Unmanned ship for water quality collection

Abstract

The invention discloses an unmanned ship for water quality collection. The unmanned ship comprises a ship body, a winch, a pull rope arranged on the winch and a sampling barrel arranged at the end of the pull rope. A guide hole for the pull rope to pass through is formed in the ship body, and the pull rope vertically penetrates through the center of the guide hole and then is fixedly connected with the sampling barrel; a plurality of sensing units which are uniformly arranged around the circumference of the guide hole are arranged on the ship body, and each sensing unit comprises a contact rod matched with the pull rope; propellers consistent with the corresponding sensing units in direction and position are arranged on the ship body; through linkage control of the sensing units arranged around the guide holes and the propellers in the corresponding directions, real-time sensing and autonomous correction of the inclined state of the pull rope are achieved, the ship body can be actively driven to offset the influence of water flow and drifting, the vertical state of the pull rope is fundamentally ensured, and therefore the sampling depth error is reduced to the minimum.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned ships, and particularly to an unmanned ship for water quality collection. Background Art

[0002] As a modern hydrological monitoring tool, unmanned ships are widely used in water quality sampling and real-time monitoring of rivers, lakes and oceans because of their advantages such as strong mobility, safe operation, and the ability to enter dangerous or inaccessible waters by manpower. Its conventional working process is: navigate to a preset collection point by means of remote control or autonomous navigation, and then release the pull rope through the winch mechanism on the ship, and lower the sampling cylinder (or water sampler) at the end to the predetermined target water depth for water sample collection.

[0003] However, in the actual operation process, there is a significant technical problem in the above collection method, that is, there is a large deviation between the actual reaching depth of the sampling cylinder and the preset target depth, which seriously affects the accuracy and representativeness of water quality detection data. The root causes of this problem mainly lie in the following two aspects: Firstly, there are complex underwater undercurrents in natural waters. When the sampling cylinder is being lowered, the water flow velocities and directions at different water depths are different, which will generate continuous and irregular lateral forces on the sampling cylinder. Secondly, as a floating body, the hull of the unmanned ship will undergo continuous drift and sway under the influence of wind and surface water flow. All of the above factors can cause the pull rope connecting the unmanned ship and the sampling cylinder to not maintain an ideal vertical state, but show different degrees of inclination.

[0004] In an ideal static state, when lowering a pull rope with a length of L, the sampling cylinder should reach a depth of H (H≈L). However, in the actual working conditions with water flow and hull drift, when lowering a pull rope with the same length of L, due to the inclination of the pull rope, the actual reaching depth H' of the sampling cylinder is much less than the target depth H (i.e., H'<H≈L). At this time, the sampling depth judged by the operator based on the length of the pull rope is only the "rope length", rather than the "actual water depth", and there is a systematic error that has not been measured between the two.

[0005] This depth deviation is fatal for application scenarios that require accurately obtaining water quality samples of specific water layers (such as thermocline, specific pollution plume layer or different salinity layers). For example, when monitoring the distribution of underwater pollution masses or studying water body stratified ecology, even a depth error of dozens of centimeters may cause the collected water samples to completely not belong to the target water layer, resulting in incorrect environmental assessment conclusions and misleading subsequent treatment decisions. Summary of the Invention

[0006] In view of the deficiencies in the prior art, the present invention provides an unmanned ship that can automatically compensate for the influence of water flow and hull drift and ensure accurate sampling of the sampling cylinder at a specified water depth.

[0007] To solve the above-mentioned technical problems, the present invention provides the following technical solution: an unmanned vessel for water quality collection, comprising a hull, a winch, a pull rope mounted on the winch, and a sampling cylinder mounted at the end of the pull rope. The hull is provided with a guide hole for the pull rope to pass through, and the pull rope is perpendicularly inserted through the center of the guide hole and then fixedly connected to the sampling cylinder; The hull is provided with a plurality of sensing units evenly arranged around the circumference of the guide hole, and the sensing unit includes a contact rod that cooperates with the pull rope; The hull is equipped with a propeller whose direction and position correspond to the corresponding sensing unit; The sensing unit is connected to the propeller via a controller so that when it is triggered, the corresponding propeller drives the hull in the corresponding direction to adjust the relative position of the hull and the sampling tube so that the pull rope is restored to perpendicularity with the water surface.

[0008] In the above scheme, preferably, the sensing unit includes a guide plate that cooperates with the contact rod, and the contact rod is slidably connected to the guide plate through the guide rod; The guide plate is equipped with an induction switch that works in conjunction with the guide rod.

[0009] In the above scheme, preferably, a return spring is provided between the guide rod and the guide plate.

[0010] In the above scheme, preferably, the guide plate is slidably mounted on the hull, the lower end of the guide plate is provided with a sliding block, and the hull is provided with a guide rail that cooperates with the slider.

[0011] In the above scheme, preferably, the guide plate is connected to the slider via a connecting rod; The hull is provided with a drive disc for driving the connecting rod to move away from or towards the center of the guide hole, and the drive disc is provided with a drive groove that cooperates with the connecting rod.

[0012] In the above scheme, preferably, the drive disk is concentric with the guide hole and rotatably mounted on the guide hole, and adjacent contact rods are staggered. The drive groove is inclined or arc-shaped from one end of the drive disk center to the end away from the drive disk center.

[0013] In the above scheme, preferably, the hull is provided with a servo push rod connected to the drive disk.

[0014] In the above scheme, preferably, the winch includes a winch motor, which is controlled and connected to a servo push rod via a controller.

[0015] In the above scheme, preferably, the bottom of the sampling cylinder is provided with a solenoid valve, and the solenoid valve is connected to the controller.

[0016] In the above scheme, preferably, a group of sensing units are evenly arranged around the guide hole, and the propellers are arranged in the same direction and number as the sensing units; The propellers are electric propellers, and each propeller is connected to a controller.

[0017] The beneficial effects of the present invention are: the present invention realizes real-time perception and autonomous correction of the tilt state of the pull rope by means of the linkage control of the sensing unit set around the guide hole and the propeller in the corresponding direction, and can actively drive the hull to counteract the influence of water flow and drift, fundamentally ensuring the vertical state of the pull rope, thereby minimizing the sampling depth error. Meanwhile, the adjustable sensing range drive mechanism enhances the equipment's adaptability to the ratio of rope inclination to sampling tube offset distance under different water depth conditions; the entire system achieves full automation from lowering, attitude correction to sampling, significantly improving the accuracy, reliability and efficiency of water quality stratification sampling. Attached Figure Description

[0018] Figure 1 This is a three-dimensional structural diagram of the present invention.

[0019] Figure 2 This is a cross-sectional structural diagram of the present invention.

[0020] Figure 3 For the present invention Figure 2 A magnified schematic diagram of the structure at point A in the middle.

[0021] Figure 4 This is a three-dimensional structural diagram of the junction between the sensing unit and the pull rope of the present invention.

[0022] Figure 5 This is a schematic diagram of the three-dimensional structure of the sensing unit of the present invention.

[0023] Figure 6 This is a perspective view of the connection structure between the drive disk and the servo push rod of the present invention. Detailed Implementation

[0024] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments: See below Figures 1-6 .

[0025] An unmanned surface vessel (USV) for water quality sampling includes a hull 1, a winch 2, a pull rope 3 mounted on the winch 2, and a sampling cylinder 4 at the end of the pull rope 3. The winch 2 is mounted on the deck of the hull 1. The pull rope 3 is wound around the winch 2, and its end passes through a guide hole 101 on the hull 1 and is fixedly connected to the sampling cylinder 4. A solenoid valve 401 controlled by a controller is installed at the bottom of the sampling cylinder 4 to open and close after reaching a specified depth, thereby completing water sample collection.

[0026] In the initial state, the part of the rope 3 that passes through the guide hole 101 is coaxial with the central axis of the guide hole 101. That is, when the hull 1 is floating on the water, the part of the rope 3 that passes through the guide hole 101 is perpendicular to the water surface, and in this state, there is a certain gap between the rope 3 and the wall of the guide hole 101.

[0027] The core of this invention lies in the fact that an automatic correction system is provided around the guide hole 101 on the hull 1; such as Figures 2-4 As shown, four sensing units 102 are evenly installed around the guide hole 101 in a circumferential direction (the number can be set to 3-8 as needed). At the same time, four propellers 104, each corresponding to the orientation of the sensing unit 102, are installed in the corresponding directions around the hull 1. These propellers 104 are all electric propellers and are electrically connected to the controller.

[0028] like Figures 3-5 As shown, each sensing unit 102 mainly includes a contact rod 103, a guide plate 105, a guide rod 106, a sensor switch 107, and a reset spring 108. The guide plate 105 cooperates with the guide rail 12 on the hull 1 through the sliding block 11 at its lower end, and can slide radially toward or away from the center of the guide hole 101. The contact rod 103 is slidably connected to the guide plate 105 through the guide rod 106. The guide rod 106 is a hexagonal rod or a non-circular rod. The guide plate 105 is provided with a guide hole that matches the shape of the guide rod 106, so that the guide rod 106 slides vertically along the guide plate 105. The contact rod 103 is perpendicular to the guide rod 106, forming a T-shape. The axis of the contact rod 103 is spatially parallel to the plane of the hull 1, thereby increasing the contact length between the contact rod 103 and the pull rope 3 when the pull rope 3 is tilted toward the contact rod 103.

[0029] One end of the guide rod 106 is fixedly connected to the contact rod 103, and the other end passes through the guide plate 105. A return spring 108 is provided between the end of the guide rod 106 and the guide plate 105, so that the contact rod 103 can remain extended when no force is applied. The inductive switch 107 (such as a limit switch, proximity switch or push button switch) is installed on the side plate of the guide plate 105 away from the end of the guide rod 106, and its sensing end is aligned with the end of the guide rod 106. When the contact rod 103 is contacted and squeezed, the inductive switch 107 can be triggered.

[0030] When the pull rope 3 tilts due to the water flow, it touches and presses the contact rod 103 in one direction. The contact rod 103 drives the guide rod 106 to move backward against the elastic force of the return spring 108, thereby triggering the inductive switch 107. The inductive switch 107 transmits a signal to the controller, which then starts the propeller 104 in the same direction as the sensing unit 102. For example, if the pull rope 3 tilts to the north, it will trigger the sensing unit 102 on the north side, and the controller will start the propeller 104 on the north side to move forward, driving the hull 1 to move north until the pull rope 3 no longer presses the contact rod 103, the inductive switch 107 resets, the propeller 104 stops working, and the pull rope 3 returns to a vertical state.

[0031] To adapt to different working conditions, the present invention also includes a mechanism for adjusting the sensing range; such as... Figures 2-6 As shown, the guide plate 105 of each sensing unit 102 is vertically connected to a sliding block 11 via a connecting rod 13. The sliding block 11 is slidably connected via a guide rail 12 fixed on the hull 1. The sliding block 11 is an inverted T-shaped slider. The guide rail 12 has a T-shaped groove that cooperates with the sliding block 11. The axial extension direction of the groove coincides with the center of the guide hole 101. That is, the sliding block 11 moves closer to or away from the center of the guide hole 101. Furthermore, this causes the contact rod 103 to move closer to or away from the center of the guide hole 101, so that the pull rope 3 triggers the contact rod 103 with different inclinations, that is, the sensitivity of the contact rod 103 is adjusted.

[0032] The hull 1 is provided with a drive disk 14 for driving the connecting rod 13 to move away from or towards the center of the guide hole 101. The drive disk 14 is provided with a drive groove 15 that cooperates with the connecting rod 13. The drive disk 14 is rotatably mounted on the guide hole 101 of the hull 1 via bearings. The center of the drive disk 14 has a through hole that is close to or the same size as the guide hole 101. The circumference of the drive disk 14 has a drive groove 15 that cooperates with the end of the connecting rod 13. The drive groove 15 is a straight groove or an arc-shaped groove that gradually expands from one side of the center of the drive disk 14 towards the edge. The hull 1 is provided with a servo push rod 5 connected to the drive disk 14. The cylinder end of the servo push rod 5 is hinged to the hull 1 via a pin, and its output shaft end is hinged to the hinge hole on the outer edge of the drive disk 14 via a pin. Figure 6 As shown.

[0033] The contact rods 103 of adjacent sensing units 102 are staggered so that they do not interfere with each other when the contact rods 103 slide, and maintain their respective sliding trajectories. When the pull rope 3 is tilted and located at the angle where the space between the adjacent contact rods 103 is poor, the contact rods 103 on both sides of the angle can be triggered at the same time, thereby triggering the corresponding propellers to start synchronously and correct the tilt of the pull rope 3.

[0034] When the controller (based on the lowering depth of the winch 2 or an instruction) activates the servo push rod 5, the servo push rod 5 drives the drive disk 14 to rotate. When the drive disk 14 rotates, the drive groove 15 on it will drive all guide plates 105 to move synchronously closer to or further away from the center of the guide hole 101 through the connecting rod 13, thereby realizing the overall adjustment of the initial gap between all contact rods 103 and the pull rope 3. The adjacent contact rods 103 are staggered, which can effectively avoid interference during the adjustment process. In this embodiment, the longer the pull rope 3 is lowered, that is, the deeper the required water quality sampling depth, the shorter the distance between the contact rod 103 and the center of the guide hole 101. That is, when the sampling depth of the sampling tube 4 is about the same, the lowering distance is longer. At this time, the pull rope 3 located at one end of the hull 1 needs to reduce the contact distance with the contact rod 103 to improve sensitivity. The reason is that when the sampling tube 4 is laterally offset by the same distance at different bottom depths, the deeper the sampling tube 4 is, the smaller the angle of offset of the pull rope 3 in the guide hole 101.

[0035] The winch 2 is equipped with a winch motor 201, which is controlled by a servo controller. The number of rotations of the winch motor 201 calculates the distance the rope 3 is lowered. Additionally, a detection switch can be installed on the winch 2 to detect the distance the rope 3 has traveled, providing feedback to the controller. The controller then controls the extension length of the servo push rod 5. The longer the rope 3 is lowered, the longer the servo push rod 5 extends. Figure 4 The longer the distance pushed out in the indicated direction, the longer the connecting rod 13 is driven through the drive groove 15 when the drive disk 14 rotates counterclockwise, that is, the contact rod 103 is approximately closer to the center of the guide hole 101; after obtaining the above-mentioned lowering distance of the pull rope 3, the extension length of the servo push rod 5 can be proportionally converted by the controller's preset program to adapt to the sensitivity requirements of the contact rod 103 being triggered at different sampling depths.

[0036] The controller can be a PLC controller, and the solenoid valve 401 on the sampling cylinder 4 is also controlled to open and close by the controller. When the sampling cylinder 4 reaches the specified depth, if the controller does not detect the signal of the induction switch 107 on each induction unit 102 within 1-3 seconds, it will quickly control the solenoid valve 401 to open for water quality collection. The sampling cylinder 4 can be made of metal, and a certain weight can be set on it so that its interior can sink by its own weight even when no water quality is being collected.

[0037] Using an unmanned surface vessel (USV) for water quality sampling as described above: After the unmanned vessel arrives at the sampling point, the winch 2 begins to lower the pull rope 3 and the sampling cylinder 4. At the same time, the controller drives the servo push rod 5 to move according to the lowering length of the pull rope 3 fed back by the winch motor 201, which drives the drive disk 14 to rotate. The drive disk 14 drives all the connecting rods 13 and the guide plate 105 to move synchronously through the drive groove 15 on it, thereby adjusting the initial distance between all the contact rods 103 and the center of the pull rope 3 in the guide hole 101. This distance is set according to the lowering depth. The deeper the lowering, the closer the contact rods 103 are to the pull rope 3, and the higher the sensitivity of the system to tilt.

[0038] During the lowering process, if the underwater current or the hull drifts and causes the pull rope 3 to tilt, the rope will press the contact rod 103 in the tilt direction; after the contact rod 103 is pressed, it will compress the reset spring 108 through the guide rod 106 and move backward, eventually triggering the induction switch 107 installed on the guide plate 105. After the inductive switch 107 is triggered, it immediately sends a signal to the controller; the controller then starts the propeller 104 in the same direction as the triggering unit (for example, if the pull rope 3 is tilted to the north, the north-side propeller 104 is started), pushing the hull 1 to move in the direction in which the pull rope 3 is tilted; this movement will counteract the effect of the water flow, causing the pull rope 3 to gradually return to the correct position; when the pull rope 3 returns to a vertical state and no longer presses the contact rod 103, under the action of the reset spring 108, the guide rod 106 and the contact rod 103 are reset, the signal of the inductive switch 107 is disconnected, the propeller 104 stops working, and the correction is completed.

[0039] When the winch 2 displays that the length of the pull rope 3 has reached the preset target water depth, and the controller does not receive any trigger signal from the inductive switch 107 within a short period of time (e.g., 1-3 seconds) (indicating that the pull rope 3 is in a stable vertical state), the controller controls the solenoid valve 401 at the bottom of the sampling cylinder 4 to open and collect water samples. After the collection is completed, the solenoid valve 401 closes.

[0040] Finally, the controller controls the winch 2 to retrieve the rope 3, and the sampling cylinder 4 is returned to the hull 1, completing a full fixed-point depth water quality sampling operation.

[0041] The entire process achieves fully automatic, precise depth control through a closed-loop control system consisting of sensing unit 102 (contact rod 103, guide rod 106, inductive switch 107), controller, and propeller 104, as well as a sensitivity adjustment system consisting of drive disk 14 and servo push rod 5.

[0042] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An unmanned ship for water quality collection, characterized in that: The utility model relates to a kind of water sampling boats, including hull (1), winch (2), be provided on winch (2) pull rope (3) and be provided on pull rope (3) end sampling cylinder (4); The hull (1) is provided with a guide hole (101) for the pull rope (3) to pass through, and the pull rope (3) is fixedly connected with the sampling cylinder (4) after being vertically arranged through the center of the guide hole (101); The hull (1) is provided with a plurality of induction units (102) arranged uniformly around the circumference of the guide hole (101), and the induction unit (102) comprises a contact rod (103) matched with the pull rope (3); The hull (1) is provided with a propeller (104) consistent with the direction and position of the corresponding induction unit (102); The induction unit (102) is connected to the propeller (104) through a controller to adjust the relative position of the hull (1) and the sampling cylinder (4) to restore the verticality of the pull rope (3) and the water surface after the induction unit (102) is triggered.

2. The unmanned ship for water quality collection according to claim 1, characterized in that: The induction unit (102) comprises a guide plate (105) matched with the contact rod (103), and the contact rod (103) is slidably connected to the guide plate (105) through a guide rod (106); The guide plate (105) is provided with an induction switch (107) matched with the guide rod (106).

3. The unmanned ship for water quality collection according to claim 2, characterized in that: A return spring (108) is arranged between the guide rod (106) and the guide plate (105).

4. The unmanned ship for water quality collection according to claim 2, characterized in that: The guide plate (105) is slidably arranged on the hull (1), and the lower end of the guide plate (105) is provided with a sliding block (11), and the hull (1) is provided with a guide rail (12) matched with the sliding block (11).

5. The unmanned ship for water quality collection according to claim 4, characterized in that: The guide plate (105) is connected to the sliding block (11) through a connecting rod (13); The hull (1) is provided with a driving disc (14) for driving the connecting rod (13) to move away from or close to the center of the guide hole (101), and the driving disc (14) is provided with a driving groove (15) matched with the connecting rod (13).

6. The unmanned ship for water quality collection according to claim 5, characterized in that: The driving disc (14) is concentric with the guide hole (101) and is rotatably arranged on the guide hole (101), and adjacent contact rods (103) are arranged alternately. The driving groove (15) is arranged obliquely or in an arc shape from one end of the center of the driving disc (14) to the other end away from the center of the driving disc (14).

7. The unmanned ship for water quality collection according to claim 5, characterized in that: The hull (1) is provided with a servo push rod (5) connected to the driving disc (14).

8. The unmanned ship for water quality collection according to claim 5, characterized in that: The winch (2) comprises a winch motor (201), and the winch motor (201) is connected to the servo push rod (5) through a controller.

9. The unmanned ship for water quality collection of claim 1, wherein: The bottom of the sampling cylinder (4) is provided with a solenoid valve (401), and the solenoid valve (401) is connected to the controller.

10. The unmanned ship for water quality collection of claim 1, wherein: The induction unit (102) is arranged uniformly around the guide hole (101) in 3-8 groups, and the propeller (104) is arranged in the same direction and number as the induction unit (102); The propeller (104) is an electric propeller, and each propeller (104) is connected to the controller.

Images