阅读说明：本技术 一种用于水体排污暗管监测无人艇及其监测方法 (Unmanned ship for monitoring water body pollution discharge concealed pipe and monitoring method thereof ) 是由 崔云华 于 2021-07-08 设计创作，主要内容包括：本发明公开了一种用于水体排污暗管监测无人艇及其监测方法,包括艇体、水质采样监测系统、排污暗管排查系统和通信系统,所述采样监测系统包括载荷舱,所述艇体艇尾设置载荷舱,所述载荷舱内通过升降机构连接自动分瓶采样装置,所述排污暗管排查系统固定安装于所述艇体前端的平台上,所述水质采样监测系统以及排污暗管排查系统通过所述通信系统联系显控基站。该发明采用电能为动力的小型无人艇作为载体,搭载功能完善的自动分瓶采样监测装置,简化了无人艇本身的结构,简化了取样监测的步骤,内置水质监测装置,能够快速的获取数据,提高了效率。(The invention discloses a water body sewage drainage concealed pipe monitoring unmanned ship and a monitoring method thereof. The invention adopts a small unmanned boat taking electric energy as power as a carrier, carries an automatic bottle-dividing sampling monitoring device with complete functions, simplifies the structure of the unmanned boat, simplifies the steps of sampling monitoring, is internally provided with a water quality monitoring device, can quickly acquire data, and improves the efficiency.)

1. The utility model provides an be used for unmanned ship of water blowdown concealed conduit monitoring which characterized in that: including hull (1), water sampling monitoring system (2), blowdown hidden pipe investigation system (3) and communication system (4), sampling monitoring system (2) are including load cabin (5), hull (1) stern sets up load cabin (5), connect automatic branch bottle sampling device (6) through elevating system in load cabin (5), blowdown hidden pipe investigation system (3) fixed mounting in on the platform of hull (1) front end, water sampling monitoring system (2) and blowdown hidden pipe investigation system (3) pass through communication system (4) communication connection is in showing accuse basic station.

2. The unmanned ship for monitoring the sewer of the water body as claimed in claim 1, wherein: the automatic bottle-dividing and sampling device (6) comprises a water-proof shell (6-1), an automatic bottle-dividing device (9) and an emptying and flushing device (10), the upper end cover of the water-proof shell (6-1) is connected with the lifting mechanism, the upper end cover of the water-proof shell (6-1) is provided with a sampling port (11), the sampling port (11) is connected with a plurality of test tubes (12) with equal volume difference through the inner cavity of the automatic bottle separating device (9), the automatic bottle separating device (9) is fixedly arranged in an upper end cover of the waterproof shell (6-1), an emptying and flushing device (10) is arranged at the bottom of the inner cavity of the automatic bottle separating device (9), a flushing nozzle component (19) of the emptying flushing device (10) is arranged in the inner cavity of the automatic bottle separating device (9), the test tube (12) and the emptying and flushing device (10) are positioned in the water-proof shell (6-1).

3. The unmanned ship for monitoring the sewer of the water body as claimed in claim 2, wherein: the automatic bottle separating device (9) comprises a lifting sampling bottle (13), the lifting sampling bottle (13) is arranged in a transition groove (6-2) at the center of an upper end cover of the waterproof shell (6-1) in a sliding mode, the lifting sampling bottle (13) is controlled to lift through a lifting structure, a circle of water inlet (13-1) is formed in the upper end of the side wall of the lifting sampling bottle (13), a plurality of liquid separating ports (13-2) are arranged at the lower end of the side wall of the lifting sampling bottle (13) in a surrounding mode corresponding to the test tube (12), a plurality of transition channels (13-3) are arranged at the bottom of the inner side wall of the transition groove (6-2) in a corresponding mode to the liquid separating ports (13-2), an annular single-hole partition plate (13-7) is arranged between the liquid separating ports (13-2) and the transition channels (13-3) in a rotating mode, and the annular single-hole partition plate (13-7) is driven to rotate through a power device, the transition channel (13-3) is connected to a water inlet of the test tube (12) through a short hose (13-4), and the test tube (12) is vertically fixed to the lower bottom surface of the upper end cover of the waterproof shell (6-1);

the inner side wall of the transition groove (6-2) is provided with a vertical sliding groove (6-3), the outer side wall of the lifting sampling bottle (13) is correspondingly provided with a limiting sliding block (6-4), and the limiting sliding block (6-4) is arranged in the vertical sliding groove (6-3) in a driving and sliding manner through the lifting structure.

4. The unmanned ship for monitoring the sewer of the water body as claimed in claim 3, wherein: the short hose (13-4) is obliquely arranged, and one end of the short hose (13-4) connected to the test tube (12) is higher than one end of the short hose (13-4) connected to the transition channel (13-3); the bottom surface of the inner cavity of the lifting sampling bottle (13) is provided with an annular water collecting groove (13-5), the lowest part of the annular water collecting groove (13-5) is provided with a water outlet (13-6), the water outlets (13-6) are arranged in an annular shape at equal intervals, and the water outlet (13-6) is connected with the emptying and washing device (10).

5. The unmanned ship for monitoring the sewer of the water body as claimed in claim 4, wherein: the emptying and washing device (10) comprises an emptying structure (14) and a washing structure (15), the emptying structure (14) comprises a water waiting rotary table (16), the upper end face of the water waiting rotary table (16) is attached to the water outlet (13-6), water waiting rotary tables (16) are provided with water waiting grooves (17) corresponding to the water outlet (13-6) in an equidistant surrounding mode, the water waiting grooves (17) are communicated with a water discharging cavity (18) through hoses, and the bottom end of the water discharging cavity (18) is communicated with the outside of the water-resisting shell (6-1) through a one-way water pump.

6. The unmanned ship for monitoring the sewer of the water body as claimed in claim 5, wherein: the washing structure (15) comprises a filtering device (15-1) and a vertical conduit (15-2), the filtering device (15-1) is connected to the drainage cavity (18) through a water suction pump, the filtering device (15-1) is connected to the vertical conduit (15-2) through a water lifting pump, and the top end of the vertical conduit (15-2) is provided with the washing nozzle assembly (19);

the washing spray head assembly (19) comprises a waterproof cover (19-1), a lifting support (19-2) and a swinging spray head (19-3), the waterproof cover (19-1) is vertically fixed on the bottom surface of the inner cavity of the lifting sampling bottle (13), the waterproof cover (19-1) supports a sealing cover (19-4) at the top end of the lifting support (19-2), a straight rod in the middle of the lifting support (19-2) is vertically fixed below the sealing cover (19-4), a sliding block (19-5) is arranged at the bottom end of the straight rod, and the sliding block (19-5) is arranged in a pressure cavity (15-3) at the top end of the vertical guide pipe (15-2) in a sliding manner;

a plurality of swing nozzles (19-3) are arranged below the sealing cover (19-4) and surround the lifting support (19-2), the swing nozzles (19-3) are communicated with the pressure cavity (15-3) through hoses, and the pressure cavity (15-3) is communicated with the vertical guide pipe (15-2).

7. The unmanned ship for monitoring the sewer of the water body as claimed in claim 6, wherein: a test tube plug (20) is arranged at a water inlet of the test tube (12), a water sample inlet (20-2) is arranged on one side of the bottom surface of the test tube plug (20), a water storage cavity (20-1) is arranged inside the test tube plug (20), and the short hose (13-4) is communicated with the water sample inlet (20-2) through the water storage cavity (20-1); a change-over switch (20-3) is arranged in the water storage cavity (20-1), the change-over switch (20-3) is positioned at the water sample inlet (20-2), the top surface of the water storage cavity (20-1) is provided with a pressurizing pipeline (20-4), the pressurizing pipeline (20-4) is communicated with an annular spraying cavity (20-5) at the bottom end of the test tube plug (20), and a rotary spray head (20-6) is rotatably arranged in the annular spraying cavity; the rotary spray head (20-6) is in an annular block shape, and a plurality of groups of inclined through holes (20-7) are arranged on the end surface of the rotary spray head (20-6) in a surrounding manner;

change over switch (20-3) include electro-magnet (20-8) and metal ball (20-9), electro-magnet (20-8) for cyclic annular encircle set up in boost pipe (20-4) entrance, electro-magnet (20-8) are located directly over water sample entry (20-2), water sample entry (20-2) are for leaking hopper-shaped, support on water sample entry (20-2) metal ball (20-9).

8. The unmanned ship for monitoring the sewer of the water body as claimed in claim 7, wherein: and a water quality detection device (21) is fixedly arranged on the test tube plug (20).

9. The unmanned ship for monitoring the sewer of the water body as claimed in claim 1, wherein: the blowdown hidden pipe troubleshooting system (3) comprises an infrared camera (7) and a sonar detector (8), wherein the infrared camera (7) and the sonar detector (8) are fixedly installed on the platform at the front end of the boat body (1).

10. The monitoring and monitoring method for the unmanned ship for the sewer monitoring of the water body pollution discharge according to any one of claims 1 to 9, wherein the monitoring and monitoring method comprises the following steps: the monitoring method comprises the following steps:

the method comprises the following steps that firstly, at least three sampling routes are edited by a display control base station, the unmanned ship automatically navigates by an editing route, the pollution distribution condition of a water area around the route is shot and acquired through an infrared camera (7), and a water quality monitoring sampling point is automatically planned according to the pollution distribution condition;

the second step, the unmanned ship sails to a water quality monitoring sampling point, the automatic bottle distribution sampling device (6) is automatically lowered to a certain depth under water, the lifting sampling bottle (13) rises, the sampling port (11) is opened, the water sample enters the lifting sampling bottle (13) through the water inlet (13-1), when a certain water quantity is reached, the lifting sampling bottle (13) descends, so that the liquid distribution port (13-2) corresponds to a transition channel (13-3) leading to the test tube (12), the annular single-hole partition plate (13-7) rotates to automatically distribute a single hole to the transition channel (13-3) of the corresponding test tube (12), the water sample passes through the single hole through the liquid distribution port (13-2) and enters the test tube (12) through the transition channel (13-3) and the short hose (13-4), monitoring and recording data by the water quality detection device (21);

thirdly, rotating the water waiting rotary table (16) to enable the water waiting groove (17) to correspond to a water outlet (13-6), so that redundant sample liquid in the lifting sampling bottle (13) is emptied, the redundant sample liquid is collected in the water drainage cavity (18) for temporary storage through a hose, meanwhile, a monitored water sample in the test tube (12) is collected in the water drainage cavity (11) for temporary storage through the hose, and the water drainage cavity drains water once at regular time through a one-way water pump;

a water sample temporarily stored in the drainage cavity (18) is extracted through a water suction pump, a flushing liquid for flushing is obtained through filtering of the filtering device (15-1), the flushing liquid is lifted to a pressure cavity (15-3) along the vertical guide pipe (15-2) through the water suction pump, the lifting support (19-2) is pushed to ascend, the swinging spray head (19-3) is enabled to extend out of the waterproof cover (19-1), the flushing liquid is conveyed to the swinging spray head (19-3) through a hose, and the swinging spray head (19-3) enables the swinging spray head (19-3) to swing up and down to flush the inner wall of the lifting sampling bottle (13);

meanwhile, the flushing liquid passes through the single hole through a liquid separating port (13-2), passes through the short hose (13-4) through the transition channel (13-3), enters the test tube plug (20), enters an annular spraying cavity (20-5) through a pressurizing pipeline (20-4) and is sprayed out of a rotating spray head (20-6) to flush the inner wall of the test tube (12);

the flushing liquid after flushing is collected in the drainage cavity (18) by a hose;

fifthly, automatically adjusting the underwater depth of the automatic bottle-dividing sampling device (6), repeating the sampling monitoring and flushing steps, recording data for multiple times, and automatically generating a water quality parameter space change map by software;

sixthly, analyzing the water quality parameter space variation graph, and automatically screening suspicious point positions of the sewage drainage concealed pipe;

a seventh step of scanning the suspected point position of the sewage drainage concealed pipe through a sonar detector (8) to automatically generate an underwater image of the suspected point position area of the sewage drainage concealed pipe;

and step eight, checking and recording the positions and the number of the sewage drainage concealed pipes by observing the images.

Technical Field

The invention relates to the field of unmanned boats, in particular to an unmanned boat for monitoring a water body pollution discharge concealed pipe and a monitoring method thereof.

Background

The water quality monitoring is a process for monitoring and measuring the types, concentrations and variation trends of pollutants in the water body and evaluating the water quality condition. The monitoring range is very wide, the natural water which is not polluted or polluted and various industrial drainage water and the like are included, along with the change of rainwater washing and urban construction, some sewage discharge pipes are gradually covered to become sewage discharge concealed pipes which cannot be treated for a long time and cause serious pollution to water bodies, and the sewage discharge concealed pipes are generally concealed at the water bottom and are difficult to be found, so the monitoring efficiency is extremely low.

Disclosure of Invention

The purpose of the invention is as follows: in order to overcome the defects in the prior art, the invention provides the unmanned ship for monitoring the sewage discharge concealed conduit of the water body and the monitoring method thereof, and the efficiency of the investigation of the sewage discharge concealed conduit is effectively improved.

The technical scheme is as follows: in order to achieve the purpose, the unmanned ship for monitoring the water body sewage drainage concealed pipe and the monitoring method thereof comprise a ship body, a water quality sampling monitoring system, a sewage drainage concealed pipe inspection system and a communication system, wherein the sampling monitoring system comprises a load cabin, the tail of the ship body is provided with the load cabin, the load cabin is connected with an automatic bottle distribution sampling device through a lifting mechanism, the sewage drainage concealed pipe inspection system is fixedly arranged on a platform at the front end of the ship body, and the water quality sampling monitoring system and the sewage drainage concealed pipe inspection system are in communication connection with a display control base station through the communication system.

Further, divide bottle sampling device automatically and include water proof casing, divide bottled putting and evacuation washing unit automatically, the upper end cover of water proof casing connect in elevating system, be provided with the sample connection on the upper end cover of water proof casing, the sample connection passes through divide bottled putting inner chamber automatically and connect in the test tube of a plurality of volume arithmetic settings, divide bottled putting automatically fixed set up in the upper end cover of water proof casing, divide bottled putting inner chamber bottom automatically and set up evacuation washing unit, evacuation washing unit's washing terminals subassembly set up in divide bottled putting inner chamber automatically, the test tube with evacuation washing unit is located in the water proof casing.

Furthermore, the automatic bottle separating device comprises a lifting sampling bottle, the lifting sampling bottle is slidably arranged in a transition groove in the center of an upper end cover of the waterproof shell, the lifting sampling bottle is controlled to lift through a lifting structure, a circle of water inlet is formed in the upper end of the side wall of the lifting sampling bottle, a plurality of liquid separating ports are formed in the lower end of the side wall of the lifting sampling bottle corresponding to the test tubes in a surrounding mode, a plurality of transition channels are formed in the bottom of the inner side wall of the transition groove corresponding to the liquid separating ports, an annular single-hole partition plate is rotatably arranged between the liquid separating ports and the transition channels and driven to rotate through a power device, the transition channels are connected to the water inlet of the test tube through short hoses, and the test tube is vertically fixed on the lower bottom surface of the upper end cover of the waterproof shell;

a vertical sliding groove is formed in the inner side wall of the transition groove, a limiting sliding block is correspondingly arranged on the outer side wall of the lifting sampling bottle, and the limiting sliding block is driven by the lifting structure to be arranged in the vertical sliding groove in a sliding manner;

further, the slope of short hose sets up, short hose connect in the one end of test tube is higher than short hose connect in transition passageway's one end, lift sampling bottle inner chamber bottom surface sets up annular water-collecting groove, the lowest department of annular water-collecting groove sets up the outlet, the outlet connect in evacuation washing unit.

Further, evacuation washing unit includes the evacuation structure and washes the structure, the evacuation structure includes waiting the water carousel, wait the up end of water carousel laminate in the outlet, wait on the water carousel corresponding to the equidistant equal basin that encircles the setting of outlet, wait the basin and pass through the hose and communicate in drainage cavity, drainage cavity bottom pass through one-way water pump communicate in the water proof casing is external.

Furthermore, the flushing structure comprises a filtering device and a flushing nozzle assembly, the filtering device is connected to the drainage cavity through a water suction pump, the filtering device is connected to a vertical guide pipe through a water lifting pump, and the flushing nozzle assembly is arranged at the top end of the vertical guide pipe;

the flushing nozzle assembly comprises a waterproof cover, a lifting support and a swinging nozzle, the waterproof cover is vertically fixed on the bottom surface of the inner cavity of the lifting sampling bottle, the waterproof cover supports a sealing cover at the top end of the lifting support, a straight rod in the middle of the lifting support is vertically fixed below the sealing cover, a sliding block is arranged at the bottom end of the straight rod, and the sliding block is slidably arranged in a pressure cavity at the top end of the vertical guide pipe;

the lower part of the sealing cover is provided with a plurality of swinging nozzles surrounding the lifting support, the swinging nozzles are communicated with the pressure cavity through hoses, and the pressure cavity is communicated with the vertical guide pipe.

Furthermore, a test tube plug is arranged at the water inlet of the test tube, a water sample inlet is arranged on one side of the bottom surface of the test tube plug, a water storage cavity is arranged inside the test tube plug, and the short hose is communicated with the water sample inlet through the water storage cavity; a change-over switch is arranged in the water storage cavity and is positioned at the water sample inlet, a pressurizing pipeline is arranged on the top surface of the water storage cavity and is communicated with an annular spraying cavity at the bottom end of the test tube plug, and a rotary spray head is rotatably arranged in the annular spraying cavity; the rotary spray head is in an annular block shape, and a plurality of groups of inclined through holes are arranged on the end surface of the rotary spray head in a surrounding manner; the rotary spray head is in an annular block shape, and a plurality of groups of inclined through holes are arranged on the end surface of the rotary spray head in a surrounding manner;

change over switch includes electro-magnet and metal ball, the electro-magnet for cyclic annular encircle set up in the pipeline entrance that increases pressure, the electro-magnet is located directly over the water sample entry, the water sample entry is for leaking hopper-shaped, support in the water sample entry the metal ball.

Further, a water quality detection device is fixedly arranged on the test tube plug.

Further, blowdown hidden pipe investigation system includes infrared camera and sonar detector, infrared camera and sonar detector fixed mounting in on the platform of hull front end.

Further, the monitoring method comprises the following steps:

the method comprises the following steps that firstly, at least three sampling routes are edited by a display control base station, the unmanned ship automatically navigates by an editing route, the pollution distribution condition of a water area around the route is shot and acquired through an infrared camera, and a water quality monitoring sampling point is automatically planned according to the pollution distribution condition;

the unmanned ship sails to a water quality monitoring sampling point, the automatic bottle-dividing sampling device is automatically lowered to a certain depth under water, the lifting sampling bottle ascends, the sampling port is opened, the water sample enters the lifting sampling bottle through the water inlet, when a certain water amount is reached, the lifting sampling bottle descends, so that the liquid-dividing port corresponds to a transition passage leading to the test tube, the annular single-hole partition plate rotates to automatically correspond a single hole to the transition passage of the corresponding test tube, the water sample passes through the single hole through the liquid-dividing port, passes through the transition passage and enters the test tube through the short hose, and the water quality detection device monitors and records data;

rotating the water waiting rotary table to enable the water waiting groove to correspond to a water outlet, emptying redundant sample liquid in the lifting sampling bottle, collecting the redundant sample liquid in the water drainage cavity for temporary storage through a hose, collecting a water sample monitored in the test tube in the water drainage cavity for temporary storage through the hose, and draining primary water through the water drainage cavity at regular time through a one-way water pump;

a water sample temporarily stored in the drainage cavity is extracted through a water suction pump, a flushing liquid for flushing is obtained through filtering of the filtering device, the flushing liquid is lifted to a pressure cavity along the vertical guide pipe through the water lifting pump, the lifting support is pushed to ascend, the swinging nozzle is made to extend out of the waterproof cover, the flushing liquid is conveyed to the swinging nozzle through a hose, and the swinging nozzle swings up and down to flush the inner wall of the lifting sampling bottle;

meanwhile, the flushing fluid passes through the single hole through the fluid separation port, passes through the short hose through the transition channel, enters the test tube plug, enters the annular spraying cavity through the pressurization pipeline, is sprayed out by the rotary spray head, and flushes the inner wall of the test tube;

the flushing liquid after flushing is collected in the drainage cavity through a hose;

fifthly, automatically adjusting the underwater depth of the automatic bottle-dividing sampling device, repeating the sampling monitoring and flushing steps, recording data for multiple times, and automatically generating a water quality parameter space change diagram by software;

sixthly, analyzing the water quality parameter space variation graph, and automatically screening suspicious point positions of the sewage drainage concealed pipe;

a seventh step of scanning the suspected point position of the sewage drainage concealed pipe through a sonar detector to automatically generate an underwater image of the suspected point position area of the sewage drainage concealed pipe;

and step eight, checking and recording the positions and the number of the sewage drainage concealed pipes by observing the images.

Has the advantages that: according to the water body pollution discharge concealed pipe monitoring unmanned ship and the monitoring method thereof, the small unmanned ship with electric energy as power is used as a carrier, the automatic bottle-dividing sampling monitoring device with complete functions is carried, the structure of the unmanned ship is simplified, the sampling monitoring steps are simplified, the water quality monitoring device is arranged in the unmanned ship, data can be rapidly acquired, and the efficiency is improved.

Drawings

FIG. 1 is a structural diagram of an unmanned ship for monitoring a water body sewage drainage concealed pipe;

FIG. 2 is a structural diagram of a dynamic bottle-dividing sampling device;

FIG. 3 is a structural view of an automatic bottle dispensing apparatus;

FIG. 4 is a view showing a structure of the position of the annular water collecting groove;

FIG. 5 is a block diagram of an evacuation flushing device;

FIG. 6 is a block diagram of a flushing configuration;

FIG. 7 is a view showing the structure of a test tube plug;

fig. 8 is a structural view of a rotary sprinkler.

Detailed Description

The present invention will be further described with reference to the accompanying drawings.

The water body sewage drainage concealed pipe monitoring unmanned ship and the monitoring method thereof as shown in the attached figure 1 comprise a ship body 1, a water quality sampling monitoring system 2, a sewage drainage concealed pipe inspection system 3 and a communication system 4, wherein the sampling monitoring system comprises a load cabin 5, the tail of the ship body 1 is provided with the load cabin 5, the load cabin 5 is internally connected with an automatic bottle distribution sampling device 6 through a lifting mechanism, the sewage drainage concealed pipe inspection system 3 is fixedly arranged on a platform at the front end of the ship body 1, the water quality sampling monitoring system 2 and the sewage drainage concealed pipe inspection system 3 are in communication connection with a display control base station through the communication system 4, a small unmanned ship with electric energy as power is used as a carrier, the automatic bottle distribution sampling monitoring device with complete functions is carried, the structure of the unmanned ship is simplified, the steps of sampling monitoring are simplified, the water quality monitoring device is arranged in the unmanned ship, and data can be rapidly acquired, the efficiency is improved. .

As shown in fig. 2, the automatic bottle-dividing and sampling device 6 comprises a water-proof housing 6-1, an automatic bottle-dividing device 9 and an evacuation flushing device 10, wherein an upper end cover of the water-proof housing 6-1 is connected to the lifting mechanism, a sampling port 11 is arranged on the upper end cover of the water-proof housing 6-1, the sampling port 11 is connected to a plurality of test tubes 12 with equal volumes arranged in an equal difference mode through an inner cavity of the automatic bottle-dividing device 9, the automatic bottle-dividing device 9 is fixedly arranged in the upper end cover of the water-proof housing 6-1, the evacuation flushing device 10 is arranged at the bottom of the inner cavity of the automatic bottle-dividing device 9, a flushing nozzle assembly 19 of the evacuation flushing device 10 is arranged in the inner cavity of the automatic bottle-dividing device 9, the test tubes 12 and the evacuation flushing device 10 are positioned in the water-proof housing 6-1, and the automatic bottle-dividing device can realize one-to-one correspondence of bottle numbers sampled in corresponding volumes each time, the device is used as a data basis for drawing a water quality parameter space change diagram by software, and washes a public area and a test tube for multiple times after sampling every time, so that mutual pollution or influence of water samples is avoided.

Referring to fig. 2 and 3, the automatic bottle separating device 9 includes a lifting sampling bottle 13, the lifting sampling bottle 13 is slidably disposed in a transition groove 6-2 at the center of an upper end cap of the waterproof housing 6-1, the lifting sampling bottle 13 is controlled to lift by a lifting structure, a circle of water inlet 13-1 is disposed at the upper end of the side wall of the lifting sampling bottle 13, a plurality of liquid separating ports 13-2 are circumferentially disposed at the lower end of the side wall of the lifting sampling bottle 13 corresponding to the test tube 12, a plurality of transition passages 13-3 are disposed at the bottom of the inner side wall of the transition groove 6-2 corresponding to the liquid separating ports 13-2, an annular single-hole partition 13-7 is rotatably disposed between the liquid separating ports 13-2 and the transition passages 13-3, the annular single-hole partition 13-7 is driven to rotate by a power device, and the transition passages 13-3 are connected to the water inlet of the test tube 12 by short hoses 13-4, the test tube 12 is vertically fixed on the lower bottom surface of the upper end cover of the waterproof shell 6-1.

A vertical sliding groove 6-3 is formed in the inner side wall of the transition groove 6-2, a limiting sliding block 6-4 is correspondingly arranged on the outer side wall of the lifting sampling bottle 13, the limiting sliding block 6-4 is driven by the lifting structure to be arranged in the vertical sliding groove 6-3 in a sliding manner, the lifting sampling bottle 13 can only slide up and down in the vertical sliding groove 6-3 under the limitation of the limiting sliding block, the liquid distribution ports 13-2 can be ensured to be in one-to-one correspondence with the transition passages 13-3, the correct correspondence with bottle numbers after sampling is ensured every time, and a sampling monitoring report can be automatically generated by software;

as shown in fig. 4, the short hose 13-4 is obliquely arranged, the short hose 13-4 is connected to the end of the test tube 12 higher than the end of the short hose 13-4 connected to the transition passage 13-3, the bottom surface of the inner cavity of the lifting sampling bottle 13 is provided with an annular water collecting groove 13-5, the lowest part of the annular water collecting groove 13-5 is provided with a water outlet 13-6, the water outlet 13-6 is connected to the emptying flushing device 10, the oblique hose is helpful to empty the redundant sample liquid in the pipeline, the sample liquid is discharged into the lifting sampling bottle 13, the residual sample liquid is collected by the annular water collecting groove at the bottom of the oblique hose, and finally the sample liquid is emptied by the emptying flushing device 10.

The evacuation washing device 10 shown in fig. 5 includes an evacuation structure 14 and a washing structure 15, the evacuation structure 14 includes a water waiting rotary table 16, an upper end surface of the water waiting rotary table 16 is attached to the water outlet 13-6, water waiting grooves 17 are arranged on the water waiting rotary table 16 at equal intervals corresponding to the water outlet 13-6, the water waiting grooves 17 are communicated with a water discharging cavity 18 through a hose, a bottom end of the water discharging cavity 18 is communicated with the outside of the waterproof housing 6-1 through a one-way water pump, opening and closing of the water outlet are controlled through rotation of the water waiting rotary table, during water discharging, the water waiting grooves are rotated to correspond to the water outlet, a water sample enters the water waiting grooves and is collected in the water discharging cavity through the hose, and when the amount of water in the water discharging cavity exceeds a certain amount, a proper amount of water is discharged through the one-way water pump.

The washing structure 15 shown in fig. 6 comprises a filtering device 15-1 and a vertical conduit 15-2, wherein the filtering device 15-1 is connected to the drainage cavity 18 through a suction pump, the filtering device 15-1 is connected to the vertical conduit 15-2 through a water lift pump, the washing nozzle assembly 19 is arranged at the top end of the vertical conduit 15-2, and the filtering device is provided with the washing nozzle assembly, so that raw water can be directly obtained from a working environment to produce washing liquid for washing, and a large water tank is prevented from being loaded to carry the washing liquid;

the flushing nozzle assembly 19 comprises a waterproof cover 19-1, a lifting support 19-2 and a swinging nozzle 19-3, the waterproof cover 19-1 is vertically fixed on the bottom surface of the inner cavity of the lifting sampling bottle 13, the waterproof cover 19-1 supports a sealing cover 19-4 at the top end of the lifting support 19-2, a straight rod in the middle of the lifting support 19-2 is vertically fixed below the sealing cover 19-4, a sliding block 19-5 is arranged at the bottom end of the straight rod, and the sliding block 19-5 is slidably arranged in a pressure cavity 15-3 at the top end of the vertical conduit 15-2, so that the flushing nozzle assembly is hidden in the waterproof cover when not working, and when working, the lifting support is lifted to enable the swinging nozzle to extend out, and the water sampling nozzle is prevented from being exposed in the water sample and corroded;

the plurality of swinging nozzles 19-3 are arranged around the lifting support 19-2 below the sealing cover 19-4, the swinging nozzles 19-3 are communicated with the pressure cavity 15-3 through hoses, the pressure cavity 15-3 is communicated with the vertical conduit 15-2, flushing liquid enters the pressure cavity from the vertical conduit, and the flushing liquid cannot be sprayed out due to the fact that the hoses are blocked by the sliding blocks at the connection positions of the pressure cavities, so that the water pressure is increased, the sliding blocks are pushed to move upwards, and the flushing liquid can be sprayed out of the swinging nozzles while the swinging nozzles extend out.

As shown in FIG. 7, a test tube plug 20 is arranged at the water inlet of the test tube 12, a water sample inlet 20-2 is arranged at one side of the bottom surface of the test tube plug 20, a water storage cavity 20-1 is arranged inside the test tube plug 20, and the short hose 13-4 is communicated with the water sample inlet 20-2 through the water storage cavity 20-1; a change-over switch 20-3 is arranged in the water storage cavity 20-1, the change-over switch 20-3 is positioned at the water sample inlet 20-2, the top surface of the water storage cavity 20-1 is provided with a booster pipeline 20-4, the booster pipeline 20-4 is communicated with an annular spray cavity 20-5 at the bottom end of the test tube plug 20, the rotary spray heads 20-6 are rotationally arranged in the annular spray cavity, two different water inlet modes during sampling and flushing are switched by a change-over switch, when sampling, the change-over switch is switched on, the water sample directly enters the test tube from the water sample inlet on the lower bottom surface of the water storage cavity, when the water is flushed, the change-over switch is closed, so that the water sample inlet is closed, the flushing liquid is accumulated in the water storage cavity, the water flows into the annular spraying cavity through a pressurization pipeline arranged on the top surface of the water storage cavity and is sprayed into the test tube by the rotary spray head;

as shown in fig. 8, the rotating nozzle 20-6 is in an annular block shape, a plurality of groups of inclined through holes 20-7 are circumferentially arranged on the end surface of the rotating nozzle 20-6, when water with a certain pressure passes through the inclined through holes, the rotating nozzle rotates in the annular spraying cavity because component forces on the horizontal plane all point to the same side along the tangential direction, so that the sprayed washing liquid washes the inner wall of the test tube in a spiral shape, and a good washing effect is achieved;

the change-over switch 20-3 comprises an electromagnet 20-8 and a metal ball 20-9, the electromagnet 20-8 is annularly arranged at the inlet of the pressure boost pipeline 20-4 in a surrounding manner, the electromagnet 20-8 is positioned right above the water sample inlet 20-2, the water sample inlet 20-2 is funnel-shaped, the metal ball 20-9 is supported on the water sample inlet 20-2, when sampling is carried out, the electromagnet is electrified to adsorb the metal ball to block the inlet of the pressure boost pipeline, the water sample directly enters the test tube from the water sample inlet at the lower bottom surface of the water storage cavity, when flushing is carried out, the electromagnet is powered off, the metal ball falls off, so that the water sample inlet is blocked by the metal ball, flushing fluid is accumulated in the water storage cavity and flows into the annular spray cavity through the pressure boost pipeline arranged at the top surface of the water storage cavity, is sprayed into the test tube by the rotating spray head.

The fixed water quality testing device 21 that sets up on the test tube stopper 20, place the water quality testing device in the test tube, the acquisition data that can be quick has improved efficiency.

The blowdown hidden pipe troubleshooting system 3 comprises an infrared camera 7 and a sonar detector 8 as shown in the attached drawing 1, wherein the infrared camera 7 and the sonar detector 8 are fixedly arranged on a platform at the front end of the boat body 1, and the unmanned boat can work at night or in a dim environment by adopting the infrared camera;

the water pollution distribution condition of the water area around the air route is shot and obtained through the infrared camera 7, the water quality monitoring sampling point is automatically planned according to the pollution distribution condition, a water quality parameter space change map is automatically generated through software according to sampling monitoring data, the water quality parameter space change map is analyzed, and the position of a suspicious point of a sewage discharge hidden pipe is automatically screened; scanning the doubtful point position of the sewage drainage concealed pipe through a sonar detector 8, and automatically generating an underwater image of the doubtful point position area of the sewage drainage concealed pipe; and (4) checking and recording the position and the number of the sewage drainage concealed pipes by observing the images.

The monitoring method comprises the following steps:

the method comprises the following steps that firstly, at least three sampling routes are edited by a display control base station, the unmanned ship automatically navigates by an edited route, the pollution distribution condition of a water area around the route is shot and acquired through an infrared camera 7, and a water quality monitoring sampling point is automatically planned according to the pollution distribution condition;

the second step, the unmanned ship sails to a water quality monitoring sampling point, the automatic bottle-dividing sampling device 6 is automatically lowered to a certain depth under water, the lifting sampling bottle 13 ascends, the sampling port 11 is opened, the water sample enters the lifting sampling bottle 13 through the water inlet 13-1, when a certain water amount is reached, the lifting sampling bottle 13 descends to enable the liquid separation port 13-2 to correspond to the transition channel 13-3 leading to the test tube 12, the annular single-hole partition plate 13-7 rotates to automatically correspond the single hole to the transition channel 13-3 of the corresponding test tube 12, the water sample passes through the single hole through the liquid separation port 13-2, the water enters the test tube 12 through the transition channel 13-3 and the short hose 13-4, and the water quality detection device 21 monitors and records data;

thirdly, rotating the water waiting rotary table 16 to enable the water waiting tank 17 to correspond to a water outlet 13-6, so that redundant sample liquid in the lifting sampling bottle 13 is emptied, the redundant sample liquid is collected in the water drainage cavity 18 through a hose for temporary storage, meanwhile, a water sample monitored in the test tube 12 is collected in the water drainage cavity 11 through a hose for temporary storage, and the water drainage cavity drains primary water through a one-way water pump at regular time;

a fourth step of pumping a water sample temporarily stored in the drainage cavity 18 through a water pump, filtering the water sample through the filtering device 15-1 to obtain a flushing liquid for flushing, lifting the flushing liquid to a pressure cavity 15-3 along the vertical conduit 15-2 through the water pump, pushing the lifting support 19-2 to ascend, enabling the swinging nozzle 19-3 to protrude out of the waterproof cover 19-1, conveying the flushing liquid to the swinging nozzle 19-3 through a hose, and flushing the inner wall of the lifting sampling bottle 13 through the swinging nozzle 19-3 by swinging the swinging nozzle 19-3 up and down;

meanwhile, the flushing liquid passes through the single hole through the liquid separating port 13-2, passes through the short hose 13-4 through the transition passage 13-3, enters the test tube plug 20, enters the annular spraying cavity 20-5 through the pressurization pipeline 20-4, and is sprayed out by the rotating spray head 20-6 to flush the inner wall of the test tube 12;

the flushing liquid after flushing is collected in the drainage cavity 18 through a hose;

fifthly, automatically adjusting the underwater depth of the automatic bottle-dividing sampling device 6, repeating the sampling monitoring and flushing steps, recording data for multiple times, and automatically generating a water quality parameter space change map by software;

sixthly, analyzing the water quality parameter space variation graph, and automatically screening suspicious point positions of the sewage drainage concealed pipe;

a seventh step of scanning the suspected point position of the sewage drainage concealed pipe through a sonar detector 8 to automatically generate an underwater image of the suspected point position area of the sewage drainage concealed pipe;

and step eight, checking and recording the positions and the number of the sewage drainage concealed pipes by observing the images.

While the preferred embodiments of the present invention have been described, it will be apparent to those skilled in the art that various changes and modifications can be made without departing from the principles of the invention and these are to be considered within the scope of the invention.