An unmanned autonomous water quality sampling ship and a working method thereof

Abstract

The present application belongs to the field of unmanned autonomous water quality sampling system, and provides an unmanned autonomous water quality sampling ship and a working method thereof. The sampling ship comprises a ship body, an axle-free pump pushing device, an integrated automatic control module, a composite bottom plate laid at the bottom of the cabin, a ship body power module loaded in the middle of the ship body, and a sampling mechanism. The sampling mechanism comprises a cable traction machine, a lead fish, an automatic sampling bottle, a water receiving funnel, and a sampling bottle storage tank. The present application is equipped with an autonomous navigation system and can realize autonomous navigation. The present application is equipped with a cable traction machine and an automatic sampling bottle, and can collect water under the condition of preset position depth and time. The present application can continuously sample multiple times and store the samples into designated containers. The present application has the capabilities of unmanned autonomous operation, remote operation, and data transmission, and allows remote monitoring and control and real-time data transmission to the shore base or other receiving stations. The present application is particularly suitable for efficient and accurate water sample collection in a large depth range.

Description

Technical Field

[0001] This invention relates to the field of unmanned autonomous water quality sampling systems, and specifically to an unmanned autonomous water quality sampling vessel and its operating method. Background Technology

[0002] Water sampling and measurement can help scientists, environmental monitoring agencies, environmental organizations, and policymakers understand the natural state of water bodies and identify water pollution at different depths and locations.

[0003] The current online monitoring methods and their problems are as follows: First, online sediment monitoring, due to the limited number of monitoring points, has consistently failed to meet the requirements of the standards; second, during high-water seasons, floating hydrological monitoring vessels frequently experience issues such as broken anchor chains, hull subsidence, and sensors becoming entangled in floating debris, leading to data interruptions. Therefore, there is an urgent need for a representative flow and sediment monitoring method suitable for harsh conditions such as wide river surfaces, high flow velocities, and abundant floating debris during the flood season.

[0004] Existing water sampling methods, including manual sampling by operating boats or manual sampling using remotely controlled underwater vehicles with self-priming pumps, can only collect one water sample at a time, which is time-consuming and inefficient. Summary of the Invention

[0005] To address the aforementioned deficiencies or improvement needs of existing technologies, this invention provides an unmanned autonomous water quality sampling vessel and its operating method. This unmanned autonomous water quality sampling vessel features convenient operation, high accuracy, wide applicability, and adaptability to waters of varying depths, enabling intelligent water quality sampling. It has significant application value and promising prospects in fields such as environmental protection, water resource management, and marine scientific research.

[0006] The objective of this invention is achieved through the following technical measures.

[0007] This invention provides an unmanned autonomous water quality sampling vessel, comprising a hull, a shaftless pump propulsion device, an integrated automated control module, a composite floor plate laid at the bottom of the hull, a hull power module mounted in the middle of the hull, and a sampling mechanism. The sampling mechanism includes a cable traction machine, a steel wire cable, pulleys, a sampling support frame, a lead weight, an automatic sampling bottle, a water receiving funnel, and a sampling bottle storage tank. The sampling support frame is located in the middle of the hull, with pulleys at its top. A cable traction machine is mounted at the rear of the hull. The steel wire cable passes through the pulleys and connects vertically downwards to the lead weight. An automatic sampling bottle is connected below the lead weight. The automatic sampling bottle includes a cylindrical body, the top of which is connected to the lead weight via a connecting ring. The connecting ring can rotate 360° to avoid tangling. A water inlet is located below the connecting ring and connected to a water inlet solenoid valve. Sampling water enters through the water inlet, and the water inlet solenoid valve controls the water inlet switch. The bottom of the cylindrical body... The cylinder is equipped with a water outlet connected to a water outlet solenoid valve. A ring of lithium batteries is also installed at the bottom of the cylinder, providing power to the automatic sampling bottles and providing counterweight for the bottles. An automatic sampling controller and a pressure transmitter are located above the cylinder. The pressure transmitter is connected to the automatic sampling controller, which controls the opening and closing of the water inlet and outlet solenoid valves. The water receiving funnel receives the samples collected by the automatic sampling bottles. An electric air pump and a rubber hose are connected below the funnel. A funnel support frame supports the water receiving funnel and the electric air pump. The bottom of the funnel support frame is connected to a funnel guide slide, which is driven by a motor to move along the X-axis. The rubber hose delivery nozzle at the end of the rubber hose is installed on a storage guide slide, which is driven by a motor to move along the X and Y axes, thereby moving the rubber hose delivery nozzle to the corresponding sampling bottle storage tank.

[0008] The shaftless pump thruster is connected to the integrated automated control module. As a propulsion system, the shaftless pump thruster performs navigation and speed adjustments through the integrated automated control module to adapt to different sampling needs. The hull power module provides energy for the entire sampling vessel, ensuring that the vessel can operate for extended periods without external power.

[0009] In the above technical solution, the sampling vessel can be remotely controlled or pre-programmed to autonomously navigate on the water surface, and receive system commands and execute tasks through two shaftless pump-driven motors, an integrated automation control module, and a hull power module.

[0010] In the above technical solution, the cable traction machine controls the depth of the lead weight and the automatic sampling bottle by rotating it, and can achieve sampling at a maximum depth of 50 meters by controlling the descent of the lead weight.

[0011] In the above technical solution, the support frame is connected to the hull, and the pulley at the top of the support frame is used to change the force direction of the steel wire cable downward, and the steel wire cable is connected vertically downward to the lead fish; the lead fish is connected to the connecting ring on the automatic sampling bottle by bolts, and the connecting ring can rotate 360° to avoid jamming.

[0012] After the automatic sampling bottle descends to the designated depth with the lead weight, the cable traction machine stops. The pressure transmitter in the automatic sampling bottle senses the designated pressure and sends a signal to the automatic sampling controller to close the inlet and outlet solenoid valves, thus collecting water samples at that location. After the collection is completed, the cable traction machine slowly rotates and lifts the bottle to the designated position at the top of the sampling support frame before stopping.

[0013] In the above technical solution, the funnel support frame is controlled to slide by a funnel guide motor, and the funnel stops after it is aligned with the automatic sampling bottle. After alignment, an electric air pump blows through the rubber tubing to remove water stains and dust from the tubing, and then the machine is turned off after blowing is complete.

[0014] In the above technical solution, the rubber hose delivery nozzle needs to be aligned with the corresponding sampling bottle storage tank. The Y-rail slide in the storage guide slide moves back and forth along the Y direction, and the X-rail slide in the storage guide slide moves along the X direction. The Y-rail motor and X-rail motor provide power to the guide slides. When the hose delivery nozzle is aligned with the storage tank opening, the automatic sampling controller in the automatic sampling bottle opens the inlet solenoid valve and the outlet solenoid valve, and the sampling medium flows along the hose into the sampling bottle storage tank.

[0015] The sample is distributed into multiple independent sampling bottle storage tanks by moving back and forth through the rubber hose delivery nozzle and running through the Y-rail slide and X-rail slide, thus realizing the collection of samples from multiple points in different water areas.

[0016] In the above technical solution, there is an electric air pump below the water receiving funnel, which is used to dry the water stains in the tubing, ensuring the purity of the sample and avoiding confusion in the collection.

[0017] After the water sample is stored, the funnel support frame moves in the X direction along the funnel guide slide to avoid the space where the lead weight and the automatic sampling bottle fall, so as to avoid interfering with the automatic sampling bottle's resampling.

[0018] In the above technical solution, the bottom of the ship is laid with a composite bottom plate, which is composed of a stainless steel plate surface, a middle layer of carbon fiber, and a bottom layer of stainless steel. The middle layer is compacted with structural adhesive at high temperature and then cured by heating, which can effectively improve the structural strength and corrosion resistance.

[0019] The beneficial effects of this invention are as follows: It is equipped with an autonomous navigation system, enabling autonomous navigation; it is equipped with a cable tractor and an automatic sampling bottle, allowing for water sample collection at preset positions, depths, and times; it can collect samples multiple times consecutively and store them in designated containers; it has unmanned autonomous operation, remote operation, and data transmission capabilities, allowing for remote monitoring and control, as well as real-time data transmission to shore-based or other receiving stations; it is particularly suitable for efficient and accurate water sample collection over a wide depth range. Attached Figure Description

[0020] Figure 1 This is a frontal view of the unmanned autonomous water quality sampling vessel of the present invention.

[0021] Figure 2 This is a top view schematic diagram of the unmanned autonomous water quality sampling vessel of the present invention.

[0022] Figure 3 This is a schematic diagram of the automatic sampling bottle in this invention.

[0023] Figure 4 This is a schematic diagram of the integrated automation control module in this invention.

[0024] Figure 5 This is a schematic diagram of sampling and packaging.

[0025] Figure 6 This is a schematic diagram of the movement of the storage guide rail slide.

[0026] Figure 7 This is a schematic diagram of the composite substrate in this invention.

[0027] Explanation of reference numerals in the attached drawings: 1. Hull; 2. Shaftless pump thruster; 3. Integrated automated control module; 3-1. Remote communication module; 3-2. Data processing and storage system; 3-3. Power control system; 3-4. Environmental sensor; 3-5. GPS navigation system; 4. Composite base plate; 4-1. Stainless steel plate; 4-2. Middle layer carbon fiber; 4-3. Bottom layer stainless steel; 5. Hull power module; 6. Cable traction machine; 6-1. Steel wire cable; 7. Pulley; 8. Sampling support frame; 9. Lead weight; 10. Automatic sampling bottle; 10-1. Cylinder; 10-2. Connecting ring; 10-3. Inlet. 10-4. Inlet solenoid valve, 10-5. Pressure transmitter, 10-6. Outlet, 10-7. Outlet solenoid valve, 10-8. Lithium battery, 10-9. Automatic sampling controller, 11. Water receiving funnel, 12. Electric air pump, 13. Funnel support frame, 14. Funnel guide slide, 15. Funnel guide motor, 16. Rubber hose, 17. Sampling bottle storage tank, 18. Rubber hose delivery nozzle, 19. Y-rail slide, 20. Y-rail motor, 21. X-rail slide, 22. X-rail motor, 23. Marine radar, 24. Infrared and visible dual camera, 25. Millimeter-wave radar. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0029] like Figures 1-5As shown, this embodiment of the invention provides an unmanned autonomous water quality sampling vessel, including a hull 1, a shaftless pump propulsion device 2, an integrated automated control module 3, a composite floor 4 laid at the bottom of the hull, a hull power module 5 mounted in the middle of the hull, and a sampling mechanism; the sampling mechanism includes a cable traction machine 6, a steel wire cable 6-1, a pulley 7, a sampling support frame 8, a lead weight 9, an automatic sampling bottle 10, a water receiving funnel 11, and a sampling bottle storage tank 17. The sampling support frame 8 is located in the middle of the hull, and the top of the sampling support frame 8 is equipped with a pulley 7. The cable traction machine 6 is mounted at the rear of the hull. The steel wire cable 6-1 passes through the pulley 7 and is vertically connected to the lead weight 9. The automatic sampling bottle 10 is connected below the lead weight 9. The automatic sampling bottle 10 includes a cylindrical body 10-1. The top of the cylindrical body 10-1 is connected to the lead weight 9 via a connecting ring 10-2. The connecting ring 10-2 can rotate 360° to avoid tangling. A water inlet 10-3 is provided below the connecting ring 10-2. The water inlet 10-3 is connected to a water inlet solenoid valve 10-4. Sampling water enters from the water inlet. The water inlet solenoid valve controls the water inlet switch. A water outlet 10-6 is provided at the bottom of the cylindrical body 10-1. The water outlet is connected to a water outlet solenoid valve 10-7. A lithium battery 10-8 is also provided at the bottom of the cylindrical body. The lithium battery 10-8 provides power to the automatic sampling bottle 10 and provides counterweight for the automatic sampling bottle. An automatic sampling controller 10-9 and a pressure transmitter 10-5 are provided above the cylindrical body. The pressure transmitter 10-5 is connected to the automatic sampling controller 10-9. The automatic sampling controller 10-9 controls the opening and closing of the water inlet solenoid valve and the water outlet solenoid valve. The water-receiving funnel 11 receives the sample collected by the automatic sampling bottle. An electric air pump 12 and a rubber hose 16 are connected to the bottom of the funnel. The funnel support frame 13 supports the water-receiving funnel 11 and the electric air pump. The bottom of the funnel support frame 13 is connected to the funnel guide slide 14. The funnel guide slide 14 is driven by a motor to move along the X direction. The rubber hose delivery nozzle 18 at the end of the rubber hose 16 is installed on the storage guide slide. The storage guide slide is driven by a motor to move along the X and Y directions, thereby driving the rubber hose delivery nozzle 18 to the corresponding sampling bottle storage tank 17.

[0030] The shaftless pump propulsion device 2 is connected to the integrated automation control module 3. As a propulsion system, the shaftless pump propulsion device 2 performs navigation and speed adjustment through the integrated automation control module 3 to adapt to different sampling needs. The hull power module 5 provides energy for the entire sampling vessel, ensuring that the vessel can operate for a long time without external power supply.

[0031] like Figure 4 As shown, the integrated automation control module 3 integrates multiple subsystems that coordinate to achieve autonomous navigation, data acquisition, and management, including... The remote communication module 3-1 allows the operator to precisely control the vessel's navigation path, depth detection, and sampling actions through remote control equipment or pre-set programs. Data processing and storage system 3-2 collects and processes sensor data, storing it locally or uploading it to the cloud; The power control system 3-3 controls the forward and backward movement of the shaftless pump pusher 2; Environmental sensors 3-4 are equipped with meteorological sensors (wind speed, wind direction, etc.) and radar sensors for object detection; GPS navigation system 3-5 is used to accurately locate a ship's position on Earth and provide heading and speed information.

[0032] This embodiment of the unmanned autonomous water quality sampling vessel integrates an advanced GPS navigation system, environmental sensors, and a remote communication module, allowing it to autonomously plan its route, provide real-time feedback of route data, and receive remote commands when necessary, thereby achieving intelligent water quality sampling.

[0033] like Figure 4 As shown, the sampling vessel is equipped with a marine radar 23, an infrared-visible dual camera 24, and a millimeter-wave radar 25 at its bow. The obstacle information acquired by each module is calculated and output as the final obstacle information. The obstacle information is used to describe the type, size (shape), location (relative / absolute), and speed (vector), and is sent to the integrated automation control module 3.

[0034] like Figure 6 As shown, the sampling bottle storage tanks are arranged in an array. The placement can also be adjusted according to the size of the storage tanks, as long as it does not affect the alignment of the rubber hose delivery nozzle with the storage tank inlet.

[0035] like Figure 7 As shown, the composite base plate is composed of a stainless steel plate 4-1, a middle layer of carbon fiber 4-2, and a bottom layer of stainless steel. The middle layer is compacted at high temperature with structural adhesive and then cured by heating.

[0036] This embodiment also provides a working method for the above-mentioned unmanned autonomous water quality sampling vessel, characterized by including the following steps; S1: Automatic sampling bottle for water sampling The integrated automation control module 3 sends instructions to the automatic sampling bottle to collect water samples at a certain depth. The sampling vessel moves to the designated sampling point. The cable traction machine 6 slowly releases the steel wire cable, and the weight of the lead weight slowly descends. The automatic sampling bottle descends with the lead weight to the designated depth and then stops. After the pressure transmitter in the automatic sampling bottle senses the designated pressure, it sends a signal to the automatic sampling controller 10-9 to close the inlet solenoid valve 10-4 and the outlet solenoid valve 10-7, thus realizing the collection of water samples at that location. After the collection is completed, the cable traction machine 6 slowly rotates and lifts the lead weight 9 and the automatic sampling bottle 10 to the designated position at the top of the sampling support frame and then stops. S2: Funnel docking After the automatic sampling bottle 10 is lifted, the funnel support frame 13 slides to the left so that the water receiving funnel 11 is aligned with the bottom of the automatic sampling bottle 10. After alignment, the electric air pump 12 blows the rubber hose 16 to remove water stains and dust inside the hose. After blowing is completed, the machine is turned off. S3: Water sample storage Adjust the storage guide slide to align the rubber hose 16 with the corresponding sampling bottle storage tank 17. When the rubber hose delivery nozzle 18 is aligned with the sampling bottle storage tank 17, the automatic sampling controller 10-9 in the automatic sampling bottle opens the inlet solenoid valve and the outlet solenoid valve, and the sampling medium should flow along the hose to the sampling bottle storage tank by gravity. S4: Funnel support frame reset After the water sample is stored, the funnel support frame 13 moves in the X direction along the funnel guide slide 14 to avoid the falling space of the lead weight 6 and the automatic sampling bottle, so as to avoid interfering with the automatic sampling bottle to take samples again. S5: Repeat the above steps to complete the collection of multiple sampling points.

[0037] The contents not described in detail in this specification are existing technologies known to those skilled in the art.

[0038] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. An unmanned autonomous water quality sampling vessel, characterized in that: The system includes a hull, a shaftless pump propulsion device, an integrated automated control module, a composite floor lining the bottom of the hull, a hull power module mounted in the middle of the hull, and a sampling mechanism. The sampling mechanism includes a cable traction machine, a steel wire cable, pulleys, a sampling support frame, a lead weight, an automatic sampling bottle, a water receiving funnel, and a sampling bottle storage tank. The sampling support frame is located in the middle of the hull, with pulleys at its top. A cable traction machine is mounted at the rear of the hull. The steel wire cable passes through the pulleys and connects vertically downwards to the lead weight. The automatic sampling bottle is connected below the lead weight. The automatic sampling bottle includes a cylindrical body, the top of which is connected to the lead weight via a connecting ring. The connecting ring can rotate 360° to avoid tangling. A water inlet is located below the connecting ring and is connected to a water inlet solenoid valve. Sampling water enters through the water inlet, and the water inlet solenoid valve controls the water inlet switch. An outlet is located at the bottom of the cylindrical body. The water inlet is connected to the water outlet solenoid valve. A ring of lithium batteries is also installed at the bottom of the cylinder. The lithium batteries provide power to the automatic sampling bottle and provide counterweight for the automatic sampling bottle. An automatic sampling controller and a pressure transmitter are installed on the top of the cylinder. The pressure transmitter is connected to the automatic sampling controller. The automatic sampling controller controls the opening and closing of the water inlet solenoid valve and the water outlet solenoid valve. The water receiving funnel receives the sample collected by the automatic sampling bottle. An electric air pump and a rubber hose are connected to the bottom of the funnel. The funnel support frame is used to support the water receiving funnel and the electric air pump. The bottom of the funnel support frame is connected to the funnel guide slide. The funnel guide slide is driven by a motor to move along the X direction. The rubber hose delivery nozzle at the end of the rubber hose is installed on the storage guide slide. The storage guide slide is driven by a motor to move along the X and Y directions, thereby driving the rubber hose delivery nozzle to the corresponding sampling bottle storage tank. The shaftless pump thruster is connected to the integrated automated control module. As a propulsion system, the shaftless pump thruster performs navigation and speed adjustments through the integrated automated control module to adapt to different sampling needs. The hull power module provides energy for the entire sampling vessel, ensuring that the vessel can operate for extended periods without external power.

2. The unmanned autonomous water quality sampling vessel according to claim 1, characterized in that: The integrated automation control module integrates multiple subsystems that coordinate to achieve autonomous navigation, data acquisition, and management, including... The remote communication module allows operators to precisely control the vessel's navigation path, depth detection, and sampling actions via remote control devices or pre-set programs. Data processing and storage system, which collects and processes sensor data, storing it locally or uploading it to the cloud; The power control system controls the forward and backward movement of the shaftless pump pusher. Environmental sensors, equipped with meteorological sensors and radar sensors for object detection; GPS navigation systems are used to accurately locate a ship's position on Earth and provide heading and speed information.

3. The unmanned autonomous water quality sampling vessel according to claim 1, characterized in that: The sampling vessel is equipped with marine radar, infrared and visible dual cameras, and millimeter-wave radar at the bow. The obstacle information acquired by each module is calculated and output as the final obstacle information. The obstacle information is used to describe the type, size, location, and speed, and is sent to the integrated automation control module.

4. The unmanned autonomous water quality sampling vessel according to claim 1, characterized in that: The sampling bottle storage tank array is arranged.

5. The unmanned autonomous water quality sampling vessel according to claim 1, characterized in that: The composite base plate consists of a stainless steel plate, a middle layer of carbon fiber, and a bottom layer of stainless steel. The middle layer is compacted with structural adhesive at high temperature and then cured by heating.

6. A method for operating an unmanned autonomous water quality sampling vessel as described in any one of claims 1 to 5, characterized in that, Includes the following steps; S1: Automatic sampling bottle for water sampling The integrated automation control module sends instructions to the automatic sampling bottle to collect water samples at a certain depth. The sampling vessel moves to the designated sampling point. The cable traction machine slowly releases the steel cable, and the weight of the lead weight slowly descends. The automatic sampling bottle descends with the lead weight to the designated depth and then stops. After the pressure transmitter in the automatic sampling bottle senses the designated pressure, it sends a signal to the automatic sampling controller to close the inlet and outlet solenoid valves, thus realizing the collection of water samples at that location. After the collection is completed, the cable traction machine slowly rotates and lifts the lead weight and the automatic sampling bottle to the designated position at the top of the sampling support frame and then stops. S2: Funnel docking After the automatic sampling bottle is lifted, the funnel support frame slides to the left so that the water receiving funnel is aligned with the bottom of the automatic sampling bottle. After alignment, the electric air pump blows the rubber hose to remove water stains and dust from the hose. After blowing is completed, the machine is turned off. S3: Water sample storage Adjust the storage guide slide and align the rubber hose with the corresponding sampling bottle storage tank. When the rubber hose delivery nozzle is aligned with the sampling bottle storage tank, the automatic sampling controller in the automatic sampling bottle opens the inlet solenoid valve and the outlet solenoid valve. The sampling medium should flow along the hose to the sampling bottle storage tank by gravity. S4: Funnel support frame reset After the water sample is stored, the funnel support frame moves in the X direction along the funnel guide slide to avoid the falling space of the lead weight and the automatic sampling bottle, so as to avoid interfering with the automatic sampling bottle to take samples again. S5: Repeat the above steps to complete the collection of multiple sampling points.

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