A cable-controlled underwater sampling robot and a sampling method

Abstract

The application relates to the technical field of underwater sampling robot equipment, and discloses a tethered remote control underwater sampling robot and a sampling method, which comprise a sealed cabin, a propeller support plate, a propeller, a sealed cabin pressing plate and a sealed cabin bottom plate, the sealed cabin is fixedly connected with the sealed cabin bottom plate, the sealed cabin pressing plate is symmetrically arranged on the upper side and the lower side of the sealed cabin, the sealed cabin pressing plate is fixedly connected with the propeller support plate, the sealed cabin bottom plate is fixedly connected with the propeller support plate, side pushing mounting seats are fixedly arranged at the two ends of the two sides of the propeller support plate, and vertical pushing mounting seats are fixedly arranged in the middle of the two sides of the propeller support plate; the robot can be accurately positioned and sampled underwater, and water quality parameters and water depth can be monitored in real time; the sealed cabin guarantees the waterproof performance of internal electronic elements, so that the robot can stably work underwater for a long time; and the layout and installation angle of the propeller enable the robot to be flexibly moved underwater and adapt to various complex underwater environments.

Description

Technical Field

[0001] This invention relates to the field of underwater sampling robot equipment technology, and more specifically, to a tethered remotely controlled underwater sampling robot and sampling method. Background Technology

[0002] In recent years, with the rapid growth in demand for marine resource development, aquatic environmental protection, aquaculture, and water conservancy facility inspection, underwater sampling and observation tasks have become increasingly frequent. Traditional underwater sampling methods mainly rely on manual diving operations or large underwater robot systems, but these still have many limitations in practical applications. Currently, various types of underwater robots have emerged both domestically and internationally, mainly including tethered remotely operated vehicles (ROVs) and untethered autonomous underwater vehicles (AUVs). AUVs possess strong autonomous navigation and operational capabilities, making them suitable for large-area patrols and mapping, but their high cost, large communication latency, and difficulty in achieving real-time precision operation limit their applicability to near-bottom sampling tasks requiring "instant sampling." ROVs, on the other hand, achieve real-time video transmission and remote control via cables, allowing operators to make real-time decisions and precise operations based on the transmitted images, making them particularly suitable for tasks such as fixed-point sampling and detection. However, traditional medium-to-large ROV systems are bulky, complex to deploy, and require high-performance mother ships and launching equipment, resulting in lower cost-effectiveness in small-scale, lightweight, and highly mobile application scenarios.

[0003] Against this backdrop, miniaturized, portable ROVs are gradually becoming important tools in nearshore, inland waters, and aquaculture ponds. These devices are typically lightweight, easy to carry, and quick to deploy, making them particularly suitable for single-person operation, small-boat collaboration, or temporary inspection tasks. Existing small ROVs are mostly equipped with basic observation equipment, such as cameras, sonar, and water quality sensors, enabling underwater visual observation and environmental parameter measurement. However, in terms of sampling capabilities, the following shortcomings remain: most devices have relatively simple sampling functions, making it difficult to adapt to the needs of multiple samples and different types of sampling; the structural design is not fully optimized, resulting in poor hydrodynamic performance and poor stability in complex water flow environments.

[0004] To address the aforementioned issues, this project developed a small, remotely controlled robot system specifically designed for lightweight underwater sampling tasks. The device features system optimizations in its mechanical structure, power layout, and sampling modules, exhibiting excellent mobility, stability, and functional expandability. It can be widely applied to water sample, sediment, or microbial sample collection tasks in environments such as lakes, reservoirs, and ponds. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a tethered remotely controlled underwater sampling robot and sampling method, which can perform precise positioning and sampling underwater, while monitoring water quality parameters and water depth in real time. The sealed cabin ensures the waterproof performance of the internal electronic components, enabling them to work stably underwater for a long time. The layout and installation angle of the thrusters enable the robot to move flexibly underwater and adapt to various complex underwater environments.

[0006] A tethered remotely controlled underwater sampling robot includes a sealed chamber, a thruster support plate, a thruster, a sealed chamber pressure plate, and a sealed chamber bottom plate. The sealed chamber is fixedly connected to the sealed chamber bottom plate. The sealed chamber pressure plate is symmetrically arranged on the upper and lower sides of the sealed chamber. The sealed chamber pressure plate is fixedly connected to the thruster support plate. The sealed chamber bottom plate is fixedly connected to the thruster support plate. Side thrust mounting seats are fixedly installed at both ends of the two sides of the thruster support plate. Vertical thrust mounting seats are fixedly installed in the middle of both sides of the thruster support plate. A thruster is fixedly installed on the side thrust mounting seats and the vertical thrust mounting seats. A sampling bracket is fixedly installed on one side of the thruster support plate by bolts. A sampling frame is fixed on the sampling bracket.

[0007] The sealed chamber contains a power supply compartment and a control compartment. The power supply compartment contains batteries, and the control compartment contains a controller. The controller transmits data to the PC via a communication module.

[0008] It also includes a pH sensor, an underwater camera, and a depth sensor. Mounting holes are provided on the bottom plate of the sealed chamber, and the pH sensor and the depth sensor are respectively mounted on the outside of the bottom plate of the sealed chamber through the mounting holes.

[0009] The pH sensor is used to monitor the pH of the pool in real time, and the depth sensor monitors the robot's immersion depth. Both the depth sensor and the pH sensor transmit data to the controller, which then displays the received depth and pH information on a PC monitor.

[0010] As a further limitation of this technical solution, the control cabin includes a control cabin rear panel, a control cabin mounting plate one, a control cabin support plate, and a control cabin mounting plate two. One end of the control cabin rear panel is connected to the control cabin mounting plate one and the control cabin mounting plate two, respectively. The control cabin mounting plate one and the control cabin mounting plate two are connected to one side of the control cabin support plate. The connection points of the control cabin rear panel, the control cabin mounting plate one, the control cabin support plate, and the control cabin mounting plate two are respectively connected by adapter columns.

[0011] As a further limitation of this technical solution, the power compartment includes a power compartment mounting plate and a front baffle. The lower part of the other side of the control compartment support plate is connected to the front baffle via the power compartment mounting plate. The power compartment mounting plate is used to install batteries. The connection points of the control compartment support plate, the power compartment mounting plate, and the front baffle are also connected by other adapter columns. The rear baffle of the control compartment is bolted to the sealed bottom plate. An underwater camera is installed on the front baffle. The underwater camera is used to monitor the underwater scene and transmit the monitoring images to the controller.

[0012] As a further limitation of this technical solution, the sampling frame includes an upper support ring, support rods and a lower support plate. The upper support ring is fixedly connected to the edge of the lower support plate by a set of circumferentially evenly arranged support rods. The lower support plate is fixedly connected to the sampling bracket by bolts. The sampling bracket is frame-shaped. The sampling bottle is installed on the lower support plate. The controller controls the pop-out and retraction of the sampling bottle.

[0013] As a further limitation of this technical solution, the thruster support plate is U-shaped, and the sealed chamber is located in the recess of the thruster support plate.

[0014] As a further limitation of this technical solution, the thruster includes a left thruster, a right thruster and a vertical thruster. The left thruster, the right thruster and the vertical thruster constitute a power system. The power system can realize six degrees of freedom of motion, and can realize motion in six directions: forward and backward, left and right, up and down.

[0015] A sampling method for a tethered remotely operated underwater sampling robot includes the following steps:

[0016] Step 1: The operator first establishes a connection with the controller via the PC to ensure smooth data transmission;

[0017] Step 2: Control the thrusters via the controller on the PC as needed to move the sampling robot to the designated sampling depth;

[0018] Step 3: Upon reaching the location, the controller pops the sampling bottle out of the sampling frame to collect water samples, and then automatically retracts it to prevent the water samples from being contaminated by the outside world.

[0019] Step 4: After completing all sampling tasks, the operator sends a command through the PC to control the robot to return to the water surface, retrieve it to the shore, and take out the sampling bottle for subsequent water sample analysis.

[0020] As a further limitation of this technical solution, in steps 2 and 3, the pH sensor, underwater camera and depth sensor monitor water quality parameters and water depth in real time and transmit the data to the controller. After processing and analysis, the controller displays the information to the operator through the PC monitor, and the operator adjusts the robot's working status and sampling strategy accordingly.

[0021] Compared with the prior art, the advantages and positive effects of the present invention are:

[0022] The robot has a compact structure and small size, making it easy to carry and operate, thus achieving portability and reducing resistance. At the same time, it ensures the stability and durability of the robot. It adopts an automated sampling method, and the controller precisely controls the sampling bottle to achieve efficient and stable sampling. Meanwhile, it monitors water quality parameters and water depth in real time, which improves the accuracy of sampling. Underwater work can be completed by one person through the system control, reducing the waste of manpower and resources.

[0023] The layout and installation angle of the thrusters are designed in a reasonable way, which enables the robot to move flexibly in various complex underwater environments and adapt to different sampling needs. At the same time, the design of the sealed cabin ensures the waterproof performance of the internal electronic components, enabling them to work stably underwater for a long time and broadening the application range of the robot.

[0024] By transmitting data between the PC and the controller, operators can remotely monitor and control the robot's working status and adjust the sampling strategy in a timely manner, greatly improving the convenience and safety of the work.

[0025] The robot adopts a modular design with tightly connected components that are easy to disassemble and replace, reducing maintenance costs. Attached Figure Description

[0026] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. Obviously, the drawings described below are merely some embodiments of the present invention, and those skilled in the art can obtain other drawings based on these drawings without creative effort. In the drawings:

[0027] Figure 1 This is a schematic diagram of the structure of the present invention. Figure 1 ;

[0028] Figure 2 This is a top view of the structure of the present invention;

[0029] Figure 3 This is a partial structural diagram of the present invention;

[0030] Figure 4 This is a schematic diagram of the structure of the present invention. Figure 2 ;

[0031] Figure 5 This is a schematic diagram of the structure of the present invention. Figure 3 ;

[0032] Figure 6This is a schematic diagram of the sampling device of the present invention;

[0033] Figure 7 This is another schematic diagram of the sampling device of the present invention;

[0034] Figure 8 This is a schematic diagram of the structure of the first support plate of the sampling device in this invention;

[0035] Figure 9 This is a schematic diagram of the structure of the second support plate of the sampling device in this invention;

[0036] Figure 10 This is a schematic diagram of the guide sleeve of the sampling device in this invention;

[0037] Figure 11 This is a schematic diagram of the cabin structure in this invention;

[0038] In the diagram: 1. Sealed compartment; 2. Thruster support plate; 3. Thruster; 31. Left thruster; 32. Right thruster; 33. Vertical thruster; 4. Sealed compartment pressure plate; 5. Sealed compartment bottom plate; 501. Mounting hole; 6. Power supply compartment; 7. Control compartment; 8. Control compartment rear baffle; 9. Control compartment mounting plate one; 10. Control compartment support plate; 11. Control compartment mounting plate two; 12. Adapter column; 13. Power supply compartment mounting plate; 14. Front baffle; 15. Side thruster mounting seat; 16. Vertical thruster mounting seat 17. Sampling bracket; 18. Sampling frame; 181. Upper support ring; 182. Support rod; 183. Lower support plate; 100. Working basket; 200. First support plate; 300. Second support column; 400. Second support plate; 500. Drive motor; 600. Working baffle; 700. Placement slot; 800. Electric push rod; 900. Working hole; 1000. Transition hole; 1100. Mounting base; 1200. Guide sleeve; 1300. Cabin; 1400. Sealing cover. Detailed Implementation

[0039] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0040] like Figure 1 , Figure 2As shown, a cable-controlled remotely operated underwater sampling robot includes a sealed chamber 1, a thruster support plate 2, a thruster 3, a sealed chamber pressure plate 4, and a sealed chamber bottom plate 5. The sealed chamber 1 is fixedly connected to the sealed chamber bottom plate 5. The sealed chamber pressure plate 4 is symmetrically arranged on the upper and lower sides of the sealed chamber 1. The sealed chamber pressure plate 4 is fixedly connected to the thruster support plate 2. The sealed chamber bottom plate 5 is fixedly connected to the thruster support plate 2. Side thrust mounting seats 15 are fixedly installed at both ends of both sides of the thruster support plate 2. Vertical thrust mounting seats 16 are fixedly installed in the middle of both sides of the thruster support plate 2. The angle between the side thrust mounting seats 15 and the forward direction of the sealed chamber 1 is 45 degrees, and the angle between the vertical thrust mounting seats 16 and the forward direction of the sealed chamber 1 is 90 degrees. The forward direction of the sealed chamber 1 is away from the sealed chamber bottom plate 5. The thruster 3 is fixedly installed on the side thrust mounting seats 15 and the vertical thrust mounting seats 16 respectively. The sampling bracket 17 is fixedly installed on one side of the thruster support plate 2 by bolts, and the sampling frame 18 is fixed on the sampling bracket 17.

[0041] like Figure 3 As shown, a power supply compartment 6 and a control compartment 7 are installed inside the sealed chamber 1. The power supply compartment 6 contains batteries, and the control compartment 7 contains a controller. The controller transmits data to the PC through a communication module.

[0042] like Figure 5 As shown, it also includes a pH sensor, an underwater camera and a depth sensor. The bottom plate 5 of the sealed chamber has mounting holes 501, and the pH sensor and the depth sensor are respectively mounted on the outside of the bottom plate 5 of the sealed chamber through the mounting holes.

[0043] The pH sensor is used to monitor the pH of the pool in real time, and the depth sensor monitors the robot's immersion depth. Both the depth sensor and the pH sensor transmit data to the controller, which then displays the received depth and pH information on a PC monitor.

[0044] Both the pH sensor and the depth sensor are existing products. The pH sensor uses a composite electrode pH sensor, and the depth sensor uses an MS5837 water depth and pressure sensor.

[0045] The propeller support plate 2 is also provided with a set of evenly arranged openings on both sides to reduce material usage and achieve lightweight design. The front ends of both sides of the propeller support plate 2 are rounded to reduce resistance.

[0046] The sealing chamber pressure plate 4 is fixed to the sealing chamber 1 with waterproof adhesive to prevent slippage.

[0047] The controller is a flight controller. The controller transmits data to the PC via a Raspberry Pi 4B communication module. The connection cables of the depth sensor, pH sensor and underwater camera all pass through the mounting holes 501 on the bottom plate 5 of the sealed cabin and are then connected to the controller.

[0048] With this setup, the robot can perform precise positioning and sampling underwater, while simultaneously monitoring water quality parameters and water depth in real time, improving sampling efficiency and accuracy. The sealed chamber 1 design ensures waterproof performance and protects the internal electronic components, enabling them to work stably underwater for extended periods. The layout and installation angle of the thrusters allow the robot to move flexibly underwater, adapting to various complex underwater environments. The sampling bracket 17 and sampling frame 18 facilitate water sample collection. Data is transmitted to the controller via a PC, allowing operators to remotely monitor and control the robot's working status.

[0049] like Figure 3 As shown, the control compartment 7 includes a control compartment rear baffle 8, a control compartment mounting plate one 9, a control compartment support plate 10, and a control compartment mounting plate two 11. One end of the control compartment rear baffle 8 is connected to the control compartment mounting plate one 9 and the control compartment mounting plate two 11, respectively. The control compartment mounting plate one 9 and the control compartment mounting plate two 11 are connected to one side of the control compartment support plate 10. The connection points of the control compartment rear baffle 8, the control compartment mounting plate one 9, the control compartment support plate 10, and the control compartment mounting plate two 11 are respectively connected by adapter columns 12.

[0050] The control cabin support plate 10 has several evenly arranged openings to reduce material and weight. The openings on the control cabin support plate 10 are symmetrically arranged.

[0051] This design enhances the overall stability and load-bearing capacity of the control cabin 7. The auxiliary connection of the adapter column 12 simplifies the assembly process, improves the connection strength between the components, and ensures the stable operation of the control cabin 7 in various underwater environments. The reasonable layout inside the control cabin 7 provides ample installation space and protection for key components such as the controller and battery.

[0052] like Figure 3 As shown, the power compartment 6 includes a power compartment mounting plate 13 and a front baffle 14. The lower part of the other side of the control compartment support plate 10 is connected to the front baffle 14 through the power compartment mounting plate 13. The power compartment mounting plate 13 is used to install batteries. The connection points of the control compartment support plate 10, the power compartment mounting plate 13 and the front baffle 14 are also connected by other adapter columns 12. The control compartment rear baffle 8 is bolted to the sealed compartment bottom plate 5. An underwater camera is installed on the front baffle 14. The underwater camera is used to monitor the underwater scene and transmit the monitoring image to the controller.

[0053] The front baffle 14 is provided with camera mounting holes for easy installation of underwater cameras. The underwater cameras are existing products and will not be described in detail or shown in the figure.

[0054] In this embodiment, the control compartment support plate 10 is connected to the front baffle 14 by the power compartment mounting plate 13, and the connection strength is enhanced by the connection of the adapter column 12, which also ensures the tight fit between the power compartment 6 and the control compartment 7. The control compartment rear baffle 8 is connected to the sealed compartment bottom plate 5 by bolts, which effectively prevents the intrusion of water and impurities in the underwater environment.

[0055] like Figure 1 As shown, the sampling frame 18 includes an upper support ring 181, support rods 182 and a lower support plate 183. The upper support ring 181 is fixedly connected to the edge of the lower support plate 183 by a set of circumferentially evenly arranged support rods 182. The lower support plate 183 is fixedly connected to the sampling bracket 17 by bolts. The sampling bracket 17 is frame-shaped. The sampling bottle is installed on the lower support plate 183. The controller controls the pop-up and retraction of the sampling bottle.

[0056] It is worth noting that the ejection and retraction of the sampling bottle in this invention are achieved through the following sampling device. The sampling device provided in this embodiment of the invention works in conjunction with the sampling bottle disclosed in CN117191474A, as follows: Figure 6 , Figure 7 , Figure 8 , Figure 9 , Figure 10 , Figure 11 As shown, the sampling device includes a working basket 100 and, from bottom to top, a first support column, a first support plate 200, a second support column 300, a second support plate 400, a drive motor 500, and a working baffle 600 connected in sequence inside the working basket 100. The first support plate 200 has a placement groove 700. An electric push rod 800 is connected to the bottom of the working basket 100. A working hole 900 is opened in the center of the placement groove 700. The electric push rod 800 slides through the working hole 900. The second support plate 400 has a transition hole 1000 for the bottle to pass through. A water leakage hole is opened at the bottom of the working basket 100. A guide sleeve 1200 is movably connected to the placement groove 700. One end of the working baffle 600 is connected to the output end of the drive motor 500, and the other end is slidably connected to the working basket 100.

[0057] The sampling device includes a cylindrical working basket 100 with a drainage hole at the bottom to drain excess water during retrieval, thus reducing the device's weight. The top of the working basket 100 has an annular groove, within which one end of a working baffle 600 can slide, facilitating its rotation. Inside the working basket 100, from bottom to top, are sequentially connected a first support column, a first support plate 200, a second support column 300, a second support plate 400, a drive motor 500, and the working baffle 600. Both the first and second support columns 300 are fixedly connected to the inner wall of the working basket 100, providing support and stability to the internal components. The first support column and drive motor 500 are mounted at the bottom of the working basket 100. The first support plate 200 is mounted above the second support column 300 and connected to the second support plate 400 via the second support column 300.

[0058] like Figure 8 As shown, the first support plate 200 has multiple placement slots 700 arranged in a circular array for placing sampling bottles. Each placement slot 700 has a working hole 900 in its center. The movable end of the electric push rod 800 slides through the working hole 900 to push the sampling bottle for sampling. The arrangement of the multiple placement slots 700 ensures a reasonable spatial distribution between the sampling bottles, avoids mutual interference, and improves sampling efficiency.

[0059] A guide sleeve 1200 is movably connected to the placement slot 700. The guide sleeve 1200 is used to ensure the vertical movement of the sampling bottle and to fix the sampling bottle to prevent it from deviating from its position. The guide sleeve 1200 can ensure that the sampling bottle always remains vertical during the movement, avoiding the problem of displacement caused by water flow disturbance.

[0060] The second support plate 400 has a transition hole 1000, which is coaxially arranged with the placement groove 700 for the bottle to pass through. The transition hole 1000 allows the sampling bottle to pass smoothly through the second support plate 400 when moving upward, avoiding jamming.

[0061] The housing 1300 is connected to the center of the first support plate 200 to protect internal components. Control components can be connected inside the housing 1300. As shown in the figure, a sealing cover 1400 is connected to the top of the housing 1300, and a sealing ring is provided between the sealing cover 1400 and the housing 1300 to ensure the sealing performance of the housing 1300. The housing 1300 effectively prevents water from entering the internal component area, thereby improving the reliability and service life of the device.

[0062] The drive motor 500 is fixed above the second support plate 400 via the mounting base 1100. Its output end is connected to the working baffle 600 to control the rotation of the working baffle 600. The mounting base 1100 also enhances the stability of the drive motor 500, ensuring that vibration during operation does not affect the rotational accuracy of the working baffle 600. The other end of the working baffle 600 is slidably connected to the working basket 100, sliding within an annular groove to press the sampling bottle and complete the closing operation. The sliding connection of the working baffle 600 allows it to rotate precisely above the sampling bottle under the drive of the drive motor 500, thus completing the closing operation. The electric push rod 800 is located at the bottom of the working basket 100 and slides through the working hole 900 to push the sampling bottle upwards, facilitating the closing operation.

[0063] It should be noted that during operation, this sampling device is connected to the underside of the underwater robot. When the system controls the target sampling bottle to be powered on, the electric telescopic component in the sampling bottle pushes the intermediate rod, causing the movable piece on it to move outward. This allows the boundary rod, under the action of a spring, to push the bottle cap open and allow sampling. After sampling is completed, the electric push rod 800 reverses, and the intermediate rod returns to its original position. Then, the electric push rod 800 pushes the sampling bottle upward, and the system controls the drive motor 500 to drive the working baffle 600 to rotate directly above the sampling bottle. Under the combined action of the electric push rod 800 and the working baffle 600, the sampling bottle is pressed down, completing the closing operation. When the underwater robot reaches the second sampling point, the second target sampling bottle begins operation, and so on.

[0064] In this embodiment, the sampling bottle uses existing technology, which will not be described in detail here, and is not shown in the accompanying drawings.

[0065] The sampling frame 18 supports the sampling bottle and the aforementioned sampling device. The frame design provides sufficient support space for the sampling bottle, facilitating its pop-out and retraction. The upper support ring 181 and the lower support plate 183 are fixedly connected by a set of evenly arranged circumferential support rods 182, enhancing the strength of the sampling frame 18 and ensuring the stability of the sampling bottle during the sampling process. The lower support plate 183 is tightly connected to the sampling bracket 17 by bolts, allowing the sampling frame 18 to be firmly installed on the robot, maintaining stable sampling operations even in complex underwater environments. The controller controls the sampling bottle, achieving automated sampling.

[0066] The thruster support plate 2 is U-shaped, and the sealed chamber 1 is set in the recess of the thruster support plate 2. The sealed chamber 1, the sealed chamber pressure plate 4, the thruster support plate 2, the sealed chamber bottom plate 5, the side thrust mounting seat 15, the vertical thrust mounting seat 16 and the adapter column 12 are all made of solid acrylic material. The sampling bracket 17 and the sampling frame 18 are made of aluminum alloy and can withstand the water pressure of 20-30 meters underwater.

[0067] like Figure 4 As shown, the thruster 3 includes a left thruster 31, a right thruster 32 and a vertical thruster 33. The left thruster 31, the right thruster 32 and the vertical thruster 33 form a power system. The power system can realize six degrees of freedom of motion, and can realize motion in six directions: forward, backward, left, right and up.

[0068] See Figure 2 In this embodiment, there are six motion modes:

[0069] Forward movement: Left thruster 31 on the left and right thruster 32 on the right rotate forward; left thruster 31 on the right and right thruster 32 on the right rotate in reverse.

[0070] Reverse movement: Left thruster 31 on the left side and right thruster 32 on the right side rotate in reverse; Left thruster 31 on the right side and right thruster 32 on the right side rotate in forward.

[0071] Moving to the left: Left thruster 31 on the left rotates clockwise, right thruster 32 rotates counterclockwise, left thruster 31 on the right rotates counterclockwise, and right thruster 32 rotates clockwise;

[0072] Moving to the right: Left thruster 31 on the left side rotates in reverse, right thruster 32 rotates in the forward direction, left thruster 31 on the right side rotates in the forward direction, and right thruster 32 rotates in reverse.

[0073] Upward motion: Vertical thruster rotates 33 degrees clockwise;

[0074] Downward movement: Vertical thruster 33 reverses.

[0075] The sealed chamber 1, the propeller support plate 2, the sealed chamber pressure plate 4, and the sealed chamber bottom plate 5 are all coated with anti-fouling and waterproof coatings, which can reduce corrosion and adhesion, as well as the risk of leakage.

[0076] The battery is removable, making it easy to replace and charge.

[0077] Hollow bolts are used.

[0078] This invention also discloses a sampling method for a tethered remotely controlled underwater sampling robot, comprising the following steps:

[0079] Step 1: The operator first establishes a connection with the controller via the PC to ensure smooth data transmission;

[0080] Step 2: Control the thruster 3 via the controller on the PC as needed to move the sampling robot to the specified sampling depth;

[0081] Step 3: Upon reaching the location, the controller controls the sampling bottle to pop out from the sampling frame 18 to collect water samples. After completion, the bottle is automatically retracted to prevent the water samples from being contaminated by external factors.

[0082] Step 4: After completing all sampling tasks, the operator sends a command through the PC to control the robot to return to the water surface, retrieve it to the shore, and take out the sampling bottle for subsequent water sample analysis.

[0083] In steps 2 and 3, the pH sensor, underwater camera, and depth sensor monitor water quality parameters and water depth in real time and transmit the data to the controller. After processing and analysis, the controller displays the information to the operator on the PC screen, and the operator adjusts the robot's working status and sampling strategy accordingly.

[0084] The method of using this invention is as follows:

[0085] The operator first establishes a connection with the controller via a PC to ensure smooth data transmission;

[0086] Subsequently, the operator controls the thruster 3 via the controller on the PC to move the sampling robot to the required water depth. After reaching the designated position, the controller controls the sampling bottle to pop out of the sampling frame 18 to collect water samples. After sampling is completed, the sampling bottle is automatically returned to the sampling frame 18 to ensure that the water samples are not contaminated by the external environment.

[0087] During the sampling process, pH sensors, underwater cameras, and depth sensors monitor water quality parameters and water depth in real time and transmit the data to the controller. The controller processes and analyzes the received data and displays key information to the operator in real time on the PC screen. The operator can adjust the robot's working status and sampling strategy in a timely manner based on the data displayed on the screen to ensure sampling efficiency and accuracy.

[0088] After the robot completes all sampling tasks, the operator sends a command to the controller via PC to control the robot to return to the water surface. The operator then retrieves the robot to the shore, takes out the sampling bottle, and performs subsequent water sample analysis.

[0089] The cable-controlled underwater sampling robot of the present invention can perform precise positioning and sampling underwater, while monitoring water quality parameters and water depth in real time. The sealed chamber 1 ensures the waterproof performance of the internal electronic components, enabling them to work stably underwater for a long time. The layout and installation angle of the thruster 3 allow the robot to move flexibly underwater and adapt to various complex underwater environments.

[0090] By transmitting data between the PC and the controller, operators can remotely monitor and control the robot's working status, greatly improving the convenience and safety of the work.

[0091] The above-disclosed embodiments are merely specific examples of the present invention. However, the present invention is not limited thereto, and any variations that can be conceived by those skilled in the art should fall within the protection scope of the present invention.

Claims

1. A tethered remotely controlled underwater sampling robot, characterized in that: The system includes a sealed chamber (1), a thruster support plate (2), a thruster (3), a sealed chamber pressure plate (4), and a sealed chamber bottom plate (5). The sealed chamber (1) is fixedly connected to the sealed chamber bottom plate (5). The sealed chamber pressure plate (4) is symmetrically arranged on the upper and lower sides of the sealed chamber (1). The sealed chamber pressure plate (4) is fixedly connected to the thruster support plate (2). The sealed chamber bottom plate (5) is fixedly connected to the thruster support plate (2). Side thrust mounting seats (15) are fixedly installed at both ends of the thruster support plate (2). Vertical thrust mounting seats (16) are fixedly installed in the middle of both sides of the thruster support plate (2). The thruster (3) is fixedly installed on the side thrust mounting seats (15) and the vertical thrust mounting seats (16). The sampling bracket (17) is fixedly installed on one side of the thruster support plate (2) by bolts, and the sampling frame (18) is fixed on the sampling bracket (17). The sampling frame (18) is equipped with a sampling bottle. The sealed chamber (1) is equipped with a power supply compartment and a control compartment (7). The power supply compartment is equipped with a battery, and the control compartment (7) is equipped with a controller. The controller transmits data to the PC through a communication module. It also includes an acid-base sensor, an underwater camera and a depth sensor. The bottom plate (5) of the sealed chamber is provided with mounting holes (501). The acid-base sensor and the depth sensor are respectively installed on the outside of the bottom plate (5) of the sealed chamber through the mounting holes. The acid-base sensor is used to monitor the acid-base of the pool in real time, and the depth sensor monitors the acid-base of the pool. The robot's water immersion depth, depth sensor, and pH sensor all transmit data to the controller. The controller displays the received depth and pH information on a PC monitor. Sampling bottles are ejected and retracted via a sampling device. The sampling device includes a working basket and, from bottom to top, a first support column, a first support plate, a second support column, a second support plate, a drive motor, and a working baffle connected sequentially inside the basket. The first support plate has a placement slot, and an electric push rod is connected to the bottom of the working basket. A working hole is formed in the center of the placement slot, through which the electric push rod slides. A transition hole for the bottle to pass through is formed on the second support plate, and a drainage hole is formed at the bottom of the working basket. The placement slot... The movable connection has a guide sleeve, one end of the working baffle is connected to the output end of the drive motor, and the other end is slidably connected to the working basket; the control cabin (7) includes a control cabin rear baffle (8), a control cabin mounting plate one (9), a control cabin support plate (10) and a control cabin mounting plate two (11), one end of the control cabin rear baffle (8) is connected to the control cabin mounting plate one (9) and the control cabin mounting plate two (11) respectively, the control cabin mounting plate one (9) and the control cabin mounting plate two (11) are connected to one side of the control cabin support plate (10), and the connection points of the control cabin rear baffle (8), the control cabin mounting plate one (9), the control cabin support plate (10) and the control cabin mounting plate two (11) are connected by adapter columns (12);The power compartment includes a power compartment mounting plate (13) and a front baffle (14). The lower part of the other side of the control compartment support plate (10) is connected to the front baffle (14) through the power compartment mounting plate (13). The power compartment mounting plate (13) is used to install batteries. The connection points of the control compartment support plate (10), the power compartment mounting plate (13), and the front baffle (14) are also connected by other adapter columns (12). The control compartment rear baffle (8) is bolted to the sealed compartment bottom plate (5). An underwater camera is installed on the front baffle (14). The underwater camera is used to monitor the underwater scene and transmit the monitoring image to the controller. The sampling frame (18) includes an upper support ring (181), a support rod (182), and a lower support plate (183). The upper support ring (181) is connected to the front baffle (183) through the support rod (182). A set of evenly arranged support rods (182) are fixedly connected to the edge of the lower support plate (183). The lower support plate (183) is bolted to the sampling bracket (17). The sampling bracket (17) is frame-shaped. The sampling bottle is placed on the lower support plate (183). The controller controls the ejection and retraction of the sampling bottle. The sealed chamber, thruster support plate, sealed chamber pressure plate, sealed chamber bottom plate, side thrust mounting seat, vertical thrust mounting seat, and adapter column are all made of solid acrylic material. The sampling bracket and sampling frame are made of aluminum alloy and can withstand water pressure of 20 to 30 meters underwater. The sealed chamber, thruster support plate, sealed chamber pressure plate, and sealed chamber bottom plate are all coated with anti-fouling and waterproof coating. The battery is a removable battery. The bolts are hollow bolts.

2. The tethered remotely controlled underwater sampling robot according to claim 1, characterized in that: The thruster support plate (2) is U-shaped, and the sealed chamber (1) is located in the recess of the thruster support plate (2).

3. The tethered remotely controlled underwater sampling robot according to claim 1, characterized in that: The thruster (3) includes a left thruster (31), a right thruster (32) and a vertical thruster (33). The left thruster (31), the right thruster (32) and the vertical thruster (33) form a power system. The power system can realize six degrees of freedom of motion, and can realize six directions of motion: forward, backward, left, right and up.

4. The sampling method of a tethered remotely controlled underwater sampling robot according to claim 1, characterized in that: Includes the following steps: Step 1: The operator first establishes a connection with the controller via the PC to ensure smooth data transmission; Step 2: Control the thruster (3) on the PC terminal according to actual needs to move the sampling robot to the specified sampling depth; Step 3: Upon reaching the location, the controller pops the sampling bottle out of the sampling frame to collect water samples, and then automatically retracts it to prevent the water samples from being contaminated by the outside world. Step 4: After completing all sampling tasks, the operator sends a command through the PC to control the robot to return to the water surface, retrieve it to the shore, and take out the sampling bottle for subsequent water sample analysis.

5. The sampling method of a tethered remotely controlled underwater sampling robot according to claim 4, characterized in that: In steps 2 and 3, the pH sensor, underwater camera, and depth sensor monitor water quality parameters and water depth in real time and transmit the data to the controller. After processing and analysis, the controller displays the information to the operator on the PC screen, and the operator adjusts the robot's working status and sampling strategy accordingly.

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