A sampling ship launching and recovery device and control method thereof

Abstract

The present application provides a sampling ship launching and recovery device and a control method thereof, the device comprises a berthing station for being placed in a water area to be sampled, a plurality of receiving slots for receiving the sampling ship are evenly distributed along the circumference of the berthing station; a mounting slot connected to each receiving slot is also provided in the berthing station at a position corresponding to each receiving slot, a plurality of transmitting elements are arranged in the corresponding mounting slots, the transmitting elements at least comprise an elastic element, which is used to launch the sampling ship in the receiving slot to the water surface of the water area to be sampled by its elastic force, a plurality of driving elements are arranged at the bottom of each sampling ship; a plurality of magnetic suction elements are arranged in the corresponding mounting slots, the driving elements can drive the sampling ship to sail to the adjustment target point when the initial entry point of the sampling ship is not in the extension direction of the corresponding receiving slot, so that the sampling ship adjusts its course to the extension direction of the corresponding receiving slot before entering the effective magnetic area, and the device can realize efficient and accurate recovery of the sampling ship.

Description

Technical Field

[0001] The present application relates to the technical field of sampling vessels, and in particular to a sampling vessel launching and recovery device and a control method thereof. Background Art

[0002] Sampling ships are specially used for sampling in oceans, rivers, lakes and other waters. In recent years, with the development of automation and intelligent technology, unmanned sampling ships have gradually emerged. Such sampling ships can navigate autonomously, avoid obstacles automatically, and carry advanced sampling equipment for water quality sampling and monitoring. They can carry out sampling work in harsh environments or heavily polluted areas, reduce human intervention, and improve sampling efficiency and safety.

[0003] In the existing technology, the deployment and recovery of sampling ships usually rely on manual operation or simple mechanical devices, which are easily affected by environmental factors (such as water flow, wind direction, etc.), resulting in the sampling ship's inability to return accurately or low recovery efficiency. Summary of the invention

[0004] In view of the above-mentioned defects or deficiencies in the prior art, the present application aims to provide a sampling ship delivery and recovery device and a control method thereof to improve the recovery efficiency.

[0005] In the first aspect, the present application proposes a sampling ship deployment and recovery device, comprising:

[0006] A mooring station is used to be placed in the waters to be sampled, and a plurality of receiving slots for receiving the sampling vessel are evenly distributed along the circumference of the mooring station; and a mounting slot connected to each of the receiving slots is also provided in the mooring station at a position corresponding to each of the receiving slots;

[0007] A plurality of transmitting elements, each of which is disposed in a corresponding installation slot, and the transmitting element at least comprises an elastic element, and the elastic element is used to launch the sampling boat in the receiving slot to the surface of the water area to be sampled by its elastic force;

[0008] A plurality of driving elements, each of which is disposed at the bottom of each sampling ship and is used to drive the sampling ship to move on the water surface;

[0009] A plurality of magnetic elements, each of which is arranged in the corresponding installation slot, and is used to recover the sampling ship on the water surface into the receiving slot; the magnetic element has a first area, which is a region concentric with the magnetic effective area of ​​the magnetic element and larger in area than the magnetic effective area, and a first magnetic entry point is provided on the boundary line of the magnetic effective area, which is the intersection of the extension line of the receiving slot and the boundary line of the magnetic effective area; a second magnetic entry point is provided on the boundary line of the first area, which is the intersection of the extension line of the receiving slot and the boundary line of the first area;

[0010] The driving element can drive the sampling ship to sail to the adjustment target point when the initial entry point of the sampling ship is not in the extension direction of the corresponding containing tank, so that the sampling ship adjusts its course to the extension direction of the corresponding containing tank before entering the magnetic effective area; wherein the initial entry point is the intersection of the boundary line between the sampling ship and the first area, and the adjustment target point is a point on the line connecting the first magnetic entry point and the second magnetic entry point.

[0011] In the second aspect, the present application proposes a control method for a sampling ship delivery and recovery device, which is implemented based on the sampling ship delivery and recovery device as described above, and the control method includes the following steps:

[0012] Obtain the berthing position coordinates of each sampling ship in the berthing station and the sampling position coordinates of the sampling point to be sampled, and obtain the estimated sailing distance between each sampling ship and the sampling point to be sampled; the estimated sailing distance is the straight-line distance between the berthing position coordinates and the sampling position coordinates;

[0013] According to the estimated sailing distance of each sampling ship to reach the sampling point, a first target sampling ship is obtained, wherein the first target sampling ship is the sampling ship with the shortest estimated sailing distance;

[0014] The transmitting element corresponding to the first target sampling ship is controlled to shoot the first target sampling ship out of the containing tank. After the first target sampling ship enters the water area to be sampled, the driving element of the first target sampling ship is started to control the first target sampling ship to sail to the sampling point.

[0015] According to the technical solution provided in the present application, obtaining the first target sampling ship according to the estimated sailing distance of each sampling ship to reach the sampling point specifically includes the following steps:

[0016] According to the estimated sailing distance of each sampling ship to reach the sampling point, at least one candidate sampling ship is obtained, and the candidate sampling ship is the sampling ship with the shortest estimated sailing distance;

[0017] If the number of the candidate sampling ship is one, the candidate sampling ship is used as the first target sampling ship;

[0018] After obtaining at least one candidate sampling vessel, the method further includes the following steps:

[0019] If the number of the candidate sampling ships is two, obtaining the preset elastic force of each of the candidate sampling ships;

[0020] According to each of the preset elastic forces, a predicted elastic force balance point of each of the candidate sampling ships is obtained, wherein the predicted elastic force balance point is an exhaustion point of the preset elastic force;

[0021] The candidate sampling ship with the smallest straight-line distance between the predicted elastic force balance point and the point to be sampled is used as the first target sampling ship.

[0022] According to the technical solution provided by the present application, obtaining the predicted elastic force balance point of each candidate sampling ship according to each preset elastic force specifically includes the following steps:

[0023] Acquire current wind direction information and water flow information to obtain force information of each candidate sampling ship under the action of wind and water force; the wind direction information at least includes wind direction and wind speed, and the water flow information at least includes water flow direction and water flow speed;

[0024] A force model is constructed, and the predicted elastic force balance point of each candidate sampling ship is obtained according to the preset elastic force and the force information of each candidate sampling ship.

[0025] According to the technical solution provided in this application, after controlling the first target sampling ship to sail to the sampling point, the following steps are also included:

[0026] After the first target sampling ship completes the water sampling task, controlling the driving element to drive the first target sampling ship to sail in the direction of the corresponding containing tank;

[0027] When the first target sampling ship enters the first area, an initial entry point is obtained, where the initial entry point is the intersection of the first target sampling ship and the boundary line of the first area;

[0028] If the initial entry point is in the extension direction of the receiving tank corresponding to the first target sampling ship, controlling the driving element to drive the first target sampling ship to continue sailing in the extension direction of the corresponding receiving tank;

[0029] After the first target sampling ship enters the magnetic effective area, the magnetic attraction element returns the first target sampling ship to the corresponding containing tank.

[0030] According to the technical solution provided by the present application, after obtaining the initial entry point, the following steps are also included:

[0031] If the initial entry point is not located in the extension direction of the containing tank corresponding to the first target sampling ship, acquiring the adjustment target point;

[0032] The driving element is controlled to drive the first target sampling ship to sail to the adjustment target point, so that the first target sampling ship adjusts its course to the extension direction of the corresponding containing slot before entering the magnetic effective area.

[0033] According to the technical solution provided in the present application, controlling the driving element to drive the first target sampling ship to sail to the adjustment target point specifically includes the following steps:

[0034] Obtaining a first driving parameter according to relative position information between the adjustment target point and the initial entry point, the relative position information including the distance between the adjustment target point and the initial entry point, and the angle between a line connecting the adjustment target point and the initial entry point and a line connecting the initial entry point and the center of the magnetic effective area, the first driving parameter including at least a driving force magnitude and a driving force direction;

[0035] The driving element is controlled to drive the first target sampling ship to sail under the first driving parameter, so that the first target sampling ship reaches the adjusted target point.

[0036] According to the technical solution provided by the present application, before obtaining the berthing position coordinates of each sampling ship in the berthing station and the sampling position coordinates of the sampling point to be sampled, the following steps are included:

[0037] According to the sampling requirements, determine the number of the points to be sampled;

[0038] The step of obtaining the berthing position coordinates of each sampling ship in the berthing station and the sampling position coordinates of the sampling point to be sampled specifically includes the following steps:

[0039] If the number of the points to be sampled is one, the berthing position coordinates of each sampling ship in the berthing station and the sampling position coordinates of the points to be sampled are obtained; if the number of the points to be sampled is at least two, a corresponding second target sampling ship is matched for each of the points to be sampled;

[0040] The driving element of each second target sampling ship is controlled to drive the corresponding second target sampling ship to the matching sampling point to perform water sampling.

[0041] According to the technical solution provided by this application, the following steps are also included:

[0042] Obtaining the current position coordinates of all the sampling ships and the position coordinates of the berthing stations;

[0043] Determining the working state of the sampling vessel according to the coincidence relationship between the current position coordinates and the position coordinates of the berthing station; the working state includes a sampling state and an idle state;

[0044] In combination with the working status, the estimated sailing distance between each sampling ship and the sampling point is calculated.

[0045] According to the technical solution provided by the present application, the sampling state includes a first stage and a second stage;

[0046] The step of calculating the estimated sailing distance between each sampling ship and the sampling point in combination with the working status includes the following steps:

[0047] When the working state is the sampling state and is in the first stage, the sampling point distance between the position of the sampling point of the current sampling task of the sampling ship and the point to be sampled is calculated, and the sampling point distance is used as the expected sailing distance; or, when the working state is the sampling state and is in the second stage, the distance between the current position coordinates of the sampling ship and the point to be sampled is calculated as the expected sailing distance.

[0048] Compared with the prior art, the beneficial effects of the present application are as follows: the present application realizes the precise delivery of the sampling ship through elastic elements, reduces the influence of environmental factors on the delivery accuracy, and the magnetic suction element ensures that the sampling ship can accurately return to the berthing station, and can be efficiently recovered even in complex environments such as water flow and wind direction, thereby realizing the automatic delivery and recovery of the sampling ship, reducing manual intervention, reducing the difficulty of operation and time cost, and through the cooperation of the driving element and the magnetic suction element, the device can adapt to the complex water environment and ensure the stable operation and recovery of the sampling ship. In addition, when the initial entry point of the sampling ship is not in the extension direction of the receiving tank, the driving element can drive the sampling ship to sail to the adjustment target point, ensuring that the sampling ship adjusts its course before entering the effective magnetic area, thereby improving the recovery success rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 A flow chart of the steps of the control method for launching and recovering a sampling vessel provided in an embodiment of the present application;

[0050] Figure 2A schematic diagram of the structure of a docking station provided in an embodiment of the present application;

[0051] Figure 3 A schematic diagram of the structure of a sampling vessel provided in an embodiment of the present application;

[0052] Figure 4 A schematic diagram of the structure of a driving element provided in an embodiment of the present application;

[0053] Figure 5 Provided in the embodiments of this application Figure 4 A partial enlarged view of the part in the middle B;

[0054] Figure 6 A schematic diagram of the structure of the magnetic attraction element provided in an embodiment of the present application.

[0055] The text annotations in the figure represent:

[0056] 1. Docking station; 101. Receiving slot; 103. Second sample slot; 104. Round slot; 201. Sampling boat; 202. Recovery rod; 203. Recovery rope; 204. First motor; 205. Single chip microcomputer controller; 221. Sliding plate; 222. Groove; 223. Electromagnet; 401. Extrusion rod; 402. Spring; 403. Drive motor; 404. Steering motor; 405. Paddle. DETAILED DESCRIPTION

[0057] The present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the relevant inventions, rather than to limit the inventions. It should also be noted that, for ease of description, only the parts related to the invention are shown in the accompanying drawings.

[0058] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0059] Example 1

[0060] As mentioned in the background technology, in view of the problems in the prior art, the present application proposes a sampling ship delivery and recovery device, comprising:

[0061] The mooring station 1 is used to be placed in the water area to be sampled. The mooring station 1 is evenly distributed along its circumference with a plurality of receiving slots 101 for receiving the sampling vessel 201; the mooring station 1 is also provided with a mounting slot in communication with each of the receiving slots 101 at a position corresponding to each of the receiving slots 101;

[0062] Specifically, the mooring station 1 is fixed at a suitable position in the water area to be sampled, for example, by anchoring or buoys, and the levelness of the mooring station 1 is ensured to prevent the sampling vessel 201 from deviating during the launching or recovery process.

[0063] A plurality of transmitting elements, each of which is disposed in the corresponding installation slot, and the transmitting element at least comprises an elastic element, and the elastic element is used to launch the sampling boat 201 in the receiving slot 101 to the surface of the water area to be sampled by its elastic force;

[0064] Specifically, the elastic element is fixed in the mounting groove to ensure that the direction of its elastic force is consistent with the extension direction of the receiving groove 101. When the sampling boat 201 is placed in the receiving groove 101, the elastic element is in a compressed state. When the sampling boat 201 needs to be launched, the elastic element is released, and the sampling boat 201 is quickly pushed into the water by its elastic force. Furthermore, the elastic element can be a spring 402, and the spring 402 can be a shape memory alloy spring, which is energized through a wire; the extrusion rod 401 is fixedly connected to one end of the spring 402, and the spring 402 is energized to shrink it. When the sampling boat 201 needs to be ejected, the current is cut off, and the sampling boat 201 is pushed out under the elastic force of the spring 402, so that the sampling boat 201 floats on the water.

[0065] A plurality of driving elements, each of which is disposed at the bottom of each sampling ship 201 and is used to drive the sampling ship 201 to move on the water surface;

[0066] Specifically, the power source of the driving element can be a built-in battery or energy obtained from the docking station 1 through wireless charging technology, please refer to Figure 4 and Figure 5 As shown, the tail of the sampling ship 201 is provided with a driving element, which includes: a driving motor 403, whose output shaft is connected to a paddle 405, and the top of the driving motor 403 is connected to a steering motor 404, which is fixed to the bottom of the sampling ship 201 to achieve the reversing effect of the paddle 405. The device also includes a single-chip microcomputer controller 205, which is embedded with a control system with a preset control logic.

[0067] A plurality of magnetic elements, each of which is arranged in the corresponding installation slot, and is used to recover the sampling boat 201 on the water surface into the receiving slot 101; the magnetic element has a first area, which is a region concentric with the magnetic effective area of ​​the magnetic element and larger in area than the magnetic effective area, and a first magnetic entry point is provided on the boundary line of the magnetic effective area, which is the intersection of the extension line of the receiving slot 101 and the boundary line of the magnetic effective area; a second magnetic entry point is provided on the boundary line of the first area, which is the intersection of the extension line of the receiving slot 101 and the boundary line of the first area;

[0068] Specifically, the boundary of the effective magnetic area is the position boundary where the magnetic strength reaches a sufficient level to overcome the water resistance and inertial force of the sampling ship 201. The first area includes an extended area of ​​the effective magnetic area, which is larger than the effective magnetic area and is used to guide the sampling ship 201 into the effective magnetic area. The extended area of ​​the effective magnetic area has a relatively weak magnetic strength and is mainly used to initially attract and adjust the course of the sampling ship 201. The magnetic force decays with increasing distance. The boundary of the first area is a position where the magnetic strength is relatively weak but can still generate a certain attraction to the sampling ship 201. The range of the first area should be large enough to ensure that the sampling ship 201 still has enough time and space to adjust its course when it is not aligned with the extension direction of the receiving tank 101. Both the first area and the effective magnetic area are circular areas.

[0069] Specifically, the first area and the effective magnetic area can be determined by an experimental measurement method, the magnetic attraction element is fixed in the installation slot, and a magnetometer is used to measure the magnetic strength at different distances. The boundary of the effective magnetic area is determined based on the distance at which the magnetic strength reaches a certain threshold (the magnetic strength value obtained by multiple experiments that can overcome the water resistance and inertia of the sampling ship 201), and the boundary of the first area is determined based on the distance at which the magnetic strength is weak but still can generate attraction.

[0070] When the initial entry point of the sampling ship 201 is not in the extension direction of the corresponding receiving tank 101, the driving element can drive the sampling ship 201 to sail to the adjustment target point, so that the sampling ship 201 adjusts its course to the extension direction of the corresponding receiving tank 101 before entering the magnetic effective area; wherein the initial entry point is the intersection of the sampling ship 201 and the boundary line of the first area, and the adjustment target point is a point on the line connecting the first magnetic entry point and the second magnetic entry point.

[0071] Specifically, the single-chip microcomputer controller 205 includes a hardware module and a software module, and the hardware module includes a sensor module: Position sensor: used to detect the position of the sampling ship 201 (such as a GPS module). Magnetic sensor: used to detect whether the sampling ship 201 enters the effective magnetic area. Attitude sensor: used to detect the heading of the sampling ship 201 (such as a gyroscope or an electronic compass). Actuator module: Motor drive module: used to control the start and stop and direction of the drive element. Electromagnet control module: used to control the start and stop of the magnetic attraction element. Communication module: Wireless communication module: such as Wi-Fi, Bluetooth or LoRa, used for communication between the single-chip microcomputer controller 205 and the sampling ship 201. Power supply module: Provides stable power supply for the single-chip microcomputer and various hardware.

[0072] The software module is used to execute the control logic of the single-chip microcomputer, including the following parts: Launch control: detect whether the sampling ship 201 needs to be launched; control the release of the elastic element of the launch element to launch the sampling ship 201 onto the water surface. Navigation control: send navigation instructions (such as target coordinates, speed) to the sampling ship 201 through the wireless communication module; receive the real-time position and status information of the sampling ship 201, and make dynamic adjustments. Recovery control: detect whether the sampling ship 201 is close to the first area. If the initial entry point is not in the extension direction of the receiving tank 101, send an adjustment instruction to make the sampling ship 201 sail to the adjustment target point; control the magnetic suction element to start, and recover the sampling ship 201 into the receiving tank 101.

[0073] The process of driving the element to adjust the heading of the sampling ship 201 is also implemented by the software module. The control logic is: determine the current position of the hull (initial entry point) through GPS, calculate whether the point is within the projection range of the extension line of the receiving tank (i.e., whether it coincides with the extension line), and if the initial entry point deviates from the extension line, trigger the heading adjustment program. The heading adjustment program first determines the first magnetic entry point and the second magnetic entry point. Specifically, the intersection of the extension line of the receiving tank and the boundary of the magnetic effective area (the starting point of the magnetic attraction) is used as the first magnetic entry point, and the intersection of the same extension line and the boundary of the first area (the entrance of the guide area) is used as the first magnetic entry point. As the second magnetic entry point, connect the first magnetic entry point and the second magnetic entry point to form a straight line (in the direction of the extension line). According to the current position of the ship, select the connection point closest to the current position as the adjustment target point. Then, the drive element starts, and moves to the adjustment target point according to the navigation algorithm (a closed-loop feedback algorithm can be used, that is, the current position and the target point are compared in real time, and the propulsion force and direction are adjusted through PID control). When moving to the adjustment target point, the drive element controls the rotation of the hull so that the extension direction of the hull is in the extension line of the receiving slot and the bow is away from the side of the berthing station 1, and the stern is close to the side of the berthing station 1. At this point, the ship enters the magnetic effective area along the direction of the calibrated extension line. The magnetic suction element generates attraction, pulling the ship into the receiving slot along a straight path. The receiving slot structure (such as a guide ramp) assists the hull to return to its position to avoid deviation, and the elastic element is reset to prepare for the next launch.

[0074] This device has dual-zone magnetic stratification: the first zone provides a loose guiding space, and the magnetic effective zone ensures the final path is accurate and reduces the impact of environmental interference. Dynamic path planning: Combined with the initial entry point position, the target point is adjusted in real time to adapt to complex water conditions. Heading pre-correction mechanism: The direction calibration is completed before entering the magnetic effective zone to avoid the path correction energy consumption during the magnetic suction process.

[0075] Specifically, the water area to be sampled includes at least one sampling point; preferably, four containing tanks 101 are provided, and correspondingly, there are four sampling ships 201. A circular tank 104 is provided in the middle of the berthing station 1, and a single-chip controller 205 is installed in the circular tank 104. A second sample tank 103 is provided at the top, and a water pump pumps water into the second sample tank 103.

[0076] Specifically, please refer to Figure 2 As shown, the recovery rod 202 is rotatably installed in the middle of the berthing station 1 through a bearing, and a first motor 204 is fixedly installed on the top of the recovery rod 202; a recovery rope 203 passes through the installation slot, and one end thereof is fixed in the middle of the recovery rod 202. The number of the recovery ropes 203 corresponds to the number of the sampling ships 201. When the sampling ship 201 needs to be recovered, the other end of the recovery rope 203 is connected to the tail of the sampling ship 201 through a magnetic element;

[0077] Among them, under the control of the single-chip controller 205, when the sampling ship 201 leaves the berthing station 1, the first motor 204 controls the recovery rod 202 to rotate, so that the recovery rope 203 is unwound, and when the sampling ship 201 is separated from the containing tank 101, the recovery rope 203 is separated from the sampling ship 201. When the sampling ship 201 completes sampling of the water body, the sampling ship 201 travels to the opening of the containing tank 101. At this time, one end of the recovery rope 203 is magnetically attracted to the sampling ship 201, and the single-chip controller 205 controls the first motor 204 to rotate, so that the recovery rod 202 reels the recovery rope 203, allowing the sampling ship 201 to return to the containing tank 101.

[0078] Furthermore, a slope structure is provided at the notch of the receiving tank 101, so that the sampling ship 201 can be smoothly inserted into the receiving tank 101 when it approaches the berthing station 1, and a sliding limit structure is provided at the bottom of the inner wall of the receiving tank 101 and the bottom of the sampling ship 201. It also includes a first sample tank, which is provided at the top of the sampling ship 201, and a sampling component is provided in the middle of the sampling ship 201, and the sampling component draws water into the first sample tank. The berthing station 1 is surrounded by rising components corresponding to the number of the sampling ships 201, and the rising components are used to draw the samples in the first sample tank to the berthing station 1. It should be noted that each sampling ship 201 can be provided with multiple sample tanks so that the sampling ship 201 can collect multiple samples at a time.

[0079] Specifically, please refer to Figure 5 As shown, the sliding plate 221 is slidably installed inside the accommodating groove 101 and fixed to one end of the recovery rope 203. A groove 222 is provided at one end of the sliding plate 221 close to the sampling boat 201. An electromagnet 223 is connected to one end of the sampling boat 201 close to the sliding plate 221. The sliding plate 221 is made of non-magnetic material, but a magnetic material is provided on the inner wall of the groove 222. When the electromagnet 223 is energized, it can be adsorbed inside the groove 222. When the sampling boat 201 needs to be ejected, the current of the spring 402 is cut off, and the sampling boat 201 is pushed out under the elastic force of the spring 402, and At this time, the first motor 204 rotates to allow the recovery rope 203 to unwind adaptively. When the sampling boat 201 drives the sliding plate 221 to the exit of the receiving tank 101, the electromagnet 223 is powered off, so that the sampling boat 201 is separated from the sliding plate 221, and the sampling boat 201 floats on the water. After the collection is completed, the sampling boat 201 travels to the exit of the receiving tank 101 and allows the electromagnet 223 to face the receiving tank 101. At this time, the electromagnet 223 is energized to allow the electromagnet 223 to be attracted to the groove 222, and then the recovery rope 203 begins to reel in, pulling the sampling boat 201 into the receiving tank 101, completing the recovery of the sampling boat 201.

[0080] Example 2

[0081] Based on Example 1, this example proposes a control method for a sampling ship deployment and recovery device, which is mainly executed by a software module and includes the following steps:

[0082] S1, obtaining the berthing position coordinates of each sampling ship 201 in the berthing station 1 and the sampling position coordinates of the sampling point to be sampled, and obtaining the estimated sailing distance between each sampling ship 201 and the sampling point to be sampled; the estimated sailing distance is the straight-line distance between the berthing position coordinates and the sampling position coordinates;

[0083] Furthermore, before obtaining the berthing position coordinates of each sampling ship 201 in the berthing station 1 and the sampling position coordinates of the sampling point, the following steps are included:

[0084] According to the sampling requirements, determine the number of the points to be sampled;

[0085] The step of obtaining the berthing position coordinates of each sampling vessel 201 in the berthing station 1 and the sampling position coordinates of the sampling point to be sampled specifically includes the following steps:

[0086] If the number of the sampling point is one, the berthing position coordinates of each sampling ship 201 in the berthing station 1 and the sampling position coordinates of the sampling point are obtained.

[0087] Specifically, the scenario is a sampling scenario of multiple sampling ships 201 and a sampling point. The berthing position coordinates of each sampling ship 201 in the berthing station 1 are obtained through GPS, the sampling position coordinates are determined according to the sampling requirements, and the sampling position coordinates are input into the single-chip microcomputer controller 205 in advance. After receiving the coordinate data, the Euclidean distance formula is used to calculate the straight-line distance between each sampling ship 201 and the sampling point.

[0088] S2. Obtain a first target sampling ship according to the estimated sailing distance of each sampling ship 201 to the sampling point, wherein the first target sampling ship is the sampling ship 201 with the shortest estimated sailing distance;

[0089] Specifically, the first target sampling ship is marked, and the launching and driving process of the first target sampling ship is prepared to be started.

[0090] Furthermore, in the actual sampling process, there may be a single sampling ship 201 sampling, multiple sampling ships 201 sampling, and there may also be a single sampling ship 201 collecting one sample, and a single sampling ship 201 collecting multiple samples. At the same time, the inventors found that in the actual sampling process, the sampling ship 201 does not necessarily have to start sampling from the berthing station. If the sampling ship A finds that the distance between the sampling ship A and the sample B is closer than the distance between the sampling ships 201 and the sample B in other berthing stations 1 during the process of collecting sample A, in this case, the sampling ship A can continue to collect sample B after collecting sample A. Therefore, in order to improve the scheduling and collection efficiency of the sampling ship 201, for each sampling point to be sampled, the situation of all sampling ships 201 must be considered each time, as follows:

[0091] Obtaining the current position coordinates of all the sampling ships 201 and the position coordinates of the berthing station 1;

[0092] Determine the working state of the sampling vessel 201 according to the coincidence relationship between the current position coordinates and the position coordinates of the berthing station 1; the working state includes a sampling state and an idle state;

[0093] Specifically, when there is a sampling task, the current position of all sampling ships 201 is compared with the position coordinates of the berthing station 1 to distinguish whether the sampling ship is in the berthing station 1 or in the sampling process. In the specific coordinate comparison process, the coordinates of each sampling ship 201 and the coordinates of the berthing station 1 can be calculated for difference calculation. When the difference between the two is small (in the range of 0.1-2), it is determined that the sampling ship 201 is close to the berthing station 1 and the sampling ship 201 is not performing the sampling task. When the difference exceeds 2, it is determined that the sampling ship 201 is performing the sampling task.

[0094] In combination with the working status, the estimated sailing distance between each sampling ship 201 and the sampling point is calculated; wherein the sampling status includes a first stage and a second stage, the first stage is the process of the sampling ship 201 setting out from the berthing station 1 to the sampling point, and the second stage is the process of the sampling ship 201 returning to the berthing station 1 after collecting samples.

[0095] When the working state is the sampling state and is in the first stage, the sampling point distance between the position of the sampling point of the current working task of the sampling ship 201 and the point to be sampled is calculated, and the sampling point distance is used as the estimated sailing distance.

[0096] Specifically, in this case, it means that the sampling ship 201 needs to collect the current sample A before collecting the next sample B. Therefore, at this time, the distance between the current sample A and the next sample B (the sampling point distance) is used as the estimated sailing distance between the current sampling ship and the next sample B. Then, this estimated sailing distance is compared with the estimated sailing distance between other sampling ships 201 and the next sample B.

[0097] When the working state is the sampling state and is in the second stage, the distance between the current position coordinates of the sampling ship 201 and the point to be sampled is calculated as the estimated sailing distance.

[0098] Specifically, at this stage, it indicates that the sampling ship 201 has completed the sampling task. At this time, the sampling ship 201 can directly go to the next sampling point B (the point to be sampled) from its current position to collect the next sample B. At this time, the distance between the sampling ship 201 and the point to be sampled is used as the estimated sailing distance between the current sampling ship and the next sample B. Then, this estimated sailing distance is compared with the estimated sailing distance between other sampling ships 201 and the next sample B.

[0099] Here, before each sample is collected, the distances between all sampling ships 201 and the sampling points are compared, and the sampling ship 201 closest to the sampling point is selected, so that the sampling ship 201 in the sampling process can be scheduled for sampling. The sampling ship 201 can be repeatedly scheduled to reduce the mileage of the sampling ship 201, thereby reducing the driving energy consumption of the sampling ship 201 and improving the sampling efficiency.

[0100] S3, controlling the emitting element corresponding to the first target sampling ship to shoot the first target sampling ship out of the containing tank 101, and after the first target sampling ship enters the water area to be sampled, starting the driving element of the first target sampling ship to control the first target sampling ship to sail to the sampling point.

[0101] In a preferred embodiment, the method of obtaining the first target sampling ship according to the estimated sailing distance of each sampling ship 201 to reach the sampling point specifically includes the following steps:

[0102] According to the estimated sailing distance of each sampling ship 201 to reach the sampling point, at least one candidate sampling ship is obtained, and the candidate sampling ship is the sampling ship 201 with the shortest estimated sailing distance;

[0103] Specifically, a high-precision GPS module is installed at the berthing station 1 and each sampling ship 201 for acquiring the berthing position coordinates and the current position coordinates of the sampling ship 201 in real time.

[0104] If the number of the candidate sampling ship is one, the candidate sampling ship is used as the first target sampling ship;

[0105] After obtaining at least one candidate sampling vessel, the method further includes the following steps:

[0106] If the number of the candidate sampling ships is two, obtaining the preset elastic force of each of the candidate sampling ships;

[0107] According to each of the preset elastic forces, a predicted elastic force balance point of each of the candidate sampling ships is obtained, and the predicted elastic force balance point is the exhaustion point of the preset elastic force.

[0108] The candidate sampling ship with the smallest straight-line distance between the predicted elastic force balance point and the point to be sampled is used as the first target sampling ship.

[0109] Specifically, a pressure sensor or a displacement sensor is installed on the spring 402 of the transmitting element to measure the compression state and the preset elastic force value of the spring 402. The expected sailing distances of all sampling ships 201 are compared to select the candidate sampling ship with the shortest distance. If there is only one candidate sampling ship, it is directly marked as the first target sampling ship. If there are two candidate sampling ships (such as candidate ship A and candidate ship B), the elastic balance point calculation process is entered.

[0110] Furthermore, obtaining the predicted elastic force balance point of each candidate sampling ship according to each preset elastic force specifically includes the following steps:

[0111] Acquire current wind direction information and water flow information to obtain force information of each candidate sampling ship under the action of wind and water force; the wind direction information at least includes wind direction and wind speed, and the water flow information at least includes water flow direction and water flow speed;

[0112] Specifically, an anemometer and a current meter are installed on the mooring station 1 to obtain wind direction information and water flow information in real time.

[0113] A force model is constructed, and the predicted elastic force balance point of each candidate sampling ship is obtained according to the preset elastic force and the force information of each candidate sampling ship.

[0114] Specifically, when the sampling ship 201 departs from the berthing station 1, the current compression state of the spring 402 is read through the elastic force detection module, and the product of the spring stiffness and the compression amount is used as the preset elastic force. When the sampling ship 201 does not depart from the berthing station 1, the preset elastic force is 0. The wind direction is obtained in real time through the environmental monitoring module , wind speed , Water flow direction , water flow speed , wind power and water flow force Decomposed into vectors, the force model is:

[0115]

[0116] in, and is the wind resistance coefficient and water resistance coefficient (calibrated by experiment). With wind and water flow force When balanced, satisfied , the coordinates of the predicted elastic force equilibrium point are obtained, which is the static position of the sampling vessel 201 when the spring force is exhausted.

[0117] In this embodiment, when there are two sampling ships 201 with the same estimated sailing distance, by introducing the consideration of the preset elastic force and the predicted elastic force balance point, the sampling ship 201 most suitable for the sampling point can be selected more accurately. This avoids the unclear selection that may occur when relying solely on the estimated sailing distance, and improves the accuracy and reliability of determining the target sampling ship 201.

[0118] If there are more than two candidate sampling ships and all of them are in the sampling state, it means that the candidate sampling ships are at the same distance from the sampling point. At this time, the force information under the action of wind and water between each candidate sampling ship and the sampling point is obtained, and the candidate sampling ship is selected according to the value of each force information. Since the preset elastic force of the candidate sampling ship is 0 at this time, the magnitude of the force information represents the magnitude of the resistance encountered by the candidate sampling ship during the movement. When the force information is larger, the candidate sampling ship needs more energy and time to travel to the sampling point. Therefore, the candidate sampling ship with small force information is selected for sampling at this time. Considering the energy saving and efficient sampling principle of the sampling ship 201, selecting the candidate sampling ship with the force information on the route can reduce the energy of the sampling ship.

[0119] If there are more than two candidate sampling ships, when there are both sampling ships and ships at the berthing station, the distance A between the candidate sampling ship in sampling and the sampling point is taken as the estimated sailing distance A, and the distance between the predicted elastic balance point of the candidate sampling ship at the berthing station and the sampling point is taken as the estimated sailing distance B. The estimated sailing distance A is compared with the estimated sailing distance B, and the candidate sampling ship with the smaller estimated sailing distance is selected to perform the sampling task. If the estimated sailing distance A is equal to the estimated sailing distance B, the force information of each candidate sampling ship is compared, and the candidate sampling ship with the smaller force information is selected to perform the sampling task.

[0120] Furthermore, after controlling the first target sampling ship to sail to the sampling point, the method further includes the following steps:

[0121] After the first target sampling ship completes the water sampling task, controlling the driving element to drive the first target sampling ship to sail in the direction of the corresponding containing tank 101;

[0122] Specifically, the timing starts after the first target sampling ship arrives at the sampling point, and the water sampling task is completed by default after accumulating 10 minutes. When it is determined that the first target sampling ship has completed the water sampling task, a return instruction is sent to the sampling ship 201. The instruction includes a control driving element to drive the first target sampling ship to sail in the direction of the corresponding receiving tank 101.

[0123] When the first target sampling ship enters the first area, an initial entry point is obtained, where the initial entry point is the intersection of the first target sampling ship and the boundary line of the first area;

[0124] Specifically, during the return of the first target sampling ship, a sensor (magnetic field sensor) installed on the sampling ship 201 detects in real time whether it has entered the first area (determined by the magnetic field strength read by the magnetic field sensor). The initial entry point can be determined by the location information displayed by the GPS module and the boundary information of the first area.

[0125] If the initial entry point is in the extension direction of the receiving tank 101 corresponding to the first target sampling ship, the driving element is controlled to drive the first target sampling ship to continue to sail in the extension direction of the corresponding receiving tank 101;

[0126] Specifically, by comparing the included angle between the initial entry point and the extension direction of the receiving tank 101, it is determined whether it is in the extension direction of the receiving tank 101 corresponding to the first target sampling ship. If the included angle is zero or within a very small allowable range, it is considered that the initial entry point is in the extension direction of the receiving tank 101. The extension direction of the receiving tank 101 is a straight line direction passing through the spatial center of the receiving tank 101 and along the radial direction of the berthing station 1.

[0127] After the first target sampling ship enters the magnetic effective area, the magnetic attraction element returns the first target sampling ship to the corresponding containing slot 101 .

[0128] Specifically, when the sampling ship 201 enters the effective magnetic area, the sampling ship 201 is driven by the steering motor to turn around so that the stern of the sampling ship 201 faces the receiving tank 101. If the sampling ship 201 cannot accurately align with the extension direction of the receiving tank 101, it may collide with the berthing station 1 or the edge of the receiving tank 101 during the recovery process, causing damage to the sampling ship 201 or the equipment of the berthing station 1. Therefore, the following will circumvent this problem to prevent unnecessary collisions of the sampling ship 201 and ensure that the water samples collected will not be affected by large impact forces, resulting in changes in water properties.

[0129] Specifically, as the first target sampling ship continues to sail, its distance from the magnetic effective area is continuously monitored. When the first target sampling ship approaches the magnetic effective area, the output power of the driving element is gradually reduced, so that the sampling ship 201 can smoothly enter the magnetic effective area under the action of the magnetic force. When the first target sampling ship enters the magnetic effective area, the magnetic attraction element begins to work. The magnetic force generated by the magnetic attraction element retracts the first target sampling ship into the corresponding receiving slot 101.

[0130] Furthermore, after obtaining the initial entry point, the following steps are also included:

[0131] If the initial entry point is not in the extension direction of the containing tank 101 corresponding to the first target sampling ship, an adjustment target point is obtained, and the adjustment target point is a point on the line connecting the first magnetic entry point and the second magnetic entry point;

[0132] The driving element is controlled to drive the first target sampling ship to sail to the adjustment target point, so that the first target sampling ship adjusts its course to the extension direction of the corresponding receiving slot 101 before entering the magnetic effective area.

[0133] Specifically, when the sampling ship 201 sails to the adjustment target point, the sampling ship 201 is driven by the steering motor to turn around so that the stern of the sampling ship 201 faces the containing tank 101 .

[0134] This embodiment enables the sampling vessel 201 to be accurately aligned with the extension direction of the receiving tank 101 before entering the effective magnetic force area, thereby avoiding the situation where the magnetic force cannot be used for smooth recovery due to heading deviation.

[0135] In a preferred embodiment, controlling the driving element to drive the first target sampling ship to sail to the adjustment target point specifically includes the following steps:

[0136] Obtaining a first driving parameter according to relative position information between the adjustment target point and the initial entry point, the relative position information including the distance between the adjustment target point and the initial entry point, and the angle between a line connecting the adjustment target point and the initial entry point and a line connecting the initial entry point and the center of the magnetic effective area, the first driving parameter including at least a driving force magnitude and a driving force direction;

[0137] The driving element is controlled to drive the first target sampling ship to sail under the first driving parameter, so that the first target sampling ship reaches the adjusted target point.

[0138] Specifically, if the angle between the line connecting the adjustment target point and the initial entry point and the line connecting the initial entry point and the center of the magnetic effective area is large, and the distance between the adjustment target point and the initial entry point is also large, it means that it is necessary to turn as soon as possible to ensure that the direction is adjusted before the first target sampling ship enters the magnetic effective area. Otherwise, it means that it is not necessary to turn too quickly, and for the sake of stability of the sampling ship, the driving force should not be too large.

[0139] In a preferred embodiment, after determining the number of points to be sampled according to the sampling requirements, the following steps are further included:

[0140] If the number of the points to be sampled is at least two, matching a corresponding second target sampling ship for each of the points to be sampled;

[0141] The driving element of each second target sampling ship is controlled to drive the corresponding second target sampling ship to the matching sampling point to perform water sampling.

[0142] Specifically, the scenario is a sampling scenario of multiple sampling ships 201 and multiple sampling points. Multiple sampling ships 201 are dispatched to different sampling points for sampling at the same time. Compared with sampling each sampling point in turn, the time required to complete all sampling tasks can be greatly shortened. This is particularly important in scenarios where a large number of water samples need to be quickly obtained for analysis (such as monitoring of sudden pollution incidents).

[0143] Furthermore, matching each of the to-be-sampled points with a corresponding second target sampling vessel specifically includes the following steps:

[0144] Calculating a preset set of each of the points to be sampled, wherein the preset set includes the estimated sailing distance between the points to be sampled and each of the sampling ships 201;

[0145] If the sampling ships 201 corresponding to the smallest expected sailing distance in the preset set of each of the points to be sampled are different, the sampling ship 201 corresponding to the smallest expected sailing distance in the preset set of each of the points to be sampled is matched as the corresponding second target sampling ship.

[0146] Exemplarily, there are four sampling points to be sampled in the water area to be sampled, namely, sampling point A, sampling point B, sampling point C and sampling point D. There are sampling ships A, sampling ship B, sampling ship C and sampling ship D moored in berthing station 1. The preset set of sampling point A is {10, 6, 8, 9}. The sampling ship 201 corresponding to the smallest expected sailing distance in the preset set of sampling point A is sampling ship B. The preset set of sampling point B is {12, 7, 6, 11}. The sampling ship 201 corresponding to the smallest expected sailing distance in the preset set of sampling point B is sampling ship C. The preset set of sampling point C is {8, 9, 10, 11}. The sampling ship 201 corresponding to the smallest expected sailing distance in the preset set of C is sampling ship A, the preset set of sampling point D is {9, 7, 14, 6}, and the sampling ship 201 corresponding to the smallest expected sailing distance in the preset set of sampling point D is sampling ship D. This means that if the sampling ships 201 corresponding to the smallest expected sailing distances in the preset sets of each sampling point are different, the second target sampling ship matching sampling point A is sampling ship B, the second target sampling ship matching sampling point B is sampling ship C, the second target sampling ship matching sampling point C is sampling ship A, and the second target sampling ship matching sampling point D is sampling ship D.

[0147] This embodiment matches the sampling ship 201 to the sampling point with the smallest second distance to it, so that the sampling ship 201 can reach the target location more quickly and stably, reduce the time waste and sampling errors caused by improper path selection, and improve the accuracy and reliability of sampling.

[0148] This article uses specific examples to illustrate the principles and implementation methods of this application. The description of the above embodiments is only used to help understand the method and its core ideas of this application. The above is only the preferred implementation method of this application. It should be pointed out that due to the limitations of textual expression and the objective existence of infinite specific structures, ordinary technicians in this technical field can make several improvements, modifications or changes without departing from the principles of the present invention, and can also combine the above technical features in an appropriate manner; these improvements, modifications, changes or combinations, or the direct application of the inventive concept and technical solution to other occasions without improvement, should be regarded as the scope of protection of this application.

Claims

1. A sampling ship launching and recovery device, characterized in that: include: A mooring station (1) is used to be placed in a water area to be sampled, and the mooring station (1) is provided with a plurality of receiving slots (101) for receiving sampling vessels (201) evenly distributed along its circumference; and the mooring station (1) is also provided with mounting slots in communication with each of the receiving slots (101) at positions corresponding to each of the receiving slots (101); A plurality of transmitting elements, each transmitting element being arranged in a corresponding installation slot, the transmitting element comprising at least an elastic element, the elastic element being used to transmit the sampling boat (201) in the containing slot (101) to the surface of the water area to be sampled by means of its elastic force; A plurality of driving elements, each of the driving elements being arranged at the bottom of each sampling ship (201) and being used to drive the sampling ship (201) to move on the water surface; A plurality of magnetic elements, each of which is arranged in a corresponding installation slot and is used to recover the sampling vessel (201) on the water surface into the receiving slot (101); the magnetic element has a first area, the first area is an area that is concentric with the magnetic effective area of ​​the magnetic element and has an area larger than the magnetic effective area, and a first magnetic entry point is provided on the boundary line of the magnetic effective area, the first magnetic entry point is the intersection of an extension line of the receiving slot (101) and the boundary line of the magnetic effective area; A second magnetic force entry point is provided on the boundary line of the first area, and the second magnetic force entry point is the intersection of an extension line of the containing groove (101) and the boundary line of the first area; The driving element can drive the sampling ship (201) to sail to the adjustment target point when the initial entry point of the sampling ship (201) is not in the extension direction of the corresponding containing tank (101), so that the sampling ship (201) adjusts its course to the extension direction of the corresponding containing tank (101) before entering the magnetic effective area; wherein the initial entry point is the intersection of the sampling ship (201) and the boundary line of the first area, and the adjustment target point is a point on the line connecting the first magnetic entry point and the second magnetic entry point.

2. A control method for a sampling ship launching and recovery device, characterized in that: Based on the sampling ship delivery and recovery device as claimed in claim 1, the control method comprises the following steps: Acquiring the berthing position coordinates of each sampling ship (201) in the berthing station (1) and the sampling position coordinates of the sampling point to be sampled, and obtaining the estimated sailing distance between each sampling ship (201) and the sampling point to be sampled; the estimated sailing distance is the straight-line distance between the berthing position coordinates and the sampling position coordinates; According to the estimated sailing distance of each sampling ship (201) to reach the sampling point, a first target sampling ship is obtained, wherein the first target sampling ship is the sampling ship (201) with the shortest estimated sailing distance; The emitting element corresponding to the first target sampling ship is controlled to shoot the first target sampling ship out of the containing tank (101); after the first target sampling ship enters the water area to be sampled, the driving element of the first target sampling ship is started to control the first target sampling ship to sail towards the sampling point.

3. The control method of the sampling ship launching and recovery device according to claim 2 is characterized in that: The method of obtaining a first target sampling ship according to the estimated sailing distance of each sampling ship (201) to reach the sampling point specifically comprises the following steps: According to the estimated sailing distance of each sampling ship (201) to reach the sampling point, at least one candidate sampling ship is obtained, the candidate sampling ship being the sampling ship (201) with the shortest estimated sailing distance; If the number of the candidate sampling ship is one, the candidate sampling ship is used as the first target sampling ship; After obtaining at least one candidate sampling vessel, the method further includes the following steps: If the number of the candidate sampling ships is two, obtaining the preset elastic force of each of the candidate sampling ships; According to each of the preset elastic forces, a predicted elastic force balance point of each of the candidate sampling ships is obtained, wherein the predicted elastic force balance point is an exhaustion point of the preset elastic force; The candidate sampling ship with the smallest straight-line distance between the predicted elastic force balance point and the point to be sampled is used as the first target sampling ship.

4. The control method of the sampling ship launching and recovery device according to claim 3 is characterized in that: The step of obtaining the predicted elastic force balance point of each candidate sampling ship according to each of the preset elastic forces specifically includes the following steps: Acquire current wind direction information and water flow information to obtain force information of each candidate sampling ship under the action of wind and water force; the wind direction information at least includes wind direction and wind speed, and the water flow information at least includes water flow direction and water flow speed; A force model is constructed, and the predicted elastic force balance point of each candidate sampling ship is obtained according to the preset elastic force and the force information of each candidate sampling ship.

5. The control method of the sampling ship launching and recovery device according to claim 2 is characterized in that: After controlling the first target sampling ship to sail to the sampling point, the following steps are also included: After the first target sampling ship completes the water sampling task, controlling the driving element to drive the first target sampling ship to sail in the direction of the corresponding containing tank (101); When the first target sampling ship enters the first area, an initial entry point is obtained, where the initial entry point is the intersection of the first target sampling ship and the boundary line of the first area; If the initial entry point is in the extension direction of the containing tank (101) corresponding to the first target sampling ship, controlling the driving element to drive the first target sampling ship to continue sailing in the extension direction of the corresponding containing tank (101); After the first target sampling ship enters the magnetic effective area, the magnetic attraction element returns the first target sampling ship to the corresponding containing groove (101).

6. The control method of the sampling ship launching and recovery device according to claim 5 is characterized in that: After obtaining the initial entry point, the following steps are also included: If the initial entry point is not located in the extension direction of the containing tank (101) corresponding to the first target sampling ship, acquiring the adjustment target point; The driving element is controlled to drive the first target sampling ship to sail to the adjustment target point, so that the first target sampling ship adjusts its heading to the extension direction of the corresponding containing slot (101) before entering the magnetic effective area.

7. The control method of the sampling ship launching and recovery device according to claim 6 is characterized in that: The controlling the driving element to drive the first target sampling ship to sail to the adjustment target point specifically includes the following steps: Obtaining a first driving parameter according to relative position information between the adjustment target point and the initial entry point, the relative position information including the distance between the adjustment target point and the initial entry point, and the angle between a line connecting the adjustment target point and the initial entry point and a line connecting the initial entry point and the center of the magnetic effective area, the first driving parameter including at least a driving force magnitude and a driving force direction; The driving element is controlled to drive the first target sampling ship to sail under the first driving parameter, so that the first target sampling ship reaches the adjustment target point.

8. The control method of the sampling ship launching and recovery device according to claim 3 is characterized in that: Before obtaining the berthing position coordinates of each sampling ship (201) in the berthing station (1) and the sampling position coordinates of the sampling point, the following steps are included: According to the sampling requirements, determine the number of the points to be sampled; The step of obtaining the berthing position coordinates of each sampling vessel (201) in the berthing station (1) and the sampling position coordinates of the sampling point to be sampled specifically comprises the following steps: If the number of the points to be sampled is one, obtaining the berthing position coordinates of each sampling ship (201) in the berthing station (1) and the sampling position coordinates of the points to be sampled; if the number of the points to be sampled is at least two, matching a corresponding second target sampling ship for each of the points to be sampled; The driving element of each second target sampling ship is controlled to drive the corresponding second target sampling ship to the matching sampling point to perform water sampling.

9. The control method of the sampling ship launching and recovery device according to claim 8 is characterized in that: The following steps are also included: Obtaining the current position coordinates of all the sampling ships (201) and the position coordinates of the berthing station (1); Determining the working state of the sampling vessel (201) according to the coincidence relationship between the current position coordinates and the position coordinates of the berthing station (1); the working state includes a sampling state and an idle state; In combination with the working status, the estimated sailing distance between each sampling ship (201) and the point to be sampled is calculated.

10. The control method of the sampling ship launching and recovery device according to claim 9, characterized in that: The sampling state includes a first stage and a second stage; The step of calculating the estimated sailing distance between each sampling ship (201) and the sampling point in combination with the working status comprises the following steps: When the working state is the sampling state and is in the first stage, the sampling point distance between the position of the sampling point of the current sampling task of the sampling ship (201) and the point to be sampled is calculated, and the sampling point distance is used as the expected sailing distance; or, when the working state is the sampling state and is in the second stage, the distance between the current position coordinates of the sampling ship (201) and the point to be sampled is calculated as the expected sailing distance.

Images