A method for salvaging cyanobacteria

Abstract

The present invention discloses a method for salvaging cyanobacteria. By deploying a reciprocating releaser connected to a hull and relying on a depth analysis algorithm to monitor and analyze the depth of algae in a water area, the present invention relates to the technical field of water area treatment. This method for salvaging cyanobacteria involves deploying a reciprocating releaser connected to a hull and relying on a depth analysis algorithm to monitor and analyze the depth of algae in a water area, generating instructions to control the reciprocating releaser to move to the algae area. Subsequently, the reciprocating releaser releases nanobubbles to the algal aggregates to provide buoyancy to make the algal aggregates float to the water surface, and uses a rate control algorithm to generate instructions to control the collection arm and the semi-submerged device of the hull to collect the algal aggregates on the water surface into the ship. In this way, not only can the position of cyanobacteria be effectively determined, but also the time for the algal aggregates to float and the operation rate of the hull can be regulated by coordinating the control of the reciprocating releaser, improving the efficiency and accuracy of cyanobacteria salvage and reducing the error rate.

Description

Technical Field

[0001] The present invention relates to the technical field of water treatment, and specifically provides a method for salvaging cyanobacteria. Background Art

[0002] With the increasing severity of water eutrophication, cyanobacteria blooms have occurred in more and more water areas. Excessive cyanobacteria in the water will consume a large amount of dissolved oxygen, causing adverse effects on aquatic organisms and the surrounding ecological systems.

[0003] Refer to the patent with the title: Method for salvaging cyanobacteria to prevent cyanobacteria blooms (Patent Publication No.: CN101122126A, Patent Publication Date: February 13, 2008). Its process is as follows: a. Collect cyanobacteria - use a landing craft-style ship with a foredeck and large opening; the two sides of the bow of the ship are fixed side walls, 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 gathering cyanobacteria. The root of the shovel is hinged to the upper edge of the cabin; when the ship sails towards the cyanobacteria area, lower the shovel at the bow of the ship, and use the shovel to scoop up the cyanobacteria floating on the water surface. As the ship moves forward, the cyanobacteria will continuously enter the cabin; b. Negative pressure algae suction - use a negative pressure algae suction machine to suck the cyanobacteria scooped into the cabin into the conveyor according to the principle of negative pressure; c. Conveyance - first collect the cyanobacteria sent by the negative pressure algae suction machine; then use a rotating screw to convey the collected cyanobacteria to a feed processing machine. When treating cyanobacteria in this way, the occurrence of cyanobacteria "blooms" can be avoided.

[0004] Based on the description in the above document, during the existing cyanobacteria salvage process, although cyanobacteria can be suspended in the upper layer and then removed through collection, the position of cyanobacteria in the water body is not determined, and it also takes time for buoyancy to form and drive the cyanobacteria to float. Often, when the cyanobacteria have not floated or have not floated completely, the salvage treatment equipment has already completed the operation, reducing the efficiency of the salvage treatment. Therefore, the present invention provides a method for salvaging cyanobacteria. Summary of the Invention

[0005] Object of the Invention: To solve the above technical problems, the present invention provides a method for salvaging cyanobacteria, which solves the problem that during the existing cyanobacteria salvage process, although cyanobacteria can be suspended in the upper layer and then removed through collection, the position of cyanobacteria in the water body is not determined, and it also takes time for buoyancy to form and drive the cyanobacteria to float. Often, when the cyanobacteria have not floated or have not floated completely, the salvage treatment equipment has already completed the operation, reducing the efficiency of the salvage treatment.

[0006] Technical Solution: A method for salvaging cyanobacteria provided by the present invention specifically includes the following steps:

[0007] A1. Use an anti-algae curtain to intercept the area or river channel that needs algae cleaning to form a salvage water area;

[0008] A2. Put an electrode modification device into the salvage water area, and use the electric field of the electrode modification device to act on the algae in the water, so that the surface of the algae is positively charged, and complete the modification operation of part of the algae;

[0009] A3. Then, put a reciprocating releaser connected to the hull, and rely on a depth analysis algorithm to monitor and analyze the depth of the algae in the water area, generate an instruction to control the reciprocating releaser to move to the algae area, so that the modified algae bodies with positive charges and the unmodified algae bodies with negative charges aggregate to form algal aggregates. Subsequently, the reciprocating releaser releases nanobubbles to the algal aggregates to provide buoyancy to make the algal aggregates float to the water surface;

[0010] A4. During the time when the algal aggregates float to the water surface, use a rate control algorithm to generate an instruction to control the collection arm and the semi-submerged device of the hull to collect the algal aggregates on the water surface into the ship;

[0011] A5. Use gravity and mechanical extrusion operations to achieve the preliminary dehydration of the algal aggregates, and then complete the drying operation of the preliminarily dehydrated algal aggregates. The dried algal sludge is packaged and utilized.

[0012] Preferably, the specific operation steps of the depth analysis algorithm in A3 are as follows:

[0013] a31. A data collector is installed on the side of the moving direction of the put-in reciprocating releaser, and the data collector collects the data of the water area to be processed by the reciprocating releaser next to form an algae data set ratio marked as J;

[0014] a32. Analyze the algae data set J, mark the algae characteristics at different depths, and determine the depth at which the reciprocating releaser will be processed next based on the algae characteristics;

[0015] a33. Generate a control command to control the reciprocating releaser to move in the vertical position, and repeat the operation of a32 to analyze the situation of the next water area.

[0016] Preferably, the analysis operation of the algae data set J in a32 is as follows:

[0017] B1. Establish a prediction model for the water area based on the collected data, and set the water area width marked as L1 and the water area length marked as L2 used for monitoring and analysis and input them into the prediction model to obtain the plane image data in the direction of the data collector;

[0018] B2. Gray-scale process the planar image data, and introduce the algal feature data to mark the features in the planar image data that are the same as the algal feature data.

[0019] B3. Mark the vertical range distance that the reciprocating releaser can handle as L3, and sequentially divide the planar image data from top to bottom according to the distance L3 to form multiple image data with marked features.

[0020] B4. Obtain the depth distance mark H1 that the reciprocating releaser needs to move for the next process according to the proportion of the marked features in the segmented image data with marked features.

[0021] Preferably, the calculation steps for the proportion of the marked features in the image data with marked features in B4 are as follows:

[0022] b41. Process the segmented image data with marked features in the order from top to bottom.

[0023] b42. Identify the occupied area s of the marked features through image recognition, calculate based on the occupied area s of the marked features and the area of the image data, and sequentially compare the feature proportion data calculated for the image data to obtain the corresponding image of the maximum occupied area s(max) of the marked features.

[0024] b43. Determine the position of the corresponding image of s(max) and calculate the depth distance H1 that the reciprocating releaser needs to move for the next process.

[0025] Preferably, the calculation formula for the feature proportion in b42 is:

[0026] ;

[0027] M is the proportion of the marked features in the area of the image data, s is the occupied area of the marked features, L2 is the length of the monitored water area and also the length of the segmented image data, and L3 is the vertical range distance that the reciprocating releaser can handle and also the height of the segmented image data.

[0028] Preferably, the calculation formula for the depth distance H1 that the reciprocating releaser needs to move for the next process in b43 is:

[0029] ;

[0030] H2 is the depth position where the current reciprocating releaser is located, and the depth position is the distance from the water surface to the overall 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.

[0031] Preferably, the formula for calculating the time when the algal aggregates in A4 float to the water surface is:

[0032] ;

[0033] T1 is the time for the algal aggregates to float from the underwater area to the water surface, V1 is the floating rate of the algal aggregates, represents the distance from the position where the algal aggregates are located to the water surface.

[0034] Preferably, the specific operation of the rate control algorithm in A4 is as follows:

[0035] a41. During the initial operation, the moving rate of the hull is kept consistent with that of the reciprocating releaser. The positions of the hull and the reciprocating releaser are determined by GPS positioning, and the distance between them is marked as D;

[0036] a42. Calculate the operating rate range of the hull collection arm according to the time it takes for the algal aggregates to float to the water surface and the bubble support time, and generate an instruction to transmit to the control end of the hull for adjustment operation;

[0037] a43. As the depth of the algal aggregates changes, the moving rate of the hull is also adjusted synchronously, and the collection operation of the algal aggregates by the collection arm and the semi-submerged device of the hull is completed.

[0038] Preferably, the formula for calculating the operating rate range of the hull collection arm in a42 is:

[0039] ;

[0040] V2 (min) is the minimum operating rate 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 and the non-movement of the reciprocating releaser. T1 is the time for the algal aggregates to float from the underwater area to the water surface, T2 is the time from when the algal aggregates float to the water surface until they settle after the bubbles dissipate, and the hull moves at the speed of V2 (min) to complete the collection operation before the algal aggregates settle.

[0041] Preferably, the formula for calculating the maximum operating rate of the hull collection arm in a42 is:

[0042] ;

[0043] That is, when the hull moves at the speed of V2 (max), the algal aggregates are just collected when 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 for the algal aggregates to float from the underwater area to the water surface.

[0044] Advantages: Compared with the prior art, the present invention has the following advantages:

[0045] (1) In this cyanobacteria salvage method, by deploying a reciprocating releaser connected to the hull and relying on a depth analysis algorithm to monitor and analyze the depth of algae in the water area, commands are generated to control the reciprocating releaser to move to the algae area. Subsequently, the reciprocating releaser releases nanobubbles to the algal aggregates to provide buoyancy, causing the algal aggregates to float to the water surface. The rate control algorithm is used to generate commands to control the collection arm and the semi-submerged device of the hull to collect the algal 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 control the floating time of the algal aggregates and the operation rate of the hull, improving the efficiency and accuracy of cyanobacteria salvage and reducing the error rate.

[0046] (2) In this cyanobacteria salvage method, the planar image data is grayscale processed, and characteristic data related to algae is introduced to mark the characteristics in the planar image data that are the same as the algae characteristic data. Image segmentation operations are performed based on 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 characteristics in the segmented image data with marked characteristics. In this way, the depth position of the algae can be determined, and the depth processing operation can be completed. At the same time, real-time adjustment can be made according to different data, making the operation effect better.

[0047] (3) In this cyanobacteria salvage method, the operating speed range of the hull collection arm is calculated based on the time it takes for the algal aggregates to float to the water surface and the support time of the generated bubbles, and commands are generated and transmitted to the control end of the hull for adjustment operations, thereby completing the cooperation operation between the reciprocating releaser and the hull, achieving more complete floating of cyanobacteria, more complete collection of the floating cyanobacteria, and simultaneously calculating the hull speed range, so as to make adaptive adjustments during the next adjustment operation, ensuring the salvage processing efficiency while increasing the collection error tolerance. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 is the operation flowchart of the cyanobacteria salvage method of the present invention;

[0049] Figure 2 is the operation flowchart of the depth analysis algorithm of the present invention;

[0050] Figure 3 is the operation flowchart of the rate control algorithm of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0051] 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 a part of the embodiments of the present invention, rather than all embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0052] Please refer to Figures 1 - 3 , the specific implementation manner of the present invention is as follows:

[0053] Embodiment 1. A method for salvaging cyanobacteria includes the following steps:

[0054] A1. Use an anti-algae curtain to intercept the area or river channel where algae need to be cleaned to form a salvage water body area;

[0055] A2. By putting an electrode modification device into the salvage water body area, using the electric field of the electrode modification device to act on the algae in the water body, so that the surface of the algae is positively charged, and complete the modification operation of part of the algae;

[0056] A3. Then, by putting a reciprocating releaser connected to the hull and relying on a depth analysis algorithm to monitor and analyze the depth of the algae in the water body area, generate an instruction to control the reciprocating releaser to move to the algae area, so that the modified algal bodies with positive charges and the unmodified algal bodies with negative charges aggregate to form algal aggregates. Subsequently, the reciprocating releaser releases nano-bubbles to the algal aggregates to provide buoyancy to make the algal aggregates float to the water surface;

[0057] A4. And during the time when the algal aggregates float to the water surface, use a rate control algorithm to generate an instruction to control the collection arm and the semi-submerged device of the hull to collect the algal aggregates on the water surface into the ship;

[0058] A5. Use operations of gravity and mechanical extrusion to achieve preliminary dehydration of the algal aggregates, and then complete the drying operation on the preliminarily dehydrated algal aggregates. The dried algal sludge is packaged for utilization.

[0059] Among them, by putting a reciprocating releaser connected to the hull and relying on a depth analysis algorithm to monitor and analyze the depth of the algae in the water body area, generating an instruction to control the reciprocating releaser to move to the algae area, then the reciprocating releaser releases nano-bubbles to the algal aggregates to provide buoyancy to make the algal aggregates float to the water surface, and using a rate control algorithm to generate an instruction to control the collection arm and the semi-submerged device of the hull to collect the algal aggregates on the water surface into the ship. In this way, not only can the position of the cyanobacteria be effectively determined, but also the time for the algal aggregates to float and the operation rate of the hull can be coordinated and controlled by adjusting the reciprocating releaser, improving the efficiency and accuracy of cyanobacteria salvage and reducing the error rate.

[0060] In the embodiment of the present invention, the specific operation steps of the depth analysis algorithm in A3 are:

[0061] a31. A data collector is installed on the side of the moving direction of the reciprocating releaser to be placed, and the data collector collects the data of the water body area to be processed by the reciprocating releaser next to form an algae data set marked as J.

[0062] a32. Analyze the algae data set J, mark the algae characteristics at different depths, and determine the depth at which the reciprocating releaser will be processed next based on the algae characteristics.

[0063] a33. Generate a control command to control the reciprocating releaser to move in the vertical position, and repeat the operation of a32 to analyze the situation of the next water body area.

[0064] In the embodiment of the present invention, the analysis operation of the algae data set J in a32 is as follows:

[0065] B1. Establish a prediction model for the water body area based on the collected data, and set the water area width L1 and the water area length L2 used for monitoring and analysis and input them into the prediction model to obtain the plane image data in the direction of data collection by the data collector.

[0066] B2. Gray-scale process the plane image data, and introduce the algae characteristic data to mark the characteristics in the plane image data that are the same as the algae characteristic data.

[0067] B3. Mark the vertical range distance that the reciprocating releaser can process as L3, and sequentially divide the plane image data from top to bottom according to the distance L3 to form a plurality of image data with marked characteristics.

[0068] B4. Obtain the depth distance H1 that the reciprocating releaser needs to move next according to the proportion of the marked characteristics in the segmented image data with marked characteristics.

[0069] In the embodiment of the present invention, the calculation steps of the proportion of the marked characteristics in the image data with marked characteristics in B4 are as follows:

[0070] b41. Process the segmented image data with marked characteristics in the order from top to bottom.

[0071] b42. Identify the occupied area s of the marked characteristics through the image, calculate based on the occupied area s of the marked characteristics and the area of the image data, and compare the characteristic proportion data calculated for the image data in sequence to obtain the corresponding image of the maximum occupied area s(max) of the marked characteristics.

[0072] b43. Determine the position of the corresponding image of s(max) and calculate the depth distance H1 that the reciprocating releaser needs to move next.

[0073] Among them, by grayscale processing the planar image data, introducing algae feature data to mark the features in the planar image data that are the same as the algae feature data, and implementing image segmentation operations 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 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 operation effect better.

[0074] In the embodiment of the present invention, the calculation formula for the feature proportion in b42 is:

[0075] ;

[0076] M is the proportion of the marked features in the area of the image data, s is the area occupied by the marked features, L2 is the length of the water area for monitoring and processing and is also the length of the segmented image data, and L3 is the vertical range distance that the reciprocating releaser can handle and is also the height of the segmented image data.

[0077] In the embodiment of the present invention, the calculation formula for the depth distance H1 that the reciprocating releaser needs to move for the next processing in b43 is:

[0078] ;

[0079] H2 is the depth position where the current reciprocating releaser is located, and the depth position is the distance from the water surface to the overall 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.

[0080] In the embodiment of the present invention, the calculation formula for the time when the algal aggregate floats to the water surface in A4 is:

[0081] ;

[0082] T1 is the time when the algal aggregate floats from the lower part of the water body area to the water surface, V1 is the floating rate of the algal aggregate, represents the distance from the position where the algal aggregate is located to the water surface. The distance to the water surface.

[0083] In the embodiment of the present invention, the specific operation of the rate control algorithm in A4 is:

[0084] a41. During the preliminary operation, the moving rate of the hull is kept consistent with the moving rate of the reciprocating releaser, and the position between the hull and the reciprocating releaser is determined by relying on GPS positioning, and the distance between them is marked as D;

[0085] a42. Calculate the operating speed range of the hull collection arm based on the time it takes for the algal aggregates to float to the water surface and the bubble support time, and generate an instruction to be transmitted to the control end of the hull for adjustment operations;

[0086] a43. As the depth of the algal aggregates changes, the moving speed of the hull is also synchronously adjusted to complete the collection operation of the algal aggregates by the collection arm and the semi-submerged device of the hull.

[0087] In the embodiment of the present invention, the calculation formula for the operating speed range of the hull collection arm in a42 is:

[0088] ;

[0089] 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 and the non-movement of the reciprocating releaser. T2 is the time from when the algal aggregates float to the water surface until they settle after the bubbles dissipate. And when the hull moves at the speed of V2 (min), the collection operation is completed before the algal aggregates settle;

[0090] The calculation formula for the maximum operating speed of the hull collection arm in a42 is:

[0091] ;

[0092] That is, when the hull moves at the speed of V2 (max), the algal aggregates are just collected when 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 for the algal aggregates to float from the underwater area to the water surface.

[0093] Among them, by calculating the operating speed range of the hull collection arm based on the time it takes for the algal aggregates to float to the water surface and the bubble support time, and generating an instruction to be transmitted to the control end of the hull for adjustment operations, the cooperation operation between the reciprocating releaser and the hull is completed, the more complete floating of the cyanobacteria is realized, and the more complete collection of the floating cyanobacteria is realized. At the same time, the calculation of the hull speed range is realized, so as to make an adaptive adjustment during the next adjustment operation, ensuring the salvage processing efficiency and improving the collection error tolerance rate.

[0094] Embodiment 2. The difference compared with Embodiment 1 is that this embodiment also designs a comparative experiment, and the specific operation is as follows:

[0095] First, use an algae prevention curtain to intercept the area or river channel that needs algae cleaning to form a salvage water area, and based on the algae prevention curtain, complete the operation of dividing the salvage water area into two halves. Then, through the existing blue-green algae salvage method and the salvage method of the present invention, perform mobile processing operations on both sides of the divided water area, and record the completion time. At the same time, use monitoring instruments to collect the blue-green algae situation inside the water area and detect the final processing situation. The specific result data is shown in Table 1 as follows:

[0096] Table 1 Processing Result Table

[0097] Water area treatment time Ratio of cyanobacteria in the water area to the initial cyanobacteria Existing salvage methods 55 min 35% Salvage method of the present invention 23 min 2.8%

[0098] In summary, through the salvage method of the present invention, mobile processing operations are performed on both sides of the divided water area. The time taken to complete the blue-green algae treatment in the water area is shorter, and the remaining blue-green algae ratio in the treated water area is lower. Therefore, the salvage method of the present invention achieves better results in water area treatment.

[0099] At the same time, the content not described in detail in this specification belongs to the prior art well-known to those skilled in the art.

[0100] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device.

[0101] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A method for salvaging cyanobacteria, characterized in that: Specifically, it includes the following steps: A1. Use an anti-algal curtain to intercept the area or river channel that needs to be cleaned of algae to form a salvage water body area; A2. Put an electrode modification device into the salvage water body area, and use the electric field of the electrode modification device to act on the algae in the water body, so that the surface of the algae is positively charged, and complete the modification operation of part of the algae; A3. Then, put a reciprocating releaser connected to the hull, and rely on a depth analysis algorithm to monitor and analyze the depth of the algae in the water body area, generate an instruction to control the reciprocating releaser to move to the algae area, so that the modified algal bodies with positive charges and the unmodified algal bodies with negative charges aggregate to form algal aggregates. Subsequently, the reciprocating releaser releases nanobubbles to the algal aggregates to provide buoyancy to make the algal aggregates float to the water surface; A4. During the time when the algal aggregates float to the water surface, use a rate control algorithm to generate an instruction to control the collection arm and the semi-submerged device of the hull to collect the algal aggregates on the water surface into the ship; A5. Use the operations of gravity and mechanical extrusion to achieve the preliminary dehydration of the algal aggregates, and then complete the drying operation of the preliminarily dehydrated algal aggregates. The dried algal mud is packed and utilized; The specific operation steps of the depth analysis algorithm in A3 are as follows: a31. A data collector is installed on the side of the moving direction of the put-in reciprocating releaser, and the data collector collects the data of the water body area to be processed by the reciprocating releaser next to form an algae data set ratio marked as J; a32. Analyze the algae data set J, mark the algae characteristics at different depths, and determine the depth at which the reciprocating releaser will be processed next based on the algae characteristics; a33. Generate a control command to control the reciprocating releaser to move in the vertical position, and repeat the operation of a32 to analyze the situation of the next water body area; The analysis operation of the algae data set J in a32 is as follows: B1. Establish a prediction model for the water body area based on the collected data, and set the water width marked as L1 and the water length marked as L2 used for monitoring and analysis and input them into the prediction model to obtain the plane image data in the direction of the data collector; B2. Gray-scale process the plane image data, and introduce the algae characteristic data to mark the characteristics in the plane image data that are the same as the algae characteristic data; B3. Mark the vertical range distance that the reciprocating releaser can process as L3, and sequentially divide the plane image data from top to bottom according to the distance L3 to form multiple image data with marked characteristics; B4. Obtain the depth distance marked as H1 that the reciprocating releaser needs to move next according to the proportion of the marked characteristics in the segmented image data with marked characteristics; The calculation steps of the proportion of the marked characteristics in the image data with marked characteristics in B4 are as follows: b41. Process the segmented image data with marked characteristics in order from top to bottom; b42. Identify the occupied area s of the marked characteristics through the image, calculate based on the occupied area s of the marked characteristics and the area of the image data, and compare the characteristic proportion data calculated for the image data in sequence to obtain the corresponding image of the maximum occupied area s(max) of the marked characteristics; b43. Determine the position of the corresponding image of s(max) and calculate the depth distance H1 that the reciprocating releaser needs to move for the next process.

2. The cyanobacteria salvage method according to claim 1, characterized in that: The calculation formula for the feature ratio in b42 is: ； M is the proportion of the marked feature in the area of the image data, s is the area occupied by the marked feature, L2 is the length of the water area monitored and processed and is also the length of the segmented image data, and L3 is the vertical range distance that the reciprocating releaser can process and is also the height of the segmented image data.

3. The blue-green algae salvage method according to claim 1, characterized in that: The calculation formula for the depth distance H1 that the reciprocating releaser needs to move for the next process in b43 is: ； H2 is the depth position where the current reciprocating releaser is located, and the depth position is the distance from the water surface to the overall 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.

4. A method for salvaging cyanobacteria according to claim 3, characterized in that: The calculation formula for the time when the algal aggregate floats to the water surface in A4 is: ； T1 is the time for the algal aggregate to float up from the water body area to the water surface, and V1 is the floating rate of the algal aggregate. It is expressed as the distance from the position where the algal aggregate is located to the water surface.

5. A method for salvaging cyanobacteria according to claim 4, 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 kept consistent with the moving speed of the reciprocating releaser. The position between the hull and the reciprocating releaser is determined by relying on 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 it takes for the algal aggregate to float to the water surface and the bubble support time, and generate an instruction to be transmitted to the control end of the hull for adjustment operation. a43. As the depth of the algal aggregate changes, the moving speed of the hull is also synchronously adjusted to complete the collection operation of the algal aggregate by the collection arm and the semi-submerged device of the hull.

6. The method for salvaging cyanobacteria according to claim 5, characterized in that: The calculation formula for the minimum operating speed of the hull collection arm in a42 is: ； V2(min) is the minimum operating 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 and the non-movement of the reciprocating releaser. T1 is the time for the algal aggregate to float from the underwater area to the water surface, and T2 is the time from when the algal aggregate floats to the water surface until it settles after the bubbles dissipate. And when the hull moves at the speed of V2(min), the collection operation is completed before the algal aggregate settles.

7. A method for salvaging cyanobacteria according to claim 6, characterized in that: The calculation formula for the maximum operating speed of the hull collection arm in a42 is: ； That is, when the hull moves at the speed of V2(max), the algal aggregate is just collected when it floats 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 for the algal aggregate to float from the underwater area to the water surface.

Images