An unmanned underwater vehicle carrying a flow imaging analyzer

Abstract

This invention discloses an unmanned underwater vehicle (UUV) equipped with a flow cytometry imaging analyzer, comprising: a hull, a power system, a lighting system, an imaging system, an integrated control system, and a fluid flow system. The hull protects the internal equipment from environmental influences, ensuring the UUV's safe underwater operation. The power system provides the UUV with electrical power and propulsion, enabling autonomous navigation within a designated water area. The lighting system, imaging system, and fluid flow system are components of the flow cytometry imaging analyzer; when integrated, they can acquire high-throughput images of underwater plankton, microparticles, etc., for analyzing the aquatic environment. The integrated control system monitors and controls the UUV's movement, navigation, data acquisition, and transmission. This invention combines a flow cytometry imaging analyzer with an UUV, achieving real-time, accurate, and non-invasive in-situ water body detection and analysis in complex underwater environments, significantly improving work efficiency.

Description

Technical Field

[0001] This invention relates to the fields of underwater vehicles and flow imaging technology, and in particular to an unmanned underwater vehicle equipped with a flow imaging analyzer. Background Technology

[0002] Unmanned underwater vehicles (UUVs) are autonomous underwater robots based on advanced technologies, widely used in marine scientific research and environmental monitoring. Among them, UUVs equipped with flow cytometry imaging analyzers have significant application value in the imaging analysis and detection of plankton and microparticles in water.

[0003] Existing environmental monitoring unmanned underwater vehicles (UUVs) cannot meet the needs for in-situ, dynamic detection of small targets such as underwater plankton and particulate matter. For example, the patented multi-functional modular deep-sea environmental monitoring UUV is mainly used to monitor seawater temperature, collect underwater hydrological data, and map seabed topography and shallow subsurface areas.

[0004] Existing flow cytometry analyzers have several significant drawbacks in water analysis. For example, sampling is time-consuming and can lead to data distortion because water samples may change during sampling, transportation, and analysis. Furthermore, sampling in deep-sea areas is more difficult and expensive. Current flow cytometry analysis requires bringing collected water samples back to the laboratory or ship's cabin for analysis, limiting real-time data acquisition and decision-making capabilities. It also requires specialized equipment and significant manpower, increasing costs and time. Existing analyzers are often limited to monitoring specific locations and cannot provide comprehensive water coverage. This means that data from certain areas or depths may be unavailable, reducing our understanding of the overall aquatic environment. Existing instruments struggle to meet the monitoring needs of dynamically changing aquatic environments, such as the inability to track phytoplankton migration or pollution events in real time. The sampling and analysis process may also interfere with the aquatic environment, such as disturbing the water, disrupting microbial communities, or introducing external substances, thus affecting the accuracy of the monitoring results.

[0005] Current flow cytometry systems are limited to conventional laboratory environments and cannot withstand the high-pressure conditions of the deep sea. During descent, the pressure difference between the inside and outside of the chamber gradually increases. High pressure significantly impacts fluid flow, potentially leading to sample loss, fluid path damage, and data distortion. This places extremely high demands on the sample introduction and drainage processes of the flow cytometry system. Therefore, performing high-throughput sampling and analysis under varying or high-pressure environments becomes exceptionally difficult for existing flow cytometry systems.

[0006] Another example is the ROV-based deep-sea multi-channel in-situ fluid sampling and filtration device and method. This device includes a fluid sampling mechanism, a fluid conversion channel, a fluid filtration device, and a fluid storage mechanism. It is less affected by sampling depth, has multiple filtration channels, a large sampling volume, strong corrosion resistance, flexible and stable operation, and can quickly and effectively acquire filter membranes and fluid samples. However, its system structure is complex, bulky, and consumes a lot of power, making it difficult to apply to the fluid flow system of flow cytometry imaging analyzers. Summary of the Invention

[0007] To overcome the shortcomings of the prior art, the present invention proposes an unmanned underwater vehicle equipped with a flow cytometry analyzer.

[0008] The technical solution for realizing the present invention is: an unmanned underwater vehicle equipped with a flow imaging analyzer, comprising: a cabin, a power system, a lighting system, an imaging system, an integrated control system, and a fluid flow system.

[0009] The cabin includes: a front cabin, a first adapter ring, a middle cabin, a second adapter ring, a rear cabin, and an optical engine fixing frame.

[0010] The power system includes: a propeller, a drive motor, a tail fin, and a battery device.

[0011] The lighting system includes: laser one, laser two, laser three, dichroic mirror three, dichroic mirror four, fiber coupler, single-mode fiber, and collimation achromatic module.

[0012] The imaging system includes: an image microprocessor, a flow cytometry analyzer main control board, camera one, filter one, camera two, filter two, camera three, filter three, dichroic mirror one, dichroic mirror two, sleeve lens, precision adjustment ring, microscope lens, detection box, microfluidic module, and converging lens.

[0013] The integrated control system includes: a communication antenna, a communication and navigation module, a sonar, and a submersible main control board.

[0014] The fluid flow system includes: a continuous inlet / outlet pump and a fluid path; the fluid path includes: an inlet filter, an outlet port, a three-way connector 1, a one-way valve 1, a one-way valve 2, a three-way connector 2, a three-way connector 3, a one-way valve 3, a one-way valve 4, a three-way connector 4, a one-way valve 5, and a one-way valve 6; the continuous inlet / outlet pump includes: a pump housing, a pump gland, a rack and pinion injection rod 1, an injection tube 1, a pump serial port, a rack and pinion injection rod 2, a central gear, an injection tube 2, an internal pump mounting plate, a stepper motor, and a pump main control board.

[0015] Compared with the prior art, the significant advantages of this invention are:

[0016] The flow cytometry analyzer described in this invention is designed for efficient water body detection. Its core feature is a liquid flow system equipped with a high-throughput continuous sample inlet and outlet pump and liquid path. The key to this design is that it can achieve uninterrupted sample supply, avoiding interruptions and human error, enabling the instrument to operate continuously. At the same time, it can pump water samples at high throughput in underwater variable pressure or high pressure environments, significantly improving the efficiency and scope of water body monitoring.

[0017] The microscopic imaging system described in this invention can perform in-situ high-resolution imaging detection. At the same time, with the help of its own image processing system, it can accurately analyze and identify microorganisms, particulate matter, etc. in the sample, and transmit the processed data to the ground in real time.

[0018] This innovative technology allows for real-time, non-invasive underwater monitoring without the need for sampling and laboratory analysis. A key component is an autonomous underwater vehicle (UUV) with self-navigation and obstacle avoidance capabilities, enabling it to perform predetermined tasks underwater and thus reducing human intervention. Furthermore, this invention provides more accurate, real-time data covering a wider range of water bodies, making it particularly suitable for dynamic environmental monitoring and continuously tracking changes in the water.

[0019] This invention provides a powerful tool for underwater environmental monitoring, which will help to gain a deeper understanding of aquatic ecosystems and water quality. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of an unmanned underwater vehicle equipped with a flow cytometry analyzer.

[0021] Figure 2 This is a schematic diagram of the internal structure of an unmanned underwater vehicle equipped with a flow cytometry analyzer.

[0022] Figure 3 This is a schematic diagram of the distribution of an unmanned underwater vehicle system equipped with a flow cytometry analyzer.

[0023] Figure 4 This is a schematic diagram of the structural layout of an imaging system for an unmanned underwater vehicle equipped with a flow cytometry analyzer.

[0024] Figure 5 This is a schematic diagram of the lighting system and fluid system structure of an unmanned underwater vehicle equipped with a flow imaging analyzer.

[0025] Figure 6 This is a schematic diagram of the overall structure of a continuous feed and discharge pump for a fluid flow system of an unmanned underwater vehicle equipped with a flow cytometry imaging analyzer.

[0026] Figure 7 This is a schematic diagram of the internal structure of a continuous feed and discharge pump in the fluid system of an unmanned underwater vehicle equipped with a flow cytometry imaging analyzer.

[0027] Figure 8 This is a schematic diagram of a rack and pinion injection rod for an unmanned underwater vehicle equipped with a flow cytometry analyzer.

[0028] Figure 9 This is a schematic diagram illustrating the working principle of a fluid system in an unmanned underwater vehicle equipped with a flow cytometry imaging analyzer.

[0029] The labels for the attached figures are as follows:

[0030] 1-Carrier; 101-Forward Carrier; 102-Adapter Ring 1; 103-Middle Carrier; 104-Adapter Ring 2; 105-Rear Carrier; 106-Optical Machine Fixing Frame; 2-Power System; 201-Drive Propeller; 202-Drive Motor; 203-Tail Wing; 204-Battery Unit; 3-Imaging System; 301-Image Microprocessor; 302-Flow Cytometry Analyzer Main Control Board; 303-Camera 1; 304-Filter 1; 305-Camera 2; 306-Filter 2; 307-Camera 3; 308-Filter 3; 3 09-Diograph Mirror 1; 310-Diograph Mirror 2; 311-Sleeve Lens; 312-Precision Adjustment Ring; 313-Microscope Lens; 314-Detection Box; 3141-Microfluidic Module; 3142-Converging Lens; 4-Integrated Control System; 401-Communication Antenna; 402-Communication and Navigation Module; 403-Sonar; 404-Submarine Main Control Board; 5-Fluid Flow System; 501-Sample Injection Filter; 5011-High Torque Stepper Motor; 5012-Valve Body; 5013-Spring; 5014-Valve Head; 5015-Screw; 5 016-Fine filter screen; 5017-Coarse filter screen; 502-Drainage port; 5021-Pressure pump; 5022-Reservoir chamber; 503-Liquid circuit; 5031-T-connector one; 5032-Check valve one; 5033-Check valve two; 5034-T-connector two; 5035-T-connector three; 5036-Check valve three; 5037-Check valve four; 5038-T-connector four; 5039-Check valve five; 50310-Check valve six; 504-Continuous feed and discharge pump; 5041-Pump housing; 5042- Pump gland; 5043-Rack and pinion injection rod one; 5044-Injection tube one; 5045-Pump serial port; 5046-Rack and pinion injection rod two; 5047-Center gear; 5048-Injection tube two; 5049-Pump internal fixing plate; 50410-Stepper motor; 50411-Pump main control board; 6-Lighting system; 601-Laser one; 602-Laser two; 603-Laser three; 604-Dialectical mirror three; 604-Dialectical mirror four; 606-Fiber optic coupler; 607-Single-mode fiber; 608-Collimation achromatic module. Detailed Implementation

[0031] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0032] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0033] Furthermore, in this invention, descriptions involving "first," "second," etc., are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly and specifically defined.

[0034] In this invention, unless otherwise explicitly specified and limited, the terms "connection," "fixing," etc., should be interpreted broadly. For example, "fixing" can mean a fixed connection, a detachable connection, or an integral part; "connection" can mean a mechanical connection or an electrical connection. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0035] Furthermore, the technical solutions of the various embodiments of the present invention can be combined with each other, but only if they are feasible to those skilled in the art. If the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by the present invention.

[0036] The following section will further introduce the specific implementation method, as well as the technical difficulties and inventive points of this invention, using this design example as an example.

[0037] Combination Figure 1 , 2As shown in Figures 3, 4, and 5, an unmanned underwater vehicle equipped with a flow cytometry imaging analyzer includes: a hull 1, a power system 2, an imaging system 3, an integrated control system 4, a fluid system 5, and an illumination system 6; the hull includes: a front hull 101, a first adapter ring 102, a middle hull 103, a second adapter ring 104, a rear hull 105, and an optomechanical fixing frame 106; the power system 2 includes: a drive propeller 201, a drive motor 202, a tail fin 203, and a battery device 204; the illumination system 6 includes: a laser... 601, Laser II, Laser III, Dichroic Mirror III, Dichroic Mirror IV, Fiber Optic Coupler, Single-mode Fiber, Collimation Achromatic Module, 608; The imaging system 3 includes: Image Microprocessor 301, Flow Cytometry Analyzer Main Control Board 302, Camera I, Filter I, Camera II, Filter II, Camera III, Filter III, Dichroic Mirror I, Dichroic Mirror II, Sleeve Lens 311, Precision Adjustment Ring 31 2. Microscope lens 313, detection box 314, microfluidic module 3141, converging lens 3142; the integrated control system 4 includes: communication antenna 401, communication navigation module 402, sonar 403, and submersible main control board 404; the fluid system 5 includes: fluid path 503 and continuous injection / discharge pump 504; the fluid path 503 includes: injection filter 501, discharge interface 502, three-way connector one 5031, one-way valve one 5032, one-way valve two 5033, and three-way connector two 5034. The three-way connector 3 (5035), one-way valve 3 (5036), one-way valve 4 (5037), three-way connector 4 (5038), one-way valve 5 (5039), and one-way valve 6 (50310) are included. The continuous feed and discharge pump 504 includes: pump housing 5041, pump cover 5042, rack and pinion injection rod 1 (5043), injection tube 1 (5044), pump serial port 5045, rack and pinion injection rod 2 (5046), center gear 5047, injection tube 2 (5048), pump internal fixing plate 5049, stepper motor 50410, and pump main control board 50411.

[0038] Combination Figure 1 , 2 As shown, the optical engine fixing frame 106 is set inside the middle cabin 103 as a supporting skeleton; the front cabin 101 is connected to the middle cabin 103 through a first adapter ring 102, and the middle cabin 103 is connected to the rear cabin 105 through a second adapter ring 104. Both sides of the first adapter ring 102 and the second adapter ring 104 have sealing grooves, which are used in conjunction with O-rings during installation to seal the cabin 1; the imaging system 3, the fluid system 5, and the illumination system 6 are fixed on both sides of the optical engine fixing frame 106.

[0039] Combination Figure 1 , 2As shown, the drive propeller 201 of the power system 2 is connected to the drive motor 202 via a transmission shaft, and the drive motor 202 is installed inside the rear compartment 105; there are two pairs of tail fins 203, which are symmetrically installed on the outside of the rear compartment 105, vertically and horizontally, and are connected to the micro motor inside the rear compartment 105 via a transmission shaft, for adjusting the attitude of the submersible; the battery device 204 is installed on the frame inside the rear compartment to provide power to the various systems of the submersible.

[0040] Combination Figure 3 , 5 As shown, the first laser 601 of the illumination system 6 can emit an A-band beam, which is reflected by the fourth dichroic mirror 605 and then shines into the fiber coupler 606; the second laser 602 can emit a B-wavelength beam, which is reflected by the third dichroic mirror 604 and then shines into the fiber coupler 606 through the fourth dichroic mirror 605; the third laser 603 can emit a C-band beam, which is then shines into the fiber coupler 606 through the fourth dichroic mirror 605 and the third dichroic mirror 604; the fiber coupler 606 couples the A, B, and C band lasers into the single-mode fiber 607, and the coupled lasers are guided through the single-mode fiber 607 into the collimation achromatic module 608, which shapes the laser and then shines it into the detection box 314.

[0041] Combination Figure 3 , 4 As shown, the detection box 314 of the imaging system 3 contains a microfluidic module 3141 and a converging lens 3142. The fluid flow system 5 guides the sample to the microfluidic module 3141. The converging lens 3142 focuses the light from the illumination system 6 onto the microfluidic capillary and irradiates the sample flowing through the capillary. The microlens 313 amplifies the scattered light signal from the irradiated sample and transmits it through the precision adjustment ring 312 to the sleeve lens 311. The sleeve lens 311 shapes the light signal. The dichroic mirror 310 reflects the A-band light signal to the filter 304, which then transmits it to the camera 303. Other band light signals pass through the filter. The light signal is transmitted from the second dichroic mirror 310 to the first dichroic mirror 309. The first dichroic mirror 309 reflects the B-band light signal to the second filter 306, and after passing through, it is transmitted to the second camera 305. The C-band light signal is transmitted through the second dichroic mirror 310 and the first dichroic mirror 309 to the third filter 308, and after passing through, it is transmitted to the third camera 307. The image microprocessor 301 processes and analyzes the images acquired by the first camera 303, the second camera 305, and the third camera 307. The main control board 302 of the flow cytometry analyzer is used to control the image microprocessor 301, the first camera 303, the second camera 305, the third camera 307, and the continuous sample pump 504.

[0042] Combination Figure 3As shown, the communication antenna 401 of the integrated control system 4 is fixed inside the communication mast of the forward hull 101 and is connected to the communication and navigation module 402 via a wire. The communication and navigation module 402 is the medium for transmitting images and commands between the submersible and the internal imaging flow analyzer and the operator. The submersible main control board 404 is used to control the drive motor 202, battery device 204, tail fin 203, communication and navigation module 402, and the main control board 302 of the flow imaging analyzer.

[0043] The unmanned underwater vehicle equipped with a flow cytometry analyzer has a maximum diving depth of about 300 meters. During the dive, the device will experience a pressure variation environment of up to 30 standard atmospheres and needs to perform high-throughput dynamic sampling analysis. This places extremely high demands on the device's sampling and waste liquid discharge process, making the design of the flow cytometry analyzer's fluid flow system complex and crucial.

[0044] Combination Figure 9 As shown, the liquid path 503 of the liquid flow system 5 connects to the continuous inlet / outlet pump 504 and the detection box 314 to realize the continuous inlet / outlet function of the liquid flow system 5; the left port of the continuous inlet / outlet pump 504 is connected to the three-way connector 5031, the three-way connector 5031 is connected to the one-way valve 5032 and the one-way valve 5037, the one-way valve 5032 is also connected to the three-way connector 5035, the three-way connector 5035 is connected to the one-way valve 5033 and the one-way valve 5036, and the one-way valve 5033... It is also connected to the second three-way connector 5034, which is also connected to the right interface of the continuous injection / discharge pump 504 and the one-way valve 5039; the fourth three-way connector 5038 is connected to the fourth one-way valve 5037, the fifth one-way valve 5039, and the injection filter 501; the third one-way valve 5036 is also connected to the left interface of the microfluidic module 3141, the right interface of the microfluidic module 3141 is connected to the sixth one-way valve 50310, and the sixth one-way valve 50310 is also connected to the drain interface 502; all interfaces and valves are connected through silicone tubes.

[0045] Combination Figure 6 , 7As shown in Figures 8 and 9, the continuous sample pump 504 of the liquid flow system 5 is used to continuously pump samples from the water body; the back of the rack injection rod 5043 and the rack injection rod 5046 have grooves that fit with the raised guide rail on the front of the pump inner fixing plate 5049 and can slide along the guide rail; the stepper motor 50410 and the pump main control board 50411 are fixed to the back of the pump inner fixing plate 5049, and the pump main control board 50411 is used to control... Stepper motor 50410 executes commands; stepper motor 50410 drives central gear 5047 to rotate clockwise or counterclockwise via transmission shaft, central gear 5047 simultaneously meshes with rack injection rod one 5043 and rack injection rod two 5046; when central gear 5047 rotates clockwise, it drives the syringe composed of rack injection rod one 5043 and injection tube one 5044 through sample injection filter 501 and three-way connector four 5038. One-way valve 4 (5037) and three-way connector 1 (5031) draw in the sample, simultaneously driving the syringe consisting of rack and pinion injection rod 2 (5046) and injection tube 2 (5048) to discharge the sample through three-way connector 2 (5034), one-way valve 2 (5033), three-way connector 3 (5035), one-way valve 3 (5036), microfluidic module 3141, one-way valve 6 (50310), and drain port 502. Conversely, when the central gear rotates clockwise, it drives rack and pinion injection rod 2 (5046) and injection tube 2 (50310) to discharge the sample. The syringe consisting of component 25048 draws a sample through injection filter 501, three-way connector 45038, one-way valve 5039, and three-way connector 25034. Simultaneously, it drives the syringe consisting of rack injection rod 15043 and injection tube 15044 to discharge the sample through three-way connector 15031, one-way valve 15032, three-way connector 35035, one-way valve 36, microfluidic module 3141, one-way valve 650310, and discharge port 502.

[0046] Combination Figure 9As shown, the sample introduction filter includes a high-torque stepper motor 5011, a valve body 5012, a spring 5013, a valve head 5014, a screw 5015, a fine filter screen 5016, and a coarse filter screen 5017. The valve body 5012 consists of an upper cavity, a connector, a valve port, and a lower cavity. The high-torque stepper motor 5011 is mounted on the upper end of the valve body 5012. The spring 5013 and the valve head 5014 are both located inside the valve body 5012. The screw 5015 passes through the central shaft of the high-torque stepper motor 5011 and is connected to the spring 5013. The spring 5013 is connected to the upper end of the valve head 5014. Next, the lower end of the valve head 5014 is attached to the valve port; the unmanned underwater vehicle operates at different water depths and the environmental pressure changes dynamically. The main control board 302 of the flow imaging analyzer reads information such as the depth of the device and the environmental pressure in real time through sensors. After analysis, it controls the high-torque stepper motor 5011 to drive the screw 5015 to tighten or release the spring 5013, thereby changing the pre-tightening degree of the valve head 5014 and realizing intelligent pressure control; the water sample is extracted by the continuous inlet and outlet pump 504, filtered by a coarse filter screen 5017 and a fine filter screen 5016, enters the upper cavity through the valve port, and then enters the liquid circuit 503 through the adapter.

[0047] Combination Figure 9 As shown, the drain port 502 includes a pressurizing pump 5021 and a storage chamber 5022. The pressurizing pump 5021 is installed above the storage chamber 5022. The adapter below the storage chamber 5022 is connected to the liquid circuit 503 through a silicone tube. The storage chamber 5022 is used to temporarily store waste liquid. The main control board 302 of the flow cytometry analyzer reads information such as the depth of the device and the ambient pressure in real time through sensors. After analysis, it controls the speed of the pressurizing pump 5021 to balance the pressure on both sides of the drain port 502, thereby achieving high-throughput draining.

[0048] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. An unmanned underwater vehicle equipped with a flow cytometry imager, comprising: The cabin, power system, lighting system, imaging system, integrated control system, and fluid flow system are characterized by: The cabin includes: a front cabin, a first adapter ring, a middle cabin, a second adapter ring, a rear cabin, and an optical engine fixing frame; The power system includes: a drive propeller, a drive motor, a tail fin, and a battery device; The lighting system includes: laser one, laser two, laser three, dichroic mirror three, dichroic mirror four, fiber coupler, single-mode fiber, and collimation achromatic module; The imaging system includes: an image microprocessor, a flow cytometry analyzer main control board, camera one, filter one, camera two, filter two, camera three, filter three, dichroic mirror one, dichroic mirror two, sleeve lens, precision adjustment ring, microscope lens, detection box, microfluidic module, and converging lens; The integrated control system includes: a communication antenna, a communication and navigation module, a sonar, and a submersible main control board; The fluid flow system includes: a continuous inlet / outlet pump and a fluid path; the fluid path includes: an inlet filter, an outlet port, a three-way connector 1, a one-way valve 1, a one-way valve 2, a three-way connector 2, a three-way connector 3, a one-way valve 3, a one-way valve 4, a three-way connector 4, a one-way valve 5, and a one-way valve 6; the continuous inlet / outlet pump includes: a pump housing, a pump gland, a rack and pinion injection rod 1, an injection tube 1, a pump serial port, a rack and pinion injection rod 2, a central gear, an injection tube 2, an internal pump mounting plate, a stepper motor, and a pump main control board; In the fluid flow system, the fluid path connects the continuous inlet / outlet pump and the detection box to perform the continuous inlet / outlet function of the fluid flow system; the left port of the continuous inlet / outlet pump is connected to the first three-way connector, which in turn is connected to the first and fourth one-way valves, the first one-way valve is also connected to the third three-way connector, the third three-way connector is connected to the second and third one-way valves, the second one-way valve is also connected to the third three-way connector, and the third three-way connector is also connected to the right port of the inlet / outlet pump and the fifth one-way valve; the third three-way connector is connected to the fourth one-way valve, the fifth one-way valve, and the sample inlet filter; the third one-way valve is also connected to the left port of the microfluidic module, the right port of the microfluidic module is connected to the sixth one-way valve, and the sixth one-way valve is also connected to the drain port; the ports and valves are connected through silicone tubing; A continuous injection pump is used to continuously pump samples from water. The backs of rack injection rod one and rack injection rod two have grooves that assemble with the raised guide rails on the front of the pump's inner fixing plate, allowing them to slide along the guide rails. The stepper motor and pump main control board are fixed to the back of the pump's inner fixing plate; the pump main control board controls the stepper motor to execute commands. The stepper motor drives a central gear to rotate clockwise or counterclockwise via a drive shaft. The central gear simultaneously meshes with rack injection rod one and rack injection rod two. When the central gear rotates clockwise, it drives the syringe, consisting of rack injection rod one and injection tube one, through the sample inlet filter and three-way valve. The sample is drawn through connector four, one-way valve four, and three-way connector one, while simultaneously driving the syringe consisting of rack and pinion injection rod two and injection tube two to discharge the sample through three-way connector two, one-way valve two, three-way connector three, one-way valve three, microfluidic module, one-way valve six, and drainage port. Conversely, when the central gear rotates clockwise, the sample is drawn through the injection filter, three-way connector four, one-way valve five, and three-way connector two, while simultaneously driving the syringe consisting of rack and pinion injection rod one and injection tube one to discharge the sample through three-way connector one, one-way valve one, three-way connector three, one-way valve three, microfluidic module, one-way valve six, and drainage port.

2. The unmanned underwater vehicle equipped with a flow cytometry analyzer according to claim 1, characterized in that: In the cabin, the optomechanical fixing frame is set in the middle cabin as a supporting skeleton. The front cabin is connected to the middle cabin through a first adapter ring, and the middle cabin is connected to the rear cabin through a second adapter ring. Both the first and second adapter rings have sealing grooves on both sides. During installation, they are assembled with O-rings to seal the cabin. The imaging system, fluid system, and illumination system are fixed on both sides of the optomechanical fixing frame.

3. The unmanned underwater vehicle equipped with a flow cytometry analyzer according to claim 1, characterized in that: In the power system, the drive propeller is connected to the drive motor via a transmission shaft, and the drive motor is installed inside the rear compartment. There are two pairs of tail fins, which are symmetrically installed outside the rear compartment, vertically and horizontally, and are connected to a micro motor inside the rear compartment via a transmission shaft, for adjusting the attitude of the submersible. The battery device is installed on the frame inside the rear compartment to provide power to the various systems of the submersible.

4. The unmanned underwater vehicle equipped with a flow cytometry analyzer according to claim 1, characterized in that: In the lighting system, laser one emits an A-band beam, which is reflected by dichroic mirror four and then enters the fiber coupler; laser two emits a B-wavelength beam, which is reflected by dichroic mirror three and then enters the fiber coupler through dichroic mirror four; laser three emits a C-band beam, which is reflected by dichroic mirror four and dichroic mirror three and then enters the fiber coupler; the fiber coupler couples the A, B, and C-band lasers into the single-mode fiber, and the coupled lasers are guided through the single-mode fiber to the collimation and achromatic module, which then shapes the lasers and illuminates them into the detection box.

5. The unmanned underwater vehicle equipped with a flow cytometry analyzer according to claim 1, characterized in that: In the imaging system, the detection box contains a microfluidic module and a converging lens. The fluid flow system guides the sample to the microfluidic module, and the converging lens focuses the light from the illumination system onto the microfluidic capillary, illuminating the sample flowing through the capillary. The microscope head amplifies the scattered light signal from the illuminated sample, transmits it through the precision adjustment ring to the sleeve lens, and the sleeve lens shapes the light signal. The second dichroic mirror reflects the A-band light signal to the first filter, which then transmits it to the first camera. Other band light signals pass through the second dichroic mirror and are transmitted to the first dichroic mirror. The first dichroic mirror reflects the B-band light signal to the second filter, which then transmits it to the second camera. The C-band light signal passes through the second and first dichroic mirrors and is transmitted to the third filter, which then transmits it to the third camera. The image microprocessor processes and analyzes the images acquired by the first, second, and third cameras. The main control board of the flow cytometry analyzer controls the image microprocessor, the first, second, and third cameras, and the continuous sample inlet / outlet pump.

6. The unmanned underwater vehicle equipped with a flow cytometry analyzer according to claim 1, characterized in that: In the integrated control system, the communication antenna is fixed inside the communication mast in the forward cabin and connected to the communication and navigation module via a wire. The communication and navigation module is the medium for transmitting images and commands between the submersible, the internal imaging flow analyzer, and the operator. The submersible's main control board is used to control the drive motor, battery, tail fin, communication and navigation module, and the main control board of the flow imaging analyzer.

7. The unmanned underwater vehicle equipped with a flow cytometry analyzer according to claim 1, characterized in that: The sample inlet filter includes a high-torque stepper motor, a valve body, a spring, a valve head, a screw, a fine filter screen, and a coarse filter screen. The valve body consists of an upper cavity, an adapter, a valve port, and a lower cavity. The high-torque stepper motor is mounted on the upper end of the valve body. The spring and valve head are both located within the valve body. The screw passes through the central shaft of the high-torque stepper motor and is connected to the spring. The spring is connected to the upper end of the valve head, and the lower end of the valve head fits against the valve port. The unmanned underwater vehicle operates at varying water depths, and the environmental pressure dynamically changes. The flow cytometry analysis system's main control board continuously reads the device's depth and environmental pressure information through sensors. After analysis, it controls the high-torque stepper motor to drive the screw to tighten or release the spring, thereby changing the pre-tightening degree of the valve head and achieving intelligent pressure control. The water sample, extracted by a continuous inlet / outlet pump, undergoes double filtration through a coarse and fine filter screen, enters the upper cavity through the valve port, and then enters the liquid path through the adapter.

8. The unmanned underwater vehicle equipped with a flow cytometry analyzer according to claim 1, characterized in that: The drain port includes a pressurizing pump and a storage chamber. The pressurizing pump is installed above the storage chamber, and the adapter below the storage chamber is connected to the liquid circuit through a silicone tube. The storage chamber is used to temporarily store waste liquid. The main control board of the flow cytometry analyzer reads the depth and ambient pressure information of the device in real time through sensors. After analysis, it controls the speed of the pressurizing pump to balance the pressure on both sides of the drain port, thereby achieving high-throughput draining.

Images