Limnoperna fortunei monitoring and collecting system and method

Abstract

The invention discloses a limnoperna fortunei monitoring and collecting system and method. The system comprises an ashore guarantee subsystem used for achieving umbilical cable storage, emergency robot recovery, robot underwater structure attachment control, limnoperna fortunei monitoring and system power supply; the underwater wall-climbing robot subsystem is used for performing multi-point monitoring and information acquisition in a specified area by using an underwater wall-climbing robot; the underwater observation subsystem is used for observing the underwater terrain, the coverage amount of limnoperna fortunei and the biomass in the designated area; and the limnoperna fortunei acquisition subsystem is used for acquiring and storing a limnoperna fortunei image and a limnoperna fortunei living The difficulty of monitoring the limnoperna fortunei on the surface of a deep and large reservoir multi-scene multi-depth structure is overcome.

Description

Technical Field

[0001] The invention relates to the technical field of freshwater kelp management, and in particular to a freshwater kelp monitoring and collection system and method. Background Art

[0002] Freshwater shellfish, scientific name "marsh clam", belongs to Mollusca, Bivalvia, Heterostriata, Mytilidae. The length of freshwater shellfish is 5-30mm, the shell is thin and hard, and the shape is approximately triangular. The reproduction cycle of freshwater shellfish is very short. Generally, it only takes about 30-40 days for freshwater shellfish to develop from larvae to adults.

[0003] Freshwater shellfish that develop into adult shellfish generally grow in clusters, with layers thickening year by year, and cling to the surface of facilities such as the water surface near the coast of the water area, the bottom of shallow water flow, and the walls of pipes, water inlet buildings, and even to the main transformer cooler, water filter, and water supply pipeline of the generator set. Due to the adaptability of freshwater shellfish to the water flow environment of artificial water channels, and the lack of freshwater shellfish predators and food competitors in the water channels, there is sufficient food and slow flow rate. Freshwater shellfish invade the water channels and reproduce in large numbers, clumping and attaching to the generator set structures, resulting in reduced water flow, structural corrosion, pipeline blockage, and even shutdown in severe cases, affecting the economic benefits and sustainable development of the power plant, and also causing water quality deterioration and damage to the ecosystem structure.

[0004] With the increasing development of hydropower in my country, the number of various water conservancy projects is increasing, and the number of reservoirs formed by cascade development of hydropower in the basin is also increasing. Many water conservancy projects in my country are facing the problem of freshwater shellfish pollution, and the prevention and control of freshwater shellfish has also become a global problem, but the prevention and control of freshwater shellfish needs to be carried out based on the investigation and monitoring of the current status of freshwater shellfish on site.

[0005] The construction of cascade dams has changed the original hydrodynamic conditions of the river, causing the flow rate to slow down, the water depth to increase, and the concentration of phytoplankton, organic matter, and nutrients in the reservoir area to increase, creating suitable living conditions for freshwater shellfish. The main body of the cascade hydropower station is mostly made of concrete and metal structures, and freshwater shellfish like to attach to the surface of such substrates. Therefore, freshwater shellfish easily attach to the surface of dam concrete, trash racks, gates, etc. at a high density. The attached freshwater shellfish breed a large number of freshwater shellfish larvae, which enter various equipment, pipelines, and structures with the water flow. Therefore, the source of freshwater shellfish in the generator set is in the reservoir area of ​​the power station. Regular monitoring of freshwater shellfish in the dam reservoir area can provide direction and decision-making basis for its prevention and control.

[0006] At present, there are two main methods for monitoring freshwater shellfish at home and abroad: manual collection and underwater videography. Manual collection is mainly carried out based on the sampling method of large invertebrate benthic animals in rivers and lakes, and mainly adopts D-nets, hand nets, shovels and other tools to scrape freshwater shellfish attached to the surface of reefs, ships and other objects. Underwater videography mainly relies on underwater gliders, ROVs and other cameras for underwater shooting. However, this type of underwater equipment is relatively heavy, the operation is complicated, the sampling scenes are limited, and single-person, frequent underwater fouling biological sampling cannot be achieved. The traditional manual monitoring method of freshwater shellfish is easy to implement in natural rivers with shallow water depths, but it is difficult to collect freshwater shellfish samples in deep and large reservoirs formed by cascade development.

[0007] Therefore, there is an urgent need for a freshwater shellfish monitoring device and method to solve the above problems. Summary of the invention

[0008] In order to overcome the limitations and shortcomings of existing freshwater shellfish monitoring and collection technologies, the present invention proposes a freshwater shellfish monitoring and collection system and method.

[0009] On the one hand, to achieve the above-mentioned purpose, the present invention provides a freshwater shellfish monitoring and collection system, comprising:

[0010] Onshore support subsystem: used for umbilical cable storage, emergency robot recovery, robot underwater structure attachment control, freshwater shellfish monitoring, and system power supply;

[0011] Underwater wall-climbing robot subsystem: used to use underwater wall-climbing robots to conduct multi-point monitoring and collect information in a designated area;

[0012] Underwater observation subsystem: used to observe underwater topography, freshwater shell vegetable coverage and biomass in the designated area;

[0013] Freshwater shellfish collection subsystem: used to collect and store images of freshwater shellfish and living shellfish attached to underwater structures.

[0014] On the other hand, to achieve the above-mentioned purpose, the present invention also provides a method for monitoring and collecting freshwater shell vegetables, comprising:

[0015] The underwater wall-climbing robot in the underwater wall-climbing robot subsystem performs multi-point monitoring and information collection in a designated area;

[0016] Observe the underwater habitat, freshwater shell vegetable coverage and biomass in the designated area based on the underwater observation subsystem;

[0017] The freshwater shellfish collection subsystem is used to collect and store freshwater shellfish images and live shellfish attached to underwater structures;

[0018] The other subsystems are recovered, controlled, stored and powered by the shore support subsystem.

[0019] Compared with the prior art, the present invention has the following advantages and technical effects:

[0020] (1) In terms of monitoring and sampling ideas, the present invention overcomes the difficulty of monitoring freshwater shell vegetables on the surface of structures in multiple areas and depths in a reservoir. The present invention utilizes the flexibility of the underwater wall-climbing robot and the stability of the adsorption structure. It can adsorb and crawl on multiple areas and multiple depths of underwater structures in the reservoir to monitor freshwater shell vegetables on the surface of structures that need to be monitored; and with the help of a high-performance edge computing host, statistics and analysis are performed to assist manual judgment of the growth status of freshwater shell vegetables and whether there is any corrosion to the underwater structures.

[0021] (2) In terms of sampling technology, the present invention first overcomes the limitation that traditional underwater sampling can only be done near the water and in shallow waters. By utilizing the flexibility of the underwater wall-climbing robot, it can be adsorbed on the surface of any underwater structure, and can be attached and crawled to any area and depth of the structure underwater as needed; secondly, the present invention overcomes the limitation that traditional live sampling requires the use of reference matrix hanging plate cultivation, and can directly sample live bodies in situ, saving cultivation time and eliminating the differences in live bodies that may be caused by matrix differences; finally, the present invention has the flexibility of underwater movement, and has a fixed-length climbing foot, so image sampling and biomass calculation, as well as the situation of shell vegetables attached to water conservancy structures, are more accurate. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] 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:

[0023] Figure 1 A schematic diagram of the structure of a freshwater shellfish monitoring and collection system according to an embodiment of the present invention;

[0024] Figure 2 A flow chart of a method for monitoring and collecting freshwater shellfish according to an embodiment of the present invention;

[0025] Figure 3 This is an overall three-dimensional diagram of the underwater wall-climbing robot according to an embodiment of the present invention;

[0026] Figure 4 A three-dimensional diagram of a single underwater actuator according to an embodiment of the present invention;

[0027] Figure 5 A three-dimensional diagram of a replaceable wall-climbing foot track foot according to an embodiment of the present invention;

[0028] Figure 6 A three-dimensional structural diagram of a main camera and sonar system according to an embodiment of the present invention;

[0029] Figure 7 A three-dimensional structure diagram of a binocular camera according to an embodiment of the present invention;

[0030] Figure 8 A three-dimensional diagram of a manipulator according to an embodiment of the present invention;

[0031] Fig. 9 The binocular camera of the embodiment of the present invention samples the freshwater shell vegetable image of the underwater structure;

[0032] Among them, 1. wall climbing sled; 2. manipulator; 3. diving thruster; 4. floating material; 5. lighting device; 6. main viewing device; 7. multi-function module; 8. adsorption thruster; 9. robot body; 10. umbilical cable; 11. drive bracket; 12. drive motor; 13. protective cover; 14. propeller; 15. track component; 16. track bracket; 17. mounting bracket; 18. camera gimbal; 19. main camera; 20. lighting device; 21. sonar; 22. sampling storage box; 23. binocular camera; 24. big arm servo; 25. manipulator big arm; 26. manipulator large clamp; 27. manipulator forearm; 28. forearm servo. DETAILED DESCRIPTION

[0033] 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.

[0034] 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.

[0035] The present invention proposes a freshwater shellfish monitoring and collection system, such as Figure 1 ,include:

[0036] Onshore support subsystem: used for umbilical cable storage, emergency robot recovery, robot underwater structure attachment control, freshwater shellfish monitoring, and system power supply;

[0037] Underwater wall-climbing robot subsystem: used to use underwater wall-climbing robots to conduct multi-point monitoring and collect information in a designated area;

[0038] Underwater observation subsystem: used to observe underwater topography, freshwater shell vegetable coverage and biomass in the designated area;

[0039] Freshwater shellfish collection subsystem: used to collect and store images of freshwater shellfish and living shellfish attached to underwater structures.

[0040] Furthermore, the shore support subsystem is the control center of the entire freshwater shellfish monitoring and collection system, including:

[0041] Umbilical cable storage module: used to control the recovery of the underwater wall-climbing robot subsystem; in this embodiment, a DC servo motor is used to drive the winch mechanism, and the winch can be operated in a manual and automatic mode. 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.

[0042] System host module: PLC control system is used to control each unit. The edge computing host can monitor the operation of each module in real time and analyze the feedback data from the detection unit. The host expansion port can add 4G function to realize remote monitoring.

[0043] Robot control module: used to control the underwater wall-climbing robot subsystem, wherein the control modes include host program control and wireless handle control;

[0044] Specifically, the robot's movements are controlled by a robot-specific control program. The host program control is controlled by program buttons on the host. The wireless handle control uses an ergonomic control handle to connect the wireless signal to the host and operate the robot on the handle to meet the needs of the operator in various working conditions.

[0045] System power supply module: used to power the system; in this embodiment, a 24V / 48V DC power supply system is used to power the entire system; the power supply system is in the form of a battery, and can also be powered by AC power.

[0046] Communication module: used to ensure the communication connection between the subsystems. In this embodiment, the Ethernet communication mode is adopted.

[0047] Furthermore, the umbilical cable storage module comprises:

[0048] Winch servo motor submodule: used to control the way and speed of the winch mechanism to retract the umbilical cable as required through the servo motor;

[0049] Winch mechanism submodule: used for storing umbilical cables; the winch mechanism consists of a frame, a winch body and a hand-cranked component, and is mainly used for storing umbilical cables. The winch has a rope capacity of 100 meters and can be expanded according to operational requirements.

[0050] Winch self-locking submodule: used to frictionally lock the winch through a friction wheel; specifically, a friction wheel is used to frictionally lock the winch, and the initial state is a locked state. When the cable needs to be released, the self-locking is released, and when the cable is stopped, the self-locking is locked. The self-locking works in the same way when the cable is reeled in in the reverse direction.

[0051] Furthermore, the system host module includes:

[0052] Edge computing host submodule: used to analyze the underwater shellfish monitoring data, and provide data feedback on the robot's underwater status, underwater real-time video, and real-time water environment of the reservoir, and use the edge computing switchboard to program and modify the robot control module;

[0053] The edge computing host submodule uses a high-configuration edge computer to analyze the underwater shellfish monitoring data, and also provides data feedback on the robot's underwater status, real-time underwater video, and real-time water environment conditions of the reservoir. In this embodiment, the edge computing switchboard can also be used to program and correct the robot control module.

[0054] PLC control submodule: It is used to control the robot's underwater structure adsorption process, underwater video acquisition process and freshwater shell vegetable sampling process using a high-performance PLC control module; the robot can operate by remote control or automatically complete underwater operations according to the program.

[0055] As an implementation method of an embodiment of the present invention, the edge computing host submodule includes:

[0056] Robot underwater structure adsorption state detection unit: used to monitor the movement trajectory and posture of the robot during the underwater structure adsorption process, and transmit the data to the host;

[0057] Specifically, the robot's underwater structure adsorption status detection unit monitors the robot's underwater structure adsorption movement trajectory and posture through a depth meter, mileage calculator and electronic level, and transmits the sneak trajectory and posture data to the host, and displays it on the host program monitoring screen.

[0058] Underwater real-time image observation unit: used to transmit underwater images to the host in real time through an underwater high-definition camera, and display them on the host program monitoring screen;

[0059] Water environment real-time detection unit: used to monitor the water environment of the reservoir in real time through water flow meters, temperature meters, illumination meters and conventional water quality multi-parameter meters, transmit the monitoring data to the host, and display it on the host program monitoring screen;

[0060] Video and water environment data storage unit: composed of high-performance disk groups, which store various underwater data of the robot;

[0061] Freshwater shellfish monitoring and analysis unit: Through the integration of deep learning algorithms and automated systems, expert knowledge is gathered to analyze data such as the coverage and biomass of freshwater shellfish in designated areas.

[0062] Furthermore, the PLC control submodule includes:

[0063] 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 sneaking speed, and prevent the umbilical cable from being pulled or entangled;

[0064] Robot adsorption and diving control unit: used to control the robot's underwater structure adsorption and underwater diving, including structure adsorption, left and right lateral movement, diving, floating, underwater diving and other actions;

[0065] Collection system manipulator control unit: used to control the right manipulator of the robot to perform live sampling of shell vegetables;

[0066] Collection box drive control unit of the collection system: used to control the extension and recovery of the collection box, mainly used for synchronous manipulators for live sampling of freshwater shellfish;

[0067] As an implementation of the embodiment of the present invention, the PLC control submodule further includes:

[0068] Camera and lighting control unit: used to control the camera monitoring and recording functions, and control the synchronization of lighting devices and camera functions;

[0069] Camera zoom and PTZ control unit: used to control the camera zoom function and the PTZ pitch angle.

[0070] Furthermore, the robot control module includes:

[0071] Robot program control submodule: It uses a robot-specific control program to control the robot's various operating actions on the host computer in the form of program buttons; if it is a timed and fixed-point operation, it can also be automatically operated through pre-compiled operation programs.

[0072] Robot handle control submodule: It adopts an ergonomic handle structure, and its operating functions are consistent with the system host program buttons; the handle adopts wireless control, and the handle body is integrated with a monitoring screen.

[0073] As another embodiment of the present invention, the robot handle control submodule includes:

[0074] Wireless handle control unit: It adopts ergonomic grip mechanism, and is equipped with various function buttons on the handle. Such as adsorption, left move, right move, dive, float, video recording, turn on the light, extend the manipulator, extend the collection box, etc. The handle monitoring screen is synchronized with the host computer monitoring screen. The wireless signal adopts 2.4G wireless connection;

[0075] Wireless handle battery unit: uses a high-performance lithium battery with one for use and one for backup.

[0076] The system power supply module includes:

[0077] Mains power supply module: The freshwater shellfish collection system is equipped with a mains power supply socket. If the conditions around the reservoir allow, the entire system can be directly plugged into the mains for use. Voltage 110V~240V, 50 / 60Hz.

[0078] Battery power supply submodule: The freshwater shell vegetable 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.

[0079] Furthermore, the underwater wall-climbing robot subsystem (such as Figure 3 )include:

[0080] Underwater structure adsorption crawling module: used to drive the propeller system through the DC outer rotor brushless variable speed integrated drive, so that the robot can produce adsorption effect on the underwater structure;

[0081] In this embodiment, the robot body in the underwater structure adsorption crawling module adopts a light high-strength plastic steel structure, and the adsorption system is a 325w DC outer rotor brushless variable speed integrated drive propeller system, and the propeller is made of 316L stainless steel. When the robot dives into the water, the adsorption system drives four sets of propellers to generate strong thrust, and the robot will cling to the structure, so that the robot has a strong adsorption effect on the underwater structure. The underwater wall-climbing robot includes a wall-climbing sled 1, a manipulator 2, a diving thruster 3, a floating material 4, a lighting device 5, a main viewing device 6, a multi-functional module 7, an adsorption thruster 8, a robot body 9, and an umbilical cable 10.

[0082] Underwater adsorption crawling control module: used to monitor the robot's underwater crawling position in real time, and provide real-time feedback on reservoir water flow and body posture;

[0083] Specifically, the robot is equipped with a depth meter and underwater structure adsorption crawling mileage counting function to monitor the robot's underwater crawling position in real time. The body is also equipped with a water flow monitor and gyroscope to provide real-time feedback on the reservoir water flow and body posture;

[0084] Underwater adsorption climbing foot module: used for sliding movement with replaceable multifunctional adsorption climbing foot (such as Figure 5 ), which includes a track component 15, a track bracket 16, and a mounting bracket 17.

[0085] Specifically, the robot uses a replaceable multifunctional adsorption climbing foot. For the trash rack at the water inlet of a water conservancy building, a sled-type climbing foot can be installed. The pry is longer than the hole of the trash rack. In addition, there are algae and other biofilms attached to the trash rack. The robot uses a climbing pry 1 to slide on the trash rack without falling into the hole. If the complex surface of the underwater structure is targeted, the climbing crawler can be replaced to carry out the operation.

[0086] Furthermore, the underwater structure adsorption crawling module includes:

[0087] High-strength plastic steel body submodule: The body is made of aluminum alloy in one piece, 650mm long, 200mm high without climbing wall, and 400mm wide;

[0088] Adsorption drive submodule: high-power propeller drive. Four sets of independent 325w24V outer rotor brushless motor drive; Figure 4 It is a three-dimensional diagram of a single drive, which includes a drive bracket 11; a drive motor 12; a protective cover 13; and a propeller 14.

[0089] Submersible drive submodule: high-power propeller drive. Two sets of independent 325w24v outer rotor brushless motor drive.

[0090] Specifically, the propeller 14 is driven by an underwater motor. There are four sets of adsorption thrusters, which are installed on the robot body and perpendicular to the body. There are two sets of submersible thrusters, which are installed on the robot body and parallel to the body. The wall climbing sled 1 and the robot body are quick-installed, the wall climbing sled is easy to disassemble, and the crawler-type wall climbing foot can be replaced according to the adsorbed structure.

[0091] As another embodiment of the present invention, the underwater adsorption crawling control module includes:

[0092] Underwater positioning submodule: used for underwater positioning using water depth and mileage calculation methods;

[0093] Water flow monitoring submodule: monitors the crawling environment through the water flow velocity monitoring instrument to determine whether the robot's adsorption on the surface of the underwater structure is stable, and can increase the adsorption strength according to the comparison of water flow parameters;

[0094] Posture detection submodule: used to monitor the posture of the robot when it is adsorbing and crawling on underwater structures using a gyroscope;

[0095] The underwater positioning submodule includes:

[0096] Surface positioning unit: used to use the Beidou positioning system to accurately position the robot in real time;

[0097] Underwater depth monitoring unit: used to monitor the robot's diving depth in real time;

[0098] Adsorption structure crawling distance monitoring unit: used to monitor the crawling distance of the robot on the structure.

[0099] Specifically, the surface positioning unit uses Beidou navigation for surface positioning. After diving, the underwater space positioning is realized through the underwater depth monitoring unit combined with the surface positioning. The adsorption structure crawling distance monitoring unit mainly calculates and feedbacks the crawling distance through the crawling count coding program after the robot adsorbs the structure. In addition to providing reservoir water environment information, water flow detection can also provide the water flow parameters required for the robot's operating conditions, which is convenient for the robot to reasonably output the adsorption intensity and avoid risks. The body posture is composed of gyroscope detection, which tracks the robot's crawling state in the structure in real time, so as to make a reasonable response to situations such as severe tilt or overturning.

[0100] Furthermore, the underwater observation subsystem includes:

[0101] Video acquisition module: used to acquire high-quality underwater images in real time; uses a high-definition underwater camera with double optical zoom and imaging pixels of 1920×1080.

[0102] Underwater lighting control module: It uses an underwater high-brightness LED lighting system, which has strong penetration and can provide effective lighting in deeper water areas, providing sufficient light source supplement for video acquisition;

[0103] Water environment detection module: Water temperature detectors, illumination detectors, water quality multi-parameter meters, etc. are used to monitor the real-time water environment. 3D laser and other instruments can also be set up as needed to perform 3D scanning and 3D imaging of reservoirs and underwater structures.

[0104] In this embodiment, the underwater observation subsystem also includes a camera pan-tilt module, the pan-tilt includes a connecting seat and a movable mounting seat, the camera, lighting device and sonar are installed on the mounting base, and the connecting seat is installed on the fuselage. The camera, lighting and sonar can synchronously realize the upward and downward movements.

[0105] Furthermore, the video acquisition module includes:

[0106] Underwater observation submodule: in this embodiment, it includes two sets of camera units, mainly a monocular main camera unit for robot structure adsorption and crawling and a binocular image sampling camera unit on the robot's abdomen;

[0107] Image acquisition submodule: used for collecting observation images, where the acquisition modes include video acquisition and picture acquisition; the imaging screen pixel is 1920×1080.

[0108] Specifically, the underwater observation submodule includes (such as Figure 6 ):

[0109] Monocular camera unit: installed on the camera pan-tilt, it is the main camera 19 of the robot, used to observe the perspective below the robot, and with the help of the pan-tilt, it can also observe the surface of the adsorbed underwater structure. Imaging pixels 1920×1080.

[0110] Binocular camera unit: installed on the abdomen of the robot, mainly used for image sampling of shell vegetables on the surface of adsorbed structures; imaging pixels 1920×1080×2.

[0111] The sonar 21 is installed on the camera platform 18, in the same direction as the main camera of the robot, and its main function is to assist the underwater robot in navigation and positioning and detect the water conditions. When the turbidity of the water is high and visual observation is not possible, the sonar system is used to detect the underwater environment.

[0112] Furthermore, the camera pan / tilt control module includes:

[0113] Camera and lighting fixing submodule: used to install the camera and lighting device 20;

[0114] 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.

[0115] The underwater lighting control module includes:

[0116] Lighting control submodule: used to control the on and off of the lighting device and synchronize with the camera;

[0117] Lumen control submodule: used to control the lumens of the lighting device, so that the lighting device cooperates with the camera and always makes the camera work under the best lighting conditions according to the changes in illumination under different water depths and water turbidity;

[0118] As another embodiment of the present invention, the water environment monitoring module includes:

[0119] Water temperature monitoring submodule: including a water temperature sensor, which is installed on the back of the robot body and can detect the water temperature in real time;

[0120] Illuminance monitoring submodule: includes an illuminance meter installed on the back of the robot body, which can detect the intensity of sunlight entering the water at different depths of the reservoir in real time;

[0121] Water quality monitoring submodule: includes a water quality meter installed on the back of the robot body, which can detect the water quality of the reservoir in real time.

[0122] Furthermore, the freshwater shell vegetable collection subsystem includes:

[0123] Image acquisition module: Use binocular camera 23 to shoot the attachment of shell vegetables on the surface of underwater structures, then compare the binocular images, and use algorithm software to calculate the biomass, coverage and other data of the sampling area; Figure 7 .

[0124] Manipulator module: mainly composed of arm servo 24, manipulator arm 25, manipulator clamp 26, manipulator arm 27, arm servo 28. Installed on the right side of the fuselage, when the binocular camera starts to observe and sample, live sampling can be carried out at the same time. Installation on the right side is more in line with manual operation habits. Similarly, installation on the left side is also within the protection range; Figure 8 .

[0125] Storage module: It adopts a transparent plastic shell, and the sample receiving port is funnel-shaped. The opening size meets the size of freshwater shell vegetables. When the body is overturned to a certain extent, the collected freshwater shell vegetable samples will not fall out of the storage box. The bottom of the storage box is a mesh structure. In this embodiment, the mesh diameter is 5mm. After sampling, water can be filtered out to collect the required shell vegetable targets.

[0126] Specifically, the lighting device, underwater camera and sonar are installed at the front end of the body. The underwater lighting device is installed on one side of the underwater camera, and the sonar is installed together with it. The lighting device, underwater camera and sonar are all installed on the pan-tilt device. There are also two sets of underwater lighting devices in the diving direction. The video acquisition module consists of an underwater observation submodule and an image acquisition submodule. The underwater observation submodule consists of a monocular camera submodule, a binocular camera submodule and a sonar submodule. The underwater camera has a double optical zoom function. The pan-tilt control module consists of a camera and lighting fixed submodule and a pan-tilt function submodule. After the robot is launched into the water, the camera can manually or automatically adjust the camera pan-tilt according to the crawling angle to achieve the best walking observation effect. The lighting device can also manually or automatically control the lighting lumen according to the underwater illumination, so that it can provide the most suitable fill light effect for the camera. If the underwater visibility is reduced and cannot be observed visually, sonar can be used for underwater detection to assist in achieving underwater sneaking and wall climbing visualization.

[0127] After arriving at the observation point of freshwater shellfish, the camera can adjust the pan / tilt and lens magnification according to the observation needs to clearly observe the relevant situation of freshwater shellfish. The robot's abdominal binocular camera will collect images of freshwater shellfish that need to be sampled, and the underwater lighting device will adjust the appropriate lighting lumens according to the picture situation. The sampled images and the observation data of the main camera will eventually be stored in the video storage unit under the edge computing host submodule of the system host module through the acquisition system. At the same time, the edge computing host submodule will also analyze the observation data. If any monitoring anomalies are found, an alarm will be issued to notify the operator, and then manual comparison will be performed. If there is no abnormality, the monitoring work will continue. If it is indeed a monitoring anomaly, live collection and sampling of freshwater shellfish in the monitoring area can be implemented. Fig. 9 Sample freshwater shellfish images of underwater structures for binocular cameras.

[0128] If it is necessary to take live samples of freshwater shell vegetables, a sampling storage box is extended from the abdomen of the robot, and the sampling storage box can be pressed against the surface of the structure. The manipulator is extended, and the manipulator's large tongs begin to collect the shell vegetables on the surface of the structure. Since the shell vegetables are firmly attached to the underwater structure, they cannot be directly collected by the manipulator's large tongs. They are generally pried off with the tongs. When the shell vegetables are pried off, they will fall directly into the collection storage box.

[0129] When 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 host module and the underwater wall-climbing robot subsystem, preliminarily determine the area to be monitored and collected freshwater shell vegetables, and select the appropriate type of wall-climbing foot. For example, when crawling on the surface of ordinary underwater structures or the trash rack of the water inlet of a water conservancy project, a sled-type wall-climbing foot can be used. The surface of non-special underwater structures is flat and has no special structure. Due to long-term immersion in water, algae will grow on the surface of the structure or form a biofilm, and the surface will be relatively slippery, which is more suitable for a simple structure of the wall-climbing sled. In addition, since the trash rack is a fence structure, the long sled of the wall-climbing sled is larger than two or more fence holes, so there will be no sinking of the roller structure, which is convenient for wall-climbing operations; if the structure of the underwater structure is relatively complex and the flatness is poor, the wall-climbing foot can be a crawler-type wall-climbing foot. After the cables are connected, turn on the power supply, and the system will self-check each component and module. After completion, the system prompts that it can be operated. The handle remote control is used for coding.

[0130] The underwater wall-climbing robot subsystem can be controlled by remote control or pre-programmed programs to crawl to the designated location of underwater structures for monitoring and collection of freshwater shell vegetables. The adsorption thruster drives the robot to adsorb on the surface of the underwater structure, and the diving thruster makes it dive to the designated area. The underwater lighting provides visible light illumination for the main viewing device, and the sonar provides auxiliary visual navigation in low-visibility environments. The monocular camera and sonar in the main viewing device transmit the real-time underwater environment image back to the main control unit and display it on the host monitoring screen. The operator can adjust the direction of the robot at any time according to the monitoring screen. The water environment detection module will also feed back the reservoir water flow, water temperature, water quality and illumination conditions at different depths to the host monitoring screen and the monitoring screen of the remote control handle in real time.

[0131] When the crawling robot arrives at the monitoring area, it can issue monitoring instructions through remote control or the main control unit to monitor the freshwater shellfish in the area. Relevant data such as the individual size and biomass of the freshwater shellfish, the coverage of underwater structures, and the blockage rate of the trash racks of water conservancy buildings will be collected and stored by the system. During this process, the edge computing host will also analyze the monitoring data. Once an abnormality is found, an alarm will be issued to remind the operator, who will then conduct manual analysis based on the alarm situation. If it is a false alarm, the alarm can be manually eliminated and monitoring can continue. If it is indeed an abnormality and sampling and analysis is required, live sampling of freshwater shellfish can be performed at this time.

[0132] The underwater crawling robot mainly uses the binocular camera on the abdomen for sampling, and the binocular camera can achieve standard image sampling. The length of the wall climbing foot support is the standard length, the distance from the binocular camera to the adsorption structure is L, the horizontal viewing angle of the binocular camera is 84° and the vertical viewing angle is 62°. The viewing angle area is calculated according to the following formula:

[0133] Horizontal length of viewing angle

[0134] Vertical length of viewing angle

[0135] Viewing area S = D1 × D2

[0136] Within the standard viewing angle area, the attachment area, biomass and other data of freshwater shell vegetables on underwater structures can be calculated. If on the trash rack of a water conservancy project, the clogging rate of the trash rack can be calculated.

[0137] For example, if there is abnormal growth of freshwater shellfish during screen monitoring and image sampling, or if it is necessary to conduct live sampling, the live sampling procedure will be started. At this time, the adsorption thruster is used to increase the adsorption force so that the robot can be firmly adsorbed on the structure. The storage box is extended, and the front end is close to the surface of the structure. The manipulator is extended, and the manipulator's large tongs are used to conduct live sampling of the freshwater shellfish attached to the structure. Since the freshwater shellfish is firmly adsorbed on the structure, the manipulator cannot collect it by directly clamping it, but mainly by shoveling it. When the freshwater shellfish is shoveled off by the clamps, it will fall into the storage box below. The upper opening of the storage box is a funnel opening, and the freshwater shellfish falling from the top can easily fall into the box. Because it is a reverse funnel storage opening, if a general tilt occurs, the live sample will not fall out.

[0138] When the collection volume reaches the required amount, the robot arm is retracted and the storage box is retracted. If it is necessary to stay and observe, it can continue to observe and monitor, or it can move and crawl to change areas as required.

[0139] After all sampling work is completed, the remote control or main control system will issue a return command to the robot, and the robot can return along the original crawling route. At this time, the winch system will start working synchronously to recover the umbilical cable. 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 the robot's signal and power communications, and can also be used as an emergency towing.

[0140] After recycling, the robot can quickly take out the storage box. The lower part of the storage box is a mesh structure. After taking it out, the water can be filtered out and only the living shell vegetables are retained.

[0141] This embodiment also provides a method for monitoring and collecting freshwater shellfish. Figure 2 ,include:

[0142] The underwater wall-climbing robot in the underwater wall-climbing robot subsystem performs multi-point monitoring and information collection in a designated area;

[0143] Observe the underwater topography, freshwater shell vegetable coverage and biomass in the designated area based on the underwater observation subsystem;

[0144] The freshwater shellfish collection subsystem is used to collect and store live images of freshwater shellfish and shellfish attached to underwater structures;

[0145] The other subsystems are recovered, controlled, stored and powered by the shore support subsystem.

[0146] The present embodiment solves the diversity of reservoir waters, and the underwater structures or water conservancy buildings have complex structures and cannot carry out the sampling technology problem of freshwater shell vegetables in situ in deep water areas at multiple points in the whole water area. As mentioned above, the reservoir is in order to meet the needs of water storage, and the water conservancy buildings are more to ensure the needs of power transmission and transformation of the unit, and the engineering construction is diversified, the water depth is deeper, and because the freshwater shell vegetables are filter-feeding benthic animals, they have the characteristics of light avoidance at the same time, and they will be attached to the deeper areas of underwater structures, and it is impossible to carry out multi-point in-situ underwater monitoring, and the in-situ matrix substrate culture method requires a long time, and the experimental result error is large due to the difference in growth time and matrix, and all traditional monitoring and sampling methods cannot meet the high-density collection and monitoring requirements required for in-situ research in deep water areas. Therefore, the more suitable freshwater shell vegetable monitoring and collection method for deep-water reservoirs is non-artificial automatic monitoring and sampling, because the freshwater shell vegetables grow on the surface of deep-water area structures, most depths reach about 35 to 45 meters, and the deeper water depth, coupled with special underwater structures, cannot realize the collection of designated points. The present invention uses an underwater wall-climbing robot system with flexible underwater crawling characteristics, and can monitor and collect freshwater shell vegetables on the surface of various structures. The perfect binocular vision sampling system, combined with a proprietary in-situ live sampling mechanism, can meet the in-situ sampling work of freshwater shell vegetables on the surface of various underwater structures at different water depths.

[0147] Compared with traditional technologies, the biggest difference of the present invention is the limitation and professionalism of the monitoring method. Traditional monitoring is mostly 0.5-1m culture substrate below the water surface of the reservoir, or ROV underwater robot is used. The former has greater limitations. There is a big difference between the freshwater shell vegetables grown on the culture substrate at a depth of 0.5-1m and the freshwater shell vegetables at a depth of 35-45m, which cannot meet the research of in-situ sampling. The latter sampling is not professional, and the ROV underwater robots used are mostly general-purpose. When the water environment changes, such as poor visibility, the observation equipment carried cannot effectively observe the growth of freshwater shell vegetables on underwater structures, and it is even more difficult to achieve standard picture collection, and live sampling is even more impossible to achieve.

[0148] Since the reservoirs are all in the wild and there is no fixed power supply, a self-provided power supply system is required. Therefore, the entire freshwater shell vegetable monitoring and 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 is powered by batteries. And the total power consumption is relatively small, about within 2kw, which can be met by vehicle power supply or mobile batteries. The second difficulty is the quality of the entire freshwater shell vegetable monitoring and collection system. In order to facilitate operation and carry, the total mass of the underwater structure crawling robot system and the freshwater shell vegetable collection system should not be too heavy or too large. However, in order to meet the adsorption of water conservancy buildings or trash racks and not fall into the rack holes, the climbing wall foot cannot be small, and its length must be two to three times the length of the rack hole. Therefore, the overall structure is designed in a compact way, the weight meets the operation of one to two people, and the volume can be put into the carrier.

[0149] The present embodiment has the same principle as the traditional monitoring and sampling method, except that the traditional method is optimized and integrated, and the traditional monitoring within a certain range, field collection and laboratory processing steps are integrated, so that monitoring, evaluation, sampling and processing are all completed on site. The present invention has high integration, and the entire equipment is a set of systems. The operator only needs to perform remote control operation, and finally the recycling robot takes out the sample. The transmission sampling method requires 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 for collecting underwater freshwater shell vegetable samples using the present invention does not exceed 30 minutes, which greatly improves the collection efficiency, and the sampling error is significantly reduced. And it can achieve non-artificial, intelligent and safe sampling in the entire water area of ​​the reservoir.

[0150] 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 freshwater shellfish monitoring and collection system, characterized in that: include: Onshore support subsystem: used for umbilical cable storage, emergency robot recovery, robot underwater structure attachment control, freshwater shellfish monitoring, and system power supply; Underwater wall-climbing robot subsystem: used to use underwater wall-climbing robots to conduct multi-point monitoring and collect information in a designated area; Underwater observation subsystem: used to observe underwater topography, freshwater shell vegetable coverage and biomass in the designated area; Freshwater shellfish collection subsystem: used to collect and store images of freshwater shellfish and living shellfish attached to underwater structures.

2. The system according to claim 1, characterized in that The shore support subsystem includes: Umbilical cable storage module: used for recovering and controlling the underwater wall-climbing robot subsystem; System host module: used to control each module and realize remote monitoring; Robot control module: used to control the underwater wall-climbing robot subsystem; System power supply module: used to supply power to the system; Communication module: used to ensure the communication connection between subsystems.

3. The system according to claim 2, characterized in that The umbilical cable storage module comprises: Winch servo motor submodule: used to control the way and speed of the winch mechanism to retract the umbilical cable as required through the servo motor; Winch mechanism submodule: used for storage of umbilical cables; Winch self-locking submodule: used to frictionally lock the winch through the friction wheel; The system host module includes: Edge computing host submodule: used to analyze underwater shellfish monitoring data, and provide data feedback on the robot's underwater status, underwater real-time video, and real-time water environment of the reservoir, and use the edge computing switchboard to program and modify the robot control module; PLC control submodule: used to control the robot's underwater structure adsorption process, underwater video acquisition process and freshwater shell vegetable sampling process.

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 driving the winch; Robot adsorption and diving control unit: used to control the robot's underwater structure adsorption movement and underwater diving action; Collection system manipulator control unit: used to control the right manipulator of the robot to perform live sampling of shell vegetables; Collection system collection box drive control unit: used to control the extension and recovery of the collection box.

5. The system according to claim 2, characterized in that The robot control module comprises: Robot program control submodule: used to control the robot's operation through the system host module; Robot handle control submodule: used to wirelessly control the robot's operation through the handle, wherein the handle body is integrated with a monitoring screen.

6. The system according to claim 1, characterized in that The underwater wall-climbing robot subsystem includes: Underwater structure adsorption crawling module: used to drive the propeller system through the DC outer rotor brushless variable speed integrated drive, so that the robot can produce adsorption effect on the underwater structure; Underwater adsorption crawling control module: used to monitor the robot's underwater crawling position in real time, and provide real-time feedback on reservoir water flow and body posture; Underwater adsorption wall climbing foot module: used for sliding movement using replaceable multifunctional adsorption wall climbing feet.

7. The system according to claim 1, characterized in that The underwater observation subsystem comprises: Video acquisition module: used to acquire high-quality underwater images in real time; Underwater lighting control module: used to provide sufficient light source supplement for video acquisition through underwater high-brightness LED lighting system; Water environment detection module: used to monitor the water temperature, illumination and water quality of the water environment in real time; Wherein, the video acquisition module includes: Underwater observation submodule: including several camera units, which are the robot structure adsorption crawling monocular main camera unit and the robot abdomen binocular image sampling camera unit; Image acquisition submodule: used for collecting observation images, where the acquisition modes include video acquisition and picture acquisition; The underwater observation submodule comprises: Monocular camera unit: placed on the camera gimbal, used to observe the perspective below the sneak; Binocular camera unit: placed on the abdomen of the robot, used to sample and capture images of shell vegetables on the surface of the adsorption structure; Sonar unit: placed on the camera gimbal to assist the main camera unit in detecting water conditions.

8. The system according to claim 7, characterized in that The camera pan / tilt control module comprises: Camera and lighting fixing submodule: used to install the camera and lighting device; The pan-tilt tilt function submodule includes a motion motor and a connection seat. The motor can drive the movable seat to swing according to the observation requirements, thereby realizing the tilting motion of the camera and lighting device. The underwater lighting control module comprises: Lighting control submodule: used to control the on and off of the lighting device and synchronize with the camera; Lumen control submodule: used to control the lumen of the lighting device, so that the lighting device cooperates with the camera and always makes the camera work under the best lighting conditions according to the changes in illumination at different water depths.

9. The system according to claim 1, characterized in that The freshwater shell vegetable collection subsystem comprises: Image acquisition module: used to collect images of the attachment of shell vegetables on the surface of underwater structures, and then compare them through binocular images to calculate the biomass and coverage data of the sampling area; Manipulator module: used for in vivo sampling; Storage module: used to collect freshwater shellfish samples.

10. A method for monitoring and collecting freshwater shellfish, characterized in that: include: The underwater wall-climbing robot in the underwater wall-climbing robot subsystem performs multi-point monitoring and information collection in a designated area; Observe the underwater habitat, freshwater shell vegetable coverage and biomass in the designated area based on the underwater observation subsystem; The freshwater shellfish collection subsystem is used to collect and store freshwater shellfish images and live shellfish attached to underwater structures; The other subsystems are recovered, controlled, stored and powered by the shore support subsystem.

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