Marine ecological environment monitoring device

Abstract

This invention discloses a marine ecological environment monitoring device, relating to the field of marine environmental monitoring technology. Specifically, the device includes a mounting bracket, on the inner side of which a servo motor is fixedly mounted. A retraction mechanism is provided on one side of the mounting bracket, and a monitoring mechanism is fixedly mounted on the swing end of the retraction mechanism. The retraction mechanism includes a connecting support plate, which is fixedly mounted on one side of the mounting bracket. A fixed column is inserted and fixedly connected to the end of the connecting support plate away from the mounting bracket. A rotating hole is opened on the inner side of the fixed column, and a second rotating shaft is rotatably connected within the rotating hole. A V-shaped swing rod is circumferentially fixedly mounted at the end of the second rotating shaft, and a second rotating rod is rotatably connected to the top of the V-shaped swing rod via a rotating rod. This invention can accurately lower the water quality sensor to the optimal sampling point to obtain high-quality data and can also be easily retrieved for maintenance and calibration, significantly improving monitoring adaptability, data reliability, and ease of operation and maintenance.

Description

Technical Field

[0001] This invention relates to the field of marine environmental monitoring technology, and specifically to a marine ecological environment monitoring device. Background Technology

[0002] Oceans cover approximately 71% of the Earth's surface and are crucial for global climate regulation, biodiversity conservation, and resource supply. However, with rapid global economic development and increasingly frequent maritime activities, the marine ecological environment faces severe challenges. On the one hand, the expanding scale of maritime transport, including ship fuel spills and waste discharges, directly pollutes ocean waters and disrupts the marine ecological balance. On the other hand, accelerated industrialization and urbanization in coastal areas result in the discharge of large amounts of industrial wastewater and domestic sewage into the ocean, leading to eutrophication and frequent ecological disasters such as red tides. Simultaneously, overfishing severely disrupts the marine food chain, threatening the survival of numerous marine species. Furthermore, global climate change, causing sea-level rise and abnormal sea temperatures, further exacerbates the deterioration of the marine ecological environment. This deterioration not only affects the survival and reproduction of marine life but also poses a serious threat to the lives of coastal residents, economic development, and global ecological security.

[0003] A search revealed Chinese Patent Publication No. CN217980313U, a utility model, which discloses a marine monitoring platform, including a suspended base, a mast platform frame, an underwater monitoring well, a marine monitoring device, a sea-based monitoring device, a data integration device, a base balancing device, and a base fixing device. The mast platform frame is mounted on the suspended base, and the marine monitoring device is mounted on the mast platform frame. The underwater monitoring well is mounted on the suspended base, and the sea-based monitoring device is mounted on the underwater monitoring well. The base balancing device and the base fixing device are located below the suspended base; the base balancing device keeps the plane of the suspended base balanced, and the base fixing device keeps the position of the suspended base fixed on the sea surface. The marine monitoring device and the sea-based monitoring device are respectively connected to the data integration device. The above-mentioned marine monitoring platform has the following shortcomings:

[0004] The aforementioned device adjusts the platform's center of gravity and balance on the sea surface, preventing severe tilting of the platform due to waves or other factors. A base fixing device is also installed under the suspended base to secure the platform to the sea surface, preventing currents from causing it to shift or deviate from its predetermined position. However, the suspended base only ensures the stability of the overall structure; its adjustability for monitoring is relatively poor, which can affect the accuracy of marine monitoring data collection and lead to a decline in the quality of data acquisition and monitoring. Furthermore, underwater monitoring wells require a lifting device to be erected on the support frame to lift the underwater data link and marine monitoring equipment, making deployment and retrieval extremely inconvenient. Additionally, the fixed frame for underwater monitoring consists of two parts that need to be spliced ​​together, occupying a significant amount of usable space. Therefore, there is an urgent need for a marine ecological environment monitoring device. Summary of the Invention

[0005] The purpose of this invention is to address the shortcomings of existing technologies, such as relatively poor adjustability in monitoring devices, and to propose a marine ecological environment monitoring device.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] A marine ecological environment monitoring device includes a mounting bracket, a servo motor is fixedly mounted on the inner side of the mounting bracket, and a retraction mechanism is provided on one side of the mounting bracket. A monitoring mechanism is fixedly mounted on the swing end of the retraction mechanism.

[0008] The retraction mechanism includes a connecting support plate, which is fixedly installed on one side of the mounting bracket. A fixed column is inserted and fixedly connected to the end of the connecting support plate away from the mounting bracket. A rotating hole is opened inside the fixed column, and a second rotating shaft is rotatably connected within the rotating hole. A V-shaped swing arm is circumferentially fixedly installed at the end of the second rotating shaft. A second rotating rod is rotatably connected to the top of the V-shaped swing arm via a first rotating shaft. A push rod is rotatably connected to the other end of the V-shaped swing arm. A first rotating rod is rotatably connected to one end of the push rod. The end of the first rotating rod is fixedly connected to the output end of a servo motor. A first sprocket is fixedly installed at the end of the first rotating shaft away from the V-shaped swing arm, and a second sprocket is fixedly installed around the circumference of the fixed column. A transmission chain is circumferentially connected to the first and second sprockets. One end of the second rotating rod is fixedly connected to a monitoring mechanism. In this invention, the second rotating rod is used to cooperate with the V-shaped swing arm swing monitoring mechanism, the push rod is used to push the V-shaped swing arm to rotate clockwise, and the transmission chain is used to drive the second rotating rod to rotate counterclockwise.

[0009] As a further improvement to the above solution, the monitoring mechanism includes a connecting mounting plate, which is fixedly installed on one side of the rotating rod two. Stepper motors are fixedly installed on both sides of the top of the connecting mounting plate through connectors. Helical gear two is fixedly installed at the output end of the stepper motor. An L-shaped bracket has a notch at the top, and an L-shaped bracket is fixedly installed inside the notch. One end of the L-shaped bracket is rotatably connected to the helical gear two.

[0010] Furthermore, a guide rod is fixedly installed at the other end of the L-shaped bracket, and a threaded rod is rotatably connected to the inner side of one end of the guide rod. A helical gear is fixedly installed on the circumference of one end of the threaded rod.

[0011] Based on the aforementioned scheme, the first helical gear and the second helical gear mesh with each other, and the circumference of the threaded rod is connected to a sliding sleeve by a thread, with two grooves opened on one side of the sliding sleeve.

[0012] A preferred embodiment of the aforementioned scheme is that the guide rod has a vertical guide hole on its side and a horizontal guide hole at the end of the guide rod near the vertical guide hole. A pressure sensor is fixedly installed on the inner surface of the horizontal guide hole near the vertical guide hole.

[0013] As a further improvement to the above solution, a pressure sensor is fixedly installed on the inner surface of the side of the horizontal guide hole away from the vertical guide hole, and an installation component is slidably connected to the surface of the guide rod.

[0014] Meanwhile, the guide rod has a scale line one on the side near the vertical guide hole and a scale line two on the side near the horizontal guide hole, and the groove forms a sliding fit with the vertical guide hole and the horizontal guide hole.

[0015] As a further improvement to the above solution, the mounting assembly includes a movable sliding sleeve, and the outer circumferential wall of the movable sliding sleeve is fixedly mounted with equally spaced fixing rods.

[0016] Meanwhile, the bottom of each of the three fixed rods is fixedly installed with the same buffer ring, and the ends of the three fixed rods are respectively fixedly installed with a CT sensor, an ADCP sensor and a water quality sensor, and the movable sliding sleeve is fixedly connected to the sliding sleeve.

[0017] As a further improvement to the above solution, a distance sensor is fixedly installed on the side of the sliding sleeve.

[0018] Compared with the prior art, the beneficial effects of the present invention are:

[0019] 1. This device is a marine ecological environment monitoring system installed at the stern or side of a ship. It achieves vertical and controllable deployment and retraction of the monitoring probe through a sophisticated mechanical transmission mechanism. During operation, a servo motor starts, sequentially driving rotating rod one, push rod, and V-shaped pendulum. Simultaneously, a chain drive drives rotating rod two in the opposite direction, ultimately causing the V-shaped pendulum to rotate from vertical to horizontal, and rotating rod two to rotate from horizontal to vertical. This smoothly lowers the integrated monitoring mechanism fixed at its end into the water to a predetermined depth. This design effectively solves the drawbacks of traditional fixed or suspended base monitoring systems, such as the inability to adjust the monitoring position and susceptibility to interference from the ship's hull. It can accurately lower the water quality sensor to the optimal sampling point to obtain high-quality data and facilitate easy retrieval for maintenance and calibration, significantly improving monitoring adaptability, data reliability, and ease of operation and maintenance.

[0020] 2. This monitoring device uses a stepper motor to drive a helical gear set, which in turn rotates a threaded rod. This rotation controls a sliding sleeve to move downwards along a vertical guide hole. The sliding sleeve then lowers a probe, which integrates a CTD, ADCP, and water quality sensor, into the water. Once the sliding sleeve reaches the bottom of the vertical guide hole, it can continue moving along a horizontal guide hole. During this process, pressure sensors one and two enable position detection and stroke control, while a distance sensor monitors the movement distance in real time to calculate the diving depth. This design not only enables precise and controllable lowering and retrieval of the probe at different water depths but also effectively avoids surface interference and obtains more representative ecological and environmental data. This significantly improves the adaptability of the monitoring, the reliability of the data, and the level of intelligence in system operation.

[0021] 3. In this monitoring device, when the side of the sliding sleeve first touches the pressure sensor two, the pressure sensor two transmits the first touch signal to the controller through the sensor. The controller records the first touch and reminds the user that the device is operating normally. Subsequently, when it touches the pressure sensor one, the pressure sensor one transmits the pressure signal it has contacted to the stepper motor through the signal line. The stepper motor stops running and at the same time reminds the user that the device is operating normally. Attached Figure Description

[0022] Figure 1 The diagram shown is a front view of a marine ecological environment monitoring device proposed in this invention.

[0023] Figure 2 The diagram shown is a left-side view of a marine ecological environment monitoring device proposed in this invention.

[0024] Figure 3 The diagram shown is a right-side view of a marine ecological environment monitoring device proposed in this invention.

[0025] Figure 4 The diagram shown is a partial structural schematic of a marine ecological environment monitoring device proposed in this invention.

[0026] Figure 5 The diagram shown is a structural schematic of the monitoring mechanism in a marine ecological environment monitoring device proposed in this invention.

[0027] Figure 6 The diagram shown is an exploded view of the monitoring mechanism in a marine ecological environment monitoring device proposed in this invention.

[0028] Figure 7 As shown Figure 6 A magnified structural diagram of point A in the middle.

[0029] Figure 8 As shown Figure 6 A magnified structural diagram at point B in the middle.

[0030] Figure 9 The diagram shown is a structural schematic of the installation components in a marine ecological environment monitoring device proposed in this invention.

[0031] Explanation of main component symbols

[0032] 1. Servo motor; 2. Mounting bracket; 3. Retraction and extension mechanism; 4. Monitoring mechanism; 301. V-shaped swing arm; 302. Push rod; 303. Rotating rod one; 304. Transmission chain; 305. Rotating rod two; 306. Connecting support plate; 307. Fixed column; 308. Rotating shaft one; 309. Rotating shaft two; 401. Connecting mounting plate; 402. Stepper motor; 403. Guide rod; 404. Fixed rod; 405. Moving sliding sleeve; 406. Buffer 407. Punch ring; 408. Scale line one; 409. Scale line two; 410. Threaded rod; 411. L-shaped bracket; 412. Helical gear one; 413. Helical gear two; 414. Distance sensor; 415. Sliding sleeve; 416. Groove; 417. Vertical guide hole; 418. Horizontal guide hole; 419. Pressure sensor one; 420. Pressure sensor two; 421. CT sensor; 422. ADCP sensor; 423. Water quality sensor.

[0033] The above description of the main component symbols, together with the accompanying drawings and specific embodiments, provides a more detailed explanation of the present invention. Detailed Implementation

[0034] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to embodiments. Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. It should be understood that the following description is merely illustrative and not intended to limit the invention.

[0035] The specific embodiments of the present invention will be described in detail below.

[0036] Example 1

[0037] Please see Figure 1-9 This embodiment provides a marine ecological environment monitoring device, which includes a mounting bracket 2, a servo motor 1 fixedly mounted on the inner side of the mounting bracket 2, and a retraction mechanism 3 provided on one side of the mounting bracket 2. A monitoring mechanism 4 is fixedly mounted on the swing end of the retraction mechanism 3.

[0038] The retraction mechanism 3 includes a V-shaped swing arm 301, a push rod 302, a first rotating rod 303, a transmission chain 304, a second rotating rod 305, a connecting support plate 306, a fixed column 307, a first rotating shaft 308, and a second rotating shaft 309. The connecting support plate 306 is fixedly installed on one side of the mounting bracket 2, and the fixed column 307 is inserted and fixedly connected to the end of the connecting support plate 306 away from the mounting bracket 2. A rotating hole is opened on the inner side of the fixed column 307, and the second rotating shaft 309 is rotatably connected within the rotating hole. The V-shaped swing arm 301 is fixedly installed circumferentially at the end of the second rotating shaft 309. The top end of the V-shaped swing arm 301 is rotatably connected to the rotating rod 305 via the rotating shaft 308. The other end of the V-shaped swing arm 301 is rotatably connected to the push rod 302. One end of the push rod 302 is rotatably connected to the rotating rod 303. The end of the rotating rod 303 is fixedly connected to the output end of the servo motor 1. The end of the rotating shaft 308 away from the V-shaped swing arm 301 is fixedly mounted with a sprocket 1, and the circumference of the fixed column 307 is fixedly mounted with a sprocket 2. The circumference of the sprocket 1 and the sprocket 2 is connected by a transmission chain 304. One end of the rotating rod 305 is fixedly connected to the monitoring mechanism 4.

[0039] In this embodiment, the entire device is installed on the stern or side of the ship by the mounting bracket 2. The servo motor 1 is started to drive the rotating rod 303 to rotate. The rotating rod 303 pulls the push rod 302 to swing. The swinging push rod 302 pushes the V-shaped swing rod 301 to rotate. At the same time, the top of the V-shaped swing rod 301 swings clockwise downward. During this period, the transmission chain 304 drives the transmission around the sprocket 1 and sprocket 2, pulling the sprocket 1 located on one side of the top of the V-shaped swing rod 301 to rotate.

[0040] The rotating sprocket pulls the rotating rod 305 counterclockwise via the rotating shaft 308. At this time, the V-shaped swing rod 301 changes from a vertical state to a horizontal state, and the rotating rod 305 changes from a horizontal state to a vertical state. This pulls the monitoring mechanism 4 located at the end of the rotating rod 305 vertically into the water surface. This solves the problem that in the existing technology, the suspended base can only ensure the stability of the overall structure, and the adjustability for monitoring is relatively poor, which will affect the collection of marine monitoring data and lead to a decline in the quality of collection and monitoring. This device not only improves the quality of marine ecological environment data collection by the monitoring mechanism 4, but also realizes the deployment and retraction of the monitoring mechanism 4, which facilitates subsequent loading, unloading and maintenance.

[0041] In order to collect ecological and environmental data at different depths of the sea, such as Figure 5-9 As shown, the monitoring mechanism 4 includes a connecting mounting plate 401, a stepper motor 402, a guide rod 403, a buffer ring 406, a scale line 1 407, a scale line 2 408, a threaded rod 409, an L-shaped bracket 410, a helical gear 1 411, a helical gear 2 412, a distance sensor 413, a sliding sleeve 414, a groove 415, a vertical guide hole 416, a horizontal guide hole 417, a pressure sensor 1 418, and a pressure sensor 2 419. The connecting mounting plate 401 is fixedly installed on one side of the rotating rod 2 305. The stepper motor 402 is fixedly installed on both sides of the top of the connecting mounting plate 401 through connectors. The output end of the stepper motor 402 is fixedly installed with the helical gear 2 412. A notch is opened on the top of the connecting mounting plate 401, and an L-shaped bracket 410 is fixedly installed in the notch. One end of the L-shaped bracket 410 is rotatably connected to the helical gear 2 412.

[0042] A guide rod 403 is fixedly installed at the other end of the L-shaped bracket 410. A threaded rod 409 is rotatably connected to the inner side of one end of the guide rod 403. A helical gear 411 is fixedly installed on the circumference of one end of the threaded rod 409. The helical gear 411 meshes with the helical gear 412. A sliding sleeve 414 is threadedly connected to the circumference of the threaded rod 409. Two grooves 415 are opened on one side of the sliding sleeve 414. A distance sensor 413 is fixedly installed on the side of the sliding sleeve 414. A vertical guide hole 416 is opened on the side of the guide rod 403. A horizontal guide hole 417 is opened at the tail end of the guide rod 403 near the vertical guide hole 416. A pressure sensor 419 is fixedly installed on the inner surface of the horizontal guide hole 417 near the vertical guide hole 416. A pressure sensor 418 is fixedly installed on the inner surface of the horizontal guide hole 417 away from the vertical guide hole 416. An installation component is slidably connected to the surface of the guide rod 403.

[0043] The distance sensor 413 is model MS5803, and the pressure sensor 1 418 and pressure sensor 2 419 are both model MS5803-14BA.

[0044] The guide rod 403 has a scale line 407 on its side facing the vertical guide hole 416, and a scale line 408 on its side facing the horizontal guide hole 417. The groove 415 forms a sliding fit with the vertical guide hole 416 and the horizontal guide hole 417.

[0045] The mounting assembly includes a fixed rod 404, a movable sliding sleeve 405, a buffer ring 406, a CT sensor 420, an ADCP sensor 421, and a water quality sensor 422. The movable sliding sleeve 405 is slidably connected to the circumferential surface of the guide rod 403. Fixed rods 404 are fixedly installed at equal intervals on the outer circumferential wall of the movable sliding sleeve 405. The bottom of each of the three fixed rods 404 is fixedly installed with the same buffer ring 406. The ends of the three fixed rods 404 are respectively fixedly installed with the CT sensor 420, the ADCP sensor 421, and the water quality sensor 422. The movable sliding sleeve 405 is fixedly connected to the sliding sleeve 414.

[0046] CT sensor 420 is a temperature and salinity measurement sensor, model Sea-Bird SBE 49 FastCAT CT; ADCP sensor 421 is an ocean current profile sensor, model Teledyne RDI Workhorse Mariner 600 kHz; and water quality sensor 422 is model YSI EXO2.

[0047] During operation, the stepper motor 402 drives the second helical gear 412 to rotate. The rotating helical gear 412 drives the first helical gear 411 to rotate. The rotating helical gear 411 drives the threaded rod 409 to rotate. The rotating threaded rod 409 drives the sliding sleeve 414 to slide vertically in the vertical guide hole 416. At the same time, the moving sliding sleeve 414 drives the moving sliding sleeve 405 to slide vertically in the guide rod 403. When the sliding sleeve 414 slides to the bottom of the vertical guide hole 416, the sliding sleeve 414 continues to rotate and then enters the horizontal guide hole 417 to slide. When its side first touches the second pressure sensor 419, the second pressure sensor 419 transmits the first touch signal to the controller through the sensor. The controller records the first touch and reminds the user that the device is operating normally. Subsequently, when it touches the first pressure sensor 418, the first pressure sensor 418 transmits the contact pressure signal to the stepper motor 402 through the signal line. The stepper motor 402 stops running and reminds the user that the device is operating normally.

[0048] At this time, the movable sliding sleeve 405 slides underwater. The CT sensor 420, ADCP sensor 421, and water quality sensor 422 on the circumference of the movable sliding sleeve 405 can measure and collect underwater ecological environment data. Conversely, when the stepper motor 402 reverses, it drives the sliding sleeve 414 located in the horizontal guide hole 417 to reverse, and its side continues to touch the pressure sensor 1 418 and pressure sensor 2 419 in sequence. At the same time, the distance sensor 413 located on the side of the sliding sleeve 414 can measure the distance it moves, thereby realizing the function of depth measurement. This helps users obtain ecological environment data more accurately. It not only plays the role of collecting ecological environment data at different depths in the sea, but also can obtain the movement status of the device in real time, improving its practicality.

[0049] Example 2

[0050] Based on Example 1, this embodiment further explores the influence of the tilt angle of the rotating rod 305 on the monitoring quality of the monitoring mechanism 4 when the retraction mechanism 3 and the monitoring mechanism 4 are working. The analysis is as follows:

[0051] First, the monitoring quality is quantified into a comprehensive score Q between 0 and 1. The formula for the comprehensive score Q is:

[0052] ;

[0053] Where Q is the overall score, and the higher the Q value, the better the overall performance from this perspective.

[0054] E is the depth coverage efficiency (0-1), representing the speed at which the target depth is reached;

[0055] A represents the attitude stability accuracy (0-1), indicating the stability of the sensor measurement.

[0056] α is a tradeoff coefficient (0-1), set by the user. If more emphasis is placed on rapid deployment (such as rapid profile scanning), α is close to 1; if more emphasis is placed on stable measurement (such as long-term fixed-point observation), then α is close to 0.

[0057] Secondly, assuming the goal is to reach a target depth D, the formula for the depth coverage efficiency E(θ) is:

[0058]

[0059] Where θ represents the angle between the rotating rod 305 and the horizontal plane, and this angle is related to the initial water entry angle and trajectory of the monitoring mechanism 4;

[0060] , which represents the stretch length required to reach the target depth;

[0061] R is the length of the second rotating rod 305 (the length of the robotic arm, a fixed value);

[0062] L min This indicates the minimum travel distance of the three horizontally aligned monitoring sensors in monitoring agency 4:

[0063] L max This indicates the maximum travel of the three horizontally aligned monitoring sensors in monitoring agency 4;

[0064] Therefore, the closer the required length is to the midpoint of its stroke, the higher the efficiency score E (avoiding the mechanism from working at its limit position, resulting in faster and smoother movements).

[0065] Finally, ocean currents are the main source of interference. Assuming the angle between the direction of the ocean current and the ship's side (the mounting surface of the device) is φ, the formula for calculating the attitude stability accuracy A(θ) is:

[0066]

[0067] Wherein, λ is the disturbance sensitivity coefficient (λ>0, for example, it can be taken as 1.5). The larger λ is, the more sensitive the device is to ocean currents.

[0068] This represents the angle difference between the direction of the robotic arm and the direction of the ocean current.

[0069] Therefore, when the direction of the robotic arm (θ) is the same as or opposite to the direction of the ocean current (φ), sin(θ)=θ, A(θ)=1, and the stability is optimal (with or against the current, the forces are balanced); when the two are perpendicular, sin(90°)=1, A(θ) is minimum, and the stability is worst (cross-current impact, maximum swaying).

[0070] Based on the above, the application examples and decision-making process are as follows:

[0071] Assumption:

[0072] 1. Objective: To conduct measurements at a depth of 5 meters (D=5m) underwater;

[0073] 2. The robotic arm length R = 2m, and the probe stroke L min =0m,L max =10m;

[0074] 3. Current current direction φ = 30° (angle with the ship's side);

[0075] Set the tradeoff coefficient α=0.5 (efficiency and accuracy are equally important) and the sensitivity coefficient λ=1.5.

[0076] Calculate the score at different angles θ:

[0077] Suppose we evaluate three candidate angles: θ1=0° (horizontal extension), θ2=60° (slanted downward), θ3=90° (vertical lowering);

[0078] For θ2 = 60°, L need =(5−2*sin60°) / cos60°≈(5−1.732) / 0.5=6.536m;

[0079] E=1−∣6.536−5∣ / (10−0)=1−0.1536=0.8464;

[0080] A=exp(−1.5*∣sin(60°−30°)∣)=exp(−1.5*0.5)=exp(−0.75)≈0.472;

[0081] Q=0.5*0.846+0.5*0.472=0.659;

[0082] Similarly, the Q values ​​for θ=0° and θ=90° are calculated, and the numerical results and analysis are shown in the table below:

[0083] 0° Lower (0.40) Worst (0.32) 0.36 Extending horizontally to counteract crossflow results in significant swaying and low efficiency. 60° High (0.85) Medium (0.47) 0.66 A compromise solution that is efficient and reasonably stable. 90° Medium (0.70) Optimal (1.0) 0.85 The best choice is vertical placement, downstream, most stable, and with acceptable efficiency.

[0084] Therefore, vertical lowering (θ=90°) is the optimal solution, which can perfectly match the direction of the ocean current, obtain the best stability, and at the same time, the efficiency is acceptable.

[0085] In summary, by using the comprehensive scoring formula Q, the optimal robotic arm angle θ is automatically found to balance "rapidly reaching the target depth" and "maintaining measurement stability". The core principle is that the robotic arm angle θ should be aligned with the ocean current direction (φ) as much as possible to maximize stability.

[0086] Based on this, the decision-making process is as follows:

[0087] Measuring ocean currents: Before deployment, use equipment such as ADCP to simply measure the direction φ of the ocean current;

[0088] Set preferences: Decide on the trade-off coefficient α based on your own needs (speed or stability).

[0089] Calculate the optimal angle: Substitute the above parameters into the model to calculate the optimal angle θ*;

[0090] Execution: Control servo motor 1 to move the rotating rod 305, and then start stepper motor 402 to lower the monitoring sensor.

[0091] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A marine ecological environment monitoring device, comprising a mounting bracket (2), characterized in that, A servo motor (1) is fixedly installed on the inner side of the mounting bracket (2), and a retraction mechanism (3) is provided on one side of the mounting bracket (2). A monitoring mechanism (4) is fixedly installed on the swing end of the retraction mechanism (3). The retracting mechanism (3) includes a connecting support plate (306), which is fixedly installed on one side of the mounting bracket (2). A fixed column (307) is inserted and fixedly connected to the end of the connecting support plate (306) away from the mounting bracket (2). A rotating hole is opened on the inner side of the fixed column (307), and a rotating shaft (309) is rotatably connected in the rotating hole. A V-shaped swing rod (301) is circumferentially fixedly installed at the end of the rotating shaft (309). The top of the V-shaped swing rod (301) is rotatably connected to a rotating rod (308) through a rotating rod (309). 5) The other end of the V-shaped swing arm (301) is rotatably connected to the push rod (302), and one end of the push rod (302) is rotatably connected to the rotating rod (303). The end of the rotating rod (303) is fixedly connected to the output end of the servo motor (1). The rotating shaft (308) is fixedly installed with a sprocket (1) at the end away from the V-shaped swing arm (301), and a sprocket (2) is fixedly installed on the circumference of the fixed column (307). The sprocket (1) and the sprocket (2) are circumferentially connected by a transmission chain (304). One end of the rotating rod (2) (305) is fixedly connected to the monitoring mechanism (4).

2. The marine ecological environment monitoring device according to claim 1, characterized in that, The monitoring agency (4) includes: A connecting mounting plate (401) is fixedly installed on one side of the rotating rod (305) for loading and unloading docking with the rotating rod (305); A stepper motor (402) is fixedly mounted on the top of the connecting mounting plate (401) by means of a connector; Helical gear 2 (412) is fixedly installed at the output end of stepper motor (402); The L-shaped bracket (410) has a notch at the top of the mounting plate (401). The L-shaped bracket (410) is fixedly installed at the notch, and one end of the L-shaped bracket (410) is rotatably connected to the second helical gear (412).

3. The marine ecological environment monitoring device according to claim 2, characterized in that, The other end of the L-shaped bracket (410) is fixedly installed with a guide rod (403), and a threaded rod (409) is rotatably connected to the inner side of one end of the guide rod (403). One end of the threaded rod (409) is fixedly equipped with a helical gear one (411), which meshes with the helical gear two (412).

4. The marine ecological environment monitoring device according to claim 3, characterized in that, The circumference of the threaded rod (409) is connected to a sliding sleeve (414) by a thread, and two grooves (415) are opened on one side of the sliding sleeve (414).

5. The marine ecological environment monitoring device according to claim 3, characterized in that, The guide rod (403) has a vertical guide hole (416) on its side and a horizontal guide hole (417) at the tail end of the guide rod (403) near the vertical guide hole (416). Pressure sensor 2 (419) is fixedly installed on the inner surface of the horizontal guide hole (417) near the vertical guide hole (416).

6. The marine ecological environment monitoring device according to claim 5, characterized in that, A pressure sensor (418) is fixedly installed on the inner surface of the horizontal guide hole (417) away from the vertical guide hole (416), and an installation component is slidably connected to the surface of the guide rod (403).

7. The marine ecological environment monitoring device according to claim 6, characterized in that, The guide rod (403) has a scale line (407) on its side facing the vertical direction near the vertical guide hole (416), and a scale line (408) on its side facing the horizontal direction near the horizontal guide hole (417). The groove (415) forms a sliding fit with the vertical guide hole (416) and the horizontal guide hole (417).

8. The marine ecological environment monitoring device according to claim 6, characterized in that, The installation components include: The movable sleeve (405) is slidably connected to the circumferential surface of the guide rod (403); Three fixed rods (404) are fixedly installed at equal intervals on the outer circumference of the movable sliding sleeve (405).

9. The marine ecological environment monitoring device according to claim 8, characterized in that, The installation components also include: A buffer ring (406) is fixedly installed at the bottom of three fixed rods (404); CT sensor (420), ADCP sensor (421) and water quality sensor (422); CT sensor (420), ADCP sensor (421) and water quality sensor (422) are fixedly installed at the ends of three fixed rods (404) in sequence, and the movable sliding sleeve (405) is fixedly connected to the sliding sleeve (414).

10. The marine ecological environment monitoring device according to claim 4, characterized in that, A distance sensor (413) is fixedly connected to the side of the sliding sleeve (414).

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