Unmanned monitoring ship for floating algae in-situ identification

Abstract

The invention discloses a floating algae in-situ identification unmanned monitoring ship which comprises a support, a floating ball is arranged at the end corner of the lower portion of the support, a power assembly is arranged on the side edge of the lower portion of the support, and the power assembly pushes the floating ball to move; the top of the support is sleeved with a winding disc, a cable is wound around the winding disc, and the winding disc rotates relative to the support. The system further comprises an underwater plankton imager, and the top of the underwater plankton imager is connected with the cable. The floating ball and the power assembly are arranged on the side edge of the support, and under the cooperation of the floating ball and the power assembly, the device has the basic function of hull walking, so that floating algae at different positions can be monitored by adjusting the position of the monitoring ship; an underwater plankton imager is further arranged, the underwater plankton imager can be put into water to obtain images of floating algae, and then the images are processed through external image classification software for classification and identification to achieve timely monitoring.

Description

Technical Field

[0001] The present invention relates to the technical field of water quality monitoring, and particularly to an in-situ identification unmanned monitoring ship for planktonic algae. Background Art

[0002] The massive reproduction of planktonic algae is often an important sign of water eutrophication. When the contents of nutrients such as nitrogen and phosphorus in water are too high, it will promote the growth of planktonic algae. Of course, some planktonic algae are sensitive to pollutants such as heavy metals and pesticides, and the changes in their quantity and species can reflect the degree of water pollution. Therefore, from the perspective of environmental protection, it is necessary to detect and monitor planktonic algae in water bodies so as to be able to grasp the water body situation more timely.

[0003] At present, the monitoring of planktonic algae mainly relies on manual sampling and laboratory analysis, and this method has many limitations.

[0004] On the one hand, the species and quantity distribution of planktonic algae in water bodies may have spatiotemporal differences, and algal cells are very fragile. During the process of traditional sampling and then bringing them back to the laboratory for analysis, algal cells may be damaged, die, or the species and quantity may change due to sampling, transportation, and preservation, etc., and the original state of algae in the water body cannot be truly reflected.

[0005] Moreover, many water quality changes are closely related to the dynamic changes of planktonic algae, such as water eutrophication and the occurrence of algal blooms. Traditional sampling and then bringing them back to the laboratory for analysis cannot obtain the information of planktonic algae in real time, which is not conducive to timely discovering sudden increases in the number of algae, abnormal changes in species, etc., is not convenient for timely warning of water quality deterioration and algal blooms, and even more cannot provide timely decision-making basis for water resource management and protection.

[0006] In addition, the selection of sampling points may have limitations and it is difficult to comprehensively cover the entire water body. The distribution of planktonic algae in water bodies is often uneven, and there may be large differences in the species and quantity of algae in different regions and at different depths. If the sampling points are set unreasonably, the collected samples may not represent the situation of the entire water body, thus affecting the accuracy and reliability of the analysis results.

[0007] On the other hand, the laboratory analysis process is complex, requires professional technical personnel to operate, takes a long time, and cannot obtain monitoring results in time, making it difficult to meet the requirements for rapid response to water quality changes. Summary of the Invention

[0008] The purpose of the present invention is to provide an in-situ identification unmanned monitoring ship for planktonic algae, aiming to improve the problems of limitations such as time effect and time control differences in the method of sampling and then bringing them back to the laboratory for analysis of planktonic algae.

[0009] The present invention is implemented as follows: An unmanned monitoring ship for in-situ identification of planktonic algae includes a bracket. Buoyancy balls are arranged at the end corners below the bracket, and a power assembly is arranged on the side below the bracket. The power assembly pushes the buoyancy balls to move. A winding disc is sleeved on the top of the bracket. A cable is wound around the winding disc, and the winding disc rotates relative to the bracket. It also includes an underwater plankton imager. The top of the underwater plankton imager is connected to the cable, and the winding disc controls the underwater plankton imager to lift and lower along the central axis of the bracket. A power supply and a control module are arranged outside the bracket, and the power supply and the control module are connected to the underwater plankton imager and the power assembly.

[0010] Preferably, the bracket includes a ring frame and multiple side plates. The multiple side plates are fixedly arranged around the bottom of the ring frame, and a limiting cylinder is arranged inside the ring frame. Multiple buoyancy balls are respectively installed below the ends of the side plates away from the ring frame. The winding disc is sleeved on the top of the ring frame. The cable is bent and distributed on both the inside and outside of the ring frame. The top of the underwater plankton imager is inserted into the limiting cylinder.

[0011] Preferably, a top frame is fixedly installed on the top of the ring frame. Three wheel bodies are hinged on the top frame. One of the wheel bodies is distributed on the edge of the ring frame, and the other two wheel bodies are adjacent and arranged in the middle of the ring frame. An angle sensor is installed on the central axis of a certain wheel body. The cable passes through the gap formed by two wheel bodies and then contacts another wheel body.

[0012] Preferably, the winding disc is sleeved on the top of the ring frame through a bearing connection. An internal gear ring is fixedly arranged above the winding disc. A driving gear is meshed inside the internal gear ring. The driving gear is installed on the power output shaft of a fourth motor, and the fourth motor is installed inside the ring frame.

[0013] Preferably, a braking mechanism is arranged above the winding disc. The braking mechanism includes a braking tooth plate and a second motor. A threaded column is connected to the power output shaft of the second motor. The threaded column is threadedly inserted into an internal threaded tube. The internal threaded tube is fixedly installed on the braking tooth plate. The braking tooth plate is attached to the top frame, and at the same time, the braking tooth plate is meshed and connected to the inside of the internal gear ring.

[0014] Preferably, a guiding mechanism is arranged on the side of the winding disc. The guiding mechanism includes a frame, a first motor, a bidirectional threaded rod, and a lifting block. The frame is arranged in a U-shaped structure, and the end of the frame is connected to the ring frame. The bidirectional threaded rod is arranged inside the frame along the height direction of the winding disc. The first motor is installed outside the frame and is connected to the bidirectional threaded rod through a sprocket chain. The lifting block is threadedly sleeved on the bidirectional threaded rod, and a pull ring fixedly installed on the side of the lifting block is sleeved on the cable.

[0015] Preferably, a guide rail is fixedly arranged on the side of the lifting block, and the guide rail is installed in the guide rail groove of the frame; a meshing tooth is arranged on the side wall of the lifting block through a bearing, and the meshing tooth is meshed and connected with the spiral groove of the bidirectional threaded rod.

[0016] Preferably, a connecting mechanism is arranged above the floating ball. The connecting mechanism includes two symmetric splicing frames connected by bolts. A semi-circular dome column is arranged on the top of each splicing frame. A top rod is fixedly arranged on the top of a certain semi-circular dome column. A limiting part is sleeved on the threaded structure of the top rod, and the bottom of the limiting part is sleeved on the two semi-circular dome columns; the top of the top rod is inserted into the end of the side plate through a bolt connection; the two splicing frames are sleeved on the floating ball, and the arc-shaped plate installed on the inner side of the splicing frame extends into the annular groove of the floating ball.

[0017] Preferably, the power assembly includes a connecting plate, a propeller, a third motor and a steering gear. The connecting plate is arranged in an arc structure, and the top of the connecting plate is sleeved on the top of the connecting mechanism through a bearing connection. At the same time, the external gear disc on the top of the connecting plate is meshed and connected with the gear of the steering gear. The steering gear is installed on the support plate at the end of the side plate. The propeller is arranged at the bottom of the connecting plate, and the central shaft of the propeller is connected with the power output shaft of the third motor through a sprocket chain. At the same time, the third motor is installed on the connecting plate.

[0018] Preferably, the power supply and control module includes a battery and an electrical control box. A first clamping plate and a second clamping plate are sleeved on the outside of the battery through bolt connections. The second clamping plate is connected with the annular frame, and the electrical control box is installed on the first clamping plate.

[0019] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. In the present invention, a floating ball and a power assembly are arranged on the side of the bracket. With the cooperation of the floating ball and the power assembly, the device has the basic function of a hull walking, so as to adjust the position of the monitoring ship and complete the monitoring of phytoplankton at different positions; an underwater plankton imager is also provided, which can be put into the water to obtain images of phytoplankton, and then classified and identified through external image classification software for timely monitoring.

[0020] 2. In the present invention, a winding disc is arranged on the top of the bracket, and the cable wound on the winding disc is connected with the underwater plankton imager. The depth of the underwater plankton imager can be adjusted by adjusting the length of the cable winding, providing support for a larger range of monitoring.

[0021] 3. The present invention is provided with a power assembly, and the power assembly can be adjusted. Therefore, the walking direction of the monitoring ship can be adjusted according to the driving requirements, providing support for completing a larger range of monitoring. Description of the Drawings

[0022] Figure 1 is the overall structural schematic diagram of the present invention; Figure 2 is a schematic structural view of the bracket of the present invention; Figure 3 is a schematic structural view of the winding reel, guiding mechanism and braking mechanism of the present invention; Figure 4 is a schematic structural view of the guiding mechanism of the present invention; Figure 5 is a schematic structural view of the bidirectional threaded rod and lifting block of the present invention; Figure 6 is a schematic structural view of the braking mechanism of the present invention; Figure 7 is a schematic structural view of the floating ball and connecting mechanism of the present invention; Figure 8 is a schematic structural view of the floating ball of the present invention; Figure 9 is a schematic structural view of the connecting mechanism of the present invention; Figure 10 is a schematic structural view of the power supply and control module of the present invention; Figure 11 is a schematic structural view of the floating ball and power assembly of the present invention; Figure 12 is a schematic structural view of the power assembly of the present invention.

[0023] In the figure: 1. Bracket; 11. Ring frame; 12. Side plate; 13. Support plate; 14. Limiting cylinder; 15. Top frame; 16. Wheel body; 17. Angle sensor; 2. Underwater plankton imager; 3. Winding reel; 31. Inner gear ring; 32. Driving gear; 4. Power supply and control module; 41. Battery; 42. First clamping plate; 43. Electrical control box; 44. Second clamping plate; 5. Floating ball; 51. Annular groove; 6. Power assembly; 61. Connecting plate; 62. Propeller; 63. Third motor; 64. Steering gear; 65. External gear disc; 7. Guiding mechanism; 71. Frame; 72. Bidirectional threaded rod; 73. Guide rail groove; 74. Guide rail; 75. First motor; 76. Lifting block; 77. Pulling ring; 78. Engaging teeth; 8. Braking mechanism; 81. Second motor; 82. Threaded column; 83. Inner threaded tube; 84. Braking tooth plate; 9. Connecting mechanism; 91. Splicing frame; 92. Arc plate; 93. Semi-circular top column; 94. Thread structure; 95. Top rod; 96. Limiting member. Detailed implementation manners In the present invention, unless otherwise clearly specified and defined, terms such as "installation", "connection", "linkage", "fixation" shall be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral body; it may be a mechanical connection or an electrical connection; it may be a direct connection or an indirect connection through an intermediate medium, and it may be the communication inside two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0025] The following will be further described in conjunction with the accompanying drawings and specific embodiments: Embodiment 1 In order to be able to timely monitor the situation of planktonic algae in water and change the traditional way of sampling and then bringing it back to the laboratory for analysis, this embodiment provides a device that can float on the liquid surface, move to the corresponding position according to requirements, and then detect planktonic algae. This device moves by referring to the way a ship sails, and is temporarily referred to as a monitoring ship in the following text.

[0026] As Figure 1 shown, in order to be able to monitor planktonic algae after the monitoring ship moves to the corresponding position, an underwater plankton imager 2 is also provided. This underwater plankton imager 2 can be put into the water and use its imaging system to take in-situ underwater pictures of planktonic algae. The obtained pictures can be processed and classified and identified later through an external image classification software (such as the EcoTaxa plankton large database sharing platform). That is, by analyzing the image data, water quality problems can be discovered in a timely manner, providing an important reference for water quality monitoring and early warning.

[0027] The underwater plankton imager 2 has been publicly used, and its structure will be briefly introduced here. Specifically, the underwater plankton imager 2 includes an imaging system, an illumination system, a water sample circulation system, a control system, a data storage and transmission system, etc.

[0028] The imaging system includes a camera, a lens, a filter, etc. The camera is the core component of the imager, used to take pictures of plankton; the lens selects a lens with an appropriate focal length and aperture according to different shooting requirements; the filter can filter out light of a specific wavelength, enhancing the contrast and color restoration of the image.

[0029] The illumination system includes a light source, an optical fiber, etc., and the optical fiber is used to transmit the light emitted by the light source to the shooting area.

[0030] The water sample circulation system includes a sampling inlet, a sampling outlet, a water pump, a filtering device, etc. The sampling inlet is usually located at the front end of the imager to enable the water sample to smoothly enter the instrument; the sampling outlet is located at the rear end to discharge the water sample that has been observed. The water pump is used to draw the water sample into the imager and control the flow rate and volume of the water sample. Before the water sample enters the imager, it usually passes through a filtering device to remove large particulate impurities and bubbles in the water to avoid affecting the shooting effect.

[0031] The control system includes a microprocessor, etc. The microprocessor is the control core of the imager and is responsible for coordinating the work of each component. It can control the shooting parameters of the camera, such as exposure time, sensitivity, etc.; adjust the brightness and color of the lighting system; and control the operation of the water sample circulation system.

[0032] The data storage and transmission system includes a storage device, a transmission module, etc. The storage device is used to store the captured image and video data. Generally, a large-capacity memory card or hard disk is used, which can store a large amount of high-resolution image data for subsequent analysis and research. The transmission module can transmit the data to external devices or computers. Common transmission methods include wired transmission (such as USB, Ethernet) and wireless transmission (such as Wi-Fi, Bluetooth), which facilitate users to back up, analyze, and share the data.

[0033] As Figure 1 shown, in order to be able to monitor phytoplankton through the underwater phytoplankton imager 2, the monitoring ship includes a bracket 1, a buoy 5, a power assembly 6, a winch 3, a power supply, and a control module 4, etc.

[0034] As Figure 1 , Figure 2As shown in the figure, the support 1 includes a ring frame 11 and multiple side plates 12. The multiple side plates 12 are fixedly arranged around the bottom of the ring frame 11. A plurality of floating balls 5 are provided, and the plurality of floating balls 5 are distributed below the ends of the multiple side plates 12 away from the ring frame 11. Therefore, the floating ability of the floating balls 5 in water can be utilized to support the stable floating of the support 1 on the liquid surface, providing support for the monitoring ship to move to any position. The power assembly 6 is arranged outside the support 1 and on the side of the floating ball 5, and its bottom is lower than the bottom of the floating ball 5. Therefore, the movement of the support 1 can be controlled when the power assembly 6 is working. In order to be able to control the moving direction of the support 1, multiple groups of power assemblies 6 can be set, and the movement of the support 1 can be promoted and the moving direction can be adjusted under the cooperation of the multiple groups of power assemblies 6. The winding reel 3 is sleeved on the top of the ring frame 11, and a cable is wound on the winding reel 3. The other end of the cable bends over the top of the ring frame 11 and is distributed through the ring frame 11 along the height direction of the ring frame 11. The end of the cable away from the winding reel 3 is connected to the underwater plankton imager 2. The cable has sufficient strength to pull the underwater plankton imager 2 up and down while meeting the requirements of power supply and communication for the underwater plankton imager 2, so as to provide support for adjusting its height when the underwater plankton imager 2 is working, in order to conduct multi-point monitoring.

[0035] The power supply and control module 4 includes a battery 41 and an electrical control box 43. The electrical control box 43 includes a power management module, a motor control module, a signal processing and control module, a communication module, etc.

[0036] The power management module includes battery connection terminals, a power switch, a voltage regulator, a power filter, etc. The motor control module includes contactors, frequency converters, motor drivers, current sensors, etc. The signal processing and control module may include a PLC (programmable logic controller), a microcontroller (MCU), a digital signal processor (DSP), a field programmable gate array (FPGA), a memory, etc. The communication module includes a wireless communication module, a communication interface chip, an antenna, etc.; the wireless communication module such as a 4G / 5G module, an NB - IoT module or a Wi-Fi module realizes two-way data transmission between the control box and the remote terminal through the wireless network, enabling the operator to remotely send instructions and obtain the operation status information of the device; the communication interface chip includes interface chips such as RS232, RS485, CAN, etc., which are used to realize wired communication between the control box and the underwater plankton imager and other external devices to ensure accurate data transmission and reliable communication.

[0037] Therefore, setting the power supply and control module 4 can facilitate the remote control of the monitoring ship to work to complete the timely and random monitoring of phytoplankton while providing electrical energy for the monitoring ship.

[0038] Such as Figure 3As shown in the figure, in order to adjust the depth of the underwater plankton imager 2 by rotating the take-up reel 3, the take-up reel 3 is sleeved on the top of the ring frame 11 through a bearing connection, and an internal gear ring 31 is fixedly arranged above the take-up reel 3. A driving gear 32 is meshed inside the internal gear ring 31. The driving gear 32 is installed on the power output shaft of the fourth motor, and the fourth motor is installed inside the ring frame 11. Therefore, when the fourth motor works, the driving gear 32 can be controlled to rotate, forcing the internal gear ring 31 to drive the take-up reel 3 to rotate, so that the length of the cable winding can be adjusted, and the depth of the underwater plankton imager 2 can be adjusted.

[0039] As Figure 6 shown in the figure, in order to be able to control the stable placement of the underwater plankton imager 2 after adjusting its depth, a braking mechanism 8 is arranged above the take-up reel 3. The braking mechanism 8 includes a braking tooth plate 84 and a second motor 81. The second motor 81 is installed on the top frame 15 at the top of the ring frame 11, and a threaded column 82 is connected to the power output shaft of the second motor 81. The braking tooth plate 84 is attached to the top frame 15, and the braking tooth plate 84 is meshed and connected inside the internal gear ring 31. An internal threaded tube 83 is fixedly arranged on the braking tooth plate 84, and at the same time, the threaded column 82 is threadedly inserted into the internal threaded tube 83. Therefore, when the second motor 81 works, the braking tooth plate 84 can be forced to rise and fall. Therefore, when the braking tooth plate 84 is meshed inside the internal gear ring 31, the concave-convex structure of the braking tooth plate 84 adapted to the top frame 15 can be used to control the internal gear ring 31 to stop rotating, forcing the underwater plankton imager 2 to be stably placed.

[0040] As Figure 4 、 Figure 5 shown in the figure, in order to be able to wind the cable more evenly when the take-up reel 3 rotates, a guiding mechanism 7 is arranged on the side of the take-up reel 3. The guiding mechanism 7 includes a frame 71, a first motor 75, a bidirectional threaded rod 72 and a lifting block 76. The frame 71 is arranged in a U-shaped structure, and the frame 71 is arranged outside the take-up reel 3, and at the same time, the end of the frame 71 is connected to the ring frame 11. The bidirectional threaded rod 72 is arranged inside the frame 71 along the height direction of the take-up reel 3. The first motor 75 is installed outside the frame 71 and is connected to the bidirectional threaded rod 72 through a sprocket chain. Therefore, the bidirectional threaded rod 72 is controlled to rotate under the action of the first motor 75. A meshing tooth 78 is connected to the side wall of the lifting block 76 through a bearing. The lifting block 76 is threadedly sleeved on the bidirectional threaded rod 72. The meshing tooth 78 is meshed and connected with the spiral groove of the bidirectional threaded rod 72. Under the cooperation of the meshing tooth 78 and the reciprocating spiral groove, the lifting block 76 can be controlled to move up and down under the action of the bidirectional threaded rod 72. Even if the bidirectional threaded rod 72 is replaced with a unidirectional threaded rod, and the inner side wall of the lifting block 76 is provided with a thread adapted to the unidirectional threaded rod, the lifting block 76 can also be controlled to rise and fall when the first motor 75 rotates forward and backward.

[0041] Since a pull ring 77 is fixedly arranged on the side of the lifting block 76 and the cable passes through the pull ring 77, during the lifting process of the lifting block 76, the winding position of the cable is changed.

[0042] To control the lifting of the lifting block 76, the lifting block 76 can be in sliding contact with a relatively large area of the frame 71. Or a guide rail 74 is fixedly arranged on the side of the lifting block 76, and the guide rail 74 is installed in the guide rail groove 73 of the frame 71.

[0043] If the cable also has power supply and communication functions, in order to supply power to the underwater plankton imager 2, the above-mentioned cable is folded in half into a double strand and wound on the winding disc 3, and after being folded in half, it passes through the pull ring 77, and then one end of the cable is connected to the underwater plankton imager 2, and the other end is connected to the electrical control box 43.

[0044] As Figure 2 shown, in order to be able to control the underwater plankton imager 2 to be set more centrally, a top frame 15 is fixedly installed on the top of the ring frame 11, and three wheel bodies 16 are hinged on the top frame 15. One of the wheel bodies 16 is distributed on the edge of the ring frame 11, and the other two wheel bodies 16 are arranged adjacent to each other in the middle of the ring frame 11. The cable passes through the gap formed by the two wheel bodies 16 and contacts the other wheel body 16. Therefore, the position of the cable is restricted by the cooperation of the two adjacent wheel bodies 16, which can provide support for controlling the underwater plankton imager 2 to be set more centrally.

[0045] As Figure 2 shown, in order to be able to control the lifting of the underwater plankton imager 2, an angle sensor 17 can be installed on the central axis of a certain wheel body 16. By calculating the number of turns of the wheel body 16 rotating, the moving distance of the cable can be calculated. In order to stably install the underwater plankton imager 2 in the ring frame 11 when the underwater plankton imager 2 is not in use, a limiting cylinder 14 is arranged on the inner side of the ring frame 11, and the top of the underwater plankton imager 2 is inserted into the limiting cylinder 14.

[0046] As Figure 11 、 Figure 12As shown in the figure, in order to be able to drive the monitoring ship to move, the power assembly 6 includes a connecting plate 61, a propeller 62, a third motor 63 and a steering gear 64. The connecting plate 61 is arranged in an arc structure, and the top of the connecting plate 61 is sleeved on the top of the connecting mechanism 9 through a bearing connection. At the same time, the external gear disk 65 at the top of the connecting plate 61 is meshed and connected with the gear of the steering gear 64. The steering gear 64 is installed on the support plate 13 at the end of the side plate 12. Therefore, when the steering gear 64 works, the rotation of the external gear disk 65 can be controlled, and then the orientation of the connecting plate 61 can be adjusted, that is, the position of the propeller 62 can be changed, providing support for adjusting the moving direction of the monitoring ship. The propeller 62 is arranged at the bottom of the connecting plate 61, and the central axis of the propeller 62 is connected to the power output shaft of the third motor 63 through a sprocket chain. At the same time, the third motor 63 is installed on the connecting plate 61. Under the action of the third motor 63, the rotation of the propeller 62 can be controlled. By stirring the water body, the monitoring ship can be driven to move.

[0047] As Figure 10 shown, in order to stably install the battery 41 on the bracket 1, a first clamping plate 42 and a second clamping plate 44 are sleeved on the outside of the battery 41 through bolts. The second clamping plate 44 is connected to the ring frame 11, and the electrical control box 43 is installed on the first clamping plate 42.

[0048] Embodiment 2 As Figure 7 、 Figure 8 、 Figure 9 shown, on the basis of Embodiment 1, in order to stably install the float ball 5 on the bracket 1, a connecting mechanism 9 is provided above the float ball 5. The connecting mechanism 9 includes two symmetric splicing frames 91 connected by bolts. At the top of each splicing frame 91, a semi-circular dome column 93 is provided. At the top of a certain semi-circular dome column 93, a top rod 95 is fixedly provided. A restricting member 96 is threadedly sleeved on the threaded structure 94 of the top rod 95. The bottom of the restricting member 96 is sleeved on two semi-circular dome columns 93. Therefore, under the action of the bolts and the restricting member 96, the two splicing frames 91 can be firmly connected and stably sleeved on the float ball 5. After the splicing frame 91 is sleeved on the float ball 5, the arc-shaped plate 92 installed on the inner side of the splicing frame 91 extends into the annular groove 51 of the float ball 5, so that the float ball 5 can be stably connected to the splicing frame 91. In addition, the top of the top rod 95 is inserted into the end of the side plate 12 through a bolt connection, so that the float ball 5 can be stably installed below the side plate 12 through the connecting mechanism 9.

[0049] The above-mentioned restricting member 96 includes a nut and a tube body. The tube body is welded and installed below the nut. Therefore, after the nut is sleeved on the top rod 95, the position of the tube body can be adjusted by rotating the nut so that the semi-circular dome column 93 extends into the tube body.

[0050] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. An unmanned monitoring vessel for in-situ identification of phytoplankton, characterized in that: The invention comprises a support (1), a buoy (5) is arranged at the end corner below the support (1), and a power assembly (6) is arranged on the side below the support (1), and the power assembly (6) pushes the buoy (5) to move; a winding drum (3) is sleeved on the top of the support (1), a cable is wound on the winding drum (3), and the winding drum (3) rotates relative to the support (1); it also comprises an underwater plankton imager (2), the top of the underwater plankton imager (2) is connected to the cable, and the winding drum (3) controls the underwater plankton imager (2) to rise and fall along the central axis of the support (1); a power supply and control module (4) is arranged on the outer side of the support (1), and the power supply and control module (4) is connected to the underwater plankton imager (2) and the power assembly (6).

2. The unmanned monitoring vessel for in-situ identification of phytoplankton according to claim 1, characterized in that: The bracket (1) comprises a ring frame (11) and a plurality of side plates (12), wherein the plurality of side plates (12) are fixedly arranged around the bottom of the ring frame (11), and a limiting cylinder (14) is arranged on the inner side of the ring frame (11); the plurality of floating balls (5) are respectively installed below the ends of the side plates (12) away from the ring frame (11), the winding drum (3) is sleeved on the top of the ring frame (11), the cable is bent and distributed on the inner and outer sides of the ring frame (11), and the top of the underwater plankton imager (2) is inserted into the limiting cylinder (14).

3. The unmanned monitoring vessel for in-situ identification of phytoplankton according to claim 2, characterized in that: A top frame (15) is fixedly installed on the top of the ring frame (11), and three wheels (16) are hingedly arranged on the top frame (15), one of the wheel bodies (16) is distributed at the edge of the ring frame (11), and the other two wheel bodies (16) are adjacently arranged in the middle of the ring frame (11), and an angle sensor (17) is installed on the central axis of one of the wheel bodies (16); the cable passes through the gap formed by the two wheel bodies (16) and contacts the other wheel body (16).

4. The unmanned monitoring vessel for in-situ identification of phytoplankton according to claim 2, characterized in that: The winding disk (3) is sleeved on the top of the ring frame (11) through a bearing connection, and an inner gear ring (31) is fixedly arranged above the winding disk (3), and a driving gear (32) is meshedly arranged on the inner side of the inner gear ring (31), and the driving gear (32) is mounted on the power output shaft of the fourth motor, and the fourth motor is mounted on the inner side of the ring frame (11).

5. The unmanned monitoring vessel for in-situ identification of phytoplankton according to claim 4, characterized in that: A brake mechanism (8) is arranged above the winding reel (3), and the brake mechanism (8) includes a brake tooth plate (84) and a second motor (81). A threaded column (82) is connected to the power output shaft of the second motor (81), and the threaded column (82) is threadedly inserted into an internal threaded tube (83). The internal threaded tube (83) is fixedly mounted on the brake tooth plate (84), and the brake tooth plate (84) is arranged in contact with the top frame (15). At the same time, the brake tooth plate (84) is meshed and connected to the inner side of the inner gear ring (31).

6. The unmanned monitoring vessel for in-situ identification of phytoplankton according to claim 2, characterized in that: A guiding mechanism (7) is provided on the side of the winding reel (3). The guiding mechanism (7) includes a frame (71), a first motor (75), a bidirectional threaded rod (72), and a lifting block (76). The frame (71) is arranged in a U-shaped structure, and the end of the frame (71) is connected to the ring frame (11). The bidirectional threaded rod (72) is arranged inside the frame (71) along the height direction of the winding reel (3). The first motor (75) is installed outside the frame (71) and is connected to the bidirectional threaded rod (72) through a sprocket chain. The lifting block (76) is threadedly sleeved on the bidirectional threaded rod (72), and a pull ring (77) fixedly installed on the side of the lifting block (76) is sleeved on the cable.

7. The unmanned monitoring vessel for in-situ identification of phytoplankton according to claim 6, characterized in that: A guiding rail (74) is fixedly arranged on the side of the lifting block (76), and the guiding rail (74) is installed in the guide rail groove (73) of the frame (71); a meshing tooth (78) is connected to the side wall of the lifting block (76) through a bearing, and the meshing tooth (78) is meshed and connected to the spiral groove of the bidirectional threaded rod (72).

8. The unmanned monitoring vessel for in-situ identification of phytoplankton according to claim 2, characterized in that: A connecting mechanism (9) is provided above the floating ball (5). The connecting mechanism (9) includes two splicing frames (91) that are symmetric and connected by bolts. At the top of each splicing frame (91), a semi-circular top column (93) is provided. At the top of a certain semi-circular top column (93), a top rod (95) is fixedly arranged. A restricting member (96) is threadedly sleeved on the threaded structure (94) of the top rod (95), and the bottom of the restricting member (96) is sleeved on two semi-circular top columns (93); the top of the top rod (95) is inserted into the end of the side plate (12) through a bolt connection; the two splicing frames (91) are sleeved on the floating ball (5), and an arc-shaped plate (92) installed inside the splicing frame (91) extends into the annular groove (51) of the floating ball (5).

9. The unmanned monitoring vessel for in-situ identification of phytoplankton according to claim 8, characterized in that: The power assembly (6) includes a connecting plate (61), a propeller (62), a third motor (63), and a steering gear (64). The connecting plate (61) is arranged in an arc-shaped structure, and the top of the connecting plate (61) is connected and sleeved on the top of the connecting mechanism (9) through a bearing. At the same time, the external gear disk (65) on the top of the connecting plate (61) is meshed with the gear of the steering gear (64). The steering gear (64) is installed on the support plate (13) at the end of the side plate (12). The propeller (62) is arranged at the bottom of the connecting plate (61), and the central axis of the propeller (62) is connected to the power output shaft of the third motor (63) through a sprocket chain. At the same time, the third motor (63) is installed on the connecting plate (61).

10. The unmanned monitoring vessel for in-situ identification of phytoplankton according to claim 2, characterized in that: The power supply and control module (4) includes a battery (41) and an electrical control box (43). A first clamping plate (42) and a second clamping plate (44) are sleeved outside the battery (41) through bolt connections. The second clamping plate (44) is connected to the annular frame, and the electrical control box (43) is installed on the first clamping plate (42).

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