Separable water area detection device and method for boat

Abstract

The invention relates to a separable water area detection device and method for a boat, and the device comprises an automatic winch retracting and releasing module, a water quality detection and sampling module and a storage and transmission module, and can realize water quality detection and water body sampling functions in different water depth areas of a specified water area. Layered monitoring and sampling are performed on a water body, the operation coverage is expanded, potential safety hazards of personnel are reduced, water quality data information is remotely uploaded, high real-time performance of the data is ensured, the accuracy and sampling rate of the water quality data of a detected water area are improved, and the problems that local water quality information is difficult to accurately measure and the operation efficiency is low in a traditional mode are solved. The device can prevent aquatic plants from winding a water quality detection sampling system, has relatively high reliability and maintainability, can be quickly deployed to a ship on site, is used for operation scenes such as lake and reservoir profile measurement and ecological system evaluation, and ensures that use task requirements are met.

Description

Technical Field

[0001] This invention belongs to the field of environmental water quality testing and sampling technology, and relates to a detachable water quality testing device and method for boats. Background Technology

[0002] To ensure that drinking water sources meet drinking water standards, staff at these sources typically cultivate aquatic plants at the bottom of the water bodies to purify the water and maintain a balanced aquatic ecosystem. Subsequently, water environment monitoring personnel travel by boat to designated locations to collect water samples. Upon returning, the samples are transported to a testing laboratory, where the results determine whether the water quality meets the standards. However, several factors constrain the execution of water quality sampling tasks. Firstly, when aquatic plants are abundant, especially when they are close to or extend beyond the water surface, they can easily become entangled in the plants during navigation, affecting the personnel's movement. Secondly, in severe weather (such as strong winds or heavy rain), safety concerns make it difficult for personnel to perform water quality sampling. Therefore, due to these factors, traditional water quality testing methods sometimes fail to accurately measure local water quality information and suffer from low operational efficiency. Summary of the Invention

[0003] The technical problem solved by this invention is to overcome the shortcomings of the prior art and propose a detachable water body detection device and method for boats. By mounting the device on the deck of a boat, it can remotely perform functions such as fixed-point and fixed-depth water body monitoring and multi-point quantitative sampling in water bodies such as ecological water sources, and monitor various water quality parameters in real time and complete water body sampling operations.

[0004] The solution of the present invention is: A detachable water quality detection device for boats includes an automatic winch deployment and recovery module, a water quality detection and sampling module, and a storage and transfer module; The automatic winch deployment and recovery module includes a winch frame, a drum, a communication cable, a LoRa communication receiver module, a ship end controller, and a spool. The winch frame is fixed to the ship's deck, the drum is mounted on the horizontal axis of the winch frame, the communication cable is wound around the drum, and the end of the cable is either laid out in the seawater via the spool or evenly wound back onto the drum, with the end of the communication cable tied in a knot. The LoRa communication receiver module and the ship end controller are mounted on the winch frame, and the ship end controller is used to control the rotation speed and angle of the drum. The water quality testing and sampling module has a cylindrical structure and contains a clamp, a LoRa communication transmitter module, and a testing and sampling controller. When the water quality testing and sampling module is passed to the point directly below the knot at the end of the communication cable, the clamp is attached to the knot at the end of the communication cable under the control of the testing and sampling controller. A waterproof electrical connector is used at the end of the communication cable to establish a communication connection with the water quality testing and sampling module. The ship-end controller has two communication modes: underwater wired transmission and surface wireless transmission. Underwater wired transmission is a communication between the ship-end controller and the water quality detection and sampling module via a communication cable. Surface wireless transmission is a communication between the LoRa communication receiving module and the LoRa communication transmitting module. The data received by the LoRa communication receiving module is then transmitted to the ship-end controller. The storage and transmission module is used to store several water quality testing sampling modules and to transmit the water quality testing sampling modules to be used to the point directly below the knot at the end of the communication cable.

[0005] Preferably, the water quality testing and sampling module includes a control compartment, an airbag compartment, a battery compartment, a sampling compartment, and a monitoring compartment connected sequentially from top to bottom by screws, and each compartment is equipped with a sealing groove for installing a sealing ring; the control compartment, battery compartment, and sampling compartment are all watertight compartments, and the wiring connections are uniformly sealed with waterproof sealing plugs to prevent liquid from entering; the clamp, LoRa communication transmitter module, and testing and sampling controller are located in the control compartment.

[0006] Preferably, the gripper includes a gripper jaw, a gripper connecting rod, and a servo motor; the gripper jaw is fixed to the gripper connecting rod, and the gripper connecting rod is fixed to the output end of the servo motor; the movement angle of the servo motor is controlled by the ship end controller to drive the movement of the gripper connecting rod, thereby realizing the opening and closing movement of the gripper jaw. The gripper jaw is initially in the open state, which facilitates the connection of the communication cable knot; when the gripper jaw is opened, the water quality detection sampling module is separated from the winch automatic retraction module, so that long-term monitoring can be carried out in the water.

[0007] Preferably, the battery compartment is waterproof and sealed, and is equipped with a high-density battery. It outputs various voltages through waterproof electrical connectors to power the electronic devices in the water quality detection and sampling module.

[0008] Preferably, the airbag compartment is located outside the control compartment and has a circular structure, which is connected to a fixed circular ring outside the control compartment by ropes; The airbag chamber contains a compressed gas cylinder, with a sealed box fixed at the cylinder's opening. Inside the sealed box, a water-sensitive element, a striker, and a spring are installed sequentially, with the water-sensitive element located close to the cylinder's opening. One end of a pull rope is connected to the sealed box cover, and the other end is connected to an electric pull rod. When the sampling and detection controller sends a pull rod movement command, the pull rope is pulled, opening the sealed box cover. The water-sensitive element softens upon contact with water, the striker loses its obstruction, and the spring extends, pushing the striker to pierce the cylinder's sealing diaphragm. Gas from the compressed gas cylinder is rapidly injected into the airbag chamber, thus completing the inflation process. At this time, the water quality detection and sampling module generates significant buoyancy, enabling it to float on the water surface and continuously transmit data signals.

[0009] Preferably, the sampling chamber includes a water injection pump, a sampling tube, and a sampling bottle. The sampling bottle is fixed in the middle of the sampling chamber and is used to store the extracted water samples for real-time analysis on site. When the ship sails to the designated monitoring and sampling point, the water quality detection controller controls the water injection pump to operate, so as to pump water through the sampling tube into the sampling bottle and realize the water sampling function at a specific location.

[0010] Preferably, the monitoring chamber includes a liquid level sensor, a pH sensor, a conductivity sensor, a dissolved oxygen sensor, and a turbidity sensor, which are installed in a circumferential array within the monitoring chamber.

[0011] Preferably, the communication cable is made of flexible armor material with an internal steel frame, making it waterproof and bend-resistant. Preferably, the storage and transfer module includes a storage box, a retainer, a conveyor belt, and a camera. The conveyor belt is located on the ship's deck, and the storage box is placed on the conveyor belt. The storage box contains multiple water quality testing and sampling modules. The camera is fixed to the ship's deck by a camera bracket and is located directly above the storage box. The ship's end controller controls the horizontal movement of the conveyor belt, which drives the designated water quality testing and sampling module to move. When the camera image detects that the gripper of the designated water quality testing and sampling module has moved to directly below the knot at the end of the communication cable, the controller controls the gripper to close, so that the communication cable is quickly connected to the gripper, thereby fixing the water quality testing and sampling module to the end of the communication cable for use by the next testing and sampling point. The retainer is installed in the storage box and is used to limit the water quality testing and sampling module in all directions.

[0012] A detachable water detection method for submarines includes: S1. The ship's operators plug the waterproof electrical connector at the end of the communication cable into the electrical connector of the water quality testing and sampling module. S2. The ship end controller of the winch automatic launch and recovery module and the detection and sampling controller of the water quality detection and sampling module are powered on and perform self-test. The program performs initialization operations. After confirming that the underwater communication link and the surface LoRa communication link are normal, the ship end controller reads and judges whether the data transmission of the device and the clamp in real time, each water quality detection sensor and the water injection pump is normal. After all the above data are normal, proceed to step S3. S3. The ship-end controller controls the horizontal movement of the conveyor belt in the storage and transfer module, moving the water quality detection and sampling module on it to directly below the camera. The camera transmits the image to the ship-end controller. The ship-end controller detects whether the circular knot at the end of the communication cable is directly below the clamp of the water quality detection and sampling module based on the image. If the detection position is abnormal, the controller controls the conveyor belt to make slight horizontal adjustments to ensure that it is in a normal state. When the detection position is normal, the controller controls the clamp to close, and the conveyor belt moves backward to the initial position. At this time, the communication cable is detached from the storage and transfer module and attached to the clamp. The device is ready to work and can perform subsequent detection and sampling operations. S4. When the ship sails to the first target detection and sampling point, the ship end controller controls the communication cable to be laid to a certain depth in the water. At this time, the water quality detection and sampling module is completely submerged in the water. Its built-in multiple water quality sensors monitor the data in real time. When water sampling is required at this location, the ship end controller sends a "water sampling" control command to the water quality detection and sampling controller. The sampling controller controls the water injection pump to operate and draw the water from this layer through the sampling tube into the sampling bottle to realize the automatic sampling function. S5. After water sampling is completed, the sampling controller sends a "water sampling completed" command to the ship-end controller. At this time, the ship-end controller controls the electric lever to move, the rope is pulled, and the striking pin inside the sealed box moves the gas cylinder to inflate the airbag chamber instantly. After the airbag chamber is fully inflated, the ship-end controller controls the clamp to open, and the communication cable is detached due to the instantaneous tension generated by the water quality detection and sampling module. The ship-end controller controls the winch automatic retraction module to retract the communication cable to the initial position. At the same time, the water quality detection and sampling module is released into the water. When it is in a free state, it floats to the surface and drifts with the current. At this time, it can independently detect the water quality parameters at the current position. The communication method changes from underwater communication to surface communication, that is, data communication is carried out through the LoRa communication transmitting module and the LoRa communication receiving module of the winch automatic retraction module, and the parameter status information is fed back to the ship-end controller in real time. S6. The ship continues to sail to the next designated testing and sampling point to carry out the task operation, and repeats steps S4-S5. S7. Repeat step S6 until all water quality testing and sampling modules in the storage tank have been released.

[0013] Preferably, the ship-end controller controls the laying speed and depth of the communication cable by adjusting the roller speed and rotation angle.

[0014] The advantages of this invention compared to the prior art are: (1) The detachable water quality testing and sampling device for boats in this invention is applicable to any boat with a certain deck area. By mounting it on a boat, it can be used to remotely conduct fixed-point and fixed-depth water quality monitoring and multi-point quantitative sampling in water bodies such as ecological water sources. It can also monitor various water quality parameters in real time and complete water sampling operations. The device is lightweight and modular, enabling it to achieve "multi-purpose use on one boat", reducing safety hazards for operators during testing and sampling operations. At the same time, the collected data is real-time, allowing for quick analysis of the current water quality situation and facilitating early warning actions.

[0015] (2) The device of the present invention adopts a dual communication link method, namely underwater wired transmission and surface wireless transmission, through information interaction between the ship-end controller and the detection and sampling controller. The underwater wired transmission communicates with the water quality detection and sampling module through a communication cable, while the surface wireless transmission communicates with the LoRa communication receiving module and the LoRa communication transmitting module through communication between them. This enables comprehensive three-dimensional detection of multiple water quality parameters in a designated water area and fixed-point water sampling, effectively increasing the coverage of water area inspection tasks and improving operational efficiency.

[0016] (3) The water quality testing and sampling module of the present invention is fixed at the end of the cable, consists of multiple compartments, has a high degree of integration, and has multiple functions, integrating control, water quality monitoring, water sampling, inflation and remote communication functions. When deployed in the water, it can prevent aquatic plants from getting tangled and does not affect the execution of the task.

[0017] (4) The airbag chamber in the water quality testing and sampling module of the present invention has the function of floating to the water surface as a whole, which can realize the detection of water areas at different levels from underwater to underwater. At the same time, after floating on the water surface, it can detect the water quality information of the drifting area in real time. Based on the energy provided by the battery compartment, the detection time of the water quality testing and sampling module is longer and the detection area is wider.

[0018] (5) The sampling bottle in the water quality testing sampling module of the present invention serves as both a water sampling and counterweight function. When the water sample to be tested is injected into the sampling bottle, this method can ensure that the water quality testing sampling module remains stable and balanced in the water, reduce the phenomenon of irregular shaking of the communication cable and the water quality testing sampling module with the water flow, prevent the generation of more air bubbles in the water, and thus avoid affecting the water quality testing data.

[0019] (6) The storage and transfer module of the present invention can realize the function of storing and transferring multiple water quality testing and sampling modules. It can detect whether the position between the gripper and the end ring knot of the communication cable is correct through camera image detection, and then control the opening and closing movement of the gripper to realize the rapid separation of the winch automatic release module and the water quality testing and sampling module. It can be applied to multiple testing and sampling points. Attached Figure Description

[0020] Figure 1This is a general structural diagram of the detachable water detection device for boats according to the present invention; Figure 2 This is a schematic diagram of the winch automatic take-up and release module of the present invention; Figure 3 This is a schematic diagram of the water quality testing and sampling module of the present invention; Figure 4 This is a schematic diagram of the storage and transmission module of the present invention. Detailed Implementation

[0021] The invention will now be further described with reference to the accompanying drawings.

[0022] This invention is based on a separable mechanism and an integrated measurement and control algorithm, and belongs to the field of environmental water quality detection and sampling technology. By mounting the device on the deck of a boat, it can remotely perform functions such as fixed-point and fixed-depth monitoring of water bodies and multi-point quantitative sampling in water bodies such as ecological water sources, and monitor various water quality parameters in real time and complete water sampling operations.

[0023] This invention is based on a detachable mechanism and an integrated measurement and control algorithm. By mounting a detachable water area detection device on a vessel, it can be remotely controlled to perform fixed-point and fixed-depth deployment, automatic monitoring and sampling. In real time, water quality data is transmitted to the shore control center, allowing water environment monitoring personnel to view water quality information and issue real-time early warnings for exceeding certain water quality parameters. The collected water samples are conveniently stored in the water quality detection and sampling module, facilitating the operator to send them to relevant departments for testing and data processing.

[0024] like Figure 1 As shown, the detachable water quality detection device for boats (hereinafter referred to as the device) consists of three parts: an automatic winch deployment and recovery module, a water quality detection and sampling module, and a storage and transfer module. The entire device is fixedly installed on the deck 4 of the ship. Figure 2As shown, the automatic winch deployment and recovery module 1, as the main body of the device, consists of a winch frame 7, a drum 5, a communication cable 6, a LoRa communication receiver module 8, a boat-end controller 9, and a spool. The communication cable 6 is wound around the drum 5 and is either laid out in seawater via the spool or evenly wound back onto the drum 5. The communication cable 6 is made of flexible armored material with an internal steel frame, is waterproof and bend-resistant, and its end is knotted. The clamp 15 in the water quality testing and sampling module 2 can be attached to the knotted point of the communication cable, and the end of the communication cable uses a waterproof electrical connector to establish a communication connection with the water quality testing and sampling module. The LoRa communication receiver module and the boat-end controller are installed on the winch frame. The boat-end controller is used to control the rotation speed and angle of the drum. The boat-end controller 9 has two communication methods: underwater wired transmission and surface wireless transmission. Underwater wired transmission communicates with the water quality testing and sampling module via the communication cable, while surface wireless transmission communicates with the LoRa communication transmitter module 16 in the water quality testing and sampling module via the LoRa communication receiver module, realizing wireless communication functionality.

[0025] The water quality testing and sampling module 2 has a cylindrical structure to prevent aquatic plants from getting tangled. It is fixed to the end of the cable, as shown below. Figure 3 As shown in (a), the system consists of multiple compartments: a control compartment 10, a battery compartment 11, an airbag compartment 14, a sampling compartment 12, and a monitoring compartment 13. All compartments are connected by screws, and each compartment has a sealing groove for installing sealing rings. The control compartment 10, battery compartment 11, and sampling compartment 12 are all watertight compartments. The wiring connections are uniformly sealed with waterproof sealing plugs using adhesive to prevent liquid ingress. Figure 3 As shown in (b), the control cabin 10 houses a clamp 15, a LoRa communication transmitter module 16, and a detection and sampling controller 20. The clamp 15 consists of a gripper 17, a gripper linkage 18, and a servo motor 19. By controlling the movement angle of the servo motor, the gripper linkage is moved, thereby realizing the opening and closing movement of the gripper. The gripper is initially in an open state, facilitating connection to the communication cable knot. When the gripper is opened, the water quality detection and sampling module can be separated from the winch automatic deployment and recovery module, allowing for long-term monitoring in the water. The LoRa communication transmitter module transmits the communication data processed by the controller through a program algorithm to the LoRa communication receiver module in the winch automatic deployment and recovery module, and then transmits the data to the ship-end controller, realizing wireless data transmission from the water surface to the ship end. When the water quality detection and sampling module and the winch automatic deployment and recovery module are deployed at a certain depth in the water, they can be wired to the ship-end controller via a communication cable with an umbilical connection.

[0026] The battery compartment houses a high-density battery and is entirely waterproof and sealed. Various voltage outputs are provided via waterproof electrical connectors to power the electronic devices within the water quality detection and sampling module (such as the controller, servo motor, LoRa communication receiver module, and water quality sensor). The airbag compartment, located outside the control compartment, is a circular structure connected to a fixed circular ring outside the control compartment via a rope. The airbag compartment contains a compressed gas cylinder, with a sealed box and pull rope at one end. The sealed box contains a water-sensitive element, a striking pin, and a spring. One end of the pull rope is connected to the sealed box cover, and the other end is connected to an electric pull rod. When the detection and sampling controller sends a pull rod movement command, the pull rope is pulled. Subsequently, the water-sensitive element softens upon contact with water, the striking pin loses its obstruction, and the spring extends, pushing the striking pin to pierce the gas cylinder's sealing diaphragm. Gas from the compressed gas cylinder is rapidly injected into the airbag compartment, completing the inflation process. At this point, the water quality detection and sampling module generates significant buoyancy, allowing it to float on the water surface and continuously transmit data signals.

[0027] like Figure 3 As shown in (c), the sampling chamber includes a water injection pump 21, a sampling pipe 22, and a sampling bottle 23. The sampling bottle 23 serves as a container for storing and analyzing water samples extracted at the monitoring sampling point in real time. It is fixed in the middle of the sampling chamber. When the ship sails to the designated monitoring sampling point, the water injection pump draws water through the sampling pipe into the sampling bottle, realizing the water sampling function at a specific location. The bottle also functions as a counterweight after being filled with water. When the water sample is injected into the sampling bottle, the overall mass of the water quality testing sampling module increases, and its own weight is much greater than its buoyancy, thus functioning as a counterweight. This design prevents the communication cable from swaying, causing the water quality testing sampling module to shake irregularly in the water, resulting in more air bubbles and affecting the water quality testing data. This method ensures that the water quality testing sampling module remains stable and balanced in the water, while the overall circular structure prevents entanglement with aquatic plants.

[0028] like Figure 3 As shown in (d), the monitoring chamber consists of a level sensor 24, a pH sensor 25, a conductivity sensor 26, a dissolved oxygen sensor 27, and a turbidity sensor 28. These various water quality sensors are arranged in a circumferential array within the sampling chamber. This design avoids damage to the sensors from accidental impact to the bottom when the device is deployed at greater depths, thus improving the reliability of water quality detection. The various water quality sensors are used to monitor the conventional water quality parameters at the current location in real time and transmit the data to the controller.

[0029] like Figure 4As shown, the storage and transfer module 3 consists of a storage box 31, a retainer 30, a conveyor belt 32, and a camera 29, realizing the function of storing and transferring water quality testing sampling modules. The storage box 31 is placed on the conveyor belt 32, and multiple water quality testing sampling modules are stored inside the storage box 31. The horizontal movement of the conveyor belt 32 moves the gripper of the designated water quality testing sampling module to directly below the knot of the end ring of the communication cable. The retainer 30 is installed inside the storage box to limit the position of the water quality testing sampling module. When the camera 29 detects that the gripper is at the bottom of the end ring, the testing and sampling controller controls the clamp to close, quickly connecting the communication cable to the clamp, thereby fixing the water quality testing sampling module to the end of the communication cable for use at the next testing and sampling point.

[0030] The water area detection and sampling device of the present invention is suitable for low-speed navigation operations of boats and can realize the automatic detection and sampling of water at designated detection and sampling points in designated water areas. At the same time, it can detect and quantitatively collect water at multiple detection and sampling points in real time.

[0031] The actual application process is as follows: First, the ship's operators plug the waterproof electrical connector at the end of the communication cable into the electrical connector of the water quality testing and sampling module. Then, the ship-end controller of the winch automatic recovery module and the testing and sampling controller of the water quality testing and sampling module are powered on for self-testing. The program performs initialization operations, confirming that both the underwater communication link and the surface LoRa communication link are normal. Afterward, the program reads and determines the real-time position of the winch, the positions of each water quality sensor, the gripper, and whether the data transmission of each function of the water injection pump is normal.

[0032] Once all the above data is normal, the ship's end controller program controls the horizontal movement of the conveyor belt in the storage and transfer module, moving the storage box on it to directly below the camera. The camera, through image processing, detects whether the knotted end of the communication cable is directly below the clamp of the water quality testing and sampling module. If the detection position is abnormal, the conveyor belt makes slight horizontal adjustments to ensure it is in a normal state. When the detection position is normal, the clamp closes, and the conveyor belt moves backward to its initial position. At this point, the communication cable detaches from the storage module and is attached to the clamp, completing the device's pre-operation state, ready for subsequent testing and sampling operations.

[0033] Next, the vessel navigates to the first target sampling point. The ship-end controller in the system lowers the communication cable on the winch to a certain depth in the water. The laying speed and depth of the cable can be controlled by adjusting the winch drum speed and rotation angle. At this point, the water quality sampling module is completely submerged. Its built-in multiple water quality sensors monitor data in real time. When water sampling is required at this location, the water quality sampling controller receives the "water sampling" control command from the ship-end controller. The sampling controller then controls the water pump to extract this layer of water through the sampling tube into the sampling bottle, achieving automatic sampling. As the mass of the water quality sampling module increases during pumping, the sampling bottle acts as a counterweight, reducing the impact of swaying of the communication cable in the water during navigation.

[0034] Once water sampling is complete, the sampling controller sends a "water sampling complete" command to the ship's controller. At this point, the electric push rod moves, pulling the cable connecting the push rod end to the gas cylinder in the airbag chamber. The internal striking pin moves the gas cylinder to instantly inflate the airbag chamber. After the airbag chamber is fully inflated (i.e., inflation complete), the clamp opens, and the communication cable detaches due to the instantaneous tension generated by the water quality sampling and monitoring module. The winch's automatic retraction module then retracts the communication cable to its initial position. Simultaneously, the water quality sampling module is released into the water. Once in a free state, it floats to the surface and drifts with the current, allowing it to independently monitor water quality parameters at its current location. The communication method changes from underwater to surface communication, specifically through a LoRa communication transmitter module and a LoRa receiver module of the winch's automatic retraction module, providing real-time feedback of parameter status information to the ship.

[0035] Next, the vessel continues its journey to the next designated sampling point to carry out the task. The aforementioned preparatory and operational procedures are repeated here and will not be reiterated. Once all water quality sampling modules in the storage tank have been released, the entire system is complete.

[0036] This invention is applicable to water quality testing and water sampling in water bodies such as ecological water sources, reducing personnel safety hazards, solving the problems of traditional methods being unable to accurately measure local water quality information and having low operational efficiency, expanding the coverage of testing and sampling operations, realizing the "one boat, multiple uses" function, and the collected data is real-time, which can quickly analyze the current water quality situation and facilitate early warning actions. This invention provides a detachable water quality monitoring device and method for boats, enabling water quality testing and water sampling at different depths within a designated water area. By performing stratified monitoring and sampling, the device expands the operational coverage, reduces personnel safety hazards, and remotely uploads water quality data, ensuring high real-time performance and improving the accuracy and sampling rate of water quality data for the tested area. This device prevents aquatic plants from entangled in the water quality monitoring and sampling system, exhibits strong reliability and maintainability, and can be quickly deployed to vessels on-site for use in lake and reservoir profile measurements and ecosystem assessments, ensuring compliance with operational requirements.

[0037] The contents not described in detail in this specification are common knowledge to those skilled in the art.

Claims

1. A detachable water area detection device for boats, characterized in that: Includes an automatic winch deployment and recovery module, a water quality testing and sampling module, and a storage and transfer module; The automatic winch deployment and recovery module includes a winch frame, a drum, a communication cable, a LoRa communication receiver module, a ship end controller, and a spool. The winch frame is fixed to the ship's deck, the drum is mounted on the horizontal axis of the winch frame, the communication cable is wound around the drum, and the end of the cable is either laid out in the seawater via the spool or evenly wound back onto the drum, with the end of the communication cable tied in a knot. The LoRa communication receiver module and the ship end controller are mounted on the winch frame, and the ship end controller is used to control the rotation speed and angle of the drum. The water quality testing and sampling module has a cylindrical structure and contains a clamp, a LoRa communication transmitter module, and a testing and sampling controller. When the water quality testing and sampling module is passed to the point directly below the knot at the end of the communication cable, the clamp is attached to the knot at the end of the communication cable under the control of the testing and sampling controller. A waterproof electrical connector is used at the end of the communication cable to establish a communication connection with the water quality testing and sampling module. The ship-end controller has two communication modes: underwater wired transmission and surface wireless transmission. Underwater wired transmission is a communication between the ship-end controller and the water quality detection and sampling module via a communication cable. Surface wireless transmission is a communication between the LoRa communication receiving module and the LoRa communication transmitting module. The data received by the LoRa communication receiving module is then transmitted to the ship-end controller. The storage and transmission module is used to store several water quality testing sampling modules and to transmit the water quality testing sampling modules to be used to the point directly below the knot at the end of the communication cable.

2. The detachable water detection device for boats according to claim 1, characterized in that: The water quality testing and sampling module includes a control compartment, an airbag compartment, a battery compartment, a sampling compartment, and a monitoring compartment connected sequentially from top to bottom by screws. Each compartment is equipped with a sealing groove for installing a sealing ring. The control compartment, battery compartment, and sampling compartment are all watertight. The wiring connections are uniformly sealed with waterproof sealing plugs to prevent liquid from entering. The clamp, LoRa communication transmitter module, and testing and sampling controller are located inside the control compartment.

3. The detachable water detection device for boats according to claim 1, characterized in that: The gripper includes a jaw, a jaw linkage, and a servo motor. The jaw is fixed to the jaw linkage, which is in turn fixed to the output end of the servo motor. The servo motor's movement angle is controlled by the ship-end controller, which in turn moves the jaw linkage to achieve the opening and closing motion of the jaw. Initially, the jaw is in the open state, facilitating connection to the communication cable knot. When the jaw is opened, the water quality detection sampling module is separated from the winch automatic retraction module, enabling long-term monitoring in the water.

4. A detachable water detection device for boats according to claim 2, characterized in that: The battery compartment is entirely waterproof and sealed, and is equipped with high-density batteries. It outputs various voltages through waterproof electrical connectors to power the electronic equipment in the water quality detection and sampling module.

5. A detachable water detection device for boats according to claim 2, characterized in that: The airbag compartment is located outside the control cabin and has a circular structure. It is connected to a fixed circular ring outside the control cabin by ropes. The airbag chamber contains a compressed gas cylinder, with a sealed box fixed at the cylinder's opening. Inside the sealed box, a water-sensitive element, a striker, and a spring are installed sequentially, with the water-sensitive element located close to the cylinder's opening. One end of a pull rope is connected to the sealed box cover, and the other end is connected to an electric pull rod. When the sampling and detection controller sends a pull rod movement command, the pull rope is pulled, opening the sealed box cover. The water-sensitive element softens upon contact with water, the striker loses its obstruction, and the spring extends, pushing the striker to pierce the cylinder's sealing diaphragm. Gas from the compressed gas cylinder is rapidly injected into the airbag chamber, thus completing the inflation process. At this time, the water quality detection and sampling module generates significant buoyancy, enabling it to float on the water surface and continuously transmit data signals.

6. A detachable water detection device for boats according to claim 2, characterized in that: The sampling chamber includes a water injection pump, a sampling tube, and a sampling bottle. The sampling bottle is fixed in the middle of the sampling chamber and is used to store the extracted water samples for real-time analysis on site. When the ship sails to the designated monitoring and sampling point, the water quality detection controller controls the water injection pump to operate, so as to pump water through the sampling tube into the sampling bottle and realize the water sampling function at a specific location.

7. A detachable water detection device for boats according to claim 2, characterized in that: The monitoring chamber includes a liquid level sensor, a pH sensor, a conductivity sensor, a dissolved oxygen sensor, and a turbidity sensor, which are installed in a circumferential array within the monitoring chamber.

8. A detachable water detection device for boats according to claim 1, characterized in that: The communication cable is made of flexible armored material with an internal steel frame, making it waterproof and bend-resistant.

9. A detachable water detection device for boats according to claim 1, characterized in that: The storage and transfer module includes a storage box, a retainer, a conveyor belt, and a camera. The conveyor belt is located on the ship's deck, and the storage box is placed on the conveyor belt. The storage box contains multiple water quality testing and sampling modules. The camera is fixed to the ship's deck by a camera bracket and is located directly above the storage box. The ship-end controller controls the horizontal movement of the conveyor belt, which drives the designated water quality testing and sampling module to move. When the camera image detects that the gripper of the designated water quality testing and sampling module has moved to directly below the knot at the end of the communication cable, the controller controls the clamp to close, so that the communication cable is quickly connected to the clamp, thereby fixing the water quality testing and sampling module to the end of the communication cable for use by the next testing and sampling point. The retainer is installed in the storage box and is used to limit the water quality testing and sampling module in the front, back, left and right directions.

10. A detachable water area detection method for boats, characterized in that, include: S1. The ship's operators plug the waterproof electrical connector at the end of the communication cable into the electrical connector of the water quality testing and sampling module. S2. The ship end controller of the winch automatic launch and recovery module and the detection and sampling controller of the water quality detection and sampling module are powered on and perform self-test. The program performs initialization operations. After confirming that the underwater communication link and the surface LoRa communication link are normal, the ship end controller reads and judges whether the data transmission of the device and the clamp in real time, each water quality detection sensor and the water injection pump is normal. After all the above data are normal, proceed to step S3. S3. The ship-end controller controls the horizontal movement of the conveyor belt in the storage and transfer module, moving the water quality detection and sampling module on it to directly below the camera. The camera transmits the image to the ship-end controller. The ship-end controller detects whether the circular knot at the end of the communication cable is directly below the clamp of the water quality detection and sampling module based on the image. If the detection position is abnormal, the controller controls the conveyor belt to make slight horizontal adjustments to ensure that it is in a normal state. When the detection position is normal, the controller controls the clamp to close, and the conveyor belt moves backward to the initial position. At this time, the communication cable is detached from the storage and transfer module and attached to the clamp. The device is ready to work and can perform subsequent detection and sampling operations. S4. When the ship sails to the first target detection and sampling point, the ship end controller controls the communication cable to be laid to a certain depth in the water. At this time, the water quality detection and sampling module is completely submerged in the water. Its built-in multiple water quality sensors monitor the data in real time. When it is necessary to take water samples at this location, the ship end controller sends a "water sampling" control command to the water quality detection and sampling controller. The sampling controller controls the water injection pump to run and draw the water from this layer through the sampling tube into the sampling bottle to realize the automatic sampling function. S5. After water sampling is completed, the sampling controller sends a "water sampling completed" command to the ship-end controller. At this time, the ship-end controller controls the electric lever to move, the rope is pulled, and the striking pin inside the sealed box moves the gas cylinder to inflate the airbag chamber instantly. After the airbag chamber is fully inflated, the ship-end controller controls the clamp to open, and the communication cable is detached due to the instantaneous tension generated by the water quality detection and sampling module. The ship-end controller controls the winch automatic retraction module to retract the communication cable to the initial position. At the same time, the water quality detection and sampling module is released into the water. When it is in a free state, it floats to the surface and drifts with the current. At this time, it can independently detect the water quality parameters at the current position. The communication method changes from underwater communication to surface communication, that is, data communication is carried out through the LoRa communication transmitting module and the LoRa communication receiving module of the winch automatic retraction module, and the parameter status information is fed back to the ship-end controller in real time. S6. The ship continues to sail to the next designated testing and sampling point to carry out the task operation, and repeats steps S4-S5. S7. Repeat step S6 until all water quality testing and sampling modules in the storage tank have been released.

11. A detachable water detection method for boats according to claim 10, characterized in that, The ship-end controller controls the laying speed and depth of communication cables by adjusting the speed and rotation angle of the drum.

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