Blue-green algae fishing method

Abstract

The invention discloses a method for salvaging blue-green algae, which is used for monitoring and analyzing the condition of the depth of the algae in a water body area by putting a reciprocating releaser connected with a ship body and depending on a depth analysis algorithm, and relates to the technical field of water area treatment. According to the blue-green algae salvage method, a reciprocating releaser connected with a ship body is put, the condition of the depth of algae in a water body area is monitored and analyzed by means of a depth analysis algorithm, and an instruction is generated to control the reciprocating releaser to move to an algae area; then the reciprocating releaser releases nanobubbles to the algal polymer to provide buoyancy to enable the algal polymer to float upwards to the water surface, a speed control algorithm is used for generating an instruction to control the collecting arm and the semi-submersible device of the ship body, the algal polymer on the water surface is collected into the ship, and therefore the position of blue-green algae can be effectively determined, and the accuracy of the algal polymer is improved. In addition, the reciprocating releaser is regulated and controlled to regulate and control the floating time of the algae polymer and the operation speed of the ship body, so that the efficiency and precision of salvaging the blue-green algae are improved, and the error rate is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of water area treatment, in particular to a method for salvaging blue algae. Background Art

[0002] With the increasing severity of eutrophication of water bodies, more and more water bodies are experiencing blue-green algae outbreaks. Too much blue-green algae in the water will consume a large amount of dissolved oxygen, causing adverse effects on aquatic organisms and surrounding ecosystems.

[0003] The reference patent is titled: Method for salvaging blue algae to prevent blue algae blooms (patent publication number: CN101122126A, patent publication date: 2008-02-13), and its process is as follows: a. Collecting blue algae - using a landing craft-type ship with a front deck and a large door; the bow of the ship is provided with fixed side walls on both sides, and a part of the two side walls is immersed in water, a shovel is hinged between the two side walls, and the rear end of the shovel is a cabin for collecting blue algae, and the root of the shovel is hinged to the upper edge of the cabin; When the ship is sailing towards an algae area, the shovel on the bow is lowered and the cyanobacteria floating on the water surface is shoveled up with the shovel. As the ship moves forward, the cyanobacteria will continue to enter the cabin; b. Negative pressure algae absorption - the cyanobacteria shoveled into the cabin are sucked into the conveyor by a negative pressure algae absorption machine based on the principle of negative pressure; c. Conveying - first collect the cyanobacteria sent by the negative pressure algae absorption machine; then use a rotating screw to convey the collected cyanobacteria to the feed processing machine. When this method is used to treat cyanobacteria, the occurrence of cyanobacteria "water bloom" can be avoided.

[0004] Based on the description in the above-mentioned documents, in the existing cyanobacteria salvage process, although the cyanobacteria can be suspended in the upper layer and then collected to complete the removal operation, the position of the cyanobacteria in the water body cannot be determined, and it takes time for buoyancy to form and drive the cyanobacteria to float. This often results in the salvage and processing equipment completing the operation when the cyanobacteria have not floated or have not floated completely, thereby reducing the efficiency of the salvage and processing. Therefore, the present invention provides a cyanobacteria salvage method. Summary of the invention

[0005] Purpose of the invention: In order to solve the above technical problems, the present invention provides a cyanobacteria salvage method, which solves the problem that in the existing cyanobacteria salvage process, although the cyanobacteria can be suspended in the upper layer and then collected to complete the removal operation of the cyanobacteria, the position of the cyanobacteria in the water body cannot be determined, and it takes time for buoyancy to form and drive the cyanobacteria to float, which often results in the salvage and processing equipment having completed the operation when the cyanobacteria have not floated or have not floated completely, thereby reducing the efficiency of the salvage and processing.

[0006] Technical solution: The present invention provides a method for salvaging blue algae, which specifically includes the following steps: A1. Use algae-proof curtains to intercept the area or river channel that needs algae cleaning to form a salvage water area; A2. By placing the electrode modification device into the salvage water area, the electric field of the electrode modification device is used to act on the algae in the water body, so that the surface of the algae is positively charged, thereby completing the modification operation of some algae; A3. Then, a reciprocating releaser connected to the hull is deployed, and the depth of the algae in the water area is monitored and analyzed by a depth analysis algorithm, and a command is generated to control the reciprocating releaser to move to the algae area, so that the modified algae with positive charge and the unmodified algae with negative charge aggregate to form algae aggregates. Then, the reciprocating releaser releases nanobubbles to the algae aggregates to provide buoyancy so that the algae aggregates float to the water surface; A4. During the time when the algae aggregates float to the surface, the rate control algorithm is used to generate instructions to control the collection arm and the semi-submersible device of the hull to collect the algae aggregates on the surface into the ship; A5. Use gravity and mechanical squeezing to achieve the initial dehydration of the algae aggregates, then dry the algae aggregates after the initial dehydration, and package the dried algae mud for use.

[0007] Preferably, the specific operation steps of the depth analysis algorithm in A3 are: a31. A data collector is installed on the side of the moving direction of the reciprocating releaser, and the data collector collects the water area data to be processed by the reciprocating releaser to form an algae data set ratio marked as J; a32, analyzing the algae data set J, marking the algae features at different depths, and determining the depth at which the reciprocating releaser will process next based on the algae features; a33. Generate a control command to control the reciprocating releaser to move in a vertical position, and repeat a32 operation to analyze the situation in the next water area.

[0008] Preferably, the analysis operation of the algae dataset J in a32 is: B1. Establish a prediction model for the water area based on the collected data, and set the width of the water area used for monitoring and analysis as L 1 and the length of the water area used is marked as L 2 Input into the prediction model to obtain the planar image data about the collection direction of the self-data collector; B2. graying the plane image data, introducing the algae feature data, and marking the features in the plane image data that are the same as the algae feature data; B3. By marking the vertical range that the reciprocating releaser can handle as L 3 , and according to the distance L 3 Sequentially dividing the plane image data from top to bottom to form a plurality of image data with marking features; B4. The depth distance that the reciprocating releaser needs to move for the next processing is obtained based on the proportion of the marked features in the segmented image data with marked features, which is marked as H. 1 .

[0009] Preferably, the B 4 The calculation steps for the proportion of marked features in the image data with marked features are: b41, processing the segmented image data with marked features in order from top to bottom; b42. Identify the area s occupied by the marking feature through the image, calculate based on the area s occupied by the marking feature and the area of ​​the image data, and compare the feature proportion data calculated from the image data in turn to obtain the corresponding image of the maximum area s (max) occupied by the marking feature; b43. Determine the position of the image corresponding to s(max) and calculate the depth distance H that the reciprocating releaser needs to move for the next processing. 1 .

[0010] Preferably, the calculation formula for the feature ratio in b42 is: ; M is the proportion of the marked feature in the image data area, s is the area occupied by the marked feature, and L 2 L is the length of the monitored water area and also the length of the segmented image data. 3 It is the vertical range that the reciprocating releaser can handle and is also the height of the segmented image data.

[0011] Preferably, the b43 reciprocating releaser then processes the required moving depth distance H 1 The calculation formula is: ; H 2 is the depth position of the current reciprocating releaser, and the depth position is the distance from the water surface to the center of the reciprocating releaser. n represents the number of corresponding images of s (max) from top to bottom, and the reciprocating releaser is at the center position corresponding to the image data.

[0012] Preferably, the calculation formula for the time for the algae aggregates in A4 to float to the water surface is: ; T 1 V is the time it takes for algae aggregates to float from the bottom of the water body to the surface. 1 is the floating rate of algae aggregates, It is expressed as the distance from the location of the algae aggregate to the water surface.

[0013] Preferably, the specific operation of the rate control algorithm in A4 is: a41. During the initial operation, the moving speed of the hull is consistent with the moving speed of the reciprocating releaser, and the positions of the hull and the reciprocating releaser are determined by GPS positioning, and the distance between them is marked as D; a42. Calculate the operating speed range of the hull collection arm according to the time taken by the algae aggregates to float to the water surface and the generated bubble support time, and generate instructions to transmit to the control end of the hull for adjustment operation; a43. As the depth of the algae aggregate changes, the moving speed of the ship is also adjusted synchronously to complete the collection operation of the algae aggregate by the collecting arm and the semi-submersible device of the ship.

[0014] Preferably, the calculation formula for the operating speed range of the hull collecting arm in a42 is: ; V 2 (min) is the minimum speed of the hull collection arm, D is the distance between the hull and the reciprocating releaser, d is the length of the hull collection arm, L 1 It is the width of the water area used for monitoring and analysis, and represents the distance between the next movement of the reciprocating release and the time when it does not move. T 1 T is the time it takes for algae aggregates to float from the bottom of the water body to the surface. 2 It is the time from when the algae aggregate floats to the water surface to when the bubbles dissipate and the algae aggregate settles, and the hull is at V 2 When moving at a speed of 100 min, the collection operation should be completed before the algae aggregates settle.

[0015] Preferably, the calculation formula for the maximum speed of the hull collecting arm in a42 is: ; That is, the hull is in V 2 When the algae aggregates float to the water surface, they are collected. D is the distance between the hull and the reciprocating releaser, d is the length of the hull collection arm, and T 1 It is the time it takes for algae aggregates to float from the bottom of the water body to the surface.

[0016] Beneficial effects: Compared with the prior art, the present invention has the following beneficial effects: (1) The method for salvaging blue algae comprises deploying a reciprocating releaser connected to a ship and monitoring and analyzing the depth of algae in a water area by a depth analysis algorithm, generating a command to control the reciprocating releaser to move to the algae area, and then the reciprocating releaser releases nanobubbles to provide buoyancy to the algae aggregates so that the algae aggregates float to the surface of the water. The speed control algorithm is used to generate a command to control the collection arm and the semi-submersible device of the ship to collect the algae aggregates on the water surface into the ship. In this way, the location of the blue algae can be effectively determined, and the time for the algae aggregates to float and the speed of the ship can be controlled by coordinating the reciprocating releaser, thereby improving the efficiency and accuracy of blue algae salvage and reducing the error rate.

[0017] (2) The method for salvaging blue algae is to grayscale the plane image data, introduce the algae feature data, mark the features in the plane image data that are the same as the algae feature data, and implement image segmentation according to the distance that the reciprocating releaser can handle. The depth distance that the reciprocating releaser needs to move for the next processing is obtained according to the proportion of the marked features in the segmented image data with the marked features, so as to determine the depth position of the algae and complete the depth processing operation. At the same time, real-time adjustment can be made according to different data to make the effect after the operation better.

[0018] (3) The blue algae salvage method calculates the operating speed range of the hull collection arm according to the time taken by the algae aggregates to float to the water surface and the bubble support time generated, and generates instructions to transmit to the control end of the hull for adjustment operation, thereby completing the coordinated operation between the reciprocating releaser and the hull, achieving a more complete floating of the blue algae and a more complete collection of the floating blue algae, and simultaneously realizing the calculation of the hull speed range, so as to make adaptive adjustments during the next adjustment operation, thereby ensuring the salvage processing efficiency while improving the collection fault tolerance rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is an operation flow chart of the blue algae salvaging method of the present invention; Figure 2 is an operational flow chart of the depth analysis algorithm of the present invention; Figure 3 It is an operation flow chart of the rate control algorithm of the present invention. DETAILED DESCRIPTION

[0020] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0021] See also Figure 1-Figure 3 , the specific implementation methods of the present invention are as follows: Embodiment 1: A method for salvaging blue algae comprises the following steps: A1. Use algae-proof curtains to intercept the area or river channel that needs algae cleaning to form a salvage water area; A2. By placing the electrode modification device into the salvage water area, the electric field of the electrode modification device is used to act on the algae in the water body, so that the surface of the algae is positively charged, thereby completing the modification operation of some algae; A3. Then, a reciprocating releaser connected to the hull is deployed, and the depth of the algae in the water area is monitored and analyzed by a depth analysis algorithm, and a command is generated to control the reciprocating releaser to move to the algae area, so that the modified algae with positive charge and the unmodified algae with negative charge aggregate to form algae aggregates. Then, the reciprocating releaser releases nanobubbles to the algae aggregates to provide buoyancy so that the algae aggregates float to the water surface; A4. During the time when the algae aggregates float to the surface, the rate control algorithm is used to generate instructions to control the semi-submersible device of the collection arm and the hull to collect the algae aggregates on the surface into the ship; A5. Use gravity and mechanical squeezing to achieve the initial dehydration of the algae aggregates, then dry the algae aggregates after the initial dehydration, and package the dried algae mud for use.

[0022] Among them, by deploying a reciprocating releaser connected to the hull, and relying on the depth analysis algorithm to monitor and analyze the depth of algae in the water area, a command is generated to control the reciprocating releaser to move to the algae area, and then the reciprocating releaser releases nanobubbles to the algae aggregates to provide buoyancy so that the algae aggregates float to the water surface, and the rate control algorithm is used to generate commands to control the collection arm and the semi-submersible device of the hull to collect the algae aggregates on the water surface into the ship. This can not only effectively determine the location of cyanobacteria, but also cooperate with the regulation of the reciprocating releaser to realize the floating time of the algae aggregates and the operation speed of the hull, thereby improving the efficiency and accuracy of cyanobacteria salvage and reducing the error rate.

[0023] In the embodiment of the present invention, the specific operation steps of the depth analysis algorithm in A3 are: a31. A data collector is installed on the side of the moving direction of the reciprocating releaser, and the data collector collects the water area data to be processed by the reciprocating releaser to form an algae data set ratio marked as J; a32, analyzing the algae data set J, marking the algae features at different depths, and determining the depth at which the reciprocating releaser will process next based on the algae features; a33, and generate a control command to control the reciprocating releaser to move in a vertical position, and repeat a32 operation to analyze the situation in the next water area.

[0024] In the embodiment of the present invention, the analysis operation of the algae dataset J in a32 is: B1. Establish a prediction model for the water area based on the collected data, and set the width of the water area used for monitoring and analysis as L 1 and the length of the water area used is marked as L 2 Input into the prediction model to obtain the planar image data about the collection direction of the self-data collector; B2. graying the plane image data, introducing the algae feature data, and marking the features in the plane image data that are the same as the algae feature data; B3. By marking the vertical range that the reciprocating releaser can handle as L 3 , and according to the distance L 3 Sequentially dividing the plane image data from top to bottom to form a plurality of image data with marking features; B4. The depth distance that the reciprocating releaser needs to move for the next processing is obtained based on the proportion of the marked features in the segmented image data with marked features, which is marked as H. 1 .

[0025] In the embodiment of the present invention, the steps for calculating the proportion of the marked features in the image data with marked features in B4 are as follows: b41, processing the segmented image data with marked features in order from top to bottom; b42. Identify the area s occupied by the marking feature through the image, calculate based on the area s occupied by the marking feature and the area of ​​the image data, and compare the feature proportion data calculated from the image data in turn to obtain the corresponding image of the maximum area s (max) occupied by the marking feature; b43. Determine the position of the image corresponding to s(max) and calculate the depth distance H that the reciprocating releaser needs to move for the next processing. 1 .

[0026] Among them, by graying the plane image data, introducing the characteristic data of algae, marking the features in the plane image data that are the same as the characteristic data of algae, and realizing the image segmentation operation according to the distance that the reciprocating releaser can handle, the depth distance that the reciprocating releaser needs to move for the next processing is obtained according to the proportion of the marked features in the image data with marked features after segmentation, so as to determine the depth position of the algae and complete the depth processing operation. At the same time, real-time adjustments can be made according to different data to make the effect after the operation better.

[0027] In the embodiment of the present invention, the calculation formula of the feature ratio in b42 is: ; M is the proportion of the marked feature in the image data area, s is the area occupied by the marked feature, and L 2 L is the length of the monitored water area and also the length of the segmented image data. 3 It is the vertical range that the reciprocating releaser can handle and is also the height of the segmented image data.

[0028] In the embodiment of the present invention, the reciprocating releaser b43 then processes the required moving depth distance H 1 The calculation formula is: ; H 2 is the depth position of the current reciprocating releaser, and the depth position is the distance from the water surface to the center of the reciprocating releaser. n represents the number of corresponding images of s (max) from top to bottom, and the reciprocating releaser is at the center position corresponding to the image data.

[0029] In the embodiment of the present invention, the calculation formula for the time for the algae aggregates in A4 to float to the water surface is: ; T 1 V is the time it takes for algae aggregates to float from the bottom of the water body to the surface. 1 is the floating rate of algae aggregates, Expressed as the distance from the location of the algae aggregate to the water surface.

[0030] In the embodiment of the present invention, the specific operation of the rate control algorithm in A4 is: a41. During the initial operation, the moving speed of the hull is consistent with the moving speed of the reciprocating releaser, and the positions of the hull and the reciprocating releaser are determined by GPS positioning, and the distance between them is marked as D; a42, and calculate the operating speed range of the hull collection arm according to the time taken by the algae aggregates to float to the water surface and the generated bubble support time, and generate instructions to transmit to the control end of the hull for adjustment operation; a43. As the depth of the algae aggregates changes, the moving speed of the ship is also adjusted synchronously to complete the collection operation of the algae aggregates by the collecting arm and the semi-submersible device of the ship.

[0031] In the embodiment of the present invention, the calculation formula of the operating speed range of the hull collecting arm in a42 is: ; V 2 (min) is the minimum speed of the hull collection arm, D is the distance between the hull and the reciprocating releaser, d is the length of the hull collection arm, L 1It is the width of the water area used for monitoring and analysis, and represents the distance between the next movement of the reciprocating release and the time when it does not move. T 2 It is the time from when the algae aggregate floats to the water surface to when the bubbles dissipate and the algae aggregate settles, and the hull is at V 2 When moving at a speed of (min), the collection operation is completed before the algae aggregates settle; The calculation formula for the maximum speed of the hull collection arm in A42 is: ; That is, the hull is in V 2 When the algae aggregates float to the water surface, they are collected. D is the distance between the hull and the reciprocating releaser, d is the length of the hull collection arm, and T 1 It is the time it takes for algae aggregates to float from the bottom of the water body to the surface.

[0032] Among them, the operating speed range of the hull collection arm is calculated according to the time taken by the algae aggregates to float to the water surface and the bubble support time generated, and instructions are generated and transmitted to the control end of the hull for adjustment operations, thereby completing the coordination operation between the reciprocating releaser and the hull, achieving a more complete buoyancy of the cyanobacteria, and achieving a more complete collection of the floating cyanobacteria. The calculation of the hull speed range is simultaneously realized, so that adaptive adjustments can be made during the next adjustment operation, ensuring the efficiency of salvage and processing while improving the fault tolerance of collection.

[0033] Embodiment 2: Compared with Embodiment 1, this embodiment further designs a comparative experiment, and the specific operations are as follows: First, an algae-proof curtain is used to intercept the area or river channel that needs algae cleaning to form a salvage water area, and the salvage water area is divided into two halves according to the algae-proof curtain. The existing blue algae salvage method and the salvage method of the present invention are used to realize the mobile processing operation on both sides of the division of the water area, and the time of completing the processing is recorded. At the same time, the blue algae situation inside the water area is collected through the monitoring instrument, and the final processing situation is detected. The specific result data is shown in Table 1: Table 1 Processing results Water area processing time The proportion of cyanobacteria in the water area and initial cyanobacteria Existing salvage methods 55min 35% Salvage method of the present invention 23min 2.8% In summary, the salvage method of the present invention realizes mobile processing operations on both sides of the division of the water body area, and the time taken to complete the treatment of cyanobacteria in the water body area is shorter, and the proportion of remaining cyanobacteria in the water body area after treatment is lower. Therefore, the salvage method of the present invention achieves better treatment effect in the water body area.

[0034] Meanwhile, the contents not described in detail in this specification belong to the prior art known to those skilled in the art.

[0035] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0036] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A method for salvaging blue algae, characterized in that: The specific steps include: A1. Use algae-proof curtains to intercept the area or river channel that needs algae cleaning to form a salvage water area; A2. By placing the electrode modification device into the salvage water area, the electric field of the electrode modification device is used to act on the algae in the water body, so that the surface of the algae is positively charged, thereby completing the modification operation of some algae; A3. Then, a reciprocating releaser connected to the hull is deployed, and the depth of the algae in the water area is monitored and analyzed by a depth analysis algorithm, and a command is generated to control the reciprocating releaser to move to the algae area, so that the modified algae with positive charge and the unmodified algae with negative charge aggregate to form algae aggregates. Then, the reciprocating releaser releases nanobubbles to the algae aggregates to provide buoyancy so that the algae aggregates float to the water surface; A4. During the time when the algae aggregates float to the surface, the rate control algorithm is used to generate instructions to control the semi-submersible device of the collection arm and the hull to collect the algae aggregates on the surface into the ship; A5. Use gravity and mechanical squeezing to achieve the initial dehydration of the algae aggregates, then dry the algae aggregates after the initial dehydration, and package the dried algae mud for use.

2. A method for salvaging blue algae according to claim 1, characterized in that: The specific operation steps of the depth analysis algorithm in A3 are: a31. A data collector is installed on the side of the moving direction of the reciprocating releaser, and the data collector collects the water area data to be processed by the reciprocating releaser to form an algae data set ratio marked as J; a32, analyzing the algae data set J, marking the algae features at different depths, and determining the depth at which the reciprocating releaser will process next based on the algae features; a33. Generate a control command to control the reciprocating releaser to move in a vertical position, and repeat a32 operation to analyze the situation in the next water area.

3. A method for salvaging blue algae according to claim 2, characterized in that: The analysis operation of the algae data set J in a32 is: B1. Establish a prediction model for the water area based on the collected data, and set the width of the water area used for monitoring and analysis as L1 and the length of the water area used as L2 to input into the prediction model, and obtain the plane image data about the collection direction of the self-data collector; B2. graying the plane image data, introducing the algae feature data, and marking the features in the plane image data that are the same as the algae feature data; B3, marking the vertical range distance that the reciprocating releaser can handle as L3, and dividing the plane image data from top to bottom in sequence according to the distance L3 to form a plurality of image data with marking features; B4. The depth distance that the reciprocating releaser needs to move for the next processing is obtained based on the proportion of the marked features in the segmented image data with the marked features, and is marked as H1.

4. A method for salvaging blue algae according to claim 3, characterized in that: The steps for calculating the proportion of the marked features in the image data with marked features in B4 are as follows: b41, processing the segmented image data with marked features in order from top to bottom; b42. Identify the area s occupied by the marking feature through the image, calculate based on the area s occupied by the marking feature and the area of ​​the image data, and compare the feature proportion data calculated from the image data in turn to obtain the corresponding image of the maximum area s (max) occupied by the marking feature; b43. Determine the position of the image corresponding to s(max) and calculate the depth distance H1 that the reciprocating releaser needs to move for the next processing.

5. A method for salvaging blue algae according to claim 4, characterized in that: The calculation formula for the feature ratio in b42 is: ； M is the proportion of the marking feature in the image data area, s is the area occupied by the marking feature, L2 is the length of the monitored water area and is also the length of the segmented image data, and L3 is the vertical range that the reciprocating releaser can handle and is also the height of the segmented image data.

6. A method for salvaging blue algae according to claim 4, characterized in that: The calculation formula for the depth distance H1 that the reciprocating releaser in b43 needs to move next is: ； H2 is the current depth position of the reciprocating releaser, and the depth position is the distance from the water surface to the center of the reciprocating releaser. n represents the number of corresponding images of s (max) from top to bottom, and the reciprocating releaser is at the center position corresponding to the image data.

7. A method for salvaging blue algae according to claim 6, characterized in that: The calculation formula for the time for algae aggregates in A4 to float to the water surface is: ； T1 is the time it takes for algae aggregates to float from the bottom of the water body to the surface, V1 is the floating rate of algae aggregates, It is expressed as the distance from the location of the algae aggregate to the water surface.

8. A method for salvaging blue algae according to claim 7, characterized in that: The specific operation of the rate control algorithm in A4 is: a41. During the initial operation, the moving speed of the hull is consistent with the moving speed of the reciprocating releaser, and the positions of the hull and the reciprocating releaser are determined by GPS positioning, and the distance between them is marked as D; a42. Calculate the operating speed range of the hull collection arm according to the time taken by the algae aggregates to float to the water surface and the generated bubble support time, and generate instructions to transmit to the control end of the hull for adjustment operation; a43. As the depth of the algae aggregate changes, the moving speed of the ship is also adjusted synchronously to complete the collection operation of the algae aggregate by the collecting arm and the semi-submersible device of the ship.

9. A method for salvaging blue algae according to claim 8, characterized in that: The calculation formula for the minimum speed of the hull collecting arm in a42 is: ； V2 (min) is the minimum speed of the hull collection arm, D is the distance between the hull and the reciprocating releaser, d is the length of the hull collection arm, L1 is the width of the water area used for monitoring and analysis, and represents the distance between the next movement of the reciprocating releaser and when it does not move, T1 is the time for the algae aggregate to float from the bottom of the water area to the surface of the water, T2 is the time from the beginning of the algae aggregate floating to the surface of the water to the sedimentation of the algae aggregate after the bubbles dissipate, and when the hull moves at the speed of V2 (min), the collection operation is completed before the algae aggregate settles.

10. A method for salvaging blue algae according to claim 9, characterized in that: The calculation formula for the maximum speed of the hull collecting arm in a42 is: ； That is, when the hull moves at a speed of V2 (max), the algae aggregates are collected as soon as they float to the water surface. D is the distance between the hull and the reciprocating releaser, d is the length of the hull collection arm, and T1 is the time it takes for the algae aggregates to float from the bottom of the water area to the surface.

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