Water quality sampling ship integrated device based on single Beidou and 4G converged communication

Abstract

The invention discloses a water quality sampling ship integrated device based on single Beidou and 4G converged communication, and relates to the technical field of water quality testing, the water quality sampling ship integrated device comprises a ship body mechanism, the top of the ship body mechanism is provided with a control mechanism and a water body sampling mechanism, and the control mechanism comprises a wireless fusion module and a water body measuring module; the wireless fusion module is used for ship body positioning and data transmission, the water body measurement module is used for measuring a water body, the wireless fusion module further comprises a main control module, and the main control module is connected with a Beidou short message module, a 4G communication module, a ZigBee ad hoc network module, a BDS module, an SINS module and a 4G signal detection module through data lines. The Beidou short message module is connected with a Beidou antenna through a radio frequency line, the 4G communication module is connected with a 4G antenna through a radio frequency line, high-precision real-time detection and centimeter-level precise positioning of a water body environment are realized by fusing an optical measurement technology and a 4G / Beidou fusion communication technology, and the efficiency, accuracy and intelligent level of water quality sampling are remarkably improved.

Description

Technical Field

[0001] This invention relates to the field of water quality testing technology, specifically to an integrated device for a water quality sampling vessel based on the convergence of single Beidou and 4G communication. Background Technology

[0002] With the acceleration of global industrialization and urbanization, water pollution has become increasingly serious, making the monitoring and management of the water environment an urgent priority. Water quality sampling is a key link in obtaining accurate water quality information, and its technical level directly affects the reliability of subsequent analysis results and the scientific nature of decision-making. With the vigorous development of automation and intelligent technologies, water quality sampling vessels have emerged to overcome the drawbacks of manual sampling.

[0003] Existing water quality sampling vessels have the following problems: Existing water sampling vessels have limited functionality, capable only of basic water sample collection. They rely heavily on manual intervention, with operators handling everything from sampling point selection to sample collection. This low level of automation increases labor costs and limits sampling efficiency. Furthermore, these vessels lack real-time water quality monitoring capabilities, requiring samples to be transported back to a laboratory for analysis. This results in significant delays in data feedback, hindering timely decision-making regarding water environment issues. When dealing with large areas or multiple sampling points, they often only complete sampling at a single point per trip, requiring frequent trips between different sampling sites and consuming considerable time. It is difficult to complete large-scale rapid monitoring tasks within the specified time and cannot meet the stringent timeliness requirements in scenarios such as emergency monitoring of sudden water pollution incidents. In terms of positioning and data transmission, some sampling vessels rely solely on 4G networks for data transmission. In remote areas with poor signal coverage or complex terrain, signal interruptions or unstable transmission often occur, affecting the integrity and timeliness of the data. At the same time, relying solely on GPS for positioning is easily affected by factors such as signal obstruction and multipath effects in the aquatic environment. The positioning accuracy is difficult to meet the requirements of precise sampling, which may lead to deviations in sampling points and affect the representativeness of water samples and the accuracy of monitoring data.

[0004] Therefore, there is a need for an integrated device for water quality sampling vessels based on the convergence of single Beidou and 4G communication to solve the problems mentioned in the background above. Summary of the Invention

[0005] The purpose of this invention is to provide an integrated device for water quality sampling vessels based on the convergence of single Beidou and 4G communication. By integrating optical measurement technology with 4G / Beidou converged communication technology, it can achieve high-precision real-time detection and centimeter-level accurate positioning of the water environment, significantly improving the efficiency, accuracy and intelligence level of water quality sampling.

[0006] To achieve the above objectives, the present invention provides the following technical solution: an integrated device for a water quality sampling vessel based on the convergence of single Beidou and 4G communication, comprising a hull structure, wherein a control mechanism and a water sampling mechanism are respectively installed on the top of the hull structure; The control mechanism includes: The wireless fusion module is used for ship positioning and data transmission, while the water body measurement module is used for water body measurement. The wireless convergence module also includes: The main control module is connected to the Beidou short message module, 4G communication module, ZigBee self-organizing network module, BDS module, SINS module and 4G signal detection module via data cable. The Beidou short message module is connected to the Beidou antenna via radio frequency cable, and the 4G communication module is connected to the 4G antenna via radio frequency cable. The water measurement module also includes: The system includes two spectrometers, two fiber optic receiving collimators, and two fiber optic transmitting collimators. Fiber optic adapters connect the two spectrometers to the two fiber optic receiving collimators. The two fiber optic transmitting collimators are connected to an ultraviolet lamp and a laser emitter, respectively, via fiber optic adapters. A turntable is located at the bottom of one of the fiber optic transmitting collimators, and a set of filters is installed on the inner wall of the turntable. A rotary motor is connected to the top of the turntable.

[0007] Preferably, the water sampling mechanism includes a robotic arm and a heater. A connecting plate is provided at the bottom of the robotic arm, and a set of sampling boxes is threaded into the top of the connecting plate. A set of shape memory metal plates is installed on one side of the outer wall of the connecting plate. A waterproof cover is installed on one side of the outer wall of each shape memory metal plate, and each waterproof cover is embedded in the top of each sampling box. A heating plate is installed on one side of the outer wall of each shape memory metal plate, and each heating plate is electrically connected to the heater by a wire.

[0008] Preferably, the hull structure includes an unmanned vessel, with a base plate installed on the top of the unmanned vessel, two optical glasses installed at the bottom of the base plate, a motor installed on the top of the base plate, and the output end of the motor passing through the bottom of the base plate and fitted with a scraper.

[0009] Preferably, a support rod and a power supply component are installed on the top of the base plate, and a solar panel is installed on the top of the support rod. The solar panel is electrically connected to the power supply component.

[0010] Preferably, the control mechanism includes a support frame, a top plate is installed on the top of the support frame, and a PLC controller and a data processing module are respectively installed on one side of the outer wall of the support frame. The PLC controller is electrically connected to the data processing module, the data processing module is electrically connected to the wireless fusion module and the water body measurement module, and the PLC controller is electrically connected to the wireless fusion module and the water body measurement module.

[0011] Preferably, a protective shell is installed on the top of the base plate, and both spectrometers are installed on the top of the protective shell. Two L-shaped plates are installed on both sides of the inner wall of the protective shell, and each L-shaped plate is fitted onto the outer wall of each fiber optic receiving collimator and fiber optic transmitting collimator. A rotary motor is installed at the bottom of one of the L-shaped plates, and a wireless fusion module is installed on the top of the top plate.

[0012] Preferably, the water sampling mechanism includes a cleaning module, which also includes a water tank. One end of the outer wall of the water tank is connected to a pump, the output end of the pump is connected to a spray pipe, and the top of the water tank is provided with a water injection end.

[0013] Preferably, both the ultraviolet lamp and the laser emitter are installed on the top of the base plate, both are electrically connected to the PLC controller, and both are electrically connected to the power supply component.

[0014] Preferably, the heater is installed on one side of the outer wall of the support frame, and the heater is electrically connected to the PLC controller and the power supply component respectively. The robotic arm is installed on the top of the base plate, and the robotic arm is electrically connected to the PLC controller and the power supply component respectively.

[0015] Preferably, the water tank is installed on top of the base plate, and the pump is electrically connected to the PLC controller and power supply components.

[0016] Compared with the prior art, the beneficial effects of the present invention are: In this invention, by setting up a wireless fusion module and a water body measurement module, high-precision real-time detection and centimeter-level accurate positioning of the water environment can be achieved. The BDS module provides high-precision satellite positioning information, and the SINS module continuously outputs ship attitude and motion parameters through inertial navigation when satellite signals are limited. After the data from both are fused, they are processed by the main control module, enabling the ship's positioning accuracy to reach the centimeter level. This ensures that the water body sampling mechanism can accurately reach the preset sampling point, avoiding the problem of unrepresentative water samples due to positioning deviations, and improving the scientific nature of the monitoring data. In the water body measurement module, ultraviolet lamps and laser emitters emit specific light into the water body through fiber optic collimators and fiber optic adapters, which are used for ultraviolet and visible spectrophotometry and laser-induced breakdown spectroscopy (LIBS) detection, respectively. The signal after the light interacts with the water sample is transmitted to the spectrometer for analysis through fiber optic receiving collimators and fiber optic adapters, and chlorophyll can be detected simultaneously. The system measures conventional indicators such as nitrogen a, COD, and ammonia nitrogen, as well as heavy metals such as copper, lead, and cadmium. Driven by a rotating motor, the filter array on the turntable, in conjunction with a spectrometer, filters multi-wavelength light signals, further enhancing detection sensitivity and anti-interference capabilities to meet complex water quality testing needs. After testing, the data is transmitted via a wireless fusion module. The main control module connects to various communication units, including a Beidou short message module and a 4G communication module, via data cables. Combined with a 4G signal detection module, intelligent switching is achieved. In areas with good 4G signal, the 4G communication module transmits water quality data at high speed via a 4G antenna. In remote areas without signal, the Beidou short message module communicates with the Beidou satellite using a Beidou antenna, ensuring uninterrupted sampling data and vessel status information. This provides continuous and reliable data support for shore-based decision-making, eliminating the need for the sampling vessel to frequently travel between different sampling points, saving significant time.

[0017] 2. In this invention, a water sampling mechanism can be set up to sample water. Since the sampling mechanism uses a telescopic robotic arm as the core execution unit, it can accurately locate sampling points at the surface, middle and bottom layers of the water. The robotic arm is equipped with modular sampling components, among which multiple independent sealed sampling boxes are key components. Each sampling box is equipped with a waterproof cover and is connected to the box body through a shape memory metal plate. When the sampling vessel arrives at the target sampling area, the main control system controls the robotic arm to extend to the corresponding water layer depth according to the preset program. At this time, the heater precisely heats the shape memory metal plate. Utilizing the deformation characteristics of the shape memory alloy material under temperature changes, the shape memory metal plate bends and deforms, causing the waterproof cover to open automatically. The water sample flows into the sampling box under the action of natural water pressure, completing the sampling operation of that water layer. Since each sampling box operates independently and strictly follows the layered sampling sequence, cross-mixing between different water layers is effectively avoided, ensuring that the collected water samples from each layer can truly reflect the water quality of the corresponding water layer, significantly improving the accuracy and effectiveness of the sampling data.

[0018] 3. In this invention, a cleaning module can be set up to clean the sampling box. The cleaning module has a built-in pump connected to a water tank, which can draw purified water. When the sampling task is completed, the pump starts and delivers the purified water in the water tank to a specially designed nozzle at a constant pressure. The nozzle can rinse the surface of the sampling box in all directions. During the rinsing process, the purified water under high pressure powerfully washes away the water sample, impurities and microorganisms remaining on the surface of the sampling box, quickly peeling off and carrying away the attached substances. This automated cleaning process can complete the deep cleaning of multiple sampling boxes in a short time, ensuring that when switching to sampling in different water areas, the sampling box will not have water sample from the previous water area remaining, eliminating the detection error caused by water mixing from the source, and providing a true and reliable sample for subsequent water quality analysis. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the main view of an integrated water quality sampling vessel device based on single Beidou and 4G converged communication according to the present invention. Figure 2 This is a side view of the integrated water quality sampling vessel device based on single Beidou and 4G converged communication according to the present invention. Figure 3 This is a schematic diagram of the control mechanism in an integrated water quality sampling vessel device based on single Beidou and 4G converged communication according to the present invention. Figure 4 This is a schematic diagram of the main view of the water measurement module in an integrated water quality sampling vessel device based on single Beidou and 4G converged communication according to the present invention. Figure 5 This is a schematic diagram of the internal structure of the water measurement module in an integrated water quality sampling vessel device based on single Beidou and 4G converged communication according to the present invention. Figure 6 This is a schematic diagram of the main view of the hull structure in an integrated water quality sampling vessel device based on single Beidou and 4G converged communication according to the present invention. Figure 7 This is a schematic diagram of the bottom structure of the hull mechanism in an integrated water quality sampling vessel device based on single Beidou and 4G converged communication according to the present invention. Figure 8 This is a schematic diagram of the main view of the water sampling mechanism in an integrated water quality sampling vessel based on single Beidou and 4G converged communication according to the present invention. Figure 9 This is a schematic diagram of the bottom structure of the water sampling mechanism in an integrated water quality sampling vessel based on single Beidou and 4G converged communication according to the present invention. Figure 10 This is a schematic diagram of the wireless fusion module in an integrated water quality sampling vessel device based on single Beidou and 4G fusion communication according to the present invention.

[0020] In the diagram: 100. Hull structure; 101. Unmanned surface vessel; 102. Bottom plate; 103. Optical glass; 104. Motor; 105. Scraper; 106. Support rod; 107. Solar panel; 108. Power supply assembly; 200. Control mechanism; 201. Support frame; 202. Top plate; 203. Wireless fusion module; 2031. Main control module; 2032. Beidou short message module; 2033. Beidou antenna; 2034. 4G communication module; 2035. 4G antenna; 2036. ZigBee self-organizing network module; 2037. BDS module; 2038. SINS module; 2039. 4G signal detection module; 204. Water body measurement module; 2041. Protective shell; 2 042. Spectrometer; 2043. Fiber optic adapter; 2044. Fiber optic receiver collimator; 2045. Fiber optic transmitter collimator; 2046. L-shaped plate; 2047. Ultraviolet lamp; 2048. Laser emitter; 2049. Rotary motor; 2140. Turntable; 2141. Filter; 205. PLC controller; 206. Data processing module; 300. Water sampling mechanism; 301. Robotic arm; 302. Connecting plate; 303. Sampling box; 304. Memory metal plate; 305. Waterproof cover; 306. Heating plate; 307. Wire; 308. Heater; 309. Cleaning module; 3091. Water tank; 3092. Pump; 3093. Nozzle; 3094. Water injection end. Detailed Implementation

[0021] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] Example 1, as Figure 1 and Figure 2 As shown: An integrated device for water quality sampling vessels based on single Beidou and 4G converged communication includes a hull structure 100, a control mechanism 200 and a water sampling mechanism 300 respectively installed on the top of the hull structure 100, the hull structure 100 includes an unmanned vessel 101, and a bottom plate 102 is installed on the top of the unmanned vessel 101.

[0023] like Figure 1 , Figure 2 and Figure 3 As shown: The control mechanism 200 includes a wireless fusion module 203 and a water body measurement module 204. The wireless fusion module 203 is used for ship positioning and data transmission, and the water body measurement module 204 is used for measuring the water body. The control mechanism 200 also includes a support frame 201, a top plate 202 is installed on the top of the support frame 201, and a PLC controller 205 and a data processing module 206 are respectively installed on one side of the outer wall of the support frame 201. The PLC controller 205 is electrically connected to the data processing module 206, the data processing module 206 is electrically connected to the wireless fusion module 203 and the water body measurement module 204, and the PLC controller 205 is electrically connected to the wireless fusion module 203 and the water body measurement module 204.

[0024] like Figures 3-7As shown: The water measurement module 204 includes a protective shell 2041. Two spectrometers 2042 are mounted on the top of the protective shell 2041. Two L-shaped plates 2046 are mounted on both sides of the inner wall of the protective shell 2041. Each L-shaped plate 2046 has an optical fiber receiving collimator 2044 and an optical fiber transmitting collimator 2045 respectively fitted onto its inner surface. Optical fiber adapters 2043 connect the two spectrometers 2042 to the two optical fiber receiving collimators 2044. The two optical fiber transmitting collimators 2045 are connected to an ultraviolet lamp 2047 and a laser emitter 2048 respectively via the optical fiber adapters 2043. A turntable 2140 is located at the bottom of one of the optical fiber transmitting collimators 2045. A set of filters 2 is installed on the inner surface of the turntable 2140. 141. A rotary motor 2049 is connected to the top of the turntable 2140. The rotary motor 2049 is installed at the bottom of one of the L-shaped plates 2046. Two optical glasses 103 are installed at the bottom of the base plate 102, and the two optical glasses 103 are respectively located at the bottom of the two fiber optic receiving collimators 2044 and the two fiber optic transmitting collimators 2045. A motor 104 is installed at the top of the base plate 102, and the output end of the motor 104 passes through the bottom of the base plate 102 and is fitted with a scraper 105. The protective shell 2041 provides physical protection for the internal precision optical equipment, effectively resisting vibration, collision and external environmental corrosion during ship navigation, ensuring stable operation of the equipment. The L-shaped plate 2046 supports the fiber optic receiving collimators 2044 and the fiber optic transmitting collimators 2045. Collimator 2045 is precisely positioned and fixed to ensure the stability of the optical path system and reduce optical signal transmission loss and detection errors caused by component displacement. Components such as spectrometer 2042, fiber optic adapter 2043, fiber optic collimator 2, ultraviolet lamp 2047, and laser emitter 2048 are connected via optical fiber, forming a complete link from optical signal excitation and transmission to acquisition and analysis. The light emitted by ultraviolet lamp 2047 and laser emitter 2048 is focused by fiber optic transmitting collimator 2045 and then enters the water body through optical glass 103. The light signal reflected or scattered by the water body is then transmitted to spectrometer 2042 via optical glass 103 and fiber optic receiving collimator, enabling in-situ spectral detection of indicators such as chlorophyll a, COD, and heavy metals in the water body. Driven by a rotary motor 2049, the optical glass 2140 and its filter 2141 can quickly switch between different wavelengths according to detection requirements, effectively filtering stray light, enhancing the acquisition capability of specific wavelength light signals, and improving detection sensitivity and anti-interference. For example, when detecting different planktonic fluorescence signals, the corresponding wavelength fluorescence can be accurately captured by changing the filter 2141. Combined with AI algorithms, planktonic species identification and concentration calculation can be achieved. The motor 104 at the bottom of the base plate 102 drives the scraper 105 to rotate, which can automatically clean the surface of the optical glass 103 periodically, removing stains and impurities caused by water adhesion, preventing them from affecting the transmission and reception of light signals, reducing the frequency of manual maintenance, and ensuring the long-term stable operation of the optical detection system.Ensure the accuracy and continuity of water quality testing data.

[0025] like Figure 3 and Figure 10 As shown: The wireless fusion module 203 is installed on the top of the top plate 202. The wireless fusion module 203 also includes a main control module 2031. The main control module 2031 is connected to the Beidou short message module 2032, the 4G communication module 2034, the ZigBee self-organizing network module 2036, the BDS module 2037, the SINS module 2038, and the 4G signal detection module 2039 via data cables. The Beidou short message module 2032 is connected to the Beidou antenna 2033 via radio frequency cables, and the 4G communication module 2034 is connected to the 4G antenna 2035 via radio frequency cables. The main control module 2031 is connected to the Beidou short message module 2032, the 4G communication module 2036, the 4G signal detection module 2037, and the 4G signal detection module 2038 via radio frequency cables. The data cable connection of components such as module 2034, together with the 4G signal detection module 2039, forms an intelligent communication switching system. In areas with good 4G network coverage, the 4G communication module 2034 achieves high-speed data transmission through the 4G antenna 2035, meeting the requirements for real-time spectral data upload. When entering remote areas with no signal, the 4G signal detection module 2039 detects signal abnormalities, and the main control module 2031 immediately controls the switch to the Beidou short message module 2032, which communicates with the satellite through the Beidou antenna 2033, ensuring uninterrupted transmission of key information such as sampling data and ship status, achieving seamless connection of communication methods. The BDS module 2037 and the SINS module... Data interaction between module 2038 and main control module 2031 establishes a high-precision positioning system. BDS module 2037 utilizes BeiDou satellite signals to provide precise geographic location information, achieving meter-level or even centimeter-level positioning in open water. SINS module 2038, through inertial navigation technology, continuously outputs the ship's attitude and motion parameters even when satellite signals are obstructed (e.g., in canyons or waters with tall buildings) or interfered with. The data from both modules is fused and processed by main control module 2031 to provide precise positioning support for water sampling mechanisms, optical analysis chambers, etc., ensuring the accuracy of sampling points and the spatial representativeness of detection data. ZigBee self-organizing network module 2036 interacts with the main control module... Module 2031 connects to build a low-power, high-reliability communication network inside the hull. This network enables data sharing and collaborative control among various subsystems on board (such as the robotic arm 301, cleaning module 309, and water measurement module 204). For example, when the water measurement module 204 detects an abnormal water quality, the data is quickly transmitted to the main control module 2031 via the ZigBee network. The main control module 2031 then adjusts the sampling strategy and controls the sampling robotic arm 301 to sample the water via the network. At the same time, the abnormal information is uploaded via 4G or Beidou communication modules, which significantly improves the collaborative operation efficiency and emergency response capability among the various systems of the sampling vessel.

[0026] In this embodiment, the unmanned vessel 101 is used as the operating carrier. The bottom plate 102 on the top of the hull forms a stable installation platform for the control mechanism 200 and the water sampling mechanism 300. The optical glass 103 at the bottom of the bottom plate 102 forms the optical path channel of the water measurement module 204. The scraper 105 driven by the motor 104 can clean the optical glass 103 periodically to ensure stable optical signal transmission and lay the foundation for subsequent detection. In the control mechanism 200, the support frame 201 and its top plate 202 provide an installation framework for each component. The PLC controller 205 is electrically connected to the data processing module 206, and the two are respectively connected to the wireless fusion module 203 and the water body measurement module 204, forming the core of system control and data processing. The wireless fusion module 203 is deployed on the top of the top plate 202. Its main control module 2031 manages components such as the Beidou short message module 2032 and the 4G communication module 2034 through data cables. The 4G signal detection module 2039 monitors the 4G signal in real time. When the signal is good, the main control module 2031 controls the 4G communication module 2034 to transmit spectral data, ship status and other information at high speed through the 4G antenna 2035. When the signal is poor, it switches to Beidou short message. Module 2032 utilizes Beidou antenna 2033 to ensure uninterrupted transmission of critical data in the form of short messages. BDS module 2037 achieves meter- to centimeter-level positioning in open waters with the help of Beidou satellites. SINS module 2038 continuously outputs ship attitude and motion parameters through inertial navigation when satellite signals are blocked. The data from both are fused by main control module 2031 to provide accurate positioning for sampling operations. ZigBee self-organizing network module 2036 builds a low-power communication network inside the ship to achieve data sharing and collaboration among subsystems. For example, when water quality measurement module 204 detects water quality anomalies, the data is transmitted to main control module 2031 through this network. Main control module 2031 then adjusts the sampling strategy, controls sampling robotic arm 301 to perform sampling, and uploads the anomaly information. When the vessel reaches the designated water area, the PLC controller 205 activates the ultraviolet lamp 2047 and laser emitter 2048. The emitted light is focused by the fiber optic adapter 2043 and fiber optic collimator 2045, and then passes through the optical glass 103 into the water. At this time, the rotary motor 2049 drives the turntable 2140 to switch the filter 2141, which can enhance the acquisition of specific wavelength light signals and improve the detection sensitivity. The reflected and scattered light signals generated by the interaction between substances in the water and the light are then transmitted through the optical glass 103 and fiber optic receiving collimator 2044, and then transmitted to the optical fiber receiver via the fiber optic adapter 2043. The spectrometer 2042 converts optical signals into electrical signals and transmits them to the data processing module 206. After analysis and comparison with the standard spectral database, the types and concentrations of substances are determined. The water quality parameter data obtained from the analysis are automatically associated with the ship's Beidou positioning information and timestamp to generate water quality data containing spatial and temporal dimensions. This data is transmitted to the shore-based control center via the 4G communication module 2034 or the Beidou short message module 2032 to draw a spatial distribution map of water quality parameters and assist in environmental monitoring decisions. In this way, the sampling vessel does not need to frequently travel back and forth to different sampling points, which can save a lot of time.

[0027] Example 2, as Figure 8 and Figure 9 As shown: The water sampling mechanism 300 includes a robotic arm 301 and a heater 308. A connecting plate 302 is provided at the bottom of the robotic arm 301. A set of sampling boxes 303 are threaded into the top of the connecting plate 302. A set of shape memory metal plates 304 are installed on one side of the outer wall of the connecting plate 302. A waterproof cover 305 is installed on one side of the outer wall of each shape memory metal plate 304, and each waterproof cover 305 is embedded in the top of each sampling box 303. A heating plate 306 is installed on one side of the outer wall of each shape memory metal plate 304, and each heating plate 306 is electrically connected to the heater 308 by a wire 307. The water sampling mechanism 300, through the innovative combination of components such as the robotic arm 301, sampling box 303, shape memory metal plate 304 and heater 308, constructs a high-precision and automated stratified water sampling system, effectively solving the problem of the mixing of different water layers affecting the detection results in traditional sampling methods.

[0028] In this embodiment, the robotic arm 301, with its extendable design, can accurately locate sampling points at the surface, middle, and bottom layers of the water. When the robotic arm 301 extends to the target water layer, the heater 308 supplies power to the heating plate 306 via the wire 307. The heating plate 306 precisely heats the shape memory alloy plate 304. Utilizing the deformation characteristics of the shape memory alloy material under temperature changes, the shape memory alloy plate 304 bends and deforms, causing the waterproof cover 305 to open automatically. The water sample flows into the sampling box 303 under natural water pressure, completing the sampling operation for that water layer. Since each sampling box 303 operates independently and strictly follows the layered sampling sequence, cross-mixing between different water layers is effectively avoided, ensuring that the collected water samples from each layer can accurately reflect the water quality of the corresponding water layer. This provides a reliable sample basis for subsequent high-precision water quality analysis such as in-situ spectral detection and biofluorescence monitoring in the optical analysis chamber.

[0029] Example 3, as Figure 8 and Figure 9 As shown: A support rod 106 and a power supply component 108 are installed on the top of the base plate 102. A solar panel 107 is installed on the top of the support rod 106. The solar panel 107 is electrically connected to the power supply component 108. The water sampling mechanism 300 includes a cleaning module 309, which also includes a water tank 3091. One end of the outer wall of the water tank 3091 is connected to a pump 3092. The output end of the pump 3092 is connected to a nozzle 3093. A water injection end 3094 is provided on the top of the water tank 3091. As a key component of the water sampling mechanism 300, the cleaning module 309, through the organic cooperation of the water tank 3091, pump 3092, nozzle 3093 and water injection end 3094, constructs a highly efficient and intelligent cleaning system for the sampling box 303, which fundamentally ensures the accuracy and reliability of the sampling data.

[0030] In this embodiment, the solar panel 107 can convert solar energy into electrical energy and store the converted electrical energy in the power supply component 108 to power the various components in the device. After completing the sampling tasks of different water areas or different water layers, the pump 3092 draws purified water from the water tank 3091 and delivers it to the nozzle 3093. The nozzle 3093 can perform all-round high-pressure rinsing on the inner and outer surfaces of the sampling box 303, washing away the water sample, impurities and microorganisms attached to the surface of the sampling box 303. This deep cleaning method effectively avoids cross-mixing between different water samples, ensuring that the water samples collected later are not contaminated by the water samples collected earlier, so that each water sample can truly reflect the water quality of the corresponding sampling point and provide a reliable sample for subsequent water quality analysis.

[0031] The working principles of the PLC controller 205, data processing module 206, spectrometer 2042, Beidou short message module 2032, 4G communication module 2034, ZigBee self-organizing network module 2036, BDS module 2037, SINS module 2038, and 4G signal detection module 2039 in this invention are well-known technologies. The appropriate model is selected according to the actual use, so the control method and wiring layout will not be explained in detail.

[0032] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An integrated device for water quality sampling vessels based on single-channel BeiDou and 4G converged communication, characterized in that, include: The hull structure (100) is equipped with a control mechanism (200) and a water sampling mechanism (300) on its top. The control mechanism (200) includes: The wireless fusion module (203) and the water body measurement module (204) are used for ship positioning and data transmission, and the water body measurement module (204) is used for measuring the water body. The wireless fusion module (203) also includes: The main control module (2031) is connected to the Beidou short message module (2032), the 4G communication module (2034), the ZigBee self-organizing network module (2036), the BDS module (2037), the SINS module (2038), and the 4G signal detection module (2039) via data cables. The Beidou short message module (2032) is connected to the Beidou antenna (2033) via radio frequency cables, and the 4G communication module (2034) is connected to the 4G antenna (2035) via radio frequency cables. The water measurement module (204) also includes: Two spectrometers (2042), two fiber optic receiving collimators (2044), and two fiber optic transmitting collimators (2045) are provided. Fiber optic adapters (2043) are connected between the two spectrometers (2042) and the two fiber optic receiving collimators (2044). The two fiber optic transmitting collimators (2045) are respectively connected to an ultraviolet lamp (2047) and a laser emitter (2048) through the fiber optic adapters (2043). A turntable (2140) is provided at the bottom of one of the fiber optic transmitting collimators (2045). A set of filters (2141) is provided on the inner surface of the turntable (2140). A rotary motor (2049) is connected to the top of the turntable (2140).

2. The integrated water quality sampling vessel device based on single Beidou and 4G converged communication as described in claim 1, characterized in that: The water sampling mechanism (300) includes a robotic arm (301) and a heater (308). A connecting plate (302) is provided at the bottom of the robotic arm (301). A set of sampling boxes (303) is threaded into the top of the connecting plate (302). A set of memory metal plates (304) is installed on one side of the outer wall of the connecting plate (302). A waterproof cover (305) is installed on one side of the outer wall of each memory metal plate (304). Each waterproof cover (305) is embedded in the top of each sampling box (303). A heating plate (306) is installed on one side of the outer wall of each memory metal plate (304). A wire (307) is electrically connected between each heating plate (306) and the heater (308).

3. The integrated water quality sampling vessel device based on single Beidou and 4G converged communication as described in claim 1, characterized in that: The hull structure (100) includes an unmanned vessel (101), with a base plate (102) mounted on the top of the unmanned vessel (101), two optical glasses (103) mounted on the bottom of the base plate (102), a motor (104) mounted on the top of the base plate (102), and the output end of the motor (104) passes through the bottom of the base plate (102) and is fitted with a scraper (105).

4. The integrated water quality sampling vessel device based on single Beidou and 4G converged communication as described in claim 3, characterized in that: The top of the base plate (102) is provided with a support rod (106) and a power supply component (108). The top of the support rod (106) is provided with a solar panel (107), and the solar panel (107) is electrically connected to the power supply component (108).

5. The integrated water quality sampling vessel device based on single Beidou and 4G converged communication as described in claim 1, characterized in that: The control mechanism (200) includes a support frame (201), a top plate (202) is installed on the top of the support frame (201), a PLC controller (205) and a data processing module (206) are respectively installed on one side of the outer wall of the support frame (201), and the PLC controller (205) is electrically connected to the data processing module (206). The data processing module (206) is electrically connected to the wireless fusion module (203) and the water body measurement module (204) respectively. The PLC controller (205) is electrically connected to the wireless fusion module (203) and the water body measurement module (204) respectively.

6. The integrated water quality sampling vessel device based on single Beidou and 4G converged communication as described in claim 3, characterized in that: A protective shell (2041) is installed on the top of the base plate (102). The two spectrometers (2042) are installed on the top of the protective shell (2041). Two L-shaped plates (2046) are installed on both sides of the inner wall of the protective shell (2041). Each L-shaped plate (2046) is respectively fitted onto the outer wall of each fiber optic receiving collimator (2044) and fiber optic transmitting collimator (2045). The rotary motor (2049) is installed at the bottom of one of the L-shaped plates (2046). The wireless fusion module (203) is installed on the top of the top plate (202).

7. The integrated water quality sampling vessel device based on single Beidou and 4G converged communication as described in claim 1, characterized in that: The water sampling mechanism (300) includes a cleaning module (309), the cleaning module (309) also includes a water tank (3091), one end of the outer wall of the water tank (3091) is connected to a pump (3092), the output end of the pump (3092) is connected to a spray pipe (3093), and the top of the water tank (3091) is provided with a water injection end (3094).

8. The integrated water quality sampling vessel device based on single Beidou and 4G converged communication as described in claim 5, characterized in that: The ultraviolet lamp (2047) and the laser emitter (2048) are both installed on the top of the base plate (102). The ultraviolet lamp (2047) and the laser emitter (2048) are both electrically connected to the PLC controller (205). The ultraviolet lamp (2047) and the laser emitter (2048) are both electrically connected to the power supply component (108).

9. The integrated water quality sampling vessel device based on single Beidou and 4G converged communication as described in claim 2, characterized in that: The heater (308) is installed on one side of the outer wall of the support frame (201). The heater (308) is electrically connected to the PLC controller (205) and the power supply component (108) respectively. The robotic arm (301) is installed on the top of the base plate (102). The robotic arm (301) is electrically connected to the PLC controller (205) and the power supply component (108) respectively.

10. The integrated water quality sampling vessel device based on single Beidou and 4G converged communication as described in claim 7, characterized in that: The water tank (3091) is installed on the top of the base plate (102), and the pump (3092) is electrically connected to the PLC controller (205) and the power supply component (108).

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