A detection device for assisting recovery of submerged plants and an application method thereof

Abstract

The present application relates to the water ecological restoration technical field, specifically to a kind of detection device and application method for assisting submersed plant recovery, including working system, for water navigation, carry information acquisition system, sampling system, store and transport collected water quality, sediment sample;Information acquisition system is used to obtain point coordinate information, water depth, flow rate, transparency and shoot underwater submersed plant and sediment image;Sampling system is used to simultaneously carry out water quality, sediment sample collection;Information receiving and processing terminal is used to receive the information of information acquisition system, and process underwater image, analysis obtains submersed plant species, coverage, biomass level grade and sediment category and pollution degree grade information, then comprehensive discriminant analysis is carried out.The present application can simultaneously obtain the hydrology of water body, sediment characteristics and submersed plant distribution characteristics, and simultaneously monitor water quality and other indicators of sediment, and assist system to identify submersed plant suitable recovery area, avoid the risk of blindly carrying out large-scale submersed plant restoration investment.

Description

Technical Field

[0001] This invention relates to the field of aquatic ecological protection and restoration technology, and in particular to a detection device and application method for assisting the recovery of submerged plants. Background Technology

[0002] Submerged plants are important producers in aquatic ecosystems, playing a crucial role in maintaining clear water stability. They can inhibit sediment resuspension, enhance the self-purification capacity of water bodies, provide habitats for aquatic animals, increase biodiversity, and suppress phytoplankton growth. However, both in my country and globally, submerged plants are gradually declining, and water bodies are shifting from a grass-based clear water stability to an algal-based turbid water stability. This leads to frequent algal blooms, decreased aquatic biodiversity, and water quality deterioration, resulting in the continuous destruction of ecosystem structure and function.

[0003] Artificial seeding and seedling transplantation are direct methods for restoring submerged vegetation. Suitable species are typically selected based on environmental factors such as water depth, transparency, substrate, and water quality, and artificial restoration is carried out in the target area. However, extensive engineering practice shows that the effectiveness of artificial restoration is unstable. Plants often disappear rapidly in open water areas or after the removal of enclosures, leading to a vicious cycle of "planting-degradation-replanting." The reasons for this are twofold: firstly, the lack of in-situ water quality and sediment monitoring data results in a mismatch between the selected species and site conditions, leading to planting failure; secondly, the lack of in-situ survey data on the structure of submerged plant communities that exist stably in their natural state means that species combinations and spatial layouts configured based solely on experience are often unreasonable and fail to form stable communities.

[0004] To obtain environmental parameters and community structure data of healthy distribution areas, low-distribution areas, potential restoration areas, and unsuitable areas of submerged plants in aquatic bodies, and to provide a scientific and precise "natural template" for the restoration of submerged plants, this study aims to guide species selection and community construction, avoid unsuitable restoration areas, fundamentally prevent blind restoration practices, improve the success rate and stability of restoration, and has important practical significance.

[0005] Meanwhile, in order to obtain in-situ water quality and sediment data, existing water sampling usually relies on manual sampling points, which makes it difficult to achieve continuous, multi-point mobile detection and sampling. Water and sediment samples from different survey points are prone to cross-contamination, and it is difficult to ensure the consistency and accuracy of sampling depth. This affects the reliability of laboratory analysis results and cannot provide accurate habitat baseline data to support the restoration of submerged plants. Summary of the Invention

[0006] To address the shortcomings of existing technologies, the present invention aims to provide a detection device to assist in the restoration of submerged plants. Through an information acquisition system, it obtains hydrological parameters such as water depth, flow velocity, and flow direction in the healthy distribution area and the small distribution area of ​​submerged plants in situ, as well as biological parameters such as submerged plant species, biomass level, and coverage, and environmental parameters such as transparency, sediment type, and pollution level. This enables the submerged plant community to be integrated with hydrology, biology, and environment in the design of submerged plant restoration engineering areas, ensuring the scientific and rational design. Meanwhile, by setting up the sampling system, accurate sampling of water and sediment can be achieved at different depths and sampling times. After sampling, the sampling system is cleaned to avoid contamination of samples at different survey points, thereby improving the accuracy of the analysis results and ensuring the sampling accuracy and sample purity during continuous, multi-point, and mobile detection processes, thus achieving precise location sampling.

[0007] To achieve the above objectives, the present invention provides the following technical solution: A detection device to assist in the recovery of submerged plants, comprising, The working system is used for navigation on water. It is equipped with an information acquisition system and a sampling system to obtain the coordinate information of the survey points and store water quality and sediment samples related to transportation. The working system includes an unmanned vessel, a wireless communication unit, a positioning system, a power propulsion system, and an obstacle avoidance system. Information acquisition system for underwater information acquisition; The information acquisition system includes a positioning system, a hydrological acquisition unit, and an underwater camera. The hydrological acquisition unit includes a positioning system, a depth sensing device, a current velocity and direction sensing device, and a Sebastian disk, used to acquire the coordinates, depth, current velocity, and direction data of the survey points, as well as water transparency data. The underwater camera is used to capture images of submerged plants and sediments. The information acquired by the information acquisition system is transmitted in real time to an information receiving and processing terminal via a wireless communication unit. The information receiving and processing terminal is used to receive underwater information from the information acquisition system and process the samples collected by the sampling system to obtain information data such as the presence or absence of submerged plants, submerged plant species, submerged plant coverage, submerged plant biomass level, and sediment pollution level, and then perform comprehensive discrimination analysis. When the information receiving and processing terminal processes underwater images, the captured images are processed by the information receiving and processing terminal to obtain information on the presence, type, coverage, biomass level, sediment type, and pollution level of submerged plants. Preferably, supervised classification can be used to identify vegetated and non-vegetated areas, plant types in vegetated areas, coverage and biomass levels, and the type and degree of contamination of sediments at corresponding locations.

[0008] Preferably, the training samples for supervised classification can be underwater images taken of the water body, images that can be interpreted visually to characterize the presence or absence of submerged plants, the type of submerged plants, the coverage and biomass of submerged plants, and images of sediments such as silty, sandy, stony and black polluted bottom sediments. A sampling system for simultaneously collecting water and sediment samples; The sampling system includes a retractable sampling mechanism on the working system and a sample storage component for storing samples. The bottom of the retractable sampling mechanism is equipped with an automatic valve to control the entry and exit of sediments, and a water intake pipeline is installed inside the retractable sampling mechanism to realize the synchronous collection of water samples and sediments.

[0009] Preferably, the retractable sampling mechanism includes a column mounted on the unmanned vessel, a support plate rotatably connected to the column, and a sleeve telescopic assembly fixed to one end of the support plate away from the column; the sleeve telescopic assembly includes a fixed cylinder fixed below the support plate, and at least two telescopic sleeves sequentially fitted on the outside of the fixed cylinder; the support plate is provided with a driving structure, which drives the telescopic sleeves to extend or retract axially step by step.

[0010] Preferably, the telescopic sleeve includes a first sleeve, a second sleeve, and a third sleeve sequentially sleeved on the outside of the fixed sleeve; a first screw is engaged with the outer wall of the first sleeve, a second screw is engaged with the outer wall of the second sleeve, and a third screw is engaged with the outer wall of the third sleeve; the lengths of the first sleeve, the second sleeve, and the third sleeve increase sequentially, and each has an inner fastening ring at the top and an outer fastening ring at the bottom. Adjacent inner and outer fastening rings can be fastened together to prevent the sleeve from coming off; the first screw, the second screw, and the third screw are all rotatably connected to the bearing plate, and the pitch increases sequentially. They are all driven by a drive structure to achieve the step-by-step extension and retraction of each sleeve; a sampling cylinder is fixed at the bottom of the third sleeve, the automatic valve is located at the bottom of the sampling cylinder, and the inlet end of the water intake pipe is fixed on the top side wall of the sampling cylinder; a water quality sediment probe is also installed on the outer wall of the sampling cylinder.

[0011] Preferably, the drive structure includes a bracket mounted on the top of a support plate, a motor fixed on the bracket, a drive gear fixed on the output shaft of the motor, a first driven gear fixed on the first screw, a second driven gear fixed on the second screw, and a third driven gear fixed on the third screw. The number of teeth of the first, second, and third driven gears decreases progressively and meshes sequentially. The first driven gear meshes with the drive gear. Through each stage of transmission, the screws are driven to rotate synchronously. The differential speed extension and retraction control of each sleeve is achieved by combining the difference in the pitch of each screw.

[0012] Preferably, the bottom of the fixed cylinder is provided with an outer fastening ring, which is fastened and connected to the inner fastening ring at the top of the first sleeve. Each sleeve fastening joint is provided with a sealing ring, which is fixed inside the outer fastening ring to achieve sealing after fastening.

[0013] Preferably, the sample storage assembly includes a water sample container, a sediment container, and a valve assembly. Both the water sample container and the sediment container are mounted on the unmanned surface vessel. Each water sample container is connected to a water sample inlet pipe, and the inlet of each water sample inlet pipe is connected to the valve assembly. The inlet of the valve assembly is connected to the outlet of the water intake pipeline, and a water pump is installed on the water intake pipeline. The valve assembly controls the connection between the water intake pipeline and each water sample inlet pipe, distributing water samples to the corresponding water sample containers. The sediment container contains a lifting rod and is positioned directly below the sampling cylinder when the support plate rotates to the unloading position.

[0014] Preferably, the information acquisition system includes a hydrological acquisition unit and an underwater camera. The hydrological acquisition unit includes a depth detection device, a current velocity and direction detection device, and a Seymonic disk, which are used to acquire water depth, current velocity, current direction data, and water transparency data at the survey points, respectively. The underwater camera is used to capture images of submerged plants and sediments. After the captured images are processed by the information receiving and processing terminal, information such as the presence, type, coverage, and biomass of submerged plants, as well as sediment particle size, water content, and category information are obtained. The information acquired by the information acquisition system is transmitted to the information receiving and processing terminal in real time through a wireless communication unit.

[0015] Preferably, the automatic valve includes multiple L-shaped connecting plates evenly distributed at the bottom of the sampling cylinder. The corners of the L-shaped connecting plates are hinged to the bottom of the sampling cylinder. One end of the L-shaped connecting plate is a fan-shaped plate, and the other end is a long strip plate. The long strip plate has symmetrically arranged first receiving cavities. A second receiving cavity is provided in the middle of the symmetrically arranged first receiving cavities. A first spring is installed in each of the first receiving cavities. A sliding block is slidably connected to the inner side of each of the first springs. The head of the sliding block is located in the second receiving cavity, and the end of the sliding block extends out of the first receiving cavity and out to the outside of the long strip plate. A locking rod is fixed on the inner wall of the sampling tube. The locking rod is located at the rotation radius of the sliding block. A hemispherical locking block is provided at the end of the locking rod. A receiving groove is provided on the hemispherical locking block. An unlocking block is slidably connected to the locking rod. A guide slope is provided on both the side of the unlocking block facing the hemispherical locking block and the side facing away from the hemispherical locking block. A second spring is provided between the unlocking block and the hemispherical locking block.

[0016] Preferably, the sampling system further includes a cleaning component, which includes a cleaning water pipe installed on the unmanned vessel. The cleaning water pipe is equipped with a water pump and a solenoid valve. The inlet of the cleaning water pipe is located at the bottom of the vessel, and the outlet of the cleaning water pipe extends from the top of the fixed cylinder to the bottom of the fixed cylinder. A high-pressure water nozzle is installed at the outlet of the cleaning water pipe.

[0017] This invention also claims protection for a method of applying a detection device to assist in the recovery of submerged plants, comprising the following steps: S1: Set the cruise route and fixed sampling points. The working system drives the unmanned boat to sail along the set route and hovers at each survey point. S2: The information acquisition system simultaneously conducts underwater information acquisition, obtains data on water depth, flow velocity, flow direction and water transparency at corresponding locations, captures images of underwater submerged plants and sediments, and acquires physical and chemical parameters of water and sediments online. The information is transmitted to the information receiving and processing terminal in real time. S3: Synchronized with S2, the sampling system simultaneously collects water samples and sediments: the drive structure drives the telescopic sleeve assembly to extend downwards axially in stages; during the extension process, the water pump is started to extract water samples at different depths, which are then distributed to the corresponding water sample buckets via the valve group; after the sleeve extends to the set depth, the sampling tube is inserted into the sediment at the bottom of the water, and the upward resistance of the sediment triggers the automatic valve to close, sealing the sediment; S4: The drive structure rotates in reverse, driving the sleeve telescopic assembly to retract step by step; then the support plate rotates to the unloading position, the sampling tube is facing the sediment bucket, the lifting rod inside the sediment bucket touches the fan-shaped plate, triggering the automatic valve to unlock and open, and the sediment falls into the sediment bucket at the corresponding point; then the support plate rotates to reset, and the cleaning assembly rinses the inner wall of the sampling tube. S5: After the unmanned vessel completes all the site surveys and returns, it performs physicochemical analysis on the samples in the water and sediment containers; the information receiving and processing terminal integrates all the survey data and images to obtain information on the habitat and submerged plant distribution at each site. S6: Based on the field detection data, image information and laboratory physicochemical analysis results obtained from S2 to S5, the surveyed water area is divided into regions: for healthy distribution areas, areas with a small number of distributions, potential recovery areas and unsuitable areas, recovery strategies such as preservation, optimized replanting, artificial restoration or habitat improvement are formulated respectively. S7: After the restoration project is completed, use this detection device to track and detect along the preset route, dynamically evaluate the restoration effect, and guide subsequent operation and maintenance.

[0018] Compared with the prior art, the present invention has the following beneficial effects: (1) This invention significantly improves the sampling accuracy and data reliability of water environment detection by optimizing the sampling system structure. Specifically, the telescopic sampling mechanism adopts a multi-stage sleeve design with fastening rings and seals. During the telescopic process, it can be fastened and extended, effectively isolating the internal and external water bodies, avoiding mixing and contamination of water samples at different depths during the collection process, and ensuring the accuracy of stratified sampling. At the same time, the sampling tube at the end of the mechanism integrates a sediment containment chamber and a water sample collection pipeline. During the telescopic process, water samples at different depths can be extracted as needed, and finally inserted into the sediment for storage and retrieval through an automatic valve. In the same action, water samples at different depths and two different samples can be collected simultaneously, achieving strict correspondence between water samples and sediments in terms of location collection. This eliminates the point deviation problem existing in the traditional step-by-step sampling method, making the paired water samples and sediments obtained in continuous multi-point mobile detection highly consistent and comparable, providing reliable basic data support for subsequent habitat analysis.

[0019] (2) This invention integrates an autonomous navigation platform, a multi-source information acquisition system, and a synchronous sampling system to form an efficient and accurate submerged plant habitat detection scheme. The unmanned vessel platform is equipped with hydrological sensors and underwater cameras, enabling synchronous in-situ acquisition of water depth, current velocity, transparency, and underwater images; the retractable synchronous sampling mechanism ensures that water samples and sediment samples with strict spatiotemporal correspondence can be collected simultaneously in single-point operations. The data and samples collected by each subsystem are comprehensively interpreted and analyzed through an information processing terminal, ultimately enabling the acquisition of a complete habitat dataset covering hydrological conditions, water quality parameters, sediment characteristics, and submerged plant community status in one go. The technical solution of this invention solves the limitations of traditional methods, such as scattered detection elements and low spatiotemporal matching of data, and provides systematic technical support for the suitability assessment and precise implementation of submerged plant restoration.

[0020] (3) The present invention can simultaneously acquire the hydrological, sediment characteristics and submerged plant distribution characteristics of the water body, and simultaneously monitor other indicators of water quality and sediment, and assist the system in identifying suitable restoration areas for submerged plants, thus avoiding the investment risks of blindly carrying out large-scale submerged plant restoration. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of the detection device of the present invention; Figure 2 This is a schematic diagram of the overall structure of the acquisition system of the detection device of the present invention; Figure 3 This is a schematic diagram of the exploded structure of the retractable sleeve assembly of the detection device of the present invention; Figure 4 This is the present invention. Figure 3 A partially enlarged structural diagram; Figure 5This is a cross-sectional structural schematic diagram of the telescopic sleeve assembly of the detection device of the present invention; Figure 6 yes Figure 5 A partially enlarged structural diagram; Figure 7 This is a schematic diagram of the information acquisition system of the detection device of the present invention; Figure 8 This is a top view schematic diagram of the automatic valve structure of the detection device of the present invention; Figure 9 This is a schematic diagram of the L-shaped connecting plate structure of the detection device of the present invention; Figure 10 This is a partial half-section structural diagram of the automatic valve of the detection device of the present invention; Figure 11 yes Figure 10 A partially enlarged structural diagram; Figure 12 This is a schematic cross-sectional view of the sliding block of the elongated plate in the detection device of the present invention. Figure 13 This is a three-dimensional structural diagram of the automatic valve of the detection device of the present invention.

[0022] In the diagram: 100, Working system; 200, Data acquisition system; 300, Sample storage assembly; 500, Telescopic sampling mechanism; 110, Unmanned surface vessel; 120, Wireless communication unit; 210, Positioning system; 140, Power propulsion system; 150, Obstacle avoidance system; 220, Hydrological data acquisition unit; 240, Water depth detection equipment; 250, Flow direction detection equipment; 260, Sesquiter plate; 270, Underwater camera; 310, Water sample container; 320, Sediment container; 330, Valve assembly; 340, Water sample inlet pipe; 321, Lifting rod; 510, Column; 520, Support plate; 530, Telescopic sleeve assembly; 540, Drive structure; 550, Support; 560, Motor; 570, Water quality sediment probe; 580, Automatic valve. 590. Valve; 531. Water intake pipe; 532. Fixed cylinder; 533. First sleeve; 534. Second sleeve; 535. Third sleeve; 536. Inner fastening ring; 537. Outer fastening ring; 538. Sealing ring; 539. Sampling cylinder; 541. Drive gear; 542. First driven gear; 543. Second driven gear; 544. Third driven gear; 561. First screw; 562. Second screw; 563. Third screw; 581. L-shaped connecting plate; 582. First receiving cavity; 583. Second receiving cavity; 584. First spring; 585. Sliding block; 586. Locking rod; 587. Hemispherical locking block; 588. Unlocking block; 589. Second spring; 5811. Fan-shaped plate; 5812. Long strip plate. Detailed Implementation

[0023] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention. Furthermore, the embodiments and features in the embodiments of the present invention can be combined with each other without conflict.

[0024] Example 1 Reference Figure 1-13 A detection device to assist in the recovery of submerged plants, comprising: The working system 100 is used for water navigation and is equipped with an information acquisition system 200 and a sampling system to obtain coordinate information of survey points, store and transport relevant water quality and sediment samples; the working system 100 includes an unmanned vessel 110, a wireless communication unit 120, a power propulsion system 140, and an obstacle avoidance system 150. Information Acquisition System 200 is used for underwater information acquisition; A sampling system for simultaneously collecting water and sediment samples; The sampling system includes a retractable sampling mechanism 500 installed on the working system 100, and a sample storage component 300 for storing samples; the bottom of the retractable sampling mechanism 500 is provided with an automatic valve 580 for controlling the entry and exit of sediments, and the retractable sampling mechanism 500 is provided with a water intake pipe 590 to realize the synchronous collection of water samples and sediments. The information receiving and processing terminal is used to receive information from the information acquisition system 200 and process the samples collected by the sampling system to obtain data on the presence or absence of submerged plants, submerged plant species, submerged plant coverage, submerged plant biomass level, and sediment pollution level, and then perform comprehensive discrimination analysis.

[0025] The four main components of the detection device function in tandem. The working system 100 serves as the transport and communication platform for the entire device, carrying the information acquisition system 200 and the sampling system to navigate along a preset route in the target water body. The obstacle avoidance system 150 can specifically employ millimeter-wave radar or ultrasonic sensors, with its sensor housing securely connected to the bow or top of the unmanned vessel 110 via fasteners, achieving automatic obstacle avoidance in conjunction with control algorithms. The antenna of the positioning system 210 and the wireless communication unit 120 are located on the top deck of the unmanned vessel 110 to ensure signal transmission and reception. The propulsion system 140 is located on the top deck of the unmanned vessel 110. The stern provides underwater propulsion; the positioning system 210 records the coordinates of each survey point in real time, and the wireless communication unit 120 transmits the collected data back to the information receiving and processing terminal on shore in real time; the information acquisition system 200 conducts underwater exploration simultaneously while the unmanned vessel 110 is hovering; the sampling system completes the simultaneous collection of water samples and sediments within the same hovering window, and the samples are brought back to the laboratory for further analysis; the information receiving and processing terminal summarizes all the above data and performs comprehensive judgment, outputting the assessment results of water quality, sediment, and submerged plant distribution at each point, providing data support for the formulation of subsequent restoration strategies.

[0026] It should be noted that the working system 100 also includes a main control module located inside the unmanned vessel 110, which is used for the electrical logic control and command issuance of the entire vessel's equipment.

[0027] The sampling system utilizes a retractable sampling mechanism 500 and a sample storage assembly 300 working in tandem. The retractable sampling mechanism 500 can extend downwards to the bottom of the water when the unmanned vessel 110 is hovering. An automatic valve 580 at its bottom controls the entry and exit of sediments, while the internal water intake pipe 590 extracts water samples at different depths as needed during the extension of the sleeve. This enables simultaneous collection of water samples and sediments at the same location, avoiding spatial errors caused by multiple operations.

[0028] In this embodiment, the information acquisition system 200 includes a positioning system 210, a hydrological acquisition unit 220, and an underwater camera 270. The hydrological acquisition unit 220 includes a water depth detection device 240, a current velocity and direction detection device 250, and a Seymonic disk 260, which are used to acquire water depth, current velocity, current direction data, and water transparency data at the survey points, respectively. The underwater camera 270 is used to capture images of submerged plants and sediments. After the captured images are processed by the information receiving and processing terminal, information such as the presence, type, coverage, and biomass level of submerged plants, as well as the type and pollution level of sediments, is obtained. The information acquired by the information acquisition system 200 is transmitted in real time to the information receiving and processing terminal through the wireless communication unit 120.

[0029] The water depth detection device 240 can be an acoustic depth sounder or an ultrasonic sensor, installed on the bottom of the unmanned vessel 110, to continuously acquire water depth data along the route during navigation; the current velocity and direction detection device 250 can be an acoustic Doppler current meter, fixed to the side or bottom of the unmanned vessel 110 by a bracket, to synchronously collect current velocity and direction information at corresponding points when the unmanned vessel 110 hovers; the Seidon disk 260 is set on the bottom of the unmanned vessel 110 through a winch mechanism, and acquires water transparency data through standard operating procedures, reflecting the optical characteristics of the water body, which is an important parameter for judging the light accessibility of submerged plants. The underwater camera 270 is waterproofly mounted on the hull of the unmanned vessel 110 or on the outside of the sampling bracket. It is equipped with a supplementary lighting source to overcome the impact of insufficient underwater lighting on image quality. After the captured images of submerged plants and sediments are transmitted to the information receiving and processing terminal, they can be supervised classification and interpretation using ArcGIS or other classification technology platforms to obtain information such as the presence, species, coverage, and biomass level of submerged plants at each location, as well as the particle size and pollution level of sediments. All data acquired by the information acquisition system 200 is transmitted in real-time to the information receiving and processing terminal via the wireless communication unit 120, facilitating real-time monitoring of the exploration progress by operators on shore.

[0030] In this embodiment, the retractable sampling mechanism 500 includes a column 510 mounted on the unmanned vessel 110, a support plate 520 rotatably connected to the column 510, and a sleeve telescopic assembly 530 fixed to one end of the support plate 520 away from the column 510; the sleeve telescopic assembly 530 includes a fixed cylinder 531 fixed below the support plate 520, and at least two telescopic sleeves are sequentially fitted on the outside of the fixed cylinder 531; the support plate 520 is provided with a driving structure 540, which drives the telescopic sleeves to extend or retract axially step by step.

[0031] The column 510 of the retractable sampling mechanism 500 is vertically fixed to the hull of the unmanned vessel 110. The support plate 520 is rotatably connected to the column 510, allowing the support plate 520 to rotate in the horizontal plane, thus switching between the sampling position and the unloading position. The telescopic sleeve assembly 530 suspended at the far end of the support plate 520 is located above the water surface on the side of the vessel during sampling, and can rotate to be directly above the sediment bucket 320 during unloading. The fixed cylinder 531 is fixed below the support plate 520, serving as the fixed reference for the entire telescopic structure. Each level of telescopic sleeve extends downwards sequentially from the fixed cylinder 531. The drive structure 540 is installed above the support plate 520, driving each telescopic sleeve to extend or retract axially in stages via mechanical transmission. The extension depth can be flexibly controlled according to the actual water depth, making it suitable for survey points at different depths.

[0032] It should be noted that the rotation of the support plate 520 is achieved by a motor. The motor is fixed on the column 510 by a column bracket, and the output shaft of the motor is fixedly connected to the support plate 520 to achieve the rotation of the support plate 520. This is existing technology and will not be described in detail here. A protective sleeve is provided on the outside of the telescopic sleeve and is fixed on the support plate 520. This can avoid the risk of injury to maintenance personnel when the telescopic component and the screw drive are in operation during maintenance.

[0033] In this embodiment, the telescopic sleeve includes a first sleeve 532, a second sleeve 533, and a third sleeve 534 sequentially sleeved on the outside of the fixed sleeve 531; a first screw 561 is engaged with the outer wall of the first sleeve 532, a second screw 562 is engaged with the outer wall of the second sleeve 533, and a third screw 563 is engaged with the outer wall of the third sleeve 534; the lengths of the first sleeve 532, the second sleeve 533, and the third sleeve 534 increase sequentially, and each has an inner fastening ring 535 at the top and an outer fastening ring 536 at the bottom, with adjacent inner fastening rings 535... The outer locking ring 536 can be fastened to prevent the sleeve from coming out; the first screw 561, the second screw 562, and the third screw 563 are all rotatably connected to the bearing plate 520 with increasing pitch, and are all driven by the drive structure 540 to realize the step-by-step extension and retraction of each sleeve; the bottom of the third sleeve 534 is fixed with a sampling cylinder 539, the automatic valve 580 is set at the bottom of the sampling cylinder 539, and the inlet end of the water intake pipe 590 is fixed on the top side wall of the sampling cylinder 539; a water quality sediment probe 570 is also installed on the outer side wall of the sampling cylinder 539.

[0034] The first sleeve 532 is directly fitted onto the outside of the fixed sleeve 531, the second sleeve 533 is fitted onto the outside of the first sleeve 532, and the third sleeve 534 is fitted onto the outside of the second sleeve 533. The lengths of the three sleeves increase sequentially. In the retracted state, the sleeves are tightly nested, without occupying excessive shipboard space. Each sleeve has a threaded structure on its outer wall that meshes with the corresponding screw. When the screw rotates, the rotational motion is converted into the axial linear motion of the sleeve. The inner locking ring 535 at the top of each sleeve and the outer locking ring 536 at the bottom of the adjacent upper-level sleeve engage with each other when the sleeve is extended to its limit position, preventing the sleeve from falling off and achieving inter-stage connection in the extended state. The sampling tube 539 is fixed to the bottom of the outermost third sleeve 534 and moves down to near the bottom of the water as the third sleeve 534 extends. An automatic valve 580 is located at the bottom of the sampling tube 539; closing the automatic valve after the sampling tube 539 is inserted into the sediment seals the sediment. The inlet end of the water intake pipe 590 is fixed to the top side wall of the sampling tube 539, ensuring that the inlet is always in the water body and not inside the sediment, thus preventing sediment from clogging the pipe. A water quality sediment probe 570 is installed on the outer wall of the sampling tube 539 and can continuously acquire water quality and sediment physicochemical parameters at different depths as the sampling tube 539 moves down with the sleeve, simultaneously with the collection of water and sediment samples.

[0035] Specifically, the water sediment probe 570 is a multi-parameter composite probe integrating electrodes for pH, dissolved oxygen, conductivity, and redox potential. It is fixed to the outer wall of the sampling tube 539 via a dedicated mounting bracket and fasteners. When lowered into the water body, it acquires water quality data. When inserted into the bottom of the water along with the sampling tube, the electrodes directly contact the bottom sediment to obtain sediment physicochemical parameters.

[0036] It should be noted that a filter screen is also installed at the water inlet of the water intake pipe 590 to prevent impurities in the water from entering and causing blockage. The water intake pipe 590 is equipped with a pipe retractor in the middle of the hull. When the telescopic sleeve is extended, the pipe retractor extends the water intake pipe 590 so that it enters the water along with the sampling tube 539. After sampling is completed, when the telescopic sleeve is retracted, the pipe retractor winds up the water intake pipe 590 to prevent it from accumulating in the telescopic sleeve and causing the water pipe to become knotted.

[0037] The above structure achieves a large telescopic stroke within a limited installation space through a three-stage nested sleeve and differential drive of each stage screw. At the same time, it integrates sampling and measurement functions at the telescopic end, resulting in a compact structure and high operating efficiency.

[0038] In this embodiment, the drive structure 540 includes a bracket 550 disposed on the top of the support plate 520. A motor 560 is fixed on the bracket 550. A drive gear 541 is fixed on the output shaft of the motor 560. A first driven gear 542 is fixed on the first screw 561, a second driven gear 543 is fixed on the second screw 562, and a third driven gear 544 is fixed on the third screw 563. The number of teeth of the first driven gear 542, the second driven gear 543, and the third driven gear 544 decreases progressively and meshes sequentially. The first driven gear 542 meshes with the drive gear 541. Through each stage of transmission, the screws are driven to rotate synchronously. The differential speed extension and retraction control of each sleeve is achieved by combining the difference in the pitch of each screw.

[0039] The motor 560 is fixed above the bracket 550. Its output shaft has a driving gear 541 that directly meshes with the first driven gear 542. The first driven gear 542 then meshes with the second driven gear 543, and the second driven gear 543 meshes with the third driven gear 544, forming a series transmission chain. Because the number of teeth on the three driven gears decreases progressively, the rotational speeds from the first driven gear 542 to the third driven gear 544 increase sequentially according to the gear transmission relationship. The three driven gears are respectively fixed to the first screw 561, the second screw 562, and the third screw 563, thus each screw achieves a different rotational speed. Furthermore, because the pitch of the three screws increases progressively, the combined effect of the rotational speed difference and the pitch difference results in the third sleeve 534 having the maximum axial linear velocity and the first sleeve 532 having the minimum axial linear velocity. This achieves differential speed extension and retraction of each sleeve under a single motor drive, eliminating the need for multiple independent drive units, resulting in a relatively simple structure and clear control logic.

[0040] The combined transmission design of gear set and screw, with tooth number distribution and pitch configuration jointly determining the extension speed ratio of each sleeve, enables each sleeve to extend and retract in a predetermined order, reducing the control complexity of multi-stage telescopic mechanism, while reducing the number of drive components, which helps to reduce the power consumption and maintenance cost of the whole machine; specifically, the tooth number distribution and pitch configuration are set according to the actual situation, and are not limited here.

[0041] In this embodiment, the bottom of the fixed cylinder 531 is provided with an outer fastening ring 536, which is fastened and connected to the inner fastening ring 535 at the top of the first sleeve 532. Each sleeve fastening joint is provided with a sealing ring 538, which is fixed inside the outer fastening ring 536 to achieve sealing after fastening.

[0042] After the outer snap ring 536 at the bottom of the fixed cylinder 531 is engaged with the inner snap ring 535 at the top of the first sleeve 532, the sealing ring 538 is pressed tightly against the engagement interface to prevent water from seeping into the inner cavity from the sleeve connection. This avoids water mixing during water sampling, which could lead to inaccurate sampling and inaccurate analysis. Each sleeve engagement point is equipped with a sealing ring 538 of the same structure. The sealing ring 538 is fixed to the bottom of the outer snap ring 536 and is compressed by the inner snap ring 535 when the engagement is completed, thus creating a sealing effect without the need for additional sealing operations.

[0043] In this embodiment, the sample storage assembly 300 includes a water sample container 310, a sediment container 320, and a valve assembly 330. Both the water sample container 310 and the sediment container 320 are mounted on the unmanned vessel 110. Each water sample container 310 is connected to a water sample inlet pipe 340, and the inlet of each water sample inlet pipe 340 is connected to the valve assembly 330. The inlet of the valve assembly 330 is connected to the outlet of the water intake pipeline 590, and a water pump is installed on the water intake pipeline 590. The valve assembly 330 is used to control the connection between the water intake pipeline 590 and each water sample inlet pipe 340, distributing the water sample to the corresponding water sample container 310. The sediment container 320 is equipped with a lifting rod 321 and is positioned directly below the sampling cylinder 539 when the support plate 520 is rotated to the unloading position.

[0044] The sample storage assembly 300 returns together with the unmanned vessel 110 after completing operations at all survey points. Water samples and sediments from each point are stored in corresponding numbered water sample containers 310 and sediment containers 320 to avoid sample mixing. The valve assembly 330 is a multi-way switching valve, and its connection with each water sample inlet pipe 340 is automatically switched by the control system according to the current point number. After the water pump on the water intake pipeline 590 is started, the water sample is distributed to the corresponding water sample container 310 via the valve assembly 330. When unloading sediment samples, the support plate 520 rotates on the column 510, turning the sampling tube 539 directly above the sediment bucket 320. After the support plate 520 is turned to the unloading position, the lifting rod 321 inside the sediment bucket 320 touches the fan-shaped plate 5811, triggering the automatic valve 580 to unlock. The fan-shaped plate 5811 opens downward under the action of sediment gravity, and the sediment falls into the sediment bucket 320 at the corresponding point by its own gravity. The operation is simple and does not require additional mechanical scraping.

[0045] In this embodiment, the automatic valve 580 includes multiple L-shaped connecting plates 581 evenly distributed at the bottom of the sampling cylinder 539. The corners of the L-shaped connecting plates 581 are hinged to the bottom of the sampling cylinder 539. One end of the L-shaped connecting plate 581 is a fan-shaped plate 5811, and the other end is a long strip plate 5812. The long strip plate 5812 is provided with symmetrically arranged first receiving cavities 582. A second receiving cavity 583 is provided in the middle of the symmetrically arranged first receiving cavities 582. A first spring 584 is installed in each of the first receiving cavities 582. A sliding block 585 is slidably connected to the inner side of each of the first springs 584. The head of the sliding block 585 is located in the second receiving cavity 583, and the end of the sliding block 585 extends out of the first receiving cavity 582 and out to the outside of the long strip plate 5812. A locking rod 586 is fixed on the inner wall of the sampling tube 539. The locking rod 586 is located at the rotation radius of the sliding block 585. A hemispherical locking block 587 is provided at the end of the locking rod 586. A receiving groove is provided on the hemispherical locking block 587. An unlocking block 588 is slidably connected to the locking rod 586. The unlocking block 588 has guide slopes on both the side facing the hemispherical locking block 587 and the side away from the hemispherical locking block 587. A second spring 589 is provided between the unlocking block 588 and the hemispherical locking block 587.

[0046] Multiple sector plates 5811 are joined together while being pushed by the soil, sealing the bottom opening of the sampling tube 539. Unlocking occurs when the lifting rod 321 is in the lifting state, and the sliding block 585 remains extended at its end under the elastic force of the first spring 584. The end of the sliding block 585 is arc-shaped near the sleeve; the second spring 589 keeps the unlocking block 588 in its initial position away from the hemispherical locking block 587.

[0047] It should be noted that the lifting rod 321 can be a telescopic rod or a rod. When it is a rod, the function of contacting the sector plate 5811 can also be achieved by driving the sampling cylinder 539 downward through the drive assembly. A limiter is provided on the sampling cylinder outside the sector plate 5811 to prevent the sector plate 5811 from rotating outward and causing sampling failure. Additionally, arc-shaped plates can be provided on both sides of the elongated plate 5812 to increase the soil compression area during sediment sampling, better pushing the elongated plate 5812 upward and accelerating the sampling process. A limiter is provided on the sliding block 585, which returns to its original position under the action of the first spring 582. A sealing ring is provided on the side of the sliding block 585 extending out of the elongated plate 5812 to prevent mud and sand from entering and causing blockage.

[0048] In this embodiment, the sampling system further includes a cleaning component, which includes a cleaning water pipe installed on the unmanned vessel. The cleaning water pipe is equipped with a water pump and a solenoid valve. The inlet of the cleaning water pipe is located at the bottom of the vessel, and the outlet of the cleaning water pipe extends from the top of the fixed cylinder 531 to below the fixed cylinder 531. A high-pressure water nozzle is installed at the outlet of the cleaning water pipe.

[0049] The inlet of the cleaning water pipe is located at the bottom of the unmanned surface vessel 110, directly drawing raw water from the water body as the cleaning water source, eliminating the need for an additional cleaning water tank. The outlet of the cleaning water pipe extends from the top to the bottom of the fixed cylinder 531 along the inner wall, allowing the high-pressure water nozzles to directly rinse the inner wall of the sampling cylinder 539 and the area of ​​the automatic valve 580. After unloading samples at one location, the control system starts the cleaning water pump and simultaneously opens the solenoid valve. High-pressure water is sprayed through the nozzles to wash away the sediment remaining on the inner wall of the sampling cylinder 539 and at the bottom of the automatic valve. The cleaning wastewater is discharged directly into the water body from the bottom of the sampling cylinder 539. After cleaning, the solenoid valve closes, and the device can be moved to the next survey location for operation. This cleaning mechanism effectively prevents cross-contamination of sediment samples between adjacent survey locations, ensuring the independence and representativeness of samples from each location.

[0050] Example 2 A method for applying the aforementioned detection device for assisting the recovery of submerged plants includes the following steps: S1: Place the detection device in the target water body, set the cruise route and fixed sampling points, and drive the unmanned vessel 110 to sail along the set route in remote control mode or preset route autonomous cruise mode. After the unmanned vessel 110 reaches each survey point, it hovers at the fixed point. Before departure, the unmanned surface vessel 110 should rationally plan the cruise route and the number and distribution of sampling points according to the area, shape and accuracy requirements of the survey waters. The positioning system 130 can use RTK-GNSS to improve the accuracy of the point coordinates. The obstacle avoidance system 150 automatically identifies and avoids obstacles on the water surface during navigation to ensure navigation safety.

[0051] S2: The information acquisition system 200 simultaneously conducts underwater information acquisition: the hydrological acquisition unit 220 acquires water depth, flow velocity and flow direction data at the corresponding points, the Sebastian disk 260 acquires water transparency data, the underwater camera 270 captures images of underwater submerged plants and sediments, and the water quality and sediment probe 570 acquires the physical and chemical parameters of the water body and sediments at the corresponding points online. All information is transmitted in real time to the information receiving and processing terminal through the wireless communication unit 120. S3: Synchronized with S2, the sampling system simultaneously collects water and sediment samples. The drive structure 540 drives the first screw 561, second screw 562, and third screw 563 to rotate synchronously. Utilizing the difference in the successively increasing screw pitch and the successively decreasing number of teeth on the driven gears, the first sleeve 532, second sleeve 533, and third sleeve 534 are driven to extend downwards at differential speeds. During the extension process, the third sleeve 534 moves downwards at the fastest speed. The top of the third sleeve 534 and the bottom of the second sleeve 533 are engaged by the inner engaging ring 535 and the outer engaging ring 536. During engagement, the third sleeve 534 rotates in tandem with the second sleeve 533 and disengages from the engagement range of the third screw 563. Subsequently... The top of the second sleeve 533 is fastened to the bottom of the first sleeve 532 in sequence. When fastening, the second sleeve 533 disengages from the engagement of the second screw 562. Then, the top of the first sleeve 532 is fastened to the bottom of the fixed sleeve 531, completing the extension process. During the extension process, the water pump is started as needed to extract water samples at different depths. The water samples are distributed to the corresponding water sample buckets 310 through the water intake pipe 590 and the valve group 330. When the sampling tube 539 is inserted into the sediment at the bottom of the water, the sediment generates upward resistance on the elongated plate 5812, forcing the L-shaped connecting plate 581 to rotate around the hinge point. The fan-shaped plate 5811 flips upward and closes. At the same time, the elongated plate 5812 rotates accordingly, causing the sliding block 585 to rotate to the locking rod 586. When the end of the sliding block 585 contacts the outer arc surface of the hemispherical locking block 587, it is squeezed inward by the guide slope and compresses the first spring 584 to retract. After passing the hemispherical locking block 587, the first spring 584 resets and pops the sliding block 585 out. The end of the sliding block 585 is engaged with the outside of the hemispherical locking block 587, locking the L-shaped connecting plate 581 in the closed position, and the sediment is sealed in the sampling tube 539. S4: After sampling is completed, the drive structure 540 reverses its rotation, causing each screw to rotate in the opposite direction. The first sleeve 532 moves upward under the drive of the first screw 561, and its outer locking ring 536 at the bottom engages with the inner locking ring 535 at the top of the second sleeve 533, causing the second sleeve 533 to rise together. When the second sleeve 533 re-engages with the second screw 562, its top disengages from the bottom of the first sleeve 532, and it continues to move upward under the drive of the second screw 562. Subsequent sleeves follow the same principle. The disengagement mechanism is switched to the corresponding screw drive, completing the differential speed step-by-step retraction; subsequently, the bearing plate 520 rotates to the sample unloading position, and the sampling tube 539 faces the sediment bucket 320. At this time, the top of the lifting rod 321 inside the sediment bucket 320 pushes upward to touch the fan-shaped plate 5811, pushing the L-shaped connecting plate 581 to continue rotating around the hinge point. The long strip plate 5812 drives the sliding block 585 to move towards the inside of the sampling tube 539. The sliding block 585 passes over the hemispherical locking block 587 and moves to the side of the unlocking block 588 facing away from the hemispherical locking block 587. Subsequently, the lifting rod 321 is released, and the sector plate 5811 tends to open downwards under the gravity of the sediment, causing the sliding block 585 to move back in the opposite direction. The sliding block 585 contacts the guide slope of the unlocking block 588 on the side opposite to the hemispherical locking block 587, pushing the unlocking block 588 along the locking rod 586 towards the hemispherical locking block 587, compressing the second spring 589. The unlocking block 588 is embedded in the receiving groove of the hemispherical locking block 587, and the unlocking block 588 and the side of the hemispherical locking block 587 are in contact with each other. The sliding block 585 continues to slide along the guide slope of the unlocking block 588 on the side opposite to the hemispherical locking block 587, passing the hemispherical locking block 587, disengaging from the locked state. The L-shaped connecting plate 581 is unlocked, and the sector plate 5811 flips downwards and opens under the gravity of the sediment, allowing the sediment to fall from the bottom of the sampling tube 539 into the sediment bucket 320. After the sample is unloaded, the support plate 520 rotates and resets to above the water surface. The cleaning component uses a high-pressure water nozzle to rinse the inner wall of the sampling tube 539 and the automatic valve 580. The cleaning wastewater is discharged into the water body, waiting for the next sampling. S5: After completing the survey of all points, the unmanned vessel 110 returns and retrieves the samples from the water sample container 310 and sediment container 320 at each point. Further physicochemical index analysis is conducted in the laboratory. The information receiving and processing terminal integrates the coordinate information of each survey point, the physicochemical parameters of the water body and sediment, water depth, flow velocity, flow direction, and transparency data, and processes the images captured by the underwater camera 270 to obtain information on the presence, type, coverage, biomass level, sediment type, and pollution level of each point. The physicochemical indicators specifically include total nitrogen, total phosphorus, ammonia nitrogen, and chemical oxygen demand in water samples, as well as organic matter content, total nitrogen, and total phosphorus in sediments.

[0052] S6: Based on all data obtained from S2-S5, the surveyed water areas are divided into regions and restoration strategies are formulated: No restoration measures are required in areas with healthy submerged plant distribution; areas with a small number of submerged plant distributions should be appropriately optimized and replanted, referring to the community structure of healthy areas; areas without submerged plant distributions but with suitable water quality, sediment, and hydrological conditions are listed as potential restoration areas and can be directly restored artificially; areas without submerged plant distributions and with unsuitable conditions should first optimize water, hydrological, or sediment habitat conditions before restoration is implemented; areas without submerged plant distributions and with severely unsuitable conditions are not recommended for restoration at this time. S7: After the implementation of the submerged plant restoration and habitat restoration project, this detection device will be used again to track and detect the restoration area along the preset route, dynamically evaluate the restoration effect, and take enhanced restoration or other operation and maintenance measures based on the monitoring results.

[0053] Although the present invention has been disclosed above with reference to embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present invention. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the scope of the present invention.

Claims

1. A detection device to assist in the recovery of submerged plants, characterized in that: include, The working system (100) is used for water navigation and is equipped with an information acquisition system (200) and a sampling system to obtain the coordinate information of the survey points and store and transport relevant water quality and sediment samples. The working system (100) includes an unmanned vessel (110), a wireless communication unit (120), a power propulsion system (140), and an obstacle avoidance system (150). Information acquisition system (200), used for underwater information acquisition; A sampling system for simultaneously collecting water and sediment samples; The sampling system includes a retractable sampling mechanism (500) installed on the working system (100) and a sample storage component (300) for storing samples; the bottom of the retractable sampling mechanism (500) is equipped with an automatic valve (580) for controlling the entry and exit of sediments, and the retractable sampling mechanism (500) is equipped with a water intake pipe (590) to realize the synchronous collection of water samples and sediments; The information receiving and processing terminal is used to receive information from the information acquisition system (200) and process the samples collected by the sampling system to obtain data on the presence or absence of submerged plants, submerged plant species, submerged plant coverage, submerged plant biomass level, and sediment pollution level, and then perform comprehensive discrimination analysis.

2. The detection device for assisting the recovery of submerged plants according to claim 1, characterized in that: The information acquisition system (200) includes a positioning system (210), a hydrological acquisition unit (220), and an underwater camera (270). The hydrological acquisition unit (220) includes a water depth detection device (240), a flow velocity and flow direction detection device (250), and a Seidon disk (260), which are used to acquire water depth, flow velocity and flow direction data and water transparency data at the survey points, respectively. The underwater camera (270) is used to capture images of submerged plants and sediments. After the captured images are processed by the information receiving and processing terminal, information such as the presence, type, coverage, and biomass of submerged plants, as well as sediment particle size, water content, and category information are obtained. The information acquired by the information acquisition system (200) is transmitted to the information receiving and processing terminal in real time through the wireless communication unit (120).

3. The detection device for assisting the recovery of submerged plants according to claim 1, characterized in that: The retractable sampling mechanism (500) includes a column (510) mounted on an unmanned vessel (110), a support plate (520) rotatably connected to the column (510), and a sleeve telescopic assembly (530) fixed at one end of the support plate (520) away from the column (510); the sleeve telescopic assembly (530) includes a fixed cylinder (531) fixed below the support plate (520), and at least two telescopic sleeves are sequentially fitted on the outside of the fixed cylinder (531); the support plate (520) is provided with a driving structure (540), which drives the telescopic sleeves to extend or retract axially step by step.

4. The detection device for assisting the recovery of submerged plants according to claim 3, characterized in that: The telescopic sleeve includes a first sleeve (532), a second sleeve (533), and a third sleeve (534) sequentially sleeved on the outside of the fixed sleeve (531); a first screw (561) is engaged on the outer wall of the first sleeve (532), a second screw (562) is engaged on the outer wall of the second sleeve (533), and a third screw (563) is engaged on the outer wall of the third sleeve (534); the lengths of the first sleeve (532), the second sleeve (533), and the third sleeve (534) increase sequentially, and each has an inner fastening ring (535) at the top and an outer fastening ring (536) at the bottom. Adjacent inner fastening rings (535) and... The outer locking ring (536) can be fastened to prevent the sleeve from coming out; the first screw (561), the second screw (562), and the third screw (563) are all rotatably connected to the bearing plate (520) and the pitch increases sequentially. They are all driven by the drive structure (540) to realize the step-by-step extension and retraction of each sleeve; the bottom of the third sleeve (534) is fixed with a sampling tube (539), the automatic valve (580) is set at the bottom of the sampling tube (539), and the inlet end of the water intake pipe (590) is fixed on the top side wall of the sampling tube (539); a water quality sediment probe (570) is also installed on the outer side wall of the sampling tube (539).

5. The detection device for assisting the recovery of submerged plants according to claim 4, characterized in that: The drive structure (540) includes a bracket (550) set on the top of the support plate (520). A motor (560) is fixed on the bracket (550). A drive gear (541) is fixed on the output shaft of the motor (560). A first driven gear (542) is fixed on the first screw (561), a second driven gear (543) is fixed on the second screw (562), and a third driven gear (544) is fixed on the third screw (563). The number of teeth of the first driven gear (542), the second driven gear (543), and the third driven gear (544) decreases step by step and meshes in sequence. The first driven gear (542) meshes with the drive gear (541). Through the transmission of each stage, the screws are driven to rotate synchronously. The differential speed extension and retraction control of each sleeve is realized by combining the difference in the pitch of each screw.

6. The detection device for assisting the recovery of submerged plants according to claim 4, characterized in that: The bottom of the fixed cylinder (531) is provided with an outer fastening ring (536), which is fastened to the inner fastening ring (535) at the top of the first sleeve (532). Each sleeve fastening joint is provided with a sealing ring (538), which is fixed inside the outer fastening ring (536) to achieve sealing after fastening.

7. The detection device for assisting the recovery of submerged plants according to claim 4, characterized in that: The sample storage assembly (300) includes a water sample container (310), a sediment container (320), and a valve assembly (330). Both the water sample container (310) and the sediment container (320) are mounted on an unmanned vessel (110). Each water sample container (310) is connected to a water sample inlet pipe (340), and the inlet of each water sample inlet pipe (340) is connected to the valve assembly (330). The inlet of the valve assembly (330) is connected to a water intake pipeline. (590) At the outlet end, a water pump is installed on the water intake pipeline (590); the valve group (330) is used to control the connection between the water intake pipeline (590) and each water sample inlet pipe (340) to distribute the water sample to the corresponding water sample bucket (310); the sediment bucket (320) is equipped with a lifting rod (321), and the sediment bucket (320) is located directly below the sampling tube (539) when the bearing plate (520) is rotated to the unloading position.

8. The detection device for assisting the recovery of submerged plants according to claim 4, characterized in that: The automatic valve (580) includes multiple L-shaped connecting plates (581) evenly distributed at the bottom of the sampling tube (539). The corners of the L-shaped connecting plates (581) are hinged to the bottom of the sampling tube (539). One end of the L-shaped connecting plate (581) is a fan-shaped plate (5811), and the other end is a long strip plate (5812). The long strip plate (5812) is provided with symmetrically arranged first receiving cavities (582). The first receiving cavities (582) are provided with a second receiving cavity (583) in the middle. Each of the first receiving cavities (582) is equipped with a first spring (584). Each of the first springs (584) is slidably connected to a sliding block (585). The head of the sliding block (585) is located in the second receiving cavity (583), and the end of the sliding block (585) extends out of the first receiving cavity (582) and out to the outside of the long strip plate (5812). A locking rod (586) is fixed on the inner wall of the sampling tube (539). The locking rod (586) is located at the rotation radius of the sliding block (585). A hemispherical locking block (587) is provided at the end of the locking rod (586). A receiving groove is provided on the hemispherical locking block (587). An unlocking block (588) is slidably connected to the locking rod (586). The unlocking block (588) has guide slopes on both the side facing the hemispherical locking block (587) and the side away from the hemispherical locking block (587). A second spring (589) is provided between the unlocking block (588) and the hemispherical locking block (587).

9. The detection device for assisting the recovery of submerged plants according to claim 3, characterized in that: The sampling system also includes a cleaning component, which includes a cleaning water pipe installed on the unmanned vessel. The cleaning water pipe is equipped with a water pump and a solenoid valve. The inlet of the cleaning water pipe is located at the bottom of the vessel, and the outlet of the cleaning water pipe extends from the top of the fixed cylinder (531) to below the fixed cylinder (531). The outlet of the cleaning water pipe is equipped with a high-pressure water nozzle.

10. A method for applying the detection device for assisting the recovery of submerged plants as described in any one of claims 1 to 9, characterized in that: Includes the following steps: S1: Set the cruise route and fixed sampling points. The working system (100) drives the unmanned boat (110) to sail along the set route and hover at each survey point. S2: The information acquisition system (200) simultaneously carries out underwater information acquisition, obtains the coordinates, water depth, flow velocity, flow direction and water transparency data of the corresponding points, takes pictures of underwater submerged plants and sediments, and transmits the information to the information receiving and processing terminal in real time. S3: Synchronous with S2, the sampling system carries out simultaneous collection of water samples and sediments: the drive structure (540) drives the sleeve telescopic assembly (530) to extend downwards along the axial direction step by step; during the extension process, the water pump is started to extract water samples at different depths, which are distributed to the water sample buckets (310) at the corresponding points through the valve group (330); after the sleeve extends to the set depth, the sampling tube (539) is inserted into the sediment at the bottom of the water, and the upward resistance of the sediment triggers the automatic valve (580) to close, sealing the sediment; S4: The drive structure (540) rotates in reverse, driving the sleeve telescopic assembly (530) to retract step by step; then the support plate (520) rotates to the unloading position, the sampling tube (539) faces the sediment bucket (320), the lifting rod (321) inside the sediment bucket (320) touches the fan-shaped plate (5811), triggering the automatic valve (580) to unlock and open, and the sediment falls into the sediment bucket (320) at the corresponding point; then the support plate (520) rotates to reset, and the cleaning assembly rinses the inner wall of the sampling tube (539); S5: After the unmanned vessel (110) returns from all point detections, it will conduct laboratory physicochemical index analysis on the samples in the water sample container (310) and sediment container (320); the information receiving and processing terminal will integrate all detection data and images to analyze and obtain information on sediment habitat and submerged plant distribution at each point. S6: Based on the field detection data, image information and laboratory physicochemical analysis results obtained from S2 to S5, the surveyed water area is divided into regions: for healthy distribution areas, areas with a small number of distributions, potential recovery areas and unsuitable areas, recovery strategies such as preservation, optimized replanting, artificial restoration or habitat improvement are formulated respectively. S7: After the restoration project is completed, use this detection device to track and detect along the preset route, dynamically evaluate the restoration effect, and guide subsequent operation and maintenance.

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