylinders are placed on the ring frames. The odd-numbered sampling cylinders and the even-numbered sampling cylinders are symmetrically distributed on both sides of the center of gravity of the unmanned ship body. A detachable first connecting pipe is hermetically connected between the lower wall of the balance cylinder and the upper wall of the odd-numbered sampling cylinder. A detachable second connecting pipe is hermetically connected between the upper wall of the balance cylinder and the upper wall of the even-numbered sampling cylinder. A transfer balance mechanism is provided on the balance 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 water intake mechanism is provided on the lower side of the support platform.

[0008] Further, the transfer balance mechanism includes a transfer cylinder, a water inlet, a water outlet, a rotating shaft, a servo motor, a first electric telescopic rod, and a first sliding column. The transfer cylinder is coaxially arranged inside the balance cylinder, and the outer surface of the transfer cylinder is in close contact with the inner surface of the balance cylinder. The water inlet and the water outlet are respectively opened on the upper and lower walls of the transfer cylinder. The water inlet and the water outlet are symmetrically located on both sides of the axis of the transfer cylinder in the horizontal plane projection. The rotating shaft is coaxially arranged on the lower wall of the transfer cylinder, the servo motor is arranged on the lower wall of the balance cylinder, and the rotating shaft hermetically penetrates the lower wall of the balance cylinder and is connected to the output end of the servo motor. The first electric telescopic rod is arranged on the upper wall of the balance cylinder. A connecting rod is provided at the upward output end of the first electric telescopic rod. The first sliding column is arranged below the connecting rod. The first sliding column hermetically penetrates the balance cylinder and the transfer cylinder coaxially. A first push plate is coaxially arranged at the lower end of the first sliding column, and the edge of the first push plate is in close contact with the inner side wall of the transfer cylinder in a sealed manner.

[0009] Further, the odd-numbered sampling mechanism includes a second sliding column, a first one-way valve, and a second one-way valve. The second sliding column hermetically penetrates the odd-numbered sampling cylinder coaxially. A second push plate is coaxially arranged at the lower end of the second sliding column, and the edge of the second push plate is in close contact with the inner side wall of the odd-numbered sampling cylinder in a sealed manner. A first handle is provided at the upper end of the second sliding column. 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 cylinder than the second one-way valve. The one-way flow direction of the first one-way valve is from the odd-numbered sampling cylinder to the balance cylinder, and the one-way flow direction of the second one-way valve is from the inside of the first connecting pipe to the outside.

[0010] Further, the even - number sampling mechanism includes a sliding tube which coaxially and hermetically penetrates through an even - number sampling cylinder. A third push plate is coaxially provided at the lower end of the sliding tube. The interior of the sliding tube communicates with the space below the third push plate. The edge of the third push plate is in sealing contact with the inner side wall of the even - number sampling cylinder. A second handle is provided at the upper end of the sliding tube, and a third one - way valve is provided on the second handle. The third one - way valve is communicated with 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.

[0011] Further, the balance cylinder is located above the odd - number sampling cylinder and the even - number sampling cylinder. The connection ports of the first connecting pipe and the second connecting pipe with the balance cylinder are circumferentially and array - distributed around the axis of the balance cylinder in the horizontal - plane projection. When the connection port of the first connecting pipe and the balance cylinder coincides with the water outlet, the connection port of the second connecting pipe and the balance cylinder coincides with the water inlet at the same time.

[0012] Further, the lifting water - taking mechanism includes a second electric telescopic rod, an inner tube, and a fourth one - way valve. The second electric telescopic rod is provided on the lower side of the support platform. The inner tube is coaxially and hermetically communicated and provided on the lower walls of the odd - number sampling cylinder and the even - number sampling cylinder. The inner tube penetrates through the support platform. An umbrella - shaped frame is provided at the lower end of the second electric telescopic rod, and a sleeve is provided at the outer end of the umbrella - shaped frame. The sleeve is closely 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.

[0013] Further, air - release valves are provided on the upper walls of both the odd - number sampling cylinder and the even - number sampling cylinder.

[0014] Further, the volumes of the odd - number sampling cylinder, the transfer cylinder, and the even - number sampling cylinder are equal.

[0015] The beneficial effects achieved by the present invention with the above - mentioned structure are as follows:

[0016] (1) By setting a balance cylinder, a transfer - balance mechanism, and an odd - number sampling cylinder and an even - number sampling cylinder with equal numbers and symmetrically distributed on both sides of the center of gravity of the unmanned boat body, the dynamic balance of the center of gravity during the sampling process is achieved. During odd - number sampling, the transfer water in the transfer cylinder enters the even - number sampling cylinder through the second connecting pipe, and at the same time, the odd - number sampling cylinder sucks in water samples through the lifting water - taking mechanism. During even - number sampling, the transfer water flows back to the transfer cylinder, and the even - number sampling cylinder sucks in water samples. Since the odd - number sampling cylinder and the even - number sampling cylinder are symmetrically arranged, and the weight of the transfer water is equivalent to that of the water samples, no matter which sampling cylinder takes samples, the center of gravity of the unmanned boat can always be kept stable, avoiding the hull tilt or even capsizing caused by the center - of - gravity offset.

[0017] (2) In the present invention, the rotation of the transfer cylinder is driven by a servo motor, so that the water outlet and the water inlet on the transfer cylinder are aligned with different first connecting pipes and second connecting pipes in sequence, thereby selecting different odd-numbered sampling cylinders and even-numbered sampling cylinders for sampling. Each sampling uses an independent sampling cylinder, avoiding the mixing of water samples at different sampling points, and ensuring the independence of the samples and the accuracy of the analysis results.

[0018] (3) In the present invention, the transfer water flows reciprocally between the balance cylinder and the even-numbered sampling cylinder, playing a role in balancing the center of gravity without being discharged or consumed, realizing the 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. It pushes the transfer water into the even-numbered sampling cylinder during odd-numbered sampling and sucks the transfer water back into the transfer cylinder during even-numbered sampling. This design reduces the additional counterweight, simplifies the device structure, and improves the durability in water. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a first three-dimensional structural schematic diagram of a water sample automatic collection device for an unmanned ship proposed by the present invention.

[0020] Figure 2 It is a top view of a water sample automatic collection device for an unmanned ship proposed by the present invention.

[0021] Figure 3 It is a second three-dimensional structural schematic diagram of a water sample automatic collection device for an unmanned ship proposed by the present invention.

[0022] Figure 4 It is an exploded structural schematic diagram of the positional relationship among the odd-numbered sampling cylinder, the even-numbered sampling cylinder and the ring frame of a water sample automatic collection device for an unmanned ship proposed by the present invention.

[0023] Figure 5 It is a structural schematic diagram of the odd-numbered sampling mechanism of a water sample automatic collection device for an unmanned ship proposed by the present invention.

[0024] Figure 6 It is an exploded structural schematic diagram of the transfer balance mechanism of a water sample automatic collection device for an unmanned ship proposed by the present invention.

[0025] Figure 7 It is a structural schematic diagram of the even-numbered sampling mechanism of a water sample automatic collection device for an unmanned ship proposed by the present invention.

[0026] Figure 8 It is an initial working state diagram of a water sample automatic collection device for an unmanned ship proposed by the present invention.

[0027] Figure 9 It is a working state diagram after odd-numbered sampling of a water sample automatic collection device for an unmanned ship proposed by the present invention.

[0028] Figure 10 This is the working state diagram after even-numbered sampling of the automatic water sample collection device for an unmanned ship proposed by the present invention.

[0029] Among them, 1 is the unmanned ship body, 11 is the double floating drum, 12 is the mounting frame, 13 is the thruster, 14 is the support platform, 15 is the ring frame, 2 is the balance cylinder, 3 is the odd-numbered sampling cylinder, 31 is the first connecting pipe, 4 is the even-numbered sampling cylinder, 41 is the second connecting pipe, 5 is the transfer balance mechanism, 51 is the transfer cylinder, 52 is the rotating shaft, 53 is the water inlet, 54 is the water outlet, 55 is the servo motor, 56 is the first electric telescopic rod, 57 is the connecting rod, 58 is the first sliding column, 59 is the first push plate, 6 is the odd-numbered sampling mechanism, 61 is the second sliding column, 62 is the first handle, 63 is the second push plate, 64 is the second one-way valve, 65 is the first one-way valve, 7 is the even-numbered sampling mechanism, 71 is the sliding pipe, 72 is the third push plate, 73 is the second handle, 74 is the third one-way valve, 8 is the lifting water intake mechanism, 81 is the inner pipe, 82 is the fourth one-way valve, 83 is the second electric telescopic rod, 84 is the umbrella frame, 85 is the sleeve, and 9 is the air release valve.

[0030] The drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation to the present invention. Detailed implementation manners

[0031] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts belong to the scope of protection of the present invention.

[0032] In the description of the present invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc. indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings. They 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 orientation, be constructed and operated in a specific orientation, and thus cannot be understood as a limitation to the present invention.

[0033] Such as Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Figure 9 , Figure 10As shown in the figure, the present invention provides an automatic water sample collection device for an unmanned ship, which includes an unmanned ship body 1. The unmanned ship body 1 includes double pontoons 11, a mounting frame 12 provided on the double pontoons 11, a thruster 13 provided at the tail end of the mounting frame 12, and a support platform 14 provided on the mounting frame 12. A balance cylinder 2 is provided on the support platform 14, and the balance cylinder 2 is directly opposite to the center of gravity position of the unmanned ship body 1. Ring frames 15 are evenly distributed around the balance cylinder 2 on the support platform 14. An equal number of odd sampling cylinders 3 and even sampling cylinders 4 are placed on the ring frames 15. The odd sampling cylinders 3 and the even sampling cylinders 4 are symmetrically distributed on both sides of the center of gravity position of the unmanned ship body 1. A detachable first connecting pipe 31 is hermetically connected between the lower wall of the balance cylinder 2 and the upper wall of the odd sampling cylinder 3, and a detachable second connecting pipe 41 is hermetically connected between the upper wall of the balance cylinder 2 and the upper wall of the even sampling cylinder 4. A transfer balance mechanism 5 is provided on the balance cylinder 2, an odd sampling mechanism 6 is provided on the odd sampling cylinder 3, an even sampling mechanism 7 is provided on the even sampling cylinder 4, and a lifting water intake mechanism 8 is provided on the lower side of the support platform 14.

[0034] The buoyancy of the unmanned ship body 1 is provided by the double pontoons 11. The mounting frame 12 is used to fix each component. The thruster 13 provides power. The support platform 14 serves as the installation platform for the core components. The balance cylinder 2 is arranged in the middle of the support platform 14 and aligned with the center of gravity of the unmanned ship body 1, which is the key to ensuring balance. The number of odd sampling cylinders 3 and even sampling cylinders 4 is equal, and they are symmetrically arranged on both sides of the balance cylinder 2, facilitating leveling through the transfer balance mechanism 5 in the balance cylinder 2 to avoid the center of gravity shifting. The first connecting pipe 31 and the second connecting pipe 41 are detachable, which is convenient for the installation, maintenance, and replacement of the device.

[0035] Among them, the transfer balance mechanism 5 includes a transfer cylinder 51, a water inlet 53, a water outlet 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, and the outer surface of the transfer cylinder 51 is in close contact with the inner surface of the balance cylinder 2. The water inlet 53 and the water outlet 54 are respectively opened on the upper and lower walls of the transfer cylinder 51. The water inlet 53 and the water outlet 54 are symmetrically located on both sides of the axis of the transfer cylinder 51 in the horizontal plane projection. The rotating shaft 52 is coaxially arranged on the lower wall of the transfer cylinder 51, and the servo motor 55 is arranged on the lower wall of the balance cylinder 2. The rotating shaft 52 penetrates through the lower wall of the balance cylinder 2 in a sealed manner and is connected to the output end of the servo motor 55. The first electric telescopic rod 56 is arranged on the upper wall of the balance 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 penetrates through the balance cylinder 2 and the transfer cylinder 51 in a sealed and coaxial manner. The lower end of the first sliding column 58 is coaxially provided with a first push plate 59, and the edge of the first push plate 59 is in close contact with the inner side wall of the transfer cylinder 51 in a sealed manner.

[0036] The servo motor 55 drives the rotating cylinder 51 to rotate through the rotating shaft 52, so that the water inlet 53 and the water outlet 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 inside 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 performance when the rotating cylinder 51 rotates.

[0037] Among them, the odd 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 and hermetically penetrates through the odd sampling cylinder 3. A second push plate 63 is coaxially arranged at the lower end of the second sliding column 61. The edge of the second push plate 63 is in close contact with the inner side wall of the odd sampling cylinder 3 in a sealed manner. A first handle 62 is arranged at the upper end of the second sliding column 61. 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 sampling cylinder 3 than the second one-way valve 64. The one-way flow direction of the first one-way valve 65 is from the odd sampling cylinder 3 to the balance cylinder 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.

[0038] The odd sampling mechanism 6 is responsible for controlling the sampling of the odd sampling cylinder 3. The second push plate 63 moves upward inside the odd sampling cylinder 3 to pump water. 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 sampling cylinder 3 to the balance cylinder 2, and the second one-way valve 64 only allows the medium to flow from the inside of the first connecting pipe 31 to the outside. This design ensures that only the target water sample is sucked into the odd sampling cylinder 3 during the sampling process, but will not be discharged.

[0039] Among them, the even sampling mechanism 7 includes a sliding pipe 71. The sliding pipe 71 coaxially and hermetically penetrates through the even sampling cylinder 4. A third push plate 72 is coaxially arranged at the lower end of the sliding pipe 71. The inside of the sliding pipe 71 is communicated with the space below the third push plate 72. The edge of the third push plate 72 is in close contact with the inner side wall of the even sampling cylinder 4 in a sealed manner. A second handle 73 is arranged at the upper end of the sliding pipe 71. A third one-way valve 74 is arranged on the second handle 73. The third one-way valve 74 is communicated with the sliding pipe 71. The one-way flow direction of the third one-way valve 74 is from the inside of the sliding pipe 71 to the outside.

[0040] The structure of the even sampling mechanism 7 is similar to that of the odd sampling mechanism 6, but slightly different. The sliding pipe 71 replaces the second sliding column 61. The inside of the sliding pipe 71 is hollow and is connected to the space below the third push plate 72. The third push plate 72 moves up and down inside the even sampling cylinder 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 pipe 71 to the outside. This design enables the air below to be discharged through the sliding pipe 71 and the third one-way valve 74 when the third push plate 72 descends, while air cannot enter from the outside when the third push plate 72 ascends.

[0041] Among them, the balance cylinder 2 is located above the odd-numbered sampling cylinders 3 and the even-numbered sampling cylinders 4. The connection ports of the first connecting pipe 31 and the second connecting pipe 41 with the balance cylinder 2 are circumferentially arrayed around the axis of the balance cylinder 2 in the horizontal plane projection. When the connection port of the first connecting pipe 31 coincides with the water outlet 54, the connection port of the second connecting pipe 41 and the balance cylinder 2 coincides with the water inlet 53 simultaneously.

[0042] This arrangement ensures that when the servo motor 55 rotates the rotating cylinder 51, the water outlet 54 aligns with different first connecting pipes 31 in sequence, and the water inlet 53 simultaneously aligns with the second connecting pipe 41 opposite to the first connecting pipe 31. In this way, by controlling the rotation of the rotating cylinder 51, different odd-numbered sampling cylinders 3 and even-numbered sampling cylinders 4 that are opposite along the center of gravity can be selected for sampling in sequence, thereby maintaining balance.

[0043] Among them, the lifting water intake mechanism 8 includes a second electric telescopic rod 83, an inner pipe 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 pipe 81 is coaxially and hermetically connected to the lower walls of the odd-numbered sampling cylinders 3 and the even-numbered sampling cylinders 4. The inner pipe 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 pipe 81. The fourth one-way valve 82 is arranged at the upper end of the inner pipe 81, and the one-way flow direction of the fourth one-way valve 82 is from bottom to top.

[0044] The lifting water intake mechanism 8 is responsible for sucking water samples from underwater into the odd-numbered sampling cylinders 3 and the even-numbered sampling cylinders 4. The second electric telescopic rod 83 can control the lifting of the sleeve 85, thereby adjusting the water intake depth. The fourth one-way valve 82 is installed at the top of the inner pipe 81, allowing only water to flow from bottom to top and preventing the water sample from flowing back.

[0045] Among them, air release valves 9 are provided on the upper walls of both the odd-numbered sampling cylinders 3 and the even-numbered sampling cylinders 4. The air release valves 9 are used to communicate with the outside atmosphere during initial setting, thereby adjusting the positions of the second push plate 63 and the third push plate 72 to prepare for subsequent sampling operations.

[0046] Among them, the odd-numbered sampling cylinders 3, the rotating cylinder 51, and the even-numbered sampling cylinders 4 have equal volumes. This design ensures that the weight distribution can be balanced during the sampling process.

[0047] The specific working process is as follows:

[0048] Preparation before launching: Ensure that the sleeve 85 in the lifting water intake mechanism 8 is located above the double pontoons 11 to avoid obstruction when entering the water. Confirm that the first push plate 59 in the transfer balance mechanism 5 is closely attached to the lower wall of the transfer cylinder 51, and the space above the first push plate 59 should be filled with water as the transfer medium. Open the air release valves 9 on all odd-numbered sampling cylinders 3 and even-numbered sampling cylinders 4 to connect their interiors to the external atmospheric pressure. Push the first handle 62 in the odd-numbered sampling mechanism 6 to make the second push plate 63 closely attached to the lower wall of the odd-numbered sampling cylinder 3, and push the second handle 73 to make the third push plate 72 closely attached to the upper wall of the even-numbered sampling cylinder 4. Then close all the air release valves 9 and launch the hull into the water.

[0049] First sampling (odd-numbered sampling): The hull sails to the first sampling point. Start the lifting water intake mechanism 8, and 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. Start the transfer balance mechanism 5, and the servo motor 55 drives the transfer cylinder 51 to rotate through the rotating shaft 52, aligning the water outlet 54 with one of the first connecting pipes 31. At this time, the water inlet 53 will automatically align with the second connecting pipe 41, which is located on the other side of the hull's center of gravity and opposite to the first connecting pipe 31. In this way, a pair of symmetrically located odd-numbered sampling cylinders 3 and even-numbered sampling cylinders 4 are selected for subsequent sampling, while the other unselected ones are in a closed state and are not affected. Remotely control the first electric telescopic rod 56 to extend upward, driving the first sliding column 58 and the first push plate 59 upward. Since the space above the first push plate 59 is filled with water, during the upward movement, water enters the even-numbered sampling cylinder 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. In the even-numbered sampling mechanism 7, the third one-way valve 74 only allows gas to flow from the sliding tube 71 to the outside. Therefore, the air in the even-numbered sampling cylinder 4 is discharged through the sliding tube 71 and the third one-way valve 74 during the downward pressing of the third push plate 72. At the same time, since the first push plate 59 moves upward, 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, creating a negative pressure below the second push plate 63. Through the fourth one-way valve 82 (which only allows water to flow from bottom to top) and the inner tube 81, the water sample at the target point is sucked into the odd-numbered sampling cylinder 3 and is located below the second push plate 63. When the final sampling is completed, the transfer cylinder 51 is filled with the air discharged from the odd-numbered sampling cylinder 3, the odd-numbered sampling cylinder 3 is filled with the target water sample, and the even-numbered sampling cylinder 4 is filled with the transfer water from the transfer cylinder 51. Due to the function of the fourth one-way valve 82, the water sample will not flow back. At this time, since the odd-numbered sampling cylinder 3 and the even-numbered sampling cylinder 4 are symmetrically distributed and the weights of the water sample and the transfer water are equivalent, the center of gravity of the hull remains balanced.

[0050] Second sampling (even-numbered sampling): Lift the casing 85 out of the water surface. The hull moves to the next sampling point, then insert the casing 85 into the water again to reach the preset sampling depth. Remotely control the transfer balance mechanism 5, the first electric telescopic rod 56 contracts, driving the first push plate 59 downward. In the odd-numbered sampling mechanism 6, due to the functions 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 sample already collected in the odd-numbered sampling cylinder 3 is not affected. The pressure above the first push plate 59 decreases, and the third push plate 72 in the even-numbered sampling cylinder 4 is forced to move upward under the pressure. The transfer water starts to transfer into the transfer cylinder 51 again. In the even-numbered sampling mechanism 7, since the third one-way valve 74 only allows gas to flow from the sliding pipe 71 to the outside, a negative pressure is formed below the third push plate 72. Through the fourth one-way valve 82 and the inner pipe 81, the water sample at the target point is sucked into the even-numbered sampling cylinder 4 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 the transfer water. At this time, the center of gravity of the hull still remains balanced.

[0051] Subsequent sampling: Remotely control the transfer balance mechanism 5. The servo motor 55 drives the transfer cylinder 51 to rotate, so that the water outlet 54 is aligned with the first connecting pipe 31 on the next odd-numbered sampling cylinder 3 that needs to be sampled, and the water inlet 53 automatically aligns with the second connecting pipe 41 on the corresponding even-numbered sampling cylinder 4. At this time, the water outlet 54 and the water inlet 53 are disconnected from the odd-numbered sampling cylinder 3 and the even-numbered sampling cylinder 4 of the previous two samplings. And since the transfer cylinder 51 is already filled with transfer water at this time, the subsequent odd-numbered sampling process is exactly the same as the first sampling. In this way, it circulates repeatedly, successively performing odd-numbered sampling and even-numbered sampling until all odd-numbered sampling cylinders 3 and even-numbered sampling cylinders 4 have collected the target water samples. Due to the connection ports of the first connecting pipe 31 and the balance cylinder 2, and the connection ports of the second connecting pipe 41 and the balance cylinder 2, being circularly arrayed around the axis of the balance cylinder 2 in the horizontal plane projection, this geometric layout enables the servo motor 55 to precisely rotate a specific angle each time through a preset program, thereby achieving the precise docking of the water outlet 54 with a specific first connecting pipe 31. This method of precisely controlling the rotation angle of the servo motor 55 to achieve the switching of fluid channels belongs to mature existing technologies and can be realized stably and reliably.

[0052] It should be noted that, in this text, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, such that a process, method, article or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or device.

[0053] Although the embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention.

[0054] The above description of the present invention and its embodiments is not restrictive. What is shown in the drawings is only one of the embodiments of the present invention, and the actual structure is not limited thereto. In general, if those of ordinary skill in the art are inspired by it and, without departing from the gist of the present invention, design similar structural forms and embodiments to this technical solution without creative efforts, they shall fall within 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), wherein the unmanned boat body (1) includes a double buoy (11), a mounting frame (12) provided on the double buoy (11), a thruster (13) provided at the tail end of the mounting frame (12), and a support platform (14) provided on the mounting frame (12), and is characterized in that: A balance cylinder (2) is provided on the support platform (14). The balance cylinder (2) is opposite to the center-of-gravity position of the unmanned ship body (1). Ring frames (15) are evenly distributed annularly along the balance cylinder (2) on the support platform (14). An equal number of odd sampling cylinders (3) and even sampling cylinders (4) are placed on the ring frames (15). The odd sampling cylinders (3) and the even sampling cylinders (4) are symmetrically distributed on both sides of the center-of-gravity position of the unmanned ship body (1). A detachable first connecting pipe (31) is hermetically connected and communicated between the lower wall of the balance cylinder (2) and the upper wall of the odd sampling cylinder (3). A detachable second connecting pipe (41) is hermetically connected and communicated between the upper wall of the balance cylinder (2) and the upper wall of the even sampling cylinder (4). A transfer balance mechanism (5) is provided on the balance cylinder (2). An odd sampling mechanism (6) is provided on the odd sampling cylinder (3). An even sampling mechanism (7) is provided on the even sampling cylinder (4). A lifting water intake mechanism (8) is provided on the lower side of the support platform (14); The transfer balance mechanism (5) includes a transfer cylinder (51), 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 first electric telescopic rod (56) is arranged on the upper wall of the balance cylinder (2). A connecting rod (57) is provided at the upward output end of the first electric telescopic rod (56). The first sliding column (58) is arranged below the connecting rod (57). A first push plate (59) is coaxially provided at the lower end of the first sliding column (58); The odd 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 and hermetically penetrates through the odd sampling cylinder (3). A second push plate (63) is coaxially provided at the lower end of the second sliding column (61). The first one-way valve (65) and the second one-way valve (64) are arranged on the first connecting pipe (31); The even sampling mechanism (7) includes a sliding pipe (71). The sliding pipe (71) coaxially and hermetically penetrates through the even sampling cylinder (4). A third push plate (72) is coaxially provided at the lower end of the sliding pipe (71). A second handle (73) is provided at the upper end of the sliding pipe (71). A third one-way valve (74) is provided on the second handle (73).

2. The automatic water sample collection device for an unmanned boat according to claim 1, characterized in that: The transfer balance mechanism (5) further includes a water inlet (53), a water outlet (54), a rotating shaft (52) and a servo motor (55). The outer surface of the transfer cylinder (51) is in close contact with the inner surface of the balance cylinder (2). The water inlet (53) and the water outlet (54) are respectively opened on the upper and lower walls of the transfer cylinder (51). The water inlet (53) and the water outlet (54) are symmetric on both sides of the axis of the transfer cylinder (51) in the 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 balance cylinder (2). The rotating shaft (52) penetrates through the lower wall of the balance cylinder (2) in a sealed manner and is connected to the output end of the servo motor (55). The first sliding column (58) penetrates through the balance cylinder (2) and the transfer cylinder (51) in a sealed and coaxial manner. The edge of the first push plate (59) is in close contact with the inner side wall of the transfer cylinder (51) in a sealed manner.

3. The automatic water sample collection device for an unmanned boat according to claim 2, characterized in that: The edge of the second push plate (63) is in close contact with the inner side wall of the odd sampling cylinder (3) in a sealed manner. A first handle (62) is provided at the upper end of the second sliding column (61). The first one-way valve (65) is closer to the upper wall of the odd sampling cylinder (3) than the second one-way valve (64). The one-way flow direction of the first one-way valve (65) is from the odd sampling cylinder (3) to the balance cylinder (2). 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 ship according to claim 3, characterized in that: The inside of the sliding pipe (71) is communicated with the space below the third push plate (72). The edge of the third push plate (72) is in close contact with the inner side wall of the even sampling cylinder (4) in a sealed manner. The third one-way valve (74) is arranged in communication with the sliding pipe (71). The one-way flow direction of the third one-way valve (74) is from the inside of the sliding pipe (71) to the outside.

5. The automatic water sample collection device for an unmanned boat according to claim 4, characterized in that: The balance cylinder (2) is located above the odd sampling cylinder (3) and the even sampling cylinder (4). The connection ports of the first connecting pipe (31) and the second connecting pipe (41) with the balance cylinder (2) are circumferentially arrayed around the axis of the balance cylinder (2) in the horizontal plane projection. When the connection port of the first connecting pipe (31) coincides with the water outlet (54), the connection ports of the second connecting pipe (41) and the balance cylinder (2) coincide with the water inlet (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) includes a second electric telescopic rod (83), an inner pipe (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 pipe (81) is coaxially and sealingly communicated with the lower walls of the odd sampling cylinder (3) and the even sampling cylinder (4). The inner pipe (81) penetrates 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 closely sleeved on the outer side of the inner pipe (81). The fourth one-way valve (82) is arranged at the upper end of the inner pipe (81). 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 ship according to claim 6, characterized in that: Air release valves (9) are provided on the upper walls of both the odd sampling cylinder (3) and the even sampling cylinder (4).

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

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