A marine environment tracking and monitoring device and method based on Beidou communication

Abstract

The present invention discloses a Beidou communication-based marine environment tracking and monitoring device, comprising: a first platform, surrounded by a buoyancy ring; a pusher device fixedly connected to one end of the platform; and a telescoping device fixedly connected to the end of the pusher device. This device can monitor water temperature and salinity at different depths based on actual needs, meeting measurement requirements at varying seawater depths and improving the accuracy of measurement results.

Description

Technical Field

[0001] The present invention belongs to the technical field of ocean monitoring, and in particular relates to a device and method for tracking and monitoring an ocean environment based on Beidou communication. Background Art

[0002] The description in this section merely provides background information related to the disclosure of this application and does not constitute prior art.

[0003] For the study of the marine environment, marine environmental monitoring equipment is needed, and continuous observation is required to obtain a report with reference value. Several observation points are set up in the sea area to be investigated, and continuous observation is carried out at each observation point for more than one month.

[0004] When an ocean observation device is dropped to a designated location, it can generally only observe the water temperature and salinity at a specific depth. This makes it difficult to measure water temperature and salinity at different depths as needed, and it cannot meet the measurement requirements of different seawater depths, resulting in deviations in the measurement results and affecting the accuracy of the measurement results. Furthermore, it is impossible to measure the hydrological conditions of multiple water areas at once.

[0005] Existing patents offer some solutions, such as US Patent No. 8867315B2, "Compatible Wave Mitigation Device and Method." The device and method described in this patent relate to a device that enables a surface buoy mooring system to detect and monitor underwater noise in most sea and weather conditions. Specifically, the system and method described herein provide a mooring system that can support a hydrophone or other underwater listening device connected to a surface buoy located in a deep-sea location. However, this system only supports monitoring in selected sea areas and cannot achieve the goal of monitoring and providing data feedback in multiple sea areas. The inventors believe that there is significant room for improvement.

[0006] It should be noted that the above introduction to the technical background is merely intended to provide a clear and complete description of the technical solutions of this application and facilitate understanding by those skilled in the art. Simply because these solutions are described in the background technology section of this application, it should not be assumed that the above technical solutions are well known to those skilled in the art. Summary of the Invention

[0007] In order to solve the problem that the measurement results of the above-mentioned monitoring device may be biased, affecting the accuracy of the measurement results, and at the same time, it is impossible to measure the hydrological conditions of multiple waters at one time, the present invention provides a marine environment tracking and monitoring device and method based on Beidou communication.

[0008] The technical solution adopted by the present invention to achieve the above-mentioned purpose is: a marine environment tracking and monitoring device based on Beidou communication, comprising: a first platform, a buoyancy ring is arranged around the outside of the first platform, an end face of one side of the first platform is fixedly connected to a pushing device, and an end face of the pushing device is fixedly connected to a telescopic device.

[0009] When the device is working, the monitoring device needs to be placed on the sea surface, and the first gear transmission system and the second gear transmission system in the telescopic device start working. The gear transmission systems push the first push plate and the second push plate respectively so that the bottom length of the telescopic device reaches the target sea depth, and the water flow meter starts to measure and record the current velocity at the current depth.

[0010] In the present invention, the first platform is stepped, with one end being a frustum structure, one end of which is connected to two cylinders in sequence, the first platform includes a second cylinder, partitions are evenly distributed around the inside of the second cylinder, one end of the second cylinder is fixedly connected to the first cylinder, the first cylinder is a solid structure, a communication device is abutted against the end face of the first cylinder, a fixing ring is provided around the outside of the communication device, and the fixing ring is fixedly connected to the inner wall of the first platform.

[0011] The communication device mentioned in the present invention is disclosed in the prior art, and the specific technical solution can be referred to CN113359170B. A plurality of partitions are provided in the hollow chamber below the first body. The purpose is that when the drainage matrix enters the first body, its outer diameter just matches the inner diameter of the partition. The drainage matrix starts to drain through the conduit connected above it. The partition abuts against the drainage matrix to prevent water from flowing out of the gap, thereby achieving the purpose of water storage and measuring multiple hydrological conditions in one operation.

[0012] In the present invention, the telescopic device includes: a drainage base, a first shell is arranged around the water flow outlet of the drainage base, a first gear transmission system is provided in the first shell, the output end of the first gear transmission system is fixedly connected to the first push plate, one end of the first push plate is fixedly connected to the support plate, a shock absorber is provided in the support plate, a second gear transmission system is provided on one side of the shock absorber, the output end of the second gear transmission system is fixedly connected to the second push plate, one end of the second push plate is fixedly connected to the second shell, a through hole is provided inside the second shell and a plurality of water flow speed meters are provided on the end face.

[0013] Furthermore, a groove is provided on the inclined surface of the first shell, and a groove for the movement of the first push plate is provided between the first push plate and the first shell. The bottom of the first gear transmission system is fixedly connected to a base plate, and the base plate is fixedly connected to the first shell. A support base is provided between the shock absorber and the second gear transmission system, and the support base is provided with a notch on one side of the second gear transmission system. The notch and the second push plate are in transition fit. The bottom of the second gear transmission system is fixedly connected to the support base, and the support base is arranged around the drainage base, and the drainage base and the support base are in transition fit.

[0014] According to one embodiment of the present invention, when the telescopic device is in operation, its first and second gear transmission systems are simultaneously activated. The push plate begins to extend and push under the force of the rack, causing the entire telescopic device to be stretched. Simultaneously, because the device is located below the sea surface, seawater flows in through the through-holes in the second housing and further into the drainage matrix. Since the fastening ring wrapped around the outer surface of the drainage matrix is ​​fixedly connected to a support matrix on one side, when the first gear transmission system is activated, the first push plate moves, pushing the support matrix below and driving the drainage matrix downward. Due to the large amount of seawater flowing in, the center of gravity of the device as a whole shifts downward from the buoyancy ring to a point within the telescopic device. Due to the lowered center of gravity, the device is less affected by surface waves, reducing the amplitude of the device's heaving in the seawater, allowing the water velocity meter to more accurately measure the flow rate. Furthermore, since the fastening ring at the outer end of the drainage matrix is ​​fixedly connected to the support matrix, the internal hollow area is reduced after water is poured in. Compared to the original hollow structure, the telescopic device has a stronger ability to resist the impact of horizontal water flow. Due to the stretching action of the gear transmission system, the overall center of gravity of the device shifts downward, making the monitoring device as a whole light on the top and heavy on the bottom. For offshore monitoring devices, their upper part is located above the sea surface and needs to withstand the impact of waves and sea breeze. The lower center of gravity position can better avoid the device from capsizing.

[0015] According to one embodiment of the present invention, the pushing device includes a first transmission warehouse, a plurality of openings are provided on the surface of the first transmission warehouse, one end of the first transmission warehouse is fixedly connected to the second transmission warehouse, a plurality of transmission columns are evenly distributed on one end of the second transmission warehouse, the transmission column is a combination structure of a cylinder and a cube, and a first fan and a second fan are respectively provided on the two end surfaces of one side of the cube of the transmission column, the first fan and the second fan are located on the same axis and multiple first fans are arranged side by side.

[0016] In the present invention, five holes are opened on the surface of the first transmission bin, four of which are holes for connection, and the center hole is used for the movable displacement of the drainage base. A turbine transmission system is provided in the first transmission bin, and the worm of the turbine transmission system is fixedly connected to the first transmission bin. A large gear is fixedly connected to the output end of the turbine transmission system, and a plurality of small gears are provided on the outside of the large gear. The gear train composed of the large gear and the small gear is a fixed-axis gear train, and the output shaft of the small gear abuts the rotating wheel, and the rotating wheel is provided inside one side of the transmission column cube.

[0017] When the push mechanism is activated, its internal turbine rotates, driving other gears and, in turn, the two fans at the bottom. This creates a current in the seawater, pushing the device along the surface. The communication device within the first unit effectively locates the device, facilitating subsequent salvage operations. Simultaneously, the fan rotation creates vortices within its blades, creating a low-pressure environment in a small area around it. This helps to gather water around the device, effectively clearing debris and other impurities from the vicinity of the telescopic mechanism.

[0018] The shock absorber includes a shock absorber shell, in which a second buffer layer is fixedly connected. The second buffer layer is composed of a three-layer structure. The upper layer of the second buffer layer is a crescent-shaped structure, the middle layer of the second buffer layer is a spherical structure with rollers provided inside, the lower layer of the second buffer layer is a smaller crescent-shaped structure, a part of the lower layer of the second buffer layer is wrapped by the upper layer, and a redundant space is left between the shock absorber shell and the second buffer layer, which space is the first buffer layer.

[0019] The shock absorber is connected to the first and second gear transmission systems via bolts. The connection between the gear transmission systems is structurally fragile. Seawater first impacts the telescopic device housing. The impact force is then appropriately reduced by the first buffer layer before being transmitted to the second buffer layer, which further reduces the impact force. Finally, the forces generated by the roller collision offset each other, buffering the impact of the ocean current while also protecting the gear rack from loosening. In addition, the rollers shake when impacted by the ocean current, offsetting the external impact force, reducing resonance and improving the stability of the device. When the water storage device stores some water and the drainage device shifts upward, the center of gravity gradually shifts upward. The reduced buffering provided by the shock absorber prevents the device from capsizing. This shock absorber can reduce the impact of the horizontal ocean current, protecting the gear transmission system.

[0020] Compared with the prior art, the present invention has the following technical effects: when the telescopic device and the drainage base are working, their own weight can be increased, thereby causing the center of gravity of the monitoring device as a whole to shift downward, so that the device as a whole can resist the impact of horizontal water flow and prevent overturning; the pushing device can enable the fan to drive the monitoring device to drift between different sea areas, and at the same time the fan can clean the pollutants wrapped in the outer shell of the telescopic device to a certain extent; the shock absorber alleviates the horizontal impact force to protect the gear transmission system, avoiding loosening between the gear rack, and at the same time the roller hitting the inner wall and the external impact force offset each other, reducing the resonance effect and improving the stability of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a schematic structural diagram of a marine environment tracking and monitoring device based on Beidou communication involved in the present invention;

[0022] Figure 2 This is a schematic diagram of the first body structure involved in the present invention;

[0023] Figure 3 This is a schematic structural diagram of the pushing device involved in the present invention;

[0024] Figure 4 This is a schematic diagram of the internal transmission structure of the pushing device involved in the present invention;

[0025] Figure 5 This is a schematic structural diagram of the telescopic device involved in the present invention;

[0026] Figure 6 It is a partially enlarged schematic diagram of the gear transmission system involved in the present invention;

[0027] Figure 7 It is a partially enlarged schematic diagram of the shock absorber connection structure involved in the present invention;

[0028] Figure 8 This is a schematic structural diagram of the shock absorber involved in the present invention.

[0029] Description of reference numerals:

[0030] 1-first platform; 2-buoyancy ring; 3-pushing device; 4-telescopic device;

[0031] 11-communication device; 12-fixing ring; 13-first column; 14-second column; 15-partition;

[0032] 31-first transmission compartment; 32-second transmission compartment; 33-first fan; 34-transmission column; 35-second fan; 31A-turbine transmission system; 32A-large gear; 34A-rotating wheel;

[0033] 41 - first housing; 42 - drainage base; 431 - first gear transmission system; 432 - second gear transmission system; 44 - first push plate; 45 - support plate; 451 - shock absorber; 452 - support base; 46 - support plate; 47 - second housing; 48 - water flow speed meter;

[0034] 451A-vibration-damping shell; 451B-first buffer layer; 451C-roller; 451D-second buffer layer. DETAILED DESCRIPTION

[0035] Example 1:

[0036] See attached Figure 1 ,2 shows that the technical solution adopted by the present invention to achieve the above-mentioned purpose is: a marine environment tracking and monitoring device based on Beidou communication, comprising: a first platform 1, a buoyancy ring 2 is provided around the outer periphery of the first platform 1, a pushing device 3 is fixedly connected to the end face of one side of the first platform 1, and the end face of the pushing device 3 is fixedly connected to the telescopic device 4.

[0037] Among them, the first platform 1 is stepped, with one end being a frustum structure, and one end of the frustum is connected to two cylinders in sequence. The first platform 1 includes a second cylinder 14, and partitions 15 are evenly distributed around the second cylinder 14. One end of the second cylinder 14 is fixedly connected to the first cylinder 13. The first cylinder 13 is a solid structure. A communication device 11 is abutted against the end face of the first cylinder 13. A fixing ring 12 is provided around the outside of the communication device 11, and the fixing ring 12 is fixedly connected to the inner wall of the first platform 1.

[0038] The communication device 11 mentioned in the present invention is disclosed in the prior art. The specific technical solution can be referred to CN113359170B. A plurality of partitions 15 are provided in the hollow chamber below the first body 1. The purpose is to match the outer diameter of the drainage matrix 42 with the inner diameter of the partition 15 when the drainage matrix 42 enters the first body 1. The drainage matrix 42 starts to drain through the conduit connected above it. The partition 15 abuts against the drainage matrix 42 to prevent water from flowing out of the gap, thereby achieving the purpose of water storage and measuring multiple hydrological conditions in one operation.

[0039] Example 2:

[0040] See attached Figure 1As shown in Figures 3 and 4, according to one embodiment of the present invention, the pushing device 3 includes a first transmission bin 31, a plurality of openings are provided on the surface of the first transmission bin 31, one end of the first transmission bin 31 is fixedly connected to the second transmission bin 32, and a plurality of transmission columns 34 are evenly distributed on one end of the second transmission bin 32. The transmission columns 34 are a combination structure of a cylinder and a cube, and a first fan 33 and a second fan 35 are respectively provided on the two end surfaces of one side of the cube of the transmission column 34. The first fan 33 and the second fan 35 are located on the same axis and multiple first fans 33 are arranged side by side.

[0041] In the present invention, five holes are opened on the surface of the first transmission chamber 31, four of which are holes for connection, and the center hole is used for the movable displacement of the drainage base 42. A turbine transmission system 31A is provided in the first transmission chamber 31, and the worm of the turbine transmission system 31A is fixedly connected to the first transmission chamber 31. The output end of the turbine transmission system 31A is fixedly connected to a large gear 32A, and a plurality of small gears are provided on the outside of the large gear 32A. The gear train composed of the large gear 32A and the small gears is a fixed-axis gear train, and the output shaft of the small gear abuts the rotating wheel 34A, and the rotating wheel 34A is provided inside one side of the cube of the transmission column 34.

[0042] When the pusher 3 is activated, its internal turbine rotates, driving other gears to rotate, which in turn causes the two fans at the bottom to rotate, creating a current in the seawater that propels it to drift on the surface. The communication device 11 located within the first body 1 effectively positions it, facilitating subsequent salvage operations. Simultaneously, the fan rotation creates vortices in the surrounding area, creating a low-pressure environment that helps the water flow converge and effectively clear debris and other impurities around the telescopic device 4.

[0043] Example 3:

[0044] Reference Attachment Figure 5 ,6,7, in the present invention, the telescopic device 4 includes: a drainage base 42, a first shell 41 is arranged around the water outlet of the drainage base 42, a first gear transmission system 431 is provided in the first shell 41, the output end of the first gear transmission system 431 is fixedly connected to the first push plate 44, one end of the first push plate 44 is fixedly connected to the support plate 45, a shock absorber 451 is provided in the support plate 45, a second gear transmission system 432 is provided on one side of the shock absorber 451, the output end of the second gear transmission system 432 is fixedly connected to the second push plate 46, one end of the second push plate 46 is fixedly connected to the second shell 47, the second shell 47 is provided with a through hole inside and a plurality of water flow speed meters 48 are provided on the end face.

[0045] Furthermore, a groove is provided on the inclined surface of the first shell 41, and a groove for the movement of the first push plate 44 is opened between the first push plate 44 and the first shell 41. A bottom plate is fixedly connected to the bottom of the first gear transmission system 431, and the bottom plate is fixedly connected to the first shell 41. A support base 452 is provided between the shock absorber 451 and the second gear transmission system 432, and the support base 452 is provided with a notch on one side of the second gear transmission system 432, and the notch and the second push plate 46 are in transition fit. The bottom of the second gear transmission system 432 is fixedly connected to the support base 452, and the support base 452 is arranged around the drainage base 42, and the drainage base 42 and the support base 452 are in transition fit.

[0046] According to one embodiment of the present invention, when the telescopic device 4 is working, its first gear transmission system 431 and the second gear transmission system 432 are started at the same time, and the push plate begins to extend and push under the action of the rack, so that the telescopic device 4 is stretched as a whole. At the same time, since the device is located below the sea surface, seawater flows in from the through hole in the second shell 47 and further flows into the drainage matrix 42. Since the fastening ring wrapped around the outside of the drainage matrix 42 is fixedly connected to the support matrix 452 on one side, when the first gear transmission system 431 is working, the first push plate 44 is displaced to push the lower support matrix 452 to move, and drive the drainage matrix 42 to move downward. Due to the influx of a large amount of seawater, the center of gravity of the entire device is shifted downward from the buoyancy ring 2 to a point in the telescopic device 4. Since the center of gravity sinks, the device is less affected by the waves on the sea surface, and the amplitude of the device's vertical swing in the sea water is reduced, so that the water flow meter 48 can more accurately measure the flow rate. Furthermore, because the fastening ring at the outer end of the drainage base 42 is fixedly connected to the support base 452, the internal hollow area decreases after water is poured in, making the telescopic device 4 more resistant to horizontal water flow impacts than the original hollow structure. Due to the tension of the gear transmission system, the overall center of gravity of the device shifts downward, resulting in the monitoring device being light on top and heavy on the bottom. For offshore monitoring devices, the upper portion is located above the sea surface and must withstand the impact of waves and wind. A lower center of gravity can effectively prevent the device from capsizing.

[0047] Example 4:

[0048] See attached Figure 8As shown, the shock absorber 451 includes a shock absorber shell 451A, and a second buffer layer 452D is fixedly connected to the shock absorber shell 451A. The second buffer layer 452D is composed of a three-layer structure. The upper layer of the second buffer layer 452D is a crescent-shaped structure, the middle layer of the second buffer layer 452D is a spherical structure and a roller 452C is provided inside it, the lower layer of the second buffer layer 452D is a smaller crescent-shaped structure, and a part of the lower layer of the second buffer layer 452D is wrapped by the upper layer. A redundant space is left between the shock absorber shell 451A and the second buffer layer 452D, and the space is the first buffer layer 452B.

[0049] Shock absorber 451 is bolted to first gear transmission system 431 and second gear transmission system 432. The connection between the gear transmission systems is structurally fragile. Seawater first impacts the housing of telescopic device 4. The impact force is then appropriately attenuated by first buffer layer 452B before being transmitted to second buffer layer 452D. Second buffer layer 452D further attenuates the impact force, and the forces generated by the collision with roller 452C offset each other, buffering the impact of the current and protecting the gear rack from loosening. Furthermore, the vibration of roller 452C when impacted by the current offsets the external impact force, reducing resonance and improving the stability of the device. Once the water storage device stores some water and the drainage device shifts upward, the center of gravity gradually shifts upward. The reduced cushioning provided by the shock absorber prevents the device from capsizing. Shock absorber 451 reduces horizontal impact from the current, protecting the gear transmission system.

[0050] Example 5:

[0051] When the device is working, the monitoring device needs to be placed on the sea surface, and the first gear transmission system 431 and the second gear transmission system 432 in the telescopic device 4 start to work. The gear transmission systems push the first push plate 44 and the second push plate 46 respectively so that the bottom length of the telescopic device 4 reaches the target sea depth, and the water flow meter 48 starts to measure and record the current velocity at the current depth.

[0052] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0053] The above embodiments merely illustrate several implementations of the present invention, and while their descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent. It should be noted that a person skilled in the art would be able to make various modifications and improvements without departing from the inventive concept, all of which fall within the scope of the invention. Therefore, the scope of protection of the patent for this invention shall be determined by the appended claims.

Claims

1. A marine environment tracking and monitoring device based on Beidou communication, comprising: A first platform (1), wherein a buoyancy ring (2) is provided around the outer surface of the first platform (1), an end surface of one side of the first platform (1) is fixedly connected to a pushing device (3), and an end surface of the pushing device (3) is fixedly connected to a telescopic device (4). It is characterized in that The telescopic device (4) comprises: a drainage base (42), a first shell (41) is arranged around the water outlet of the drainage base (42), a first gear transmission system (431) is arranged in the first shell (41), an output end of the first gear transmission system (431) is fixedly connected to a first push plate (44), one end of the first push plate (44) is fixedly connected to a support plate (45), a shock absorber (451) is arranged in the support plate (45), a second gear transmission system (432) is arranged on one side of the shock absorber (451), an output end of the second gear transmission system (432) is fixedly connected to a second push plate (46), one end of the second push plate (46) is fixedly connected to a second shell (47), a through hole is arranged in the interior of the second shell (47), and a plurality of water flow speed meters (48) are arranged on the end surface; A groove is provided on the inclined surface of the first shell (41), a groove for the first push plate (44) to move is provided between the first push plate (44) and the first shell (41), a bottom plate is fixedly connected to the bottom of the first gear transmission system (431), and the bottom plate is fixedly connected to the first shell (41), a support base (452) is provided between the shock absorber (451) and the second gear transmission system (432), and a notch is provided on one side of the second gear transmission system (432), and the notch and the second push plate (46) are in transition fit, the bottom of the second gear transmission system (432) is fixedly connected to the support base (452), the support base (452) is arranged around the drainage base (42), and the drainage base (42) and the support base (452) are in transition fit.

2. The marine environment tracking and monitoring device based on Beidou communication according to claim 1 is characterized in that The first platform (1) is in a stepped shape and includes a second column (14). Partitions (15) are evenly distributed around the inside of the second column (14). One end of the second column (14) is fixedly connected to the first column (13). The first column (13) is a solid structure. A communication device (11) is abutted against the end surface of the first column (13). A fixed ring (12) is provided around the outside of the communication device (11). The fixed ring (12) is fixedly connected to the inner wall of the first platform (1).

3. The marine environment tracking and monitoring device based on Beidou communication according to claim 2, characterized in that: The pushing device (3) includes a first transmission bin (31), a surface of the first transmission bin (31) is provided with a plurality of openings, one end of the first transmission bin (31) is fixedly connected to the second transmission bin (32), and one end of the second transmission bin (32) is uniformly provided with a plurality of transmission columns (34), the transmission columns (34) are a combination structure of a cylinder and a cube, and a first fan (33) and a second fan (35) are respectively provided on the two end surfaces of one side of the cube of the transmission column (34), the first fan (33) and the second fan (35) are located on the same axis, and the plurality of first fans (33) are arranged side by side.

4. The marine environment tracking and monitoring device based on Beidou communication according to claim 3, characterized in that: A turbine transmission system (31A) is provided in the first transmission chamber (31), a worm of the turbine transmission system (31A) is fixedly connected to the first transmission chamber (31), an output end of the turbine transmission system (31A) is fixedly connected to a large gear (32A), a plurality of small gears are provided on the outside of the large gear (32A), and a gear train consisting of the large gear (32A) and the small gears is a fixed-axis gear train, an output shaft of the small gears abuts against a rotating wheel (34A), and the rotating wheel (34A) is provided inside one side of the cube of the transmission column (34).

5. The marine environment tracking and monitoring device based on Beidou communication according to claim 1, characterized in that: The vibration damper (451) comprises a vibration damping shell (451A), a second buffer layer (452D) is fixedly connected inside the vibration damping shell (451A), the second buffer layer (452D) is composed of a three-layer structure, the upper layer of the second buffer layer (452D) is a crescent-shaped structure, the middle layer of the second buffer layer (452D) is a spherical structure and a roller (452C) is provided inside the spherical structure, the lower layer of the second buffer layer (452D) is a smaller crescent-shaped structure, a part of the lower layer of the second buffer layer (452D) is wrapped by the upper layer, and a redundant space is left between the vibration damping shell (451A) and the second buffer layer (452D), and the space is the first buffer layer (452B).

6. A method for tracking and monitoring marine environment based on Beidou communication, characterized in that: Using the Beidou communication-based marine environment tracking and monitoring device as claimed in claim 4, the monitoring method steps are as follows: Step S1, placing the monitoring device on the sea surface; In step S2, the first gear transmission system (431) and the second gear transmission system (432) in the telescopic device (4) start to work, and the gear transmission systems push the first push plate (44) and the second push plate (46) respectively so that the bottom length of the telescopic device (4) reaches the target sea depth, and the water flow velocity meter (48) starts to measure and record the current velocity at the current depth; Step S3, the drainage matrix (42) collects part of the seawater in the current sea area and analyzes the components therein; Step S4: After the measurement is completed, the turbine transmission system (31A) inside the pushing device (3) is started to make the monitoring device drift to the next sea area to be measured; Step S5: After the measurement is completed, the position of the object is located by the communication device (11) and the object is salvaged.

Images