Three-pump linkage rinsing water body layered accurate sampling device and three-pump linkage rinsing water body layered accurate sampling method

Abstract

The invention discloses a three-pump linkage rinsing water body layered precise sampling device and method, and relates to the technical field of water quality sampling and monitoring, the device comprises a cloud control system, a sampling ship and a docking base station, and through collaborative design of a three-pump linkage rinsing mechanism and an intelligent sample separation system, the water body layered precise sampling device can be used for sampling water; pollution-free operation of the whole process of water sample collection is achieved, residual preorder water samples in the water sample detection chamber can be thoroughly removed through three times of circulating pumping drainage of the first pump and the third pump before sampling, cross contamination of samples at different point positions is avoided, and by matching with linkage response of the water quality detection probe and the abnormal water sample recovery chamber, the detection accuracy is improved. The system is simple in structure and convenient to operate, a second pump and a steering engine structure can be immediately started when it is detected that the water quality does not reach the standard, abnormal samples are independently stored in an exclusive cabin, and the problem of data distortion caused by mixing of residual water samples in a traditional sampling device is fundamentally solved through the control process of rinsing, detection and sample separation.

Description

Technical Field

[0001] The present invention relates to the technical field of water quality sampling and monitoring, and in particular to a device and method for precise stratification sampling of water bodies using three-pump linkage rinsing. Background Art

[0002] With the increasing multi-source pollution of industrial wastewater, agricultural runoff, and domestic sewage, the vertical stratification and lateral differences in water quality have significantly increased. Traditional sampling equipment such as water bottles, electric pumps, and float buckets are mostly manually operated and cannot meet the contemporary demand for high-frequency, multi-point, remote and systematic monitoring.

[0003] Currently, existing lake water sampling and monitoring equipment has the following significant technical deficiencies:

[0004] Single sampling: For example, the lake ecological environment monitoring sampling device provided by patent CN119915562A mainly uses a mechanical piston and gravity structure to achieve water collection. It cannot dynamically adjust the sampling depth and lacks flexibility and adaptability.

[0005] Insufficient sampling dimensions: For example, patent CN119738211A focuses on collecting lake bottom sediments (silt) and is not suitable for real-time response to changes in water quality in the floating layer and middle layer.

[0006] In addition, traditional water sampling devices generally lack a water sample rinsing mechanism during the continuous sampling process at different points, which may cause residual water from the previous sampling point to mix into the current sample, affecting data accuracy. Existing equipment only collects samples or performs rough inspections, and cannot achieve real-time judgment and classified storage of water samples. This makes the pollution point discovery and tracing process rely on manual analysis, with slow response and low efficiency. At the same time, current technology has limited capabilities in remote control, path replenishment, and charging methods, making it difficult to apply to long-term or large-scale river basin monitoring tasks.

[0007] In this context, the present invention aims to provide a water stratification precision sampling device and method for three-pump linkage rinsing to solve the above-mentioned problems in the prior art. Summary of the Invention

[0008] The purpose of the present invention is to make up for the shortcomings of the existing technology and provide a three-pump linkage rinsing water stratification precision sampling device and method. It can realize pollution-free operation of the entire water sample collection process through the coordinated design of the three-pump linkage rinsing mechanism and the intelligent sampling system. Before sampling, the three-cycle pumping of pump No. 1 and pump No. 3 can completely remove the previous water samples remaining in the water sample detection chamber, avoiding cross-contamination of samples at different points. With the linkage response of the water quality detection probe and the abnormal water sample recovery chamber, pump No. 2 and the servo structure can be immediately started when the water quality is detected to be substandard, and the abnormal samples can be independently stored in a dedicated cabin. This control process of rinsing, testing, and sampling fundamentally solves the data distortion problem caused by the mixing of residual water samples in traditional sampling devices, making subsequent laboratory analysis and pollution tracing more accurate.

[0009] In order to solve the above technical problems, the present invention provides the following technical solutions: On the one hand, a three-pump linkage rinse water stratification precision sampling device, the device comprises: a cloud control system, a sampling ship and a docking base station;

[0010] The sampling vessel includes a wireless electromagnetic coil, an integrated chip, a power propeller, a water sample detection chamber, an abnormal water sample recovery chamber, an ESP32 communication module, an STM32 control module, a GPS positioning module, a telescopic arm, and a three-pump rinsing system;

[0011] The ESP32 communication module is communicatively connected to the cloud control system, the STM32 control module is electrically connected to the ESP32 communication module, the three-pump rinse system, the power propeller, the steering gear and the GPS positioning module respectively, the telescopic arm is arranged on the sampling ship to adjust the sampling depth, the water sample detection room is provided with a water quality detection probe, and the abnormal water sample recovery room is connected to the sampling ship through the steering gear.

[0012] Furthermore, the sampling ship is equipped with a water sample detection chamber and an abnormal water sample recovery chamber, and the abnormal water sample recovery chamber is connected to and isolated from the water sample detection chamber by rotating the steering gear.

[0013] Furthermore, the sampling device also includes a three-mode power supply system, which integrates solar power supply, wired power interface and wireless electromagnetic induction charging. The three power supply modes automatically switch to ensure continuous operation of the equipment. The wireless electromagnetic induction charging has a built-in wireless electromagnetic coil.

[0014] Furthermore, the three-pump rinsing system includes pump No. 1, pump No. 2 and pump No. 3, wherein:

[0015] Pump No. 1 is used to pump water samples to the water sample detection chamber;

[0016] The No. 2 pump is used to pump the abnormal water sample to the abnormal water sample recovery chamber;

[0017] The No. 3 pump is used to discharge the water sample in the water sample detection chamber.

[0018] Furthermore, the ESP32 communication module, GPS positioning module and STM32 control module are integrated into the integrated chip of the sampling ship to perform data analysis and instruction execution.

[0019] On the other hand, a method for accurate stratified sampling of water bodies with three pumps linked to rinse water is provided, wherein the specific steps of the method are as follows:

[0020] S100, point sampling: The sampling vessel travels to the designated point along the preset route, and the telescopic arm extends to the target water level;

[0021] S200, three-pump rinse: Pump No. 1 starts to draw water sample into the water sample detection chamber, and after shutting down, pump No. 3 starts to discharge the water sample, and repeats this three times to clear the residue in the detection chamber;

[0022] S300, water quality assessment and sampling: The water quality detection probe detects the water sample. If the water sample does not meet the standard, the steering gear rotates to connect to the abnormal water sample recovery chamber. Pump No. 2 starts to pump out the abnormal water sample, and pump No. 3 drains the remaining water in the detection chamber. If the water sample meets the standard, the water is directly discharged through pump No. 3.

[0023] S400, Pollution Source Tracing: The cloud-based control system analyzes abnormal water quality data based on a one-dimensional training model, predicts pollution points, and sends them to the sampling vessel, which then proceeds to the newly added points for additional sampling.

[0024] S500, autonomous maintenance: When the abnormal water sample recovery chamber is full and the power is insufficient, the sampling ship automatically sails to the nearest docking base station to unload the sample and charge through the wireless electromagnetic coil.

[0025] Furthermore, in the water quality judgment and sampling step S300, the indicators detected in real time by the water quality detection probe 15 include at least two of pH, dissolved oxygen, conductivity, and turbidity, and the detection data is synchronously uploaded to the cloud control system 1 for comparison with the preset threshold value.

[0026] Furthermore, in the S400 pollution source tracing, the cloud control system 1 has a built-in one-dimensional training model. The model is trained and generated based on historical water quality monitoring data and pollution source distribution data. The specific steps are as follows:

[0027] Data preprocessing: The abnormal water quality data uploaded by the sampling vessel 2, including indicators of pH, dissolved oxygen, conductivity, and turbidity, are standardized according to the time series and the longitude and latitude collected by the GPS positioning module 11;

[0028] Spatiotemporal feature extraction: Analyze the concentration gradient changes of abnormal water quality indicators through a one-dimensional convolutional neural network to identify the attenuation pattern of water quality parameters along the direction of water flow;

[0029] Pollution path modeling: Combined with historical water flow data, the pollution diffusion trajectory is dynamically fitted to generate a pollution diffusion probability density map;

[0030] Point prediction generation: Identify the pollution concentration peak area in the probability density map, use the center coordinates of the area as the predicted pollution point, and send it to the STM32 control module 10 of sampling ship 2 through the ESP32 communication module 9 to guide sampling ship 2 to perform the supplementary sampling task.

[0031] Compared with the existing technology, this three-pump linkage rinse water stratification precision sampling device and method has the following beneficial effects:

[0032] 1. The present invention realizes pollution-free operation of the entire water sample collection process through the coordinated design of the three-pump linkage rinsing mechanism and the intelligent sampling system. Before sampling, the three-cycle pumping and drainage of pump No. 1 and pump No. 3 can completely remove the previous water sample remaining in the water sample detection chamber, avoiding cross-contamination of samples at different points. With the linkage response of the water quality detection probe and the abnormal water sample recovery chamber, pump No. 2 and the steering gear structure can be immediately started when the water quality is detected to be substandard, and the abnormal samples can be independently stored in a dedicated cabin. This control process of rinsing, testing, and sampling fundamentally solves the data distortion problem caused by the mixing of residual water samples in traditional sampling devices, making subsequent laboratory analysis and pollution tracing more accurate.

[0033] 2. The cloud-based pollution source tracing and dynamic path supplement mechanism constructed by the present invention realizes the intelligence of the entire process from water quality data collection to pollution source tracing. The cloud-based control system analyzes the spatiotemporal characteristics of abnormal water quality data based on a one-dimensional training model, extracts the gradient change law of pollutant concentration through a one-dimensional convolutional neural network, and dynamically fits the pollution diffusion trajectory. It can accurately predict the pollution points and automatically generate supplementary sampling paths, enabling the equipment to independently complete the sampling, analysis, and tracking tasks without human intervention, greatly shortening the pollution tracing time and providing real-time and accurate decision-making support for water environment emergency response.

[0034] Other advantages, objects and features of the present invention will be described in part in the following description and, in part, will be apparent to those skilled in the art based on an examination of the following or may be learned from the practice of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] To more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. Those skilled in the art can also derive other drawings based on these drawings without inventive effort.

[0036] Figure 1 This is a schematic diagram of the structure of a water layered precision sampling device with three pumps linked to rinse;

[0037] Figure 2 This is an operational flow chart of a water stratification precision sampling method with three-pump linkage rinsing.

[0038] In the figure: 1. Cloud control system; 2. Sampling ship; 3. Docking base station; 4. Wireless electromagnetic coil; 5. Integrated chip; 6. Power propeller; 7. Water sample detection room; 8. Abnormal water sample recovery room; 9. ESP32 communication module; 10. STM32 control module; 11. GPS positioning module; 12. Three-pump rinse system; 13. Servo; 14. Telescopic arm; 15. Water quality detection probe. DETAILED DESCRIPTION

[0039] In order to further illustrate the technical means and effects adopted by the present invention to achieve the predetermined purpose of the invention, the specific implementation methods, structures, features and effects of the present invention are described in detail below in conjunction with the accompanying drawings and preferred embodiments.

[0040] Example 1

[0041] The three-pump linkage rinse water stratification precision sampling device of this embodiment is composed of a cloud control system 1, a sampling ship 2 and a docking base station 3 to form a closed-loop monitoring system. The cloud control system 1 is deployed on a remote server, receives water quality data uploaded by the sampling ship 2 through a data interface, uses a built-in one-dimensional training model to analyze pollution trends, and issues control instructions to the sampling ship 2. The sampling ship 2 serves as an execution unit, integrating power propulsion, water sample collection, water quality detection and wireless communication modules, and can independently complete stratified sampling tasks in the water body. The docking base station 3 is set along the coast of the water body, providing wireless charging and temporary storage of abnormal water samples to support the continuous operation of the sampling ship 2. The three realize real-time data interaction through the ESP32 communication module 9, forming an automated water body detection of sampling, analysis and execution.

[0042] The hull of the sampling ship 2 is integrated with a wireless electromagnetic coil 4, an integrated chip 5, a power propeller 6, a water sample detection chamber 7, an abnormal water sample recovery chamber 8, an ESP32 communication module 9, an STM32 control module 10, a GPS positioning module 11, a telescopic arm 14, and a three-pump rinsing system 12. The power propeller 6 is driven by a DC motor, and the speed is adjusted by the STM32 control module 10 to achieve cruising and steering. The GPS positioning module 11 collects the hull coordinates in real time and synchronizes them to the cloud control system 1 for trajectory tracking and point calibration; the three-pump rinsing system 12 includes pump No. 1, pump No. 2, and pump No. 3. Pump No. 1 is responsible for pumping water to the water sample detection chamber 7. Pump No. 3 is a centrifugal pump of the same model for discharging wastewater from the detection chamber. Pump No. 2 is a peristaltic pump specifically used to transfer abnormal water samples to the recovery chamber. The three pumps are all started and stopped by the STM32 control module 10 through a relay to form a pumping, draining, and rinsing system. The water sample detection chamber 7 is a cylindrical cabin with a polished inner wall to reduce water sample residue. A water quality detection probe 15 is installed inside to detect indicators such as pH, dissolved oxygen, conductivity, and turbidity in real time. The abnormal water sample recovery chamber 8 is provided with three independent cabins, and the rotation angle is controlled by the servo 13 to achieve connection or isolation with the detection chamber. A solenoid valve is provided at the bottom of each cabin for wastewater discharge. The ESP32 communication module 9 supports 4G / 5G wireless communication and exchanges data with the cloud control system 1. The STM32 control module 10 serves as the core processor to parse cloud instructions and drive the peripheral actions of the water pump, servo 13, and telescopic arm 14. The integrated chip 5 provides clock and power management support for the system. The telescopic arm 14 adopts an electric push rod structure, which can be lifted and lowered vertically to adjust the sampling depth, and accurately locate the water sample detection chamber 7 to the surface, middle or bottom water layer to meet the needs of stratified sampling.

[0043] The docking base station 3 has a built-in wireless charging coil and sample storage compartment. When the sampling vessel 2 approaches, the wireless electromagnetic coil 4 on the bottom of the hull forms an electromagnetic coupling with the base station coil, achieving contactless charging. The base station also has 4G communication capabilities, receives instructions from the cloud control system 1, and provides an abnormal water sample unloading interface for the sampling vessel 2. It also integrates solar power supply and wired power supply interfaces. Among them, the solar power supply uses solar panels as the main energy source, charging the lithium battery through the MPPT controller. The wired power supply interface is used for onshore maintenance and charging. The wireless electromagnetic induction charging module 4 cooperates with the docking base station 3 to automatically replenish energy when the battery is low. The three power supply modes are automatically switched by the power management chip to ensure continuous operation of the equipment in different environments.

[0044] The cloud control system 1 is developed based on a data processing platform and includes a one-dimensional training model. The model adopts a convolutional neural network architecture, inputs sampling time, coordinates and water quality data, and outputs the probability coordinates of the pollution point. The system filters outliers in the data uploaded by the sampling ship 2 and generates a pollution diffusion trajectory map by integrating water quality and water flow data. When the water quality index exceeds the threshold, the pollution tracing process is automatically triggered. The specific detection process of the model is as follows:

[0045] Data preprocessing: The abnormal water quality data uploaded by the sampling vessel 2, including indicators of pH, dissolved oxygen, conductivity, and turbidity, are standardized according to the time series and the longitude and latitude collected by the GPS positioning module 11;

[0046] Spatiotemporal feature extraction: Analyze the concentration gradient changes of abnormal water quality indicators through a one-dimensional convolutional neural network to identify the attenuation pattern of water quality parameters along the direction of water flow;

[0047] Pollution path modeling: Combined with historical water flow data, the pollution diffusion trajectory is dynamically fitted to generate a pollution diffusion probability density map;

[0048] Point prediction generation: Identify the pollution concentration peak area in the probability density map, use the center coordinates of the area as the predicted pollution point, and send it to the STM32 control module 10 of sampling ship 2 through the ESP32 communication module 9 to guide sampling ship 2 to perform the supplementary sampling task.

[0049] During operation, the sampling boat 2 first automatically travels based on the preset route set manually in the early stage. When the sampling boat 2 arrives at the designated point, it starts to perform a series of tasks such as automated water sample collection, water quality testing, and water sample recovery and judgment. After the sampling boat 2 arrives at the designated point, the telescopic arm 14 extends downward to the predetermined water level. At this time, pump No. 1 starts to pump river water into the water sample detection chamber 7. After it is full, pump No. 1 is shut down. Then, pump No. 3 starts to drain the water in the water sample detection chamber 7. After it is drained, pump No. 3 is shut down. This pumping and drainage process is repeated 3 times. Through the three-time rinsing control logic mechanism of pump No. 1 and pump No. 3, it is ensured that there is no old sample residue in the water sample detection chamber 7 before each sampling, and the residue of the previous round of sampling is effectively removed, providing high-purity water samples for subsequent water quality testing, ensuring To ensure the accuracy of the test results, after the water sample detection chamber 7 is rinsed, the water quality detection probe 15 performs real-time detection on the collected water samples. The water quality information obtained by the detection is synchronized to the cloud control system 1 in real time and compared with the threshold value preset in the cloud. If the test result shows that the water quality at this location does not meet the standard, the servo 13 at the bottom of the abnormal water sample recovery chamber 8 will rotate to a specified angle to connect the water sample detection chamber 7 with the abnormal water sample recovery chamber 8. Then, pump No. 2 is started to pump the abnormal water sample from the water sample detection chamber 7 to the abnormal water sample recovery chamber 8 for temporary storage. After the abnormal water sample is recovered, pump No. 3 is started again to discharge the remaining water in the water sample detection chamber 7. Then the telescopic arm 14 is retracted to complete the recovery process of the abnormal water sample. If the water quality meets the standard, it is not necessary To recover water samples, directly execute the operation of pump 3 to drain and retract the telescopic arm. In addition, during the operation, the sampling ship 2 will upload the water quality information collected each time to the cloud control system 1 in real time. The cloud control system 1 analyzes the uploaded abnormal water quality information based on the one-dimensional training model and predicts the water pollution points. When it is judged that there may be an upstream pollution source, the cloud control system 1 will automatically calculate and generate the coordinates of the newly added sampling points through the model, and transmit the coordinate information to the sampling ship 2. After the sampling ship 2 receives the coordinates of the newly added sampling points, the STM32 control module 10 will parse the instruction and control the power propeller 6 to adjust the navigation route to go to the newly added sampling points for sampling, thereby realizing the traceability of pollutants, reducing human intervention, and improving To improve the efficiency of pollution tracking, when all the abnormal water sample recovery rooms 8 carried by the sampling ship 2 are occupied, the STM32 control module 10 of the sampling ship 2 will automatically find the nearest docking base station 3 based on the location information provided by the GPS positioning module 11. After arriving at the docking base station 3, the sampling ship 2 will unload the abnormal water samples to the docking base station 3 for storage, and then start cruising again according to the preset route or new instructions. When the power of the sampling ship 2 is insufficient, it will also find the nearest docking base station 3 through the GPS positioning module 11. After arriving at the docking base station 3, the wireless magnetic coil 4 on the sampling ship 2 cooperates with the charging device of the docking base station 3 to realize automatic power replenishment, ensuring that the sampling ship 2 can continue to operate and realize continuous task operation under unattended operation.This embodiment is suitable for routine monitoring of water bodies such as lakes, rivers, and reservoirs. Especially in the event of sudden water pollution, it can realize the automation of the entire process from sampling to tracing the source, and provide real-time decision support for water environment emergency response.

[0050] In summary, this embodiment, through a detailed description of the device structure and control logic, demonstrates a three-pump linkage rinsing water stratification precision sampling device that solves problems such as sample contamination and insufficient intelligence of the sampling equipment through three-pump circulation rinsing, intelligent sample storage, and cloud-based pollution tracing, thereby realizing the control logic of precise sampling, intelligent analysis, and autonomous execution of water body monitoring.

[0051] Example 2

[0052] like Figure 2 As shown, based on the first embodiment, this embodiment describes in detail the specific steps of a three-pump linkage rinsing water layered precise sampling method for water sampling and detection, and the specific steps are:

[0053] (1) Task preset and system initialization

[0054] Sampling plan setting: preset the sampling route through the cloud control system 1, set sampling points at intervals in the target water body, and define the sampling depth;

[0055] Path planning: The sampling vessel 2 obtains real-time coordinates through the GPS positioning module 11 according to the preset route, and the STM32 control module 10 drives the power propeller 6 to navigate along the optimal path;

[0056] Point calibration: When approaching the sampling point, the GPS positioning module 11 performs coordinate precision calibration;

[0057] (2) Three-pump linkage water sample collection and rinsing

[0058] Depth adjustment: the telescopic arm 14 is extended vertically to the target water level;

[0059] Initial pumping: Pump No. 1 starts and pumps water to the water sample testing room 7, and shuts down after it is full;

[0060] Circular rinsing: Pump No. 3 is started to drain the wastewater from the testing room. After shutting down, the “pumping-draining” process is repeated twice, for a total of three cycles, to remove the residual water sample in the testing room;

[0061] (3) Water quality testing and abnormality judgment

[0062] Real-time detection: The water quality detection probe 15 performs multi-parameter detection (pH, dissolved oxygen, conductivity, turbidity, etc.) on the rinsed water sample, and the data is uploaded to the cloud control system 1 in real time.

[0063] Threshold comparison: The cloud system compares the test data with the preset threshold to determine whether the water quality meets the standard. If it meets the standard, the drainage process of pump 3 will be started; if it does not meet the standard, the "abnormal water sample recovery" process will be triggered;

[0064] (4) Recovery and classified storage of abnormal water samples

[0065] Recovery chamber docking: The STM32 control module 10 drives the servo 13 to rotate, adjusts the abnormal water sample recovery chamber 8 to a specified angle, and connects it to the water sample detection chamber 7;

[0066] Abnormal sampling: Pump No. 2 is started to pump abnormal water samples into the corresponding recovery chamber, and the pump body is closed after completion;

[0067] Emptying the test chamber: Pump No. 3 starts again to drain the remaining water sample from the test chamber to ensure that there is no residue;

[0068] Recovery room marking: The cloud system records the sampling time, coordinates and water quality data of abnormal water samples and electronically tags the recovery room;

[0069] (5) Pollution source tracing and path filling

[0070] Abnormal data trigger: When the water quality is abnormal and it is determined that there is a pollution source, the cloud control system 1 starts the one-dimensional training model to perform pollution source analysis and generate the coordinates of the supplementary sampling points.

[0071] Path update: The cloud system sends the coordinates of the newly added sampling points to the sampling vessel 2, and the STM32 control module 10 updates the navigation path.

[0072] (6) Autonomous maintenance and task cycle

[0073] Status monitoring: The sampling vessel 2 monitors the occupancy rate and power consumption of the abnormal water sample recovery room 8 in real time:

[0074] If the recycling room is fully loaded or the power level is less than 20%, the “return to base station” process is triggered. Otherwise, the system proceeds to the next sampling point along the original route or the new path.

[0075] Base station replenishment: The sampling vessel 2 locates the nearest docking base station 3 through GPS, automatically navigates to the base station, the wireless magnetic coil 4 couples with the base station charging device for wireless charging, and the abnormal water sample recovery chamber 8 docks with the base station sample cabin to unload the abnormal water sample.

[0076] Mission continuation: After the replenishment is completed, sampling ship 2 continues to perform the sampling mission according to the updated route until all points are completed or a termination command is received.

[0077] The above description is merely a preferred embodiment of the present invention and does not constitute any form of limitation to the present invention. Although the present invention has been disclosed as above in terms of a preferred embodiment, it is not intended to limit the present invention. Any person skilled in the art can, without departing from the scope of the technical solution of the present invention, make some changes or modifications to equivalent embodiments using the technical contents disclosed above. However, any brief modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. A three-pump linkage rinse water stratification precision sampling device, characterized in that: The device comprises: a cloud control system (1), a sampling vessel (2) and a docking base station (3); The sampling vessel (2) comprises a wireless electromagnetic coil (4), an integrated chip (5), a power propeller (6), a water sample detection chamber (7), an abnormal water sample recovery chamber (8), an ESP32 communication module (9), an STM32 control module (10), a GPS positioning module (11), a telescopic arm (14), and a three-pump rinse system (12); The ESP32 communication module (9) is in communication connection with the cloud control system (1); the STM32 control module (10) is electrically connected to the ESP32 communication module (9), the three-pump rinse system (12), the power propeller (6), the steering gear (13) and the GPS positioning module (11); the telescopic arm (14) is arranged on the sampling ship (2) to adjust the sampling depth; a water quality detection probe (15) is arranged in the water sample detection chamber (7); and the abnormal water sample recovery chamber (8) is connected to the sampling ship (2) via the steering gear (13).

2. The water layered precision sampling device for three-pump linkage rinsing according to claim 1 is characterized in that: The sampling vessel (2) is equipped with a water sample detection chamber (7) and three abnormal water sample recovery chambers (8), and the abnormal water sample recovery chambers (8) are connected to and isolated from the water sample detection chambers (7) by rotating the steering gear (13).

3. The water layered precision sampling device for three-pump linkage rinsing according to claim 1 is characterized in that: The sampling device also includes a three-mode power supply system, which integrates solar power supply, wired power interface and wireless electromagnetic induction charging. The three power supply modes are automatically switched to ensure the continuous operation of the equipment. The wireless electromagnetic induction charging has a built-in wireless electromagnetic coil (4).

4. The water layered precision sampling device for three-pump linkage rinsing according to claim 1 is characterized in that: The three-pump rinse system (12) includes pump No. 1, pump No. 2 and pump No. 3, wherein: The pump No. 1 is used to pump the water sample to the water sample detection chamber (7); The No. 2 pump is used to pump the abnormal water sample to the abnormal water sample recovery chamber (8); The No. 3 pump is used to discharge the water sample in the water sample detection chamber (7).

5. The water layered precision sampling device for three-pump linkage rinsing according to claim 1 is characterized in that: The ESP32 communication module (9), GPS positioning module (11) and STM32 control module (10) are integrated into the integrated chip (5) of the sampling ship (2) to perform data analysis and instruction execution.

6. A method for accurate sampling of water layers by three-pump linkage rinsing, applicable to the accurate sampling device for water layers by three-pump linkage rinsing according to any one of claims 1 to 5, characterized in that: The specific steps of this method are: S100, point sampling: the sampling vessel (2) travels to the designated point along a preset route, and the telescopic arm (14) extends to the target water level; S200, three-pump rinsing: Pump No. 1 starts to draw water sample into the water sample detection chamber (7), and then pump No. 3 starts to discharge the water sample after it is shut down. Repeat this three times to clear the residue in the detection chamber; S300, water quality judgment and sample separation: the water quality detection probe (15) detects the water sample. If the water sample does not meet the standard, the steering gear (13) rotates to connect to the abnormal water sample recovery chamber (8). Pump No. 2 starts to pump out the abnormal water sample, and pump No. 3 discharges the remaining water in the detection chamber. If the water sample meets the standard, the water is directly discharged through pump No.

3. S400, pollution tracing: The cloud control system (1) analyzes abnormal water quality data based on a one-dimensional training model, predicts the pollution point and sends it to the sampling ship (2), which then goes to the newly added point for additional sampling; S500, autonomous maintenance: When the abnormal water sample recovery chamber (8) is fully loaded and the power is insufficient, the sampling vessel (2) automatically sails to the nearest docking base station (3) to unload the sample and charge through the wireless electromagnetic coil (4).

7. The method for accurate stratified sampling of water bodies by three-pump linkage rinsing according to claim 6 is characterized in that: In the S300 water quality judgment and sampling, the water quality detection probe (15) detects indicators including pH, dissolved oxygen, conductivity, and turbidity in real time, and the detection data is synchronously uploaded to the cloud control system (1) for comparison with preset thresholds.

8. The method for accurate stratified sampling of water bodies by three-pump linkage rinsing according to claim 6 is characterized in that: In the S400 pollution source tracing, the cloud control system (1) has a built-in one-dimensional training model. The model is trained and generated based on historical water quality monitoring data and pollution source distribution data. The specific steps are as follows: Data preprocessing: The abnormal water quality data uploaded by the sampling vessel (2), including indicators of pH, dissolved oxygen, conductivity, and turbidity, are normalized according to the time series and the longitude and latitude collected by the GPS positioning module (11); Spatiotemporal feature extraction: Analyze the concentration gradient changes of abnormal water quality indicators through a one-dimensional convolutional neural network to identify the attenuation pattern of water quality parameters along the direction of water flow; Pollution path modeling: Combined with historical water flow data, the pollution diffusion trajectory is dynamically fitted to generate a pollution diffusion probability density map; Point prediction generation: Identify the pollution concentration peak area in the probability density map, use the center coordinates of the area as the predicted pollution point, and send it to the STM32 control module (10) of the sampling ship (2) through the ESP32 communication module (9) to guide the sampling ship (2) to perform the supplementary sampling task.

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