A timed rotary automatic water sample collection method and apparatus

Abstract

The application discloses a kind of timing rotary automatic water sample collection method and equipment, comprising: based on water sample collection equipment acquisition sampling task configuration parameter and real-time environmental perception data, according to real-time environmental perception data matching corresponding sampling mode, based on mode matching result generation station switching control timing, according to the number of sampling station calculation station index rotation angle, if triggering rainwater sampling mode, then through gravity water collection mode collection water sample, and import current station sampling container, if triggering river sampling mode, then according to station index rotation angle and station switching control timing complete current station sampling, and through index bottle change sequentially sample each station, obtain time period water sample sample and sampling data set.The method utilizes control system to realize automatic rotation positioning, ensure that the water sample of different time periods is classified and collected, adapt to complex terrain in the field, and facilitate subsequent time period water quality detection processing.

Description

Technical Field

[0001] This invention relates to the field of water quality monitoring and sampling technology, and in particular to a timed rotating automatic water sample collection method and equipment. Background Technology

[0002] Automated water sampling equipment is a key facility in water quality monitoring systems. Currently, water quality monitoring stations still rely heavily on manual sampling. However, with the increasing cost of labor each year, manual sampling faces numerous challenges, including high labor intensity, unstable sampling cycles, difficulty in operation under extreme weather conditions, and uncontrollable sampling accuracy. Automated water sampling equipment generally consists of three core modules: a power system, a control system, and a water distribution system. The sampler in the power system often uses a shore-based peristaltic pump or a self-priming pump as its power source, which facilitates pump maintenance. However, this is limited by atmospheric pressure. The equipment has strong limitations, with a theoretical upper limit to its suction lift. When facing conditions such as high banks, deep wells, or low water levels during the dry season, it often cannot draw water normally due to insufficient vacuum. In addition, shore-based self-priming pumps require a long evacuation time before sampling, and the sampling pipeline is long with a large dead volume. Without efficient backwashing, residual liquid from previous periods on the inner wall of the pipeline will seriously contaminate the water sample in the next period. The equipment also has problems such as a small power adjustment range, high energy consumption, and sensitivity to complex particles. Furthermore, the overall cost is high and maintenance is complex, which directly restricts its large-scale promotion and application at grassroots monitoring points.

[0003] Water distribution systems are mainly divided into rotary dispensing arm type, solenoid valve array type, and track travel type. The rotary dispensing arm type injects water into the fixed sampling bottles below by moving the upper water outlet arm. The solenoid valve array type switches the flow path through a complex logic valve group. The track travel type controls the movement of the water outlet above the sampling bottle array through a linear drive mechanism. The rotary structure is widely used due to its relatively compact mechanical layout. Existing control systems mostly adopt open-loop control strategies, using simple stepper motor drives or mechanical limit switches. In extreme environments with high humidity and large temperature differences in the field, the mechanical structure is prone to physical deformation or electronic component drift, resulting in the inability to accurately control the rotation amplitude of the water dispensing mechanism. This can easily lead to alignment deviations and cross-contamination of samples. Therefore, it is of great practical significance to avoid over-reliance on complex moving dispensing mechanisms and blind trust in physical suction range in the design logic, and to realize unattended, timed, quantitative, and automated intelligent sampling equipment. Summary of the Invention

[0004] The purpose of this invention is to provide a timed rotating automatic water sample collection method and device.

[0005] To achieve the above objectives, the present invention is implemented according to the following technical solution:

[0006] The first aspect of this invention provides a timed rotary automatic water sampling method, comprising:

[0007] Based on the water sampling equipment, the sampling task configuration parameters and real-time environmental perception data are obtained, and the corresponding sampling mode is matched according to the real-time environmental perception data. The sampling task configuration parameters include the sampling time interval, the sampling amount per station, and the number of sampling stations.

[0008] Based on the pattern matching results, a workstation switching control timing sequence is generated, and the workstation indexing rotation angle is calculated according to the number of sampled workstations.

[0009] If the rainwater sampling mode is triggered, water samples will be collected by gravity collection according to the workstation indexing rotation angle and workstation switching control sequence, and imported into the current workstation sampling container.

[0010] If the river sampling mode is triggered, the current station sampling is completed according to the station indexing rotation angle and station switching control sequence, and each station is sampled sequentially through indexing bottle changing;

[0011] Obtain water samples and sampling datasets at different time intervals.

[0012] Furthermore, the method for obtaining the pattern matching result includes:

[0013] Based on real-time environmental perception data, time-series data segments are extracted through a sliding window. Based on the time-series data segments, the predicted values ​​at each sampling time are calculated through historical sampling sequences, and the residual sequence between the predicted values ​​and the measured values ​​is obtained. The historical sampling sequence includes a set of sampled times and a corresponding set of parameter observation values. The parameter observation values ​​include one or more of rainfall intensity, pH value, conductivity, turbidity, and dissolved oxygen.

[0014] Based on the number of abnormal residuals in the statistical residual sequence within the sliding window, the discrimination probability of the number of abnormal residuals at a fixed confidence level is calculated based on the binomial cumulative distribution function. The sampling pattern is matched according to the discrimination probability through a preset pattern judgment rule. If the matching fails, the system remains in standby mode. If the matching is successful, the pattern matching result is output.

[0015] Furthermore, the method for obtaining the workstation switching control timing includes:

[0016] A candidate sampling time set is generated based on the current time at a fixed time granularity. The covariance matrix of the sampled time set is calculated based on the historical sampling sequence, and the covariance matrix between the sampled time set and the candidate sampling time set is also calculated. Based on the covariance matrix and the set of parameter observations, the posterior mean and posterior standard deviation of the candidate sampling time set are calculated. Finally, the upper confidence bound score for each candidate sampling time is calculated. The formula for calculating the upper confidence bound score is as follows:

[0017] ;

[0018] in Candidate sampling time The upper confidence bound score, The posterior mean is... For the posterior standard deviation, To adjust the weights;

[0019] Based on the upper confidence boundary score, the optimal sampling time is selected from the candidate sampling time set. The optimal sampling time is compared with the current time, and the sampling time interval is adjusted according to the comparison difference to obtain the next workstation switching trigger time. The workstation switching trigger time is generated sequentially to obtain the workstation switching control timing.

[0020] Furthermore, the method for obtaining the indexing rotation angle of the workstation includes:

[0021] A workstation state machine is established based on the sequential numbering of the sampling bottles and the workstation status of the water sampling equipment. The next sequential workstation number is queried according to the workstation state machine and the workstation switching control sequence, serving as the target workstation number. The workstation status includes idle, reserved, sampled, and locked. The formula for querying the target workstation number is:

[0022] ;

[0023] in This is the current workstation number. This represents the total number of sampling stations. For modulo operation;

[0024] If the target workstation is in an idle state, the target workstation number is switched to the reserved state, and the corresponding workstation switching control sequence is bound to the workstation. If the target workstation is in a reserved state, the next workstation number in an idle state is searched sequentially until an idle workstation is found. The current found workstation is used as the starting point, and consecutive numbered workstations are reserved in sequence as an event sampling workstation group. If the event sampling workstation group completes sampling, the workstation is switched to the locked state. The consecutive numbered workstations are greater than or equal to 2.

[0025] The system counts the number of idle workstations in real time. If the number of idle workstations is less than or equal to the number of reserved workstations, the reserved workstations are released to the idle state in sequence from nearest to farthest according to the workstation switching control sequence, until the system is fully loaded. An alarm signal is then reported, and the generation of new workstation switching control sequences is paused. The system enters a sleep waiting state until a manual instruction is received.

[0026] The target rotation angle is calculated based on the difference between the number of the hit workstation and the current workstation, and the workstation indexing rotation angle is obtained.

[0027] Furthermore, the method for obtaining the sampled dataset includes:

[0028] Based on the indexing rotation angle of the workstation, a corresponding driving pulse sequence is generated, and the target workstation is driven to align with the outlet below the water inlet funnel of the water sampling equipment according to the driving pulse sequence.

[0029] If the pattern matching result is rainwater sampling mode, then after the target work station is aligned, the gravity water collection path of the water sampling equipment is opened to sample the current work station. If the pattern matching result is river sampling mode, then the external water pump of the water sampling equipment is started to sample the current work station until the single work station sampling volume is reached and the sampling is completed.

[0030] Mark the target workstation that has completed sampling as sampled, add the current sampling time and corresponding parameters to the sampling dataset, and update the historical sampling sequence.

[0031] A second aspect of the present invention provides a timed rotary automatic water sampling device, comprising:

[0032] Support mechanism, control box, rotary sampling mechanism, power drive mechanism and water inlet module;

[0033] The support mechanism has a telescopic structure at its bottom, the control box is fixedly connected to the top of the support mechanism, the rotating sampling mechanism is installed above the control box, and the rotating sampling mechanism includes a rotating sample disk that carries multiple sampling bottles.

[0034] The power drive mechanism is located inside the control box and extends to the outside to connect with the rotating sample disk. The water inlet module is located above the rotating sampling mechanism, and the outlet end of the water inlet module is located at the eccentric position of the rotating sample disk.

[0035] The support mechanism includes telescopic outriggers and anti-slip ground tips. The anti-slip ground tips are located at the bottom of the telescopic outriggers. A tripod connector is installed on the top of the telescopic outriggers, and the tripod connector is fixedly connected to the bottom of the control box.

[0036] Furthermore, the power drive mechanism includes a stepper motor, a drive spindle, and a flexible coupling. The drive spindle passes vertically through the control box. A motor mounting bracket is provided in the middle of the bottom surface inside the control box. A mounting base plate is provided on the bottom surface inside the control box. The motor mounting bracket is fixed to the mounting base plate. The stepper motor is fixed inside the control box through the motor mounting bracket. A sealed bearing is provided at the part of the drive spindle that passes through the top of the control box. The flexible coupling connects the stepper motor and the drive spindle.

[0037] Furthermore, the water inlet module includes a water inlet distribution pipe, a water inlet funnel, an external water pump, and a switching interface. The water inlet funnel is fixed to a bracket above the rotating sample plate by a support. The drain end of the water inlet distribution pipe is located directly above the water inlet funnel, and the outlet end of the water inlet funnel faces the sampling bottle below. The switching interface selectively connects the water inlet funnel or the external water pump to the water inlet distribution pipe. A flow meter is provided in the water inlet distribution pipe.

[0038] Furthermore, the rotating sampling mechanism also includes a positioning plate, which is disposed on the top of the rotating sample disk and abuts against the top of the sampling bottle. The rotating sample disk has a plurality of bottle alignment holes evenly spaced along the circumferential direction, and the sampling bottle is placed in the bottle alignment holes.

[0039] Furthermore, the control box contains a controller and a battery, and an interactive panel is provided on the front side of the control box. The interactive panel includes a display window and a control panel. The device also includes a rain sensor, a liquid level sensor, and a water quality sensor. The rain sensor, the liquid level sensor, and the water quality sensor are all electrically connected to the controller. The controller is electrically connected to the power drive mechanism and the water inlet module.

[0040] Compared with the prior art, the embodiments of the present invention have at least the following advantages or beneficial effects:

[0041] This invention broadens the applicability of the equipment through dual-mode sampling. It can be used for both routine water sampling of rivers and lakes and rainfall sampling. The controller links the water pump and the stepper motor to ensure the automation and quantification of river water sampling. The rotating disk structure driven by the stepper motor ensures that the circularly arranged sampling bottles can be accurately aligned in different modes, preventing cross-contamination of water samples. The overall structure of the equipment is stable and the mode switching is simple, providing an integrated solution for multi-source water quality monitoring in complex field environments. Attached Figure Description

[0042] Figure 1 This is a flowchart illustrating the steps of a timed rotating automatic water sample collection method in an embodiment of the present invention.

[0043] Figure 2 This is a three-dimensional structural diagram of a timed rotary automatic water sampling device according to an embodiment of the present invention.

[0044] Figure 3 This is a schematic diagram of the structure of a timed rotary automatic water sampling device according to an embodiment of the present invention.

[0045] Figure 4 This is a side view of a timed rotary automatic water sampling device according to an embodiment of the present invention.

[0046] Figure 5 This is a top view of the rotating sampling mechanism of a timed rotating automatic water sampling device according to an embodiment of the present invention.

[0047] Figure 6 This is a structural diagram of the internal structure of the control box of a timed rotary automatic water sampling device according to an embodiment of the present invention.

[0048] The attached figures are labeled as follows: 1. Positioning plate, 2. Rotating sample tray, 3. Interactive panel, 4. Tripod, 5. Water inlet distribution pipe, 6. Sampling bottle, 8. Control box, 9. Water inlet funnel, 10. Drive spindle, 11. Sealed bearing, 12. Flexible coupling, 13. Motor mounting bracket, 14. Stepper motor, 15. Mounting base plate. Detailed Implementation

[0049] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0050] Reference Figure 1 As shown, the present invention provides a timed rotating automatic water sampling method, comprising:

[0051] Based on the water sampling equipment, the sampling task configuration parameters and real-time environmental perception data are obtained, and the corresponding sampling mode is matched according to the real-time environmental perception data. The sampling task configuration parameters include the sampling time interval, the sampling amount per station, and the number of sampling stations.

[0052] In actual assessment, refer to the appendix. Figures 2 to 6 A timed rotating automatic water sampling device was deployed on the gentle slope of the right bank of a monitoring section of a river tributary. The support mechanism consisted of a telescopic tripod 4 with three legs extended to 1.0m. Each leg had a non-slip ground tip that inserted approximately 20cm into the riverbank soil. The tripod 4 was fixedly connected to the bottom of the control box 8 via a tripod connector. Figure 2 and Figure 4As shown, a stepper motor 14 is fixedly connected to the center of the bottom surface inside the control box 8 via a motor mounting bracket 13. A mounting base plate 15 is provided on the bottom surface inside the control box 8, and the motor mounting bracket 13 is fixed to the mounting base plate 15. The output end of the stepper motor 14 is fixedly connected to a drive spindle 10 via a flexible coupling 12. The drive spindle 10 vertically extends upwards through the top wall of the control box 8, and a sealed bearing 11 is provided at the penetration point. The drive spindle 10 is movably connected to the control box 8 via the sealed bearing 11, which prevents external water droplets from seeping into the box. The top end of the drive spindle 10 extends to the outside of the control box 8 and is fixedly connected to a rotating sampling mechanism. The rotating sampling mechanism includes a rotating sample... The rotating sample tray 2 has 24 sets of sample bottle positioning holes evenly spaced along the circumference on its upper surface. Each set of sample bottle positioning holes is movably connected to a sampling bottle 6. The top of the sampling bottle 6 is equipped with a positioning pressure plate 1, which presses and limits the sampling bottle 6 to prevent tilting during rotation. The rotating sample tray 2 is equipped with a water inlet module, which includes a water inlet distribution pipe 5 and a water inlet funnel 9. The water inlet funnel 9 is fixed on the fixed frame above the rotating sample tray 2 by a bracket. The drain end of the water inlet distribution pipe 5 is located directly above the water inlet funnel 9, and the outlet of the water inlet funnel 9 faces the sampling bottle 6 below. The timed rotating automatic water sampling device is also equipped with a liquid level sensor and a water quality sensor.

[0053] In the actual evaluation, the sampling task configuration parameters were input through the interactive panel 3 on the front of the control box 8. The total number of sampling stations N=24, the sampling volume per station V0=500mL, the basic sampling interval T0=2h, the number of retained stations R=2, the adjustment weight β=2.0, the water inlet of the external water pump was placed 0.5m below the river surface, the liquid level sensor output the river water level in real time, and the water quality sensor output turbidity and conductivity. The controller 8 first completed the first 3 exploratory samplings at fixed uniform intervals to establish a historical sampling sequence. Turbidity Tu was used as the modeling variable, and the historical sampling sequence H was updated to {(08:00,22),(10:00,24),(12:00,25)}. At 14:00, the watershed began to experience rainfall. The liquid level sensor reading h=1.25m, the turbidity Tu=55NTU, and the conductivity σ=310μS / cm. The controller 8 extracted the turbidity of the most recent 3 points as time series data segments and calculated the predicted value μ at the current time. pred =24 NTU, the residual between the measured and predicted values ​​is Δ=31 NTU. In the preset pattern judgment rule, all three residuals in the sliding window exceed the baseline fluctuation range of ±6 NTU. The number of abnormal residuals is r=3. At a fixed confidence level of 95%, the binomial cumulative distribution function calculates the discrimination probability P=0.92, which exceeds the pattern judgment threshold of 0.90, matching the river sampling pattern.

[0054] Based on the pattern matching results, a workstation switching control timing sequence is generated, and the workstation indexing rotation angle is calculated according to the number of sampled workstations.

[0055] In the actual evaluation, based on the historical sampling sequence H, the covariance matrix K (3×3) of the sampled time set and the cross-set covariance between the sampled time and the candidate time set {14:00, 14:30, 15:00, 15:30, 16:00} are calculated. The posterior mean μ and posterior standard deviation σ of each candidate time are calculated and substituted into the upper confidence bound formula. At 14:00, UCB=26.5, at 14:30, UCB=38.2, at 15:00, UCB=34.8, at 15:30, UCB=29.6, and at 16:00, UCB=27.1. The optimal sampling time t*=14:30 is selected and compared with the current time 14:02. The difference is 30 minutes. The next sampling interval is shortened to 28 minutes to collect more dense and concentrated water samples. The station switching control sequence is generated iteratively, and the current station k current =3, query the next sequential workstation: k next =mod(3,24)+1=4, and station 4 is idle, so it is switched to the reserved state and bound to the 14:30 time sequence. Subsequently, stations 5, 6, and 7 are reserved for 14:58, 15:26, and 15:54 respectively, forming an event sampling station group. At 18:00, the water level rose to 1.45m and the turbidity increased to 85. The NTU conductivity dropped to 280 μS / cm, and the runoff process continued. UCB calculation results showed that 18:30, 19:00, and 19:30 were still high confidence threshold periods. Workstations 8-11 were reserved. By 22:00, 16 workstations had been used, with 8 more workstations remaining. Normal execution continued. By 06:00 the next day, a total of 22 workstations had been used, with 2 workstations remaining. The reserved workstation release mechanism was triggered, and an alarm signal was reported. The task cycle ended at 08:00, with all 24 bottles fully loaded. The equipment entered hibernation, awaiting subsequent sampling, and the equipment was reset.

[0056] If the rainwater sampling mode is triggered, water samples will be collected by gravity collection according to the workstation indexing rotation angle and workstation switching control sequence, and imported into the current workstation sampling container.

[0057] In the actual evaluation, one of the equipment switching interfaces was connected to the inlet funnel 9 to enter the rainwater sampling mode. The single-station sampling volume V0 = 300 mL, and the basic sampling interval T0 = 30 min. At 9:00, the rain sensor detected continuous rainfall with a rainfall intensity of 2 mm / h, pH 5.8, and conductivity of 28 μS / cm. At 10:30, the rain cloud intensified, and the rainfall intensity increased from 4 mm / h to 18 mm / h within 15 min. The residual within the sliding window was abnormal, and the binomial distribution CDF discrimination probability P = 0.86. Matching the rainwater sampling mode, the UCB calculation showed that the optimal sampling times were 10:45, 11:00, and 11:15. For short-duration rainfall scenarios, the basic... The interval was shortened from 30 minutes to 15 minutes. Sampling bottles 4 to 7 were scheduled as a continuous event sampling station group. Rainwater was naturally collected through the inlet funnel 9 and directly introduced into the currently aligned bottle 4. The positioning pressure plate 1 prevented the sampling bottle from tilting during rotation. Bottle 5 was completed in sequence at 10:45, bottle 6 at 11:00, and bottle 7 at 11:15. The controller 8 drove the stepper motor 14 through the flexible coupling 12 and the drive spindle 10 to rotate the rotating sample disk 2 by 15° to achieve precise switching. After the rain intensity dropped to 6 mm / h, the UCB score decreased, and the interval was restored to 30 minutes. By 03:00 the next day, all 24 sampling bottles 6 were fully loaded, and the equipment went into sleep mode, waiting for sampling.

[0058] If the river sampling mode is triggered, the current station sampling is completed according to the station indexing rotation angle and station switching control sequence, and each station is sampled sequentially through indexing bottle changing;

[0059] In the actual evaluation, the controller 8 generates a drive pulse sequence, and the stepper motor 14 drives the rotating sample disk 2 to rotate 15° via the flexible coupling 12 and the drive spindle 10. The sampling bottle 6 is aligned with the outlet of the water inlet funnel 9, and the external water pump is started at a speed of 1.2L / min. The flow meter monitors the cumulative injection volume in real time, with an advance of 50mL to compensate for pipeline transmission delay and pump response lag. When the cumulative volume reaches 450mL, the pump stops. After stopping the pump, it continues to empty for 5 seconds. The residual liquid in the water inlet distribution pipeline 5 is pumped out using negative pressure, about 100mL. After confirming that it has been completely drained, the stepper motor 14 rotates 15° to switch to the sampling bottle 5. The actual sampling time for a single sampling is 28s, and about 500mL of water sample is obtained from the sampling bottle 4.

[0060] Obtain water samples and sampling datasets at different time intervals.

[0061] In the actual evaluation, the process was repeated until sampling bottle 24 was completed, and water samples were obtained in different time periods. The controller read the sampling time as 11:15:00, the rainfall intensity from the rain gauge was 18.0 mm / h, and the water quality sensor showed pH 5.2, conductivity 8 μS / cm, and turbidity 18 NTU. When working in rainwater sampling mode, the injection volume was calibrated by the rated volume of sampling bottle 6, which was 300 mL. The sampling dataset was generated, recorded, and written to Flash.

[0062] In this embodiment, the method for obtaining the pattern matching result includes:

[0063] Based on real-time environmental perception data, time-series data segments are extracted through a sliding window. Based on the time-series data segments, the predicted values ​​at each sampling time are calculated through historical sampling sequences, and the residual sequence between the predicted values ​​and the measured values ​​is obtained. The historical sampling sequence includes a set of sampled times and a corresponding set of parameter observation values. The parameter observation values ​​include one or more of rainfall intensity, pH value, conductivity, turbidity, and dissolved oxygen.

[0064] Based on the number of abnormal residuals in the statistical residual sequence within the sliding window, the discrimination probability of the number of abnormal residuals at a fixed confidence level is calculated based on the binomial cumulative distribution function. The sampling pattern is matched according to the discrimination probability through a preset pattern judgment rule. If the matching fails, the system remains in standby mode. If the matching is successful, the pattern matching result is output.

[0065] In this embodiment, the method for obtaining the workstation switching control timing includes:

[0066] A candidate sampling time set is generated based on the current time at a fixed time granularity. The covariance matrix of the sampled time set is calculated based on the historical sampling sequence, and the covariance matrix between the sampled time set and the candidate sampling time set is also calculated. Based on the covariance matrix and the set of parameter observations, the posterior mean and posterior standard deviation of the candidate sampling time set are calculated. Finally, the upper confidence bound score for each candidate sampling time is calculated. The formula for calculating the upper confidence bound score is as follows:

[0067] ;

[0068] in Candidate sampling time The upper confidence bound score, The posterior mean is... For the posterior standard deviation, To adjust the weights;

[0069] Based on the upper confidence boundary score, the optimal sampling time is selected from the candidate sampling time set. The optimal sampling time is compared with the current time, and the sampling time interval is adjusted according to the comparison difference to obtain the next workstation switching trigger time. The workstation switching trigger time is generated sequentially to obtain the workstation switching control timing.

[0070] In this embodiment, the method for obtaining the indexing rotation angle of the workstation includes:

[0071] A workstation state machine is established based on the sequential numbering of the sampling bottles and the workstation status of the water sampling equipment. The next sequential workstation number is queried according to the workstation state machine and the workstation switching control sequence, serving as the target workstation number. The workstation status includes idle, reserved, sampled, and locked. The formula for querying the target workstation number is:

[0072] ;

[0073] in This is the current workstation number. This represents the total number of sampling stations. For modulo operation;

[0074] If the target workstation is in an idle state, the target workstation number is switched to the reserved state, and the corresponding workstation switching control sequence is bound to the workstation. If the target workstation is in a reserved state, the next workstation number in an idle state is searched sequentially until an idle workstation is found. The current found workstation is used as the starting point, and consecutive numbered workstations are reserved in sequence as an event sampling workstation group. If the event sampling workstation group completes sampling, the workstation is switched to the locked state. The consecutive numbered workstations are greater than or equal to 2.

[0075] The system counts the number of idle workstations in real time. If the number of idle workstations is less than or equal to the number of reserved workstations, the reserved workstations are released to the idle state in sequence from nearest to farthest according to the workstation switching control sequence, until the system is fully loaded. An alarm signal is then reported, and the generation of new workstation switching control sequences is paused. The system enters a sleep waiting state until a manual instruction is received.

[0076] The target rotation angle is calculated based on the difference between the number of the hit workstation and the current workstation, and the workstation indexing rotation angle is obtained.

[0077] In this embodiment, the method for obtaining the sampled dataset includes:

[0078] Based on the indexing rotation angle of the workstation, a corresponding driving pulse sequence is generated, and the target workstation is driven to align with the outlet below the water inlet funnel of the water sampling equipment according to the driving pulse sequence.

[0079] If the pattern matching result is rainwater sampling mode, then after the target work station is aligned, the gravity water collection path of the water sampling equipment is opened to sample the current work station. If the pattern matching result is river sampling mode, then the external water pump of the water sampling equipment is started to sample the current work station until the single work station sampling volume is reached and the sampling is completed.

[0080] Mark the target workstation that has completed sampling as sampled, add the current sampling time and corresponding parameters to the sampling dataset, and update the historical sampling sequence.

[0081] A second aspect of the present invention also provides a timed rotary automatic water sampling device, comprising:

[0082] Support mechanism, control box, rotary sampling mechanism, power drive mechanism and water inlet module;

[0083] The support mechanism has a telescopic structure at its bottom, the control box is fixedly connected to the top of the support mechanism, the rotating sampling mechanism is installed above the control box, and the rotating sampling mechanism includes a rotating sample disk that carries multiple sampling bottles.

[0084] The power drive mechanism is located inside the control box and extends to the outside to connect with the rotating sample disk. The water inlet module is located above the rotating sampling mechanism, and the outlet end of the water inlet module is located at the eccentric position of the rotating sample disk.

[0085] The support mechanism includes telescopic outriggers and anti-slip ground tips. The anti-slip ground tips are located at the bottom of the telescopic outriggers. A tripod connector is installed on the top of the telescopic outriggers, and the tripod connector is fixedly connected to the bottom of the control box.

[0086] In this embodiment, the power drive mechanism includes a stepper motor, a drive spindle, and a flexible coupling. The drive spindle passes vertically through the control box. A motor mounting bracket is provided in the middle of the bottom surface inside the control box. A mounting base plate is provided on the bottom surface inside the control box. The motor mounting bracket is fixed to the mounting base plate. The stepper motor is fixed inside the control box through the motor mounting bracket. A sealed bearing is provided at the part of the drive spindle that passes through the top of the control box. The flexible coupling connects the stepper motor and the drive spindle.

[0087] In this embodiment, the water inlet module includes a water inlet distribution pipe, a water inlet funnel, an external water pump, and a switching interface. The water inlet funnel is fixed to a bracket above the rotating sample plate by a support. The drain end of the water inlet distribution pipe is located directly above the water inlet funnel, and the outlet end of the water inlet funnel faces the sampling bottle below. The switching interface selectively connects the water inlet funnel or the external water pump to the water inlet distribution pipe. A flow meter is provided in the water inlet distribution pipe.

[0088] In this embodiment, the rotating sampling mechanism further includes a positioning plate, which is disposed on the top of the rotating sample disk and abuts against the top of the sampling bottle. The rotating sample disk has a plurality of bottle alignment holes evenly spaced along the circumferential direction, and the sampling bottle is placed in the bottle alignment holes.

[0089] In this embodiment, the control box contains a controller and a battery. An interactive panel is provided on the front side of the control box. The interactive panel includes a display window and a control panel. The device also includes a rain sensor, a liquid level sensor, and a water quality sensor. The rain sensor, the liquid level sensor, and the water quality sensor are all electrically connected to the controller. The controller is electrically connected to the power drive mechanism and the water inlet module.

[0090] The above description is merely an example and illustration of the structure of the present invention. Those skilled in the art can make various modifications or additions to the specific embodiments described, or use similar methods to replace them, as long as they do not deviate from the structure of the invention or exceed the scope defined in the claims, all of which should fall within the protection scope of the present invention.

Claims

1. A timed rotary automatic water sampling method, characterized in that, Includes the following steps: Based on the water sampling equipment, the sampling task configuration parameters and real-time environmental perception data are obtained, and the corresponding sampling mode is matched according to the real-time environmental perception data. The sampling task configuration parameters include the sampling time interval, the sampling amount per station, and the number of sampling stations. Based on the pattern matching results, a workstation switching control timing sequence is generated, and the workstation indexing rotation angle is calculated according to the number of sampled workstations. If the rainwater sampling mode is triggered, water samples will be collected by gravity collection according to the workstation indexing rotation angle and workstation switching control sequence, and imported into the current workstation sampling container. If the river sampling mode is triggered, the current station sampling is completed according to the station indexing rotation angle and station switching control sequence, and each station is sampled sequentially through indexing bottle changing; Obtain water samples and sampling datasets at different time intervals.

2. The timed rotary automatic water sampling method according to claim 1, characterized in that, The method for obtaining the pattern matching result includes: Based on real-time environmental perception data, time-series data segments are extracted through a sliding window. Based on the time-series data segments, the predicted values ​​at each sampling time are calculated through historical sampling sequences, and the residual sequence between the predicted values ​​and the measured values ​​is obtained. The historical sampling sequence includes a set of sampled times and a corresponding set of parameter observation values. The parameter observation values ​​include one or more of rainfall intensity, pH value, conductivity, turbidity, and dissolved oxygen. Based on the number of abnormal residuals in the statistical residual sequence within the sliding window, the discrimination probability of the number of abnormal residuals at a fixed confidence level is calculated based on the binomial cumulative distribution function. The sampling pattern is matched according to the discrimination probability through a preset pattern judgment rule. If the matching fails, the system remains in standby mode. If the matching is successful, the pattern matching result is output.

3. The timed rotary automatic water sampling method according to claim 1, characterized in that, The method for obtaining the workstation switching control timing includes: A candidate sampling time set is generated based on the current time at a fixed time granularity. The covariance matrix of the sampled time set is calculated based on the historical sampling sequence, and the covariance matrix between the sampled time set and the candidate sampling time set is also calculated. Based on the covariance matrix and the set of parameter observations, the posterior mean and posterior standard deviation of the candidate sampling time set are calculated. Finally, the upper confidence bound score for each candidate sampling time is calculated. The formula for calculating the upper confidence bound score is as follows: ； in Candidate sampling time The upper confidence bound score, The posterior mean is... For the posterior standard deviation, To adjust the weights; Based on the upper confidence boundary score, the optimal sampling time is selected from the candidate sampling time set. The optimal sampling time is compared with the current time, and the sampling time interval is adjusted according to the comparison difference to obtain the next workstation switching trigger time. The workstation switching trigger time is generated sequentially to obtain the workstation switching control timing.

4. The timed rotary automatic water sampling method according to claim 1, characterized in that, The method for obtaining the indexing rotation angle of the workstation includes: A workstation state machine is established based on the sequential numbering of the sampling bottles and the workstation status of the water sampling equipment. The next sequential workstation number is queried according to the workstation state machine and the workstation switching control sequence, serving as the target workstation number. The workstation status includes idle, reserved, sampled, and locked. The formula for querying the target workstation number is: ； in This is the current workstation number. This represents the total number of sampling stations. For modulo operation; If the target workstation is in an idle state, the target workstation number is switched to the reserved state, and the corresponding workstation switching control sequence is bound to the workstation. If the target workstation is in a reserved state, the next workstation number in an idle state is searched sequentially until an idle workstation is found. The current found workstation is used as the starting point, and consecutive numbered workstations are reserved in sequence as an event sampling workstation group. If the event sampling workstation group completes sampling, the workstation is switched to the locked state. The consecutive numbered workstations are greater than or equal to 2. The system counts the number of idle workstations in real time. If the number of idle workstations is less than or equal to the number of reserved workstations, the reserved workstations are released to the idle state in the order of workstation switching control sequence from near to far until the system is fully loaded. An alarm signal is then reported, and the generation of new workstation switching control sequence is paused. The system enters a sleep waiting state until a manual instruction is received. The target rotation angle is calculated based on the difference between the number of the hit workstation and the current workstation, and the workstation indexing rotation angle is obtained.

5. The timed rotary automatic water sampling method according to claim 1, characterized in that, The method for obtaining the sampled dataset includes: Based on the indexing rotation angle of the workstation, a corresponding driving pulse sequence is generated, and the target workstation is driven to align with the outlet below the water inlet funnel of the water sampling equipment according to the driving pulse sequence. If the pattern matching result is rainwater sampling mode, then after the target work station is aligned, the gravity water collection path of the water sampling equipment is opened to sample the current work station. If the pattern matching result is river sampling mode, then the external water pump of the water sampling equipment is started to sample the current work station until the single work station sampling volume is reached and the sampling is completed. Mark the target workstation that has completed sampling as sampled, add the current sampling time and corresponding parameters to the sampling dataset, and update the historical sampling sequence.

6. A timed rotary automatic water sampling device, used to perform the method described in any one of claims 1-5, characterized in that: Includes a support structure, control box, rotary sampling mechanism, power drive mechanism, and water inlet module; The support mechanism has a telescopic structure at its bottom, the control box is fixedly connected to the top of the support mechanism, the rotating sampling mechanism is installed above the control box, and the rotating sampling mechanism includes a rotating sample disk that carries multiple sampling bottles. The power drive mechanism is located inside the control box and extends to the outside to connect with the rotating sample disk. The water inlet module is located above the rotating sampling mechanism, and the outlet end of the water inlet module is located at the eccentric position of the rotating sample disk. The support mechanism includes telescopic outriggers and anti-slip ground tips. The anti-slip ground tips are located at the bottom of the telescopic outriggers. A tripod connector is installed on the top of the telescopic outriggers, and the tripod connector is fixedly connected to the bottom of the control box.

7. The timed rotary automatic water sampling device according to claim 6, characterized in that, The power drive mechanism includes a stepper motor, a drive spindle, and a flexible coupling. The drive spindle passes vertically through the control box. A motor mounting bracket is provided in the middle of the bottom surface inside the control box. A mounting base plate is provided on the bottom surface inside the control box. The motor mounting bracket is fixed to the mounting base plate. The stepper motor is fixed inside the control box through the motor mounting bracket. A sealed bearing is provided at the part of the drive spindle that passes through the top of the control box. The flexible coupling connects the stepper motor and the drive spindle.

8. The timed rotary automatic water sampling device according to claim 6, characterized in that, The water inlet module includes a water inlet distribution pipe, a water inlet funnel, an external water pump, and a switching interface. The water inlet funnel is fixed to a bracket above the rotating sample plate by a support. The drain end of the water inlet distribution pipe is located directly above the water inlet funnel, and the outlet end of the water inlet funnel faces the sampling bottle below. The switching interface selectively connects the water inlet funnel or the external water pump to the water inlet distribution pipe. A flow meter is installed in the water inlet distribution pipe.

9. A timed rotary automatic water sampling device according to claim 6, characterized in that, The rotating sampling mechanism also includes a positioning plate, which is disposed on the top of the rotating sample disk and abuts against the top of the sampling bottle. The rotating sample disk has a plurality of bottle alignment holes evenly spaced along the circumferential direction, and the sampling bottle is placed in the bottle alignment holes.

10. A timed rotary automatic water sampling device according to claim 6, characterized in that, The control box contains a controller and a battery. An interactive panel is provided on the front side of the control box. The interactive panel includes a display window and a control panel. The device also includes a rain sensor, a liquid level sensor, and a water quality sensor. The rain sensor, the liquid level sensor, and the water quality sensor are all electrically connected to the controller. The controller is electrically connected to the power drive mechanism and the water inlet module.

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