A device for continuously measuring the turbidity of sea water

Abstract

A device for continuously measuring seawater turbidity, comprising a stabilizing assembly, an adjusting assembly and a measuring assembly; the stabilizing assembly comprises a plurality of telescopic members mounted on a ship body, and a driving member for controlling the contraction of each telescopic member in the height direction; the measuring assembly is used for detecting relevant data of the water environment; the adjusting assembly comprises a control system connected to each driving member, the control system is used for monitoring the rocking information of the ship body, and outputs a correction parameter in real time based on the rocking information, and calculates the height compensation amount of each telescopic member according to the correction parameter, and distributes the compensation amount according to the tilt direction, and the driving member receives the compensation amount and controls the corresponding telescopic member to make corresponding height adjustment, so as to compensate the rocking of the ship body, and ensure the accuracy of the measurement under the interference of sea waves.

Description

Technical Field

[0001] This invention relates to the field of water quality monitoring technology, and in particular to a device for continuously measuring seawater turbidity. Background Technology

[0002] In existing technologies, most marine water quality monitoring sampling devices and methods rely on direct water pumping for sampling. In monitoring areas with large water areas but uneven pollution distribution, requiring multiple in-situ measurements at multiple points necessitates high manpower costs and complex monitoring equipment. Furthermore, they lack stability; under continuous disturbances from wind and waves, sampling points are prone to drift, and sampling depth is easily distorted, making it impossible to guarantee accurate multiple in-situ measurements. Summary of the Invention

[0003] This invention provides a device for continuous measurement of seawater turbidity. In the process of measuring seawater quality, it can easily acquire data while effectively controlling the impact of the measurement on the original state of the on-site water environment, ensuring that the impact is minimal.

[0004] To achieve the above objectives, the present invention provides the following technical solution:

[0005] An apparatus for continuously measuring seawater turbidity, comprising:

[0006] The stabilization assembly installed on the hull includes several telescopic components and a drive component that is signal-connected to each of the telescopic components. The drive component is used to control the retraction of each of the telescopic components in the height direction.

[0007] An adjustment assembly, installed on top of the stabilization assembly, includes a control system connected to each drive component. The control system monitors the hull's swaying information and outputs correction parameters in real time based on the swaying information. It then calculates the height compensation amount for each telescopic component based on the correction parameters and distributes the compensation amount according to the tilt direction. Each drive component receives the compensation amount and controls the corresponding telescopic component to adjust its height accordingly to compensate for the hull's swaying.

[0008] A measuring component, connected to the regulating component, wherein at least its measuring end can be located within an aquatic environment to detect relevant data of the aquatic environment.

[0009] Furthermore, the shaking information includes a timestamp t and the maximum tilt angle of the adjustment component along the X-axis. x Maximum tilt angle along the Y-axis yThe correction parameters include the corresponding frequency correction coefficient k, height compensation weight w, and the initial phase of the X-axis and Y-axis sway, and the sway frequency f obtained from monitoring. and This is used to correct the initial position of the sine function and fit the real-time pattern of the ship's swaying. The control system calculates the compensation amount in real time based on the above information.

[0010] ,

[0011] Where L is a pre-defined inherent physical reference.

[0012] Furthermore, the control system calculates correction parameters based on an online gradient boosting tree model. The control system also includes a learning module, which calculates the residual after each compensation and generates feedback samples. When the number of feedback samples reaches a predetermined value or the residual reaches a predetermined range, the learning module controls the online gradient boosting tree model to perform incremental learning; wherein, the residual... , , xmax’ The maximum tilt angle of the X-axis after compensation. ymax’ This represents the maximum tilt angle of the Y-axis after compensation.

[0013] Furthermore, the control system is also equipped with an alarm unit, which is connected to the learning module. When the residual reaches the warning range, the alarm unit issues a warning signal.

[0014] Furthermore, the adjustment assembly includes a first movable bracket that can extend and retract along the height direction. The first movable bracket is disposed on the top of each of the telescopic components, and the control system signal is connected to the first movable bracket to control its extension and retraction.

[0015] Furthermore, the adjustment assembly also includes a second movable bracket that can extend and retract in the horizontal direction. The two ends of the second movable bracket are respectively connected to the first movable bracket and the measuring assembly. The control system signal is connected to the second movable bracket to control its extension and retraction.

[0016] Furthermore, the measuring component includes a measuring box connected to the first movable support. A pipeline can be retracted and fixed inside the measuring box. The first end of the pipeline can move in the seawater and is connected to a collection device. The collection device is equipped with a detector for detecting relevant data of the water environment.

[0017] Furthermore, the measuring component includes a pumping device, the inlet of which is connected to the pipeline, and a switch is installed inside the acquisition unit. The switch is signal-connected to the control system to control whether the connection between the inside and outside of the acquisition unit is maintained.

[0018] Furthermore, the adjustment assembly also includes a third movable support that can extend and retract along the height direction. The first end of the third movable support is fixed to the measuring box, and the second end is movable in the seawater. The sampling device is connected to the second end of the third movable support and can move towards the seawater along with the third movable support.

[0019] Furthermore, the measuring assembly also includes a winding device fixed to the second end of the pipeline, the winding device being used to store energy when the acquisition element descends and to release energy to wind up the pipeline when the third movable support rises.

[0020] The beneficial effects of this invention are:

[0021] 1. The present invention proposes a device for continuous measurement of seawater turbidity, comprising a stabilization component, an adjustment component, and a measurement component; the stabilization component includes several telescopic components installed on the hull, and a drive component for controlling the contraction of each telescopic component in the height direction; the measurement component is used to detect relevant data of the aquatic environment; the adjustment component includes a control system connected to each drive component, the control system is used to monitor the hull's sway information, and output correction parameters in real time based on the sway information, then calculate the height compensation amount of each telescopic component according to the correction parameters, and distribute the compensation amount according to the tilt direction, the drive component receives the compensation amount and controls the corresponding telescopic component to make corresponding height adjustments to compensate for the hull's sway and improve the stability of the measurement under the interference of sea waves.

[0022] 2. The device for continuous measurement of seawater turbidity proposed in this invention includes a control system that further includes a learning module. The learning module is used to calculate the residual after each compensation and generate feedback samples, thereby controlling the gradient boosting tree model to perform incremental learning, providing a basis for the height compensation of the stabilization component, and continuously optimizing it.

[0023] 3. The present invention proposes a device for continuous measurement of seawater turbidity, wherein the adjustment component includes a first movable support that can extend and retract along the height direction and a second movable support that can extend and retract along the horizontal direction, and a control system signal is connected to the first movable support and the second movable support to control their extension and retraction, thereby further adjusting the sampling and detection height and angle.

[0024] 4. The device for continuous measurement of seawater turbidity proposed in this invention also includes a measuring box and a pipeline. The first end of the pipeline can move in the seawater and is connected to a collection device for detecting the water environment. The measuring component also includes a water pumping device. The water inlet end of the water pumping device is connected to the pipeline. It can complete the rapid measurement of multiple points and multiple types of water data without bringing back samples.

[0025] 5. The present invention proposes a device for continuously measuring seawater turbidity. The adjustment component further includes a third movable support that can extend and retract along the height direction. The third movable support is connected to the collection element, which can move towards the seawater under the action of the third movable support to complete the detection. The detection component also includes a winding device fixed to the pipeline. The winding device stores energy when the collection element descends and releases energy when the third movable support rises to actively rewind and store the pipeline, completing the orderly retrieval of the pipeline and preparing for the next measurement under different water environments. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of the invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 This is one of the schematic diagrams of an apparatus for continuously measuring seawater turbidity according to the present invention;

[0028] Figure 2 This is a second schematic diagram of a device for continuously measuring seawater turbidity according to the present invention.

[0029] In the diagram, 1. First wireless control device; 2. Second wireless control device; 3. Third wireless control device; 4. Control box; 5. First connecting rod; 6. First gear; 7. Second movable bracket; 8. Second telescopic rod; 9. Connecting gear; 10. First telescopic rod; 11. First screw; 12. Sliding block; 13. Rectangular plate; 14. Screw control device; 15. Second screw; 16. Second connecting rod; 17. Measuring box; 18. Third movable bracket; 19. Winding device; 20. Pipeline; 21. Pumping device; 22. 23. Positioning device; 24. Measuring device; 25. Third screw; 26. First-stage ladder; 27. First-stage gear; 28. Second-stage gear; 29. ​​Third-stage ladder; 30. Data acquisition unit; 31. Detector; 32. Switch; 33. First movable bracket; 34. Vent hole; 35. Electromagnetic controller; 36. Electromagnetic like-repulsion lifting device; 37. Electromagnetic power supply; 38. Electromagnetic stabilizing mechanism; 39. Magnet column; 40. Wire; 41. Insulating cylinder; 42. Shaking monitoring unit; 43. Learning module. Detailed Implementation

[0030] The following is combined with Figure 1 and Figure 2 The present invention will be described in detail below.

[0031] This embodiment provides a device for continuously measuring seawater turbidity, such as... Figure 1 As shown, it includes a stabilization assembly installed on the hull. The stabilization assembly includes several telescopic components and several driving components corresponding to each telescopic component. The driving components are used to control the retraction of the telescopic components in the height direction.

[0032] An adjustment assembly, installed on top of the stabilization assembly, includes a control system connected to each drive component. The control system monitors the hull's swaying information and outputs correction parameters in real time based on this information. It then calculates the height compensation amount for each telescopic component based on these parameters and distributes the compensation amount according to the tilt direction. The drive component receives the compensation amount and controls the corresponding telescopic component to adjust its height accordingly to compensate for the hull's swaying.

[0033] A measuring component is connected to an adjusting component, and at least its measuring end can be located in the water environment to detect relevant water environment data. During operation, the measuring end of the component enters the seawater to measure water environment data at the target location. When waves cause the ship to roll, the control system detects the rolling and compensates for it in real time, improving the stability of the measurement under wave interference. The tilt direction allocation means that if the X-axis tilts forward, the front telescopic component rises and the rear telescopic component lowers; if the Y-axis tilts right, the right telescopic component rises and the left telescopic component lowers.

[0034] The control system includes a control box 4 mounted on top of the loading assembly. The control box 4 houses an electromagnetic controller 35, an electromagnetic power supply 37 as the driving component, and an electromagnetic repulsion lifting device 36 as the telescopic component. The stabilization assembly also includes an electromagnetic stabilization mechanism 38 mounted on the hull. Four electromagnetic repulsion lifting devices 36 are located at the four corners of the electromagnetic stabilization mechanism 38, and can be raised or lowered independently under the control of the electromagnetic controller 35 and the electromagnetic power supply 37. Furthermore, each electromagnetic repulsion lifting device 36 consists of two upper and lower magnetic pillars 39 and wires 40 wound around the magnetic pillars 39. When the electromagnetic controller 35 controls the electromagnetic power supply 37 to energize, mutually repulsive magnetic poles are generated between the lower part of the upper magnetic pillar 39 and the upper part of the lower magnetic pillar 39. An insulating cylinder 41 surrounds the magnetic pillars 39.

[0035] In this embodiment, the shaking information includes a timestamp t and the maximum tilt angle of the adjustment component along the X-axis. Maximum tilt angle along the Y-axis The correction parameters include the corresponding frequency correction coefficient k, height compensation weight w, and the initial phase of the X-axis and Y-axis sway, and the sway frequency f detected at time t. and This is used to correct the initial position of the sine function, accurately fit the real-time pattern of the swaying, and the control system calculates the compensation amount in real time based on the above information:

[0036]

[0037] Where L is a pre-defined inherent physical reference. and The maximum tilt angle recorded within the previous period T=1 / f before time t. and The frequency f changes dynamically in real time. In this embodiment, L serves as an inherent physical reference and can be pre-set in the control system according to different actual needs. It represents the diagonal center-to-center distance between the four corners of the stabilization component (e.g., factory-calibrated as 1000mm), providing core support for converting angular deviations into length compensation.

[0038] In this embodiment, the control system receives sway information, then performs noise reduction through Kalman filtering to generate standardized feature vectors. Subsequently, it uses an online gradient boosting tree (OGBDT) as the core model (trained offline based on samples under different working conditions), receives the standardized feature vectors and outputs dynamic correction parameters in real time, calculates the compensation amount, and controls each support component to complete the compensation.

[0039] Specifically, the control system includes a sway detection unit 42 for monitoring hull sway information. The sway detection unit 42 includes a set of three-axis gyroscope sensors with a measurement range of horizontal tilt ±0.5° to ±10° and an accuracy of ±0.05°. It is used to collect the tilt angle and sway frequency of the device in real time along the X-axis (forward and backward direction) and Y-axis (left and right direction). It also includes a set of accelerometers with a measurement range of ±2g and a sampling rate of 100Hz. These accelerometers can assist in calibrating the tilt angle data and avoid errors from a single sensor. The sensors are wired to the electromagnetic controller 35 inside the control box 4 via waterproof wires. The transmission protocol is Modbus-RTU, and the data transmission delay is ≤0.1s, ensuring that the sway data is transmitted to the control box 4 in real time.

[0040] The control system calculates correction parameters based on an online gradient boosting tree model. The control system also includes a learning module 43, which calculates the residual after each compensation and generates feedback samples. When the number of feedback samples reaches a predetermined value or the residual reaches a predetermined range, the learning module 43 controls the online gradient boosting tree model to perform incremental learning. The residual... , , xmax’ The maximum tilt angle of the X-axis after compensation. ymax’ This refers to the Y-axis tilt angle after compensation. After compensation, residuals appear, and the calculation of these residuals involves... This represents the angle after each correction, equivalent to the angle before the next correction.

[0041] Before use, this device is pre-trained using a multi-condition dataset simulated in the laboratory: input simulation data Output the corresponding k, w, This process is repeated to train the initial model, which serves as the baseline model for the device. In actual use, the sensor collects input data in real time. ) and timestamp t, calculate the current compensated residual. ,pass Convert to radians and output the data, updating the parameters in real time through incremental learning.

[0042] The control system is also equipped with an alarm unit. The alarm unit signal is connected to the learning module 43. When the residual reaches the warning range, the alarm unit issues a warning signal.

[0043] The sway detection unit 42 is integrated into the control box 4 and is linked with the electromagnetic controller 35 and learning module 43 within the control box 4. It is used to collect real-time data on sea waves and ship sway, providing a basis for height compensation of the stabilization components. The learning module 43 can perform incremental learning based on each set of data, or it can select a specific number of sets for calculation and learning according to actual needs. When the selected number of sets is greater than 1, the average value is taken as the result. In this embodiment, the predetermined value is 100. The learning module 43 collects 10 sets of data and records "feature vector - correction parameter - actual tilt angle after compensation". Based on the average of the actual tilt angle after compensation for every 10 sets of data, it calculates the residual and generates feedback samples. When ≥100 feedback samples are accumulated or the residual Δθ exceeds ±0.25° for 5 consecutive times, incremental model learning is triggered, updating only the leaf node weights of the OGBDT model to achieve continuous optimization of the correction parameters. If the output parameters of the learning module 43 exceed a reasonable range, i.e., Δθ > ±0.3° for 5 consecutive times, an alarm unit is triggered to issue a warning signal, and the indicator light on the control box 4 alarms. In some embodiments, 1-2 shallow decision trees can be added to fit and predict the residuals for every 10 new samples accumulated, without retraining the entire model.

[0044] like Figure 2 As shown, the adjustment assembly includes a first movable support 33 that can extend and retract along the height direction. The first movable support 33 is located on top of each telescopic component, and a control system signal is connected to the first movable support 33 to control its extension and retraction. The first movable support 33 includes two rectangular plates 13 distributed vertically, with two sets of crossbars between the two rectangular plates 13. Each set of crossbars includes two first telescopic rods 10 that are hinged to each other. One end of each first telescopic rod 10 is slidably connected to the rectangular plate 13 via a sliding block 12, and the other end is fixedly connected to the rectangular plate 13. Specifically, the upper rectangular plate 13 is provided with a first screw 11, and a sliding block 12 is drivenly connected to the first screw 11. The lower rectangular plate 13 is provided with a second screw 15, and another sliding block 12 is connected to the second screw 15. The second screw 15 is controlled by a screw control device 14.

[0045] The adjustment assembly also includes a second movable support 7 that can extend and retract horizontally. Both ends of the second movable support 7 are connected to the first movable support 33 and the measuring component, respectively. A control system signal is connected to the second movable support 7 to control its extension and retraction. Specifically, the second movable support 7 is a linkage telescopic structure, consisting of several second telescopic rods 8 hinged together. The first end of the second movable support 7 is connected to the control box 4.

[0046] The first movable support 33, the control box 4, and the second movable support 7 are connected by a connecting gear 9. When the control box 4 initiates the lifting and lowering of the first movable support 33, it simultaneously drives the second movable support 7 to extend and retract. Specifically, the control box 4 contains, in sequence, a first wireless control device 1, a second wireless control device 2, and a third wireless control device 3. The third wireless control device 3 is connected to a first gear 6, and a first connecting rod 5 is fitted inside the first gear 6. Of the two second telescopic rods 8 located at the first end of the second movable support 7, the upper second telescopic rod 8 is fixedly hinged to the upper part of the first connecting rod 5, and the lower part of the lower second telescopic rod 8 is fixedly hinged to the upper part of the first gear 6. The first gear 6 is driven by the connecting gear 9. Rotation of the connecting gear 9 drives the first gear 6 to move up and down, which in turn drives the extension and retraction of the second movable support 7.

[0047] During operation, the screw control device 14 controls the movement of the second screw 15, causing the lower sliding block 12 to move. Then, through the transmission of the first telescopic rod 10, the upper sliding block 12 moves synchronously. At this time, the first screw 11 moves under the action of the sliding block 12, causing the connecting gear 9 to rotate. The first gear 6 converts the rotation of the connecting gear 9 into linear movement, causing the lower second telescopic rod 8 to move, thereby realizing the adjustment of the second movable bracket 7.

[0048] The measurement assembly includes a measurement box 17 connected to a first movable support 33. A pipeline 20 is retractably fixed within the measurement box 17. The first end of the pipeline 20 is movable within seawater and connected to a data acquisition element 30. The data acquisition element 30 is equipped with a detector 31 for detecting relevant data about the aquatic environment. Specifically, this may include the verticality of underwater piles and other data related to the aquatic environment. The measurement assembly also includes a measurement device 23 and a positioning device 22 installed in the measurement box 17. The measurement device 23 processes the data collected by the detector 31; the positioning device 22 is used for precise positioning. A second connecting rod 16, which can slide left and right and be fixed, is provided on the side of the measurement box 17 near the adjustment assembly. A pulley is provided at the bottom of the measurement box 17. In some embodiments, the measurement device 23 and the positioning device 22 can be signal-connected to a control system, which includes a PLC programmable controller capable of controlling the measurement operation.

[0049] The measuring component includes a pumping device 21, the inlet of which is connected to a pipeline 20. A switch 32 is installed inside the data acquisition unit 30, and the switch 32 is connected to the control system to control the continuity between the inside and outside of the data acquisition unit 30. The data acquisition unit 30 is a closed, opaque cuboid. The switch 32 is wirelessly controlled and operates via a control box 4.

[0050] The adjustment assembly also includes a third movable support 18 that can extend and retract along the height direction. The first end of the third movable support 18 is fixed to the measuring box 17, and the second end is movable within the seawater. The sampling component 30 is connected to the second end of the third movable support 18 and can move towards the seawater along with the third movable support 18. The third movable support 18 is a vertical multi-stage descent mechanism, each stage being a hollow cuboid. Each stage is connected by gears, achieving descent and retraction step by step. Specifically, a second wireless control device 2 is provided at its upper end. The vertical multi-stage descent mechanism can be driven by the second wireless control device 2 to descend the first stage 25. The descent of the first stage 25 drives the first-stage gears 26 on both sides to rotate. The rotation of the first-stage gears 26 drives the second stage 27 to descend, the descent of the second stage 27 drives the second-stage gear 28 to rotate, the rotation of the second-stage gear 28 drives the third stage 29 to descend, and so on, sequentially driving the transmission to achieve descent and retraction.

[0051] The measuring assembly also includes a winding device 19 fixed to the second end of the pipeline 20. The winding device 19 stores energy when the acquisition element 30 descends and releases energy to wind up the pipeline when the third movable support 18 rises. The winding device 19 includes a spring that can rewind the pipeline 20 without external force. The measuring assembly also includes a signal line connected to the measuring device 23, a pumping pipe connected to the pumping device 21, and a vent pipe connected to the vent 34. The signal line, pumping pipe, and vent pipe are interconnected to form the pipeline 20 and connected to the winding device 19.

[0052] The present invention provides a device for continuously measuring seawater turbidity, the working principle of which is as follows:

[0053] When taking measurements on-site by boat, the first movable support 33 and the second movable support 7 are controlled to move the measuring box 17 to the designated position. The second screw 15 is rotated via the screw control device 14, causing the lower sliding block 12 to move, thereby moving the first telescopic rod 10 and adjusting the height of the measuring box 17. During the raising and lowering of the first movable support 33, the upper sliding block 12 moves accordingly, driving the connecting gear 9 to rotate via the first screw 11. The connecting gear 9 then drives the first rack 6 to move in the height direction, causing the second movable support 7 to extend and retract horizontally, thus adjusting the measuring box 17 to a horizontal position.

[0054] Subsequently, the third movable support 18 is moved closer to the seawater, moving the sampler 30 to the target position for water environment detection. The third movable support 18 is then raised and lowered, smoothly lowering the sampler 30. During lowering, the pipeline 20 on the sampler box is simultaneously pulled out, enabling data transmission and the supply of water and gas. At this time, the winding device 19 stores energy. After the sampler 30 reaches the target position, the switch 32 is opened, allowing water to enter the sampler 30 and the detector 31 begins collecting data on the verticality of the underwater pile and related water environment information. The measuring device 23 processes the data collected by the detector 31, the positioning device 22 performs precise positioning, and the vent 34 ensures gas flow.

[0055] During the measurement process, the stabilization device provides real-time compensation. The control system monitors the hull's sway information and outputs correction parameters in real time based on the sway information. The electromagnetic controller 35 then calculates the height compensation amount of each electromagnetic repulsion lifting device 36 based on the correction parameters, distributes the compensation amount according to the tilt direction, and controls the corresponding electromagnetic repulsion lifting device 36 to make corresponding height adjustments to compensate for the hull's sway.

[0056] After the measurement is completed, the control box 4 deactivates the collector 30 and controls the pumping device 21 to extract the water from the collector 30. Then, the third movable support 18 is retracted. At this time, the winding device 19 releases its stored energy and retracts the pipeline 20 and the collector 30, preparing for the next measurement under different water conditions.

[0057] The above embodiments are only for illustrating the technical concept and features of the present invention, and are intended to enable those skilled in the art to understand and implement the present invention. They should not be construed as limiting the scope of protection of the present invention. All equivalent changes or modifications made in accordance with the spirit and essence of the present invention should be covered within the scope of protection of the present invention.

Claims

1. A device for continuously measuring seawater turbidity, characterized in that, include The stabilization assembly installed on the hull includes several telescopic components and a drive component that is signal-connected to each of the telescopic components. The drive component is used to control the retraction of each of the telescopic components in the height direction. An adjustment component is installed on top of the stabilization component. The adjustment component includes a control system connected to each drive component. The control system is used to monitor the swaying information of the hull and output correction parameters in real time based on the swaying information. Then, it calculates the height compensation amount of each telescopic component based on the correction parameters and distributes the compensation amount according to the tilt direction. The drive component receives the compensation amount and controls the corresponding telescopic component to make corresponding height adjustments to compensate for the swaying of the hull. as well as A measuring component, connected to the regulating component, wherein at least its measuring end can be located within an aquatic environment to detect relevant data of the aquatic environment.

2. The device for continuously measuring seawater turbidity as described in claim 1, characterized in that, The shaking information includes a timestamp t and the maximum tilt angle of the adjustment component along the X-axis. Maximum tilt angle along the Y-axis The correction parameters include the corresponding frequency correction coefficient k, height compensation weight w, and the initial phase of the X-axis and Y-axis sway, and the sway frequency f obtained from monitoring. and This is used to correct the initial position of the sine function and fit the real-time pattern of the ship's swaying. The control system calculates the compensation amount in real time based on the above information. ， Where L is a pre-defined inherent physical reference.

3. The device for continuously measuring seawater turbidity as described in claim 2, characterized in that, The control system calculates correction parameters based on an online gradient boosting tree model. The control system also includes a learning module, which calculates the residual after each compensation and generates feedback samples. When the number of feedback samples reaches a predetermined value or the residual reaches a predetermined range, the learning module controls the online gradient boosting tree model to perform incremental learning; wherein, the residual... , , xmax’ The maximum tilt angle of the X-axis after compensation. ymax’ This represents the maximum tilt angle of the Y-axis after compensation.

4. The device for continuously measuring seawater turbidity as described in claim 3, characterized in that, The control system is also equipped with an alarm unit, which is connected to the learning module. When the residual reaches the warning range, the alarm unit issues a warning signal.

5. The device for continuously measuring seawater turbidity as described in claim 1, characterized in that, The adjustment assembly includes a first movable bracket that can extend and retract along the height direction. The first movable bracket is disposed on the top of each of the telescopic components, and the control system signal is connected to the first movable bracket to control its extension and retraction.

6. The apparatus for continuously measuring seawater turbidity as described in claim 5, characterized in that, The adjustment assembly further includes a second movable support that can extend and retract in the horizontal direction. The two ends of the second movable support are respectively connected to the first movable support and the measuring assembly. The control system signal is connected to the second movable support to control its extension and retraction.

7. The apparatus for continuously measuring seawater turbidity as described in claim 6, characterized in that, The measurement assembly includes a measurement box connected to the first movable support. A pipeline can be retracted and fixed inside the measurement box. The first end of the pipeline can move in the seawater and is connected to a collection device. The collection device is equipped with a detector for detecting relevant data of the water environment.

8. The apparatus for continuously measuring seawater turbidity as described in claim 1, characterized in that, The measuring component includes a pumping device, the inlet of which is connected to the pipeline. A switch is installed inside the acquisition unit, and the switch is signal-connected to the control system to control whether the connection between the inside and outside of the acquisition unit is maintained.

9. The apparatus for continuously measuring seawater turbidity as described in claim 8, characterized in that, The adjustment assembly also includes a third movable support that can extend and retract along the height direction. The first end of the third movable support is fixed to the measuring box, and the second end is movable in the seawater. The sampling device is connected to the second end of the third movable support and can move towards the seawater along with the third movable support.

10. The apparatus for continuously measuring seawater turbidity as described in claim 9, characterized in that, The measuring assembly also includes a winding device fixed to the second end of the pipeline, the winding device being used to store energy when the acquisition element descends and to release energy to wind up the pipeline when the third movable support rises.

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