Unmanned ship multi-water-layer plankton monitoring system and monitoring method

Abstract

The invention relates to an unmanned ship multi-water-layer plankton monitoring system and a monitoring method, which solve the defects of high cost, deep draft, large volume and poor automation degree of an artificial ship, expand the multi-water-layer monitoring capability of the unmanned ship, improve the working efficiency and reduce the cost. According to the technical scheme, a monitoring catenary is arranged on a stern frame of an unmanned ship body, mounting bases are arranged on the monitoring catenary at equal intervals, and each mounting base comprises an optical imager and a temperature-salinity-depth measuring instrument which are used for obtaining water quality parameters. The activity state of plankton such as acete chinensis is recorded in an image and video mode, the environmental information is collected through the temperature-salinity-depth measuring instrument, water quality samples do not need to be collected and reserved, and the monitoring process is effectively simplified.

Description

Technical Field

[0001] This application relates to the technical field of underwater monitoring, and in particular to a multi-layer plankton monitoring system and monitoring method for unmanned boats. Background Art

[0002] Some specific water area operations have relatively high requirements for water bodies. For example, the siting of nuclear power plants requires relatively small water body flow, relatively stable environmental conditions, and the construction of dams and cooling water pools for the cooling water of nuclear power plants. Since the warm water discharged from the cooling water provides a breeding ground for plankton such as Acetes, in order to prevent Acetes from blocking the water intake of the cooling water pipe, it is necessary to regularly monitor the distribution range of Acetes and the distribution conditions of the surface, middle and bottom layers, and take corresponding measures to prevent the water intake from being blocked to ensure the normal cooling exchange of the cooling water of the nuclear power plant.

[0003] Currently, the domestic monitoring methods for plankton can be divided into two categories. One is to use an artificial boat to deploy monitoring equipment, but it has the disadvantages of large volume, certain requirements for water level, high cost, and poor automation. The other is to use an unmanned boat to carry monitoring equipment, but the existing unmanned boat products only support the monitoring of the surface hydrological environment and plankton, and the monitoring capabilities of the middle and bottom water layers need to be expanded. Summary of the Invention

[0004] The applicant of this application aims at the above-mentioned disadvantages in the existing production technology, and provides a multi-layer plankton monitoring system and monitoring method for unmanned boats, which can navigate conveniently in the water area without collecting aquatic organisms, and simultaneously carry out the monitoring of hydrological parameters and plankton in the surface, middle and bottom layers, solve the disadvantages of high cost, deep draft, large volume and poor automation of artificial boats, expand the multi-layer monitoring ability of unmanned boats, improve work efficiency and reduce costs.

[0005] The technical solution adopted by this application is as follows:

[0006] A multi-layer plankton monitoring system for unmanned boats is installed on the hull of an unmanned boat, including an on-board part and an underwater part.

[0007] The underwater part includes:

[0008] A monitoring suspension chain is led out from the stern frame of the hull.

[0009] There are multiple groups of installation bases, which are connected to the monitoring suspension chain; an optical imager and a thermosalinograph are built in the installation base.

[0010] A lead fish is located at the bottom of the monitoring suspension chain.

[0011] During the navigation of the hull, the optical imager and the thermosalinograph detect and obtain the water quality parameters on the three-dimensional coordinate system in the water area.

[0012] As a further improvement of the above technical solution:

[0013] The mounting bases are arranged on the monitoring catenary at equal intervals; the centers of gravity of all the mounting bases are collinear.

[0014] The mounting base includes a protective frame, in which mutually perpendicular horizontal mounting holes and vertical mounting brackets are arranged; the optical imager is assembled in the horizontal mounting hole, and the temperature-salinity-depth measuring instrument is mounted on the vertical mounting bracket.

[0015] The protection frame is internally provided with at least two horizontal mounting blocks, and the horizontal mounting holes penetrate through the horizontal mounting blocks and are coaxially arranged.

[0016] The temperature, salinity and depth measuring instrument is installed on the side of the horizontal mounting block away from the direction of navigation.

[0017] The monitoring catenary is composed of at least two chains.

[0018] The onboard parts include:

[0019] Differential positioner, located on top of the hull,

[0020] Wind speed and direction instrument, located at the bow of the hull,

[0021] Communication antenna, installed above the stern frame,

[0022] The propeller is installed at the bottom of the hull.

[0023] The main control room is located inside the hull.

[0024] A monitoring method using an unmanned vessel multi-layer plankton monitoring system comprises the following steps:

[0025] Preparation stage:

[0026] Pre-assemble the mounting base, adjust the number and spacing of the mounting bases on the monitoring catenary according to expected needs, and install a lead fish at the bottom of the monitoring catenary.

[0027] Testing phase:

[0028] In automatic mode, the user presets the monitoring route, and the unmanned vessel travels along the route and sends the measured information to the shore in real time; if the sea conditions do not meet the expected navigation conditions, the unmanned vessel returns to the shore.

[0029] In manual mode, the user wirelessly controls the navigation of the unmanned boat from the shore, and simultaneously receives the information sent back by the unmanned boat, and makes real-time judgments on the loop.

[0030] As a further improvement of the above technical solution:

[0031] The optical imager and temperature, salinity and depth measuring instrument installed on the monitoring catenary are in a normally open state during the mission to obtain continuous parameter information.

[0032] After the unmanned ship returns, the navigation record data is exported, corresponding to the synchronized acquisition time, and the water quality parameters of the corresponding water area can be obtained at any time node.

[0033] The beneficial effects of this application are as follows:

[0034] This application uses an unmanned ship to replace the manual ship in the prior art. The unmanned ship can be used to perform monitoring tasks in special environments such as shallow waters and sewage areas, has the ability to continuously operate, can operate alone or synchronously with multiple ships, and has higher efficiency and lower cost.

[0035] Compared with ordinary unmanned ships, the unmanned ship equipped with a monitoring catenary can synchronously carry out the monitoring of hydrological parameters and plankton in the surface, middle and bottom layers, with a larger range and higher efficiency.

[0036] The catenary in this application adopts a double-chain structure, which is more stable than the single-chain structure in the comparative document or the prior art. When moving in the water with the ship, it can maintain a relatively vertical state more stably and measure the water quality parameters of the surface, middle and bottom layers at the same coordinate point.

[0037] The frame structure installed on the catenary in this application is hollowed out, which can reduce the resistance of dragging the catenary and is not easy to affect or disperse the organisms in the water area. On this basis, the installation method of the sensor group also takes into account preventing the influence of the fluctuating water flow in the front or on both sides on the measurement data, improving the measurement accuracy. Brief Description of the Drawings

[0038] Figure 1 It is the rear view of the structure of the unmanned ship of this application.

[0039] Figure 2 It is the side view of the structure of the unmanned ship of this application.

[0040] Figure 3 It is the schematic diagram of the structure of the installation base of this application.

[0041] Among them: 1. Hull; 2. Anemometer and wind vane; 3. Differential positioning instrument; 4. Communication antenna; 5. Propeller; 6. Main control cabin; 7. Detection catenary; 8. Installation base; 9. Lead fish; 10. Stern frame;

[0042] 801. Connection hole; 802. Horizontal installation hole; 803. Vertical installation bracket; 804. Protection frame. Detailed Description of the Invention

[0043] The following will describe the specific implementation manners of this application with reference to the drawings.

[0044] As Figures 1 - 3As shown, the unmanned ship multi-layer plankton monitoring system of this embodiment is mounted on the unmanned ship hull 1, including an onboard part and an underwater part.

[0045] The underwater section includes:

[0046] The monitoring catenary is led out from the stern frame 10 of the hull 1.

[0047] The mounting base 8 is provided with multiple groups, connected to the monitoring catenary; the mounting base 8 is equipped with an optical imager and a temperature-salinity-depth measuring instrument.

[0048] Lead fish 9, located at the bottom of the monitoring catenary,

[0049] During the navigation of the hull 1, the optical imager and the temperature, salinity and depth measuring instrument detect and obtain the water quality parameters in the three-dimensional coordinate system of the water area.

[0050] The mounting bases 8 are arranged on the monitoring catenary at equal intervals; the centers of gravity of all the mounting bases 8 are collinear.

[0051] The mounting base 8 includes a protective frame 804 , in which mutually perpendicular horizontal mounting holes 802 and vertical mounting brackets 803 are provided; the optical imager is assembled in the horizontal mounting hole 802 , and the temperature-salinity-depth measuring instrument is mounted on the vertical mounting bracket 803 .

[0052] The protection frame 804 has at least two horizontal mounting blocks built therein, and the horizontal mounting holes 802 pass through the horizontal mounting blocks and are coaxially arranged.

[0053] The temperature, salinity and depth measuring instrument is installed on the side of the horizontal mounting block away from the direction of navigation.

[0054] The monitoring catenary is composed of at least two chains.

[0055] The onboard parts include:

[0056] The differential positioner 3 is located on the top of the hull 1.

[0057] Wind speed and direction instrument 2, located at the bow of hull 1,

[0058] The communication antenna 4 is installed above the stern frame 10.

[0059] The propeller 5 is installed at the bottom of the hull 1.

[0060] The main control cabin 6 is located inside the hull 1 .

[0061] The monitoring method using the unmanned vessel multi-layer plankton monitoring system of this embodiment includes the following steps:

[0062] Preparation stage:

[0063] Pre-assemble the installation base 8, adjust the quantity and spacing of the installation bases 8 on the monitoring catenary according to the expected requirements, and install a lead fish 9 at the bottom of the monitoring catenary.

[0064] Testing stage:

[0065] In the automatic mode, the user presets the monitoring route, and the unmanned ship sails along the route and transmits the measured information to the shore base in real time; when the sea conditions do not meet the expected navigation conditions, the unmanned ship returns.

[0066] In the manual mode, the user wirelessly controls the navigation of the unmanned ship at the shore base, synchronously receives the information transmitted back by the unmanned ship, and the user makes a real-time judgment on the loop.

[0067] The optical imagers and CTDs installed on the monitoring catenary are in the always-on state during the mission to obtain continuous parameter information.

[0068] After the unmanned ship returns, export the navigation record data, corresponding to the synchronous acquisition time, to know the water quality parameters of the corresponding water area at any time node.

[0069] The specific structure and working principle of this application are as follows:

[0070] The biggest improvement of this application lies in the use of the unmanned ship. The advantage of the unmanned ship is to reduce the cost of using the ship and solve the problems of deep draft and large volume. On this basis, this application further improves the hanging part, simplifies the hanging part into two catenaries and the frames installed on the catenaries. Only one set of mounting blocks and two information acquisition components are set in the frame, which greatly simplifies the monitoring structure in the prior art.

[0071] As Figure 1 and Figure 2 shown, the navigation main body uses an unmanned ship, and a monitoring array is carried on the unmanned ship. The unmanned ship body includes a hull 1, an anemometer and wind vane 2, a wave height meter, a differential positioning instrument 3, a communication antenna 4, a thruster 5, a battery pack and a main control module. The specific installation positions are as follows: the differential positioning instrument 3 is installed on the top of the hull 1 of the unmanned ship, the anemometer and wind vane 2 is installed at the bow, the communication antenna 4 is installed above the frame 10 at the stern, the thruster 5 is installed at the bottom, and a main control cabin 6 composed of a control system and a battery is arranged inside the hull 1.

[0072] The monitoring catenary is installed on the frame 10 at the stern and provided with anti-disconnection buckles.

[0073] Among them, the monitoring array includes CTDs and optical imagers evenly distributed on the monitoring catenary. The catenary is fixed on the frame at the stern of the hull 1 using buckles. A lead fish 9 is arranged at the bottom of the catenary, and a current meter is installed at the head of the lead fish 9. The rest of the on-board equipment is equipment in the prior art and is not described in detail in this embodiment for the working conditions of this application.

[0074] The monitoring catenary used to install the monitoring array has a main body made of stainless steel chain, which is connected to multiple mounting bases 8. In this embodiment, three mounting bases 8 are evenly spaced on a set of monitoring catenary, respectively used to measure the water quality parameters of the surface, middle and bottom layers.

[0075] The structure of each mounting base 8 is as follows Figure 3 As shown, the protective frame 804 comprises a cubic structure. Two collinear horizontal mounting blocks are positioned within the protective frame 804. Each horizontal mounting block has a through hole, namely, a horizontal mounting hole 802. The two horizontal mounting holes 802 are coaxial, and the line connecting them is perpendicular to the monitoring catenary. Horizontal mounting holes 802 are used to mount a position-limiting optical imager. The optical imager faces outboard.

[0076] On the side of the horizontal mounting block facing away from the unmanned boat's forward direction, a vertical mounting bracket 803 is provided. The vertical mounting bracket 803 consists of two pieces, through which the temperature-salinity-depth measurement instrument is mounted for position limiting. The temperature-salinity-depth measurement instrument faces directly downward.

[0077] At this point, the internal structure of the mounting base 8 is installed.

[0078] A connecting hole 801 is also formed on the mounting base 8, and the chain links of the detection catenary 7 are connected to the connecting hole 801. The mounting base 8 is hung on the monitoring catenary to ensure that the center of gravity of all mounting bases 8 is on the same vertical line and exactly located on the center line of the two chains, forming a stable monitoring suspension structure.

[0079] In actual use, the specific steps are as follows:

[0080] Before testing, adjust the spacing and number of monitoring devices on the monitoring catenary as needed. Typically, they are set separately for the surface layer (1m water depth), the middle layer (half the height from the bottom), and the bottom layer (2-4m from the bottom). A lead fish 9 is placed at the bottom of the monitoring catenary. An optical imager is mounted horizontally on the monitoring device mounting base 8, while a temperature, salinity, and depth meter is mounted vertically. Both the optical imager and temperature, salinity, and depth meter have their own power supplies.

[0081] During the test, the unmanned boat was used in two modes: automatic mode and manual mode.

[0082] In automatic mode, the user presets the monitoring route, the unmanned boat performs the task as planned, and sends real-time location information and environmental information such as wind speed and direction to the shore through the communication antenna 4. If the sea conditions do not meet the safe use conditions, the unmanned boat returns autonomously.

[0083] In manual mode, the user wirelessly controls the navigation of the unmanned boat from the shore, and simultaneously receives the location and environmental information sent back by the unmanned boat, and the person in the loop makes real-time judgments.

[0084] It should be noted that the monitoring equipment on the unmanned vessel's monitoring catenary remains in operation during the mission. The optical imager uses images and video to record the activities of plankton, such as hair shrimp, while the temperature, salinity, and depth sensors collect information on the plankton's living environment, including temperature, salinity, and depth of each water layer.

[0085] After the unmanned boat returns, the optical imager, temperature, salinity and depth sensor and the unmanned boat's navigation record data are exported. After synchronizing the collection time, the hydrological environment parameters and plankton activity of the specified area can be obtained.

[0086] The advantage of this application is that monitoring plankton in the water layer does not require collecting and temporarily storing the plankton, thereby reducing the load on the ship. This is especially true when large-scale monitoring is required, as the amount of sample collected is also a large load. This application directly uses image recording, which reduces the structural complexity of the hull 1 and the strength requirements of the catenary.

[0087] Since the sampling process has been eliminated, there is no need to dock during the voyage, which improves monitoring efficiency.

[0088] The catenary in this application adopts a double-chain structure, which is more stable than a single-chain structure and provides more accurate measured data. A frame is mounted on the double chain. The frame is smaller in size and less likely to affect or disperse organisms in the water. The internal structure of the frame also leaves enough space for water to flow through, which reduces the forward resistance of the catenary. With the help of the lead fish 9, the catenary can remain suspended during navigation.

[0089] This application uses a temperature, salinity, and depth measuring instrument and an optical imager to simultaneously obtain images of underwater microbial distribution and environmental data; and the temperature, salinity, and depth measuring instrument is placed on the side of the mounting block away from the forward direction. The advantage of this design is that it shields the temperature, salinity, and depth measuring instrument to prevent the fluctuating water flow in front or on both sides from affecting the measurement data, thereby providing a certain degree of protection for the temperature, salinity, and depth measuring instrument.

[0090] The above description is an explanation of the present application, not a limitation of the invention. The scope of the present application is defined in the claims. Any form of modification may be made within the scope of protection of the present application.

Claims

1. An unmanned ship multi-layer plankton monitoring system, characterized in that: The device is mounted on the hull of the unmanned ship (1), including the onboard part and the underwater part. The underwater section includes: The monitoring catenary is led out from the stern frame (10) of the hull (1), The mounting base (8) is provided with multiple groups and connected to the monitoring catenary; the mounting base (8) is equipped with an optical imager and a temperature-salinity-depth measuring instrument. Lead fish (9), located at the bottom of the monitoring catenary, During the navigation of the hull (1), the optical imager and the temperature, salinity and depth measuring instrument detect and obtain water quality parameters on a three-dimensional coordinate system in the water area.

2. The multi-layer plankton monitoring system for unmanned vessels according to claim 1, characterized in that: The mounting bases (8) are arranged on the monitoring catenary at equal intervals; the centers of gravity of all the mounting bases (8) are collinear.

3. The multi-layer plankton monitoring system for unmanned vessels according to claim 1, characterized in that: The mounting base (8) includes a protective frame (804), and mutually perpendicular horizontal mounting holes (802) and a vertical mounting bracket (803) are provided in the protective frame (804); the optical imager is assembled in the horizontal mounting hole (802), and the temperature-salinity-depth measuring instrument is mounted on the vertical mounting bracket (803).

4. The multi-layer plankton monitoring system for unmanned boats according to claim 3, characterized in that: The protection frame (804) is internally provided with at least two horizontal mounting blocks, and the horizontal mounting holes (802) pass through the horizontal mounting blocks and are coaxially arranged.

5. The multi-layer plankton monitoring system for unmanned vessels according to claim 4, characterized in that: The temperature, salinity and depth measuring instrument is installed on the side of the horizontal mounting block away from the direction of navigation.

6. The multi-layer plankton monitoring system for unmanned vessels according to claim 1, characterized in that: The monitoring catenary is composed of at least two chains.

7. The multi-layer plankton monitoring system for unmanned boats according to claim 1, characterized in that: The onboard parts include: A differential positioner (3), located on top of the hull (1), Anemometer (2), located at the bow of the hull (1), The communication antenna (4) is installed above the stern frame (10). A propeller (5) is installed at the bottom of the hull (1). The main control cabin (6) is located inside the hull (1).

8. A monitoring method using the unmanned ship multi-layer plankton monitoring system according to claim 1, characterized in that, The steps include: Preparation stage: Pre-assemble the mounting base (8), adjust the number and spacing of the mounting base (8) on the monitoring catenary according to the expected needs, and install a lead fish (9) at the bottom of the monitoring catenary. Testing phase: In automatic mode, the user presets the monitoring route, and the unmanned vessel travels along the route and sends the measured information to the shore in real time; if the sea conditions do not meet the expected navigation conditions, the unmanned vessel returns to the shore. In manual mode, the user wirelessly controls the navigation of the unmanned boat from the shore, and simultaneously receives the information sent back by the unmanned boat, and makes real-time judgments on the loop.

9. The monitoring method according to claim 8, characterized in that, The optical imager and temperature, salinity and depth measuring instrument installed on the monitoring catenary are in a normally open state during the mission to obtain continuous parameter information.

10. The monitoring method according to claim 9, wherein, After the unmanned boat returns, the navigation record data is exported and the corresponding synchronous collection time is obtained, so that the water quality parameters of the corresponding water area at any time point can be obtained.

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