Ecological water area environment cruise monitoring device

Abstract

The invention discloses a cruise monitoring device for an ecological water area environment. The cruise monitoring device comprises a shell, a monitoring device, a steering device and a floating and sinking control device, the monitoring device is arranged at the head of the shell, the steering device is arranged at the tail of the shell, and the floating and sinking control device is located between the monitoring device and the steering device and connected with the shell. The device is controlled to float, sink and move freely in a water area through cooperation of the steering device and the floating and sinking control device, accuracy and real-time performance of monitoring data are guaranteed, meanwhile, through cooperation of the steering device and the shell, adverse effects of the device on aquatic animals and plants in the water area are prevented, and balance of efficient monitoring and ecological protection is achieved. According to the invention, the water quality at different depths and different positions in a water area is monitored, and meanwhile, the sensor used in the device can be self-cleaned, so that the monitoring data lag of the sensor or the monitoring blind area caused by attachments can be prevented.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of water quality monitoring, and particularly relates to an ecological water environment cruising monitoring device. BACKGROUND

[0002] Ecological waters usually have good water quality, rich plant and animal communities, stable ecological balance, and a harmonious symbiotic relationship with the surrounding environment; however, ecological waters are extremely susceptible to climate change, alien species, and human production activities, and may appear phenomena such as water pollution, drought, and destruction of native ecological balance; therefore, it is necessary to monitor and protect the waters to ensure the sustained and stable ecological function thereof;

[0003] After searching, the prior art with publication number CN117969783B discloses a water ecological monitoring device with anti-winding function, which floats on the water surface to monitor the water quality, and cuts the winding object outside the single-flow direction telescopic cutting machine during the monitoring process, while the connecting pipe sprays pressure water through the water guide hole to flush away the winding object on the single-flow direction telescopic cutting machine; however, the device is difficult to monitor the water quality in the deep part of the waters, and the single-flow direction telescopic cutting machine may accidentally injure fish and other aquatic organisms;

[0004] After searching, the prior art with publication number CN222212745U discloses a water ecological environment monitoring and early warning device, which is installed on a certain part of the water to be monitored by the cooperation of the mounting frame and the adjusting rod, and the water quality monitoring instrument is powered by the storage battery, so that the monitoring probe immersed in the water cooperates with the water quality monitoring instrument to monitor the water quality; the alarm starts to alarm when the water quality monitoring instrument detects abnormal water quality; however, the device can only monitor the water quality within a fixed range, and it takes a certain time for the pollutants to spread in the water, so when the device detects abnormal water quality, the pollutants may have spread widely in the waters; and the monitoring probe in the device is easily covered by algae and shellfish, resulting in distorted monitoring data. SUMMARY

[0005] The purpose of the present application is to overcome the shortcomings in the prior art and provide an ecological water environment cruising monitoring device, which can clean the impurities attached to the sensor while freely floating and moving in the waters by the cooperation of the steering device and the floating and sinking control device, thereby ensuring the accuracy of the sensor monitoring results.

[0006] In order to achieve the above-mentioned purpose, the technical solution adopted by the present application is as follows:

[0007] An ecological water environment cruising monitoring device, comprising an outer shell, a monitoring device, a steering device, and a floating and sinking control device; the monitoring device is arranged at the head of the outer shell, the steering device is arranged at the tail of the outer shell, and the floating and sinking control device is connected between the monitoring device and the steering device and the outer shell.

[0008] The outer shell is fixedly connected to the mounting box, which has partitions I and II at both ends. A pair of grid plates I are located outside the partitions I and fixedly connected to the water inlet grooves symmetrically arranged on both sides of the outer shell. The tail end of the outer shell is provided with a connecting groove. The mounting box is located on one side of the partition II and fixedly connected to the head of the outer shell and the mounting box. The mounting box has a connecting port and a discharge port on both sides. The connecting box I is fixedly connected to the tail of the outer shell and the mounting box. One end of the connecting box I is fixedly connected to the connecting groove. The exhaust port and the water inlet I are located above and below the outer shell, respectively. The air inlet pipe is located on the exhaust port side and fixedly connected to the outer shell and the mounting box.

[0009] The monitoring device includes a rotating box, a connecting pipe, a junction box, a motor I, a water pump, a filter, a water inlet II, a cleaning mechanism, a centrifugal pump, a discharge pipe, and a connecting box III. The rotating box has a fixed plate inside, and its bottom is fixedly connected to a sprocket I located at one end of the connecting box II via a connecting shaft passing through through holes in the mounting box and the connecting box II. The other end of the connecting box II is fixedly connected to a partition II. One end of the connecting pipe is rotatably connected to the rotating box, and the other end passes through a through hole in the mounting box and is fixedly connected to one end of the junction box. The other end of the junction box is fixedly connected to the partition II. The motor I is fixedly connected to the partition II via a motor mount. The motor I output sprocket is connected to the motor I via a chain passing through the connecting box II; the water pump outlet is fixedly connected to the connection port via a pipe passing through the through hole on the partition II, and the water inlet is fixedly connected to the filter fixedly connected to the mounting box via a pipe, and the filter is provided with a water inlet II; the cleaning mechanism is located between the rotating box and the mounting box; the centrifugal pump outlet is fixedly connected to the through hole on the partition I via a discharge pipe, and the inlet is fixedly connected to the connecting box III fixedly connected to the partition II via a pipe, and one end of the connecting box III is located outside the discharge port and fixedly connected to the mounting box.

[0010] The cleaning mechanism includes a guide groove, electric push rod I, rack, roller brush, rotating frame, filter plate, electric push rod II, scraper, connecting plate I, and rotating mechanism. One side of the rack is slidably connected to the guide groove fixedly connected to the partition plate II, and the cylinder of electric push rod I is located above the guide groove and fixedly connected to the partition plate II, with its extended end fixedly connected to the rack via the connecting plate. The roller brush and rotating frame are located on one side of the rotating box and rotatably connected to the mounting box, and several filter plates are fixedly connected to the rotating frame. The cylinder of electric push rod II is fixedly connected to the outside of the mounting box via a connecting seat, with its extended end fixedly connected to one end of connecting plate I. The scraper is located in a groove at the bottom of the discharge port, and the bottom of the scraper is fixedly connected to the other end of connecting plate I via a connecting rod passing through a through hole in the mounting box, with a gap between the scraper and the arc edge and the inner wall of the mounting box. The rotating mechanism has two sets, and the two sets of rotating mechanisms are symmetrically arranged above the roller brush and rotating frame and fixedly connected to the top of the mounting box.

[0011] The rotating mechanism includes a connecting frame, a turntable, a gear, a rotating plate, and push blocks. One end of the connecting frame is fixedly connected to the mounting box, and the other end is rotatably connected to the gear via a connecting shaft. The rotating plate is fixedly connected below the gear. A pair of push blocks are provided, located inside the turntable and rotatably connected to both ends of the rotating plate. The turntables in the two sets of rotating mechanisms are fixedly connected to the roller brush and the rotating frame respectively via a connecting shaft passing through a through hole on the mounting box.

[0012] The steering device includes a hemispherical guide groove, a grid plate II, a sprocket II, blades, a motor II, and a motor III. The hemispherical guide groove is rotatably connected to a connecting groove via a connecting shaft. The grid plate II is fixedly connected to the hemispherical guide groove, and the connecting shaft at the bottom of the hemispherical guide groove passes through a through hole in the connecting groove and is fixedly connected to the sprocket II located in the connecting box I. The motor III is fixedly connected to the mounting box via a connecting seat. The output end of the motor III passes through a through hole in the connecting box I and is fixedly connected to the sprocket. The sprocket at the output end of the motor III is connected to the sprocket II via a chain. The motor II is fixedly connected to the partition plate I via a motor seat, and the output end of the motor II passes through a through hole in the partition plate I via a connecting shaft and is fixedly connected to the blades.

[0013] The buoyancy control device includes a high-pressure air chamber, a high-pressure air pump, a high-pressure air valve, electric actuators III, IV, and V, a sealing column, and a connecting plate II. The high-pressure air chamber is fixedly connected to the mounting box and partition I, and the high-pressure air valve is located inside the high-pressure air chamber and fixedly connected to the mounting box. The high-pressure air pump is fixedly connected to the bottom of the high-pressure air chamber via a connecting seat, and the air outlet of the high-pressure air pump is fixedly connected to the high-pressure air chamber via a pipe. The cylinder of electric actuator III is fixedly connected to the connecting plate II via a connecting seat, and its protruding end passes through the connecting groove on the mounting box and is slidably connected to the water inlet I via a sealing cover. The cylinder of electric actuator IV is fixedly connected to the connecting plate II via a connecting seat, and its protruding end passes through the connecting groove on the mounting box and is slidably connected to the exhaust port via a sealing cover. The cylinder of electric actuator V is fixedly connected to the other side of the connecting plate II via a connecting seat, and its protruding end is slidably connected to the air inlet pipe via a sealing column.

[0014] The support plate is located above the discharge pipe and is fixedly connected to the bottom of the mounting box. Battery I, Battery II, LoRa switch module and telemetry terminal are located below the high-pressure air chamber and are fixedly connected to the support plate.

[0015] The ammonia nitrogen sensor, chlorophyll sensor, conductivity sensor, turbidity sensor, and underwater camera are located inside the rotating box and fixedly connected to the fixed plate. One end of each of the ammonia nitrogen sensor, chlorophyll sensor, conductivity sensor, turbidity sensor, and underwater camera is fixedly connected to several connection holes on the side wall of the rotating box.

[0016] The ammonia nitrogen sensor, chlorophyll sensor, conductivity sensor, turbidity sensor, and underwater camera are connected to the telemetry terminal via connecting cables passing through connecting pipes and junction boxes. The power for the ammonia nitrogen sensor, chlorophyll sensor, conductivity sensor, turbidity sensor, underwater camera, and telemetry terminal is provided by battery II.

[0017] The switches for the water pump, centrifugal pump, high-pressure air pump, high-pressure air valve, and all motors and electric actuators are connected to the LoRa switching module, and the power for the LoRa switching module, water pump, centrifugal pump, high-pressure air pump, high-pressure air valve, and all motors and electric actuators is provided by battery I.

[0018] The advantages of this invention compared to existing technologies are as follows:

[0019] 1) The smooth surface of the outer shell and hemispherical guide groove can not only reduce the frictional resistance of the device in the water, improve the cruising efficiency, save the energy consumption of the steering device, and extend the endurance, but also prevent the monitoring device from getting tangled in aquatic plants and entering the water for monitoring, thus avoiding the obstruction of aquatic plants and affecting the movement of the monitoring device in the water.

[0020] 2) By cooperating with the steering device and the buoyancy control device, the device can move at different depths in the water, which not only allows the monitoring range of the device to cover the three-dimensional space of the water, improving the real-time performance and accuracy of monitoring, but also ensures the timeliness of detecting water anomalies.

[0021] 3) By using the mounting box and cleaning mechanism together, weeds and other debris covering the sensors and cameras can be cleaned to prevent the attachments from causing sensor monitoring data lag or blind spots.

[0022] 4) By cooperating with the hemispherical guide groove and grid plate II in the steering device, the blades are installed inside the monitoring device to avoid damage to aquatic organisms during the operation of the blades, thus achieving a balance between efficient monitoring and ecological protection. Attached Figure Description

[0023] Appendix Figure 1 This is a schematic diagram of the structure of an ecological aquatic environment patrol and monitoring device according to the present invention;

[0024] Appendix Figure 2 It is attached Figure 1 A schematic diagram of the cross-sectional structure of the inner and outer shells;

[0025] Appendix Figure 3 It is attached Figure 1 A schematic diagram of the connection structure between the monitoring device, the buoyancy control device and the outer shell;

[0026] Appendix Figure 4 It is attached Figure 1 Schematic diagram of the connection structure between the hemispherical guide groove and the outer shell;

[0027] Appendix Figure 5 It is attached Figure 1 Schematic diagram of the connection structure between the monitoring device and the outer casing;

[0028] Appendix Figure 6 It is attached Figure 1 A schematic diagram of the monitoring device in the middle;

[0029] Appendix Figure 7 It is attached Figure 6 A magnified structural diagram of part A in the middle;

[0030] Appendix Figure 8 It is attached Figure 1 Schematic diagram of the rotating mechanism;

[0031] Appendix Figure 9 It is attached Figure 1 A schematic diagram of the cleaning mechanism;

[0032] Appendix Figure 10 It is attached Figure 9 A magnified structural diagram of part B in the middle section;

[0033] Appendix Figure 11 It is attached Figure 1 Schematic diagram of the connection structure between the cleaning mechanism and the mounting box;

[0034] Appendix Figure 12 It is attached Figure 1 Schematic diagram of the rotating box structure;

[0035] Appendix Figure 13 It is attached Figure 1 Schematic diagram of the connection structure between the rotating box and the mounting box;

[0036] Appendix Figure 14 It is attached Figure 1 Schematic diagram of the internal structure of the inner and outer shells;

[0037] Appendix Figure 15 It is attached Figure 1 Wiring control diagram of LoRa digital input module and telemetry terminal;

[0038] Appendix Figure 16 This is a schematic diagram of the flow direction of water / air in an ecological aquatic environment patrol and monitoring device;

[0039] In the diagram: 1. Outer shell; 101. Mounting box; 1011. Partition I; 1012. Partition II; 102. Mesh plate I; 103. Connecting box I; 104. Exhaust port; 105. Air inlet pipe; 106. Water inlet I; 107. Water inlet trough; 108. Mounting box; 1081. Connection port; 1082. Discharge port; 109. Connecting groove; 2. Monitoring device; 201. Rotating box; 2011. Sprocket I; 2012. Connecting pipe; 2013. Junction box; 2014. Connection box II; 2015. Fixing plate; 202. Motor I; 203. Water pump; 2031. Filter; 2032. Inlet II; 204. Cleaning mechanism; 2041. Guide groove; 2042. Electric actuator I; 2043. Rack; 2044. Roller brush; 2045. Rotating frame; 2046. Filter plate; 2047. Electric actuator II; 2048. Scraper; 2049. Connection plate I; 2 05. Centrifugal pump; 2051. Discharge pipe; 2052. Connecting box III; 206. Rotating mechanism; 2061. Connecting frame; 2062. Turntable; 2063. Gear; 2064. Rotating plate; 2065. Push block; 3. Steering device; 301. Hemispherical guide groove; 3011. Grid plate II; 3012. Sprocket II; 302. Blade; 303. Motor II; 304. Motor III; 4. Buoyancy control device; 401. High pressure Air chamber; 402, High-pressure air pump; 403, High-pressure air valve; 404, Electric actuator III; 405, Electric actuator IV; 406, Electric actuator V; 4061, Sealing column; 407, Connecting plate II; 5, Support plate; 6, Battery I; 7, Battery II; 8, LoRa switch module; 9, Telemetry terminal; 10, Ammonia nitrogen sensor; 11, Chlorophyll sensor; 12, Conductivity sensor; 13, Turbidity sensor; 14, Underwater camera. Detailed Implementation

[0040] To facilitate understanding by those skilled in the art, the following is a detailed explanation in conjunction with the appendix. Figures 1-16 The technical solution of the present invention will be further described in detail below.

[0041] An ecological aquatic environment patrol and monitoring device includes a shell 1, a monitoring device 2, a steering device 3, and a buoyancy control device 4; the monitoring device 2 is located at the head of the shell 1, the steering device 3 is located at the tail of the shell 1, and the buoyancy control device 4 is located between the monitoring device 2 and the steering device 3 and connected to the shell 1.

[0042] The outer shell 1 is fixedly connected to the mounting box 101, which has partitions I 1011 and II 1012 at both ends. A pair of mesh plates I 102 are located outside the partitions I 1011 and are fixedly connected to the water inlet grooves 107 symmetrically arranged on both sides of the outer shell 1. The tail end of the outer shell 1 is provided with a connecting groove 109. The mounting box 108 is located on one side of the partition II 1012 and is fixedly connected to the head of the outer shell 1 and the mounting box 101. The mounting box 108 is provided with a connecting port 1081 and a discharge port 1082 on both sides. The connecting box I 103 is fixedly connected to the tail of the outer shell 1 and the mounting box 101. One end of the connecting box I 103 is fixedly connected to the connecting groove 109. The exhaust port 104 and the water inlet I 106 are respectively located above and below the outer shell 1. The air inlet pipe 105 is located on one side of the exhaust port 104 and is fixedly connected to the outer shell 1 and the mounting box 101.

[0043] The monitoring device 2 includes a rotating box 201, a connecting pipe 2012, a junction box 2013, a motor I 202, a water pump 203, a filter 2031, a water inlet II 2032, a cleaning mechanism 204, a centrifugal pump 205, a discharge pipe 2051, and a connecting box III 2052. The rotating box 201 has a fixed plate 2015 inside. Its bottom is fixedly connected to a sprocket I 2011 at one end of the connecting box II 2014 via a connecting shaft passing through through holes in the mounting box 108 and the connecting box II 2014. The other end of the connecting box II 2014 is fixedly connected to a partition plate II 1012. One end of the connecting pipe 2012 is rotatably connected to the rotating box 201, and the other end passes through a through hole in the mounting box 108 and is fixedly connected to one end of the junction box 2013. The other end of the junction box 2013 is fixedly connected to the partition plate II 1012. The motor I 202 is electrically connected to... The base is fixedly connected to partition II 1012, and the sprocket on the output end of motor I 202 is connected to sprocket I 2011 via a chain passing through connecting box II 2014; the outlet of water pump 203 is fixedly connected to connection port 1081 via a pipe passing through the through hole on partition II 1012, and the inlet is fixedly connected to filter 2031 fixedly connected to mounting box 101 via a pipe, and filter 2031 is provided with inlet II 2032; the cleaning mechanism 204 is located between rotating box 201 and mounting box 108; the outlet of centrifugal pump 205 is fixedly connected to the through hole on partition I 1011 via discharge pipe 2051, and the inlet is fixedly connected to connecting box III 2052 fixedly connected to partition II 1012 via a pipe, and one end of connecting box III 2052 is located outside discharge port 1082 and fixedly connected to mounting box 108.

[0044] The cleaning mechanism 204 includes a guide groove 2041, an electric push rod I 2042, a rack 2043, a roller brush 2044, a rotating frame 2045, a filter plate 2046, an electric push rod II 2047, a scraper 2048, a connecting plate I 2049, and a rotating mechanism 206. One side of the rack 2043 is slidably connected to the guide groove 2041, which is fixedly connected to the partition plate II 1012. The cylinder of the electric push rod I 2042 is located above the guide groove 2041 and fixedly connected to the partition plate II 1012, with its extended end fixedly connected to the rack 2043 via the connecting plate. The roller brush 2044 and the rotating frame 2045 are located on one side of the rotating box 201 and rotatably connected to the mounting box 108. The dry filter plate 2046 is fixedly connected to the rotating frame 2045; the cylinder of the electric push rod II 2047 is fixedly connected to the outside of the mounting box 108 through the connecting seat, and the extended end is fixedly connected to one end of the connecting plate I 2049; the scraper 2048 is located in the groove at the bottom of the discharge port 1082, and the bottom of the scraper 2048 is fixedly connected to the other end of the connecting plate I 2049 through the through hole on the mounting box 108 via the connecting rod, and there is a gap between the scraper 2048 and the arc edge and the inner wall of the mounting box 108; the rotating mechanism 206 is provided in two sets, and the two sets of rotating mechanisms 206 are symmetrically arranged above the roller brush 2044 and the rotating frame 2045 and fixedly connected to the top of the mounting box 108.

[0045] The rotating mechanism 206 includes a connecting frame 2061, a turntable 2062, a gear 2063, a rotating plate 2064, and a pusher block 2065. One end of the connecting frame 2061 is fixedly connected to the mounting box 108, and the other end is rotatably connected to the gear 2063 via a connecting shaft. The rotating plate 2064 is fixedly connected below the gear 2063. A pair of pushers 2065 are provided, located inside the turntable 2062 and rotatably connected to both ends of the rotating plate 2064 respectively. The turntable 2062 in the two sets of rotating mechanisms 206 is fixedly connected to the roller brush 2044 and the rotating frame 2045 respectively via a connecting shaft passing through a through hole on the mounting box 108.

[0046] The steering device 3 includes a hemispherical guide groove 301, a grid plate II 3011, a sprocket II 3012, a blade 302, a motor II 303, and a motor III 304. The hemispherical guide groove 301 is rotatably connected to the connecting groove 109 via a connecting shaft. The grid plate II 3011 is fixedly connected to the hemispherical guide groove 301, and the connecting shaft at the bottom of the hemispherical guide groove 301 passes through a through hole in the connecting groove 109 and is fixedly connected to the sprocket II 3012 located in the connecting box I 103. The motor III 304 is fixedly connected to the mounting box 101 via a connecting seat. The output end of the motor III 304 passes through a through hole in the connecting box I 103 and is fixedly connected to the sprocket. The sprocket at the output end of the motor III 304 is connected to the sprocket II 3012 via a chain. The motor II 303 is fixedly connected to the partition plate I 1011 via a motor seat, and the output end of the motor II 303 passes through a through hole in the partition plate I 1011 via a connecting shaft and is fixedly connected to the blade 302.

[0047] The buoyancy control device 4 includes a high-pressure air chamber 401, a high-pressure air pump 402, a high-pressure air valve 403, an electric actuator III 404, an electric actuator IV 405, an electric actuator V 406, a sealing column 4061, and a connecting plate II 407. The high-pressure air chamber 401 is fixedly connected to the mounting box 101 and the partition I 1011, and the high-pressure air valve 403 is located inside the high-pressure air chamber 401 and fixedly connected to the mounting box 101. The high-pressure air pump 402 is fixedly connected to the bottom of the high-pressure air chamber 401 through a connecting seat, and the air outlet of the high-pressure air pump 402 is connected to the high-pressure air chamber 401 through a pipe. Fixed connection; the cylinder body of the electric actuator III 404 is fixedly connected to the connecting plate II 407 via a connecting seat, and the protruding end passes through the connecting groove on the mounting box 101 and is slidably connected to the water inlet I 106 via a sealing cover; the cylinder body of the electric actuator IV 405 is fixedly connected to the connecting plate II 407 via a connecting seat, and the protruding end passes through the connecting groove on the mounting box 101 and is slidably connected to the exhaust port 104 via a sealing cover; the cylinder body of the electric actuator V 406 is fixedly connected to the other side of the connecting plate II 407 via a connecting seat, and the protruding end is slidably connected to the air inlet pipe 105 via a sealing post 4061.

[0048] The support plate 5 is located above the discharge pipe 2051 and is fixedly connected to the bottom of the mounting box. The battery I 6, battery II 7, LoRa switch module 8 and telemetry terminal 9 are located below the high-pressure air chamber 401 and are fixedly connected to the support plate 5.

[0049] The ammonia nitrogen sensor 10, chlorophyll sensor 11, conductivity sensor 12, turbidity sensor 13 and underwater camera 14 are located inside the rotating box 201 and are fixedly connected to the fixing plate 2015. One end of the ammonia nitrogen sensor 10, chlorophyll sensor 11, conductivity sensor 12, turbidity sensor 13 and underwater camera 14 are respectively fixedly connected to several connection holes on the side wall of the rotating box 201.

[0050] The ammonia nitrogen sensor 10, chlorophyll sensor 11, conductivity sensor 12, turbidity sensor 13, and underwater camera 14 are connected to the telemetry terminal 9 via connecting cables passing through connecting pipes and junction boxes. The power for the ammonia nitrogen sensor 10, chlorophyll sensor 11, conductivity sensor 12, turbidity sensor 13, underwater camera 14, and telemetry terminal 9 is provided by battery II 7.

[0051] The switches for water pump 203, centrifugal pump 205, high-pressure air pump 402, high-pressure air valve 403, and all motors and electric actuators are connected to LoRa switch module 8, and the power for LoRa switch module 8, water pump 203, centrifugal pump 205, high-pressure air pump 402, high-pressure air valve 403, and all motors and electric actuators is provided by battery I6.

[0052] Appendix Figure 16 In the diagram, ① represents the direction of water flow into the sinking chamber, ② represents the direction of water flow into the sinking chamber, ③ represents the direction of cleaning water flow, ④ represents the direction of high-pressure gas storage and upward flow, ⑤ represents the direction of water flow, and ⑥ represents the direction of water flow into the upward flow. The specific flow processes for ① and ② are as follows: water from the external water area passes through inlet I 106 and enters the space between the outer shell 1 and the mounting box 101. Simultaneously, the water compresses the air existing between the outer shell 1 and the mounting box 101, causing the air to be discharged to the outside through outlet 104. The specific flow process for ③ is as follows: water from the external water area continuously passes through inlet I 106 to replenish the water between the outer shell 1 and the mounting box 101. Simultaneously, the water between the outer shell 1 and the mounting box 101 passes through inlet II 2032, is filtered in filter 2031, and then pumped into the mounting box 108 by pump 203 to cooperate with the cleaning mechanism 204 to complete the cleaning work. Subsequently, centrifugal pump 205 extracts the water from the mounting box 108 through connecting box III 2052. The water is discharged through the discharge pipe 2051 to the turning device 3; the specific flow processes of ④ and ⑥ are as follows: before the monitoring device sinks, outside air continuously passes through the air inlet pipe 105 to replenish the air in the mounting box 101. At the same time, the high-pressure air pump 402 continuously draws the air in the mounting box 101 into the high-pressure air chamber 401 for storage. When the monitoring device sinking in the water needs to float, the high-pressure air in the high-pressure air chamber 401 continuously passes through the high-pressure air valve 403 to quickly fill the space between the outer shell 1 and the mounting box 101. At the same time, the air squeezes the water between the outer shell 1 and the mounting box 101, so that the water between the outer shell 1 and the mounting box 101 continuously passes through the water inlet I 106 back to the outside water area; the specific flow process of ⑤ is that the blade 302 drives the water in the outside water area through the grid plate I 102, and then the water flows along the axial direction of the blade 302 and passes through the grid plate II 3011 back to the outside water area.

[0053] An ecological aquatic environment patrol and monitoring device operates as follows:

[0054] The monitoring device is placed in the water area to be monitored, and then the ammonia nitrogen sensor 10, chlorophyll sensor 11, conductivity sensor 12, and turbidity sensor 13 are controlled to start water quality monitoring. The environment around the monitoring device is photographed and observed by the underwater camera 14. Finally, the monitoring data and the captured images are transmitted to the server in real time through the telemetry terminal 9, thereby realizing water quality monitoring and data transmission of monitoring results.

[0055] The LoRa switch module 8 receives signals from the server and controls the motor II 303 in the steering device 3 to start, causing the blades 302 to drive the water in the water area through the grid plate I 102 and then through the grid plate II 3011 for discharge, as shown in the attached diagram. Figure 16 As shown in ⑤, the monitoring device is propelled by the water flow to move in the water; when a turn is needed, the motor Ⅲ304 is turned on to control the hemispherical guide groove 301 to rotate to the left or right, thereby controlling the direction of the water flow through the grid plate Ⅱ3011 and realizing the turning of the monitoring device in the water; thus, the monitoring device can reach any position in the water area and expand the monitoring range of the monitoring device.

[0056] The LoRa switch module 8 receives signals from the server and controls the electric actuator V 406 in the buoyancy control device 4 to retract, causing the sealing column 4061 to disengage from the air inlet pipe 105. This activates the high-pressure air pump 402, allowing outside air to enter the mounting box 101 through the air inlet pipe 105. The high-pressure air pump 402 then draws air from the mounting box 101 into the high-pressure air chamber 401 for storage. Once the high-pressure air chamber 401 is full, the high-pressure air pump 402 stops, and simultaneously, the electric actuator V 406 extends, causing the sealing column 4061 to re-close the air inlet pipe 105. Then, electric actuators III 404 and IV 405 retract simultaneously, opening the water inlet I 106 and the exhaust port 104, allowing water from the water area to enter the outer casing 1 and... The monitoring device is controlled to sink between the housing 1 and the mounting box 101. By controlling the amount of water entering between the housing 1 and the mounting box 101, the monitoring device can be controlled to sink to different depths in the water for water quality monitoring. Finally, by controlling the electric actuator III 404 to retract, the water inlet I 106 is opened, and the high-pressure air valve 403 is opened. The high-pressure gas in the high-pressure air chamber 401 passes through the high-pressure air valve 403 and enters between the housing 1 and the mounting box 101, squeezing the water between the housing 1 and the mounting box 101 and discharging the water between the housing 1 and the mounting box 101 from the water inlet I 106. After all the water between the housing 1 and the mounting box 101 is discharged, the electric actuator III 404 extends and closes the water inlet I 106, thereby controlling the floating of the monitoring device.

[0057] The LoRa switch module 8 receives signals from the server and controls the electric actuator Ⅲ404 to retract, opening the water inlet Ⅰ106. After activating the water pump 203 in the monitoring device 2, water located between the outer casing 1 and the mounting box 101 enters the filter 2031 through the water inlet Ⅱ2032 for filtration. Then, the water pump 203 fills the space between the rotating box 201 and the mounting box 108. Subsequently, the motor Ⅰ202 controls the rotating box 201 to rotate 360 ​​degrees, scraping away weeds and other attachments from the sidewall of the mounting box 108. Simultaneously, the electric actuator Ⅰ2042 in the cleaning mechanism 204 controls the rack 2043 to drive the rotating mechanism 206, thereby controlling the roller brush 2. 044 Clean the silt and algae remaining on the rotating box 201. At the same time, the rotating frame 2045 filters out the attached material brushed off by the roller brush 2044 and drives it to rotate to the discharge port 1082. Then, the electric actuator II 2047 extends and retracts, controlling the scraper 2048 to slide up and down along the filter plate 2046 to scrape off the impurities filtered out by the filter plate 2046. The centrifugal pump 205 is turned on, so that the water in the mounting box 108 passes through the filter plate 2046, carrying impurities through the connecting box III 2052 and the centrifugal pump 205, and then enters the area where the blade 302 is located through the discharge pipe 2051. Under the operation of the blade 302, it passes through the grid plate II 3011 and returns to the water area. During the cleaning process, the water flow direction is as shown in ③ in the attached figure.

[0058] The extension and retraction control rack 2043 of the electric actuator I 2042 engages with the gears 2063 in the two sets of rotating mechanisms 206, thereby driving the rotating plate 2064 to rotate. When the electric actuator I 2042 extends, the gears 2063 in one set of rotating mechanisms 206 drive the rotating plate 2064 to rotate, thereby throwing a pair of push blocks 2065 apart through centrifugal force. This causes the ends of the push blocks 2065 to engage with the slots in the turntable 2062, pushing the turntable 2062 to drive the roller brush 2044 to rotate clockwise. The pair of push blocks 2065 in the other set of rotating mechanisms 206 retract towards the rotating plate 2064, thereby keeping the rotating frame 2045 stationary. When the electric actuator I 2042 retracts, the pair of push blocks 2065 in one set of rotating mechanisms 206 retract towards the rotating plate 2064, thereby keeping the roller brush 2044 stationary. The other set of rotating mechanisms 206 drives the rotating frame 2045 to rotate counterclockwise.

[0059] After cleaning is completed, water pump 203 and centrifugal pump 205 are turned off, electric actuator Ⅲ404 extends to re-close water inlet Ⅰ106, and at the same time motor Ⅰ202 reverses, driving rotating box 201 to reverse and reset.

[0060] In the description of this invention, unless otherwise stated, "a number" means two or more; the terms "upper," "lower," "left," "right," "inner," "outer," "front end," "rear end," "head," "tail," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first," "second," "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0061] In summary, the electronic or electrical components, including but not limited to electric actuators, motors, water pumps, centrifugal pumps, LoRa switching modules, telemetry terminals, underwater cameras, and various sensors, are existing components that were custom-made or purchased. The electrical connections between these components are conventional circuit or electrical connections found in existing technologies.

[0062] The above description is merely an example and illustration of the structure of the present invention. Those skilled in the art can make various modifications or additions to the specific embodiments described, or use similar methods to replace them, as long as they do not deviate from the structure of the invention or exceed the scope defined in the claims, all of which should fall within the protection scope of the present invention.

Claims

1. An ecological aquatic environment patrol and monitoring device, comprising a shell, a monitoring device, a steering device, and a buoyancy control device; wherein the monitoring device is located at the head of the shell, the steering device is located at the tail of the shell, and the buoyancy control device is located between the monitoring device and the steering device and connected to the shell; Its features The outer shell is fixedly connected to the mounting box with partitions I and II at both ends. A pair of mesh plates I are located outside the partition I and fixedly connected to the water inlet grooves symmetrically arranged on both sides of the outer shell. The tail end of the outer shell is provided with a connecting groove. The mounting box is located on one side of the partition II and fixedly connected to the head of the outer shell and the mounting box. The mounting box is provided with a connecting port and a discharge port on both sides. Connection box I is fixedly connected to the outer shell and the rear of the mounting box, and one end of connection box I is fixedly connected to the connection groove; The exhaust port and water inlet I are located at the top and bottom of the outer casing, respectively, and the air inlet pipe is located on the side of the exhaust port and is fixedly connected to the outer casing and the mounting box; The monitoring device includes a rotating box, a connecting pipe, a junction box, a motor I, a water pump, a filter, a water inlet II, a cleaning mechanism, a centrifugal pump, a discharge pipe, and a connecting box III. The rotating box has a fixed plate inside, and its bottom is fixedly connected to a sprocket I located at one end of the connecting box II via a connecting shaft passing through through holes in the mounting box and the connecting box II. The other end of the connecting box II is fixedly connected to a partition II. One end of the connecting pipe is rotatably connected to the rotating box, and the other end passes through a through hole in the mounting box and is fixedly connected to one end of the junction box. The other end of the junction box is fixedly connected to the partition II. The motor I is fixedly connected to the partition II via a motor mount. The motor I output sprocket is connected to the motor I via a chain passing through the connecting box II; the water pump outlet is fixedly connected to the connection port via a pipe passing through the through hole on the partition II, and the water inlet is fixedly connected to the filter fixedly connected to the mounting box via a pipe, and the filter is provided with a water inlet II; the cleaning mechanism is located between the rotating box and the mounting box; the centrifugal pump outlet is fixedly connected to the through hole on the partition I via a discharge pipe, and the inlet is fixedly connected to the connecting box III fixedly connected to the partition II via a pipe, and one end of the connecting box III is located outside the discharge port and fixedly connected to the mounting box.

2. The ecological aquatic environment patrol and monitoring device according to claim 1, characterized in that... The cleaning mechanism includes a guide groove, electric push rod I, rack, roller brush, rotating frame, filter plate, electric push rod II, scraper, connecting plate I, and rotating mechanism. One side of the rack is slidably connected to the guide groove fixedly connected to the partition plate II, and the cylinder of electric push rod I is located above the guide groove and fixedly connected to the partition plate II, with its extended end fixedly connected to the rack via the connecting plate. The roller brush and rotating frame are located on one side of the rotating box and rotatably connected to the mounting box, and several filter plates are fixedly connected to the rotating frame. The cylinder of electric push rod II is fixedly connected to the outside of the mounting box via a connecting seat, with its extended end fixedly connected to one end of connecting plate I. The scraper is located in a groove at the bottom of the discharge port, and the bottom of the scraper is fixedly connected to the other end of connecting plate I via a connecting rod passing through a through hole in the mounting box, with a gap between the scraper and the arc edge and the inner wall of the mounting box. The rotating mechanism has two sets, and the two sets of rotating mechanisms are symmetrically arranged above the roller brush and rotating frame and fixedly connected to the top of the mounting box.

3. The ecological aquatic environment patrol and monitoring device according to claim 2, characterized in that... The rotating mechanism includes a connecting frame, a turntable, a gear, a rotating plate, and push blocks. One end of the connecting frame is fixedly connected to the mounting box, and the other end is rotatably connected to the gear via a connecting shaft. The rotating plate is fixedly connected below the gear. A pair of push blocks are provided, located inside the turntable and rotatably connected to both ends of the rotating plate. The turntables in the two sets of rotating mechanisms are fixedly connected to the roller brush and the rotating frame respectively via a connecting shaft passing through a through hole on the mounting box.

4. The ecological aquatic environment patrol and monitoring device according to claim 1, characterized in that... The steering device includes a hemispherical guide groove, a grid plate II, a sprocket II, blades, a motor II, and a motor III. The hemispherical guide groove is rotatably connected to a connecting groove via a connecting shaft. The grid plate II is fixedly connected to the hemispherical guide groove, and the connecting shaft at the bottom of the hemispherical guide groove passes through a through hole in the connecting groove and is fixedly connected to the sprocket II located in the connecting box I. The motor III is fixedly connected to the mounting box via a connecting seat. The output end of the motor III passes through a through hole in the connecting box I and is fixedly connected to the sprocket. The sprocket at the output end of the motor III is connected to the sprocket II via a chain. The motor II is fixedly connected to the partition plate I via a motor seat, and the output end of the motor II passes through a through hole in the partition plate I via a connecting shaft and is fixedly connected to the blades.

5. The ecological aquatic environment patrol and monitoring device according to claim 1, characterized in that... The buoyancy control device includes a high-pressure air chamber, a high-pressure air pump, a high-pressure air valve, electric actuators III, IV, and V, a sealing column, and a connecting plate II. The high-pressure air chamber is fixedly connected to the mounting box and partition I, and the high-pressure air valve is located inside the high-pressure air chamber and fixedly connected to the mounting box. The high-pressure air pump is fixedly connected to the bottom of the high-pressure air chamber via a connecting seat, and the air outlet of the high-pressure air pump is fixedly connected to the high-pressure air chamber via a pipe. The cylinder of electric actuator III is fixedly connected to the connecting plate II via a connecting seat, and its protruding end passes through the connecting groove on the mounting box and is slidably connected to the water inlet I via a sealing cover. The cylinder of electric actuator IV is fixedly connected to the connecting plate II via a connecting seat, and its protruding end passes through the connecting groove on the mounting box and is slidably connected to the exhaust port via a sealing cover. The cylinder of electric actuator V is fixedly connected to the other side of the connecting plate II via a connecting seat, and its protruding end is slidably connected to the air inlet pipe via a sealing column.

6. The ecological aquatic environment patrol and monitoring device according to claim 1, characterized in that... The support plate is located above the discharge pipe and is fixedly connected to the bottom of the mounting box. Battery I, Battery II, LoRa switch module and telemetry terminal are located below the high-pressure air chamber and are fixedly connected to the support plate.

7. The ecological aquatic environment patrol and monitoring device according to claim 1, characterized in that... The ammonia nitrogen sensor, chlorophyll sensor, conductivity sensor, turbidity sensor, and underwater camera are located inside the rotating box and fixedly connected to the fixed plate. One end of each of the ammonia nitrogen sensor, chlorophyll sensor, conductivity sensor, turbidity sensor, and underwater camera is fixedly connected to several connection holes on the side wall of the rotating box.

8. The ecological aquatic environment patrol and monitoring device according to claim 1, characterized in that... The ammonia nitrogen sensor, chlorophyll sensor, conductivity sensor, turbidity sensor, and underwater camera are connected to the telemetry terminal via connecting cables passing through connecting pipes and junction boxes. The power for the ammonia nitrogen sensor, chlorophyll sensor, conductivity sensor, turbidity sensor, underwater camera, and telemetry terminal is provided by battery II.

9. The ecological aquatic environment patrol and monitoring device according to claim 1, characterized in that... The switches for the water pump, centrifugal pump, high-pressure air pump, high-pressure air valve, and all motors and electric actuators are connected to the LoRa switching module, and the power for the LoRa switching module, water pump, centrifugal pump, high-pressure air pump, high-pressure air valve, and all motors and electric actuators is provided by battery I.

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