Unmanned ship for water area sampling

Abstract

The invention discloses an unmanned ship for water area sampling, and relates to the field of unmanned ships, the unmanned ship comprises a ship body, the outer side of the ship body is provided with a protection ring, the front end of the ship body is provided with a detection structure, the protection ring is provided with a pressurization structure, and the inner side of the ship body is provided with a sampling assembly. By arranging the air cylinder, the positioning block, the supporting seat and the floating plate, under the condition that the water surface fluctuation is large or the wind speed is high, the air cylinder is controlled to operate through the control panel and the control equipment, the air cylinder extrudes the positioning block, the positioning block is shrunk to the inner side of the clamping block, and at the moment, the sliding block and the movable seat directly fall down in the supporting seat due to the self-weight effect; the four floating plates are driven to fall to be attached to the water surface, the floating plates can be adjusted along with movement of the water surface through the sliding blocks and the supporting bases, the contact area of the ship body and water is increased through the floating plates, then the adhesive force of the ship body and the water surface is increased, and therefore the adverse effect of wind power and water flow on the ship body can be relieved.

Description

Technical Field

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

[0002] An unmanned boat is a fully automatic surface robot that can navigate on the water according to preset tasks without remote control, using precise satellite positioning and its own sensors. Unmanned boats are mostly used for surveying, hydrology and water quality monitoring. The emergence of unmanned boats can effectively solve these pain points. Unmanned boats generally used for water quality testing will have water sample collection equipment, which effectively replaces traditional manual sampling and solves the cumbersome sampling procedures before testing.

[0003] The patent document with the prior art publication number CN116461659A provides an unmanned boat for automatic water sample collection. Through the provided guiding mechanism and sampling mechanism, when the driving device drives the sun wheel to rotate, it will synchronously drive several planetary wheels to revolve and rotate in the gear ring, thereby prompting the rotating rods on the planetary wheels to operate synchronously, so as to drive the cleaning blades on the rotating rods to rotate, thereby clearing the duckweed on the water surface, and cooperating with the operation of the filter screen to prevent the bottom green algae from entering the sampling water. However, although the patent CN116461659A has the water surface cleaning function when in use, due to the small size of the hull, it is easy to be displaced or even flipped over under the influence of wind and water flow, thereby affecting the sampling. Therefore, an unmanned boat for water sampling is urgently needed. Summary of the invention

[0004] The purpose of the present invention is to provide an unmanned boat for sampling in water areas to solve the problems that the existing unmanned boats are easily displaced or even flipped over due to the small size of the hull under the influence of wind and water flow, thereby affecting sampling; when the unmanned boat is driving, if the water body is relatively turbid, the sensor cannot accurately detect obstacles in front; when the unmanned boat is sampling, the sampling tube is easily entangled by aquatic plants, garbage, etc., thereby blocking the sampling port and affecting sampling.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solution: an unmanned boat for sampling water areas, comprising a hull, a protective ring is arranged on the outer side of the hull, and a detection structure is installed on the front end of the hull, a boosting structure is arranged on the protective ring, a sampling assembly is installed on the inner side of the hull, a sample barrel is arranged on the sampling assembly, a hose is connected to the top end of the sample barrel, and a sampling structure is arranged on the end of the hose.

[0006] The boost structure includes a support seat, a slider is provided on the inner side of the support seat, a movable seat is fixed on the front end of the slider, and limiting blocks are fixed on both sides of the slider, a clamping block is provided on the top of the slider, a positioning groove is provided on the top of the support seat, and a first spring is connected to the inner side of the support seat, a cylinder is installed on the right side of the positioning groove, a positioning block is provided on the end of the first spring, a rotating seat is movably engaged with the inner side of the movable seat, a floating plate is fixed on the rotating seat, and a servo motor is installed at one end of the rotating seat.

[0007] The detection structure includes a fixed tube, an adjusting tube is engaged with the inner side of the fixed tube, and a mounting sleeve is provided at the end of the fixed tube, a pressure sensor is installed inside the adjusting tube, and an air cushion block is connected to the end of the adjusting tube, a pressure probe is installed at the front end of the pressure sensor, a detection plate is provided on the air cushion block, a mounting seat is engaged with the inner side of the mounting sleeve, a driving ring is sleeved on the outer wall of the fixed tube, and a movable frame is movably provided inside the fixed tube, a fixed block is provided at the front end of the movable frame, and a second spring is provided at the rear end of the movable frame.

[0008] The sampling structure includes a bellows, the bottom end of the bellows is connected to a sampling tube, an electric push rod is installed on one side of the sampling tube, and a sampling groove is opened on the sampling tube, a rubber sheet is fixed to the bottom end of the sampling tube, a mesh cover is arranged on the outside of the rubber sheet, and an annular brush is installed at the bottom end of the hull.

[0009] Preferably, a control device is installed inside the hull, and an antenna is provided at the top of the hull, a camera is installed on one side of the antenna, and a distance sensor is installed at the front end of the hull, and the distance sensor includes a laser rangefinder and an ultrasonic rangefinder.

[0010] Preferably, the number of the support seats and floating plates is four, and the support seat is fixed by snapping into the protective ring, a slide groove matching the slider is opened on the inner side of the support seat, and limiting grooves matching the limiting blocks are opened on both sides of the slide groove, the movable seat and the support seat are movably connected by the slider, the slide groove, the limiting blocks and the limiting grooves, the servo motor is fixedly installed with the movable seat, the floating plate and the movable seat are movably connected by the servo motor and the rotating seat, and the rotating seat and the movable seat are rotatably connected by a bearing.

[0011] Preferably, the locking block is locked with the positioning groove, the two ends of the first spring are fixedly connected with the locking block and the positioning block respectively, and a contraction groove matching the first spring and the positioning block is provided on the inner side of the locking block, a locking groove matching the positioning block is provided on one side of the positioning groove, and the locking block, the support seat and the positioning groove are fixedly installed through the positioning block and the locking groove, and the positioning block and the support seat are locked with the locking groove.

[0012] Preferably, the number of the fixing tube, the mounting sleeve and the mounting seat is three, the mounting seat is fixed to the bottom end of the hull, the outer wall of the mounting seat is provided with a fixing groove matching the fixing block, and the driving ring is movably connected to the fixing tube through a thread.

[0013] Preferably, the movable frame and the fixed tube are movably connected via a second spring, the mounting sleeve and the mounting seat are fixed by engaging with a fixing block and a fixing groove, and the adjusting tube and the fixed tube are fixedly installed via bolts.

[0014] Preferably, the pressure sensor is electrically connected to the control device via a PLC controller, and the detection board is movably connected to the regulating tube via an air cushion block.

[0015] Preferably, an operating groove matching the bellows, the sampling tube and the electric push rod is opened on the inner side of the hull, the electric push rod and the operating groove are fixedly installed by a bracket, and the electric push rod and the sampling tube are fixedly installed by a connecting frame.

[0016] Preferably, a slot matching the mesh cover is provided at the bottom end of the hull, the rubber sheet is fixedly connected to the mesh cover, sampling grooves are provided at both ends of the sampling tube, and the annular brush is fitted to the outer wall of the mesh cover.

[0017] Compared with the prior art, the present invention has the following beneficial effects: First, the present invention provides a cylinder, a positioning block, a support seat and a floating plate. When the water surface fluctuates greatly or the wind speed is fast, the operation of the cylinder is controlled by a control panel and a control device. The cylinder squeezes the positioning block so that the positioning block shrinks to the inside of the locking block. At this time, the slider and the movable seat fall directly in the support seat due to their own weight, and drive the four floating plates to fall and fit the water surface. The slider and the support seat can be used to adjust the floating plates along with the movement of the water surface. The floating plates increase the contact area between the hull and the water, thereby increasing the adhesion between the hull and the water surface, thereby reducing the adverse effects of wind and water flow on the hull.

[0018] Second, the present invention sets fixed tubes, detection plates, pressure sensors and pressure probes. When sampling in turbid waters, the three fixed tubes are fixed to the hull in advance, and then the position of the detection plate is adjusted according to the turbidity of the waters and the detection requirements, and the adjustment tube is pulled to move inside the fixed tube to adjust the extension length. After adjustment, it is fixed by bolts. When the hull is traveling, the three detection plates are used for detection. If an obstacle in the water is encountered, the obstacle first contacts the detection plate, and the extrusion force of the contact pushes the detection plate to move backward to squeeze the air cushion block and fit with the pressure probe. The pressure probe senses the pressure, and the pressure sensor converts the pressure signal into an electrical signal, which is transmitted to the control device and synchronously transmitted to the control panel in the hands of the operator, so that obstacles can be discovered in time and adjustments can be made in time.

[0019] Third, the present invention is provided with an electric push rod, a sampling tube, a mesh cover and an annular brush. The electric push rod drives the sampling tube to stretch the top end of the corrugated tube downward. When the sampling tube is extended, the rubber sheet at the bottom end drives the mesh cover to be pulled out of the slot. Since the mesh cover is located on the outside of the sampling tube, and during the sampling process, the electric push rod drives the sampling tube and the mesh cover to be retracted and extended again at a fixed time. During this operation, the annular brush at the bottom end of the hull cleans the outer wall of the movable mesh cover to prevent water plants, garbage, etc. from adhering to the outer wall of the mesh cover, thereby ensuring the transparency of the mesh cover, and further ensuring that the water flow passes through the filtration of the mesh cover and smoothly enters the sampling tube. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a schematic diagram of the top view of the structure of the present invention; Figure 3 It is a schematic diagram of the boosting structure of the present invention; Figure 4 It is a schematic diagram of a cylinder of the present invention; Figure 5 For the present invention Figure 4 A is an enlarged schematic diagram; Figure 6 It is a schematic diagram of the rotating seat of the present invention; Figure 7 It is a schematic diagram of the position of the mounting seat of the present invention; Figure 8 It is a schematic diagram of the detection structure of the present invention; Fig. 9 It is a schematic diagram of a driving ring of the present invention; Fig.10 is a schematic diagram of a pressure sensor of the present invention; Fig.11 It is a schematic diagram of the hose of the present invention; Fig.12 For the present invention Fig.11 A magnified schematic diagram of B; Fig.13 It is a schematic diagram of the sampling tank of the present invention; Fig.14 It is a schematic diagram of a mesh cover of the present invention.

[0021] In the figure: 1, hull; 2, protective ring; 3, control equipment; 4, boost structure; 401, support seat; 402, slider; 403, limit block; 404, locking block; 405, positioning groove; 406, first spring; 407, positioning block; 408, cylinder; 409, movable seat; 410, servo motor; 411, rotating seat; 412, floating plate; 5, detection structure; 501, fixed pipe; 502, regulating pipe; 503, pressure sensor; 504, pressure probe; 505, air cushion block; 5 06. Detection plate; 507. Mounting sleeve; 508. Drive ring; 509. Mobile frame; 510. Second spring; 511. Fixed block; 6. Mounting seat; 7. Sampling assembly; 8. Sample barrel; 9. Hose; 10. Sampling structure; 1001. Bellows; 1002. Sampling tube; 1003. Operating slot; 1004. Electric push rod; 1005. Sampling slot; 1006. Rubber sheet; 1007. Mesh cover; 1008. Ring brush; 11. Antenna; 12. Camera; 13. Distance sensor. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0023] See also Figure 1-Figure 6, an unmanned boat for sampling waters, comprising a hull 1, a protective ring 2 is arranged on the outside of the hull 1, a detection structure 5 is installed at the front end of the hull 1, a pressurization structure 4 is arranged on the protective ring 2, a sampling assembly 7 is installed on the inside of the hull 1, a sample barrel 8 is arranged on the sampling assembly 7, a hose 9 is connected to the top of the sample barrel 8, a sampling structure 10 is arranged at the end of the hose 9, and the pressurization structure 4 comprises a support seat 401, a slider 402 is arranged on the inside of the support seat 401, a movable seat 409 is fixed at the front end of the slider 402, and limited blocks 403 are fixed on both sides of the slider 402, a clamping block 404 is arranged on the top of the slider 402, a positioning groove 405 is opened on the top of the support seat 401, and a first elastic member 406 is connected to the inside of the support seat 401. Spring 406, a cylinder 408 is installed on the right side of the positioning groove 405, a positioning block 407 is provided at the end of the first spring 406, a rotating seat 411 is movably engaged with the inner side of the movable seat 409, a floating plate 412 is fixed on the rotating seat 411, and a servo motor 410 is installed at one end of the rotating seat 411, a control device 3 is installed inside the hull 1, and an antenna 11 is provided at the top of the hull 1, a camera 12 is installed on one side of the antenna 11, a distance sensor 13 is installed at the front end of the hull 1, and the distance sensor 13 includes a laser rangefinder and an ultrasonic rangefinder, the number of the support seat 401 and the floating plate 412 is four, and the support seat 401 is fixed with the protective ring 2, and a slide groove matching the slider 402 is opened on the inner side of the support seat 401 , and both sides of the slide groove are provided with limit grooves matching the limit block 403, the movable seat 409 is movably connected to the support seat 401 through the slider 402, the slide groove, the limit block 403 and the limit groove, the servo motor 410 is fixedly installed with the movable seat 409, the floating plate 412 is movably connected to the movable seat 409 through the servo motor 410 and the rotating seat 411, and the rotating seat 411 is rotatably connected with the movable seat 409 through the bearing, the engaging block 404 is engaged with the positioning groove 405, the two ends of the first spring 406 are respectively fixedly connected with the engaging block 404 and the positioning block 407, and the inner side of the engaging block 404 is provided with a contraction groove matching the first spring 406 and the positioning block 407, and one side of the positioning groove 405 is provided with a The engaging groove is matched, and the engaging block 404 is fixedly installed with the support seat 401 and the positioning groove 405 through the positioning block 407 and the engaging groove. The positioning block 407 is engaged with the support seat 401 through the engaging groove. When the operator of the unmanned boat detects that the water surface fluctuates greatly or the wind speed is fast, the control panel and the control device 3 are used to control the operation of the cylinder 408. After the cylinder 408 is running, its piston rod extends to squeeze the positioning block 407, so that the first spring 406 at the end of the positioning block 407 is squeezed and contracted into the contraction groove on the inner side of the engaging block 404 after the force is applied. After the positioning block 407 is completely retracted into the inner side of the engaging block 404, the engaging block 404 is separated from the positioning groove 405. At this time, the slider 402 and the movable seat 409 are under the influence of their own weight.The limit block 403 and the limit groove directly fall on the inner side of the support seat 401, and the servo motor 410 is controlled to run at the same time. The internal technology of the servo motor 410 is the existing technology. After the servo motor 410 runs, it drives the rotating seat 411 at the output end to rotate on the inner side of the movable seat 409, and then drives the floating plate 412 to open outward through the rotating seat 411, and controls the floating plate 412 to be perpendicular to the hull 1. Then, the four floating plates 412 fall and fit the water surface under the drive of the slider 402 and the movable seat 409, and the slider 402 and the support seat 401 can make the floating plates 412 adjust with the movement of the water surface. The floating plates 412 increase the contact area between the hull 1 and the water, and then increase the adhesion between the hull 1 and the water surface, so as to reduce the adverse effects of wind and water flow on the hull 1.

[0024] See also Figure 7-Figure 10, an unmanned boat for sampling waters, the detection structure 5 includes a fixed tube 501, an adjusting tube 502 is engaged with the inner side of the fixed tube 501, and a mounting sleeve 507 is provided at the end of the fixed tube 501, a pressure sensor 503 is installed inside the adjusting tube 502, and an air cushion block 505 is connected to the end of the adjusting tube 502, a pressure probe 504 is installed at the front end of the pressure sensor 503, a detection plate 506 is provided on the air cushion block 505, a mounting seat 6 is engaged with the inner side of the mounting sleeve 507, a driving ring 508 is sleeved on the outer wall of the fixed tube 501, and a movable frame 509 is movably provided inside the fixed tube 501, a fixed block 511 is provided at the front end of the movable frame 509, and the movable frame 509 is provided with a fixed block 511. The rear end of the movable frame 509 is provided with a second spring 510, the number of the fixed tube 501, the mounting sleeve 507 and the mounting seat 6 is three, the mounting seat 6 is fixed to the bottom end of the hull 1, the outer wall of the mounting seat 6 is provided with a fixing groove matching the fixing block 511, the driving ring 508 is movably connected to the fixed tube 501 through a thread, the movable frame 509 is movably connected to the fixed tube 501 through the second spring 510, the mounting sleeve 507 is fixed to the mounting seat 6 through the fixing block 511 and the fixing groove, the adjusting tube 502 is fixedly installed with the fixed tube 501 through bolts, the pressure sensor 503 is electrically connected to the control device 3 through the PLC controller, and the detection board 506 is connected to the adjusting tube 502 through the air cushion block 505 is movably connected. When sampling in turbid waters, the three fixed tubes 501 are fixed to the hull 1 in advance, and the mounting sleeve 507 at the end of the fixed tube 501 can be sleeved on the outside of the three mounting seats 6, and then the driving ring 508 on the fixed tube 501 is screwed. The driving ring 508 rotates on the outer wall of the fixed tube 501 through a thread, and moves forward by rotating, and pushes the second spring 510 at the rear end of the mobile frame 509 to move forward. After moving, the fixing block 511 at the front end of the mobile frame 509 passes through the mounting sleeve 507 and is finally inserted into the fixing groove on the inner side of the mounting seat 6, so that the mounting sleeve 507 is engaged and fixed with the mounting seat 6, and the installation of the fixed tube 501 and the hull 1 is completed, and then according to According to the turbidity of the water area and the detection requirements, the position of the detection plate 506 is adjusted, and the adjustment tube 502 is pulled to move inside the fixed tube 501 to adjust the extension length. After adjustment, it is fixed by bolts. When the hull 1 is traveling, the three detection plates 506 are used for detection. If an obstacle in the water is encountered, the obstacle will first contact the detection plate 506. The extrusion force of the contact pushes the detection plate 506 to move backward to squeeze the air cushion block 505, and fit with the pressure probe 504. Then the pressure probe 504 feels the pressure, and the pressure sensor 503 converts the pressure signal into an electrical signal, transmits it to the control device 3, and synchronously transmits it to the control panel in the hands of the operator, so that obstacles can be discovered in time and adjustments can be made in time.

[0025] See also Figure 11-Figure 14, an unmanned boat for sampling waters, the sampling structure 10 comprises a bellows 1001, the bottom end of the bellows 1001 is connected to a sampling tube 1002, one side of the sampling tube 1002 is installed with an electric push rod 1004, and a sampling groove 1005 is provided on the sampling tube 1002, a rubber sheet 1006 is fixed to the bottom end of the sampling tube 1002, a mesh cover 1007 is provided on the outer side of the rubber sheet 1006, an annular brush 1008 is installed at the bottom end of the hull 1, and an operating mechanism 1008 matching the bellows 1001, the sampling tube 1002 and the electric push rod 1004 is provided on the inner side of the hull 1 The operating slot 1003 is fixedly installed with the electric push rod 1004 and the operating slot 1003 through a bracket, and the electric push rod 1004 and the sampling tube 1002 are fixedly installed through a connecting frame. A slot matching the mesh cover 1007 is provided at the bottom of the hull 1, and the rubber sheet 1006 is fixedly connected to the mesh cover 1007. Both ends of the sampling tube 1002 are provided with sampling slots 1005, and the annular brush 1008 is fitted with the outer wall of the mesh cover 1007. The unmanned boat operator controls the unmanned boat hull 1 to travel on the water surface through the control panel in his hand, moves to the designated water area, and then controls the sampling component 7 to run. At this time, the electric push rod 1004 is controlled to operate. The internal technology of the electric push rod 1004 is the existing technology. After the electric push rod 1004 operates, the connecting frame at the output end drives the sampling tube 1002 to stretch the bellows 1001 at the top to move downward, and extend it to the bottom of the hull 1 and insert it into the water body. When the sampling tube 1002 extends, the rubber sheet 1006 at the bottom drives the mesh cover 1007 to be drawn out of the slot. At this time, the water pump on the hose 9 is controlled to operate to start pumping water sampling, so that the water in the water body passes through the mesh cover 1007 and the sampling slot 1005 and enters the sampling tube 100 2, and enters the sample barrel 8 through the bellows 1001 and the hose 9. Since the mesh cover 1007 is located on the outside of the sampling tube 1002, and during the sampling process, the electric push rod 1004 drives the sampling tube 1002 and the mesh cover 1007 to be retracted and extended at a regular interval. During this operation, the annular brush 1008 at the bottom end of the hull 1 cleans the outer wall of the movable mesh cover 1007 to prevent water plants, garbage, etc. from adhering to the outer wall of the mesh cover 1007, thereby ensuring the transparency of the mesh cover 1007, and further ensuring that the water flow passes through the mesh cover 1007 and smoothly enters the sampling tube 1002.

[0026] Working principle: When the present invention is used, the operator of the unmanned boat controls the hull 1 of the unmanned boat to travel on the water surface and move to the designated waters through the control panel in his hand. The distance sensor 13 at the front end of the hull 1 is used to detect possible obstacles around the unmanned boat, and then controls the sampling component 7 to operate. At this time, the electric push rod 1004 is controlled to operate. The internal technology of the electric push rod 1004 is the existing technology. After the electric push rod 1004 is operated, the sampling tube 1002 is driven by the connecting frame at the output end to stretch the corrugated tube 1001 at the top to move downward, and extend it to the bottom of the hull 1 and insert it into the water body. When the sampling tube 1002 is extended, the mesh cover 1007 is pulled out of the slot through the rubber sheet 1006 at the bottom. At this time, the water pump on the control hose 9 is operated to start pumping water. Sampling is performed so that the water in the water body passes through the mesh cover 1007 and the sampling slot 1005 into the sampling tube 1002, and enters the sample barrel 8 through the bellows 1001 and the hose 9. Since the mesh cover 1007 is located on the outside of the sampling tube 1002, and during the sampling process, the electric push rod 1004 drives the sampling tube 1002 and the mesh cover 1007 to be retracted and extended at a regular time. During this operation, the annular brush 1008 at the bottom of the hull 1 cleans the outer wall of the movable mesh cover 1007 to prevent water plants, garbage, etc. from adhering to the outer wall of the mesh cover 1007, thereby ensuring the transparency of the mesh cover 1007, and then ensuring that the water flow passes through the mesh cover 1007 and smoothly enters the sampling tube 1002. When the operator of the unmanned boat notices that the water surface fluctuates greatly or the wind speed is fast, Under the circumstance, the cylinder 408 is controlled to operate through the control panel and the control device 3. After the cylinder 408 operates, its piston rod extends out to squeeze the positioning block 407, so that the positioning block 407 is subjected to force and the first spring 406 at its end is squeezed to shrink into the shrinkage groove inside the locking block 404. After the positioning block 407 is completely retracted into the inner side of the locking block 404, the locking block 404 is separated from the positioning groove 405. At this time, the slider 402 and the movable seat 409 fall directly under the influence of their own weight, and the servo motor 410 is controlled to operate at the same time. The internal technology of the servo motor 410 is the existing technology. After the servo motor 410 operates, it drives the rotating seat 411 at the output end to rotate on the inner side of the movable seat 409, and then drives the floating plate 412 to move outward through the rotating seat 411. Open, and control the floating plate 412 to be perpendicular to the hull 1, then the four floating plates 412, driven by the slider 402 and the movable seat 409, fall and fit the water surface, and the slider 402 and the support seat 401 can be used to adjust the floating plates 412 along with the movement of the water surface, and the floating plates 412 increase the contact area between the hull 1 and the water, thereby increasing the adhesion between the hull 1 and the water surface, thereby reducing the adverse effects of wind and water flow on the hull 1. When sampling in turbid waters, the three fixed tubes 501 are fixed to the hull 1 in advance, and the mounting sleeve 507 at the end of the fixed tube 501 can be sleeved on the outside of the three mounting seats 6, and then the driving ring 508 on the fixed tube 501 is screwed, and the driving ring 508 is rotated on the outer wall of the fixed tube 501 through a thread, and the driving ring 508 moves forward by rotating,And push the second spring 510 at the rear end of the mobile frame 509 to move forward. After moving, the fixing block 511 at the front end of the mobile frame 509 passes through the installation sleeve 507 and is finally inserted into the fixing groove on the inner side of the mounting seat 6, so that the installation sleeve 507 is engaged and fixed with the mounting seat 6, and the fixing pipe 501 and the hull 1 are installed. Then, according to the turbidity of the water area and the detection requirements, the position of the detection plate 506 is adjusted, and the adjustment tube 502 is pulled to move inside the fixed tube 501 to adjust the extension length. After adjustment, it is fixed by bolts. When the hull 1 is traveling, the three detection plates 506 are detected. If an obstacle in the water is encountered, the obstacle first contacts the detection plate 506, and the extrusion force of the contact pushes the detection plate 506 to move backward to squeeze the air cushion block 505, and fit with the pressure probe 504. Then the pressure probe 504 feels the pressure, and the pressure sensor 503 converts the pressure signal into an electrical signal, transmits it to the control device 3, and synchronously transmits it to the control panel in the hands of the operator, so that the obstacle can be found in time and adjustments can be made in time. ,

[0027] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. An unmanned boat for sampling waters, comprising a hull (1), characterized in that: The outer side of the hull (1) is provided with a protective ring (2), and a detection structure (5) is installed at the front end of the hull (1), a pressurization structure (4) is provided on the protective ring (2), a sampling assembly (7) is installed on the inner side of the hull (1), a sample barrel (8) is provided on the sampling assembly (7), the top end of the sample barrel (8) is connected to a hose (9), and a sampling structure (10) is provided at the end of the hose (9); The boost structure (4) comprises a support seat (401), a slider (402) is arranged on the inner side of the support seat (401), a movable seat (409) is fixed at the front end of the slider (402), and limit blocks (403) are fixed on both sides of the slider (402), a locking block (404) is arranged at the top of the slider (402), a positioning groove (405) is opened at the top of the support seat (401), and a first spring (406) is connected to the inner side of the support seat (401), a cylinder (408) is installed on the right side of the positioning groove (405), a positioning block (407) is arranged at the end of the first spring (406), a rotating seat (411) is movably engaged with the inner side of the movable seat (409), a floating plate (412) is fixed on the rotating seat (411), and a servo motor (410) is installed at one end of the rotating seat (411); The detection structure (5) comprises a fixed tube (501), an adjusting tube (502) is engaged with the inner side of the fixed tube (501), and a mounting sleeve (507) is provided at the end of the fixed tube (501), a pressure sensor (503) is installed inside the adjusting tube (502), and an air cushion block (505) is connected to the end of the adjusting tube (502), a pressure probe (504) is installed at the front end of the pressure sensor (503), a detection plate (506) is provided on the air cushion block (505), a mounting seat (6) is engaged with the inner side of the mounting sleeve (507), a driving ring (508) is sleeved on the outer wall of the fixed tube (501), and a movable frame (509) is movably provided inside the fixed tube (501), a fixed block (511) is provided at the front end of the movable frame (509), and a second spring (510) is provided at the rear end of the movable frame (509); The sampling structure (10) comprises a bellows (1001), the bottom end of the bellows (1001) is connected to a sampling tube (1002), an electric push rod (1004) is installed on one side of the sampling tube (1002), and a sampling groove (1005) is provided on the sampling tube (1002), a rubber sheet (1006) is fixed to the bottom end of the sampling tube (1002), a mesh cover (1007) is arranged on the outside of the rubber sheet (1006), and an annular brush (1008) is installed at the bottom end of the hull (1).

2. The unmanned boat for water sampling according to claim 1, characterized in that: A control device (3) is installed inside the hull (1), an antenna (11) is arranged at the top of the hull (1), a camera (12) is installed on one side of the antenna (11), and a distance sensor (13) is installed at the front end of the hull (1), the distance sensor (13) comprising a laser rangefinder and an ultrasonic rangefinder.

3. The unmanned boat for water sampling according to claim 1, characterized in that: The number of the support seat (401) and the floating plate (412) is four, and the support seat (401) is fixedly engaged with the protective ring (2); a slide groove matching the slider (402) is provided on the inner side of the support seat (401), and limiting grooves matching the limiting blocks (403) are provided on both sides of the slide groove; the movable seat (409) is movably connected to the support seat (401) via the slider (402), the slide groove, the limiting blocks (403) and the limiting groove; the servo motor (410) is fixedly installed with the movable seat (409); the floating plate (412) is movably connected to the movable seat (409) via the servo motor (410) and the rotating seat (411), and the rotating seat (411) is rotatably connected to the movable seat (409) via a bearing.

4. The unmanned boat for water sampling according to claim 1, characterized in that: The engaging block (404) is engaged with the positioning groove (405), the two ends of the first spring (406) are respectively fixedly connected with the engaging block (404) and the positioning block (407), and a contraction groove matching the first spring (406) and the positioning block (407) is provided on the inner side of the engaging block (404), and an engaging groove matching the positioning block (407) is provided on one side of the positioning groove (405), and the engaging block (404) and the support seat (401) and the positioning groove (405) are fixedly installed via the positioning block (407) and the engaging groove, and the positioning block (407) and the support seat (401) are engaged with each other via the engaging groove.

5. The unmanned boat for water sampling according to claim 1, characterized in that: The number of the fixing tube (501), the mounting sleeve (507) and the mounting seat (6) is three; the mounting seat (6) is fixed to the bottom end of the hull (1); the outer wall of the mounting seat (6) is provided with a fixing groove matching the fixing block (511); and the driving ring (508) is movably connected to the fixing tube (501) via a thread.

6. The unmanned boat for water sampling according to claim 1, characterized in that: The movable frame (509) and the fixed tube (501) are movably connected via a second spring (510); the mounting sleeve (507) and the mounting seat (6) are fixed by means of a fixing block (511) and a fixing groove; and the adjusting tube (502) and the fixed tube (501) are fixedly mounted via bolts.

7. The unmanned boat for water sampling according to claim 2, characterized in that: The pressure sensor (503) is electrically connected to the control device (3) via a PLC controller, and the detection board (506) is movably connected to the regulating tube (502) via an air cushion block (505).

8. The unmanned boat for water sampling according to claim 1, characterized in that: An operating groove (1003) matching the bellows (1001), the sampling tube (1002) and the electric push rod (1004) is provided on the inner side of the hull (1). The electric push rod (1004) and the operating groove (1003) are fixedly installed via a bracket, and the electric push rod (1004) and the sampling tube (1002) are fixedly installed via a connecting frame.

9. The unmanned boat for water sampling according to claim 1, characterized in that: A slot matching the mesh cover (1007) is provided at the bottom end of the hull (1), the rubber sheet (1006) is fixedly connected to the mesh cover (1007), sampling grooves (1005) are provided at both ends of the sampling tube (1002), and the annular brush (1008) is in contact with the outer wall of the mesh cover (1007).

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