Unmanned surveillance ship

Abstract

An unmanned monitoring vessel relates to the technical field of water monitoring vessels, and includes a hull, a water sampling device, a bottom sediment sampling device, a cement sampling device, a floating island shifting device, and a vegetation laying device; the bottom sediment sampling device includes a rotating frame, a rope winch, a mud sampling box, and a sealing valve; the sealing valve includes a valve box, a split valve, a traction rope, a split slider, and a spring; the valve box is slidably connected to a slide cylinder located below the mud sampling box; the bottom of the valve box is provided with a split valve, the split slider is connected to the split valve, the traction rope is connected between the mud sampling box and the split slider, and the spring is horizontally connected between the split slider and the valve box. The embodiment of the present application can realize the automated work process of water sampling, mud bottom sampling, and ecological floating island restoration under unmanned operation.

Description

Technical Field

[0001] The present application relates to the technical field of water quality monitoring in water areas, and in particular to an unmanned monitoring vessel. Background Art

[0002] Water pollution is becoming increasingly serious due to the indiscriminate discharge of industrial and domestic wastewater, the inappropriate disposal of urban garbage, and the excessive spraying of pesticides in rural areas. Therefore, effective water monitoring and ecological restoration have become urgent tasks.

[0003] In terms of watershed monitoring, water sampling is a key step in river basin aquatic ecological management and an important foundation for understanding the current status of pollution. Accurate and comprehensive water sampling can provide solid data support for subsequent water quality analysis. By collecting and analyzing water samples at different locations, depths, and time periods, the types, concentrations, and distribution of pollutants can be accurately determined, providing a scientific basis for developing targeted treatment plans. In addition, continuous long-term monitoring helps to evaluate the actual effectiveness of treatment measures. If it is found that water quality improvements do not meet expectations, treatment strategies can be adjusted in a timely manner to ensure treatment results and promote the sustainable use of water resources and ecosystem restoration. In terms of watershed ecological restoration, ecological floating island technology is one of the important means. This technology lays floating islands on the surface of the water body and uses the absorption and decomposition of pollutants by plants to achieve the purpose of purifying water quality and improving the aquatic ecological environment.

[0004] In practice, water sampling involves collecting water and sediment samples, while restoration of ecological floating islands involves moving and connecting them, as well as planting vegetation. However, only some related technologies integrate water sampling devices onto unmanned vessels. Due to limitations in vessel size and load balance, these technologies do not further integrate sediment collection and restoration devices. Furthermore, water sampling devices are prone to clogging and becoming entangled in aquatic plants.

[0005] Based on the above situation, water sampling and ecological restoration work still mostly rely on manual boat driving. Workers drive the boat to the designated location, use water samplers, mud samplers and other tools to collect samples, move and connect ecological floating islands on the water, and plant vegetation. This is not only labor-intensive and inefficient, but also has problems such as unstable sampling quality and limited sampling range. There are even hidden dangers of high operating risks in bad weather or complex water environments.

[0006] Therefore, there is an urgent need to design an unmanned monitoring vessel that can be operated unmanned and simultaneously perform water sampling, sediment sampling and ecological floating island restoration. Summary of the Invention

[0007] In order to solve at least one of the problems mentioned in the background technology, an embodiment of the present application provides an unmanned monitoring vessel that can realize the automated work process of water sampling, mud bottom sampling and ecological floating island restoration under unmanned operation, and keep the hull balanced and stable throughout the operation.

[0008] To achieve the above-mentioned objectives, an embodiment of the present application provides an unmanned monitoring vessel, comprising a hull, a water sampling device, a bottom sediment sampling device, a cement sampling device, a floating island shifting device, and a vegetation laying device; the water sampling device is installed on a first side of the hull near the stern;

[0009] The bottom mud collection device is installed at the bow position of the first side of the hull, and includes a rotating frame, a rope winch, a mud collection box and a sealing valve; the rotating frame is rotatably connected to the hull, the rope winch is fixed to the rotating frame, and the free end of the rope of the rope winch is connected to the mud collection box with a built-in mud sampler; the sealing valve includes a valve box, a split valve, a traction rope, a split slider and a spring, the valve box is slidably and lifted and connected to a slide cylinder located below the mud collection box, a split valve is arranged at the bottom of the valve box, the split slider is connected to the split valve, the traction rope is connected between the mud collection box and the split slider, and the spring is horizontally connected between the split slider and the valve box; when the mud collection box moves close to the valve box, the spring overcomes the force of the traction rope, causing the split valves to move away from each other, and when the mud collection box moves away from the valve box, the traction rope overcomes the force of the spring, causing the split valves to move close to each other;

[0010] The cement sample collecting device is installed in the middle of the first side of the hull near the inner side of the hull, and includes a turntable plugged into a turntable bracket, the turntable is driven to rotate the sampling bottles and sampling tanks to correspondingly receive water samples and bottom mud samples;

[0011] The floating island shifting device is installed at the middle of the stern of the hull and includes a towing hook that is driven to swing and is used to connect to the floating bed frame;

[0012] The vegetation paving device includes a vegetation positioning mechanism, a vegetation transfer mechanism and a vegetation taking and placing mechanism; the vegetation positioning mechanism is installed in the middle of the second side of the hull and is used to position the three-dimensional warehouse with built-in vegetation blocks;

[0013] The vegetation transfer mechanism is installed on the second side of the hull near the stern, and includes a stacker, a cargo plate and a cargo fork. The stacker is arranged near the outer side of the hull, the cargo plate is slidably raised and lowered to connect to the stacker, and the cargo fork is slidably connected to the cargo plate.

[0014] The vegetation picking and placing mechanism is installed between the floating island shifting device and the vegetation transfer mechanism on the hull, and includes a track, a column, a rotating mechanism, a telescopic boom and a lifting frame; the track extends in the direction between the first side and the second side of the hull, the column is slidably connected to the track, the upper end of the telescopic boom is connected to the rotating mechanism located on the upper part of the column and rotates relative to the column, and the lower end of the telescopic boom is connected to the lifting frame for lifting vegetation blocks; the first side and the second side are opposite sides in the length direction of the hull.

[0015] In one feasible embodiment, the split slider includes an upper slider and a lower slide seat connected up and down, the lower slide seat is connected to the split valve, and the upper slider is passed through a preset slide rod; the upper end of the slide cylinder is fixed to the middle of the bottom plate of the mud box, and the lower end of the slide cylinder is slidably connected to a fixed cylinder preset in the middle of the valve box;

[0016] The upper end of the traction rope is connected to the outer end of the bottom plate of the mud sampling box, and the traction rope passes through the valve box in the vertical direction, passes through the first reversing wheel and extends in the horizontal direction, passes through the second reversing wheel near the middle of the valve box, and is connected to the end of the lower seat close to the slide cylinder; the spring is a compression spring, which is passed through the slide rod and connected to the end of the upper slider close to the slide cylinder, or the spring is a tension spring, which is passed through the slide rod and connected to the end of the upper slider away from the slide cylinder;

[0017] or,

[0018] The upper end of the traction rope is connected to the middle part of the bottom plate of the mud mining box. The traction rope passes through the valve box in the vertical direction, passes through the reversing wheel near the middle of the valve box, extends in the horizontal direction and is connected to the end of the lower slide seat close to the slide cylinder; the spring is a compression spring, which is passed through the slide rod and connected to the end of the upper slider close to the slide cylinder, or the spring is a tension spring, which is passed through the slide rod and connected to the end of the upper slider away from the slide cylinder.

[0019] In one feasible embodiment, two symmetrical upper sliders are provided on each of the lower slide seats, the upper sliders are provided close to the outer end of the lower slide seat, and each upper slider is provided on a corresponding slide rod;

[0020] Connecting blocks are provided at both ends of the slide rod, and the connecting blocks are connected to the valve box through screws. One end of the spring is fixedly connected to the connecting block, and the other end is fixedly connected to the upper slide block.

[0021] In one possible implementation, the mud sampling box includes a box body, the top of the box body is connected to the free end of the rope of the rope winch, and the bottom of the box body is provided with a sampling hole connected to the slide cylinder;

[0022] The mud sampler includes a lifting motor, a lifting plate, an auger rod and a rotating motor installed in a box body. The lifting motor is fixed on the side wall of the box body. The lifting motor is connected to the lifting plate via a screw nut mechanism. The auger rod is fixed on the lifting plate. The top of the auger rod is connected to the rotating motor. The bottom of the auger rod enters and exits the sampling hole.

[0023] In one possible embodiment, the water sample collection device includes a sampling tube, a centrifugal pump, a flow meter, and a sample feeding tube. The water sampling end of the sampling tube is driven to rise and fall in and out of the water surface. The water outlet end of the sampling tube is connected to the water inlet of the centrifugal pump. The water outlet of the centrifugal pump is connected to the sample feeding tube via the flow meter. The sample feeding tube is used to feed the sample into the sampling bottle.

[0024] The water inlet end of the sampling tube is connected to a metal filter head, the cross-sectional area of ​​the filter head gradually decreases from the middle to both ends, one end of the filter head is connected to the sampling tube through an internal thread, a filter screen is set in the center of the filter head, and the other end of the filter head is open for water sampling.

[0025] In a feasible embodiment, the water sample collection device also includes a base, a reel and a reel motor; the reel is installed on the base, the sampling tube is wound on the reel, one end of the reel is connected to the reel motor, and a water hole is provided at the other end of the reel. The water hole passes through a water channel preset in the center of the reel and is connected to a water inlet hole preset on the surface of the reel. The water inlet hole is connected to the water outlet end of the sampling tube, and the water hole is connected to the water inlet of the centrifugal pump.

[0026] In one feasible embodiment, the water sample collection device further includes a reciprocating drive shaft, a guide rod, a drive chain, and a guide block. The reciprocating drive shaft and the guide rod are both located on a side of the reel away from the center of the hull. The reciprocating drive shaft and the guide rod are spaced apart and parallel to the reel. A drive chain is installed between the reciprocating drive shaft and the reel. A reciprocating thread is provided on the reciprocating drive shaft. The upper end of the guide block is connected to the reciprocating drive shaft by a thread and is driven to reciprocate. The lower end of the guide block is slidably connected to the guide rod. The water sampling end of the sampling tube passes through the middle of the guide block and faces the water surface.

[0027] A pressing frame is provided on one side of the reel opposite to the reciprocating drive shaft, and a pressing roller for pressing the sampling tube is provided on the pressing frame.

[0028] In a feasible embodiment, the cement sample collecting device includes a turntable bracket, a hand-grip cylinder and a marker; the turntable bracket is connected to the turntable motor for rotational motion, and the turntable bracket is provided with a plug-in slot; the turntable includes a disk surface and a set number of disk ears evenly distributed around the disk surface, a plug-in protrusion is provided at the bottom of the center of the disk surface, the plug-in slot and the plug-in protrusion are provided as a matching inverted cone structure with a larger top and a smaller bottom, a lifting handle for connecting a drone is provided at the top of the disk surface, and a protective seat for placing sampling bottles and sampling cans is provided on the disk ears; the hand-grip cylinder is provided on one side of the turntable and is used to open and close the bottle cap of the sampling bottle; the marker is provided on the other side of the turntable and is driven to rotate around the disk ears to perform marking operations.

[0029] In a feasible embodiment, the floating island shifting device includes a rocker motor, a sprocket frame, a driving sprocket, a passive sprocket, a rocker chain, an active rocker and a transmission rod. The rocker motor is installed on the motor frame near the stern of the hull, the sprocket frame is installed between the rocker motor and the towing hook, the output shaft of the rocker motor is installed with a driving sprocket, the passive sprocket is installed on the sprocket frame, the rocker chain is installed between the driving sprocket and the passive sprocket, one end of the active rocker is integrally connected to the axis of the passive sprocket, the other end of the active rocker is hinged to one end of the transmission rod, and the other end of the transmission rod is hinged to the towing hook.

[0030] In one possible implementation, the vegetation positioning mechanism includes a first fixed clamping rod, a second fixed clamping rod, a first movable clamping member, and a second movable clamping member;

[0031] The first fixed clamping rod extends in the direction from the bow to the stern and is arranged close to the side of the hull, and the second fixed clamping rod is vertically adjacent to the first fixed clamping rod and arranged close to the stern; the first movable clamping member includes a movable track parallel to the second fixed clamping rod, and a movable clamping rod that is relatively close to or away from the first fixed clamping rod along the movable track; the second movable clamping member includes a movable track parallel to the first fixed clamping rod, and a movable clamping rod that is relatively close to or away from the second fixed clamping rod along the movable track; the movable clamping rod of the first movable clamping member and the movable clamping rod of the second movable clamping member are staggered in the height direction, and the movable clamping rod of the first movable clamping member is provided with a plurality of clamping pulleys for auxiliary positioning on the side relative to the first fixed clamping rod, and the movable clamping rod of the second movable clamping member is provided with a plurality of clamping pulleys for auxiliary positioning on the side relative to the second fixed clamping rod.

[0032] In one possible embodiment, the three-dimensional warehouse includes a plurality of stacked racks; the racks include a rack surface, a bottom column, a top column, and side baffles; the rack surface is a rectangular plane frame structure; the bottom column is connected to the corners of the lower surface of the rack surface, and the lower portion of the bottom column is provided with a plug hole extending in the height direction; the top column is connected to the corners of the upper surface of the rack surface, and the upper portion of the top column is provided with a column adapted to the plug hole; side baffles are provided on all four sides of the upper surface of the rack surface, and notches are provided on the side baffles to facilitate the entry and exit of forks;

[0033] A reinforcing rib is connected between the top column and the placement frame surface; the bottom column has a smooth outer surface; and the lower part of the bottom column of the placement frame located at the bottom is connected to a roller.

[0034] In one feasible embodiment, the floating bed frame is composed of horizontal and vertical frames connected in a crisscross pattern to form a planar frame structure, wherein adjacent horizontal and vertical frames form frame units; guide bevels are provided at intervals on the upper surface of each horizontal and vertical frame, and the surfaces of the guide bevels corresponding to adjacent frame units are provided with downwardly inclined guide bevels; and movable handles matching the towing hooks are provided on the outer sides of the horizontal and vertical frames located on the periphery;

[0035] The vegetation block is provided with evenly distributed vegetation placement holes, and magnetic sheets are arranged between adjacent vegetation placement holes; the hanging frame includes a hinged plate and a hanging plate, the hinged plate is hinged to the telescopic boom, the hanging plate is connected to the outer periphery of the hinged plate, each hanging bar corresponds to the gap between the vegetation placement holes, and an electromagnet corresponding to the magnetic sheet is arranged under each hanging bar.

[0036] An embodiment of the present application provides an unmanned monitoring ship, including a hull, a water sample collection device, a bottom sediment collection device, a cement sample collection device, a floating island shifting device, and a vegetation paving device. A bottom sediment collection device is provided at the bow position of the first side of the hull, and the mud sampling box is rotated and hoisted with the help of a rotating frame and a rope winch. The rotating frame can rotate the mud sampler to the designated sampling location, avoiding the complex structure of opening holes for sampling at the bottom of the hull in the prior art, and reducing the space occupied on the hull. Moreover, during non-mud bottom sampling, the rotation direction of the rotating frame can also be used to balance the gravity balance of all devices on the hull to keep the hull stable. By hoisting the mud sampling box with a rope winch, the designated sampling depth can be reached, which not only meets the sampling requirements of shallow waters, but also allows sampling of deeper waters.

[0037] The sealing valve allows for automatic opening of the sealing valve as soon as the valve box touches the bottom of the monitored area, eliminating the need for depth information from a topographic map. The downward movement of the sampling box activates a spring to pull the traction rope and upper slider, allowing the auger to sample. Once sampling is complete, the auger reverses, and the upward movement of the sampling box causes the traction rope to pull the upper slider and spring, sealing the sampled mud within the slide. First, the sealing valve provides non-powered, active opening and closing, ensuring the sampling area is underwater. This prevents situations where the sampler is damaged by sampling too deep based on a topographic map, or too shallow to obtain a valid sample. Furthermore, the sealing valve seals and preserves the collected mud, preventing the loss of mud samples caused by water dilution during the raising and lowering of the auger, a common problem with conventional techniques. Furthermore, sensors installed on the sampling box, combined with the number of turns of the rope winch, provide additional information, such as water depth, to aid monitoring.

[0038] A water sample collection device is set on the first side of the hull near the stern. The sampling tube is raised and lowered in and out of the water surface for sampling, which reduces the volume of the entire sampling device. The flow rate of the water sample is accurately controlled by a flow meter.

[0039] A cement sampling device is set between the sediment sampling device and the water sampling device to integrate the sampling of water and sediment samples. At the same time, the cement sampling device is set close to the inner side of the hull, and can achieve relative gravity balance between the water sampling device, the sediment sampling device and the vegetation laying device near the center of the hull. The cement sampling device uses a turntable to set multiple sampling bottles and sampling cans in a small area, which not only meets the needs of more sampling work, but also effectively reduces the space occupied on the hull. After the sampling is completed, the turntable can be replaced by a drone to meet the needs of a larger number of samples and a wider sampling water area.

[0040] A floating island shifting device is installed at the stern of the vessel. The towing hook swings up and down to connect and disconnect with the pre-set moving handle on the floating bed frame. The floating bed frame is then dragged to the desired location using the vessel's power, eliminating the risk of manual operation, such as falling overboard. The floating island shifting device is simple and lightweight, and does not affect the overall balance of the vessel during normal operation. While the vessel is dragging the floating bed frame, the rotating frame of the sediment collection device can be used to balance the overall gravity balance as needed.

[0041] A vegetation positioning mechanism is provided in the middle of the second side of the hull, and a vegetation transfer mechanism is provided on the second side of the hull near the stern, which is used to balance the gravity of the water sample collection device and the cement sample collection device, and to a certain extent, the gravity of the bottom sediment collection device, so as to make the hull stable and balanced. Among them, in the vegetation positioning mechanism, the three-dimensional warehouse can be lifted to the hull and positioned by a drone, and the vegetation blocks are arranged in layers in the three-dimensional warehouse, which reduces the space occupied on the hull and facilitates the subsequent fork pick-up and placement operations; and the vegetation blocks can be transported in batches with the help of drones, which not only reduces the height of the three-dimensional warehouse, but also avoids a major impact on the balance and stability of the hull. In the vegetation transfer mechanism, a stacker is provided close to the side of the hull, which is conducive to the overall gravity balance and avoids interference with the vegetation pick-up and placement device, so as to facilitate the use of pallet forks to operate the layered pick-up and placement of vegetation blocks in the three-dimensional warehouse.

[0042] A vegetation handling mechanism is installed at the stern of the vessel, between the floating island shifting device and the vegetation transfer mechanism. A slewing mechanism enables a telescopic boom to reciprocate between the forks and the floating bed frame, allowing the lifting frame to grasp and place vegetation blocks. The telescopic boom's telescopic action and the slewing mechanism's varying rotation angles allow for the gentle handling of vegetation blocks on the floating bed frame, both near and far from the vessel, to avoid damage caused by excessive height. Furthermore, when not handling vegetation, the boom's rotational direction balances the gravity of all devices on the vessel, maintaining vessel stability.

[0043] The embodiment of the present application integrates water sampling, mud bottom sampling, cement sampling, floating island shifting, and vegetation laying devices on the hull in a relatively small hull volume. This is suitable not only for wide waters but also for narrow waterways. Moreover, the overall balance and stability of the hull can be maintained regardless of driving or working. The embodiment of the present application can realize the automated working process of water sampling, mud bottom sampling, and ecological floating island restoration by controlling the matching work of each device through the control system in the case of unmanned operation. This is safe and reliable, and avoids the potential dangers brought by manual operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following is a brief introduction to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0045] Figure 1 A schematic diagram of the structure of the unmanned monitoring ship provided in an embodiment of the present application from a first angle;

[0046] Figure 2 A schematic diagram of the structure of the unmanned monitoring ship provided by an embodiment of the present application from a second angle;

[0047] Figure 3 A schematic diagram of the structure of the sediment collection device provided in an embodiment of the present application;

[0048] Figure 4 A schematic diagram of the internal structure of the mud sampling box and the sealing valve provided in an embodiment of the present application;

[0049] Figure 5 A schematic diagram of the structure of a water sample collection device provided in an embodiment of the present application;

[0050] Figure 6 A schematic diagram of the structure of the cement sample collecting device provided in an embodiment of the present application from a first angle;

[0051] Figure 7 A second perspective structural diagram of the cement sample collecting device provided in an embodiment of the present application;

[0052] Figure 8 A schematic structural diagram of a floating island shifting device and a floating bed frame provided in an embodiment of the present application;

[0053] Figure 9 A schematic structural diagram of a floating island shifting device provided in an embodiment of the present application;

[0054] Figure 10 A schematic diagram of the first angle structure of the vegetation positioning mechanism and the stereoscopic warehouse provided in an embodiment of the present application;

[0055] Figure 11 A second-angle structural diagram of the vegetation positioning mechanism and the stereoscopic warehouse provided in an embodiment of the present application;

[0056] Figure 12 A schematic diagram of the structure of the vegetation transfer mechanism provided in an embodiment of the present application;

[0057] Figure 13 This is a schematic diagram of the structure of the vegetation picking and placing mechanism provided in an embodiment of the present application.

[0058] Description of reference numerals:

[0059] 10-Unmanned monitoring vessel; 11-Hull;

[0060] 100-sediment collection device;

[0061] 111 - rotating platform; 112 - rotating driving gear; 113 - rotating passive gear; 114 - rotating column; 115 - suspension rod;

[0062] 120-rope winch; 121-rope;

[0063] 130 - Mud collection box; 131 - Lifting motor; 132 - Lifting plate; 133 - Rotating motor; 134 - Slide;

[0064] 140 - Sealing valve; 141 - Valve box; 142 - Split valve; 143 - Split slider; 1431 - Upper slider; 1432 - Lower slide seat; 144 - Traction rope; 145 - Spring; 146 - Slide rod; 147 - First reversing wheel; 148 - Second reversing wheel;

[0065] 200-water sample collection device;

[0066] 210 - reel motor; 211 - reciprocating drive shaft; 212 - guide rod; 213 - drive chain; 214 - guide block;

[0067] 220 - reel; 221 - end plate; 222 - pressing frame; 223 - pressing roller; 224 - base;

[0068] 230-sampling tube; 231-filter head;

[0069] 240- centrifugal pump; 241- sample feeding tube;

[0070] 300-cement sample collection device;

[0071] 310-motor base; 311-turntable motor; 312-driving pulley; 313-belt;

[0072] 320-turntable base; 321-turntable bracket; 322-passive wheel;

[0073] 330-turntable; 331-plate; 332-plate ears; 333-lifting handle; 334-protective seat;

[0074] 340-hand-grip cylinder;

[0075] 350-marking device; 351-marking driving gear; 352-marking driven gear;

[0076] 360-sampling bottle; 361-sampling can;

[0077] 400-Floating island shifting device;

[0078] 410-tow hook;

[0079] 420 - rocker motor; 421 - sprocket frame; 422 - driving sprocket; 423 - driven sprocket; 424 - rocker chain; 425 - active rocker; 426 - transmission rod;

[0080] 500-vegetation laying device;

[0081] 510 - vegetation positioning mechanism; 511 - first fixed clamping rod; 512 - second fixed clamping rod; 513 - first movable clamping member; 514 - second movable clamping member; 515 - movable clamping rod; 516 - clamping pulley; 517 - auxiliary baffle; 518 - clamping motor;

[0082] 520-vegetation transfer mechanism; 521-stacker; 522-cargo pallet; 523-cargo fork; 524-stacking motor; 525-cargo fork motor;

[0083] 530 - Vegetation retrieval mechanism; 531 - Track; 532 - Column; 533 - Slide rail motor; 534 - Rotation mechanism; 535 - Rotation motor; 536 - Telescopic boom; 537 - Boom motor; 538 - Lifting frame; 539 - Electromagnet;

[0084] 20-three-dimensional warehouse; 21-placing rack; 22-placing frame; 23-bottom column; 24-top column; 25-vegetation block;

[0085] 30-floating bed frame; 31-frame unit; 32-moving handle; 33-guide ramp. DETAILED DESCRIPTION

[0086] To make the objectives, technical solutions, and advantages of this application more clear, the technical solutions in the embodiments of this application will be described in more detail below with reference to the accompanying drawings. It is worth noting that the embodiments described in the drawings are only some of the embodiments of this application, not all of them. That is, the embodiments described in the drawings are illustrative and intended to explain this application, and should not be construed as limiting this application.

[0087] The following will be combined Figures 1-13 The unmanned monitoring ship 10 provided in an embodiment of the present application is described.

[0088] The present application embodiment provides an unmanned monitoring ship 10, referring to Figures 1-13 As shown, it includes a hull 11, a water sampling device 200, a bottom sediment sampling device 100, a cement sampling device 300, a floating island shifting device 400, a vegetation laying device and a control system. The water sampling device 200 is installed on the first side of the hull 11 near the stern.

[0089] The sediment collection device 100 is mounted at the bow of the first side of the hull 11 and comprises a rotating frame, a rope winch 120, a mud sampling box 130, and a sealing valve 140. The rotating frame is rotatably connected to the hull 11, and the rope winch 120 is fixed to the rotating frame. The free end of the rope 121 of the rope winch 120 is connected to the mud sampling box 130, which houses a built-in mud sampler. The sealing valve 140 comprises a valve box 141, a split valve 142, a traction rope 144, a split slider 143, and a spring 145. The valve box 141 is slidably connected to a slide 134 located below the mud sampling box 130. The split valve 142 is located at the bottom of the valve box 141, and the split slider 143 is connected to the split valve 142. The traction rope 144 is connected between the mud sampling box 130 and the split slider 143. The spring 145 is horizontally connected between the split slider 143 and the valve box 141. When the mud sampling box 130 moves close to the valve box 141, the spring 145 overcomes the force of the traction rope 144, causing the split valves 142 to move away from each other. When the mud sampling box 130 moves away from the valve box 141, the traction rope 144 overcomes the force of the spring 145, causing the split valves 142 to move close to each other.

[0090] The cement sample collecting device 300 is installed in the middle of the first side of the hull 11 near the inner side of the hull 11, and includes a turntable 330 inserted into the turntable bracket 321. The turntable 330 is driven to rotate the sampling bottle 360 ​​and the sampling tank 361 to correspondingly receive water samples and bottom mud samples.

[0091] The floating island shifting device 400 is installed at the middle of the stern of the hull 11 and includes a towing hook 410 that is driven to swing and is used to connect to the floating bed frame 30.

[0092] The vegetation arranging device includes a vegetation positioning mechanism 510, a vegetation transfer mechanism 520 and a vegetation taking and placing mechanism 530. The vegetation positioning mechanism 510 is installed in the middle of the second side of the hull 11 and is used to position the stereoscopic warehouse 20 with the built-in vegetation blocks 25.

[0093] The vegetation transfer mechanism 520 is installed on the second side of the hull 11 near the stern, and includes a stacker 521, a cargo pallet 522 and a cargo fork 523. The stacker 521 is arranged close to the outside of the hull 11, the cargo pallet 522 slides and rises to connect to the stacker 521, and the cargo fork 523 is slidably connected to the cargo pallet 522.

[0094] The vegetation placement and retrieval mechanism 530 is installed at the stern of the hull 11, between the floating island shifting device 400 and the vegetation transfer mechanism 520. It comprises a track 531, columns 532, a slewing mechanism 534, a telescopic boom 536, and a hoisting frame 538. The track 531 extends between the first and second sides of the hull 11. The columns 532 are slidably connected to the track 531. The upper end of the telescopic boom 536 is connected to the slewing mechanism 534 located above the columns 532 and rotates relative to the columns 532. The lower end of the telescopic boom 536 is connected to the hoisting frame 538 for hoisting the vegetation block 25. The first and second sides are opposite sides along the length of the hull 11.

[0095] Among them, the upper part of the hull 11 is a rectangular structure, which is used to carry the above-mentioned devices and sensors, and can be used to install the hull operation system and control system. The lower part of the hull 11 is streamlined, which helps to reduce the resistance of the hull when it is traveling. In the embodiment of the present application, the lower part of the hull 11 is provided with two keel floats parallel to the length direction. The two keel floats have a semicircular cross-section and are respectively arranged close to the sides of the hull 11. Corresponding to the position of the bow, the two keel floats extend forward and form a pointed structure, further reducing the driving resistance of the bow. Corresponding to the position of the stern, the two keel floats form a flat plane with the upper part of the hull 11. A hinged seat is provided in the middle of the plane and the towing hook 410 is hinged by a pin shaft, which is conducive to the docking and dragging of the floating island shifting device 400 and the floating bed frame 30 to avoid interference.

[0096] The water sampling device 200 utilizes a centrifugal pump 240 connected to a sampling tube 230 to draw water for sampling. Driven by a drive mechanism, the sampling tube 230 is raised and lowered in and out of the monitored water surface to obtain water samples at a specified depth. The outlet of the centrifugal pump 240, after passing through a flow meter, provides the sample to the sampling bottle 360, enhancing precise control of the sample flow rate. The entire water sampling device 200 occupies a small space, is easy to operate, and can be automated.

[0097] The sediment collection device 100 rotates the sampling box 130 using a rotating frame, which is then retracted and lowered using a rope winch 120. The box 130 can be maneuvered to a designated sampling location and then lowered to the bottom of the water. The rotating frame's design for hoisting the sampling box 130 avoids the complex sampling holes required in the bottom of the hull 11, as is the case with conventional techniques, thus reducing the space required on the hull 11. Furthermore, the retraction and extension of the rope 121 of the rope winch 120 allows the box 130 to reach a designated sampling depth, enabling sampling not only in shallow water but also in deeper waters, thus avoiding the limitation of conventional bottom-hole sampling methods on the hull 11 that are limited to shallow waters. Furthermore, the rotating frame's design allows the box 130 to rotate to a set angle during periods when sampling is not taking place or when other devices on the hull 11 (such as the vegetation planting device) are operating, thereby balancing the weight of all devices on the hull 11 and maintaining its stability.

[0098] Through holes are provided on the top and bottom plates of the valve box 141 at positions corresponding to the slide 134. The through holes on the top plate of the valve box 141 are in sliding engagement with the outer wall of the slide 134, and a limiting ring is provided at the lower end of the slide 134 around the outer circumference of the port to prevent slipping. The through holes on the bottom plate of the valve box 141 are used for the entry and exit of the auger rod of the mud sampler. A split valve 142 that slides along the bottom plate is provided at the through holes corresponding to the bottom plate inside the valve box 141, and a split slider 143 is connected to each split valve 142. A fixed cylinder is provided between the through holes corresponding to the top plate inside the valve box 141 and the split valve 142, and the fixed cylinder is in sliding engagement with the limiting ring on the slide 134. On the one hand, the fixed cylinder guides the slide 134, and on the other hand, the fixed cylinder forms an isolation between the slide 134 and the split slider 143, thereby preventing the split slider 143 from getting stuck due to siltation of the bottom mud sampling.

[0099] The traction rope 144 and the spring 145 form two opposite forces in the horizontal direction of the split slider 143. When the valve box 141 touches the bottom of the water, the mud sampling box 130 continues to move downward under the lowering action of the rope winch 120, driving the slide 134 to move downward relative to the valve box 141. The traction rope 144 connected to the bottom of the mud sampling box 130 is loosened, so that the force of the spring 145 overcomes the force of the traction rope 144, causing the split slider 143 to slide away from the slide 134, thereby driving the split valve 142 to open, and the auger rod can enter and exit the through hole in the bottom plate of the valve box 141 to collect samples. When the bottom mud sampling is completed, the mud sampling box 130 moves upward under the rising action of the rope winch 120, driving the slide 134 to move upward relative to the valve box 141. At the same time, the spiral drill rod and the bottom mud sample return to the slide 134, and the traction rope 144 connected to the bottom of the mud sampling box 130 is tightened, so that the force of the traction rope 144 overcomes the force of the spring 145, causing the split slider 143 to slide toward the slide 134, thereby driving the split valve 142 to close.

[0100] The provision of sealing valve 140 eliminates the need to rely on depth information from a topographic map. As soon as valve box 141 touches the bottom of the monitored water area, the continued downward movement of sampling box 130 automatically opens sealing valve 140, allowing the auger rod to rotate downward and sample. Once sampling is complete, the auger rod moves upward, and the continued upward movement of sampling box 130 automatically closes sealing valve 140, sealing the sampled mud within slide cylinder 134. First, the provision of sealing valve 140 enables non-powered, active opening and closing, ensuring the sampling area is at the bottom of the water. This prevents situations where, based on theoretical locations on a topographic map, the sampling depth could be too deep, potentially damaging the sampler, or too shallow, preventing effective sampling. Second, sealing valve 140 ensures the sealed preservation of the collected sediment sample, preventing the loss of sediment sampled by water dilution during the auger rod's ascent and descent, a common problem in conventional techniques. Furthermore, sensors installed on sampling box 130, combined with the number of revolutions of rope winch 120, can provide additional information such as water depth, assisting monitoring efforts.

[0101] The cement sample collecting device 300 is arranged between the bottom sediment sampling device 100 and the water sample collecting device 200, and can take into account both water sampling and bottom sediment sampling. Specifically, a sampling tube 230 can be arranged at the water outlet of the centrifugal pump 240, and the sampling tube 230 can be controlled to align with the sampling bottle 360 ​​to inject the water sample. The sealing valve 140 can contact the top of the sampling tank 361, and the rope winch 120 can be further lowered to the mud sampling box 130, so that the split valve 142 of the sealing valve 140 is automatically opened, and the auger rod moves downward and reverses to release the bottom sediment sample into the sampling tank 361. When the mud bottom sample is released, the auger rod moves upward and retracts into the slide 134, causing the rope winch 120 to tighten the mud sampling box 130, so that the split valve 142 of the sealing valve 140 is automatically closed.

[0102] The cement sample collecting device 300 can be located inside the hull 11 at a position relatively close to the center of the hull 11, and can achieve relative gravity balance among the water sample collecting device 200, the bottom mud collecting device 100 and the vegetation paving device.

[0103] The cement sampling device 300 uses a turntable 330 to carry sampling bottles 360 and sampling cans 361. This allows for more sampling bottles 360 and sampling cans 361 to be placed within a smaller area, not only meeting the needs of more sampling work but also effectively reducing the space occupied on the hull 11. After sampling is completed, the turntable 330 can be replaced by a drone, achieving the needs of a larger number of samples and a wider sampling area.

[0104] A floating island shifting device 400 is installed at the stern of the vessel. The towing hook 410 swings up and down to connect and disconnect the pre-set moving handle 32 on the floating bed frame 30. This, in turn, uses the power of the hull 11 to drag the floating bed frame 30 to the desired location, eliminating the risk of manual operation, such as falling into the water. The floating island shifting device 400 is simple in structure and lightweight, and does not affect the overall balance of the hull 11 during normal operation. While the hull 11 is dragging the floating bed frame 30, the rotating frame of the sediment collection device 100 can be used to balance the overall gravity as needed.

[0105] A vegetation positioning mechanism 510 is set in the middle of the second side of the hull 11, and a vegetation transfer mechanism 520 is set near the stern of the second side of the hull 11, which can balance the gravity of the water sample collection device 200 and the cement sample collection device 300, and to a certain extent can also balance the gravity of the bottom sediment collection device 100, so that the hull 11 is stable and balanced.

[0106] In vegetation positioning mechanism 510, a drone can be used to hoist and position the high-bay warehouse 20 onto hull 11. Using high-bay warehouse 20 to store vegetation blocks 25 in layers reduces the space occupied by horizontally laid hull 11 and facilitates subsequent access operations with forks 523. Furthermore, depending on the load capacity and gravity balance of hull 11, the height of high-bay warehouse 20 can be reduced, and drones can be used to transport vegetation blocks 25 in batches, thus avoiding significant impacts on the balance and stability of hull 11.

[0107] In the vegetation transfer mechanism 520, the stacker 521 is positioned near the side of the hull 11. This, on the one hand, facilitates achieving gravity balance with the rotating frame of the sediment collection device 100. On the other hand, it facilitates the arrangement of the cargo pallet 522 and the fork 523 corresponding to one side of the three-dimensional warehouse 20, and facilitates the layered operation of picking and placing the vegetation blocks 25, while also avoiding interference with the movement of the vegetation picking and placing device. The cargo pallet 522 can be raised and lowered along the stacker 521 via a screw-nut mechanism. Specifically, a stacking motor 524 is provided at the top of the stacker 521. The stacking motor 524 is connected to a vertically arranged ball screw. Sliding rods are provided on both sides of the ball screw. The cargo pallet 522 is connected to a slider via an intermediate plate. The slider is threadedly connected to the ball screw and slidably connected to the sliding rod. The rotation of the stacking motor 524 causes the slider to rise and fall, thereby driving the cargo pallet 522 to rise and fall. The fork 523 can be connected to the fork motor 525 via a similar screw-nut mechanism, thereby allowing for horizontal telescopic movement along the cargo pallet 522. Of course, the cargo plate 522 and the cargo fork 523 can also achieve corresponding linear motion through other mechanisms such as oil cylinders, air cylinders, and gear racks, which will not be repeated here.

[0108] A vegetation handling mechanism 530 is installed at the stern of hull 11. A telescopic boom 536, with a slewing mechanism 534, reciprocates between the forks 523 and the floating bed frame 30, allowing the lifting frame 538 to grasp and place vegetation blocks 25. The telescopic action of the telescopic boom 536 and the varying rotation angles of the slewing mechanism 534 allow vegetation blocks 25 to be handled gently on the floating bed frame 30, both near and far from hull 11, avoiding damage to the vegetation blocks 25 caused by high altitudes. Furthermore, when not handling vegetation, the rotation of the telescopic boom 536 balances the gravity of all devices on hull 11, maintaining hull 11's stability.

[0109] The control system is electrically connected to the control components of each device, preset sensors, the hull operation system, and the navigation system, and is in communication with the drone. The control system automatically controls the hull operation system and various devices by collecting sensor signals and combining them with communication with the navigation system and the drone. When the hull 11 is navigating within the waters, the control system adjusts and controls the hull's navigation trajectory, speed, and other factors. Upon reaching the designated sampling waters, the control system controls the water sample collection device 200 and the bottom sediment collection device 100 for automated sampling, and manipulates the cement sample collection device 300 for sampling and collection. When the turntable 330 needs to be replaced, the control system communicates with the drone to perform the turntable 330 replacement operation. Upon reaching the floating island restoration waters, the control system controls the floating island shifting device 400 to hook and connect the floating bed frame 30 to the designated area. Based on the location information of the vegetation block 25 in the three-dimensional warehouse 20, the control system controls the movement of the cargo pallet 522 and the cargo fork 523 to smoothly remove the vegetation block 25. According to the structural arrangement of the floating bed frame 30, the control system controls the vegetation retrieval mechanism 530 to sequentially complete the removal of the vegetation blocks 25 and their arrangement on the floating bed frame 30. When new vegetation blocks 25 are needed, the control system communicates with the drone to replace the high-bay warehouse 20. It is understood that in some cases, when the old vegetation blocks 25 on the floating bed frame 30 need to be removed, the control system can also control the vegetation retrieval mechanism 530 to sequentially complete the operation of transferring the vegetation blocks 25 from the floating bed frame 30 to the fork 523, and control the vegetation transfer mechanism 520 to sequentially complete the operation of transferring the vegetation blocks 25 from the fork 523 to the high-bay warehouse 20.

[0110] The embodiment of the present application rationally arranges the water sampling device 200, the bottom mud collection device 100, the cement sample collection device 300, the floating island shifting device 400, and the vegetation paving device on the hull 11, thereby integrating the functions of water sampling, bottom mud collection, and ecological floating island restoration in a smaller hull volume. It is not only suitable for wide waters, but also for narrow waterways. Moreover, the overall balance and stability of the hull can be maintained regardless of driving or working. The embodiment of the present application can realize the automated working process of water sampling, bottom mud sampling, and ecological floating island restoration by operating the various devices through the control system in the case of unmanned operation. This is safe and reliable, and avoids the potential dangers brought by manual operation.

[0111] In one embodiment in which the sealing valve 140 can be implemented, refer to Figure 3 and Figure 4 As shown, the split slider 143 includes an upper slider 1431 and a lower slide seat 1432 connected vertically. The lower slide seat 1432 is connected to the split valve 142, and the upper slider 1431 is mounted on a pre-set slide rod 146. The upper end of the slide cylinder 134 is fixed to the middle of the bottom plate of the mud sampling box 130, and the lower end of the slide cylinder 134 is slidably connected to the fixed cylinder pre-set in the middle of the valve box 141.

[0112] The upper end of the traction rope 144 is connected to the outer end of the bottom plate of the mud sampling box 130. The traction rope 144 vertically penetrates the valve box 141, passes around the first reversing wheel 147, extends horizontally inward, and passes around the second reversing wheel 148 near the middle of the valve box 141 before extending horizontally outward to connect to the end of the lower seat 1432 near the slide 134. The spring 145 is a compression spring, which is installed on the slide rod 146 and connected to the end of the upper slider 1431 near the slide 134. The spring 145 is also an extension spring, which is installed on the slide rod 146 and connected to the end of the upper slider 1431 away from the slide 134.

[0113] In this arrangement, the traction rope 144 forms an inward force on the split slider 143, and the spring 145 forms an outward force on the split slider 143. Thus, when the force of the traction rope 144 increases or decreases, the force of the spring 145 changes accordingly.

[0114] When the distance between the mud sampling box 130 and the sealing valve 140 is at its maximum, the traction rope 144 is tightened, and the force of the traction rope 144 is greater than the force of the compression spring. The compression spring is compressed, and the two split sliders 143 move closer to each other, closing the split valve 142. As the distance between the mud sampling box 130 and the sealing valve 140 decreases, the elastic force accumulated in the compression spring is released until its force is greater than the force of the traction rope 144. The compression spring is in a freely extended state, pushing the split sliders 143 to open the split valve 142.

[0115] Similarly, when the distance between the mud sampling box 130 and the sealing valve 140 is at its maximum, the traction rope 144 is tightened, and the force of the traction rope 144 is greater than the force of the tension spring. The tension spring is stretched, and the two split sliders 143 on both sides move closer to each other, closing the split valve 142. As the distance between the mud sampling box 130 and the sealing valve 140 decreases, the elastic force accumulated in the tension spring is released until its force is greater than the force of the traction rope 144. The tension spring is in a freely stretched state, pulling the split sliders 143 to drive the split valve 142 to open.

[0116] The traction rope 144 extends horizontally inward after passing through the first reversing wheel 147, and then extends horizontally outward after passing through the second reversing wheel 148. The path of the traction rope 144 can be extended by setting the secondary reciprocating distance, thereby realizing the corresponding conversion of the distance change between the mud sampling box 130 and the sealing valve 140 and the length change of the spring 145.

[0117] In another embodiment that can implement a sealing valve 140, the split slider 143 includes an upper slider 1431 and a lower slide seat 1432 connected vertically. The lower slide seat 1432 is connected to the split valve 142, and the upper slider 1431 is mounted on a pre-set slide rod 146. The upper end of the slide cylinder 134 is fixed to the middle of the bottom plate of the mud sampling box 130, and the lower end of the slide cylinder 134 is slidably connected to a pre-set fixed cylinder in the middle of the valve box 141.

[0118] The upper end of the traction rope 144 is connected to the middle of the bottom plate of the mud sampling box 130, near the slide 134. The traction rope 144 passes vertically into the valve box 141, passes around the reversing wheel near the middle of the valve box 141, and then extends horizontally outward to connect to the lower slide seat 1432 at one end near the slide 134. The spring 145 is a compression spring, which is installed on the slide rod 146 and connected to the end of the upper slider 1431 near the slide 134. The spring 145 is also an extension spring, which is installed on the slide rod 146 and connected to the end of the upper slider 1431 away from the slide 134.

[0119] Similarly, only one reversing wheel may be provided to achieve corresponding changes in the forces exerted by the traction rope 144 and the spring 145 on the split slider 143. In practice, the connection method of the traction rope 144 and the spring 145 to the split slider 143 can be changed according to specific needs, as long as the forces exerted by the two meet the opening and closing requirements of the split valve 142.

[0120] In one possible implementation, referring to Figure 4 As shown, two symmetrical upper sliders 1431 are provided on each lower slide seat 1432 . The upper sliders 1431 are provided close to the outer end of the lower slide seat 1432 , and each upper slider 1431 is passed through the corresponding slide rod 146 .

[0121] Connecting blocks are provided at both ends of the slide rod 146 , and the connecting blocks are connected to the valve box 141 via screws. One end of the spring 145 is fixedly connected to the connecting block, and the other end is fixedly connected to the upper slide block 1431 .

[0122] In this way, two sets of slide bars 146 and upper sliders 1431 can be provided for each side of the split valve 142, providing a stable force and avoiding problems such as jamming during the opening and closing of the split valve 142. Furthermore, the two sets of slide bars 146 and upper sliders 1431 can be provided on the front and rear sides of the valve box 141, avoiding the slide cylinder 134 in the middle of the valve box 141. This provides a relatively large layout space and facilitates assembly and disassembly.

[0123] In one possible implementation, referring to Figure 3 and Figure 4 As shown, the mud sampling box 130 includes a box body, the top of the box body is connected to the free end of the rope 121 of the rope winch 120, and the bottom of the box body is provided with a sampling hole connected to the slide cylinder 134.

[0124] The mud sampler includes a lifting motor 131, a lifting plate 132, an auger rod and a rotating motor 133 installed in the box body. The lifting motor 131 is fixed on the side wall of the box body. The lifting motor 131 is connected to the lifting plate 132 via a screw nut mechanism. The auger rod is fixed on the lifting plate 132. The top of the auger rod is connected to the rotating motor 133, and the bottom of the auger rod enters and exits the sampling hole.

[0125] Among them, the rotating frame includes a rotating column 114 and a suspension rod 115. The rotating column 114 is rotatably connected to the rotating table 111 and is connected to the rotating table motor via gear transmission. The suspension rod 115 is connected to the top of the rotating column 114 and extends in the horizontal direction. The rope winch 120 is fixed on the suspension rod 115. The free end of the rope 121 of the rope winch 120 is wrapped around the rotating shaft and connected to the box.

[0126] Lifting motor 131 utilizes a screw-nut mechanism to rotate the screw, driving the auger shaft up and down along its axis. Rotating motor 133 connects to the auger shaft via a speed reducer and coupling, driving the shaft to rotate and cut the silt on the bottom of the water, retaining it on the auger shaft. Mounting the silt sampler within the housing protects it from corrosion and other issues such as water impact.

[0127] When the unmanned monitoring ship 10 arrives at the designated bottom sediment sampling point, the bottom sediment collection device 100 is started. The rotating table motor drives the rotating active gear 112 to rotate, driving the meshed rotating passive gear 113 to rotate, thereby moving the rotating frame to the water surface. The rope winch 120 releases the rope 121 made of wire rope to lower the mud sampling box 130 to the bottom of the water, and the sealing valve 140 opens automatically. The lifting motor 131 drives the auger rod to gradually insert into the bottom mud. At the same time, the rotating motor 133 starts working, driving the drill rod to rotate and cut the mud. When enough mud is collected, the lifting motor 131 reverses, driving the auger rod to move upward, and the sealing valve 140 automatically closes, completing the entire bottom sediment sampling process. Afterwards, the rotating table motor drives the rotating frame to the cement sample collection device 300 through gear transmission to collect mud bottom samples.

[0128] In one possible implementation, referring to Figure 5 As shown, the water sample collection device 200 includes a sampling tube 230, a centrifugal pump 240, a flow meter (not shown) and a sample feeding tube 241. The water sampling end of the sampling tube 230 is driven to rise and fall in and out of the water surface. The water outlet end of the sampling tube 230 is connected to the water inlet of the centrifugal pump 240. The water outlet of the centrifugal pump 240 is connected to the sample feeding tube 241 via the flow meter. The sample feeding tube 241 is used to feed samples to the sampling bottle 360.

[0129] The water inlet end of the sampling tube 230 is connected to a metal filter head 231. The cross-sectional area of ​​the filter head 231 gradually decreases from the middle to both ends. One end of the filter head 231 is connected to the sampling tube 230 through an internal thread. A filter screen is set in the center of the filter head 231, and the other end of the filter head 231 is open for water sampling.

[0130] The centrifugal pump 240 can be a multi-stage centrifugal pump in the bedroom. The rotation of its impeller generates negative pressure, which draws the water sample through the sampling tube 230. The flow rate and head of the centrifugal pump 240 can be adjusted according to the sampling requirements to ensure that it can meet the water sampling tasks of different depths and flow rates.

[0131] The sampling tube 230 can be made of a soft water pipe with embedded metal wires such as copper wire or steel wire, which has a certain gravity and an anti-bending effect. The filter head 231 is made of steel and has a certain weight. It can overcome the buoyancy of water to a certain extent and is convenient for extending into the water layer at a predetermined depth. The filter head 231 is in a shape with closed ends and a smooth appearance. It is connected to the inner wall of the sampling tube 230 to prevent aquatic plants from entangled. The filter screen can be made of copper. The filter screen filters impurities, and the centrifugal pump 240 can reversely flush the filter screen under set conditions to avoid clogging by impurities. The sample feeding tube 241 can be made of a metal hard water pipe, and its water outlet end is located above the water sample collection station of the cement sample collection device 300, aligned with the bottle mouth of the sampling bottle 360 ​​on the station.

[0132] In one possible implementation, referring to Figure 5 As shown, the water sample collection device 200 further includes a base 224, a reel 220, and a reel motor 210. The reel 220 is mounted on the base 224, and the sampling tube 230 is wound around the reel 220. One end of the reel 220 is connected to the reel motor 210, and the other end of the reel 220 is provided with a water hole. The water hole passes through a water channel preset in the center of the reel 220 and is connected to a water inlet hole preset on the surface of the reel 220. The water inlet hole is connected to the water outlet end of the sampling tube 230, and the water hole is connected to the water inlet of the centrifugal pump 240.

[0133] The drum 220 is provided with end plates 221 on both sides. One end plate 221 is closed and connected to the drum motor 210 via a connecting shaft, while the other end plate 221 has a water passage opening in the center. The water passage may include an axial hole provided inside the drum 220 that communicates with the water passage opening, and a radial hole that connects to the water inlet opening.

[0134] This arrangement makes it easy to wind the sampling tube 230 through the reel 220, avoiding the messy entanglement caused by the sampling tube 230 itself during the lifting and lowering process, and the water sample of the sampling tube 230 is further connected to the centrifugal pump 240 through the inside of the reel 220, reducing the occupied space in the hull and facilitating the reduction of the volume of the hull 11.

[0135] In one possible implementation, referring to Figure 5 As shown, the water sample collection device 200 also includes a reciprocating drive shaft 211, a guide rod 212, a drive chain 213 and a guide block 214. The reciprocating drive shaft 211 and the guide rod 212 are both located on the side of the reel 220 away from the center of the hull 11. The reciprocating drive shaft 211 and the guide rod 212 are spaced apart from each other and are both parallel to the reel 220. The drive chain 213 is installed between the reciprocating drive shaft 211 and the reel 220. A reciprocating thread is provided on the reciprocating drive shaft 211. The upper end of the guide block 214 is connected to the reciprocating drive shaft 211 through a thread and is driven to reciprocate. The lower end of the guide block 214 is slidably connected to the guide rod 212. The water sampling end of the sampling tube 230 passes through the middle of the guide block 214 and faces the water surface.

[0136] The reciprocating drive shaft 211 and the guide rod can be positioned slightly lower than the surface of the hull 11, giving the sampling tube 230 a downwardly tilted position, facilitating its lifting and lowering. Both the connecting shaft connected to the reel 220 and the reciprocating drive shaft 211 are provided with sprockets, with a drive chain 213 mounted between the two sprockets. When retrieving the sampling tube 230, the reel motor 210 rotates the reel 220, while the drive chain 213 simultaneously rotates the reciprocating drive shaft 211. The guide block 214 slides left and right on the reciprocating drive shaft 211, causing the sampling tube 230 to be tightly wound in a single layer around the reel 220. Similarly, when lowering the sampling tube 230, the reel motor 210 rotates the reel 220, while the guide block 214 slides left and right on the reciprocating drive shaft 211, releasing the sampling tube 230 layer by layer, preventing tangled tissue.

[0137] Furthermore, a compression frame 222 is provided on the side of the reel 220 opposite to the reciprocating drive shaft 211 , and a compression roller 223 for compressing the sampling tube 230 is provided on the compression frame 222 , which can further assist in compressing the sampling tube 230 tightly and winding or releasing it in a single layer.

[0138] When the unmanned monitoring ship 10 arrives at the designated water sampling point, the water sample collection device 200 is started. The drum motor 210 rotates to release the sampling tube 230. The sampling tube 230 is lowered vertically under the action of its own gravity and the gravity of the filter head 231. When the sampling tube 230 reaches the target water depth, the drum motor 210 stops rotating and stops releasing the sampling tube 230. The centrifugal pump 240 starts to extract water samples through the sampling tube 230 to the cement sample collection device 300. After the collection is completed, the centrifugal pump 240 stops working, and the drum motor 210 runs in reverse to retract the sampling tube 230 to the unmanned monitoring ship 10.

[0139] In one possible implementation, referring to Figure 6 and Figure 7As shown, the cement sample collection device 300 includes a turntable support 321, a hand-grip cylinder 340, and a marker 350. The turntable support 321 is connected to the turntable motor 311 for rotational motion and is provided with a plug-in notch. The turntable 330 includes a disk surface 331 and a predetermined number of lugs 332 evenly distributed around the disk surface 331. A plug-in protrusion is provided at the bottom center of the disk surface 331. The plug-in notch and protrusion are configured as a matching inverted conical structure, with a larger upper portion and a smaller lower portion. A lifting handle 333 is provided at the top of the disk surface 331 for connecting to a drone. The lugs 332 have protective seats 334 for placing sampling bottles 360 and sampling canisters 361. The hand-grip cylinder 340 is located on one side of the turntable 330 and is used to open and close the caps of the sampling bottles 360. The marker 350 is located on the other side of the turntable 330 and is driven to rotate around the lugs 332 to perform the marking operation.

[0140] The turntable motor 311 is arranged on the motor base 224, and the turntable motor 311 is connected to the driving wheel 312. The turntable bracket 321 is arranged on the turntable shaft, which is vertically arranged and connected to the turntable 330 base 224. The turntable shaft is provided with a driven wheel 322, and a belt 313 is installed between the driving wheel 312 and the driven wheel 322.

[0141] The hand-grabbing cylinder 340 is mainly composed of a cylinder and a pneumatic mechanical claw, which can grab, open, and press the plug-type bottle cap of the water sample bottle. The marker 350 is connected to the marking passive gear 352. The center of the marking passive gear 352 corresponds to the center of the disk ear 332. The marker 350 is located on the gear surface of the marking passive gear 352. The marking motor is connected to the marking active gear 351. The marking motor rotates, driving the marking active gear 351 to engage the marking passive gear 352 to rotate, and then the marker 350 performs a marking operation around the sampling bottle 360 ​​or sampling can 361 in the center of the disk ear 332, which is convenient for marking the sampling information. A sensor is provided at the hand-grabbing cylinder 340, which can sense whether there is a sampling bottle 360 ​​directly below it and obtain the status of the bottle cap. With the help of the sensing information of the sensor, on the one hand, the hand-grip cylinder 340 can judge and operate the bottle cap, and on the other hand, when the drone replaces the turntable 330, the turntable motor 311 can rotate the turntable to perform initial position positioning.

[0142] When the cement sample collecting device 300 is in operation, the turntable motor 311 drives the driving wheel 312 to rotate, and then the turntable bracket 321 drives the turntable 330 to rotate, realizing the rotation of the sampling bottle 360 ​​and the sampling tank 361 on the turntable 330. When collecting water samples, the hand-grip cylinder 340 first opens the bottle cap of the sampling bottle 360 ​​at its corresponding position; then, the turntable 330 rotates to rotate the opened sampling bottle 360 ​​to the water sample collection station, and the sample tube 241 transfers the water sample collected by the water sample collection device 200 into the sampling bottle 360; after the water sample collection is completed, the turntable motor 311 reverses, rotates the open sampling bottle 360 ​​to the hand-grip cylinder 340, and completes the capping and sealing. When collecting mud samples, the rotating turntable 330 rotates the sampling tank 361 to the bottom mud sample collection station, and the auger rod transports the bottom mud sample collected by the bottom mud collection device 100 into the sampling tank 361. When the sample collection container filled with sampled samples rotates to the marker 350, the marking motor drives the marking driving gear 351 to rotate the marking driven gear 352, which in turn drives the marker 350 to rotate to complete the marking. After that, the marking motor reverses and the marker 350 returns to its initial position.

[0143] In this way, the automatic collection of water samples and sediment samples is completed by the turntable 330 in conjunction with the hand-grip cylinder 340 and the marker 350, and the sample collection containers can be automatically marked.

[0144] In one possible implementation, referring to Figure 8 and Figure 9 As shown, the floating island shifting device 400 includes a rocker motor 420, a sprocket frame 421, a driving sprocket 422, a passive sprocket 423, a rocker chain 424, an active rocker 425 and a transmission rod 426. The rocker motor 420 is installed on the motor frame near the stern of the hull 11, the sprocket frame 421 is installed between the rocker motor 420 and the towing hook 410, the output shaft of the rocker motor 420 is installed with the driving sprocket 422, the passive sprocket 423 is installed on the sprocket frame 421, and the rocker chain 424 is installed between the driving sprocket 422 and the passive sprocket 423. One end of the active rocker 425 is integrally connected to the axis of the passive sprocket 423, and the other end of the active rocker 425 is hinged to one end of the transmission rod 426, and the other end of the transmission rod 426 is hinged to the towing hook 410.

[0145] Thus, a rocker mechanism and a tow hook 410 are installed at the rear of the unmanned monitoring vessel 10. The rocker motor 420 drives the passive sprocket 423, which in turn drives the active rocker 425 to swing, thereby rotating the tow hook 410 about its hinge axis. When the unmanned monitoring vessel 10 approaches the floating bed frame 30, the tow hook 410 rotates downward, hooking onto the annular movable handle 32 on the floating bed frame 30, connecting the hull 11 to the floating bed frame 30. When the floating bed frame 30 is moved to the designated waters, the tow hook 410 rotates upward, disconnecting the hull 11 from the floating bed frame 30.

[0146] An ultrasonic ranging sensor can be installed at the tail of the unmanned monitoring ship 10 to measure the distance between the hull 11 and the floating bed frame 30, and the navigation trajectory of the unmanned monitoring ship 10 can be adjusted in real time through the control system to ensure that the towing hook 410 can accurately dock with the floating bed frame 30.

[0147] In one possible implementation, referring to Figure 10 and Figure 11 As shown, the vegetation positioning mechanism 510 includes a first fixed clamping rod 511 , a second fixed clamping rod 512 , a first movable clamping member 513 and a second movable clamping member 514 .

[0148] A first fixed clamping rod 511 extends from bow to stern and is positioned near the side of the hull 11. A second fixed clamping rod 512 is positioned perpendicularly adjacent to the first fixed clamping rod 511 and near the stern. A first movable clamping member 513 includes a movable track parallel to the second fixed clamping rod 512 and a movable clamping rod 515 that moves closer to or farther from the first fixed clamping rod 511 along the track. A second movable clamping member 514 includes a movable track parallel to the first fixed clamping rod 511 and a movable clamping rod 515 that moves closer to or farther from the second fixed clamping rod 512 along the track. The movable clamping rod 515 of the first movable clamping member 513 and the movable clamping rod 515 of the second movable clamping member 514 are staggered in the height direction, and the movable clamping rod 515 of the first movable clamping member 513 is provided with a plurality of clamping pulleys 516 for auxiliary positioning on the side opposite to the first fixed clamping rod 511, and the movable clamping rod 515 of the first movable clamping member 513 is provided with a plurality of clamping pulleys 516 for auxiliary positioning on the side opposite to the second fixed clamping rod 512.

[0149] The driving mechanism for the movable clamping member may be a screw-nut mechanism, a pneumatic or hydraulic cylinder mechanism, or a rack-and-pinion mechanism. For example, a screw is provided along the extension direction of the movable track, with slide rails provided on both sides of the screw. The clamping motor 518 is connected to the screw via a transmission mechanism, and the slide block is threadedly connected to the screw and slides with the slide rails. The movable clamping rod 515 is connected to the slide block via a connecting plate. The clamping motor 518 rotates forward or reverse, driving the screw to move the slide block, thereby moving the clamping rod 515 toward or away from the fixed clamping rod.

[0150] In the initial state, the distance between the mobile clamping rod 515 and the opposite fixed clamping rod is at its maximum. When the drone transports the high-bay warehouse 20 loaded with vegetation blocks 25 to the unmanned monitoring vessel 10, the high-bay warehouse 20 is located within the space enclosed by the mobile clamping rod 515 and the fixed clamping rod. Operating the mobile clamping rod 515 pushes the high-bay warehouse 20 toward the fixed clamping rod.

[0151] The fixed clamping rod can be a square tube with a rectangular cross section and a certain height, which can provide a certain blocking and anti-dumping effect on the three-dimensional warehouse 20. Preferably, a vertically upward auxiliary baffle 517 is provided at a position adjacent to the second fixed clamping member 512 of the first fixed clamping rod 511, which can further assist in positioning and anti-dumping the three-dimensional warehouse 20.

[0152] The movable clamping rods 515 of the first movable clamping member 513 and the second movable clamping member 514 are staggered in height to avoid interference caused by their mutual movement. The movable clamping rods 515 can be triangular tubes with a right-angled triangle cross-section, with the sides of the right-angled sides corresponding to the fixed clamping rods. A row of clamping pulleys 516 are provided on the sides of the movable clamping rods 515 that clamp the three-dimensional warehouse 20, thereby reducing friction between the movable clamping rods 515 and the three-dimensional warehouse 20.

[0153] In one possible implementation, referring to Figure 10 and Figure 11 As shown, the three-dimensional warehouse 20 includes a plurality of stacked racks 21. The racks 21 include a frame surface 22, bottom columns 23, top columns 24, and side panels (not shown). The frame surface 22 is a rectangular planar frame structure. The bottom columns 23 are connected to the corners of the lower surface of the frame surface 22. The bottom portions of the bottom columns 23 are provided with sockets extending in the height direction. The top columns 24 are connected to the corners of the upper surface of the frame surface 22. The top portions of the top columns 24 are configured as columns that adapt to the sockets. Side panels are provided on all four sides of the upper surface of the frame surface 22, each with a notch to facilitate the entry and exit of the fork 523.

[0154] A reinforcing rib is connected between the top column 24 and the placement frame surface 22 . The bottom column 23 has a smooth outer surface. The lower portion of the bottom column 23 of the placement rack 21 located at the bottom is connected to a roller.

[0155] The placement frame 22 consists of four frames and crossbars connected to them. Bottom columns 23 and top columns 24 are connected to the junctions of the four frames. Bottom columns 23 can be square tubes with rounded chamfers at the four corners. Round sockets are machined into the square tubes. Top columns 24 can be cylindrical rods. Triangular reinforcement ribs are welded between top columns 24 and the placement frame 22.

[0156] Thus, by plugging and matching the top and bottom columns 24, 23, a predetermined number of racks 21 can be assembled to form a three-dimensional warehouse 20 of varying heights, meeting the transport requirements for varying quantities of vegetation blocks 25. The smooth outer surfaces of the bottom columns 23 and the rollers connecting the lowest bottom column 23 facilitate movement with the vegetation positioning mechanism 510, enabling rapid positioning.

[0157] It can be understood that in order to facilitate the fork 523 to pick up and place the vegetation block 25, a protrusion can be set on the bottom surface of the vegetation block 25 or the top surface of the placement frame surface 22, thereby forming a gap between the two, and then the fork 523 enters the gap to pick up the vegetation block 25.

[0158] In one possible implementation, referring to Figure 8 and Figure 13 , and combined with Figure 10 and Figure 11 As shown, the floating bed frame 30 is composed of horizontal and vertical frames connected in a crisscross pattern to form a planar frame structure. Adjacent horizontal and vertical frames form frame units 31. Guide ramps 33 are spaced apart on the top surface of each horizontal and vertical frame. These guide ramps 33 are configured as downward-facing guide slopes corresponding to the surfaces of adjacent frame units 31. Movable handles 32, which mate with towing hooks 410, are located on the outer sides of the peripheral horizontal and vertical frames.

[0159] Vegetation blocks 25 are evenly spaced with holes for placement of vegetation, and magnetic sheets are positioned between adjacent holes. A hanging frame 538 comprises a hinged plate and a hanging plate. The hinged plate is hinged to a telescopic boom 536, and the hanging plate is attached to the outer periphery of the hinged plate. Each hanging bar corresponds to the gap between the holes for placement of vegetation, and an electromagnet 539 corresponding to the magnetic sheet is positioned beneath each hanging bar.

[0160] The guide bevel 33 may have an isosceles triangle or isosceles trapezoidal cross section, so as to form guide bevels on both sides of the frame unit 31. The movable handle 32 may be annular or semi-circular, so as to facilitate hooking and connection of the towing hook 410.

[0161] The rotary mechanism 534 can be a worm gear transmission mechanism. The rotary motor 535 drives the worm to rotate, and the worm drives the worm wheel to rotate. The telescopic boom 536 is connected to the worm wheel.

[0162] When the vegetation transfer mechanism 520 is operating, the initial position is set when the fork 523 is near the bottom of the stacker 521 and the column 532 is near the fork 523. After the fork 523 transports the vegetation block 25 to the starting position, the rotary motor 535 drives the telescopic boom 536 above the fork 523 via the rotary mechanism 534. The electromagnet 539 is energized to attract and lift the vegetation block 25. According to the layout requirements of the floating bed frame 30, the column 532 moves along the track 531 to the set position. The rotary motor 535 rotates the telescopic boom 536 above the other floating bed frame 30 via the rotary mechanism 534. Simultaneously, the telescopic motor drives the telescopic boom 536 to extend above the preset frame unit 31. The electromagnet 539 is de-energized to release the vegetation block 25. Finally, the vegetation block 25 is fixed within the frame unit 31 under the guidance of the guide ramp 33.

[0163] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some or all of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.

Claims

1. An unmanned monitoring ship, characterized in that: It includes a hull, a water sample collection device, a bottom mud collection device, a cement sample collection device, a floating island shifting device and a vegetation paving device; the water sample collection device is installed on the first side of the hull near the stern; The bottom mud collection device is installed at the bow position of the first side of the hull, and includes a rotating frame, a rope winch, a mud collection box and a sealing valve; the rotating frame is rotatably connected to the hull, the rope winch is fixed on the rotating frame, and the free end of the rope of the rope winch is connected to the mud collection box with a built-in mud sampler; the sealing valve includes a valve box, a split valve, a traction rope, a split slider and a spring, the valve box is slidably lifted and connected to the slide cylinder located below the mud collection box, the upper end of the slide cylinder is fixed to the middle of the bottom plate of the mud collection box, and the lower end of the slide cylinder is slidably connected to the fixed cylinder preset in the middle of the valve box; the mud collection box includes a box body, the top of the box body is connected to the free end of the rope of the rope winch, and the box A sampling hole connected to the slide is provided at the bottom of the body; through holes are provided on the top plate and bottom plate of the valve box corresponding to the position of the slide, and the through hole on the bottom plate of the valve box is used for the entry and exit of the spiral drill rod of the mud sampler, and a split valve that slides along the bottom plate is provided at the through hole corresponding to the bottom plate inside the valve box, and a split slider is connected to each split valve; a traction rope is connected between the mud sampling box and the split slider, and a spring is horizontally connected between the split slider and the valve box; when the mud sampling box moves close to the valve box, the spring overcomes the force of the traction rope, so that the split valves move away from each other, and when the mud sampling box moves away from the valve box, the traction rope overcomes the force of the spring, so that the split valves move close to each other; The cement sample collecting device is installed in the middle of the first side of the hull, close to the inner side of the hull; The floating island shifting device is installed at the middle of the stern of the hull and includes a tow hook that is driven to swing and is used to connect to the floating bed frame; the vegetation laying device includes a vegetation positioning mechanism, a vegetation transfer mechanism, and a vegetation retrieval mechanism; the vegetation positioning mechanism is installed at the middle of the second side of the hull; the vegetation transfer mechanism is installed at a position near the stern of the second side of the hull; and the vegetation retrieval mechanism is installed on the hull between the floating island shifting device and the vegetation transfer mechanism; The first side and the second side are opposite sides in the length direction of the hull.

2. The unmanned monitoring ship according to claim 1, characterized in that: The cement sample collecting device comprises a turntable plugged into a turntable bracket, and the turntable is driven to rotate the sampling bottles and sampling tanks to receive water samples and bottom mud samples; The vegetation positioning mechanism is used to position a stereoscopic warehouse with built-in vegetation blocks; The vegetation transfer mechanism includes a stacker, a cargo plate and a cargo fork. The stacker is arranged near the outer side of the hull, the cargo plate is slidably raised and lowered to connect to the stacker, and the cargo fork is slidably connected to the cargo plate. The vegetation picking and placing mechanism includes a track, a column, a rotating mechanism, a telescopic boom and a lifting frame; the track extends in the direction between the first side and the second side of the hull, the column is slidably connected to the track, the upper end of the telescopic boom is connected to the rotating mechanism located on the upper part of the column and rotates relative to the column, and the lower end of the telescopic boom is connected to the lifting frame for lifting vegetation blocks.

3. The unmanned monitoring ship according to claim 2, characterized in that: The split slider includes an upper slider and a lower slide seat connected up and down, the lower slide seat is connected to the split valve, and the upper slider is inserted into a preset slide rod; The upper end of the traction rope is connected to the outer end of the bottom plate of the mud sampling box, and the traction rope passes through the valve box in the vertical direction, passes through the first reversing wheel and extends in the horizontal direction, passes through the second reversing wheel near the middle of the valve box, and is connected to the end of the lower seat close to the slide cylinder; the spring is a compression spring, which is passed through the slide rod and connected to the end of the upper slider close to the slide cylinder, or the spring is a tension spring, which is passed through the slide rod and connected to the end of the upper slider away from the slide cylinder; or, The upper end of the traction rope is connected to the middle part of the bottom plate of the mud mining box. The traction rope passes through the valve box in the vertical direction, passes through the reversing wheel near the middle of the valve box, extends in the horizontal direction and is connected to the end of the lower slide seat close to the slide cylinder; the spring is a compression spring, which is passed through the slide rod and connected to the end of the upper slider close to the slide cylinder, or the spring is a tension spring, which is passed through the slide rod and connected to the end of the upper slider away from the slide cylinder.

4. The unmanned monitoring ship according to claim 3, characterized in that: Two symmetrical upper sliders are provided on each of the lower slide seats, the upper sliders are provided close to the outer end of the lower slide seat, and each upper slider is provided on a corresponding slide rod; Connecting blocks are provided at both ends of the slide rod, and the connecting blocks are connected to the valve box through screws. One end of the spring is fixedly connected to the connecting block, and the other end is fixedly connected to the upper slide block.

5. The unmanned monitoring ship according to any one of claims 1 to 4, characterized in that: The mud sampler includes a lifting motor, a lifting plate, an auger rod and a rotating motor installed in a box body. The lifting motor is fixed on the side wall of the box body. The lifting motor is connected to the lifting plate via a screw nut mechanism. The auger rod is fixed on the lifting plate. The top of the auger rod is connected to the rotating motor. The bottom of the auger rod enters and exits the sampling hole.

6. The unmanned monitoring ship according to any one of claims 1 to 4, characterized in that: The water sample collection device includes a sampling tube, a centrifugal pump, a flow meter and a sample feeding tube. The water sampling end of the sampling tube is driven to rise and fall in and out of the water surface. The water outlet end of the sampling tube is connected to the water inlet of the centrifugal pump. The water outlet of the centrifugal pump is connected to the sample feeding tube via the flow meter. The sample feeding tube is used to feed the sample to the sampling bottle. The water inlet end of the sampling tube is connected to a metal filter head, the cross-sectional area of ​​the filter head gradually decreases from the middle to both ends, one end of the filter head is connected to the sampling tube through an internal thread, a filter screen is set in the center of the filter head, and the other end of the filter head is open for water sampling.

7. The unmanned monitoring ship according to claim 6, characterized in that: The water sample collection device also includes a base, a reel, and a reel motor; the reel is mounted on the base, the sampling tube is wound around the reel, one end of the reel is connected to the reel motor, and the other end of the reel is provided with a water hole, the water hole passes through a water passage preset in the center of the reel and is connected to a water inlet hole preset on the surface of the reel, the water inlet hole is connected to the water outlet end of the sampling tube, and the water hole is connected to the water inlet of the centrifugal pump; The water sample collection device also includes a reciprocating drive shaft, a guide rod, a drive chain and a guide block. The reciprocating drive shaft and the guide rod are both located on a side of the reel away from the center of the hull. The reciprocating drive shaft and the guide rod are spaced apart and parallel to the reel. The drive chain is installed between the reciprocating drive shaft and the reel. The reciprocating drive shaft is provided with a reciprocating thread. The upper end of the guide block is connected to the reciprocating drive shaft by a thread and is driven to reciprocate. The lower end of the guide block is slidably connected to the guide rod. The water sampling end of the sampling tube passes through the middle of the guide block and faces the water surface. A pressing frame is provided on one side of the reel opposite to the reciprocating drive shaft, and a pressing roller for pressing the sampling tube is provided on the pressing frame.

8. The unmanned monitoring ship according to any one of claims 2 to 4, characterized in that: The cement sample collecting device includes a turntable bracket, a hand-grip cylinder and a marker; the turntable bracket is connected to the turntable motor for rotational motion, and a plug-in slot is provided on the turntable bracket; the turntable includes a disk surface and a set number of disk ears evenly distributed around the disk surface, a plug-in protrusion is provided at the bottom of the center of the disk surface, the plug-in slot and the plug-in protrusion are configured as a matching inverted frustum structure with a larger top and a smaller bottom, a lifting handle for connecting a drone is provided at the top of the disk surface, and a protective seat for placing sampling bottles and sampling cans is provided on the disk ears; the hand-grip cylinder is provided on one side of the turntable and is used to open and close the bottle caps of the sampling bottles; the marker is provided on the other side of the turntable and is driven to rotate around the disk ears to perform marking operations.

9. The unmanned monitoring ship according to any one of claims 2 to 4, characterized in that: The floating island shifting device includes a rocker motor, a sprocket frame, a driving sprocket, a passive sprocket, a rocker chain, an active rocker and a transmission rod. The rocker motor is installed on the motor frame near the stern of the hull, the sprocket frame is installed between the rocker motor and the towing hook, the output shaft of the rocker motor is installed with a driving sprocket, the passive sprocket is installed on the sprocket frame, the rocker chain is installed between the driving sprocket and the passive sprocket, one end of the active rocker is integrally connected to the axis of the passive sprocket, the other end of the active rocker is hinged to one end of the transmission rod, and the other end of the transmission rod is hinged to the towing hook.

10. The unmanned monitoring ship according to any one of claims 2 to 4, characterized in that: The vegetation positioning mechanism includes a first fixed clamping rod, a second fixed clamping rod, a first movable clamping member and a second movable clamping member; The first fixed clamping rod extends in the direction from the bow to the stern and is arranged close to the side of the hull, and the second fixed clamping rod is vertically adjacent to the first fixed clamping rod and arranged close to the stern; the first movable clamping member includes a movable track parallel to the second fixed clamping rod, and a movable clamping rod that is relatively close to or away from the first fixed clamping rod along the movable track; the second movable clamping member includes a movable track parallel to the first fixed clamping rod, and a movable clamping rod that is relatively close to or away from the second fixed clamping rod along the movable track; the movable clamping rod of the first movable clamping member and the movable clamping rod of the second movable clamping member are staggered in the height direction, and the movable clamping rod of the first movable clamping member is provided with a plurality of clamping pulleys for auxiliary positioning on the side relative to the first fixed clamping rod, and the movable clamping rod of the second movable clamping member is provided with a plurality of clamping pulleys for auxiliary positioning on the side relative to the second fixed clamping rod.

11. The unmanned monitoring ship according to any one of claims 2 to 4, characterized in that: The three-dimensional warehouse includes a plurality of stacked storage racks; the storage racks include a storage frame surface, a bottom column, a top column and side baffles; the storage frame surface is a rectangular plane frame structure; the bottom column is connected to the corners of the lower surface of the storage frame surface, and the lower part of the bottom column is provided with a plug hole extending in the height direction; the top column is connected to the corners of the upper surface of the storage frame surface, and the upper part of the top column is provided with a column adapted to the plug hole; the four sides of the upper surface of the storage frame surface are provided with side baffles, and the side baffles are provided with notches for facilitating the entry and exit of forks; A reinforcing rib is connected between the top column and the placement frame surface, the bottom column has a smooth outer surface, and the lower part of the bottom column of the placement frame located at the bottom is connected to a roller.

12. The unmanned monitoring ship according to any one of claims 2 to 4, characterized in that: The floating bed frame is composed of horizontal frames and vertical frames connected in a crisscross pattern to form a planar frame structure, and adjacent horizontal frames and vertical frames form frame units; guide bevels are provided at intervals on the upper surface of each horizontal frame and vertical frame, and the surfaces of the guide bevels corresponding to adjacent frame units are provided with downwardly inclined guide bevels; and movable handles matching the towing hooks are provided on the outer sides of the horizontal frames and vertical frames located on the periphery; The vegetation block is provided with evenly distributed vegetation placement holes, and magnetic sheets are arranged between adjacent vegetation placement holes; the hanging frame includes a hinged plate and a hanging plate, the hinged plate is hinged to the telescopic boom, the hanging plate is connected to the outer periphery of the hinged plate, each hanging plate corresponds to the gap between the vegetation placement holes, and an electromagnet corresponding to the magnetic sheet is arranged under each hanging plate.

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