Water surface pollutant monitoring equipment, monitoring method, and storage medium

Abstract

The present application provides a water surface pollutant monitoring device, comprising: a float; a driving device, arranged on a side of the float away from the water surface; a monitoring device, the monitoring device being connected to the driving device, and the monitoring device being used to monitor water surface pollutants; wherein the driving device is used to drive the monitoring device to rotate around a first central axis, and is also used to drive the monitoring device to move to change the angle value between the first central axis and the second central axis, wherein the first central axis is the central axis of the float, and the second central axis is the central axis of the monitoring device.

Description

Technical Field

[0001] The present application relates to the field of ocean monitoring technology, and in particular to a water surface pollutant monitoring device, a monitoring method, and a storage medium thereof. Background Art

[0002] Oil extraction, transportation, and processing typically occur in the ocean. The complex and volatile marine environment undoubtedly increases the risk of oily pollutant leaks. To protect the environment and human life and property, surface water pollution monitoring equipment is often deployed in areas at high risk of oily pollutant leaks. However, existing surface water pollution monitoring equipment typically uses a fixed-point monitoring method with a limited monitoring range. Summary of the Invention

[0003] The embodiments of the present application provide a water surface pollutant monitoring device, a monitoring method thereof, and a storage medium to expand the monitoring range of existing water surface pollutant monitoring devices.

[0004] In a first aspect, an embodiment of the present application provides a water surface pollutant monitoring device, comprising:

[0005] floating body;

[0006] A driving device is provided on a side of the floating body away from the water surface;

[0007] A monitoring device, connected to the driving device, and used for monitoring water surface pollutants;

[0008] In which, the driving device is used to drive the monitoring device to rotate around a first central axis, and is also used to drive the monitoring device to move to change the angle value between the first central axis and the second central axis, wherein the first central axis is the central axis of the float, and the second central axis is the central axis of the monitoring device.

[0009] In a second aspect, an embodiment of the present application provides a monitoring method for a water surface pollutant monitoring device as described in any one of the embodiments of the present application, the method comprising:

[0010] Turning on the monitoring device and controlling the driving device to drive the monitoring device to rotate around the first central axis from an initial position, wherein when the driving device is in the initial position, an angle between the second central axis and the first central axis is a first preset angle;

[0011] During the rotation of the monitoring device around the first central axis, the pollution intensity value of the nearby water body is obtained by the monitoring device;

[0012] If the pollution intensity value is less than the lower threshold intensity corresponding to the first measuring range of the monitoring device, narrowing the first measuring range to the target measuring range according to the pollution intensity value;

[0013] Control the driving device to increase the angle between the second central axis and the first central axis. During the process of increasing the angle, obtain the pollution intensity value of the nearby water body through the monitoring device. If the pollution intensity value is less than the lower limit threshold intensity corresponding to the target range, stop increasing the angle.

[0014] In a third aspect, an embodiment of the present application provides a storage medium for computer-readable storage, characterized in that the storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the steps of the monitoring method as described in any one of the embodiments of the present application.

[0015] The water surface pollutant monitoring device provided in an embodiment of the present application includes a float, a driving device, and a monitoring device, wherein the driving device is provided on the side of the float away from the water surface, the monitoring device is connected to the driving device, the monitoring device is used to monitor water surface pollutants, and the driving device is used to drive the monitoring device to rotate around a first central axis, and also to drive the monitoring device to move to change the angle between the first central axis and the second central axis, wherein the first central axis is the central axis of the float, and the second central axis is the central axis of the monitoring device. The water surface pollutant monitoring device drives the monitoring device to rotate around the first central axis by the driving device, and drives the monitoring device to move to change the angle between the first central axis and the second central axis, thereby adjusting the monitoring area of ​​the water surface pollutant monitoring device and thereby expanding the monitoring range of the water surface pollutant monitoring device. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0017] Figure 1 A schematic diagram of the structure of a water surface pollutant monitoring device provided in an embodiment of the present application;

[0018] Figure 2 A schematic diagram of the operation of the water surface pollutant monitoring device provided in an embodiment of the present application;

[0019] Figure 3A schematic diagram of the monitoring area of ​​the water surface pollutant monitoring equipment provided in an embodiment of the present application;

[0020] Figure 4 A schematic diagram of the structure of a water surface pollutant monitoring device provided in an embodiment of the present application;

[0021] Figure 5 A detection diagram of a water surface pollutant monitoring device provided in an embodiment of the present application;

[0022] Figure 6 A schematic diagram of a portion of the structure of the ultraviolet emission module provided in an embodiment of the present application;

[0023] Figure 7 A schematic diagram of a portion of the structure of a fluorescence receiving module provided in an embodiment of the present application;

[0024] Figure 8 A schematic diagram of the structure of the main circuit board provided in an embodiment of the present application;

[0025] Figure 9 A schematic flow chart of a monitoring method for a first water surface pollutant monitoring device provided in an embodiment of the present application;

[0026] Figure 10 A schematic flow chart of a monitoring method for a second water surface pollutant monitoring device provided in an embodiment of the present application;

[0027] Figure 11 A schematic diagram of the working environment of the water surface pollutant monitoring device provided in an embodiment of the present application;

[0028] Figure 12 A schematic flow chart of a monitoring method for a third water surface pollutant monitoring device provided in an embodiment of the present application;

[0029] Figure 13 A schematic flow chart of a monitoring method for a fourth type of water surface pollutant monitoring equipment provided in an embodiment of the present application.

[0030] Description of reference numerals:

[0031] 100. Water surface pollutant monitoring device; 10. First central axis; 20. Second central axis; 110. Floating body; 120. Driving device; 121. First driving mechanism; 1211. First housing; 1212. First motor; 1213. First rotating shaft; 1214. First coupling; 122. Second driving mechanism; 1221. Second housing; 1222. Second motor; 1223. Second rotating shaft; 1224. Second coupling; 130. Monitoring device; 131. Base; 1311. First light hole; 1312. Second light hole; 132. Cylinder; 133. Ultraviolet emission module; 134. 31. First light-shielding tube; 1332. UV LED lamp; 1333. First mounting plate; 1334. First convex lens; 1335. Heat sink; 1336. First sealing gasket; 1337. Temperature sensor; 134. Fluorescence receiving module; 1341. Light-shielding tube assembly; 1342. Optical signal receiver; 1343. Second mounting plate; 1344. Second convex lens; 1345. Second light-shielding tube; 1346. Third light-shielding tube; 1347. Filter; 1348. Fixing ring; 1349. Second sealing gasket; 135. First collimating tube; 136. Second collimating tube; 140. Main circuit board. DETAILED DESCRIPTION

[0032] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0033] In the description of this application, unless otherwise specified or limited, the terms "mounted," "connected," and "connected" should be understood broadly. For example, they can refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediary; and internal communication between two components. Those skilled in the art will understand the specific meanings of these terms in this application based on the specific circumstances.

[0034] Oil extraction, transportation, and processing typically occur in the ocean. The complex and volatile marine environment undoubtedly increases the risk of oily pollutant leaks. To protect the environment and human life and property, surface water pollution monitoring equipment is often deployed in areas at high risk of oily pollutant leaks. However, existing surface water pollution monitoring equipment typically uses a fixed-point monitoring method with a limited monitoring range.

[0035] To this end, an embodiment of the present application provides a water surface pollutant monitoring device, a monitoring method thereof, and a storage medium, which expands the monitoring range of the water surface pollutant monitoring device by adjusting the monitoring area of ​​the water surface pollutant monitoring device.

[0036] Some implementation methods of the present application are described in detail below with reference to the accompanying drawings. In the absence of conflict, the features in the following embodiments and implementation methods can be combined with each other.

[0037] See also Figure 1 , Figure 1 This is a schematic diagram of the structure of the water surface pollutant monitoring device 100 provided in an embodiment of the present application, as shown in FIG. Figure 1 As shown, the water surface pollutant monitoring equipment 100 includes a float 110, a driving device 120, and a monitoring device 130, wherein the driving device 120 is arranged on the side of the float 110 away from the water surface, and the monitoring device 130 is connected to the driving device 120. The monitoring device 130 is used to monitor water surface pollutants, and the driving device 120 is used to drive the monitoring device 130 to rotate around the first central axis 10, and is also used to drive the monitoring device 130 to move to change the angle value between the first central axis 10 and the second central axis 20, wherein the first central axis 10 is the central axis of the float 110, and the second central axis 20 is the central axis of the monitoring device 130.

[0038] Among them, the monitoring device 130 can be a camera, a detector, an optical instrument and other equipment. The embodiment of the present application does not limit the specific type of the monitoring device 130. According to the specific usage scenario, an appropriate type of equipment is selected as the monitoring device 130. For example, when monitoring floating objects on the river or lake surface, a camera can be selected as the monitoring device.

[0039] Among them, the driving device 120 can drive the monitoring device 130 to move through the rotating shaft to change the angle value between the first central axis 10 and the second central axis 20, and the driving device 120 can also drive the monitoring device 130 to move through the gear to change the angle value between the first central axis 10 and the second central axis 20. The embodiment of the present application does not limit the manner in which the driving device 120 drives the monitoring device 130 to move to change the angle value between the first central axis 10 and the second central axis 20, as long as the driving device 120 can drive the monitoring device 130 to move to change the angle value between the first central axis 10 and the second central axis 20.

[0040] For example, Figure 1 As shown, the driving device 120 drives the monitoring device 130 to move through the second rotating shaft 1223 to change the angle between the first central axis 10 and the second central axis 20. It can be understood that if the Figure 1 As a front view of the water surface pollutant monitoring device 100, Figure 2It can be regarded as a right view of the water surface pollutant monitoring device 100, from Figure 2 It can be seen that when the driving device 120 drives the monitoring device 130 to move, the movement mode of the monitoring device 130 is shown.

[0041] In some embodiments, when the driving device 120 drives the monitoring device 130 to move, the monitoring device 130 can Figure 3 Pollutant monitoring is carried out in the monitoring areas shown.

[0042] The water surface pollutant monitoring device 100 provided in the embodiment of the present application can adjust the monitoring area of ​​the water surface pollutant monitoring device 100 by driving the monitoring device 130 to rotate about the first central axis 10 through the driving device 120, and driving the monitoring device 130 to move to change the angle between the first central axis 10 and the second central axis 20, thereby expanding the monitoring range of the water surface pollutant monitoring device 100. The water surface pollutant monitoring device 100 can be used to monitor pollutants on the sea surface, lake surface, and river surface.

[0043] It should be noted that, as the angle between the first central axis 10 and the second central axis 20 increases, the ability of the monitoring device 130 to monitor water surface pollutants will gradually decrease. Therefore, the monitoring range of the water surface pollutant monitoring device 100 provided in the embodiment of the present application cannot be infinite. The driving device 120 drives the monitoring device 130 to rotate around the first central axis 10, and drives the monitoring device 130 to move to change the angle between the first central axis 10 and the second central axis 20 to form the following. Figure 2 The monitoring area shown.

[0044] In some embodiments, as Figure 1 As shown, the drive device 120 includes a first drive mechanism 121 and a second drive mechanism 122. The first drive mechanism 121 is located on the side of the floating body 110 away from the water surface, and the second drive mechanism 122 is connected to the first drive mechanism 121. The second drive mechanism 122 is also connected to the monitoring device 130. The first drive mechanism 121 is used to drive the second drive mechanism 122 to rotate about the first central axis 10, thereby driving the monitoring device 130 to rotate about the first central axis 10. The second drive mechanism 122 is used to drive the monitoring device 130 to change the angle between the first central axis 10 and the second central axis 20. The use of two drive mechanisms in the drive device 120 can improve the stability of the drive device 120 during operation.

[0045] In some embodiments, as Figure 1As shown, the first drive mechanism 121 includes a first housing 1211, and a first motor 1212 and a first rotating shaft 1213 disposed within the first housing 1211. The first motor 1212 drives the first rotating shaft 1213 to rotate about the first central axis 10. The second drive mechanism 122 includes a second housing 1221, and a second motor 1222 and a second rotating shaft 1223 disposed within the second housing 1221. The second housing 1221 is connected to the first rotating shaft 1213, and the second rotating shaft 1223 is connected to the monitoring device 130. The second motor 1222 drives the second rotating shaft 1223 to rotate, thereby driving the monitoring device 130 to rotate. The first housing 1211 protects the first motor 1212 and the first rotating shaft 1213 from damage by the external environment, thereby extending the service life of the first drive mechanism 121. The second housing 1221 protects the second motor 1222 and the second rotating shaft 1223 from damage by the external environment, thereby extending the service life of the second drive mechanism 122.

[0046] In some embodiments, as Figure 1 As shown, the first motor 1212 is connected to the first rotating shaft 1213 through a first coupling 1214, and the second motor 1222 is connected to the second rotating shaft 1223 through a second coupling 1224. Connecting the motor and the rotating shaft through a coupling can reduce the vibration caused by the motor and the rotating shaft during power transmission and improve the stability of the motor and the rotating shaft.

[0047] In some embodiments, as Figure 4 As shown, the monitoring device 130 includes a base 131, a cylinder 132, an ultraviolet emission module 133 and a fluorescent receiving module 134. The base 131 includes a first light hole 1311 and a second light hole 1312. The cylinder 132 is connected to the base 131 to form a storage space. The ultraviolet emission module 133 and the fluorescent receiving module 134 are arranged on the base 131 and located in the storage space. The ultraviolet emission module 133 is coaxial with the first light hole 1311, and the fluorescent receiving module 134 is coaxial with the second light hole 1312. Figure 3 As shown, when oily pollutants are present on the water surface, the monitoring device 130 provided in this embodiment can be used to monitor the oily pollutants on the water surface. Specifically, ultraviolet light emitted by the ultraviolet emitting module 133 is irradiated onto the sea surface through the first light hole 1311. The oily pollutants on the sea surface are excited by the ultraviolet light and generate fluorescence that is received by the fluorescence receiving module 134 through the second light hole 1312. Preferably, the monitoring device 130 of this embodiment is used to monitor oily pollutants on the sea surface.

[0048] The base 131 and the cylinder 132 can be made of stainless steel, which has explosion-proof and rust-proof properties.

[0049] In some embodiments, as Figure 5 As shown, the external ray transmitting module 133 emits ultraviolet rays. If there are oily pollutants in the monitoring area, the oily pollutants reflect fluorescence under the irradiation of ultraviolet rays, and the reflected fluorescence is received by the fluorescence receiving module 134.

[0050] In some embodiments, as Figure 4 As shown, the ultraviolet emission module 133 includes a first light-shielding tube 1331, an ultraviolet LED lamp 1332, a first mounting plate 1333, and a first convex lens 1334. The first light-shielding tube 1331 is arranged on the base 131 and is coaxially arranged with the first light-through hole 1311. The first mounting plate 1333 is arranged on the side of the first light-shielding tube 1331 away from the base 131. The ultraviolet LED lamp 1332 is arranged on the side of the first mounting plate 1333 close to the base 131. The first mounting plate 1333 is provided with a radiator 1335 for dissipating heat for the ultraviolet LED lamp 1332. The first convex lens 1334 is arranged in the first light-through hole 1311.

[0051] Among them, the inner wall of the first light-shielding tube 1331 needs to be black-plated to reduce the reflection of ultraviolet light. The first light-shielding tube 1331 can be connected to the base 131 by screws, and the first convex lens 1334 can be pressed into the first light-through hole 1311. The first mounting plate 1333 can be connected to the first light-shielding tube 1331 by screws. The ultraviolet LED lamp 1332 is used to emit ultraviolet rays, and the first convex lens 1334 is used to converge the ultraviolet rays emitted by the ultraviolet LED lamp 1332. The first convex lens 1334 can be any one of a double convex diameter, a plano-convex mirror, and a concave-convex mirror. The first convex lens 1334 can be a quartz lens. Heat dissipation of the ultraviolet LED lamp 1332 through the radiator 1335 can improve the service life of the ultraviolet LED lamp 1332.

[0052] In some embodiments, the emission wavelength band of the ultraviolet LED lamp 1332 is the deep ultraviolet region (the wavelength range of the deep ultraviolet region is between 200nm and 350nm), with a peak wavelength of 255nm and a half-peak width of 15nm.

[0053] In some embodiments, as Figure 4 As shown, first sealing gaskets 1336 are provided on both sides of the first convex lens 1334 to seal the first convex lens 1334 in the first light hole 1311 , thereby providing a certain degree of protection for the first convex lens 1334 .

[0054] In some embodiments, as Figure 6As shown, the ultraviolet emission module 133 also includes a temperature sensor 1337. The temperature sensor 1337 is installed on the first mounting plate 1333 and is in contact with the ultraviolet LED lamp 1332. The temperature sensor 1337 is used to measure the temperature of the ultraviolet LED lamp 1332 and send the measured temperature to the control module. When the temperature value received by the control module is greater than the preset temperature value, the control module controls the LED lamp to reduce the light intensity to reduce the temperature of the LED, thereby avoiding damage to the ultraviolet LED lamp 1332 due to excessive temperature.

[0055] It should be noted that the control module is described in detail below and will not be repeated here.

[0056] In some embodiments, as Figure 4 As shown, the fluorescent receiving module 134 includes a light-shielding tube assembly 1341, an optical signal receiver 1342, a second mounting plate 1343 and a second convex lens 1344. The light-shielding tube assembly 1341 is arranged on the base 131 and is coaxially arranged with the second light-through hole 1312. The second mounting plate 1343 is arranged on the side of the light-shielding tube assembly 1341 away from the base 131. The main circuit board 140 is arranged on the side of the second mounting plate 1343 away from the base 131. The optical signal receiver 1342 is arranged on the side of the main circuit board 140 close to the base 131. The optical signal receiver 1342 is coaxially arranged with the light-shielding tube assembly 1341, and the second convex lens 1344 is arranged in the second light-through hole 1312.

[0057] Among them, the interior of the light-shielding tube assembly 1341 is black-plated to reduce the reflection of fluorescent light. The light-shielding tube assembly 1341 can be connected to the base 131 by screws, and the second convex lens 1344 can be mortgaged in the second light-through hole 1312. The second mounting plate 1343 can be connected to the light-shielding tube assembly 1341 by screws. The optical signal receiver 1342 is used to receive the fluorescent signal and send the received fluorescent signal to the optical signal processing assembly. The second convex lens 1344 is used to converge the fluorescent light. The second convex lens 1344 can be any one of a double convex mirror, a plano-convex mirror, and a concave-convex mirror. The second convex lens 1344 can be a quartz lens.

[0058] In some embodiments, as Figure 4 and Figure 7 As shown, the main circuit board 140 can be fixed to one side of the second mounting plate 1343 by screws or other connection methods, and the optical signal receiver 1342 is connected to the main circuit board 140, and the optical signal receiver is set on the side of the main circuit board 140 close to the second mounting plate.

[0059] In some embodiments, the fluorescence sensitivity band of the optical signal receiver 1342 is in the near-ultraviolet region, with a gain range of 200 nm to 400 nm, completely suppressing wavelengths greater than 400 nm. This further suppresses the impact of stray visible light on monitoring and improves daytime monitoring accuracy.

[0060] It should be noted that the optical signal processing components are described in detail below and will not be repeated here.

[0061] In some embodiments, as Figure 4 As shown, second sealing gaskets 1349 are provided on both sides of the second convex lens 1344 to seal the second convex lens 1344 in the second light hole 1312 , thereby providing a certain degree of protection for the second convex lens 1344 .

[0062] In some embodiments, as Figure 4 As shown, the light-shielding tube assembly 1341 includes a second light-shielding tube 1345 , a third light-shielding tube 1346 , and a filter 1347 disposed between the second light-shielding tube 1345 and the third light-shielding tube 1346 .

[0063] Among them, the second light-shielding tube 1345 and the third light-shielding tube 1346 can be connected by screws, and the filter 1347 can be fixed to the third light-shielding tube 1346 by a fixing ring 1348. The filter 1347 is used to filter the sensitive band of the fluorescent receiver. The parameters of the filter 1347 can be selected according to the specific type of the fluorescent receiver. For example, when the fluorescent receiver is a photodiode, the filter 1347 can select a 365nm narrow-band filter 1347.

[0064] In some embodiments, the float 110 also includes a posture acquisition device (not shown), which is installed on the monitoring device 130. The posture acquisition device is used to detect the posture of the float 110 and send the detected posture data to the control module so that the control module controls the driving device 120 to drive the monitoring device 130 to move according to the posture information.

[0065] It should be noted that the specific method for the control module to control the driving device 120 to drive the monitoring device 130 to move according to the posture information is described in detail in the embodiment of the water surface pollutant monitoring method below, and will not be repeated here.

[0066] In some embodiments, as Figure 4 As shown, the monitoring device 130 also includes a first collimating cylinder 135 and a second collimating cylinder 136. The first collimating cylinder 135 is arranged on a side of the base 131 away from the ultraviolet emission module 133 and is coaxially arranged with the first light hole 1311. The second collimating cylinder 136 is arranged on the same side as the first collimating cylinder 135 and is coaxially arranged with the second light hole 1312.

[0067] Among them, the interior of the first collimating tube 135 is black-plated to reduce the reflection of ultraviolet light. The first collimating tube 135 is also used to reduce the interference of external ambient light on the ultraviolet light. The interior of the second collimating tube 136 is black-plated to reduce the reflection of fluorescent light. The second collimating tube 136 is also used to reduce the interference of external ambient light on the fluorescent light. The first collimating tube 135 and the second collimating tube 136 can be locked to the base 131 respectively by fasteners.

[0068] In some embodiments, as Figure 4 As shown, UV LED lamp 1332 continuously emits heat during operation, and optical signal receiver 1342 and other sensitive analog components on main circuit board 140 are easily affected by temperature interference, which can affect measurement results. The inner ends of first collimator 135 and second collimator 136 are not coplanar, so that UV LED lamp 1332 is staggered with optical signal receiver 1342, effectively reducing the impact of heat from UV LED lamp 1332 on optical signal receiver 1342.

[0069] The water surface pollutant monitoring device provided in the embodiment of the present application can adjust the monitoring area of ​​the water surface pollutant monitoring device by driving the monitoring device to rotate around the first central axis through the driving device, and driving the monitoring device to move to change the angle value between the first central axis and the second central axis, thereby expanding the monitoring range of the water surface pollutant monitoring device.

[0070] The present application also provides a monitoring method, which is executed by a control device of a water surface pollutant monitoring device, and the control device is arranged on a main circuit board. Figure 8 As shown, the main circuit board carries circuits for implementing multiple functions, including: a main control circuit, a first motor drive circuit, a second motor drive circuit, a photoelectric conversion circuit, a range adjustment circuit, a posture detection circuit, and a UV LED lamp circuit. The main control circuit controls other circuits to implement corresponding functions according to the monitoring method provided in this application.

[0071] like Figure 8 As shown, the main control circuit is connected to the first motor drive circuit and the second motor drive circuit. The first motor drive circuit is connected to the first motor, and the second motor drive circuit is connected to the second motor. The main control circuit is connected to the range adjustment circuit, which is connected to the photoelectric conversion circuit. The photoelectric conversion circuit is also connected to the optical signal receiver. The main control circuit is also connected to the posture detection circuit, which is part of the posture detection device and includes a sensor and peripheral circuits that support the sensor's operation. The main control circuit is also connected to the ultraviolet LED lamp circuit, which is in turn connected to the ultraviolet LED module.

[0072] The main control circuit is a logic control component that includes a controller and peripheral circuits that support its operation. The controller can be any type of electronic device that can be manually programmed, execute a program, and implement circuit control functions. This includes, but is not limited to, central processing units, microprocessors, microcontrollers, and programmable logic controllers.

[0073] Based on the function of attitude adjustment, the device can also be divided into an attitude adjustment device, which includes at least a first motor and a second motor. Furthermore, the attitude adjustment device includes a rotation regulator with at least two degrees of freedom and a connecting component. Each rotation regulator can limit the rotation of the motor within its corresponding degree of freedom, thereby controlling the rotation of the entire monitoring device. The connecting component secures the attitude adjustment device to the connected object, such as the float of a water surface pollutant monitoring device.

[0074] The number of motor drive circuits is no less than the number of the aforementioned rotary regulators. Each motor drive circuit is connected to a rotary regulator with a degree of freedom. The main control circuit controls the rotation of the rotary regulators with different degrees of freedom through the motor drive circuits, thereby driving the posture of the monitoring device.

[0075] See also Figure 9 ,like Figure 9 The first method for monitoring water surface pollutants provided in the embodiment of the present application is shown, and is used for any water surface pollutant monitoring device provided in the embodiment of the present application. The specific steps of the method include: S101-S104.

[0076] S101. Turn on the monitoring device and control the driving device to drive the monitoring device to rotate around the first central axis from an initial position, wherein when the monitoring device is in the initial position, the angle between the second central axis and the first central axis is a first preset angle.

[0077] It should be noted that the method of implementing monitoring and the form of the results are related to the type of monitoring device. For example, when the monitoring device is an optical instrument including an ultraviolet emitting module and a fluorescence receiving module, the method of controlling the monitoring device to monitor water surface pollutants is: controlling the ultraviolet emitting module to emit ultraviolet rays. When there are oily pollutants on the water surface, the oily pollutants on the water surface are excited by the ultraviolet rays to emit fluorescence, and the fluorescence is received by the fluorescence receiving module. The result is in the form of the intensity of the fluorescence.

[0078] Exemplarily, the control device controls the startup of the monitoring device. Specifically, the main control circuit sends a first startup signal to the ultraviolet LED lamp circuit. After receiving the first startup signal, the ultraviolet LED lamp circuit turns on the ultraviolet emission module, driving the ultraviolet LED lamp to emit ultraviolet light with a wavelength in the deep ultraviolet region. If oily hazardous chemicals are present in the monitoring area, they will be stimulated by the ultraviolet light to produce fluorescence. The main control circuit sends a second startup signal to the range adjustment circuit. After receiving the second startup signal, the range adjustment circuit sets the range to the first range, uses the first range to receive fluorescence information sent by the photoelectric conversion circuit, and converts the fluorescence information into a fluorescence intensity value before sending it to the main control circuit. The fluorescence intensity value is digital information that can be read by the main control circuit. The first range can be the maximum range of the range adjustment circuit, or it can be another numerical range close to the maximum range. After the monitoring device is turned on, the control device controls the drive device to start. Specifically, the main control circuit sends corresponding reset signals to the first motor drive circuit and the second motor drive circuit to control the first motor and the second motor to reset the monitoring device to an initial position. When the monitoring device is in the initial position, the angle between the second central axis and the first central axis is a first preset angle, for example, 45 degrees. After the monitoring device is reset, the drive device drives the monitoring device to rotate around the first central axis from the initial position.

[0079] In some embodiments, the first rotation mechanism rotates by a preset minimum step angle each time, for example, the step angle is 20°. Specifically, the main control circuit controls the first motor to rotate by the preset minimum step angle to drive the monitoring device to rotate about the first central axis, so that the overall posture of the monitoring device provided in the embodiments of the present application rotates by the preset minimum step angle on the horizontal plane.

[0080] S102. While the monitoring device is rotating around the first central axis, the pollution intensity value of the nearby water body is obtained through the monitoring device.

[0081] For example, the fluorescence generated by ultraviolet radiation in nearby water bodies is obtained through an optical signal receiver, the photoelectric conversion circuit reads the fluorescence information and transmits the fluorescence information to the range adjustment circuit, the range adjustment circuit modulates the fluorescence information to generate a fluorescence intensity value, and transmits the fluorescence intensity value to the main control circuit, and the control device calculates the pollution intensity value of the nearby water body based on the fluorescence intensity value.

[0082] In some embodiments, the period of rotating the monitoring device by a minimum step angle is used as the period for reading the fluorescence intensity value. The fluorescence receiving module can transmit the average fluorescence intensity value within the period to the control device, or can also transmit the maximum fluorescence intensity value within the period to the control device. The embodiments of the present application can also use other methods for calculating fluorescence intensity values, which are not limited here.

[0083] S103: If the pollution intensity value is less than the lower threshold intensity corresponding to the first measurement range of the monitoring device, reduce the first measurement range to the target measurement range according to the pollution intensity value.

[0084] Exemplarily, the main control circuit compares the pollution intensity value with a lower threshold intensity corresponding to the first measurement range. If the pollution intensity value is less than the lower threshold intensity corresponding to the first measurement range of the monitoring device, an instruction is issued to the measurement range adjustment circuit to reduce the measurement range, thereby increasing the accuracy of the monitoring results.

[0085] In some embodiments, the detection device is used to execute the following operation: if the pollution intensity value is less than the lower limit threshold intensity corresponding to the first measurement range, the first measurement range is reduced according to a preset ratio to obtain the second measurement range; the pollution intensity value is reacquired, and when the pollution intensity value is greater than the lower limit threshold intensity corresponding to the second measurement range, the second measurement range is determined as the target measurement range.

[0086] Exemplarily, if the pollution intensity value obtained is less than the lower limit threshold intensity corresponding to the first measurement range, it means that the current measurement range is too large and the measurement range needs to be narrowed down to improve the measurement accuracy. The preset ratio is a percentage sequence, for example, the percentage sequence is 80%, 60%, 40% and 20%. The range adjustment circuit narrows down the first measurement range in accordance with the percentage of the percentage sequence to obtain the second measurement range, and the lower limit intensity threshold of the second measurement range is also narrowed down accordingly. The pollution intensity value is re-obtained. If the pollution intensity value is still less than the lower limit intensity threshold of the second measurement range, the range adjustment circuit narrows down the first measurement range again according to the next percentage of the percentage sequence until the pollution intensity value obtained again is greater than the lower limit intensity threshold of the second measurement range, and the second measurement range is determined as the target measurement range.

[0087] In some embodiments, after the first measurement range is reduced to a preset minimum measurement range, it will not be reduced any further.

[0088] S104. Control the driving device to increase the angle between the second central axis and the first central axis. During the process of increasing the angle, obtain the pollution intensity value of the nearby water body through the monitoring device. If the pollution intensity value is less than the lower limit threshold intensity corresponding to the target range, stop increasing the angle.

[0089] For example, after adjusting to the appropriate measurement range, the monitoring device's monitoring area can be appropriately adjusted. Specifically, the main control circuit sends a control signal to the second motor drive circuit to control the second motor to drive the monitoring device to rotate, increasing the angle between the first and second central axes to increase the monitoring device's scanning area. As the angle increases, the collected fluorescence intensity also decreases. Therefore, when the main control circuit detects that the pollution intensity value is less than the lower threshold intensity corresponding to the target measurement range, it stops increasing the angle to increase the reliability of the detection results.

[0090] It should be noted that by controlling the driving device to drive the monitoring device to move so as to change the angle between the first central axis and the second central axis, the monitoring range of the monitoring device when it rotates around the first central axis can be expanded.

[0091] In some embodiments, when the angle increases to a preset maximum angle, the angle stops increasing.

[0092] In some embodiments, S104 may be executed after the first motor-driven monitoring device rotates one circle.

[0093] In some embodiments, a second motor drives the monitoring device to rotate through a preset minimum deflection angle. Specifically, the main control circuit controls the second motor via the first motor drive circuit, causing the monitoring device to rotate vertically through a preset minimum deflection angle. After the rotation, the acquired pollution intensity value is compared with the lower threshold intensity corresponding to the target range. If the pollution intensity value is less than the lower threshold intensity corresponding to the target range, the last rotation is abandoned.

[0094] In some embodiments, the water surface pollutant monitoring equipment also includes a posture acquisition device, which is arranged on the monitoring device. The method includes: acquiring posture data of the monitoring device through the posture acquisition device; determining the vertical tilt angle according to the posture data, the vertical tilt angle being the angle between the second central axis and the vertical direction; if the vertical tilt angle is greater than the second preset angle, controlling the driving device to drive the monitoring device to rotate in the direction of reducing the vertical tilt angle.

[0095] In the monitoring method provided in an embodiment of the present application, the monitoring device is driven by the driving device to rotate around the first central axis, the measuring range is changed according to the collected pollution intensity value during the rotation, and the movement of the monitoring device is adjusted according to the changed measuring range to change the angle value between the first central axis and the second central axis, thereby adjusting the monitoring area of ​​the water surface pollutant monitoring equipment and expanding the monitoring range of the water surface pollutant monitoring equipment.

[0096] In some embodiments, the water surface pollutant monitoring device further includes a posture acquisition device, which is provided in the monitoring device. Specifically, the posture acquisition device includes a posture sensor and a peripheral circuit that supports the operation of the posture sensor. The posture sensor and the corresponding peripheral circuit can be installed on a main circuit board, and the main circuit board is installed on the monitoring device, so that the posture acquisition device can obtain the posture data of the monitoring device. The monitoring method provided in the embodiment of the present application includes: obtaining the posture data of the monitoring device through the posture acquisition device; determining the vertical tilt angle according to the posture data, the vertical tilt angle being the angle between the second central axis and the vertical direction; if the vertical tilt angle is greater than the second preset angle, controlling the driving device to drive the monitoring device to rotate in the direction of reducing the vertical tilt angle.

[0097] It should be noted that the posture sensor can sense its own rotation angles along three orthogonal axes. Because the posture sensor is fixed to the main circuit board, which is fixed within the monitoring device described in this application, the main control circuit can calculate the posture data of the device described in this application in the three-dimensional space of the geographic coordinate system by reading the rotation angle information.

[0098] In this way, when the sea surface where the monitoring equipment is located is rough and the sea conditions are bad, the stability of the monitoring device can be maintained, thereby improving the precision and accuracy of monitoring.

[0099] Since sea surface conditions change rapidly, in addition to monitoring that the pollution intensity value exceeds the range in the above process, the range and monitoring area of ​​the monitoring device can also be periodically adjusted to adapt to the current sea conditions, thereby improving the accuracy and precision of the monitoring results.

[0100] In some embodiments, after controlling the driving device to drive the monitoring device to rotate in the direction of reducing the vertical inclination angle, the monitoring method provided in the embodiment of the present application also includes: controlling the driving device to drive the monitoring device to rotate a preset number of circles around the first central axis, and obtaining the pollution intensity value of the nearby water body during the rotation process.

[0101] In order to more clearly introduce the technical solution of the present application, the technical solution of the present application will be introduced through the following specific embodiments. The following embodiments are only used to supplement the present application and are not intended to limit the present application.

[0102] See also Figure 9 The present embodiment also provides a second method for monitoring water surface pollutants, which is used for any of the water surface pollutant monitoring devices described above. The specific steps of the method for monitoring water surface pollutants include: S201-S208, which are as follows:

[0103] S201. Turn on the monitoring device and set the measuring range of the monitoring device to the maximum measuring range.

[0104] It is understandable that if the signal strength range is too small, the signal strength detected by the monitoring device may not be within the range of the monitoring device, thereby making the acquired signal strength inaccurate. Adjusting the signal strength range to the maximum value can prevent this situation from occurring.

[0105] S202: Control the driving device to drive the monitoring device to a preset initial position.

[0106] S203 , controlling the driving device to drive the monitoring device to rotate around the first central axis, and controlling the monitoring device to monitor the water surface pollutants in real time.

[0107] S204: Monitor the pollution intensity value of nearby water bodies and determine whether the pollution intensity value is less than a preset threshold.

[0108] If the signal strength is less than the preset threshold, step S205 is executed; if the signal strength is not less than the preset threshold, step S207 is executed.

[0109] S205: Determine whether the signal strength range is within a preset minimum range.

[0110] If the signal strength measurement range is within the preset minimum measurement range, step S201 is executed; if the signal strength measurement range is not within the preset minimum measurement range, step S206 is executed.

[0111] It can be understood that as the angle value between the first central axis and the second central axis increases, the monitoring device's ability to monitor water surface pollutants will gradually decrease, and the signal strength detected by the monitoring device will decrease accordingly. The monitoring range of the water surface pollutant monitoring equipment cannot be infinite. When the signal strength range is the preset minimum range and the signal strength is less than the preset threshold, the monitoring range of the water surface pollutant monitoring equipment has reached the maximum, and it is necessary to start from step S201 and conduct a new round of water surface pollutant monitoring.

[0112] S206: Reduce the signal strength range according to a preset ratio, and execute step S204.

[0113] It is understandable that when the signal strength detected by the monitoring device is too small and the signal strength range is too large, the obtained signal strength may be inaccurate. By narrowing the signal strength range until the range of the monitoring device reaches the target range, the obtained signal strength can be made more accurate.

[0114] S207 , determining whether the driving device has driven the monitoring device to rotate a preset number of revolutions around the first central axis.

[0115] If the driving device has not driven the monitoring device to rotate around the first central axis for a preset number of turns, for example, the preset number of turns is 1 turn, step S203 is executed; if the driving device has driven the monitoring device to rotate around the first central axis for one turn, step S208 is executed.

[0116] S208 , controlling the driving device to drive the monitoring device to move so as to change the angle between the first central axis and the second central axis.

[0117] S209: Determine whether the included angle is a preset maximum included angle.

[0118] If the judgment result is yes, then execute S203; if the judgment result is no, execute step S208.

[0119] The water surface pollutant monitoring method provided in this embodiment drives the monitoring device to rotate around the first central axis by the driving device, and controls the driving device to drive the monitoring device to move to change the angle value between the first central axis and the second central axis, so as to form the following Figure 3 The monitoring area of ​​water surface pollutants shown solves the problem of small monitoring range in existing fixed-point water surface pollutant monitoring methods.

[0120] The marine environment is very complex. Figure 11 As shown, when the waves are rough and the sea conditions are bad, the float often cannot remain upright. For this reason, an embodiment of the present application provides a third method for monitoring surface pollutants of water, which is used for the surface pollutant monitoring equipment including a posture acquisition device as described above. This monitoring method is used to adjust the posture of the monitoring device when the sea surface is windy and rough, so as to improve the stability of the monitoring device.

[0121] See also Figure 12 , Figure 12 The flowchart of the third method for monitoring water surface pollutants provided in the embodiment of the present application is used for the water surface pollutant monitoring device including the posture sensor as described above. Figure 12 As shown, the specific steps of the monitoring method include: S301-S304, which are as follows:

[0122] S301: Acquire posture data detected by a posture sensor, and calculate a vertical tilt angle between a second central axis and a vertical direction according to the posture information.

[0123] S302: Determine whether the angle between the second central axis and the vertical direction is greater than a second preset angle.

[0124] It should be noted that the angle between the second central axis and the vertical direction is as follows: Figure 11The angle θ is shown.

[0125] If the vertical tilt angle is greater than the second preset angle, execute step S303; if the vertical tilt angle is not greater than the second preset angle, execute step S304. Figure X The monitoring method for type X water surface pollutants is shown.

[0126] S303: Control the monitoring device to rotate in a direction of reducing the vertical tilt angle.

[0127] It should be noted that if the vertical tilt angle is greater than the second preset angle, it means that the wind and waves on the water surface are large and it is difficult for the float to remain vertical. Figure X The Xth type of water surface pollutant monitoring method shown may cause the second central axis to approach the horizontal direction, resulting in the monitoring end of the monitoring device being unable to monitor the water surface pollutants.

[0128] S304. Control the monitoring device to monitor water surface pollutants.

[0129] It should be noted that, when executing S304, step S301 may also be executed. When the execution condition of S302 is triggered, the execution of S304 is interrupted.

[0130] The method for monitoring water surface pollutants provided in this embodiment controls the driving device to drive the monitoring device to move when the wind and waves on the water surface are large, so that the second central axis is perpendicular to the horizontal plane, so that the water surface pollutant monitoring equipment can still monitor water surface pollutants when the wind and waves on the water surface are large.

[0131] See also Figure 13 , Figure 13 This is a schematic flow chart of a fourth method for monitoring water surface pollutants provided in an embodiment of the present application, which is used in the water surface pollutant monitoring device including the posture sensor described above. The specific steps of the monitoring method include: S401-S403, as follows:

[0132] S401. Adjust the signal strength range to the maximum value.

[0133] It is understandable that when the signal strength range is too small, the signal strength detected by the monitoring device may not be within the signal strength range, thereby making the acquired signal strength inaccurate. Adjusting the signal strength range to the maximum value can prevent this situation from occurring.

[0134] S402: Acquire posture information detected by the posture sensor, calculate the vertical tilt angle between the second central axis and the vertical direction according to the posture information, and determine whether the vertical tilt angle is greater than a second preset angle.

[0135] If the vertical tilt angle is greater than the second preset angle, step S302 is executed; if the vertical tilt angle is not greater than the second preset angle, steps S201 to S208 are executed.

[0136] It should be noted that if the vertical tilt angle is greater than the second preset angle, it means that the wind and waves on the water surface are large and the float is difficult to remain vertical. At this time, if the monitoring method of expanding the monitoring range of steps S201 to S208 is adopted, the second central axis may approach the horizontal direction, resulting in the monitoring end of the monitoring device being unable to monitor water surface pollutants.

[0137] Step S403: Control the monitoring device to monitor the water surface pollutants, and obtain the monitoring results of the monitoring device on the water surface pollutants.

[0138] In the monitoring method provided in an embodiment of the present application, the monitoring device is driven by the driving device to rotate around the first central axis, the measuring range is changed according to the collected pollution intensity value during the rotation, and the movement of the monitoring device is adjusted according to the changed measuring range to change the angle value between the first central axis and the second central axis, thereby adjusting the monitoring area of ​​the water surface pollutant monitoring equipment and expanding the monitoring range of the water surface pollutant monitoring equipment.

[0139] It should be understood that the terms used in this specification are only for the purpose of describing specific embodiments and are not intended to limit the present application. As used in this specification and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms unless the context clearly indicates otherwise.

[0140] It should also be understood that the term "and / or" used in this specification and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, including these combinations. It should be noted that, in this article, the terms "include", "comprise" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system that includes a series of elements includes not only those elements, but also other elements that are not explicitly listed, or also includes elements that are inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "including a..." does not exclude the presence of other identical elements in the process, method, article or system that includes the element.

[0141] The serial numbers of the embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments. The above description is only a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any person skilled in the art can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present application, and these modifications or replacements should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application shall be based on the scope of protection of the claims.

Claims

1. A water surface pollutant monitoring device, characterized in that: include: floating body; A driving device is provided on a side of the floating body away from the water surface; a monitoring device connected to the driving device, the monitoring device being eccentrically disposed relative to the central axis of the float, the monitoring end of the monitoring device being disposed toward the periphery of the float, and the monitoring device being used to monitor water surface pollutants around the float; as well as a control device electrically connected to the driving device and the monitoring device; The control device is used to control the driving device to drive the monitoring device to rotate around a first central axis, and is also used to control the driving device to drive the monitoring device to move to change the angle between the first central axis and a second central axis, wherein the first central axis is the central axis of the floating body, and the second central axis is the central axis of the monitoring device; The control device is used to determine the range of the angle value between the first central axis and the second central axis according to the pollution intensity value obtained by the monitoring device and the lower threshold intensity of the monitoring device in different measuring ranges.

2. The monitoring device according to claim 1, characterized in that The driving device comprises: a first driving mechanism, the first driving mechanism being arranged on a side of the floating body away from the water surface; a second driving mechanism, the second driving mechanism being connected to the first driving mechanism and further connected to the monitoring device; Among them, the first driving mechanism is used to drive the second driving mechanism to rotate around the first central axis and thereby drive the monitoring device to rotate around the first central axis, and the second driving mechanism is used to drive the monitoring device to move to change the angle value between the first central axis and the second central axis.

3. The monitoring device according to claim 2, characterized in that The first driving mechanism includes a first housing, and a first motor and a first rotating shaft disposed in the first housing, wherein the first motor drives the first rotating shaft to rotate around the first central axis; The second driving mechanism includes a second shell, and a second motor and a second rotating shaft arranged in the second shell. The second shell is connected to the first rotating shaft, and the second rotating shaft is connected to the monitoring device. The second motor drives the second rotating shaft to rotate and thereby drives the monitoring device to rotate.

4. The water surface pollutant monitoring device according to claim 1, characterized in that: The monitoring device comprises: A base and a barrel, wherein the base includes a first light-through hole and a second light-through hole, and the barrel is connected to the base to form a receiving space; An ultraviolet emitting module and a fluorescent receiving module are arranged on the base and located in the accommodating space, and the ultraviolet emitting module is coaxially arranged with the first light hole, and the fluorescent receiving module is coaxially arranged with the second light hole.

5. The water surface pollutant monitoring device according to claim 4, characterized in that: The ultraviolet emission module includes: a first light-shielding cylinder, which is disposed on the base and coaxially with the first light-through hole; An ultraviolet LED lamp and a first mounting plate, wherein the first mounting plate is arranged on a side of the first light-shielding tube away from the base, and the ultraviolet LED lamp is arranged on a side of the first mounting plate close to the base, and the first mounting plate is provided with a radiator for dissipating heat from the ultraviolet LED lamp; A first convex lens is disposed in the first light-through hole.

6. The water surface pollutant monitoring device according to claim 5, characterized in that: The ultraviolet emission module further includes a temperature sensor, which is mounted on the first mounting plate and in contact with the ultraviolet LED lamp. The temperature sensor is used to measure the temperature of the ultraviolet LED lamp.

7. The water surface pollutant monitoring device according to claim 4, characterized in that: The fluorescence receiving module includes: a light-shielding cylinder assembly, the light-shielding cylinder assembly being arranged on the base and coaxially arranged with the second light-through hole; An optical signal receiver and a second mounting plate, wherein the second mounting plate is arranged on a side of the light-shielding cylinder assembly away from the base, and the optical signal receiver is arranged on a side of the second mounting plate close to the base; A second convex lens is disposed in the second light-through hole.

8. The water surface pollutant monitoring device according to claim 7, characterized in that: The light-shielding tube assembly includes a second light-shielding tube, a third light-shielding tube, and a filter arranged between the second light-shielding tube and the third light-shielding tube.

9. The water surface pollutant monitoring device according to any one of claims 4 to 8, characterized in that: The water surface pollutant monitoring device further includes a posture acquisition device, which is installed on the monitoring device.

10. The water surface pollutant monitoring device according to claim 5, characterized in that: The monitoring device also includes a first collimating cylinder and a second collimating cylinder. The first collimating cylinder is arranged on a side of the base away from the ultraviolet emission module and is coaxial with the first light hole. The second collimating cylinder is arranged on the same side as the first collimating cylinder and is coaxial with the second light hole.

11. A monitoring method, characterized in that: For use in the water surface pollutant monitoring device according to any one of claims 1 to 10, the method comprises: Turning on the monitoring device and controlling the driving device to drive the monitoring device to rotate around the first central axis from an initial position, wherein when the driving device is in the initial position, an angle between the second central axis and the first central axis is a first preset angle; During the process of the monitoring device rotating around the first central axis, the pollution intensity value of the nearby water body is obtained by the monitoring device; If the pollution intensity value is less than the lower threshold intensity corresponding to the first measuring range of the monitoring device, narrowing the first measuring range to the target measuring range according to the pollution intensity value; Control the driving device to increase the angle between the second central axis and the first central axis. During the process of increasing the angle, obtain the pollution intensity value of the nearby water body through the monitoring device. If the pollution intensity value is less than the lower limit threshold intensity corresponding to the target range, stop increasing the angle.

12. The monitoring method according to claim 11, wherein: The step of narrowing the first measurement range to a target measurement range according to the pollution intensity value includes: If the pollution intensity value is less than the lower threshold intensity corresponding to the first measurement range, the first measurement range is reduced according to a preset ratio to obtain a second measurement range; The pollution intensity value is reacquired, and when the pollution intensity value is greater than a lower threshold intensity corresponding to the second measurement range, the second measurement range is determined as a target measurement range.

13. The monitoring method according to claim 11, wherein: The water surface pollutant monitoring device further includes a posture acquisition device, which is provided in the monitoring device. The method includes: Acquiring posture data of the monitoring device through the posture acquisition device; Determining a vertical tilt angle according to the posture data, where the vertical tilt angle is the angle between the second central axis and the vertical direction; If the vertical tilt angle is greater than a second preset angle, the driving device is controlled to drive the monitoring device to rotate in a direction of reducing the vertical tilt angle.

14. The monitoring method according to claim 13, wherein: After controlling the driving device to drive the monitoring device to rotate in a direction of reducing the vertical tilt angle, the method further includes: The driving device is controlled to drive the monitoring device to rotate a preset number of circles around the first central axis, and during the rotation, the pollution intensity value of the nearby water body is obtained.

15. A storage medium for computer-readable storage, characterized in that: The storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the steps of the monitoring method according to any one of claims 11 to 14.

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