An autonomous water monitoring and sampling system for small-sized ASV operations
An autonomous water monitoring and sampling system for small-sized ASV operations
复制标题
适用于小型 ASV 作业的自主水监测和采样系统
作者：
F. Fornai;F. Bartaloni;G. Ferri;A. Manzi;F. Ciuchi;C. Laschi
近年来，传感器自动车辆（AUV或ASV）已被广泛用于现场水测量。然而，由于尺寸和重量的限制，小型ASV在深度收集水样仍然很困难。本文讨论了这个问题，并介绍了设计和初步测试的自主水监测和采样系统，用于船上的便携式ASV。该系统由一个绞车组成，可将取样探头下降到50米深。取样探头能够沿着水柱进行测量，并在不同的可选深度收集多达五个水样。一旦探针返回船上，流体系统将水供应到ASV中的传感器或容器中，以将样品运送到实验室。特别注意避免使用化学惰性材料污染样品。这也考虑了需要测量样品中低浓度重金属的可能性。该设计的目的是实现一个系统的特点是低尺寸和重量与有限的功耗，易于安装和使用的自主便携式ASV。初步测试报告了安装在属于HydroNet级ASV的机器人双体船中的采样系统（见图1）[1]。
In recent years sensorized autonomous vehicles (either AUVs or ASVs) have been widely utilized for in-situ water measurements. However, collection of water samples in depth by small-sized ASVs, remains difficult due to dimensions and weight constraints. This paper addresses this issue and describes the design and preliminary tests of an autonomous water monitoring and sampling system intended for the use onboard man-portable ASVs. The system is composed of a winch lowering a sampling probe up to 50 meter depth. The sampling probe is able to take measurements along the water column and to collect up to five water samples at different selectable depths. Once the probe is returned onboard, a fluidic system supplies the water to the sensors lodged in the ASV or to containers to transport the samples to laboratories. Particular care has been devoted to avoiding samples contamination by using chemically inert materials. This, also considered the possibility of the need of measuring low concentrations of heavy metals in the samples. The design aims at realizing a system characterized by low dimensions and weight with a limited power consumption, to be easily installed and used on an autonomous man-portable ASV. Preliminary tests are reported with the sampling system installed in a robotic catamaran belonging to the HydroNet class ASV (see Fig. 1) [1].