Intelligent water conservancy river detection equipment

Abstract

The present application belongs to the technical field of water pollution detection, especially to a smart water conservancy river detection equipment, aiming at the problems of weak hidden discharge detection capability, poor equipment collaboration and large sample collection limitation of the existing water conservancy river detection equipment, the present application proposes the following scheme, which comprises a wireless remote control boat, a control module is arranged on the top of the wireless remote control boat, the control module comprises a wireless control module, a power supply and a multi-parameter detector, a first water quality detection head is connected to the multi-parameter detector, the water quality is preliminarily collected through the first water quality detection head, and it is found that the dissolved oxygen in a certain area is abnormally reduced, the pH is slightly changed, and it is suspected that there is underwater hidden discharge. Through the cooperative work of the wireless remote control boat, the remote control unmanned aerial vehicle and the diving detection module, a "surface, air and underwater" three-in-one detection system is constructed, and the accurate positioning of the hidden discharge area and the multi-depth water quality detection are realized.

Description

Technical Field

[0001] This invention relates to the field of water pollution detection technology, and in particular to an intelligent water conservancy and river channel detection device. Background Technology

[0002] Water quality monitoring in water conservancy and river channels is a crucial foundation for water resource protection and water environment management. Its core requirement is the accurate and efficient acquisition of river water quality parameters to promptly detect hidden pollution discharges and other problems. Existing river monitoring equipment mainly falls into two categories: fixed monitoring stations, which, while enabling continuous monitoring, have limited coverage and cannot adapt to complex river terrain; and mobile monitoring equipment (such as remotely operated boats and submersibles), which, while mobile, suffer from significant technical limitations and cannot meet the demands for intelligent and precise monitoring. Existing mobile detection equipment mostly relies on surface water quality testing to indirectly determine pollution levels. It cannot conduct precise testing at different depths underwater, making it difficult to locate hidden underwater discharge outlets (such as sewage pipes at the bottom of riverbeds and underwater culverts). Furthermore, it lacks a collaborative mechanism for the entire process of "preliminary screening - precise location - in-depth detection," making it easy to miss pollution points.

[0003] Existing testing equipment is mostly designed for a single function. The deployment and retrieval of submersibles rely on manual assistance, which is cumbersome, inefficient, and prone to loss or damage.

[0004] Existing equipment often uses a single container design for sample collection, which makes it impossible to collect water samples from different depths in batches and in a sealed manner, which can easily lead to sample confusion or contamination. Furthermore, the sample collection and testing processes are separated, making it impossible to link test data with sample depth information in real time, thus affecting the traceability of test results. Summary of the Invention

[0005] The purpose of this invention is to address the shortcomings of existing water conservancy and river channel monitoring equipment, such as weak detection capabilities for concealed discharges, poor equipment coordination, and limited sample collection. This invention proposes a smart water conservancy and river channel monitoring device. Through the collaborative design of a wireless remote-controlled boat, a remote-controlled drone, and a diving detection module, combined with technologies such as high-precision positioning, electromagnetic adsorption, and multi-depth sealed sampling, it achieves preliminary screening of surface water quality, precise location of underwater concealed pollution, water quality testing at different depths, and batch sample collection. Simultaneously, it improves the efficiency of equipment deployment and retrieval, as well as operational accuracy, thus meeting the needs of smart water conservancy monitoring.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: A smart water conservancy and river channel monitoring device includes a wirelessly controlled boat. A control module is mounted on the top of the boat, comprising a wireless control module, a power supply, and a multi-parameter detector. A first water quality detection head is connected to the multi-parameter detector. Preliminary water quality data is collected using the first water quality detection head, revealing an abnormally low dissolved oxygen level and slight pH changes in a certain area, suggesting possible underwater concealed discharge. The first water quality detection head is located on the bottom side of the wirelessly controlled boat. The boat's interior includes a storage box and a drone placement base. The device also includes: A remote-controlled drone is located inside the wireless remote-controlled boat and connected to a drone mount. Two diving detection modules are located inside the wireless remote-controlled boat. The storage box contains two fixed retrieval seats, each with a retrieval slot. The two diving detection modules work in conjunction with the two retrieval slots.

[0007] Compared with the prior art, the advantages of this invention are: it adopts a collaborative architecture of "wireless remote-controlled boat, remote-controlled drone, and dual underwater detection modules". The wireless remote-controlled boat serves as the mother ship, providing functions such as carrying, power supply, preliminary detection, and equipment storage; the remote-controlled drone serves as the transfer carrier, enabling the precise deployment and retrieval of the underwater detection modules; the dual underwater detection modules can be used alternately to improve detection efficiency and achieve multi-depth water quality detection and sample collection.

[0008] The wireless remote-controlled boat is equipped with a multi-parameter detector and a first water quality detection head, which can realize real-time detection of surface water quality parameters such as dissolved oxygen and pH value during the movement of the river. By detecting abnormal data such as a sudden drop in dissolved oxygen or a slight change in pH, it can preliminarily identify areas suspected of being concealed discharges. The multi-angle camera of the remote-controlled drone can help observe the water surface and near-shore environment, further narrowing down the scope of the suspected area.

[0009] Preferably, the remote-controlled drone is connected to a wireless remote controller, and multiple multi-angle cameras are installed on the outside of the drone. An electromagnetic adsorption mechanism is installed on the bottom of the drone. The electromagnetic adsorption mechanism includes an annular shell, which is fixedly installed on the bottom of the drone. An adsorption groove is provided inside the annular shell, and a first electromagnet and a contact sensor are embedded in the groove. Three second three-point positioning sensors and four second four-point positioning sensors are provided on the inner side of the annular shell. A first armature and three first three-point positioning sensors are fixedly installed on the top of the drone's mounting base. The first armature cooperates with the adsorption groove, and the three first three-point positioning sensors cooperate with the three second three-point positioning sensors.

[0010] Preferably, the top of the recovery base is embedded with four first four-point positioning sensors, which work in conjunction with four second four-point positioning sensors to position the remote-controlled drone relative to the recovery base.

[0011] Preferably, the diving detection module includes a buoyancy plate, a sample collection unit is provided on the top of the buoyancy plate, a sealing cylinder is connected to the bottom of the sample collection unit, multiple drainage oblique holes are opened on the outer side of the sealing cylinder, and a conical cylinder is fixedly installed at the bottom of the sealing cylinder.

[0012] Preferably, a second armature and three third three-point positioning sensors are fixedly installed on the top of the buoyancy plate. The second armature cooperates with the adsorption groove, and the three third three-point positioning sensors cooperate with the three second three-point positioning sensors to position the remote-controlled drone with the buoyancy plate, so as to facilitate the insertion of the second armature into the adsorption groove.

[0013] Compared with the prior art, the advantages of the present invention are as follows: precise coordination between devices is achieved through a dual positioning system of "three-point positioning + four-point positioning": the positioning of the remote-controlled drone and the drone placement / recovery base is achieved by adapting the second three-point / four-point positioning sensor with the first three-point / four-point positioning sensor; the positioning of the remote-controlled drone and the diving detection module is achieved by adapting the second three-point positioning sensor with the third three-point positioning sensor, ensuring the accuracy of the deployment, recovery and docking process.

[0014] The remote-controlled drone is equipped with an electromagnetic adsorption mechanism at its bottom. The first electromagnet attracts the second armature of the diving detection module to achieve a detachable connection, and the contact sensor provides real-time feedback on the adsorption status. After the transfer is completed, the electromagnet is de-energized to release the diving detection module, achieving accurate deployment. The same principle applies during retrieval, ensuring stable and reliable docking of the equipment.

[0015] Preferably, the diving detection module further includes a detection and acquisition unit, which includes three partition plates. Multiple fixing rods are fixedly installed between the three partition plates. The upper, middle and lower partition plates are all fixedly installed inside the sealed cylinder, dividing the sealed cylinder into four layers of space. A servo motor and a miniature water quality analyzer are fixedly installed on the top of the lower partition plate. A rotating column is fixedly installed on the output shaft of the servo motor. A paddle is fixedly installed at the bottom of the rotating column. A second detection head is installed on the miniature water quality analyzer. The paddle and the second detection head are located in the lowest layer of space.

[0016] Preferably, a water pump is installed on the top of the middle partition plate, the inlet of the water pump is connected to a collection pipe, a second solenoid valve is installed on the collection pipe, the bottom end of the collection pipe extends to the lowest space, and the outlet of the water pump is connected to a water supply pipe, which extends to the uppermost space.

[0017] Preferably, a control box is installed on the top of the upper partition plate, and the control box contains a controller, a power supply, and a positioner.

[0018] Preferably, the sample collection unit includes a sealed box, which is fixedly installed at the bottom of the buoyancy plate. A sealing connecting pipe is fixedly installed inside the sealed box, and a sealing ring is provided inside the sealing connecting pipe. The sealing connecting pipe is adapted to the water supply pipe. An adapter box is connected to the top of the sealing connecting pipe, and four branch pipes are connected to the adapter box. Each of the four branch pipes is provided with a third solenoid valve. The bottom end of each of the four branch pipes is provided with a second external thread. A collection pipe is provided on the outside of each of the four second external threads. Each of the four collection pipes is provided with a second internal thread and is connected to the second external thread through the second internal thread.

[0019] Preferably, the bottom of the sealing box is provided with a first external thread, and the top of the sealing cylinder is provided with a first internal thread. The first external thread and the first internal thread are threadedly connected to seal the top of the sealing cylinder.

[0020] Compared with the prior art, the advantages of the present invention are as follows: the diving detection module has a built-in detection and acquisition unit, which drives the propeller to dive and rise through a servo motor, and the locator provides real-time feedback of depth information; the miniature water quality analyzer detects water quality parameters at different depths through a second detection head; the water pump, acquisition pipe, water supply pipe and branch components form a sealed sampling system, which can be controlled by a solenoid valve to achieve batch collection and sealed storage of water quality samples at different depths.

[0021] The beneficial effects of the intelligent water conservancy and river channel monitoring equipment described in this invention are as follows: 1. Through the collaborative process of “surface screening by wireless remote-controlled boat, visual positioning by remote-controlled drone, and depth detection by diving detection module”, the underwater concealed discharge outlets can be accurately located; the diving detection module can penetrate to different depths, solving the defect that existing equipment cannot cover deep underwater areas, and the detection range covers the river surface to underwater.

[0022] 2. Highly efficient and easy-to-operate equipment: The remote-controlled drone enables contactless deployment and retrieval of the underwater detection module without manual assistance, improving operational efficiency; the dual underwater detection modules can be used alternately, avoiding waiting for a single device to go back and forth, further improving detection efficiency; it can still work stably in complex water flow environments.

[0023] 3. Precise sample collection and strong traceability: The multi-branch tube and independent collection tube design of the sample collection unit can realize the batch-sealed collection of water quality samples at different depths to avoid sample confusion; the scale line and label groove design of the collection tube facilitates the association of sample depth information and improves the traceability of test results; the sealed sampling system ensures that the sample is uncontaminated and guarantees the accuracy of secondary testing.

[0024] 4. The equipment adopts a fully wireless remote control design, supporting remote data transmission and monitoring; multi-angle cameras assist in environmental observation, and the locator enables precise depth control; key components are made of corrosion-resistant and waterproof materials, which can adapt to different water quality environments such as fresh water and brackish water, and are suitable for various water conservancy scenarios such as rivers, lakes, and reservoirs.

[0025] 5. The design features detachable components such as electromagnetic adsorption and threaded connections, facilitating equipment disassembly and maintenance; the cushioning foam in the storage box and the anti-collision design of the equipment reduce the risk of damage during transportation and use; each module functions independently, allowing for individual repair in case of malfunction, thus reducing maintenance costs.

[0026] This invention constructs a three-in-one detection system encompassing surface, aerial, and underwater operations through the collaborative work of a wireless remote-controlled boat, a remote-controlled drone, and a diving detection module. This system enables precise location of concealed discharge areas and multi-depth water quality testing. High-precision positioning and electromagnetic adsorption design ensure the accuracy and stability of equipment deployment and retrieval. A multi-branch sealed sampling system allows for batch collection of samples at different depths, improving the traceability of test results. The fully wireless remote control and remote data transmission design reduces the workload of operators and improves testing efficiency. This equipment is suitable for water quality testing in various water conservancy and river channels, especially for complex testing scenarios such as concealed discharge outlet investigation and deep water quality monitoring, demonstrating significant practical value and promising market application prospects. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the structure of an intelligent water conservancy and river channel monitoring device proposed in this invention; Figure 2 This is a bottom view schematic diagram of the intelligent water conservancy and river channel detection equipment proposed in this invention; Figure 3 This invention provides a schematic diagram of the structure of a wireless remote-controlled boat, a control module, a first water quality detection head, a storage box, a recycling unit, a recycling tank, a first four-point positioning sensor, a drone placement base, a first armature, and a first three-point positioning sensor. Figure 4 This invention proposes Figure 3 A schematic diagram of the side view structure; Figure 5 This invention presents a structural schematic diagram of a remote-controlled drone, a multi-angle camera, and a diving detection module. Figure 6 The diagram below shows the top-view structure of the remote-controlled drone, multi-angle camera, and underwater detection module proposed in this invention. Figure 7 This invention presents a structural schematic diagram of a remote-controlled drone, a multi-angle camera, and an electromagnetic adsorption mechanism. Figure 8 This invention provides a schematic diagram of the electromagnetic adsorption mechanism. Figure 9 This is a bottom view schematic diagram of the electromagnetic adsorption mechanism proposed in this invention; Figure 10 This is a schematic diagram of the structure of the diving detection module proposed in this invention; Figure 11 This is a bottom view schematic diagram of the underwater detection module proposed in this invention; Figure 12 This is an exploded structural diagram of the diving detection module proposed in this invention; Figure 13 This is a schematic diagram of the exploded bottom view of the underwater detection module proposed in this invention; Figure 14 This invention provides a schematic diagram of the structure of the sealing cylinder; Figure 15 This is a bottom-view structural diagram of the detection and acquisition unit proposed in this invention; Figure 16 This is a schematic diagram of the detection and acquisition unit proposed in this invention; Figure 17 This is a schematic diagram of the planar structure of the detection and acquisition unit proposed in this invention; Figure 18 This is a schematic diagram of the sample collection unit proposed in this invention; Figure 19 This is a bottom view of the sample collection unit proposed in this invention; Figure 20 This is a schematic diagram of the structure of the collection tube and the second internal thread of the present invention.

[0028] In the diagram: 1. Wireless remote-controlled boat; 11. Control module; 101. First water quality detection head; 12. Storage box; 13. Recycling base; 131. Recycling trough; 133. First four-point positioning sensor; 14. Drone placement base; 141. First armature; 142. First three-point positioning sensor; 2. Remote-controlled drone; 21. Multi-angle camera; 22. Electromagnetic adsorption mechanism; 221. Ring shell; 222. Second three-point positioning sensor; 223. Second four-point positioning sensor; 224. First electromagnet; 225. Adsorption trough; 226. Contact sensor; 3. Diving detection module; 31. Connecting base; 311. Second armature; 312. Third three-point positioning sensor; 313. Threaded cap; 3 2. Sealing cylinder; 321. Drainage oblique hole; 322. Conical cylinder; 323. First internal thread; 33. Detection and acquisition unit; 331. Partition plate; 332. Fixing rod; 333. Servo motor; 334. Rotating column; 335. Paddle; 336. Miniature water quality analyzer; 3361. Second detection head; 337. Acquisition tube; 3371. Second solenoid valve; 338. Water pump; 339. Water supply pipe; 3310. Control box; 34. Sample collection unit; 341. Sealing box; 342. First external thread; 343. Sealing connection pipe; 344. Adapter box; 345. Branch pipe; 346. Third solenoid valve; 347. Second external thread; 348. Acquisition tube; 349. Second internal thread. Detailed Implementation

[0029] The technical solutions in this embodiment will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this embodiment, and not all embodiments.

[0030] Example 1 The following is combined with Figures 1-20 This application will be described in further detail.

[0031] A smart water conservancy river channel detection device includes a wireless remote-controlled boat 1, a remote-controlled drone 2, and two underwater detection modules 3; the wireless remote-controlled boat 1 is equipped with a control module 11 on its top, and has a storage box 12 and a drone placement seat 14 inside. Two recycling seats 13 are fixedly installed in the storage box 12, and each of the two recycling seats 13 has a recycling slot 131. The two underwater detection modules 3 are adapted to the two recycling slots 131. Specifically, the remote-controlled drone 2 is equipped with a wireless remote controller, and the wireless control module can wirelessly communicate with the wireless remote controller and the controller of the control box 3310.

[0032] The wireless remote-controlled boat 1 is made of fiberglass and has a shock-absorbing rubber ring at the bottom; the storage box 12 has a cushioning sponge layer on the inside to protect the diving detection module 3.

[0033] The control module 11 includes a wireless control module, a power supply and a multi-parameter detector. The multi-parameter detector is connected to a first water quality detection head 101, which is located on the bottom side of the wireless remote-controlled boat 1. The remote-controlled drone 2 can be stored inside the wireless remote-controlled boat 1 and positioned in conjunction with the drone placement base 14. It has an electromagnetic adsorption mechanism 22 at its bottom and multiple multi-angle cameras 21 on its outer side. The electromagnetic adsorption mechanism 22 includes an annular shell 221, an adsorption groove 225, a first electromagnet 224, a contact sensor 226, three second three-point positioning sensors 222 and four second four-point positioning sensors 223. The annular shell 221 is fixed to the bottom of the remote-controlled drone 2. The adsorption groove 225 is opened inside the annular shell 221. The first electromagnet 224 and the contact sensor 226 are embedded in the adsorption groove 225. The three second three-point positioning sensors 222 and the four second four-point positioning sensors 223 are all arranged inside the annular shell 221. Specifically, the multi-angle camera 21 is a waterproof high-definition camera with a resolution of ≥1080P and an adjustable shooting angle range of 0-170°.

[0034] The top of the drone placement seat 14 is fixed with a first armature 141 and three first three-point positioning sensors 142. The first armature 141 is adapted to the adsorption groove 225, and the three first three-point positioning sensors 142 are adapted to the three second three-point positioning sensors 222. The top of the recovery seat 13 is embedded with four first four-point positioning sensors 133, and the four first four-point positioning sensors 133 are adapted to the four second four-point positioning sensors 223. The diving detection module 3 includes a buoyancy plate 31, a sealing cylinder 32, a detection and acquisition unit 33, and a sample collection unit 34. A second armature 311 and three third three-point positioning sensors 312 are fixed to the top of the buoyancy plate 31. The second armature 311 is adapted to the adsorption tank 225, and the three third three-point positioning sensors 312 are adapted to the three second three-point positioning sensors 222. The sample collection unit 34 is fixed to the bottom of the buoyancy plate 31, and the sealing cylinder 32 is threaded to the top of the sample collection unit 34 to form a sealed cavity. The detection and acquisition unit 33 is located inside the sealing cylinder 32 and is used for water quality detection and sample collection. The sample collection unit 34 is used to collect water samples from different depths in batches.

[0035] Reference Figures 15-17 In this embodiment, the detection and acquisition unit 33 includes three partition plates 331, multiple fixing rods 332, a servo motor 333, a miniature water quality detector 336, a water pump 338, and a control box 3310; the three partition plates 331 are fixedly connected by the fixing rods 332 and divide the sealing cylinder 32 into four layers of space; The servo motor 333 and the miniature water quality analyzer 336 are both fixed to the top of the lower partition plate 331. The output shaft of the servo motor 333 is connected to a rotating column 334. The bottom end of the rotating column 334 extends to the lowest space and is fixed with a blade 335. The miniature water quality analyzer 336 is connected to a second detection head 3361, which extends to the lowest space. Specifically, both the first water quality detection head 101 and the second detection head 3361 adopt a waterproof encapsulation design, and the multi-parameter detector can detect parameters such as dissolved oxygen, pH value, turbidity, and COD.

[0036] The water pump 338 is fixed to the top of the intermediate partition plate 331. Its inlet is connected to the collection pipe 337 and its outlet is connected to the water supply pipe 339. A second solenoid valve 3371 is installed on the collection pipe 337, and its bottom end extends to the lowest space. The water supply pipe 339 extends to the uppermost space. The control box 3310 is fixed to the top of the upper partition plate 331 and has a built-in controller, power supply and positioner; the outer side of the sealing cylinder 32 is provided with multiple drainage inclined holes 321 and the bottom is fixed with a conical cylinder 322.

[0037] Specifically, the sealing cylinder 32 is made of 316L stainless steel and the inner wall is covered with a fluororubber sealing layer; the drainage oblique holes 321 are evenly distributed around the sealing cylinder 32 with an inclination angle of 30-45°.

[0038] Specifically, the locator of the control box 3310 adopts a GPS and Beidou dual-mode positioning module, and the control box 3310 also has a built-in wireless transmission module, which can transmit the detection data to the control module 11 or a remote terminal in real time.

[0039] Reference Figures 15-17 In this embodiment, the sample collection unit 34 includes a sealing box 341, a sealing connecting pipe 343, an adapter box 344, four branch pipes 345 and four collection pipes 348; the sealing box 341 is fixed to the bottom of the buoyancy plate 31, and its bottom is provided with a first external thread 342; the top of the sealing cylinder 32 is provided with a first internal thread 323, and the first external thread 342 and the first internal thread 323 are threadedly connected. The sealing connecting pipe 343 is fixed inside the sealing box 341, with a built-in sealing ring and is adapted to the water supply pipe 339; the adapter box 344 is connected to the top of the sealing connecting pipe 343, and the four branch pipes 345 are all connected to the adapter box 344. Each branch pipe 345 is equipped with a third solenoid valve 346 and a second external thread 347 at the bottom. Each of the four collection tubes 348 is provided with a second internal thread 349, which is threadedly connected to the corresponding second external thread 347 through the second internal thread 349.

[0040] In this invention, a pioneering "three-in-one collaborative and fully automated" detection architecture is created, breaking through the bottleneck of functional fragmentation in existing equipment. It constructs a three-in-one collaborative system consisting of a wireless remote-controlled boat (carrying the mother ship and surface screening), a remote-controlled drone (precise transport and visual positioning), and dual underwater detection modules (multi-depth detection and batch sampling). This achieves a fully automated closed loop of "preliminary screening, precise positioning, depth detection, sample collection, equipment recovery, and data review" without the need for manual intervention.

[0041] Unlike the traditional modes of "single device detection" or "multiple devices working together manually", this system achieves dynamic linkage between aerial, surface and underwater devices through wireless communication and synchronous control. The dual underwater detection modules work alternately, avoiding waiting for a single device to go back and forth, greatly improving detection efficiency and solving the core defects of existing technologies such as "poor coordination, cumbersome operation and low efficiency".

[0042] The innovative "dual positioning, electromagnetic adsorption adaptation" precision control mechanism overcomes the challenges of underwater equipment deployment and retrieval: It adopts a "three-point positioning + four-point positioning" dual positioning system, which is precisely adapted to different equipment docking scenarios—the positioning of the remote-controlled drone and the drone placement / retrieval base is achieved through the adaptation of the "second three-point / four-point positioning sensor and the first three-point / four-point positioning sensor", and the positioning of the remote-controlled drone and the underwater detection module is achieved through the adaptation of the "second three-point positioning sensor and the third three-point positioning sensor"; combined with the electromagnetic adsorption mechanism and contact sensor feedback mechanism, it ensures the accuracy and stability of adsorption / release.

[0043] Multi-depth controllable detection and batch-sealed sampling integrated design solve the challenges of concealed emission detection and sample traceability. Core Design: The diving detection module achieves controllable descent / surfacing through a "servo motor + propeller" drive, and the GPS + Beidou dual-mode locator provides real-time depth feedback, enabling accurate detection at multiple depths from the surface to underwater. It adopts a batch-sealed sampling system with "multi-branch tubes and independent collection tubes", and independently controls the collection of samples at different depths through solenoid valves. The transparent scale and label groove design of the collection tubes enable accurate correlation between sample and depth information.

[0044] Creative Features: Addressing the shortcomings of existing technologies such as "inability to cover deep areas, easy sample confusion and contamination, and poor traceability," this technology achieves a three-in-one function of "controllable detection depth, batch sample collection, and precise correlation between data and samples." The sealed connection design, featuring a sealing ring and threaded connection, ensures no water leakage or contamination during the sampling process, guarantees the accuracy of secondary testing, and provides precise data and sample support for locating concealed underwater discharge outlets.

[0045] Working principle: Start-up procedure: Place the two diving detection modules 3 into the recycling slots 131 of the storage box 12 to ensure accurate positioning; place the remote-controlled drone 2 on the drone placement base 14, and position it by matching the first three-point positioning sensor 142 with the second three-point positioning sensor 222; insert the first armature 141 into the adsorption slot 225, and energize the first electromagnet 224 to adsorb and fix it; turn on the power of the wireless remote-controlled boat 1, the control module 11 completes self-test, and the multi-parameter detector, the first water quality detection head 101, the multi-angle camera 21 and other components enter the working state; set the detection parameters such as detection range, sampling depth interval, and data transmission frequency through the wireless remote control.

[0046] Parameter initialization: Control module 11 synchronously initializes the parameters of remote-controlled drone 2 and diving detection module 3 through wireless transmission module; remote-controlled drone 2 calibrates GPS positioning, multi-angle camera 21 starts self-test and adjusts to the initial shooting angle; control box 3310 of diving detection module 3 initializes locator and wireless transmission module to ensure normal communication with control module 11; second solenoid valve 3371 and all third solenoid valves 346 are in the closed state, acquisition tube 348 and branch tube 345 are connected in place and blank labels are affixed.

[0047] Preliminary screening and anomaly localization stage: Surface water quality detection: The wireless remote-controlled boat 1 moves along a preset route in the river channel at a speed of 2-3 km / h, controlled by a wireless remote controller. The multi-parameter detector collects surface water quality parameters such as dissolved oxygen and pH value in real time through the first water quality detection head 101. The data is transmitted to a remote terminal, such as a computer or tablet, and displayed in real time through the wireless control module. When abnormal data is detected, such as dissolved oxygen ≤2 mg / L or pH value deviating from the normal range of 6.5-8.5, the control module 11 automatically issues a warning signal, and the wireless remote-controlled boat 1 stops moving.

[0048] Suspicious area location: Activate remote-controlled drone 2, de-energize the first electromagnet 224, and remote-controlled drone 2 takes off and ascends to a height of 50m; use multi-angle camera 21 to photograph the water surface and nearshore environment to find suspected discharge outlets, such as areas with bubbling or abnormal color; at the same time, remote-controlled drone 2 uses GPS positioning to lock the coordinates of the abnormal water quality area and transmits the coordinate data to control module 11 to form an "abnormal area coordinate map"; based on visual observation and coordinate data, determine 3-5 key detection points.

[0049] Deployment and depth detection phases of the diving detection module: Precise Deployment: The remote-controlled drone 2 flies above the storage box 12 and is positioned by the first four-point positioning sensor 133 and the second four-point positioning sensor 223, ensuring that the drone is directly above one of the diving detection modules 3; the remote-controlled drone 2 descends, and the second three-point positioning sensor 222 and the third three-point positioning sensor 222 further refine the positioning, and the adsorption slot 225 is aligned with the second armature 311; after the contact sensor 226 detects that the second armature 311 has been inserted into the adsorption slot 225, the first electromagnet 224 is energized to adsorb and fix it, and the remote-controlled drone 2 takes off carrying the diving detection module 3.

[0050] Dive preparation: The remote-controlled drone 2 flies to the top of the first key detection point and adjusts its altitude to 5m above the water surface; the locator of the control box 3310 calibrates the current position coordinates and compares them with the coordinates of the abnormal area to ensure the accuracy of the detection point; the servo motor 333 of the diving detection module 3 warms up and starts, and the control box 3310 sends out a ready signal through the wireless transmission module.

[0051] Multi-depth detection: When the first electromagnet 224 is de-energized, the diving detection module 3 falls into the water under the action of gravity. The buoyancy plate 31 makes the module float on the water surface first. The servo motor 333 starts and drives the paddle 335 to rotate clockwise through the rotating column 334. The water flows from the conical cylinder 322 into the sealing cylinder 32 and is discharged from the drainage inclined hole 321, generating a downward thrust, and the module begins to dive. The positioner of the control box 3310 provides real-time feedback of depth data. When the preset depth, such as 5m, is reached, the servo motor 333 stops. The miniature water quality detector 336 collects the water quality parameters at this depth through the second detection head 3361. The data is stored in the control box 3310 and transmitted to the remote terminal in real time. After 30 seconds, the servo motor 333 continues to drive the module to dive to the next preset depth, such as 10m. The detection process is repeated until all preset depths are completed, with a maximum diving depth of 50m.

[0052] Multi-depth sample collection phase: Sampling Control: When the diving detection module 3 reaches a preset sampling depth, such as 5m, 15m, 25m, or 35m, the control box 3310 issues a sampling command; the water pump 338 starts, the third solenoid valve 346 at the corresponding depth opens, and the second solenoid valve 3371 opens; water flows in through the collection pipe 337, through the water supply pipe 339 and the sealed connection pipe 343 into the adapter box 344, and then flows into the collection pipe 348 through the corresponding branch pipe 345; after the sampling volume reaches a preset value, such as 60mL, the second solenoid valve 3371 and the current third solenoid valve 346 close, and the water pump 338 stops working; the control box 3310 records the current sampling depth and associates it with the corresponding collection pipe 348.

[0053] Sampling assurance: During the sampling process, the control box 3310 monitors the attitude of the diving detection module 3 in real time. If the tilt angle is greater than 10°, the servo motor 333 fine-tunes the speed of the propeller 335 to adjust the module to a horizontal state. The sealing ring of the sealing connection tube 343 ensures that there is no water leakage during the sampling process and avoids the mixing of samples from different depths. The transparent design of the collection tube 348 makes it easy to observe the sampling volume, and the scale lines ensure the sampling accuracy.

[0054] Equipment recovery and sample processing stage: Submersible detection module recovery: After all depth detection and sampling are completed, the servo motor 333 rotates in the opposite direction, the propeller 335 generates an upward thrust, and the buoyancy of the buoyancy plate 31 causes the module to float. When the module floats to the surface, the control box 3310 sends a position signal, and the remote-controlled drone 2 flies above the module and is positioned by the second three-point positioning sensor 222 and the third three-point positioning sensor 312. The remote-controlled drone 2 descends, the adsorption slot 225 aligns with the second armature 311, and the first electromagnet 224 is energized to adsorb and fix it. The remote-controlled drone 2 carries the module back to the storage box 12 of the wireless remote-controlled boat 1, and is positioned by the first four-point positioning sensor 133 and the second four-point positioning sensor 223. The module is placed in the recovery slot 131, the first electromagnet 224 is de-energized, and the recovery is completed.

[0055] Alternating detection: If other key detection points need to be detected, the remote-controlled drone 2 repeats the above steps and deploys another underwater detection module 3 for detection, realizing the alternating operation of the two modules and improving efficiency; after all detection points are completed, the remote-controlled drone 2 flies back to the drone placement seat 14, and is positioned by the first three-point positioning sensor 142 and the second three-point positioning sensor 222. The first electromagnet 224 is energized to attract and fix it, and the recovery is completed.

[0056] Sample processing: After the wireless remote-controlled boat 1 returns to the shore, the operator disassembles the threaded connection between the collection tube 348 and the branch tube 345, removes the collection tube 348, and affixes a label corresponding to the depth in the label slot; the collection tube 348 is sent to the laboratory for secondary testing, and the test data is compared with the on-site test data to form a complete test report; at the same time, all test data is exported through the USB interface of the control module 11 for data analysis and archiving.

[0057] Equipment maintenance and standby phase: Routine maintenance: After testing, clean the surface stains of the wireless remote-controlled boat 1, remote-controlled drone 2, and diving detection module 3; check the sealing components, such as sealing rings and waterproof connectors, for damage, and replace them in time if damaged; clean the data collection tube 348, let it dry and keep it for later use; check the working status of each sensor and motor to ensure that it is normal.

[0058] Standby mode: When the equipment is not in use, store the remote-controlled drone 2 and the diving detection module 3 inside the wireless remote-controlled boat 1 and turn off the main power; charge the battery regularly to ensure that the equipment is ready for use at any time.

[0059] Example 2 Example 2 is the same as Example 1 in the rest, except that the sealing cylinder 32 adopts an axial modular split structure, which is divided into three independent sealing modules: upper, middle and lower. Precise docking and sealing are achieved through flanges and guide pins. Internal components can be disassembled and repaired separately, avoiding the sealing failure problem caused by overall disassembly and reducing maintenance difficulty. All structural shapes, sizes and materials of Example 1 are included in this application. In order to meet specific usage conditions, they can be selected and adjusted. The attached drawings are schematic structural diagrams. The actual dimensions can be adjusted appropriately.

[0060] The above description is only a preferred embodiment of this practice, but the scope of protection of this embodiment is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the scope of the technology disclosed in this embodiment, based on the technical solution and inventive concept of this embodiment, should be covered within the scope of protection of this embodiment.

Claims

1. A smart water conservancy river channel monitoring device, comprising a wireless remote-controlled boat (1), wherein a control module (11) is provided on the top of the wireless remote-controlled boat (1), the control module (11) comprising a wireless control module, a power supply, and a multi-parameter detector, wherein a first water quality detection head (101) is connected to the multi-parameter detector, and the first water quality detection head (101) is disposed on the bottom side of the wireless remote-controlled boat (1), characterized in that, The remote-controlled boat (1) is equipped with a storage box (12) and a drone placement seat (14) inside, and also includes: A remote-controlled drone (2) is located inside the wireless remote-controlled boat (1) and connected to the drone placement seat (14); Two diving detection modules (3) are located inside the wireless remote-controlled boat (1). Two recycling seats (13) are fixedly installed inside the storage box (12). Each of the two recycling seats (13) is equipped with a recycling slot (131). The two diving detection modules (3) cooperate with the two recycling slots (131).

2. The intelligent water conservancy river channel monitoring equipment according to claim 1, characterized in that, The remote-controlled drone (2) is connected to a wireless remote controller. Multiple multi-angle cameras (21) are provided on the outside of the remote-controlled drone (2). An electromagnetic adsorption mechanism (22) is provided at the bottom of the remote-controlled drone (2). The electromagnetic adsorption mechanism (22) includes an annular shell (221). The annular shell (221) is fixedly installed at the bottom of the remote-controlled drone (2). An adsorption groove (225) is provided inside the annular shell (221). A first electromagnet (224) and a contact sensor (226) are embedded in the adsorption groove (225). Three second three-point positioning sensors (222) and four second four-point positioning sensors (223) are provided on the inner side of the annular shell (221). A first armature (141) and three first three-point positioning sensors (142) are fixedly installed on the top of the drone placement base (14). The first armature (141) cooperates with the adsorption groove (225), and the three first three-point positioning sensors (142) cooperate with the three second three-point positioning sensors (222).

3. The intelligent water conservancy river channel monitoring equipment according to claim 2, characterized in that, The top of the recovery base (13) is embedded with four first four-point positioning sensors (133). The four first four-point positioning sensors (133) cooperate with four second four-point positioning sensors (223) to position the remote-controlled drone (2) and the recovery base (13).

4. The intelligent water conservancy river channel monitoring equipment according to claim 3, characterized in that, The diving detection module (3) includes a buoyancy plate (31), a sample collection unit (34) is provided on the top of the buoyancy plate (31), a sealing cylinder (32) is connected to the bottom of the sample collection unit (34), a plurality of drainage oblique holes (321) are opened on the outside of the sealing cylinder (32), and a conical cylinder (322) is fixedly installed at the bottom of the sealing cylinder (32).

5. The intelligent water conservancy river channel monitoring equipment according to claim 4, characterized in that, The top of the buoyancy plate (31) is fixedly equipped with a second armature (311) and three third three-point positioning sensors (312). The second armature (311) cooperates with the adsorption groove (225), and the three third three-point positioning sensors (312) cooperate with the three second three-point positioning sensors (222) to position the remote control drone (2) and the buoyancy plate (31), so that the second armature (311) can be inserted into the adsorption groove (225).

6. The intelligent water conservancy river channel monitoring equipment according to claim 5, characterized in that, The diving detection module (3) also includes a detection and acquisition unit (33), which includes three partition plates (331). Multiple fixing rods (332) are fixedly installed between the three partition plates (331). The upper, middle and lower partition plates (331) are all fixedly installed inside the sealing cylinder (32) and divide the sealing cylinder (32) into four layers of space. A servo motor (333) and a miniature water quality detector (336) are fixedly installed on the top of the lower partition plate (331). A rotating column (334) is fixedly installed on the output shaft of the servo motor (333). A blade (335) is fixedly installed at the bottom of the rotating column (334). A second detection head (3361) is installed on the miniature water quality detector (336). The blade (335) and the second detection head (3361) are located in the lowest layer of space.

7. The intelligent water conservancy river channel monitoring equipment according to claim 6, characterized in that, A water pump (338) is installed on the top of the middle partition plate (331). The inlet of the water pump (338) is connected to a collection pipe (337). A second solenoid valve (3371) is installed on the collection pipe (337). The bottom end of the collection pipe (337) extends to the lowest space. The outlet of the water pump (338) is connected to a water supply pipe (339). The water supply pipe (339) extends to the highest space.

8. The intelligent water conservancy river channel monitoring equipment according to claim 7, characterized in that, A control box (3310) is installed on the top of the upper partition plate (331), which contains a controller, power supply and positioner.

9. The intelligent water conservancy river channel monitoring equipment according to claim 8, characterized in that, The sample collection unit (34) includes a sealing box (341), which is fixedly installed at the bottom of the buoyancy plate (31). A sealing connecting pipe (343) is fixedly installed inside the sealing box (341). A sealing ring is provided inside the sealing connecting pipe (343). The sealing connecting pipe (343) is adapted to the water supply pipe (339). A converter box (344) is connected to the top of the sealing connecting pipe (343). Four branch pipes (345) are connected to the converter box (344). A third solenoid valve (346) is provided on each of the four branch pipes (345). A second external thread (347) is provided at the bottom of each of the four branch pipes (345). A collection pipe (348) is provided on the outside of each of the four second external threads (347). A second internal thread (349) is provided on each of the four collection pipes (348) and is connected to the second external thread (347) through the second internal thread (349).

10. The intelligent water conservancy river channel monitoring equipment according to claim 9, characterized in that, The bottom of the sealing box (341) is provided with a first external thread (342), and the top of the sealing cylinder (32) is provided with a first internal thread (323). The first external thread (342) and the first internal thread (323) are threadedly connected to seal the top of the sealing cylinder (32).

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