A water environment patrol monitoring device

Abstract

The present invention relates to the field of water area monitoring technology, and specifically to a water area environment patrol monitoring device, including a monitoring probe and a circular floating boat, wherein a power mechanism is arranged inside the circular floating boat, and further comprising: an obstacle avoidance mechanism, wherein the obstacle avoidance mechanism includes a radar probe for monitoring obstacles and a moving component for driving the monitoring probe to avoid obstacles. The cleaning component can monitor whether water plants are entangled on the bottom of the detection probe and the radar probe and the signal receiving ring in the fixed cover through an image capture device, a radar probe, and a signal receiving ring. When entangled water plants are detected, the water plants at the bottom of the fixed cover are cut and removed through a cutting blade. At the same time, the water plants on the radar probe and the signal receiving ring in the fixed cover can be cut and cleaned through an arc knife, which can prevent interference with probe data collection due to clogging by water plants, thereby improving the accuracy and reliability of monitoring data.

Description

Technical Field

[0001] The invention relates to the technical field of water area monitoring, and in particular to a water area environment patrol monitoring device. Background Art

[0002] In order to protect the ecosystem and manage water resources, it is usually necessary to monitor water quality. Water quality monitoring can help identify the impact of pollutants, excess nutrients or other factors on the ecosystem, so as to take measures to maintain ecological balance. Existing water quality monitoring commonly used monitoring items include dissolved oxygen content, pH value, turbidity, conductivity, etc. Existing monitoring usually chooses fixed-point monitoring and patrol monitoring to monitor the water environment. For example, the cruise water quality monitoring device and monitoring method disclosed in publication number CN116576922B uses the patrol monitoring method to monitor water quality.

[0003] In the actual monitoring process, the existing patrol monitoring devices place some monitoring sensors (dissolved oxygen sensors, water pH sensors, water conductivity sensors, ammonia nitrogen sensors, etc.) at a depth of 1-2 meters underwater for monitoring. This method performs real-time monitoring while the monitoring device is moving in the water. In some waters, due to eutrophication, such as ponds, fish farms and artificial lakes, aquatic plants are usually planted to maintain ecological balance. Therefore, a large amount of aquatic plants will grow in the water. When the monitoring sensor encounters aquatic plants during its movement in the water, the monitoring sensor may contact or disturb the aquatic plants, and the aquatic plants may be entangled on the surface of the monitoring sensor. When the aquatic plants are entangled on the monitoring sensor, it may cause deviations in the monitoring data, such as inaccurate readings of parameters such as temperature and turbidity. Summary of the invention

[0004] In view of the above-mentioned shortcomings of the prior art, the present invention provides a water environment patrol monitoring device, which can effectively solve the problem that when the monitoring device of the prior art moves in the water and encounters aquatic plants, the aquatic plants may be entangled on the surface of the monitoring device.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solutions:

[0006] The present invention provides a water environment cruise monitoring device, comprising a monitoring probe and a circular floating boat, wherein a power mechanism is arranged in the circular floating boat, and further comprising:

[0007] An obstacle avoidance mechanism, the obstacle avoidance mechanism comprises a radar probe for monitoring obstacles and a moving assembly for driving the monitoring probe to avoid obstacles, the moving assembly comprises a counterweight block for maintaining the balance of the circular floating boat, and the counterweight block moves in the opposite direction to the monitoring probe, the obstacle avoidance mechanism also comprises a cleaning assembly for removing waterweeds on the surface of the monitoring probe, the cleaning assembly comprises a plurality of cutting blades arranged in a circular array and driven by a power source and capable of telescopic movement, the cutting blades being used to cut the waterweeds entangled under the monitoring probe, the cleaning assembly also comprises a plurality of foldable arc-shaped knives arranged in a circular array for cleaning the waterweeds entangled by the radar probe;

[0008] The monitoring and marking mechanism comprises a spray pump and a spray pipe for spraying marking. A plurality of storage boxes are fixedly arranged on the circular floating boat, and different storage boxes are provided with treatment agents corresponding to different water pollution conditions.

[0009] Preferably, the moving component also includes a fixed frame fixedly connected to the bottom end of the circular floating boat, a first motor is fixedly connected to an outer wall of one side of the fixed frame, a threaded rod is fixedly connected to the driving end of the first motor, a fixed block is threadedly connected to the outer wall of the threaded rod, and the fixed block is slidably connected to the fixed frame, the bottom end of the fixed block is fixedly connected to a power source, and the power source is a second motor, the driving end of the second motor is fixedly connected to a first electric telescopic rod, and the telescopic end of the first electric telescopic rod rotates through a bearing and is penetrated by a fixed cover for fixing a monitoring probe.

[0010] Preferably, the outer wall of the second motor is fixedly connected to a water pump, the top of the water pump is fixedly connected to a first magnetic block through a magnetic isolation layer, the inner bottom wall of the circular pontoon is fixedly connected to a second magnetic block magnetically attracted to the first magnetic block, the outer wall of the second magnetic block is fixedly connected to a traction rope, a slide groove is provided at the top of the circular pontoon, and a slider is slidably connected in the slide groove, the top of the slider is fixedly connected to a counterweight, the top of the circular pontoon is fixedly connected to a cylinder, the traction rope passes around the cylinder and is fixedly connected to the counterweight, and a connecting spring is fixedly connected to the outer wall of the counterweight away from the traction rope and the inner peripheral wall of the circular pontoon.

[0011] Preferably, the obstacle avoidance mechanism also includes a signal receiving ring fixedly embedded in the outer wall of the fixed cover, the outer wall of the fixed cover is fixedly connected to a water pipe, the outer wall of the water pipe is fixedly connected to the radar probe, and the signal receiving ring and the first motor electrical signal are connected to the PLC controller to form an avoidance loop.

[0012] Preferably, the cleaning assembly also includes a fixed plate for fixing the cutting blade, the bottom end of the fixed plate is fixedly connected to a connecting rod, the bottom end of the connecting rod is rotatably connected to the monitoring probe through a bearing, and the monitoring probe has an image camera inside, the top of the fixed plate is fixedly connected to the telescopic end of the first electric telescopic rod, the bottom end of the fixed plate is fixedly connected to two symmetrical second electric telescopic rods, the telescopic ends of the second electric telescopic rods are commonly fixedly connected to a fixing ring, and the bottom end of the fixing ring is fixedly connected to multiple cutting blades.

[0013] A plurality of clamping blocks are fixedly connected to the outer circumferential array of the telescopic end of the first electric telescopic rod, the arc-shaped knife is hinged in the clamping block, a moving groove is provided at the top of the arc-shaped knife, a water baffle is slidably connected to the inner wall of the moving groove, a water inlet and a water outlet perpendicular to the moving groove are provided on the outer wall of the arc-shaped knife, a first normally closed solenoid valve is provided in the water inlet and the water outlet, and a reset spring is fixedly connected to the bottom end of the water baffle and the top end of the moving groove;

[0014] Preferably, a torque monitor is provided at the extension position of the second electric telescopic rod, and the torque monitor, PLC controller, image capture device, first normally closed solenoid valve and second motor are electrically connected to form a cutting circuit.

[0015] Preferably, the drainage end of the water pump is fixedly connected to a telescopic drainage steel pipe, the bottom end of the telescopic drainage steel pipe is connected to a water spray pipe, a booster is provided in the water spray pipe, and water spray outlets are provided on the upper and lower end faces of the water spray pipe.

[0016] Preferably, the monitoring marking mechanism also includes a connecting plate fixedly connected to the top of the storage box, and multiple pairs of the storage boxes are arranged in an upper and lower overlapping manner, and a pair of storage boxes are commonly connected to a connecting pipe, and each pair of the storage boxes are symmetrically distributed about the bisector line along the counterweight block, the top of the connecting plate is fixedly connected to the spray pump, the input end of the spray pump is fixedly connected to a feed pipe, and the end of the feed pipe away from the spray pump passes through the connecting plate and is fixedly connected to the bottom end of the circular floating boat, each of the storage boxes is fixedly connected to the feed pipe with a discharge pipe, the output end of the spray pump is fixedly connected to the spray pipe, and the spraying end of the spray pipe is fixedly connected to a spray head, and a second normally closed solenoid valve is arranged in the discharge pipe, the second normally closed solenoid valve, the spray pump, the monitoring probe are electrically connected to the PLC controller and form a spraying circuit, and the storage boxes from bottom to top store phosphate remover, acid solution, and alkaline solution in sequence from bottom to top.

[0017] Preferably, the power mechanism includes a jet pump arranged in the circular pontoon, the exhaust end of the jet pump extends into the circular pontoon, the side wall of the circular pontoon is provided with four circumferentially arranged jet channels, and the jet end of the jet pump is respectively connected to the four jet channels, a third normally closed solenoid valve is arranged in the jet channel, and the signal receiving ring, the jet pump, the third normally closed solenoid valve are connected to the PLC controller electrical signal to form a power circuit.

[0018] Compared with the known prior art, the technical solution provided by the present invention has the following beneficial effects:

[0019] 1. The cleaning component monitors whether there are aquatic plants entangled on the bottom of the detection probe and the radar probe and signal receiving ring in the fixed cover through the image capture device, radar probe and signal receiving ring. When the entangled aquatic plants are detected, the aquatic plants at the bottom of the fixed cover are cut and removed by the cutting blade. At the same time, the aquatic plants on the radar probe and signal receiving ring in the fixed cover can be cut and cleaned by the arc knife to prevent the interference of the probe data collection due to the blockage of aquatic plants, thereby improving the accuracy and reliability of the monitoring data.

[0020] 2. The obstacle avoidance mechanism detects underwater obstacles, such as stones, tree debris, etc., in real time through radar probes. It can also automatically drive the monitoring probe to move left and right or adjust up and down to avoid obstacles through mobile components according to the location and shape of the obstacles, so that the monitoring probe can avoid these obstacles in time during the cruising process, thereby ensuring that the monitoring probe is protected from damage. The counterweight block enables the circular pontoon to automatically counterweight when an obstacle is detected to maintain the stability of the circular pontoon and the safety of the cruising.

[0021] 3. When the monitoring and marking mechanism detects water quality problems, the problematic waters will be sprayed with the corresponding treatment agent, and the different color marks in the treatment agent can enable the problematic waters to be quickly found and dealt with in a timely manner during subsequent treatment. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0023] Figure 1 The three-dimensional structure of the present invention is shown in FIG. Figure 1 ;

[0024] Figure 2 It is a schematic diagram of the three-dimensional structure of the circular floating boat of the present invention;

[0025] Figure 3 The three-dimensional structure of the present invention is shown in FIG. Figure 2 ;

[0026] Figure 4 It is a schematic diagram of the three-dimensional structure of the fixed cover of the present invention;

[0027] Figure 5 This is a schematic diagram of the three-dimensional explosion structure inside the fixed cover of the present invention;

[0028] Figure 6 For the present invention Figure 4 Schematic diagram of the three-dimensional structure of part A.

[0029] Figure numerals: 1, monitoring probe; 2, circular floating boat; 3, obstacle avoidance mechanism; 31, moving assembly; 311, fixed frame; 312, first motor; 313, threaded rod; 314, fixed block; 315, second motor; 316, first electric telescopic rod; 317, fixed cover; 318, water pump; 319, first magnetic block; 3110, second magnetic block; 3111, traction rope; 3112, counterweight block; 3113, cylinder; 3114, connecting spring; 3115, water spray pipe; 32, signal receiving ring; 33, radar probe; 34, cleaning assembly; 341, fixed plate; 342 , connecting rod; 343, image capture device; 344, second electric telescopic rod; 345, cutting blade; 346, fixing ring; 347, clamping block; 348, arc knife; 349, moving groove; 3410, water baffle; 3411, water inlet; 3412, water outlet; 3413, telescopic drainage steel pipe; 3414, water spray outlet; 4, monitoring marking mechanism; 41, connecting plate; 42, storage box; 43, connecting pipe; 44, spray pump; 45, feed pipe; 46, discharge pipe; 47, spray head; 48, spray pipe; 5, power mechanism; 51, third normally closed solenoid valve; 52, jet channel. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0031] The present invention will be further described below in conjunction with the embodiments.

[0032] Example: Refer to Figures 1 to 6 A water environment cruise monitoring device includes a monitoring probe 1, a circular floating boat 2, a power mechanism 5 is arranged in the circular floating boat 2, and further includes:

[0033] The following structure can be used to detect and avoid obstacles. Figures 2 to 6 , obstacle avoidance mechanism 3, the obstacle avoidance mechanism 3 includes a radar probe 33 for monitoring obstacles and a moving component 31 for driving the monitoring probe 1 to avoid obstacles, the moving component 31 includes a counterweight 3112 for maintaining the balance of the circular floating boat 2, and the counterweight 3112 is opposite to the movement direction of the monitoring probe 1, the obstacle avoidance mechanism 3 also includes a cleaning component 34 for removing water plants on the surface of the monitoring probe 1, the cleaning component 34 includes a plurality of cutting blades 345 arranged in a circular array driven by a power source and retractable and movable, the cutting blades 345 are used to cut the water plants entangled under the monitoring probe 1, the cleaning component 34 also includes a plurality of foldable arc-shaped knives 348 arranged in a circular array for cleaning the water plants entangled by the radar probe 33, wherein the monitoring probe 1 includes a dissolved oxygen sensor for detecting the dissolved oxygen content in water, a pH sensor for detecting the pH value in water, a conductivity sensor for detecting the conductivity in water, an ammonia nitrogen sensor for detecting the ammonia nitrogen content in water, etc.;

[0034] Among them, the obstacle avoidance mechanism 3 also includes a signal receiving ring 32 fixedly embedded in the outer wall of the fixed cover 317, the outer wall of the fixed cover 317 is fixedly connected to a water spray pipe 3115, the outer wall of the water spray pipe 3115 is fixedly connected to the radar probe 33, and the signal receiving ring 32 and the first motor 312 are electrically connected to the PLC controller to form an avoidance loop.

[0035] After detecting an obstacle, the following structure drives the monitoring probe 1 to move to avoid the obstacle. Figures 2 to 4 The moving assembly 31 also includes a fixed frame 311 fixedly connected to the bottom end of the circular floating boat 2, a first motor 312 is fixedly connected to an outer wall of one side of the fixed frame 311, a threaded rod 313 is fixedly connected to the driving end of the first motor 312, a fixed block 314 is threadedly connected to the outer wall of the threaded rod 313, and the fixed block 314 is slidably connected to the fixed frame 311, the bottom end of the fixed block 314 is fixedly connected to a power source, and the power source is a second motor 315, and the driving end of the second motor 315 is fixedly connected to a first electric telescopic rod 316, and the telescopic end of the first electric telescopic rod 316 is rotated through a bearing and penetrated by a fixed cover 317 for fixing the monitoring probe 1, and the fixed cover 317 is fixed by a water spray pipe 3115 and a telescopic drainage steel pipe 3413.

[0036] Among them, the outer wall of the second motor 315 is fixedly connected to a water pump 318, the top of the water pump 318 is fixedly connected to a first magnetic block 319 through a magnetic isolation layer, the inner bottom wall of the circular floating boat 2 is fixedly connected to a second magnetic block 3110 that is magnetically attracted to the first magnetic block 319, the outer wall of the second magnetic block 3110 is fixedly connected to a traction rope 3111, a slide groove is provided at the top of the circular floating boat 2, and a slider is slidably connected in the slide groove, the top of the slider is fixedly connected to a counterweight 3112, the top of the circular floating boat 2 is fixedly connected to a cylinder 3113, the traction rope 3111 passes around the cylinder 3113 and is fixedly connected to the counterweight 3112, and the outer wall of the counterweight 3112 on one side away from the traction rope 3111 is fixedly connected to the inner peripheral wall of the circular floating boat 2 with a connecting spring 3114.

[0037] The following structure can be used to remove the waterweed entangled on the monitoring probe 1. Figure 3 to Figure 4 The cleaning assembly 34 also includes a fixed plate 341 for fixing the cutting blade 345, the bottom end of the fixed plate 341 is fixedly connected to a connecting rod 342, the bottom end of the connecting rod 342 is rotatably connected to the monitoring probe 1 through a bearing, and the monitoring probe 1 has an image capturer 343, the top of the fixed plate 341 is fixedly connected to the telescopic end of the first electric telescopic rod 316, the bottom end of the fixed plate 341 is fixedly connected to two symmetrical second electric telescopic rods 344, the telescopic ends of the second electric telescopic rods 344 are fixedly connected to a fixing ring 346, and the bottom end of the fixing ring 346 is fixedly connected to a plurality of cutting blades 345, and a torque monitor is provided at the telescopic portion of the second electric telescopic rod 344.

[0038] Among them, the outer circumferential array of the telescopic end of the first electric telescopic rod 316 is fixedly connected with a plurality of clamping blocks 347, the arc-shaped knife 348 is hinged in the clamping block 347, the top of the arc-shaped knife 348 is provided with a moving groove 349, the inner wall of the moving groove 349 is slidably connected with a water retaining plate 3410, the outer wall of the arc-shaped knife 348 is provided with a water inlet 3411 and a water outlet 3412 which are perpendicular to the moving groove 349, the water inlet 3411 and the water outlet 3412 are both provided with a first normally closed solenoid valve, and the bottom end of the water retaining plate 3410 and the top of the moving groove 349 are fixedly connected with a reset spring;

[0039] A torque monitor is provided at the extension position of the second electric telescopic rod 344 . The torque monitor, the PLC controller, the image capture device 343 , the first normally closed solenoid valve and the second motor 315 are electrically connected to form a cutting circuit.

[0040] Among them, the drainage end of the water pump 318 is fixedly connected to a telescopic drainage steel pipe 3413, the bottom end of the telescopic drainage steel pipe 3413 is connected to the water spray pipe 3115, the water spray pipe 3115 has a booster inside, and the upper and lower end faces of the water spray pipe 3115 are both provided with water spray outlets 3414.

[0041] The following specific structures can be used to mark problematic waters, refer to Figure 1 , Figure 2 , the monitoring and marking mechanism 4 includes a spray pump 44 and a spray pipe 48 for spraying markings. A plurality of storage boxes 42 are fixedly arranged on the circular floating vessel 2. Different storage boxes 42 are provided with treatment agents corresponding to different water pollution conditions, and the treatment agent contains degradable pigments and stabilizers. The degradable pigments can meet the requirements of marking water pollution areas to a certain extent without causing pollution to the water body, which is more environmentally friendly. The stabilizer reduces the diffusion rate of the degradable pigments. The treatment agent includes an oxygenator for treating low dissolved oxygen content or an alkali solution for treating acidic substances or an acid solution for treating alkaline substances or a specific ammonia nitrogen remover for treating ammonia nitrogen.

[0042] The monitoring marking mechanism 4 also includes a connecting plate 41 fixedly connected to the top of the storage box 42, and multiple pairs of storage boxes 42 are arranged in an upper and lower overlapping manner, and a pair of storage boxes 42 are commonly connected to a connecting pipe 43, and each pair of storage boxes 42 is symmetrically distributed about the average dividing line along the counterweight block 3112, and the top of the connecting plate 41 is fixedly connected to the injection pump 44, and the input end of the injection pump 44 is fixedly connected to the feed pipe 45, and the end of the feed pipe 45 away from the injection pump 44 passes through the connecting plate 41 and is connected to the circular floating boat 2 The bottom end is fixedly connected, each storage box 42 is fixedly connected to the feed pipe 45 and has a discharge pipe 46, the output end of the spray pump 44 is fixedly connected to the spray pipe 48, the spraying end of the spray pipe 48 is fixedly connected to the spray head 47, and a second normally closed solenoid valve is arranged in the discharge pipe 46. The second normally closed solenoid valve, the spray pump 44, the monitoring probe 1 and the PLC controller are electrically connected to form a spraying circuit. The storage boxes 42 from bottom to top store phosphate remover, acid solution and alkaline solution in sequence.

[0043] The following is the operating power of this device, refer to Figure 1 The power mechanism 5 includes a jet pump arranged in the circular floating boat 2, the exhaust end of the jet pump extends into the circular floating boat 2, the side wall of the circular floating boat 2 is provided with four circumferential jet channels 52, and the jet end of the jet pump is respectively connected with the four jet channels 52, a third normally closed solenoid valve 51 is arranged in the jet channel 52, and the signal receiving ring 32, the jet pump, the third normally closed solenoid valve 51 are connected with the PLC controller electrical signal to form a power circuit;

[0044] First, the circular floating boat 2 is placed in the water to be monitored, and then the radar probe 33 and the signal receiving ring 32 are started. The radar probe 33 transmits radio waves, and then the signal receiving ring 32 receives the radio waves reflected by the obstacles. Then, the signal receiving ring 32 transmits the received electric signals to the signal analysis module in the PLC controller. Then, the PLC controller uses the signal analysis module to analyze which directions have obstacles (generally, after being placed in the water, they are close to the shores on both sides, so two obstacles will be detected, and one of them can be selected through the PLC controller). Therefore, the third normally closed solenoid valve 51 in the corresponding direction with obstacles is controlled to open, and the jet pump is started by the PLC controller. By opening the third normally closed solenoid valve 5 1, so the reaction force of water on the jetted airflow causes the circular pontoon 2 to move slowly in a straight line. When the radar signal is received through the signal receiving ring 32, the obstacle signal of the circular pontoon 2 moving forward is received (two obstacles are also detected, and the device is set not to move backward to repeat monitoring, so only one direction can be moved), the third normally closed solenoid valve 51 in the direction where there is no obstacle and is not the direction of coming is opened and closed through the PLC controller. The third normally closed solenoid valve 51 in the direction of coming is opened (the opening time is 2 minutes), the purpose of which is to make the circular pontoon 2 move horizontally for a distance of 2 meters, and then the above-mentioned repeated movement action causes the circular pontoon 2 to drive the monitoring probe 1 to move in the water area in a "J" shape.

[0045] The working principle of the present invention is as follows:

[0046] In the process of the circular floating boat 2 driving the monitoring probe 1 to move, the radar probe 33 emits radio waves, and then the signal receiving ring 32 receives the radio waves reflected by the obstacles, and then the received electric signals are transmitted to the signal analysis module in the PLC controller through the signal receiving ring 32. When an obstacle is detected (here the obstacle refers to the dead wood, stones and water plants on the bottom of the water), when the obstacle is detected, the signal analysis module in the PLC controller will be used to analyze the signal first, and the moving range of the monitoring probe 1 can be combined with the threaded rod 313 to determine whether it can be avoided. If it cannot be avoided, the detection probe is retracted by controlling the first electric telescopic rod 316. When passing through an area with obstacles, the first electric telescopic rod 316 is controlled to drive the monitoring probe 1 to reset and continue detection;

[0047] When it is detected that it is possible to avoid, the first motor 312 is controlled to start by the PLC controller, thereby driving the threaded rod 313 to rotate, and then the fixed frame 311 limits the fixed block 314, so that the monitoring probe 1 moves to avoid obstacles. When the fixed block 314 moves, the second motor 315 and the water pump 318 will be driven to move at the same time, thereby driving the first magnetic block 319 and the second magnetic block 3110 to move synchronously. The movement of the second magnetic block 3110 will pull or relax the traction rope 3111. When the traction rope 3111 is pulled to move, the traction rope 3111 bypassing the cylinder 3113 will drive the counterweight block 3112 and the second magnetic block 3110 to move in the opposite direction. When the traction rope 3111 is relaxed, the traction rope 3111 will drive the counterweight block 3112 and the second magnetic block 3110 to move in the opposite direction through the connecting spring 3114, thereby counterweighting and balancing the circular floating boat 2 to prevent the circular floating boat 2 from tipping over due to the deviation of the monitoring probe 1 and the moving component 31.

[0048] When the water plants in the water are entangled with the monitoring probe 1 and the outside of the fixed shell due to some unexpected circumstances (such as failure to dodge in time or too much floating water plants), the image capturer 343 can capture the situation at the bottom of the monitoring probe 1 in real time. When it is detected that the water plants are entangled, the second motor 315 and the second electric telescopic rod 344 are started by the PLC controller, and the fixing ring 346 and the cutting blade 345 are extended downward by the second telescopic rod, and then the first electric telescopic rod 316 is driven to rotate by the second motor 315, thereby driving the cutting blade 345 to cut the water plants. When the cutting blade 345 encounters some harder water plants during cutting, it will cause damage to the cutting blade 345 that cuts the water plants. Resistance. When the resistance is large, a torque will be generated between the cutting blade 345 and the fixing ring 346. Since the second electric telescopic rod 344 is a medium for transmitting force, the second electric telescopic rod 344 will bear a large torque. The torque monitor in the second electric telescopic rod 344 monitors the torque borne by the second electric telescopic rod 344 in real time. When the monitored torque is small, the second motor 315 is controlled by the PLC controller to increase the speed for cutting. When the monitored torque is large, it means that the cutting blade 345 is subjected to a large resistance, so it may be a relatively hard object. Therefore, it is necessary to transmit the electrical signal to the shore controller, and bring the monitoring probe 1 to the shore for processing through manual control;

[0049] When the second electric telescopic rod 344 rotates, the arc knife 348 will be driven to rotate, so that the arc knife 348 can simply clean the water plants on the fixed cover 317. The radar probe 33 and the signal receiving ring 32 can detect in real time whether the fixed shell is entangled by water plants (when the radio waves emitted by the radar probe 33 are blocked by water plants and cannot be received by the signal receiving ring 32, it means that it is entangled by water plants). Then, the first normally closed solenoid valve in the water inlet 3411 is controlled to open through the PLC controller, and water flows into the moving shell while the arc knife 348 rotates. In the groove 349, the water baffle 3410 is lifted up so that the water baffle 3410 can receive more water, so that the arc knife 348 is opened, and then the water plants are cut by the arc knife 348 to make them fall off. At the same time, since the water pump 318 has been discharging the pumped water into the water spray pipe 3115 through the telescopic drainage steel pipe 3413, the water is sprayed toward the top and bottom of the water spray through the booster in the water spray pipe 3115. On the one hand, it can prevent the water plants from being entangled on the fixed cover 317, and on the other hand, it can make the water plants fall off when cutting.

[0050] When the monitoring probe 1 detects a problem in the water environment, the jet pump will be stopped through the PLC controller, and then the spray pump 44 will be started. The PLC controller will receive information about the problem in the water area and open the corresponding third solenoid valve. The spray pump 44 will then extract the treatment liquid in the storage box 42 and spray it on the corresponding water area. The water area can be simply treated, and the problematic water area can be marked with a slow diffusion rate to avoid the marked area from polluting other monitoring areas. The shore controller will then be alarmed and further tested and processed by the staff for subsequent refined processing. For example, if the oxygen content is low, an oxygenator can be used. The oxygenator can increase the dissolved oxygen content in the water in a short period of time to meet the oxygen needs of aquatic organisms (such as fish and microorganisms).

[0051] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements will not cause the essence of the corresponding technical solutions to deviate from the protection scope of the technical solutions of the embodiments of the present invention.

Claims

1. A water environment cruise monitoring device, comprising a monitoring probe (1) and a circular floating boat (2), wherein a power mechanism (5) is arranged inside the circular floating boat (2), characterized in that: Also includes: An obstacle avoidance mechanism (3), the obstacle avoidance mechanism (3) comprising a radar probe (33) for monitoring obstacles and a moving assembly (31) for driving the monitoring probe (1) to avoid obstacles, the moving assembly (31) comprising a counterweight (3112) for maintaining the balance of the circular floating boat (2), and the counterweight (3112) moves in a direction opposite to that of the monitoring probe (1), the obstacle avoidance mechanism (3) further comprising a cleaning assembly (34) for removing water weeds on the surface of the monitoring probe (1), the cleaning assembly (34) comprising a plurality of cutting blades (345) arranged in a circular array and being driven by a power source and being telescopically movable, the cutting blades (345) being used to cut water weeds entangled below the monitoring probe (1), the cleaning assembly (34) further comprising a plurality of foldable arc-shaped knives (348) arranged in a circular array for cleaning water weeds entangled around the radar probe (33); A monitoring marking mechanism (4), the monitoring marking mechanism (4) comprising a spray pump (44) and a spray pipe (48) for spraying markings, a plurality of storage boxes (42) being fixedly arranged on the circular floating boat (2), and treatment agents corresponding to different water pollution conditions are arranged in different storage boxes (42); The moving assembly (31) further comprises a fixing frame (311) fixedly connected to the bottom end of the circular floating boat (2); a first motor (312) is fixedly connected to an outer wall of one side of the fixing frame (311); a threaded rod (313) is fixedly connected to a driving end of the first motor (312); a fixing block (314) is threadedly connected to an outer wall of the threaded rod (313); the fixing block (314) is slidably connected to the fixing frame (311); the bottom end of the fixing block (314) is fixedly connected to a power source, and the power source is a second motor (315); the driving end of the second motor (315) is fixedly connected to a first electric telescopic rod (316); and a fixing cover (317) for fixing the monitoring probe (1) is rotatably penetrated through the telescopic end of the first electric telescopic rod (316) via a bearing. The outer wall of the second motor (315) is fixedly connected to a water pump (318); the top of the water pump (318) is fixedly connected to a first magnetic block (319) via a magnetic isolation layer; the inner bottom wall of the circular floating boat (2) is fixedly connected to a second magnetic block (3110) that is magnetically attracted to the first magnetic block (319); the outer wall of the second magnetic block (3110) is fixedly connected to a traction rope (3111); a slide groove is provided at the top of the circular floating boat (2), and a slider is slidably connected in the slide groove; the top of the slider is fixedly connected to a counterweight (3112); the top of the circular floating boat (2) is fixedly connected to a cylinder (3113); the traction rope (3111) passes around the cylinder (3113) and is fixedly connected to the counterweight (3112); and a connecting spring (3114) is fixedly connected to the inner peripheral wall of the circular floating boat (2) on the outer wall of the counterweight (3112) away from the traction rope (3111).

2. A water environment cruise monitoring device according to claim 1, characterized in that: The obstacle avoidance mechanism (3) further comprises a signal receiving ring (32) fixedly embedded in the outer wall of the fixed cover (317), the outer wall of the fixed cover (317) being fixedly connected to a water spray pipe (3115), the outer wall of the water spray pipe (3115) being fixedly connected to a radar probe (33), and the signal receiving ring (32) and the first motor (312) being electrically connected to a PLC controller to form an avoidance loop.

3. A water environment cruise monitoring device according to claim 1, characterized in that: The cleaning assembly (34) further comprises a fixing plate (341) for fixing the cutting blade (345); the bottom end of the fixing plate (341) is fixedly connected to a connecting rod (342); the bottom end of the connecting rod (342) is rotatably connected to the monitoring probe (1) via a bearing; and the monitoring probe (1) has an image capture device (343) therein; the top end of the fixing plate (341) is fixedly connected to the telescopic end of the first electric telescopic rod (316); the bottom end of the fixing plate (341) is fixedly connected to two symmetrical second electric telescopic rods (344); the telescopic ends of the second electric telescopic rods (344) are fixedly connected to a fixing ring (346); and the bottom end of the fixing ring (346) is fixedly connected to the plurality of cutting blades (345).

4. A water environment cruise monitoring device according to claim 3, characterized in that: The outer peripheral wall of the telescopic end of the first electric telescopic rod (316) is fixedly connected to a plurality of clamping blocks (347) in a circular array, the arc-shaped knife (348) is hinged in the clamping block (347), a movable groove (349) is provided at the top of the arc-shaped knife (348), a water baffle (3410) is slidably connected to the inner wall of the movable groove (349), a water inlet (3411) and a water outlet (3412) perpendicular to the movable groove (349) are provided on the outer wall of the arc-shaped knife (348), a first normally closed solenoid valve is provided in the water inlet (3411) and the water outlet (3412), and a reset spring is fixedly connected to the bottom end of the water baffle (3410) and the top end of the movable groove (349); A torque monitor is provided at the extension point of the second electric telescopic rod (344); the torque monitor, the PLC controller, the image capture device (343), the first normally closed solenoid valve and the second motor (315) are electrically signal connected to form a cutting circuit.

5. A water environment cruise monitoring device according to claim 4, characterized in that: The drainage end of the water pump (318) is fixedly connected to a telescopic drainage steel pipe (3413), the bottom end of the telescopic drainage steel pipe (3413) is connected to a water spray pipe (3115), a pressure booster is provided in the water spray pipe (3115), and water spray outlets (3414) are provided on the upper and lower end surfaces of the water spray pipe (3115).

6. The water environment cruise monitoring device according to claim 1, characterized in that: The monitoring marking mechanism (4) further comprises a connecting plate (41) fixedly connected to the top of the material storage box (42), a plurality of pairs of the material storage boxes (42) are arranged in an up-and-down manner, and a pair of the material storage boxes (42) are connected to a connecting pipe (43), and each pair of the material storage boxes (42) are symmetrically distributed about a mean dividing line along the counterweight block (3112), the top of the connecting plate (41) is fixedly connected to the injection pump (44), the input end of the injection pump (44) is fixedly connected to a feed pipe (45), and an end of the feed pipe (45) away from the injection pump (44) passes through the connecting plate (41) and is connected to the circular floating The bottom end of the ship (2) is fixedly connected, each of the storage boxes (42) is fixedly connected to the feed pipe (45) and has a discharge pipe (46), the output end of the spray pump (44) is fixedly connected to the spray pipe (48), the spray end of the spray pipe (48) is fixedly connected to the spray head (47), a second normally closed solenoid valve is arranged in the discharge pipe (46), the second normally closed solenoid valve, the spray pump (44), the monitoring probe (1) and the PLC controller are electrically connected to form a spray circuit, and the storage boxes (42) from bottom to top store phosphate remover, acid solution and alkaline solution in sequence.

7. The water environment cruise monitoring device according to claim 2, characterized in that: The power mechanism (5) comprises a jet pump arranged in the circular floating boat (2), the exhaust end of the jet pump extends into the circular floating boat (2), the side wall of the circular floating boat (2) is provided with four circumferentially arranged jet channels (52), and the jet end of the jet pump is respectively connected to the four jet channels (52), a third normally closed solenoid valve (51) is arranged in the jet channel (52), and the signal receiving ring (32), the jet pump, the third normally closed solenoid valve (51) are electrically connected to the PLC controller to form a power circuit.

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