System and method for monitoring and collecting periphytic algae

Abstract

The invention discloses a periphytic algae monitoring and collecting system and method. The periphytic algae monitoring and collecting system comprises an ashore guarantee subsystem which is used for controlling a walking robot, monitoring underwater algae pictures, analyzing algae data and performing power supply and communication functions; the underwater walking robot subsystem is used for realizing large-range, whole-water-area and multi-point-position monitoring and acquisition in the underwater of the river and the canal through the maneuverability of an underwater walking robot; the underwater observation and algae monitoring subsystem is used for observing underwater topography and monitoring periphytic algae in a specified area; and the periphytic algae collection subsystem is used for carrying out adhesion scraping, absorption and storage on periphytic algae. According to the method, the difficulty of monitoring periphytic algae in multiple areas and multiple depths in the canal is overcome.

Description

Technical Field

[0001] The present invention relates to the technical field of water ecological environment detection, and in particular to a monitoring and collection system and method for algae. Background Art

[0002] Attached algae, also known as benthic algae, are some microscopic attached algae that live on the water matrix. Attached algae are adapted to fixed growth, have a large biofilm area, and exchange substances with the water body quickly. They are commonly used indicator organisms to indicate the health of river ecosystems. After the water was passed through the water diversion canal, a large number of attached algae increased in spring. After a large number of attached algae increased and died and floated up, they may affect the water quality of the canal. Therefore, it is necessary to detect and study the distribution and growth change laws of attached algae in the water diversion canal, and high-density sampling and detection of attached algae is required. There are three traditional methods for sampling attached algae: matrix method (water grass method or stone method), slide method and polyester film method. The matrix method requires collecting complete water grass and stones and bringing them back to the laboratory, scraping them with a knife and then testing them. The slide and polyester film methods require the collection device to be placed in the sampled area for a period of time before sampling. The above traditional methods are not suitable for water diversion canals or the timeliness cannot meet the research requirements: the canal is a concrete structure and there are few loose stones in its matrix. Both the glass slide method and the polyester film method require the algae to be placed in the algae collection area for more than 14 days, which lacks timeliness. In addition, the algae cultivated in this way are not completely channel wall algae, and there are also differences in their characteristics.

[0003] Although relevant collection tools have appeared, most of them are manual and require the help of vehicles for sampling personnel to conduct sampling. In addition, due to the influence of the topography of water diversion canals and the limitations of vehicles, it is impossible to sample tunnels, pipelines, culverts, etc. in narrow areas, and it is also impossible to collect samples in deeper areas, let alone observe the underwater growth of algae. Therefore, it is necessary to develop special algae observation and sampling tools suitable for water diversion canals based on the characteristics of water diversion canals and high-density collection, as well as the monitoring needs of the actual growth of underwater algae, so as to meet the detection and research needs of algae in water diversion canals. Summary of the invention

[0004] In order to solve the technical problems existing in the above-mentioned prior art, the present invention proposes a monitoring and collection system and method for algae.

[0005] On the one hand, in order to achieve the above-mentioned purpose, the present invention provides a monitoring and collection system for algae, comprising:

[0006] Onshore support subsystem: used to control the walking robot, monitor the underwater algae images, analyze the algae data, and provide power supply and communication functions;

[0007] Underwater walking robot subsystem: used to realize large-scale, full-water, and multi-point monitoring and collection in rivers and canals through the mobility of underwater walking robots;

[0008] Underwater observation and algae monitoring subsystem: used for underwater terrain observation and algae monitoring in designated areas;

[0009] Attached algae collection subsystem: used for attaching, scraping, absorbing and storing attached algae.

[0010] On the other hand, to achieve the above-mentioned purpose, the present invention also provides a method for monitoring and collecting algae, comprising:

[0011] The shore support subsystem controls the robot and monitors the underwater algae images, analyzes the algae data, and provides power supply and communication functions;

[0012] Based on the underwater walking robot subsystem, the underwater walking robot's mobility is controlled to achieve large-scale, full-water, and multi-point monitoring and collection in rivers and canals;

[0013] Underwater topography observation and algae monitoring subsystem are used to monitor algae growth in designated areas;

[0014] The attached algae are attached, scraped, absorbed and stored through the attached algae collection subsystem.

[0015] Compared with the prior art, the present invention has the following advantages and technical effects:

[0016] The method of the present invention can be used to collect samples in any area of ​​the main river channel, and is no longer limited by the distribution of aquatic plants and stones; the algae in deeper waters can be directly observed, and algae with special and abnormal growth can be directly sampled.

[0017] The system of the present invention overcomes the problems of long time and low efficiency of the glass slide and polyester film method. The traditional method generally requires hanging plates for 14 days for the growth of algae, which takes a long time and is time-consuming and labor-intensive. However, this system realizes the in-situ rapid collection of the entire water area of ​​the water diversion canal, and the operation time of each collection point is short. It can also retain the real-time algae pictures before the collection at that time and place, which significantly improves the sampling quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The drawings constituting a part of the present application are used to provide a further understanding of the present application. The illustrative embodiments and descriptions of the present application are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0019] Figure 1 This is a schematic diagram of the structure of an algae monitoring and collection system according to an embodiment of the present invention;

[0020] Figure 2 This is a three-dimensional diagram of the overall underwater walking robot according to an embodiment of the present invention;

[0021] Figure 3 A three-dimensional diagram of a single driving wheel of a running module according to an embodiment of the present invention;

[0022] Figure 4 A three-dimensional structural diagram of an underwater observation subsystem according to an embodiment of the present invention;

[0023] Figure 5 A three-dimensional diagram of the installation position of the algae collection subsystem of an embodiment of the present invention;

[0024] Figure 6 A three-dimensional structural diagram of an algae collection subsystem according to an embodiment of the present invention;

[0025] Figure 7 A three-dimensional structural diagram of the algae scraping head quick-change submodule according to an embodiment of the present invention;

[0026] Figure 8 A three-dimensional schematic diagram of the operating principle of the algae absorption module of an embodiment of the present invention;

[0027] Fig. 9 A three-dimensional structural diagram of a storage module according to an embodiment of the present invention;

[0028] Fig.10 is a system operation flow chart of an embodiment of the present invention;

[0029] Fig.11 This is an operation flow chart of the underwater walking robot subsystem according to an embodiment of the present invention;

[0030] Fig.12 This is an operation flow chart of the attached algae collection subsystem of an embodiment of the present invention;

[0031] Among them, 1. running mechanism; 2. underwater running control module; 3. counterweight water tank; 4. electric push rod; 19. drive motor; 20. running wheel; 5. lighting device; 6. underwater camera; 21. pan-tilt device; 7. algae collection subsystem; 8. algae scraping wheel; 9. algae scraping wheel drive; 10. storage module; 11. submersible pump; 12. algae collection device shell; 13. drive shaft; 14. sleeve shaft; 15. end cover; 16. front filter; 17. storage box; 18. rear filter; 22. automatic closing device. DETAILED DESCRIPTION

[0032] 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.

[0033] It should be noted that the steps shown in the flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and that, although a logical order is shown in the flowcharts, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0034] The present invention proposes a monitoring and collection system for algae. Figure 1 ,include:

[0035] Onshore support subsystem: used to control the walking robot, monitor the underwater algae images, analyze the algae data, and provide power supply and communication functions;

[0036] Underwater walking robot subsystem: used to realize large-scale, full-water, and multi-point monitoring and collection in rivers and canals through the mobility of underwater walking robots;

[0037] Underwater observation and algae monitoring subsystem: used for underwater terrain observation and algae monitoring in designated areas;

[0038] Attached algae collection subsystem: used for attaching, scraping, absorbing and storing attached algae.

[0039] Specifically, the shore support subsystem is the control center of the entire algae monitoring and collection system. The shore support subsystem includes:

[0040] Umbilical cable storage module: It is used to use a DC servo motor to drive the winch mechanism to store the umbilical cable and recover the underwater robot; the DC servo motor drives the winch mechanism, including a manual and automatic mode to operate the winch. In general, it can store the umbilical cable, and in an emergency, it can quickly recover the underwater robot. The winch mechanism has a self-locking function.

[0041] System control module: used to control each module; PLC control system is used to control each unit. The host computer can monitor the operation of each module in real time and detect the feedback data of the unit. The expansion port can add 4G function to realize remote monitoring.

[0042] Robot wireless control module: used to control the underwater robot through a control handle; in this embodiment, an ergonomic control handle is used to connect to the host computer via a wireless signal to facilitate operators to operate in various working conditions.

[0043] System power supply module: used to supply power to the entire system; in this embodiment, a 24V / 48V DC power supply system is used to supply power to the entire system. The power supply system is in the form of a battery, or it can be powered by AC power.

[0044] As another embodiment of the present invention, the shore support subsystem further includes a communication module, and the communication module adopts an Ethernet communication mode.

[0045] Furthermore, the system control module includes:

[0046] Edge computer submodule: used to analyze underwater algae monitoring data, monitor the robot's underwater status, underwater real-time video, and real-time water environment of the river channel;

[0047] In this embodiment, the edge computer submodule uses a high-configuration edge computer to analyze underwater algae monitoring data, mainly including algae coverage, distribution, and growth status. The robot's underwater status, underwater real-time video, and real-time water environment of the river canal are monitored; the edge computer can also be used to program and modify the robot's wireless control module. For example, during fixed-point monitoring, the robot can autonomously enter the water for monitoring, sample algae images, sample live samples, and autonomously recover according to the program.

[0048] Specifically, the edge computer submodule includes:

[0049] Robot command control unit: controls various actions of the robot through the upper computer screen control, including walking, turning, pushing out the head of the algae collection device, scraping algae, sucking algae, retracting the collection device, etc. in this embodiment;

[0050] Robot program control unit: Through pre-set programs, it can perform fixed-point collection, observation, and recycling in the algae collection areas that need periodic monitoring;

[0051] Robot posture and walking track detection unit: The robot's walking track and posture are detected underwater through the Beidou navigation locator and electronic level on the robot body; the electronic level includes X-axis and Y-axis detection. The walking track and posture data are transmitted to the host computer and displayed on the host computer program monitoring screen.

[0052] Underwater real-time image observation unit: The underwater image is transmitted to the host computer in real time through the underwater high-definition camera, and displayed on the host computer program monitoring screen.

[0053] Water environment real-time detection unit: The real-time conditions of water bodies in water diversion channels are detected through water flow meters, temperature meters, illumination meters and water quality meters. Various data are transmitted to the host computer and displayed on the host computer program monitoring screen.

[0054] Video and water environment data storage unit: It is composed of a high-performance disk group, which stores various underwater data of the robot, such as underwater algae monitoring data, water quality data of water diversion rivers and canals, and its own operation data.

[0055] Algae monitoring data analysis unit: Through deep learning algorithms and automated systems, it combines expert knowledge to analyze algae coverage, biomass, and growth period data in a specified area.

[0056] PLC control submodule: used to control the robot's walking, algae sampling, and underwater video acquisition. In this embodiment, a high-performance PLC control module is used to control the robot's walking, algae sampling, and underwater video acquisition; the robot can operate by remote control or automatically complete underwater operations according to a program.

[0057] Specifically, the PLC control submodule includes:

[0058] Winch mechanism servo motor control unit: used to control the servo motor driven by the winch machine, keep the cable release and cable reeling speed consistent with the robot's walking speed, and prevent the umbilical cable from being pulled or entangled;

[0059] Robot movement control unit: used to control the robot's underwater movement, including forward movement, backward movement, turning, and turning on the spot;

[0060] Robot positioning and posture monitoring unit: used to detect the robot's underwater walking distance, position, and body posture during walking, and determine whether the robot has an XY axis tilt;

[0061] Algae scraping wheel motor control unit of the collection system: used to control the rotation of the algae scraping wheel motor and adjust the scraping speed of the algae scraping wheel according to the different attachment surfaces of the algae;

[0062] Algae suction pump control unit of the collection system: used to control the start and stop of the algae suction pump and the synchronization with the algae scraping wheel;

[0063] Collection system push rod control unit: used to control the electric push rod. When the robot moves to the designated location, it can push out the collection system's algae scraping wheel, and put away the algae scraping wheel after collection is completed.

[0064] Observation system camera and lighting control unit: used to control camera monitoring and recording, and control the synchronization of lighting devices and camera functions;

[0065] Camera zoom and PTZ control unit: used to control the camera zoom function and control the PTZ to tilt up and down;

[0066] Water environment monitoring unit: used to collect data from water environment monitoring instruments, including water flow rate, water temperature, illumination, pH value, conductivity, turbidity, and dissolved oxygen.

[0067] Furthermore, the robot wireless control module includes:

[0068] Wireless control handle submodule: used for moving forward, backward, turning, rotating, video recording, turning on the light, extending the algae harvesting head, and scraping algae using an ergonomic handle mechanism, and the handle monitoring screen synchronously displays the monitoring screen; in this embodiment, the wireless signal uses a 2.4G wireless connection.

[0069] Wireless handle battery submodule: uses a high-performance lithium battery with one for use and one for backup.

[0070] Furthermore, the system power supply module includes:

[0071] Mains power supply submodule: The algae collection system is equipped with a mains power supply socket. If the conditions around the water diversion channel permit, the entire system can be directly plugged into the mains for use. In this embodiment, the voltage is 110V~240V, 50 / 60Hz.

[0072] Battery power supply submodule: The algae collection system is powered by a 24V / 48V DC power supply. In order to meet the needs of field operations, a power supply battery is configured. In general, a vehicle-mounted power supply can also be used.

[0073] Furthermore, the underwater walking robot subsystem includes:

[0074] Underwater travel control module 2: used to monitor the underwater travel position of the robot in real time, and equipped with lateral water flow detection and vehicle body XY axis level meter, to provide real-time feedback on water flow in the water diversion channel and vehicle body conditions;

[0075] Counterweight module: used to adjust the robot's anti-flow according to the water flow conditions in the operating area;

[0076] As another embodiment of the present invention, the underwater walking robot subsystem also includes a walking module, which adopts a light and high-strength aluminum alloy structure, and the four wheels are independent 300w DC brushless variable speed integrated motor reducer drive system, solid core honeycomb structure walking wheels, suitable for various water diversion river and canal terrains;

[0077] The running module includes the following sub-modules:

[0078] High-strength aluminum alloy chassis submodule: The body and chassis are welded from aluminum alloy, 930mm long, 385mm high and 530mm wide without the counterweight water tank;

[0079] Independent four-wheel drive wheel module: 10-inch honeycomb solid running wheel, driven by four independent 100w12V / 24V brushless DC motors.

[0080] Specifically, the underwater travel control module 2 includes:

[0081] Underwater positioning submodule: used to position the robot underwater and use the walking distance meter method to assist in positioning; in this embodiment, the robot uses the Beidou navigation system for underwater positioning, mainly in the shallow waters of water diversion canals, and uses the walking distance meter method to assist in inertial positioning.

[0082] Water flow detection submodule: used to measure the running environment through a water flow velocity measuring instrument; the robot body is equipped with a water flow velocity measuring instrument, which is mainly used to measure the running environment to determine whether the robot is safe to run underwater and whether it is necessary to add counterweight. If the robot still affects the running safety after adding counterweight according to parameter comparison, it is necessary to suspend underwater operation;

[0083] Body posture detection submodule: used to measure the body posture of the robot when it is moving underwater.

[0084] The running module is composed of a high-strength aluminum alloy chassis submodule and an independent four-wheel drive wheel module. The running wheel 20 is driven by a drive motor 19, and the running mechanism 1 is installed on the robot body. A counterweight water tank 3 is installed above the robot body. The counterweight water tank 3 is installed in a quick-install manner with the body, and the counterweight water tank 3 is easy to disassemble. According to the water flow of the water diversion channel, an appropriate amount of water can be injected to achieve the purpose of counterweight.

[0085] The underwater positioning submodule uses Beidou navigation and positioning, and is assisted by a walking distance meter program to achieve accurate underwater walking positioning. In addition to providing water condition information for the water diversion channel, water flow detection can also provide the water flow parameter comparison required for the robot's operating conditions, making it convenient for the robot's counterweight tank to inject an appropriate amount of water to achieve the purpose of reasonable weight balance. The body posture is composed of XY axis level detection, which tracks the robot's walking status at the bottom of the water diversion channel in real time and makes a reasonable response to tilting or capsizing.

[0086] Furthermore, the underwater observation and algae monitoring subsystem includes:

[0087] Video acquisition module: used to collect underwater images in real time;

[0088] Camera pan-tilt module: The pan-tilt consists of a connecting seat and a movable mounting seat. The camera and lighting device are installed on the mounting base, and the connecting seat is installed on the vehicle body. The camera and lighting can realize the upward and downward movements synchronously.

[0089] Lighting module: used to use underwater high-brightness LED lighting system to provide sufficient lighting for video acquisition;

[0090] Water environment detection module: used to detect the water environment in real time. In this embodiment, a water temperature detector, an illumination detector, and a five-parameter water quality meter are used to detect the real-time water environment. Underwater sonar, 3D excitation and other instruments can also be set up as needed to perform 3D scanning and 3D imaging of the underwater conditions of the river channel.

[0091] Specifically, the video acquisition module includes:

[0092] Underwater camera zoom submodule: optical zoom is achieved through the camera optical zoom component, which is controlled by the PLC program and can realize automatic zoom and manual zoom;

[0093] Video acquisition submodule: underwater video acquisition, imaging pixels are 1920×1080.

[0094] The camera PTZ module includes:

[0095] Camera and lighting fixing submodule: used to install the camera and lighting device;

[0096] The pan-tilt tilt function submodule includes a motion motor and a connecting seat. According to the observation requirements, the motor can drive the movable seat to swing, thereby realizing the tilting movement of the camera and lighting device.

[0097] The water environment detection module includes:

[0098] Water temperature detection submodule: including a water temperature meter installed on the front of the robot body, which can be used to detect the water temperature of the water diversion channel in real time;

[0099] Illuminance detection submodule: includes an illuminance meter installed on the front of the robot body, which can be used to detect the intensity of sunlight entering the water at different depths of the water diversion canal in real time;

[0100] Water quality detection submodule: including pH value, conductivity, dissolved oxygen, and turbidity. It is installed on the front of the robot body and can be used to detect the water quality of water diversion channels in real time.

[0101] Specifically, the lighting device 5 and the underwater camera 6 are installed at the front end of the vehicle body. There are two lighting devices 5, which are installed and arranged on the left and right sides of the underwater camera 6. The lighting device 5 and the underwater camera 6 are all installed on the pan-tilt device 21. The video acquisition module is composed of an underwater camera zoom submodule and a video acquisition submodule. The underwater camera 6 has a double optical zoom function.

[0102] Furthermore, the algae collection subsystem 7 includes:

[0103] Algae scraping module: used to scrape various algae; the algae scraping module consists of an algae scraping wheel and a 120w underwater drive motor system. The algae scraping wheel 8 adopts a quick-change structure. The algae scraping wheel 8 has a variety of steel wire outer wheels, hard brush outer wheels, and coiled wire outer wheels, which are suitable for scraping various algae.

[0104] Algae suction module: used to suck the scraped floating algae into the collection device; it is composed of a small 4m head submersible pump. When the algae are scraped off and become floating, they will be sucked into the collection device.

[0105] Storage module: used to store the algae sucked by the algae suction module. It consists of a transparent visible storage box, front and rear filter screens, and a quick closing device. In this embodiment, the front filter screen is a coarse filter of 50 mesh, mainly filtering large particles of impurities, and the rear filter is a fine filter of 120 mesh, mainly filtering the water body to prevent the collected algae from being discharged.

[0106] Furthermore, the algae scraping module includes:

[0107] Algae scraping head module: including various types of algae scraping wheels 8. The algae scraping wheels 8 include steel wire outer wheels, hard brush outer wheels, coiled wire outer wheels, etc.

[0108] Algae scraping head quick-change submodule: used for quickly disassembling the algae scraping wheel 8 and cleaning the disassembled algae scraping wheel 8;

[0109] The storage module includes:

[0110] Front filter submodule: including shell filter and storage box filter, the shell filter is installed on the shell 12 of the algae harvesting device, and the storage box 17 filter is installed at the water inlet of the storage box, and the filtration accuracy is 50 mesh, which mainly filters large particles of impurities and floating stones on the wall of the water diversion channel scraped off by the algae scraping wheel;

[0111] Storage box module: It adopts a transparent plastic shell, which contains a concentration sensor. After the whole set of storage devices goes into the water with the robot, the storage device of the collection system will also enter the water, and its storage box will be full of water. However, since no algae are collected, the algae concentration in the water is low. When the storage box 17 is placed in the collection device, the sensor is turned on. When the collected algae meet the collection requirements, the sensor can send a signal and the collection is completed;

[0112] Quick sealing submodule: Made of the same material as the storage box, it is placed behind the filter in front of the water inlet of the storage box. When sucking algae, the sealer opens quickly due to suction and water flow, and closes quickly after the collection is completed to prevent the collected algae from flowing out;

[0113] Post-filtration submodule: It uses a 120-mesh fine filter and is installed at the water outlet of the storage box. It is mainly used to filter the water and prevent the collected algae from being lost.

[0114] The algae collection subsystem 7 is installed on the belly of the vehicle body, and its collection head is close to the front wheel. The algae collection subsystem 7 is installed in a hidden manner. When algae collection is required, the electric push rod 4 pushes its collection head out to achieve the algae collection purpose.

[0115] The algae scraping wheel 8 is driven by the algae scraping wheel driver 9 to rotate and scrape the algae. The algae scraping module consists of an algae scraping head submodule and an algae scraping head quick-change submodule. The output shaft of the algae scraping wheel driver 9 is connected to the drive shaft 13, the drive shaft 13 is connected to the sleeve shaft 14, the sleeve shaft 14 is installed in the shaft hole of the algae scraping wheel 8, the sleeve shaft 14 is installed in the algae scraping device housing 12, and the non-driving end is fixed by the end cover 15.

[0116] When the robot reaches the algae collection area, the scraper head is pushed out. At this time, the scraper wheel 8 starts to rotate and scrape the algae, and the submersible pump 11 works synchronously. The algae mixture is driven counterclockwise by the scraper wheel 8 into the head shell of the algae collection system, and the submersible pump 11 sucks it into the interior until it is stored in the storage box.

[0117] The storage module includes a front filter submodule, a storage box module, a quick sealing submodule and a rear filter submodule. The storage module 10 is installed in the middle of the algae collection device housing 12. A coarser precision front filter 16 with a filtering precision of 50 mesh is installed at the front end of the storage module 10, and a finer precision rear filter 18 with a filtering precision of 120 mesh is installed at the rear end. The algae-water mixed sample is sucked into the storage box 17 by the front filter 16, and then discharged from the water body by the rear filter 18. When sucking algae, the automatic sealing device 22 will open due to the driving of the water flow, and the algae-water mixture will enter from the front filter 16. When the collection is completed, the automatic sealing device 22 will automatically close the entrance. The storage box 17 now becomes a one-way water outlet storage box, the inlet is closed, and only water can flow out of the outlet. In addition, since a water level limit is set at the outlet, the storage module can eventually receive a quantitative algae-water mixed sample that meets the collection requirements.

[0118] This embodiment also provides a method for monitoring and collecting algae, including:

[0119] The shore support subsystem controls the robot and monitors the underwater algae images, analyzes the algae data, and provides power supply and communication functions;

[0120] Based on the underwater walking robot subsystem, the underwater walking robot's mobility is controlled to achieve large-scale, full-water, and multi-point monitoring and collection in rivers and canals;

[0121] Underwater topography observation and algae monitoring subsystem are used to monitor algae growth in designated areas;

[0122] The attached algae are attached, scraped, absorbed and stored through the attached algae collection subsystem.

[0123] Specifically, Figure 10-12When the system is used, determine the operation position, install the shore support subsystem, turn on the winch system lock switch, and let the winch be in a free state. Connect the umbilical cable to the system control module and the underwater walking robot subsystem, preliminarily determine the type of algae to be collected, and install a suitable scraper wheel 8 for the algae collection subsystem 7. For different types of algae, the scraper wheels include wire wheels, soft brush wheels, and steel brush wheels. After the cables are connected, start the power supply, and the system will self-check each component and module. After passing the test, the system prompts that it can be operated. Use the handle remote control for coding.

[0124] Before launching, the operator should have a preliminary understanding of the water flow in the water diversion channel to determine whether the robot needs to be equipped with additional counterweights. If the water flow in the water diversion channel is relatively fast, it is necessary to add counterweights. After determining the water flow conditions, add an appropriate amount of water to the counterweight water tank 3. In this embodiment, the counterweight water tank 3 can provide a maximum of 35kg of counterweights.

[0125] The underwater walking robot subsystem can be controlled by remote control or pre-arranged program to walk to the designated location of the water diversion canal to collect algae. The walking mechanism 1 drives the underwater walking robot to walk in the water diversion canal, and the lighting device 5 provides visible light illumination for the underwater camera 6. The underwater camera 6 transmits the real-time image back to the main control unit and displays it on the upper computer monitoring screen. The operator can adjust the direction of the robot at any time according to the monitoring screen. The water condition detection module will also feed back the water flow, water temperature, water quality and illumination at different depths of the water diversion canal to the upper computer monitoring screen in real time.

[0126] When the walking robot reaches the algae collection area, an algae collection command can be issued through the remote control or system control module. At this time, the electric push rod 4 pushes the collection head of the algae collection subsystem 7 out of the belly of the vehicle, and the algae scraping wheel drive 9 and the algae suction submersible pump 11 are started at the same time. The algae scraping wheel drive 9 drives the algae scraping wheel 8 to scrape the canal wall. The scraped algae will be sucked into the water flow driven by the algae scraping wheel 8 and the algae suction submersible pump 11, and then sucked into the algae collection subsystem 7.

[0127] The algae sucked into the algae collection subsystem 7 will be filtered before reaching the storage module 10. A front filter 16 is provided at the front end of the storage box 17, which filters the sucked mixed water, removes sand and impurities, and larger suspended particles, and only collects algae. After passing through the front filter 16 and reaching the storage box 17, the algae will be blocked by the rear filter 18, allowing only excess water to pass. After a certain amount of collection is reached, the electric push rod 4 will retract the algae collection subsystem 7.

[0128] After collecting the required amount of algae, the robot can be given a return command through the remote control or main control system, and the robot can return along the original route. At this time, the winch system will start working and the umbilical cable will be recovered simultaneously. During this process, or in the event of an emergency during the operation, the winch mechanism can also quickly recover the robot. The umbilical cable is a high-performance, high-strength, non-buoyant cable that can be used for signal and power communications, and can also be used as an emergency towing.

[0129] After the robot is recovered, the storage module 10 can be quickly taken out, and the storage module 10 can meet the requirements of sealed transportation. The head of the algae collection subsystem 7, the scraper wheel 8 is a quick-release structure. When the collected filamentous algae are entangled with the scraper wheel and cannot be cleaned from the head of the collection system, the end cover 15 can be removed, and the sleeve shaft 14 can be directly removed at this time. After the sleeve shaft 14 is removed, the scraper wheel 8 can be radially taken out from the head of the algae collection subsystem, which is convenient for cleaning the filamentous algae entangled on the wheel or shaft.

[0130] This embodiment solves the technical problem that the in-situ quantitative sampling of algae attached to the cement bottom of the water diversion canal is difficult, time-consuming, and has large experimental errors. Due to the cement bottom of the water diversion canal, aquatic plants cannot grow, and there are no stones for collection. The slide method and the polyester film method require a long time, and the experimental results have large errors due to the difference in growth time and matrix. The handheld sampling device is also restricted by the topography and area of ​​the water diversion canal, and it is difficult to meet the high-density collection requirements required for the study of algae attached to the central line water diversion canal. Therefore, the best method for collecting algae attached to the water diversion canal is non-artificial in-situ collection. Since the attached algae grows at the bottom of the canal, the flow rate of the water diversion canal is about 0.8 to 1.2 meters per second. The faster flow rate causes the attached algae to be quickly washed away by the water flow after being scraped, and in-situ quantitative collection cannot be achieved. How to quantitatively collect algae attached to the bottom of the water diversion canal at a high flow rate without being washed away by the water flow has become a technical problem that needs to be solved. The present invention performs the scraping and algae sucking of the collection system simultaneously, and the rotation direction of the scraper wheel is an internal suction type, so that the scraped algae can be quickly sucked into the storage box and sealed, thereby completing the quantitative collection of the algae.

[0131] Compared with the traditional technology, the biggest difference of the present invention is that the traditional stone method or water grass method mainly involves collecting stones or water grass on site and bringing them back to the laboratory to scrape the algae on the surface, or using a glass slide or polyester film as a matrix to hang in the water body for fourteen days and then bring it back to the laboratory to manually scrape the algae growing on the surface, and then dissolve the scraped algae in water, fix the volume, and then count them under a microscope. As well as the in-situ collection method developed later, both require manual operation on site, which greatly increases the risk factor of the operation, and due to the influence of the terrain of the water diversion channel, it is impossible to sample facilities such as tunnels, pipelines, culverts and aqueducts.

[0132] Since the water diversion canals are all in the wild and there is no fixed power supply, a self-provided power supply system is required. Therefore, the entire set of algae collection system is powered by 24v / 48v, but it is also equipped with a mains interface. If conditions permit, it can be connected to 220v mains. If conditions are limited, it can be powered by batteries. And the total power consumption is relatively small, about 2kw or less, which can be satisfied by vehicle power supply or mobile batteries. The second difficulty is the quality of the entire set of algae collection system. In order to facilitate operation and carry, the total mass of the walking robot system and the collection system should not be too heavy, but it should be prevented from being washed away by the water flow of the water diversion canal after entering the water, and its mass should not be too light. Therefore, considering the comprehensive design weight of about 42kg, it is convenient for two operators to carry and transport. Secondly, it is equipped with a counterweight water tank, which can also meet the use of large water flow conditions in the water diversion canal.

[0133] The difference between this embodiment and the traditional sampling method is that the traditional method is optimized and integrated, and the traditional field collection and laboratory processing steps are integrated, so that sampling and processing are all completed on site. The present invention has a high degree of integration, and the entire equipment is a system. The operator only needs to perform remote control operation, and finally the recovery robot takes out the sample. The transmission sampling method requires a sickle, polyester film, tweezers, sampling bags, blades or hard brushes, beakers, measuring cylinders, etc., which are time-consuming and laborious to operate. Compared with the traditional sampling method, the time required to collect the entire sample using the present invention does not exceed fifteen minutes, the sampling effect is significantly improved, and the sampling error is significantly reduced. And it can achieve non-artificial, intelligent and safe sampling in the entire water area of ​​the water diversion river canal.

[0134] The above are only preferred specific implementations of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A system for monitoring and collecting algae, characterized in that: include: Onshore support subsystem: used to control the walking robot, monitor the underwater algae images, analyze the algae data, and provide power supply and communication functions; Underwater walking robot subsystem: used to realize large-scale, full-water, and multi-point monitoring and collection in rivers and canals through the mobility of underwater walking robots; Underwater observation and algae monitoring subsystem: used for underwater terrain observation and algae monitoring in designated areas; Attached algae collection subsystem: used for attaching, scraping, absorbing and storing attached algae.

2. The system according to claim 1, characterized in that The shore support subsystem includes: Umbilical cable storage module: used to drive the winch mechanism with a DC servo motor to store the umbilical cable and recover the underwater robot; System control module: used to control each module and analyze the algae image data; Robot wireless control module: used to control the underwater robot through the joystick; System power supply module: used to supply power to the entire system.

3. The system according to claim 2, characterized in that The system control module includes: Edge computer submodule: used to analyze underwater algae monitoring data, monitor the robot's underwater status, underwater real-time video, and real-time water environment of the river channel; PLC control submodule: used to control the cable winch, robot walking, algae sampling and video acquisition module.

4. The system according to claim 3, characterized in that The PLC control submodule includes: Winch mechanism servo motor control unit: used to control the servo motor driven by the winch machine to keep the cable release and cable reeling speed consistent with the robot's walking speed; Robot movement control unit: used to control the robot's underwater movement direction; Robot positioning and posture monitoring unit: used to detect the robot's underwater walking distance, position, and body posture during walking, and determine whether the robot has an XY axis tilt; Algae scraping wheel motor control unit of the collection system: used to control the rotation of the algae scraping wheel motor and adjust the scraping speed of the algae scraping wheel according to the different attachment surfaces of the algae; Algae suction pump control unit of the collection system: used to control the start and stop of the algae suction pump and the synchronization with the algae scraping wheel; Collection system push rod control unit: used to control the electric push rod to push out the collection system algae scraping wheel and to retract the algae scraping wheel after collection is completed; Observation system camera and lighting control unit: used to control camera monitoring and recording, control the synchronization of lighting devices and camera functions, and the lumens of lighting devices; Camera zoom and PTZ control unit: used to control the camera zoom function; Water environment monitoring unit: used to collect data from water environment monitoring instruments.

5. The system according to claim 2, characterized in that The robot wireless control module comprises: Wireless control handle submodule: used to control forward, backward, steering, rotation, video recording, light on, algae harvesting head extension, algae scraping operation with an ergonomic handle, and the handle monitoring screen synchronously displays the monitoring image; The system power supply module comprises: Mains power supply submodule: used to supply power to the entire system through the mains power supply socket; Battery powered submodule: used to be powered by a DC power supply or a vehicle power supply.

6. The system according to claim 1, characterized in that The underwater walking robot subsystem includes: Underwater travel control module: used to monitor the underwater travel position of the robot in real time, and equipped with lateral water flow detection and vehicle body XY axis level meter, to provide real-time feedback on water flow in the water diversion channel and vehicle body conditions; Counterweight module: used to adjust the robot's counterweight according to the water flow conditions in the operating area; Wherein, the underwater travel control module includes: Underwater positioning submodule: used to position the robot underwater and use the walking distance counting method to assist in positioning; Water flow detection submodule: used to measure the running environment through the water flow velocity measuring instrument to ensure the selection of robot counterweight; Body posture detection submodule: used to measure the body posture of the robot when it is moving underwater.

7. The system according to claim 1, characterized in that The underwater observation and algae monitoring subsystem includes: Video acquisition module: used to collect underwater images and algae growing on the channel wall in real time; Lighting module: used to use underwater high-brightness LED lighting system to provide sufficient lighting for video acquisition; Water environment detection module: used to detect the water environment in real time.

8. The system according to claim 1, characterized in that The algae collection subsystem comprises: Algae scraping module: used to scrape various algae; Algae suction module: used to suck the scraped floating algae into the collection device; Storage module: used for storing the attached algae sucked in by the algae absorbing module.

9. The system according to claim 8, characterized in that The algae scraping module comprises: Algae scraper head quick-change submodule: used to quickly disassemble the algae scraper wheel and clean the disassembled algae scraper wheel; The storage module comprises: Pre-filter module: used to filter large particles of impurities and floating stones scraped off the water diversion channel wall by the algae scraper; Storage box module: used to control whether the algae absorbing module needs to stop storing; Rapid sealing submodule: used to prevent the outflow of collected algae; Post-filtration submodule: used to filter water to prevent the loss of collected algae.

10. A method for monitoring and collecting algae, characterized in that: include: The shore support subsystem controls the robot and monitors the underwater algae images, analyzes the algae data, and provides power supply and communication functions; Based on the underwater walking robot subsystem, the underwater walking robot's mobility is controlled to achieve large-scale, full-water, and multi-point monitoring and collection in rivers and canals; Underwater topography observation and algae monitoring subsystem are used to monitor algae growth in designated areas; The attached algae are attached, scraped, absorbed and stored through the attached algae collection subsystem.

Images