Submerged vegetation automatic detection shooting system and method

Abstract

The invention relates to the technical field of water ecological environment monitoring, in particular to an automatic detecting and shooting system and method for submerged vegetation, the system comprises an underwater shooting device and a water floating power device, the underwater shooting device is placed underwater and used for shooting the submerged vegetation and obtaining image information; the water floating power device is arranged on the water surface and used for controlling the placement position of the underwater shooting device and storing the image information; the underwater shooting device and the water floating power device are fixed through a cable. According to the invention, efficient collection of the underwater environment can be realized.

Description

Technical Field

[0001] The present invention relates to the technical field of water ecological environment monitoring, and particularly to a submerged vegetation automatic detection and photographing system and method. Background Art

[0002] Currently, the public's desire for a healthy water ecological environment is increasing day by day, and the attention of relevant institutions and enterprises to water ecological protection has also increased significantly. Submerged vegetation, as a key component of the water ecosystem, its state is directly related to water quality purification, biodiversity, and ecological balance. Therefore, effective monitoring of submerged vegetation is not only the cornerstone of water ecological protection but also a necessary condition for the rational use of water resources and the maintenance of ecological health.

[0003] However, the monitoring of submerged vegetation faces many challenges. Different from terrestrial vegetation, the complexity of the underwater environment makes it difficult to directly observe and record submerged vegetation. In the past, the investigation of submerged vegetation mostly relied on sampling, manual observation by divers, or the use of underwater camera equipment. These methods not only consume a large amount of manpower and material resources but also are strictly restricted by time and space: the on-site operation is difficult; the process is relatively cumbersome and the efficiency is low; the safety is difficult to guarantee when using manual observation; the environment is complex and the application range is narrow. In addition, manual monitoring is often affected by subjective factors, and the consistency and accuracy of data are difficult to guarantee. Summary of the Invention

[0004] The purpose of the present invention is to provide a submerged vegetation automatic detection and photographing system and method for the above technical problems, to achieve efficient acquisition of the underwater environment, and further to calculate the coverage of submerged vegetation, analyze the types of submerged vegetation, and analyze the bottom sediment, that is, the living environment of submerged vegetation.

[0005] To achieve the above purpose, the present invention provides the following solutions:

[0006] A submerged vegetation automatic detection and photographing system includes: an underwater photographing device and a floating power device on the water surface. Among them, the underwater photographing device is placed underwater and is used to photograph submerged vegetation to obtain image information; the floating power device on the water surface is arranged on the water surface and is used to control the placement position of the underwater photographing device and store the image information; the underwater photographing device and the floating power device on the water surface are fixed by a cable.

[0007] Optionally, the underwater photographing device includes a control module, a photographing module, and a lighting module, and the floating power device on the water surface includes an ultrasonic ranging module, a control power module, a GPS module, and a data storage and transmission module. Among them, the control module is electrically connected to the photographing module, the lighting module, and the data storage and transmission module respectively, the photographing module is electrically connected to the data storage and transmission module, and the data storage and transmission module is electrically connected to the ultrasonic ranging module, the control power module, and the GPS module.

[0008] Optionally, the underwater photographing device includes a protection frame, as well as a protective cover, a telescopic rod, a control surface, and support feet arranged outside the protection frame, and a carrier board arranged inside the protection frame. Among them, the telescopic rod and the support feet are fixed by the control surface, and the control module, the photographing module, and the lighting module are all fixedly installed on the carrier board.

[0009] Optionally, the floating power device on the water surface includes a floating power hull and a control panel. The ultrasonic ranging module is fixed at the bottom of the floating power hull, the control power module is fixed at the tail and bottom of the floating power hull, and the GPS module and the data storage and transmission module are fixed on the control panel.

[0010] Optionally, the system further includes a power supply module for supplying power to the underwater photographing device and the floating power device on the water surface.

[0011] To further achieve the above object, the present invention also provides a method for automatically detecting and photographing submerged vegetation, including:

[0012] Set a transect and a number of quadrats on the transect, and control the floating power hull to reach the position where the quadrat is located through the GPS module and the control power module;

[0013] Obtain the distance from the water surface through the ultrasonic ranging module, lower the cable based on the distance, and lower the underwater photographing device underwater;

[0014] The control module controls the photographing module and the lighting module to work, obtains the underwater image, and sends the underwater image to the data storage and transmission module to judge the clarity. If the clarity meets the preset requirements, the cable is recovered, and it moves to the next quadrat, and the underwater image is collected again until the entire transect is collected.

[0015] Optionally, controlling the floating power hull to reach the position where the quadrat is located through the GPS module and the control power module includes:

[0016] Obtain the coordinate values of the transect and a number of quadrats;

[0017] The GPS module calculates the forward path and the mooring position based on the coordinate values, and sends the forward path and the mooring position to the control power module to control the forward movement and stop of the floating power hull.

[0018] Optionally, paying out the cable based on the distance and placing the underwater photographing device underwater includes:

[0019] Paying out a cable of a corresponding length based on the distance, and at the same time, the control module controls the telescopic rod to extend by a preset length to place the underwater photographing device on the water bottom;

[0020] Then, the control module starts the lighting module and the photographing module to work to collect the water bottom image. If it is determined that the clarity of the water bottom image does not meet the preset requirements, the extending length of the telescopic rod and the lighting brightness of the lighting module are adjusted until the clarity of the collected water bottom image meets the preset requirements.

[0021] The beneficial effects of the present invention are as follows:

[0022] (1) The present invention advances by the floating power device on the water and photographs by the underwater photographing device, without manual observation, and the safety is guaranteed. The integration of the GPS module and the ultrasonic ranging module ensures the precise positioning and safe operation of the system, and avoids equipment damage caused by misoperation.

[0023] (2) The design of the telescopic rod and the supporting feet of the present invention, combined with the adjustable brightness of the lighting module, enables the system to adapt to the underwater environment under different depths and lighting conditions, and broadens the application range of the system.

[0024] (3) The automatic photographing and detecting process of the present invention greatly reduces the manpower requirement and avoids the errors that may be brought by manual operation; the integration of the GPS module and the ultrasonic ranging module ensures the precise positioning of the system and improves the accuracy and consistency of data collection. The efficient data transmission and storage mechanism ensures the immediate availability of a large amount of image data and accelerates the subsequent analysis process.

[0025] (4) The present invention can realize the calculation of the coverage of submerged vegetation, the analysis of the types of submerged vegetation, and the analysis of the bottom sediment, i.e., the living environment of the submerged vegetation, adopts the method of automatic detection and machine analysis, replaces the original manual sampling or the manual observation of divers or the use of underwater photography equipment, and the on-site operation is simple.

[0026] (5) The present invention directly analyzes the coverage, types and living environment of submerged vegetation through photos, simplifies the cumbersome process of manual sampling or manual observation of divers, and improves the efficiency. Description of the Drawings

[0027] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0028] Figure 1 Schematic diagram of the structure of a submerged vegetation automatic detection and shooting system according to an embodiment of the present invention;

[0029] Figure 2 Principle diagram of shooting according to an embodiment of the present invention;

[0030] Figure 3 Schematic diagram of the structure of a floating power device on water according to an embodiment of the present invention;

[0031] Figure 4 Schematic diagram of the structure of an underwater shooting device according to an embodiment of the present invention;

[0032] Figure 5 Flowchart of a method for automatically detecting and shooting submerged vegetation according to an embodiment of the present invention;

[0033] Figure 6 Schematic diagram of the working process of a submerged vegetation automatic detection and shooting system according to an embodiment of the present invention;

[0034] Among them, 1 - control panel, 2 - ultrasonic ranging module, 3 - control power module, 4 - floating power hull, 5 - shooting system carrier board, 6 - telescopic rod, 7 - support feet, 8 - control surface, 9 - cable, 10 - protection frame, 11 - protective cover, 12 - quadrat. Detailed implementation manners

[0035] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0036] To make the above objects, features, and advantages of the present invention more obvious and understandable, the present invention will be further described in detail below with reference to the drawings and specific implementation manners.

[0037] This embodiment provides a submerged vegetation automatic detection and shooting system, including: an underwater shooting device and a floating power device on the water surface. Among them, the underwater shooting device is placed underwater and is used to shoot submerged vegetation to obtain image information; the floating power device on the water surface is arranged on the water surface and is used to control the placement position of the underwater shooting device and store the image information; the underwater shooting device and the floating power device on the water surface are fixed by a cable.

[0038] The underwater shooting device includes a control module, a shooting module, and an illumination module. The floating power device on the water surface includes an ultrasonic ranging module, a control power module, a GPS module, and a data storage and transmission module. Among them, the control module is electrically connected to the shooting module, the illumination module, and the data storage and transmission module respectively. The shooting module is electrically connected to the data storage and transmission module, and the data storage and transmission module is electrically connected to the ultrasonic ranging module, the control power module, and the GPS module.

[0039] The underwater shooting device includes a protection frame, as well as a protective cover, a telescopic rod, a control surface, and support feet arranged outside the protection frame, and a carrier board arranged inside the protection frame. Among them, the telescopic rod and the support feet are fixed by the control surface, and the control module, the shooting module, and the illumination module are all fixedly installed on the carrier board.

[0040] The floating power device on the water surface includes a floating power hull and a control panel. The ultrasonic ranging module is fixed at the bottom of the floating power hull, the control power module is fixed at the tail and bottom of the floating power hull, and the GPS module and the data storage and transmission module are fixed on the control panel.

[0041] The system further includes a power supply module, which is used to supply power to the underwater shooting device and the floating power device on the water surface.

[0042] Specifically, in this embodiment, the floating power device on the water surface moves forward and the underwater shooting device shoots, without manual observation, ensuring safety. The integration of the GPS module and the ultrasonic ranging module ensures the precise positioning and safe operation of the system, avoiding equipment damage caused by misoperation. The design of the telescopic rod and the support feet, combined with the adjustable brightness of the illumination module, enables the system to adapt to the underwater environment under different depths and lighting conditions, broadening the application range of the system. The automated shooting and detection process greatly reduces the manpower requirement and avoids errors that may be brought by manual operation; the integration of the GPS module and the ultrasonic ranging module ensures the precise positioning of the system, improving the accuracy and consistency of data collection. The efficient data transmission and storage mechanism ensures the immediate availability of a large amount of image data, accelerating the subsequent analysis process.

[0043] The following combines Figures 1 - 4A submerged vegetation automatic detection and shooting system proposed in this embodiment is described in detail, specifically including: an underwater shooting device that penetrates into the water and a floating power device that floats on the water surface.

[0044] A fixed control module is installed inside the underwater shooting device. The control module is electrically connected to the shooting module, the lighting module, the power supply module, and a data storage and transmission module fixed inside the floating power device on the water surface; the shooting module is electrically connected to the data storage and transmission module; the data storage and transmission module is signal-connected to the upper computer through a wireless network and is electrically connected to the GPS module, the ultrasonic ranging module 2, the control power module 3, and the power supply module located inside the floating power device on the water surface; the floating power device on the water surface includes a floating power hull 4 and a control panel 1, and the GPS module and the data storage and transmission module are fixed on the control panel 1.

[0045] Among them, referring to Figure 3 , the underwater shooting device includes a protection frame 10 and a protective cover 11 arranged outside the protection frame 10, as well as a telescopic rod 6, a control surface 8, and four support feet 7; a shooting system carrier board 5 is horizontally arranged inside the protection frame 10.

[0046] The control module, the lighting module, and the shooting module are all fixedly installed on the shooting system carrier board 5; the telescopic rod 6 is controlled by the control module to expand and contract, and is fixed to the control surface 8. The four support feet 7 are fixed to the control surface 8. The control surface 8 is used to connect the telescopic rod 6 and the support feet 7. The four support feet 7 are four stainless steel cylinders with rough surfaces and can stand on the bottom of the water body with a certain strength. The shooting module is controlled by the control module and can transmit photos to the data storage and transmission module.

[0047] The control module includes a printed circuit board and a microcomputer, which is used to receive commands from the data storage and transmission module and can control the startup of the shooting module and the lighting module, and control the length of the lighting module and the telescopic rod 6 to change the shooting environment.

[0048] The shooting module includes at least one set of visible light shooting cameras for taking photos or videos; the lighting module includes at least two sets of LED visible light sources, and the brightness, illumination angle, etc. can be adjusted by controlling the number and position of the lit lights.

[0049] The protective cover 11 is made of quartz glass and can transmit visible light well. The protection frame 10 is made of stainless steel, which can avoid rusting when placed underwater for a long time and protect the quartz glass protective cover 11.

[0050] Referring to Figure 4, the floating power device on water includes a floating power hull 4 on water and a control panel 1. The ultrasonic ranging module 2 is fixed at the bottom of the floating power hull 4 on water and includes a protection device, an ultrasonic transmitting and receiving device, which is used to measure the depth of the water body bottom and can transmit data to the data storage and transmission module; the control power module 3 includes devices such as a motor and a propeller at the tail of the hull and a power device for controlling the lifting of the control cable 9. It is controlled by the data storage and transmission module. According to the depth of the water body bottom measured by the ultrasonic ranging module 2, the corresponding cable 9 is lowered, and the underwater photographing device is placed near the water body bottom.

[0051] The data storage and transmission module consists of transmission devices such as a large-capacity SD card and a data cable, and a wireless communication device located on the control panel 1. The wireless communication device can be connected to mobile devices such as mobile phones through a wireless network.

[0052] The GPS module consists of a GPS positioning system and a microcomputer, is electrically connected to the data storage and transmission module, and can send instructions to control the control power module 3 through the data storage and transmission module to realize the start and stop of the floating power boat on water.

[0053] The power supply modules are respectively located in the underwater photographing device and the floating power device on water to supply power to the system. The power supply module is a rechargeable lithium battery, and the capacity specification of the lithium battery can be adjusted according to the monitoring duration.

[0054] The vertical projection of the underwater photographing device is a square with a length and width of one meter, which coincides with the vertical projection of the quadrat 12 frame, so that the photographed photos are of the plants and their living environment in the quadrat 12 area, which can facilitate and accurately calculate the plant coverage.

[0055] The control module in the underwater photographing device can adjust the length of the telescopic rod 6 and the brightness of the lighting module. First, the telescopic rod 6 with a fixed length of 50 cm should be extended, and then it should be shortened according to the clarity of the photo; and the lighting angle, light brightness, etc. of the lighting module are changed according to the required clarity for analysis to take clear photos.

[0056] The control module includes a printed circuit board and a Raspberry Pi microcomputer. The lighting module consists of two groups of 12 white LED lights each. The photographing module includes a visible light camera.

[0057] The control module, the lighting module, and the photographing module are all located in the quartz glass protective cover 11 and placed in the underwater photographing device; the data storage and transmission module, the ultrasonic ranging module 2, the control power module 3, and the GPS module are located in the floating power device on water. And the system is built-in with a rechargeable and replaceable lithium battery to supply power to each system, and it can be directly replaced during maintenance.

[0058] To further optimize the technical solution, this embodiment also provides a method for automatically detecting and photographing submerged vegetation, including:

[0059] Set up transects and a number of quadrats on the transects, and use the GPS module and the control power module to control the floating power hull to reach the position where the quadrat is located;

[0060] Obtain the distance from the water bottom through the ultrasonic ranging module, lower the cable based on the distance, and lower the underwater photographing device into the water;

[0061] The control module controls the photographing module and the lighting module to work, obtains the underwater image, and sends the underwater image to the data storage and transmission module to judge the clarity. If the clarity meets the preset requirements, the cable is recovered, and it proceeds to the next quadrat, and the underwater image acquisition is performed again until the entire transect is collected.

[0062] Further, controlling the floating power hull to reach the position where the quadrat is located through the GPS module and the control power module includes:

[0063] Obtain the coordinate values of the transect and a number of quadrats;

[0064] The GPS module calculates the forward path and the mooring position based on the coordinate values, sends the forward path and the mooring position to the control power module, and controls the forward movement and stop of the floating power hull.

[0065] Further, lowering the cable based on the distance and lowering the underwater photographing device into the water includes:

[0066] Lower the cable of the corresponding length based on the distance. At the same time, the control module controls the telescopic rod to extend a preset length, and places the underwater photographing device on the water bottom;

[0067] Then, the control module starts the work of the lighting module and the photographing module to collect the underwater image. If it is judged that the clarity of the underwater image does not meet the preset requirements, adjust the extended length of the telescopic rod and the lighting brightness of the lighting module until the clarity of the collected underwater image meets the preset requirements.

[0068] Next, in conjunction with Figure 5 、 Figure 6 A detailed description of an automatic detection and photographing method for submerged vegetation proposed in this embodiment is given, specifically including:

[0069] S1. Select a point with gentle flow velocity, select a transect and quadrats 12 according to the plant distribution, and adjust its traveling direction through the automatic navigation system on the control panel 1 to align it with the first quadrat 12. Connect to the data storage and transmission module through the upper computer (such as a smart phone or a tablet computer) via a wireless network, and input the specific coordinates of each quadrat 12. The GPS module will calculate the forward path and the mooring position based on these coordinates. Make the floating power device on the water surface run forward smoothly, and stop after traveling a certain distance to reach the set quadrat 12;

[0070] S2. The floating power device on the water runs smoothly forward. After traveling a certain distance, it reaches the set quadrat 12 and stops moving. The ultrasonic ranging module 2 starts to work, emits ultrasonic waves to the bottom of the water body and receives the reflected signals to measure the depth of the bottom of the water body at the current location. Based on the measured depth information, the power module 3 is controlled to automatically release the corresponding length of the cable 9 to ensure that the underwater shooting device can approach the bottom of the water body but does not touch the bottom sediment.

[0071] S3. The control module sends an instruction to extend the telescopic rod to a preset initial length (e.g., 50 cm). The four support feet 7 fix the underwater shooting device. The lighting module starts to work, and the shooting system starts to shoot. The taken photos or videos are stored in the data storage and transmission module.

[0072] S4. The data storage and transmission module sends the pictures back to the host computer to analyze whether they are clear enough.

[0073] S5. If the photos are not clear enough, the lighting module and the length of the telescopic rod 6 are adjusted through the control module until the photos are clear enough.

[0074] S6. The clear photos or videos taken are stored in the data storage and transmission module and named according to a fixed format and the shooting time. They are sent back to the host computer through the data storage and transmission module to automatically analyze the coverage of the plants, the types of plants, and the bottom sediment, i.e., the living environment of the plants.

[0075] S7. After shooting, the control power module 3 of the floating power device on the water controls the cable 9 to be retracted and starts to move forward a fixed distance to the next quadrat 12.

[0076] Furthermore, after determining the positions of the sample belt (a series of continuous sampling points) and the quadrat (a single sampling area) in S1 and S7, the floating power device on the water is placed on the water surface, and its traveling direction is adjusted through the automatic navigation system on the control panel to align it with the first quadrat. The host computer (such as a smartphone or a tablet) is connected to the data storage and transmission module through a wireless network, and the specific coordinates of each quadrat are input. The GPS module calculates the forward path and the mooring position according to these coordinates. When the floating power device on the water reaches the specified position, it stops moving; otherwise, it moves forward, so that the floating power device on the water can automatically travel a fixed distance and stop at the set quadrat, automatically completing the shooting of a sample belt.

[0077] Further, S2 and S3 detect the distance from the water bottom based on the ultrasonic ranging module. When the floating power device on the water reaches the designated position, it stops moving. The ultrasonic ranging module starts to work, emits ultrasonic waves to the water bottom and receives the reflected signals to measure the depth of the water bottom at the current position. Based on the measured depth information, the power module is controlled to automatically release a corresponding length of cable, ensuring that the underwater photographing device can approach the water bottom but not touch the bottom sediment. After the cable is lowered to the predetermined position, the telescopic rod and the support feet contact the water bottom to maintain a stable state, and then the photographing can start.

[0078] Further, S3 extends the telescopic rod by a corresponding length according to a certain length preset by the telescopic rod (for example, 50 cm, which is usually preset according to the expected water depth) by the control module for photographing.

[0079] Further, after S4 finishes photographing, the photos are transmitted back to the host computer through the data storage and transmission module. The host computer will analyze each received photo to judge whether it is clear enough. The host computer judges whether the photo is clear through the original algorithm. The contrast analysis method can be adopted: convert the color image into a grayscale image; calculate the maximum value and the minimum value of the grayscale image; use the formula Contrast=(Max Gray Value - Min Gray Value) / 255 to calculate the global contrast; judge whether the global contrast is lower than the threshold (such as 0.3, and the threshold can be set according to experience). If the calculated global contrast is lower than the threshold, it is considered that the image is not clear enough. If the global contrast is higher than or equal to the threshold, it is considered that the image is clear enough. This result is fed back to the control module through the data transmission module.

[0080] Further, if the photo is not clear enough (the global contrast is lower than the threshold), the host computer can send instructions to the control module through the data transmission module to gradually shorten the length of the telescopic rod by a certain distance each time (for example, 5 cm). If the image is still not clear enough after multiple adjustments, other factors can be considered for further adjustment, such as the brightness and angle of the lighting module.

[0081] Further, S6 automatically calculates and identifies the plant coverage, plant species and bottom sediment, that is, the plant living environment, based on the clear photos taken. With the help of machine learning techniques, such as convolutional neural network (CNN), different types of aquatic plants and their distribution can be automatically identified. The vegetation is separated from the background through an image segmentation algorithm, and the proportion they occupy in the whole picture is calculated to estimate the vegetation coverage rate in this area. Image processing techniques (such as texture analysis) are used to identify the types of sediments (such as sand, silt, etc.).

[0082] The following provides the specific usage process of the system and method proposed in this embodiment:

[0083] Observe the lake (or river) from the shore, select a place with gentle flow velocity, determine the transect and quadrat 12 according to the plant distribution, and determine the value of the GPS module through a host computer such as a mobile phone via the wifi signal through the data storage and transmission module, that is, a certain traveling distance and the mooring position of the waterborne floating power device. Gently place the waterborne floating power device and the underwater photographing device into the water in the direction of the transect.

[0084] When the waterborne floating power device is traveling, it pulls the underwater photographing device forward through the pulley device and the cable 9, and automatically stops at the set quadrat 12 by the command issued by the GPS module. Next, the ultrasonic ranging module 2 judges the distance from the bottom of the water body, and the control power module 3 controls the cable 9 to be lowered by a corresponding length. The control module in the underwater photographing device controls the length of the telescopic rod 6 to be 50 cm, so that the four support feet 7 are fixed at the bottom of the water body.

[0085] The control module controls the lighting module and the photographing module to start working. The photographed photos are transmitted back to the host computer through the data storage and transmission module for analysis to see if they are clear. If the pictures are not clear, the control module shortens the length of the telescopic rod 6 by a certain amount and changes the brightness of the lighting module to obtain clear pictures. After obtaining clear pictures, automatically analyze the plant coverage, plant species, and bottom sediment, that is, its living environment, based on the pictures.

[0086] The control power module 3 retracts the cable 9 to retrieve the underwater photographing device, and drives the waterborne floating power device to travel to the next quadrat.

[0087] The embodiments described above are only descriptions of the preferred modes of the present invention, and do not limit the scope of the present invention. Without departing from the design spirit of the present invention, various deformations and improvements made by those of ordinary skill in the art to the technical solutions of the present invention shall fall within the protection scope determined by the claims of the present invention.

Claims

1. A submerged vegetation automatic detection and shooting system, characterized in that: include: An underwater shooting device and an above-water floating power device, wherein the underwater shooting device is placed underwater to shoot submerged vegetation and obtain image information; the above-water floating power device is arranged on the water surface to control the placement position of the underwater shooting device and store the image information; the underwater shooting device and the above-water floating power device are fixed by cables.

2. The automatic detection and photographing system for submerged vegetation according to claim 1, characterized in that: The underwater shooting device includes a control module, a shooting module and a lighting module, and the water floating power device includes an ultrasonic ranging module, a control power module, a GPS module, and a data storage and transmission module, wherein the control module is electrically connected to the shooting module, the lighting module, and the data storage and transmission module respectively, the shooting module is electrically connected to the data storage and transmission module, and the data storage and transmission module is electrically connected to the ultrasonic ranging module, the control power module, and the GPS module.

3. The automatic detection and photographing system for submerged vegetation according to claim 2, characterized in that: The underwater shooting device includes a protection frame, and a protection cover, a telescopic rod, a control surface and supporting feet arranged outside the protection frame, and a carrier plate arranged inside the protection frame, wherein the telescopic rod and the supporting feet are fixed by the control surface, and the control module, the shooting module and the lighting module are all fixedly mounted on the carrier plate.

4. The automatic detection and photographing system for submerged vegetation according to claim 2, characterized in that: The floating power device on water includes a floating power hull and a control panel, the ultrasonic ranging module is fixed on the bottom of the floating power hull, the control power module is fixed on the tail and bottom of the floating power hull, and the GPS module and the data storage and transmission module are fixed on the control panel.

5. The automatic detection and photographing system for submerged vegetation according to claim 1, characterized in that: The system also includes a power supply module, which is used to supply power to the underwater shooting device and the water floating power device.

6. A method for automatically detecting and photographing submerged vegetation, characterized in that: include: Set a sample strip and several sample plots on the sample strip, and control the floating power hull to the location of the sample plot through the GPS module and the control power module; The distance to the bottom of the water is obtained by using an ultrasonic ranging module, and a cable is lowered based on the distance to place the underwater camera underwater; The control module controls the shooting module and the lighting module to work, obtains the underwater image, and sends the underwater image to the data storage and transmission module to determine the clarity. If the clarity meets the preset requirements, the cable is recovered and moves to the next sample square to collect the underwater image again until the entire sample strip is collected.

7. The method for automatically detecting and photographing submerged vegetation according to claim 6, characterized in that: Controlling the floating power boat to the location of the sample plot by using the GPS module and the control power module includes: Get the coordinate values ​​of the sample strip and several sample plots; The GPS module calculates a forward path and a mooring position based on the coordinate values, and sends the forward path and the mooring position to the control power module to control the forward movement and the stop of the floating power hull.

8. The method for automatically detecting and photographing submerged vegetation according to claim 6, characterized in that: Lowering the cable based on the distance, placing the underwater shooting device underwater includes: A cable of a corresponding length is lowered based on the distance, and at the same time, the control module controls the telescopic rod to extend to a preset length, so as to place the underwater shooting device at the bottom of the water; The control module then starts the operation of the lighting module and the shooting module to collect underwater images. If it is determined that the clarity of the underwater image does not meet the preset requirements, the extension length of the telescopic rod and the lighting brightness of the lighting module are adjusted until the clarity of the collected underwater image meets the preset requirements.

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