A cyanobacteria bloom intelligent positioning and trapping system and method based on machine vision

Abstract

The application discloses a cyanobacteria bloom intelligent positioning and trapping system and method based on machine vision, relates to the technical field of cyanobacteria treatment systems, and comprises two unmanned ships, two belts positioned on the two unmanned ships and capable of being lifted and having postures adjusted as required, and a conveying belt structure.

Description

Technical Field

[0001] This invention relates to the field of cyanobacteria treatment system technology, and in particular to a machine vision-based intelligent positioning and containment system and method for cyanobacteria blooms. Background Technology

[0002] The occurrence of cyanobacterial blooms poses a significant threat to water quality and the ecological environment. In areas where cyanobacterial blooms occur in large quantities, it is generally necessary to effectively collect and remove the large accumulation of cyanobacteria through fishing during the appropriate season to prevent their deterioration, proliferation, and secondary pollution, thereby reducing the nutrient level of the water and ultimately improving the environment.

[0003] In existing technologies, the treatment of cyanobacterial blooms is generally carried out by manual labor using boats or by unmanned boats in conjunction with automated fishing equipment. The process of fishing by manpower using boats generally requires multiple people and boats to work together using nets, which is labor-intensive and relatively inefficient. When using unmanned vessels in conjunction with automated fishing equipment, the system uses machine vision (i.e., by acquiring and processing images) to intelligently locate cyanobacterial blooms, determine the location of the target material, and then collect and harvest it. The general structure of the automated fishing equipment consists of a figure-eight-shaped collection component mounted on the bow of the vessel and a collection and conveying component that collects the collected cyanobacteria and transports it to a container on the vessel. Due to its own structural limitations, the figure-eight-shaped collection component is generally small in size and has a small operating range in order to ensure the stable operation and endurance of the vessel. This results in a low efficiency in collecting and capturing cyanobacteria, and consequently, a relatively low actual operating efficiency.

[0004] Therefore, there is a need for a machine vision-based intelligent positioning and containment system for cyanobacterial blooms that requires no onboard personnel, offers stable operation, and has high efficiency in capturing and collecting cyanobacteria. Summary of the Invention

[0005] This application provides a machine vision-based intelligent positioning and containment system for cyanobacterial blooms, which solves the technical problems of high labor intensity, the need for multiple people to work together, and low efficiency in capturing cyanobacteria during cyanobacterial bloom containment in the prior art. It achieves the technical effects of a cyanobacterial bloom containment system that does not require operators to work on the boat, has stable operation, high efficiency in capturing cyanobacteria, and high actual operating efficiency.

[0006] This application provides a machine vision-based intelligent positioning and containment system for cyanobacterial blooms, including a first hull, a second hull, a collection and conveying component, and a containment component. The first and second hulls are symmetrically arranged, both being unmanned vessels with their own power systems capable of independent operation; The top of the second hull is positioned with a top container compartment. The collection and conveying assembly is used to collect cyanobacteria into the top container, and is fixed to the end of the second hull near the first hull. The main body is an inclined conveyor belt structure positioned on the floating hull. The main structure of the containment component consists of two rigid supports that serve a load-bearing function, which are slidably positioned on the opposite surfaces of the two hulls, two containment belts, and a combination of a reel for adjusting the exposed length of the belts by winding and releasing them. Positioned between the first and second hulls, it gradually gathers cyanobacteria to a position close to the conveyor belt component through containment. The containment belts can adjust their own posture by the reaction force of their own water spray and can also change their buoyancy by changing their own weight.

[0007] Furthermore, the collection and conveying components are detachably fixed to the first hull, including a first floating hull, a second floating hull, a connecting assembly frame, side support plates, and a conveyor belt assembly; The first floating hull is a rectangular box structure with its length direction being the same as that of the second hull, and is fixed to the surface of the second hull near the first hull; The second floating pod has the same structure as the first floating pod and is arranged symmetrically. Both the first and second floating pods are provided with through slots for the strip-shaped components of the containment assembly to pass through. The connecting assembly frame secures the first floating pod and the second floating pod together. The side support plate is a rigid, rectangular plate with an oblique orientation. There are two of them, corresponding one-to-one with the first and second floating pods. They are positioned on opposite surfaces of the first and second floating pods, with an angle of 30 to 60 degrees to the water surface. The conveyor belt assembly serves a conveying function and is fixed between the two side support plates.

[0008] Furthermore, insertion and fixing components are positioned near the bottom on the surface of the first floating hull and / or the second floating hull near the first hull; The insertion fixing component is a horizontally positioned rod-shaped component; The stern of the first hull has a fixing hole that matches the insertion and fixing component; The opening of the fixing matching hole is funnel-shaped, and it has a built-in electric buckle or electric pin that matches the hole and groove on the insertion fixing component.

[0009] Furthermore, the enclosure assembly includes a first lifting frame, a second lifting frame, a side support plate, a retraction and release assembly, a first enclosure belt, a second enclosure belt, and a water pump assembly; The first and second lifting frames are both upright rigid rectangular plate-shaped frames, which are respectively closely attached to and slidably positioned at the stern of the first hull and the end of the second hull near the first hull; The side bearing plates are respectively positioned at both ends of the first lifting frame; The winding and releasing assembly is a vertically oriented drum structure, and there are two of them, each corresponding to a side support plate. The first and second encirclement belts have the same structure and are symmetrically arranged. They are soft belts that can adjust their own weight as needed and are always in an upright position under the influence of their own center of gravity. The first and second capture belts are each fixed at one end to one end of the second lifting frame, and the other end is wound and positioned on the reel-up and release assembly; when the reel-up and release assembly rotates, it changes the length of the first and second capture belts exposed to the outside.

[0010] Furthermore, the first containment strip includes an outer shell, a bottom counterweight strip, a sponge strip, an inner strip tube, a first side tube, a second side tube, and filler material; The outer casing is a rubber tube with an elongated cross-section, which serves to provide support and containment. The bottom counterweight strip is a soft strip made of rubber, which is located inside the outer casing near the bottom and is relatively heavier than other parts inside the outer casing. The sponge strip is a strip-shaped soft sponge, which is set inside the outer shell and located at the top of the bottom counterweight strip. It has holes inside for accommodating the built-in strip tube. The built-in strip tube is a flat strip tube, which is set inside the sponge strip and connected to the water pump assembly. When water is filled in, it expands and squeezes the sponge strip. Both the first and second side pipes are located inside the outer casing, symmetrically arranged, and both are connected to the water pump assembly; The outer casing has multiple drainage holes on both sides; the drainage holes on both sides of the outer casing are respectively connected to the first side pipe and the second side pipe; The space between the first and second side tubes inside the outer casing and the space above it are all filled with stuffing.

[0011] Preferably, a water spray plate is positioned on the opposite surfaces of the first lifting frame and the second lifting frame; The spray plate is a vertical rigid plate with densely packed nozzles on its sides, connected to the water pump assembly, and sprays water toward the collection and conveying assembly.

[0012] Preferably, when the control reeling and release assembly retracts the first and second trapping belts and controls the first and second hulls to approach each other to gather the trapped cyanobacteria, water is sprayed from the outlet holes on the opposite sides of the first and second trapping belts to assist the trapping process with thrust.

[0013] Preferably, the built-in strip tubes in the first and second containment zones are composed of multiple segments, each segment being closed at both ends and independently connected to the water pump assembly.

[0014] Preferably, a top container compartment is also positioned on the top of the first hull; Insertion and fixing components are also positioned near the bottom of the surface of the first floating compartment and / or the second floating compartment near the second hull; The end of the second hull near the first hull has a fixing hole that matches the insertion and fixing component; The insertion fixing component is a horizontal telescopic rod structure that can be extended and retracted in a controlled manner; the extension and retraction of the insertion fixing component can change the distance between the collection and conveying component and the first hull and / or the second hull. The side support plate is rotatably connected to the first and second floating pods about an axis perpendicular to the first floating pod.

[0015] One or more technical solutions provided in the embodiments of this application have at least the following technical effects or advantages: By utilizing two unmanned vessels in conjunction with two conveyor belts positioned on the vessels and capable of raising, lowering, and adjusting their attitude as needed, the system captures and gathers cyanobacteria. The gathered cyanobacteria are then transported to containers on the vessels using a conveyor belt structure. This effectively solves the technical problems of high labor intensity, the need for multiple people to work together, and low efficiency in capturing and gathering cyanobacteria in existing technologies for capturing cyanobacteria blooms. As a result, the cyanobacteria bloom capture system achieves the technical effects of eliminating the need for operators to work on the vessels, ensuring stable operation, and achieving high efficiency in capturing and gathering cyanobacteria, as well as high actual operational efficiency. Attached Figure Description

[0016] Figure 1 This is a schematic diagram showing the positional relationship of each component in the machine vision-based intelligent positioning and containment system for cyanobacterial blooms of this application. Figure 2 This is a schematic diagram of the external structure of the intelligent positioning and containment system for cyanobacterial blooms based on machine vision in this application. Figure 3 This is a schematic diagram of the bottom structure of the intelligent positioning and containment system for cyanobacterial blooms based on machine vision, as described in this application. Figure 4 A schematic diagram showing the positional relationship between the collection and conveying components and other parts; Figure 5 A schematic diagram of the structure of the collection and conveying component; Figure 6 A simplified diagram of the internal structure of the first encirclement zone; Figure 7 This is a schematic diagram showing the connection between the pipes and the pumping assembly within the first containment zone; Figure 8This is a schematic diagram of the structural changes of the cyanobacteria in the machine vision-based intelligent positioning and capture system for cyanobacterial blooms during the capture of cyanobacteria. Figure 9 This is a simplified structural diagram of the built-in ribbon tube; Figure 10 This is a schematic diagram showing the positional relationship between the inserted fixing component and the second hull.

[0017] In the picture: First hull 100, top container 110, image acquisition component 120, fixed matching hole 130, second hull 200, collection and conveying component 300, first floating hull 310, through groove 311, second floating hull 320, connecting assembly frame 330, side support plate 340, conveyor belt assembly 350, insertion and fixing component 360, first lifting frame 410, water spray plate 411, second lifting frame 420, side bearing plate 430, rewind and release component 440, guide wheel 450, first enclosure belt 460, outer casing 461, bottom counterweight bar 462, sponge bar 463, built-in strip tube 464, first side tube 465, second side tube 466, water outlet 467, filler 468, second enclosure belt 470, pumping component 480. Detailed Implementation

[0018] To facilitate understanding of the present invention, a more complete description of this application will be given below with reference to the accompanying drawings, which illustrate preferred embodiments of the invention. However, the invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to enable a more thorough and complete understanding of the disclosure of the present invention.

[0019] It should be noted that the terms "vertical," "horizontal," "up," "down," "left," "right," and similar expressions used in this article are for illustrative purposes only and do not represent the only possible implementation.

[0020] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains; the terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to limit the invention; the term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0021] like Figures 1 to 5 As shown, the intelligent positioning and containment system for cyanobacterial blooms based on machine vision in this application includes a first hull 100, a second hull 200, a collection and conveying component 300, a containment component, a power component, and a control unit.

[0022] The first hull 100 and the second hull 200 are symmetrically arranged. Both are unmanned vessels with their own power systems and can drive independently. Both are existing technologies. The first hull 100 has a pointed head and a flat tail. The end face of the second hull 200 near the first hull 100 is flat. An image acquisition component 120 is positioned on the top of the first hull 100; the main structure of the image acquisition component 120 is a camera, which is used to acquire images of the work site and thus realize the positioning of the hull and the blue algae, which is the existing technology. The top of the second hull 200 is equipped with a top container 110 for containing the cyanobacteria salvaged from the water; the top container 110 is a box-shaped container with its opening facing upwards.

[0023] The collection and conveying assembly 300 is used to collect cyanobacteria into the top container 110 and is fixed on the second hull 200. The main body is an inclined conveyor belt structure positioned on the floating hull. The collection and conveying assembly 300 includes a first floating hopper 310, a second floating hopper 320, a connecting assembly frame 330, a side support plate 340, and a conveyor belt assembly 350; The first floating hull 310 is a rectangular box structure with the same length direction as the second hull 200. It is located between the first hull 100 and the second hull 200, and is fixed on the surface of the second hull 200 near the first hull 100, and is located on the side near the second hull 200. The second floating pod 320 has the same structure as the first floating pod 310 and is arranged symmetrically. Both the first float 310 and the second float 320 are provided with through grooves 311 for the strip-shaped components of the containment assembly to pass through; the through grooves 311 are through grooves; the depth direction of the through grooves 311 is the same as the length direction of the first float 310, and the space enclosed is a vertical rectangular plate. The connecting assembly frame 330 is a horizontally placed rigid rod-shaped frame, with both ends fixed to the middle positions on the opposite surfaces of the first float 310 and the second float 320, respectively, serving to combine and fix the first float 310 and the second float 320 together. The side support plate 340 is an obliquely placed rigid strip rectangular plate, and there are two of them. They correspond one-to-one with the first floating pod 310 and the second floating pod 320, respectively, and are positioned on the opposite surfaces of the first floating pod 310 and the second floating pod 320. The angle between them and the water surface is 30 to 60 degrees, and they serve to support the conveyor belt assembly 350. The conveyor belt assembly 350 serves a conveying function and is fixed between the two side support plates 340. It includes two support pulleys, an annular belt body sleeved on the two support pulleys and always in a taut state, and multiple horizontally placed rigid plates positioned on the annular belt body for retrieval. The conveyor belt assembly 350 is prior art and will not be described in detail here. The annular belt is preferably mesh-like; An insertion and fixing component 360 is positioned near the bottom of the surface of the first floating hull 310 and / or the second floating hull 320 near the first hull 100; the insertion and fixing component 360 is a horizontally placed rod-shaped component; a fixing matching hole 130 matching the insertion and fixing component 360 is positioned at the stern of the first hull 100; a hole or groove for fixing is positioned at the end of the insertion and fixing component 360 near the fixing matching hole 130; the fixing matching hole 130 is a horizontally placed deep hole with a flared opening, and contains an electric buckle or electric pin that matches the hole and groove on the insertion and fixing component 360; the insertion and fixing component 360 can be fixed to the first hull 100 as needed by means of the electronic buckle or electric pin.

[0024] The main structure of the containment component consists of two rigid supports that bear loads, two containment belts, and a combination of a reel used to adjust the exposed length of the belts by winding and releasing them. The reel is positioned between the first hull 100 and the second hull 200 and contains cyanobacteria that are gradually gathered to a position close to the conveyor belt assembly 350 by containment. The enclosure assembly includes a first lifting frame 410, a second lifting frame 420, a side support plate 430, a winding and releasing assembly 440, a guide wheel 450, a first enclosure belt 460, a second enclosure belt 470, and a water pump assembly 480. The first lifting frame 410 and the second lifting frame 420 are both upright rigid rectangular plate-shaped frames with a width similar to that of the first hull 100 and the second hull 200. They are respectively closely attached to and slidably positioned at the stern of the first hull 100 and the end of the second hull 200 near the first hull 100. They slide under the coordinated control of the power unit and the control unit, thereby adjusting the spatial position of the first encirclement belt 460 and the second encirclement belt 470 carried by themselves to facilitate the encirclement operation. The side bearing plate 430 is a horizontally placed rigid plate, and there are two of them. They are respectively positioned at both ends of the first lifting frame 410 and are respectively set close to both sides of the first hull 100, and play a bearing and support role. The winding and releasing assembly 440 is a vertically placed drum structure, and there are two of them, which correspond one-to-one with the side support plate 430. They rotate under the coordinated control of the power assembly and the control unit, thereby winding and releasing the first trapping belt 460 and the second trapping belt 470 in a timely manner. The guide wheel 450 is a vertical cylindrical wheel, there are two of them, and they are arranged one-to-one with the side bearing plate 430 and close to the side of the first hull 100. They are used to guide the first encirclement belt 460 and the second encirclement belt 470 to move close to the side wall of the first hull 100. The first encirclement belt 460 and the second encirclement belt 470 have the same structure and are symmetrically arranged. They are soft belts that can adjust their own weight as needed. Under the influence of their own center of gravity, they are always in an upright position and are always close to the guide wheel 450. They can be controlled to sink into the water or emerge from the water surface as needed to assist in the encirclement operation. The first encirclement zone 460 and the second encirclement zone 470 are each connected by a through groove 311; the length of the through groove 311 is more than twice the width of the first encirclement zone 460. The first trapping belt 460 and the second trapping belt 470 are each fixed at one end to one end of the second lifting frame 420, and the other end is wound and positioned on the winding and releasing assembly 440; when the winding and releasing assembly 440 rotates, it changes the length of the exposed first trapping belt 460 and second trapping belt 470. like Figure 6 and Figure 7 As shown, the first containment strip 460 includes an outer shell 461, a bottom counterweight strip 462, a sponge strip 463, an inner strip tube 464, a first side tube 465, a second side tube 466, and a filler 468; The outer casing 461 is a rubber tube with an elongated cross section, which serves to provide support and containment. The bottom counterweight strip 462 is a soft strip made of rubber and is located inside the outer casing 461 near the bottom. It is relatively heavier than other parts inside the outer casing 461. Its presence makes the bottom of the first trapping belt 460 heavier, thus enabling it to stand upright in the water. The sponge strip 463 is a strip-shaped soft sponge, which is set inside the outer casing 461 and located on top of the bottom counterweight strip 462; The sponge strip 463 has holes for accommodating the built-in strip tube 464; The built-in strip tube 464 is a strip flat tube, which is set inside the sponge strip 463 and is connected to the water pump assembly 480. It is controlled to fill or drain water in a timely manner. When water is filled, it expands and squeezes the sponge strip 463. The first side pipe 465 and the second side pipe 466 are both located inside the outer casing 461, symmetrically arranged, both connected to the water pump assembly 480, both close to the middle of the outer casing 461 and tightly attached to the inner side wall of the built-in strip pipe 464, and play the role of water conveying. Multiple water outlets 467 are provided on both sides of the outer casing 461; the water outlets 467 on both sides of the outer casing 461 are respectively connected to the first side pipe 465 and the second side pipe 466; the water pumped by the water pumping assembly 480 will be sprayed out from the water outlets 467 on both sides of the built-in strip pipe 464 in a controlled manner, thereby using the reaction force to adjust the posture of the first trapping belt 460. The space between the first side tube 465 and the second side tube 466 inside the outer casing 461 and above it is filled with a sponge. Since the second encirclement zone 470 and the first encirclement zone 460 have the same structure, the structure of the second encirclement zone 470 will not be described in detail here. The pump assembly 480 is positioned on the second hull 200 or the first lifting frame 410 and is a combination of a pump, valve and water pipe.

[0025] The power component is used to provide power for the operation of each component of the machine vision-based intelligent positioning and containment system for cyanobacterial blooms in this application. The control unit plays the role of controlling the coordinated operation of each component of the machine vision-based intelligent positioning and containment system for cyanobacterial blooms. Both of these are existing technologies and will not be described in detail here.

[0026] The technical means of intelligently locating cyanobacterial blooms based on machine vision is the existing technology. It uses the image acquisition component 120 to acquire on-site images, which will not be elaborated here. For details, please refer to the cyanobacterial detection method based on multi-task deep learning and adaptive background removal disclosed in patent application number 202510387246.7.

[0027] Automatic positioning and operation of ship hulls based on machine vision are existing technologies, and will not be elaborated here.

[0028] Preferably, the control unit includes a remote control module, which can determine the location of cyanobacteria by visual observation during operation, and control the operation of each component by remote control, thereby completing the operation of capturing cyanobacteria under manual remote control.

[0029] like Figure 8 As shown, the intelligent positioning and containment system for cyanobacterial blooms based on machine vision in this application is used as follows: Under normal circumstances, the first hull 100 and the second hull 200 are fixed together by the collection and conveying component 300 and travel in the water. Before the encirclement and capture operation, the image acquisition component 120 is used to acquire the water environment image, and the acquired water environment image is used to realize the intelligent positioning of the area where the cyanobacterial bloom is located and the positioning of the hull. After determining the area where the cyanobacterial bloom is located, control the first hull 100 and the second hull 200 to move together to a position close to the area where the cyanobacterial bloom is located or to the middle of the area where the cyanobacterial bloom is located. Then, the first hull 100 is separated from the collection and conveying assembly 300, the reeling and release assembly 440 is released, and the first lifting frame 410 and the second lifting frame 420 are lowered so that the first encirclement belt 460 is completely submerged in water; at the same time, water is filled into the built-in strip tubes 464 of the first encirclement belt 460 and the second encirclement belt 470 to change the first encirclement belt 460 and the second encirclement belt 470 to prevent them from floating up uncontrollably. Subsequently, the first hull 100 and the second hull 200 are controlled to increase the distance between them, while the reel-in and release assembly 440 is coordinated to maintain the taut state of the first and second encirclement belts 460 and 470. Then, the reel-in and release assembly 440 is controlled to continue releasing the first and second encirclement belts 460 and 470, while water is sprayed from the water outlets 467 on the opposite surfaces of the first and second encirclement belts 460 and 470, causing the space enclosed by the first hull 100, the second hull 200, the first encirclement belt 460, and the second encirclement belt 470 to change from a rectangle to an (approximately) circle. Then, the built-in strip pipe 464 is controlled to drain water while the first and second lifting frames 410 and 420 are controlled to move upward, so that the first and second encirclement belts 460 and 470 are partially exposed above the water surface. After this, the reeling and release assembly 440 is controlled to retrieve the first trapping belt 460 and the second trapping belt 470, while the first hull 100 and the second hull 200 are controlled to move closer to each other to gather the trapped cyanobacteria; the conveyor belt assembly 350 is controlled to operate to dredge and transport the gathered cyanobacteria into the top container 110 to realize the trapping operation.

[0030] Preferably, a water spray plate 411 is positioned on the opposite surfaces of the first lifting frame 410 and the second lifting frame 420. The water spray plate 411 is a vertical rigid plate with densely packed nozzles on its sides, connected to the water pump assembly 480, and sprays water toward the collection and conveying assembly 300. When the reeling and releasing assembly 440 retracts the first trapping belt 460 and the second trapping belt 470 and controls the first hull 100 and the second hull 200 to move closer to each other to gather the trapped cyanobacteria, the water spray plate 411 sprays water and the water outlet 467 located on the opposite surfaces of the first trapping belt 460 and the second trapping belt 470 sprays water, pushing the trapped cyanobacteria toward the position close to the conveyor belt assembly 350 through the water flow, thereby assisting in the harvesting and reducing the harvested residue.

[0031] Preferably, when the control reeling and release assembly 440 retracts the first trapping belt 460 and the second trapping belt 470 and controls the first hull 100 and the second hull 200 to move closer to each other to gather the trapped cyanobacteria, the control controls the water outlet 467 on the opposite surfaces of the first trapping belt 460 and the second trapping belt 470 to spray water, using thrust to assist the trapping process.

[0032] Preferably, since both the first encirclement zone 460 and the second encirclement zone 470 are soft strips, when encircling and fishing in a narrow river channel, water can be sprayed through the water outlet 467 to make the first encirclement zone 460 and the second encirclement zone 470 closely adhere to the riverbank, thereby greatly improving the encirclement effect and efficiency and effectively reducing the number of times the same water area is repeatedly encircled and fished.

[0033] Preferred, such as Figure 9As shown, the built-in strip tubes 464 in the first trapping zone 460 and the second trapping zone 470 are composed of multiple segments, each segment is closed at both ends and independently connected to the water pump assembly 480; after the trapping ring is constructed, the second lifting frame 420 is controlled to move upward and the segment of the built-in strip tube 464 near the second lifting frame 420 is controlled to drain water, so that the first trapping zone 460 and the second trapping zone 470 near the second hull 200 float in the water, and the first trapping zone 460 and the second trapping zone 470 near the first hull 100 are submerged in the water; at this time, controlling the first hull 100 and the second hull 200 to move forward together can collect cyanobacteria while moving forward and harvesting cyanobacteria.

[0034] Furthermore, the image acquisition component 120 includes a lidar in addition to the camera.

[0035] Preferably, an image acquisition component 120 is positioned on both the first hull 100 and the second hull 200.

[0036] The technical solutions described in the embodiments of this application have at least the following technical effects or advantages: This invention solves the technical problems of high labor intensity, the need for multiple people to work together, and low efficiency in capturing and collecting cyanobacteria in existing technologies for cyanobacterial bloom containment. It achieves the technical effects of a cyanobacterial bloom containment system that does not require operators to work on the boat, has stable operation, and has high efficiency in capturing and collecting cyanobacteria, as well as high actual operational efficiency.

[0037] To further improve the carrying capacity and practicality of the machine vision-based intelligent positioning and containment system for cyanobacterial blooms, this application optimizes and improves the structure of the first hull 100 and the collection and conveying component 300 based on the above embodiments, so that the collection and conveying component 300 can be detachably positioned on the first hull 100 or the second hull 200 as needed; specifically: A top container 110 is also positioned on the top of the first hull 100; The first floating hull 310 and / or the second floating hull 320 are also positioned near the bottom on the surface of the second hull 200; the end of the second hull 200 near the first hull 100 is positioned with a fixing matching hole 130 that matches the insertion fixing component 360. like Figure 10 As shown, the insertion fixing component 360 is a horizontal telescopic rod structure that extends and retracts under the coordinated control of the power component and the control unit. When the collection and conveying component 300 is fixed to the first hull 100 and / or the second hull 200 by the insertion fixing component 360, the extension and retraction of the insertion fixing component 360 can change the distance between the collection and conveying component 300 and the first hull 100 and / or the second hull 200. The side support plate 340 is rotatably connected to the first floating pod 310 and the second floating pod 320 about an axis perpendicular to the first floating pod 310, and rotates under the coordinated control of the power unit and the control unit. The lengths of the side support plate 340 and the conveyor belt assembly 350 are both greater than the length of the first floating hopper 310, and both are less than the sum of the length of the first floating hopper 310 and twice the length of the inserted fixing assembly 360 in its extended state. Before conducting the containment operation, with the collection and conveying assembly 300 simultaneously fixed on the first hull 100 and the second hull 200, the insertion and fixing assembly 360 is extended as needed to allow space for the rotation of the side support plate 340 and the conveyor belt assembly 350. Then, the side support plate 340 is controlled to rotate with the conveyor belt assembly 350, changing the overall tilt angle of the conveyor belt assembly 350 to select one of the top container 110 as the storage location for the harvested material (cyanobacteria). After that, the insertion and fixing assembly 360 is reset. Then, the containment operation is carried out.

[0038] Preferably, during the process of collecting cyanobacteria, the side support plate 340 is controlled as needed to drive the conveyor belt assembly 350 to rotate so that its lower end is lifted off the water surface in a timely manner (so that its overall posture tends to be horizontal). Then, in coordination with the two water spray plates 411, water is sprayed with different forces to move the cyanobacteria located at the bottom of the conveyor belt assembly 350 to the lower end of the conveyor belt assembly 350 and the hull (first hull 100 or second hull 200) near the lower end of the conveyor belt assembly 350, thereby further reducing the fishing residue.

[0039] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. For those skilled in the art, the present invention can have various modifications and variations. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A machine vision-based intelligent positioning and containment system for cyanobacterial blooms, characterized in that: Includes a first hull (100), a second hull (200), a collection and conveying assembly (300), and a capture assembly; The first hull (100) and the second hull (200) are symmetrically arranged, both of which are unmanned vessels with their own power systems and capable of independent operation; The top of the second hull (200) is positioned with a top container compartment (110); The collection and conveying assembly (300) is used to collect cyanobacteria into the top container (110), and is fixed to the end of the second hull (200) near the first hull (100). The main body is an inclined conveyor belt structure positioned on the floating hull. The main structure of the containment component consists of two rigid supports that serve a load-bearing function, which are slidably positioned on the opposite surfaces of the two hulls, two containment belts, and a combination of a reel for adjusting the exposed length of the belts by winding and releasing them. It is positioned between the first hull (100) and the second hull (200) and gradually gathers the cyanobacteria to a position close to the conveyor belt component (350) by containment. The containment belts can adjust their own posture by the reaction force of their own water spray and can also change their buoyancy by changing their own weight.

2. The intelligent positioning and containment system and method for cyanobacterial blooms based on machine vision as described in claim 1, characterized in that: The collection and conveying assembly (300) is detachably fixed to the first hull (100) and includes a first floating hull (310), a second floating hull (320), a connecting assembly frame (330), a side support plate (340), and a conveyor belt assembly (350). The first floating hull (310) is a rectangular box structure with its length direction being the same as that of the second hull (200), and is fixed to the surface of the second hull (200) near the first hull (100); The second floating pod (320) has the same structure as the first floating pod (310) and is arranged symmetrically. Both the first floating pod (310) and the second floating pod (320) are provided with through slots (311) for the strip-shaped components of the containment assembly to pass through; The connecting assembly frame (330) secures the first floating pod (310) and the second floating pod (320) together. The side support plate (340) is a rigid strip rectangular plate placed at an angle. There are two of them, which correspond one-to-one with the first floating pod (310) and the second floating pod (320). They are respectively positioned on the opposite surfaces of the first floating pod (310) and the second floating pod (320), with an angle of 30 to 60 degrees with the water surface. The conveyor belt assembly (350) serves a conveying function and is fixed between the two side support plates (340).

3. The intelligent positioning and containment system and method for cyanobacterial blooms based on machine vision as described in claim 2, characterized in that: An insertion fixing component (360) is positioned near the bottom on the surface of the first floating hull (310) and / or the second floating hull (320) near the first hull (100); The insertion fixing component (360) is a horizontally placed rod-shaped component; The stern of the first hull (100) is positioned with a fixing matching hole (130) that matches the insertion fixing assembly (360); The opening of the fixing matching hole (130) is funnel-shaped and has a built-in electric buckle or electric pin that matches the hole and groove on the insertion fixing component (360).

4. The intelligent positioning and containment system and method for cyanobacterial blooms based on machine vision as described in any one of claims 1 to 3, characterized in that: The enclosure assembly includes a first lifting frame (410), a second lifting frame (420), a side support plate (430), a retraction and release assembly (440), a first enclosure belt (460), a second enclosure belt (470), and a water pump assembly (480). The first lifting frame (410) and the second lifting frame (420) are both upright rigid rectangular plate-shaped frames, which are respectively attached to and slidably positioned at the tail of the first hull (100) and the end of the second hull (200) near the first hull (100). The side bearing plates (430) are respectively positioned at both ends of the first lifting frame (410); The winding and releasing assembly (440) is a vertically oriented drum structure, and there are two of them, each corresponding to one of the side bearing plates (430). The first encirclement belt (460) and the second encirclement belt (470) have the same structure and are symmetrically arranged. They are soft belts that can adjust their own weight as needed and are always in an upright state under the influence of their own center of gravity. The first trapping belt (460) and the second trapping belt (470) are each fixed at one end to one end of the second lifting frame (420), and the other end is wound and positioned on the reel-up and release assembly (440); when the reel-up and release assembly (440) rotates, it changes the length of the first trapping belt (460) and the second trapping belt (470) exposed to the outside.

5. The intelligent positioning and containment system and method for cyanobacterial blooms based on machine vision as described in claim 4, characterized in that: The first containment strip (460) includes an outer shell (461), a bottom counterweight strip (462), a sponge strip (463), an inner strip tube (464), a first side tube (465), a second side tube (466), and filler (468); The outer casing (461) is a rubber tube with an elongated cross section, which serves to provide support and containment. The bottom counterweight strip (462) is a soft strip made of rubber and is located inside the outer casing (461) near the bottom. Its weight is relatively heavier than other parts inside the outer casing (461). The sponge strip (463) is a strip-shaped soft sponge, which is set inside the outer shell (461) and located at the top of the bottom counterweight strip (462), and has holes for accommodating the built-in strip tube (464). The built-in strip tube (464) is a strip flat tube, which is set inside the sponge strip (463) and communicates with the water pump assembly (480). When water is filled in, it expands and squeezes the sponge strip (463). The first side pipe (465) and the second side pipe (466) are both located inside the outer casing (461), arranged symmetrically, and both are connected to the water pump assembly (480); The outer casing (461) is provided with multiple drainage holes (467) on both sides; the drainage holes (467) on both sides of the outer casing (461) are respectively connected to the first side pipe (465) and the second side pipe (466); The space between the first side tube (465) and the second side tube (466) inside the outer casing (461) and above is filled with filler (468).

6. The intelligent positioning and containment system and method for cyanobacterial blooms based on machine vision as described in claim 5, characterized in that: A water spray plate (411) is positioned on the opposite surfaces of the first lifting frame (410) and the second lifting frame (420); The water spray plate (411) is a vertical rigid plate with densely packed nozzles on its sides, which is connected to the water pump assembly (480) and sprays water toward the collection and conveying assembly (300).

7. The intelligent positioning and containment system and method for cyanobacterial blooms based on machine vision as described in claim 6, characterized in that: When the control reel-up release assembly (440) retracts the first trapping zone (460) and the second trapping zone (470) and controls the first hull (100) and the second hull (200) to approach each other and gather the trapped cyanobacteria, the control controls the water outlet (467) on the opposite surfaces of the first trapping zone (460) and the second trapping zone (470) to spray water, using thrust to assist the trapping process.

8. The intelligent positioning and containment system and method for cyanobacterial blooms based on machine vision as described in claim 5, characterized in that: The built-in strip tubes (464) in the first enclosure zone (460) and the second enclosure zone (470) are composed of multiple segments, each segment is closed at both ends and independently connected to the water pump assembly (480).

9. The intelligent positioning and containment system and method for cyanobacterial blooms based on machine vision as described in claim 5, characterized in that: A top container compartment (110) is also positioned on the top of the first hull (100); Insertion and fixing components (360) are also positioned near the bottom on the surface of the first floating container (310) and / or the second floating container (320) near the second hull (200); The end of the second hull (200) near the first hull (100) is provided with a fixing matching hole (130) that matches the insertion fixing assembly (360); The insertion fixing component (360) is a horizontal telescopic rod structure that is controlled to extend and retract; the extension and retraction of the insertion fixing component (360) can change the distance between the collection and conveying component (300) and the first hull (100) and / or the second hull (200); The side support plate (340) is rotatably connected to the first floating pod (310) and the second floating pod (320) about an axis perpendicular to the first floating pod (310).

10. A method for controlling cyanobacterial blooms, characterized in that: The accompanying intelligent positioning and containment system for cyanobacterial blooms based on machine vision, as described in claim 5, comprises the following steps: First, the image acquisition component (120) is used to acquire images of the aquatic environment. The acquired images of the aquatic environment are then used to achieve intelligent positioning of the area where the cyanobacterial bloom is located and the positioning of the ship. Control the first hull (100) and the second hull (200) to move together to a position close to the area where the cyanobacterial bloom is located or to the middle of the area where the cyanobacterial bloom is located; The first hull (100) is separated from the collection and conveying assembly (300), the reel-up release assembly (440) is released, and the first lifting frame (410) and the second lifting frame (420) are lowered so that the first capture belt (460) is completely submerged in water; at the same time, water is filled into the built-in strip tubes (464) of the first capture belt (460) and the second capture belt (470); Control the operation of the first hull (100) and the second hull (200) to increase the distance between them; The control reel-up release assembly (440) continues to release the first encircling belt (460) and the second encircling belt (470), while controlling the water outlet (467) on the opposite surface of the first encircling belt (460) and the second encircling belt (470) to spray water, causing the space enclosed by the first hull (100), the second hull (200), the first encircling belt (460), and the second encircling belt (470) to change from a rectangle to a circle; Subsequently, while controlling the drainage of the built-in strip pipe (464), the first lifting frame (410) and the second lifting frame (420) are controlled to move upward, so that the first trapping belt (460) and the second trapping belt (470) are partially exposed above the water surface; The control reel-up release assembly (440) recovers the first trapping belt (460) and the second trapping belt (470), while controlling the first hull (100) and the second hull (200) to move closer to each other to gather the trapped cyanobacteria; the control conveyor belt assembly (350) operates to dredge and transport the gathered cyanobacteria into the top container (110).

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