A Protective Mobile Unmanned Surface Vessel Hyperspectral System for Shallow Sea Pollution Observation

Abstract

This invention provides a protective mobile unmanned surface vessel (USV) hyperspectral system for shallow sea pollution observation, belonging to the field of marine environmental monitoring technology. It includes an USV hull, hyperspectral observation equipment, a water sampling and detection device, and a controller. By installing a cabin and a hinged door on the USV hull, and housing the height-adjustable hyperspectral observation equipment, the system effectively protects the equipment when observation is needed. The door opens to extend the equipment from the cabin, and retracts it when observation is not required, then closes the door. The water sampling and detection device allows for timely and rapid sampling of polluted water, analysis of the samples, and output of results. This invention integrates hyperspectral observation and water sampling and detection, effectively protecting the hyperspectral observation equipment while simultaneously enabling sampling of polluted water, thus improving the effectiveness of pollution evidence collection.

Description

Technical Field

[0001] This utility model belongs to the field of marine environmental monitoring technology, and more specifically, it relates to a protective mobile unmanned surface vessel hyperspectral system for shallow sea pollution observation. Background Technology

[0002] Shallow sea areas serve as major channels for land-based pollution to enter the ocean, making real-time water quality monitoring and pollution source tracing crucial for marine ecological protection. Hyperspectral imaging technology, with its integrated image and spectrum capabilities, enables rapid and non-destructive detection of various water quality parameters and pollutants, including chlorophyll a, suspended solids, and petroleum hydrocarbons, and has become an important tool for nearshore environmental monitoring. Currently, deploying hyperspectral equipment on unmanned surface vessels (USVs) for mobile observation is an effective way to improve monitoring coverage and efficiency.

[0003] However, existing observation systems still have significant shortcomings in practical applications. First, as precision optical instruments, hyperspectral equipment is exposed to harsh environments of high salt spray and high humidity in shallow seas for extended periods. Its lenses and electronic components are highly susceptible to corrosion and erosion, leading to decreased optical performance, frequent circuit failures, and reduced equipment lifespan and data stability. Current solutions mostly employ simple fixed installations or makeshift rain covers, lacking a protective structure that can reliably and stably seal and protect the core components of the equipment during off-peak hours or in harsh sea conditions, while simultaneously allowing for rapid and stable deployment when observations are needed.

[0004] Secondly, hyperspectral observation and water sampling are usually two independent systems. After an anomaly is detected, it is often impossible to obtain the actual water sample at the corresponding location in real time and automatically on the same platform, resulting in the separation of pollution monitoring and water sampling, which affects the effectiveness of pollution evidence collection. Utility Model Content

[0005] The purpose of this invention is to provide a protective mobile unmanned surface vessel hyperspectral system for shallow sea pollution observation. It aims to solve the technical problem of how to design a retractable protective structure for hyperspectral observation equipment on a mobile unmanned surface vessel, while integrating water sampling with it.

[0006] To achieve the above objectives, the technical solution adopted by this utility model is: to provide a protective mobile unmanned surface vessel hyperspectral system for shallow sea pollution observation, comprising:

[0007] The unmanned vessel hull has a compartment located inside it with an opening at its upper end that extends through the top of the unmanned vessel hull. The top of the unmanned vessel hull is connected to an opening door for opening or closing the opening at the upper end of the compartment.

[0008] A hyperspectral observation device has a first end connected to the interior of the cabin, and a second end having a degree of freedom to move between the interior and exterior of the cabin through an opening at the top of the cabin. When the opening and closing door is opened, the second end of the hyperspectral observation device extends out of the cabin and is used for hyperspectral observation. When the second end of the hyperspectral observation device retracts into the cabin, the opening and closing door closes to form protection for the hyperspectral observation device.

[0009] The water sampling and testing device includes a water intake pipe located on the side of the hull of the unmanned vessel for extracting water samples and a water sampling and testing machine connected to the outlet end of the water intake pipe and located inside the cabin.

[0010] The controller is connected to the hyperspectral observation equipment and the water sample retention and detection device respectively, and is used to control the operation of the hyperspectral observation equipment and the water sample retention and detection device respectively.

[0011] In one possible implementation, the hyperspectral observation device includes:

[0012] A telescopic drive rod, the first end of which is connected to the interior of the cabin, and the second end which has a degree of freedom to move between the interior and exterior of the cabin through an opening at the top of the cabin. The telescopic drive rod is signal-connected to the controller and its operation is controlled by the controller.

[0013] A gimbal is connected to the telescopic drive rod near the second end. The gimbal passes through the upper opening of the cabin via the telescopic drive rod and can move between the inside and outside of the cabin.

[0014] A hyperspectral host is connected to the gimbal, and the hyperspectral host is used to perform hyperspectral observations and the observation direction is adjusted by means of the gimbal.

[0015] A lightning rod is connected to the telescopic drive rod near the second end. The lightning rod passes through the opening at the top of the cabin via the telescopic drive rod and can move between the inside and outside of the cabin.

[0016] In one possible implementation, the opening and closing door is a sensor-operated door with one end hinged to the top of the unmanned vessel's hull. The opening and closing door is electrically connected to the controller and its operation is controlled by the controller.

[0017] In one possible implementation, a rotating structure is provided on the top of the unmanned vessel hull, away from the opening and closing door. The lower end of the rotating structure is fixedly connected to the top of the unmanned vessel hull, and the upper end has a circumferential rotational degree of freedom. A hollow column is vertically arranged connected to the upper end of the rotating structure. The water intake pipe passes through the lower side wall of the hollow column and exits from the upper end of the hollow column. The water intake end of the water intake pipe is set downward, and the water intake position is adjusted by rotating the rotating structure.

[0018] In one possible implementation, the upper end of the hollow column is connected to one end of a horizontally arranged hollow cantilever beam, the interior of which is connected to the interior of the hollow column. The other end of the hollow cantilever beam is connected to a telescopic water intake structure, the upper end of which is connected to the hollow cantilever beam and the lower end of which is downward. The water intake pipe passes through the hollow column and the hollow cantilever beam in sequence, and exits from the end of the hollow cantilever beam away from the hollow column. After exiting, it is connected to the water intake pipe of the telescopic water intake structure. The telescopic water intake structure has a water intake pipe that moves vertically up and down.

[0019] In one possible implementation, the telescopic water intake structure has a telescopic push rod connected to the hollow cantilever beam, the water intake pipe is vertically arranged and its upper end is connected to the push end of the telescopic push rod, the water intake end of the water inlet pipe is connected to the side of the water intake pipe, the height of the water intake pipe is adjusted by means of the telescopic push rod, and the position of the water intake pipe in the horizontal plane is adjusted by means of the rotating structure.

[0020] In one possible implementation, the rotating structure is an electrically controlled rotary table, which is signal-connected to the controller, and the operation of the rotating structure is controlled by the controller.

[0021] In one possible implementation, a meteorological parameter sampling device is connected to the top of the unmanned vessel hull, and the meteorological parameter sampling device is used to sample and analyze meteorological parameters around the unmanned vessel hull.

[0022] In one possible implementation, the unmanned vessel hull is connected to an air conditioning device, which is used to regulate the air environment inside the hull.

[0023] In one possible implementation, the air conditioning device includes:

[0024] An air conditioning unit is connected to the hull of the unmanned vessel and has an air duct that connects to its air outlet. The air duct connects to the interior of the cabin, and the air conditioning unit is used to regulate the air temperature inside the cabin.

[0025] An air purification unit is installed inside the cabin and is used to purify the air inside the cabin.

[0026] The beneficial effects of the protective mobile unmanned surface vessel (USV) hyperspectral system for shallow sea pollution observation provided by this utility model are as follows: Compared with the prior art, the protective mobile USV hyperspectral system for shallow sea pollution observation of this utility model includes an USV hull, a hyperspectral observation device, a water sample collection and detection device, and a controller; by setting a cabin and an opening and closing door on the USV hull, and installing a height-adjustable hyperspectral observation device, the opening and closing door is opened when observation is needed, allowing the hyperspectral observation device to extend from inside the cabin; when observation is not needed, the hyperspectral observation device is retracted into the cabin, and then the opening and closing door is closed, effectively protecting the hyperspectral observation device.

[0027] By placing the water sampler inside the chamber, damage to the water sampler can be avoided from the external environment. The water intake pipe is placed outside the chamber and passes through the side of the chamber to connect with the water sampler. Water samples taken by the water intake pipe can be transported to the water sampler for testing and output.

[0028] The controller allows for separate control of the hyperspectral observation equipment and the water sampling and detection device. If pollution is detected through hyperspectral observation, the water sampling and detection device can be controlled to extract water samples, thus timely and effectively preserving evidence of water pollution. This integrated setup of hyperspectral observation and water sampling solves the technical problem in existing technologies where hyperspectral observation and water sampling are two independent systems, which cannot timely and effectively sample and analyze polluted water, thus affecting the effectiveness of pollution evidence collection.

[0029] By providing physical protection for the hyperspectral observation equipment, damage from salt spray, moisture, and other factors can be effectively isolated when it is not in use, greatly extending the service life and data stability of the hyperspectral observation equipment in harsh shallow sea environments.

[0030] The water sampling and testing device can sample, retain, and test water bodies at different depths. In conjunction with hyperspectral observation equipment, it can automatically trigger precise sampling based on pollution monitoring results, comprehensively analyze and judge the degree of pollution, and repeatedly test the water samples to improve the accuracy of the test and form a complete evidence chain of spectral data and physical water samples, which strongly supports pollution source tracing and evidence collection.

[0031] By using the unmanned vessel's navigation, the controller coordinates hyperspectral observation and water sample collection and detection, the system has achieved automated operation from route navigation, fixed-point observation, anomaly sampling to data uploading, which has significantly improved observation efficiency and reduced labor costs and operational difficulty. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in the embodiments of this utility model, 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 this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0033] Figure 1 A schematic diagram of the structure of a protective mobile unmanned surface vessel hyperspectral system for shallow sea pollution observation provided for an embodiment of this utility model;

[0034] Figure 2 Another perspective structural schematic diagram of a protective mobile unmanned surface vessel hyperspectral system for shallow sea pollution observation provided for an embodiment of this utility model;

[0035] Figure 3 A schematic diagram of the hyperspectral observation equipment structure of a protective mobile unmanned surface vessel hyperspectral system for shallow sea pollution observation provided in this embodiment of the present invention;

[0036] Figure 4 A schematic diagram of the structure of a hyperspectral observation device and a water sampling and detection device for a protective mobile unmanned surface vessel hyperspectral system for shallow sea pollution observation provided in this embodiment of the present invention;

[0037] Figure 5 This is a schematic diagram of the main structure of the water sample retention and detection device used in this embodiment of the utility model;

[0038] Figure 6 A top view of a protective underway unmanned surface vessel hyperspectral system for shallow sea pollution observation provided in an embodiment of this utility model;

[0039] Figure 7 for Figure 1 A schematic diagram of the hyperspectral observation equipment in operation (no water sample retention and detection device is shown in the diagram).

[0040] Figure 8 for Figure 7 Enlarged view of the structure at point A in the image;

[0041] Figure 9 for Figure 1 A schematic diagram of the meteorological parameter sampling equipment in the diagram;

[0042] Figure 10 for Figure 1 A schematic diagram of the automatic anchor rolling machine.

[0043] Explanation of reference numerals in the attached figures:

[0044] 1. Unmanned vessel hull; 11. Cabin; 12. Opening door; 13. Rotating structure; 14. Hollow column; 15. Hollow cantilever beam; 16. Telescopic water intake structure; 161. Water intake pipe; 162. Telescopic push rod; 17. Support platform;

[0045] 2. Hyperspectral observation equipment; 21. Telescopic drive rod; 22. Pan-tilt unit; 23. Hyperspectral main unit; 24. Lightning rod;

[0046] 3. Water sample retention and testing device; 31. Water intake pipeline; 32. Water sample retention and testing machine;

[0047] 4. Meteorological parameter sampling equipment;

[0048] 5. Air conditioning equipment;

[0049] 6. Automatic anchor rolling machine. Detailed Implementation

[0050] To make the technical problems, technical solutions, and beneficial effects of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0051] 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 application pertains; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms “comprising” and “having”, and any variations thereof, in the specification, claims, and foregoing description of the drawings are intended to cover non-exclusive inclusion.

[0052] In the description of the embodiments of this application, technical terms such as "first" and "second" are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, "multiple" means two or more, unless otherwise explicitly defined.

[0053] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0054] In the description of the embodiments of this application, the term "multiple" refers to two or more (including two), similarly, "multiple sets" refers to two or more (including two sets), and "multiple pieces" refers to two or more (including two pieces).

[0055] In the description of the embodiments of this application, the technical terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this application and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application.

[0056] In the description of the embodiments of this application, unless otherwise expressly specified and limited, technical terms such as "installation," "connection," "joining," and "fixing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in the embodiments of this application can be understood according to the specific circumstances.

[0057] Currently, real-time monitoring of shallow water quality and pollution source tracing are crucial. Hyperspectral observation technology can quickly identify multiple pollutants, and its deployment on unmanned vessels can improve monitoring efficiency. However, existing systems have significant shortcomings: First, hyperspectral equipment is exposed to harsh marine environments with high salt spray and high humidity for extended periods, making it susceptible to corrosion and erosion, leading to performance degradation and shortened lifespan. Existing fixed or simple protective structures cannot meet the dual requirements of reliable protection and rapid deployment. Second, the observation system and water sampling system are usually independent of each other, making it difficult to simultaneously obtain physical water samples when pollution anomalies are detected. This results in a disconnect between monitoring data and physical evidence, affecting the effectiveness of source tracing and evidence collection.

[0058] To address the aforementioned technical problems, this application provides a protective mobile unmanned surface vessel (USV) hyperspectral system for shallow sea pollution observation. The following is a detailed description of the USV hyperspectral system for shallow sea pollution observation provided in this application, with reference to the accompanying drawings.

[0059] This application proposes a protective mobile unmanned surface vessel (USV) hyperspectral system for shallow sea pollution observation, comprising a USV hull 1, a hyperspectral observation device 2, a water sample collection and detection device 3, and a controller. In this embodiment, the USV hull 1 utilizes existing technology to enable mobile movement in shallow sea areas. The controller is also existing technology, comprising multiple control modules and control circuits, with each control module controlling the operation of the hyperspectral observation device 2 and the water sample collection and detection device 3.

[0060] The unmanned surface vessel (USV) hull 1 has a compartment 11 located inside it, with its upper opening penetrating the top of the hull. A door 12, for opening and closing the upper opening of the compartment 11, is connected to the top of the hull 1. This door 12 is a double door, as in the prior art, capable of automatic opening and closing. A hyperspectral observation device 2 is integrated within the compartment 11. The compartment 11 contains a constant temperature and humidity control unit and a salt spray filtration device (both existing technologies), providing a stable working environment for the hyperspectral observation device 2 and effectively isolating it from external high-salt-spray and high-humidity corrosion. The controller can, based on the pollution anomaly signal fed back by the hyperspectral observation device 2, activate the water sampling and detection device 3 in real time, enabling rapid and automatic sampling of water at abnormal locations.

[0061] The first end of the hyperspectral observation device 2 is connected to the interior of the cabin 11, and the second end has the freedom to move between the interior and exterior of the cabin 11 through the opening at the top of the cabin 11. After the opening and closing door 12 is opened, the second end of the hyperspectral observation device 2 extends out of the cabin 11 and is used for hyperspectral observation. After the second end of the hyperspectral observation device 2 is retracted into the cabin 11, the opening and closing door 12 is closed to form protection for the hyperspectral observation device 2.

[0062] In practical applications, when the unmanned vessel hull 1 sails to the designated observation area or receives an observation command, the controller controls the opening and closing door 12 to open, and then drives the second end (i.e., the upper part) of the hyperspectral observation device 2 to extend from the upper opening of the cabin 11 to the outside of the cabin 11. At this time, the hyperspectral observation device 2 can collect hyperspectral data of shallow water from multiple angles and over a wide area without being obstructed by the cabin 11, accurately capturing the spectral characteristics of various pollutants in the water. When the observation task is completed, the navigation area needs to be changed, or severe sea conditions are encountered, the controller first controls the second end of the hyperspectral observation device 2 to retract into the cabin 11, ensuring that it is completely housed within the protective space of the cabin 11, and then controls the opening and closing door 12 to close, sealing the upper opening of the cabin 11. This retractable design, along with the coordinated action of the opening and closing door 12, allows the hyperspectral observation equipment 2 to receive all-round physical protection from the cabin 11 when it is not in operation. This avoids the adverse effects of wave impact, direct salt spray corrosion, and sun exposure that may occur during the unmanned vessel's navigation, significantly improving the equipment's durability and reliability in complex marine environments.

[0063] The water sampling and testing device 3 includes a water intake pipe 31 located on the side of the unmanned vessel hull 1 for extracting water samples, and a water sampling and testing machine 32 connected to the outlet of the water intake pipe 31 and located inside the cabin 11. In this embodiment, the water sampling and testing machine 32 is a prior art machine capable of extracting, detecting, and analyzing water samples, and also capable of retaining or preserving water. After being connected to the water intake pipe 31, the water sampling and testing machine 32 has the function of extracting water, that is, it can create a certain degree of negative pressure inside the water intake pipe 31, through which water samples can be extracted. The water sample can flow through the water intake pipe 31 into the water sampling and testing machine 32, thereby enabling the water sampling and testing machine 32 to detect and analyze the water and output the detection and analysis results.

[0064] The controller is connected to the hyperspectral observation device 2 and the water sample retention and detection device 3 respectively, and is used to control the operation of the hyperspectral observation device 2 and the water sample retention and detection device 3 respectively.

[0065] Specifically, the controller can automatically control the start and stop of the hyperspectral observation equipment 2 and adjust its imaging parameters (such as exposure time and spectral acquisition range) according to preset observation task instructions, and coordinate its movement with the opening and closing door 12 to ensure that the equipment can work accurately and stably during hyperspectral data acquisition. Simultaneously, the controller receives the water sample detection and analysis results from the water body sampling and detection device 3, and can autonomously trigger or stop the sampling operation based on the results or preset conditions, achieving precise retention of water samples from specific areas with abnormal water quality. Furthermore, the controller also has data processing and storage functions, capable of initially integrating and locally storing hyperspectral observation data and water body sampling and detection data. It can also transmit key data to the shore-based control center in real time or at set intervals via the communication module mounted on the unmanned vessel, enabling operators to remotely monitor and analyze the data for decision-making. This constitutes the core of an intelligent observation system integrating automatic control, data acquisition, analysis, storage, and transmission.

[0066] The beneficial effects of the protective mobile unmanned surface vessel (USV) hyperspectral system for shallow sea pollution observation provided by this utility model are as follows: Compared with the prior art, the protective mobile USV hyperspectral system for shallow sea pollution observation of this utility model includes an USV hull 1, a hyperspectral observation device 2, a water sample collection and detection device 3, and a controller; by setting a cabin 11 and an opening and closing door 12 on the USV hull 1, and setting a height-adjustable hyperspectral observation device 2, when observation is needed, the opening and closing door 12 is opened to allow the hyperspectral observation device 2 to extend from inside the cabin 11; when observation is not needed, the hyperspectral observation device 2 is retracted into the cabin 11, and then the opening and closing door 12 is closed, which effectively protects the hyperspectral observation device 2.

[0067] By placing the water sample retention and testing device 32 inside the chamber 11, damage to the water sample retention and testing device 32 from the external environment can be avoided. The water inlet pipe 31 is placed outside the chamber 11 and passes through the side of the chamber 11 to connect with the water sample retention and testing device 32. The water sample taken by the water inlet pipe 31 can be delivered to the water sample retention and testing device 32, so that the water sample can be tested and the test results can be output.

[0068] The controller allows for separate control of the hyperspectral observation device 2 and the water sampling and detection device 3. If pollution is detected through hyperspectral observation, the water sampling and detection device 3 can be controlled to extract water samples, thus timely and effectively preserving evidence of water pollution. This integrated setup of hyperspectral observation and water sampling solves the technical problem in existing technologies where hyperspectral observation and water sampling are two independent systems, which cannot timely and effectively sample and analyze polluted water, thus affecting the effectiveness of pollution evidence collection.

[0069] By providing physical protection for the hyperspectral observation device 2, it can effectively isolate damage from salt spray, moisture, etc. when not in use, greatly extending the service life and data stability of the hyperspectral observation device 2 in harsh shallow sea environments.

[0070] The water body sampling and testing device 3 can sample, retain, and test water bodies at different depths. In conjunction with the hyperspectral observation device 2, it can automatically trigger precise sampling based on pollution monitoring results, comprehensively analyze and judge the degree of pollution, and repeatedly test the water samples to improve the accuracy of detection, forming a complete evidence chain of spectral data and physical water samples, which strongly supports pollution source tracing and evidence collection.

[0071] By using the unmanned vessel hull 1 for navigation and the controller to coordinate hyperspectral observation and water sample collection and detection, the automated operation from route navigation, fixed-point observation, anomaly sampling to data uploading was realized, which significantly improved observation efficiency and reduced labor costs and operational difficulty.

[0072] The solution provided in this application embodiment achieves hyperspectral observation of shallow sea pollution on the one hand, and integrates a water sampling and detection device 3 on the other. This device protects both the hyperspectral observation equipment 2 and the water sampling and detection device 32. Therefore, this design solves the technical problem in the prior art where hyperspectral observation and water sampling are usually two independent systems. When an anomaly is detected, it is often impossible to obtain the corresponding real water sample on the same platform in real time and automatically, leading to the separation of pollution monitoring and water sampling, which affects the effectiveness of pollution evidence collection.

[0073] In some embodiments, please refer to Figures 1 to 3The hyperspectral observation device 2 includes a telescopic drive rod 21, a gimbal 22, a hyperspectral main unit 23, and a lightning rod 24. The first end of the telescopic drive rod 21 is connected to the interior of the cabin 11, and the second end has a degree of freedom to move between the interior and exterior of the cabin 11 through an opening at the top. The telescopic drive rod 21 is signal-connected to a controller and its operation is controlled by the controller. The gimbal 22 is connected to the telescopic drive rod 21 near the second end. The gimbal 22 moves between the interior and exterior of the cabin 11 via the telescopic drive rod 21 through the opening at the top. The hyperspectral main unit 23 is connected to the gimbal 22 and is used for hyperspectral observation; the observation direction is adjusted by the gimbal 22. The lightning rod 24 is connected to the telescopic drive rod 21 near the second end. The lightning rod 24 moves between the interior and exterior of the cabin 11 via the telescopic drive rod 21 through the opening at the top.

[0074] By incorporating a telescopic drive rod 21, the hyperspectral main unit 23 and the lightning rod 24 can move flexibly between the interior and exterior of the cabin 11 according to actual operational needs. When the unmanned vessel encounters severe weather or when hyperspectral observation is not required during navigation, the controller can retract the telescopic drive rod 21, pulling the hyperspectral main unit 23 and the lightning rod 24 back into the cabin 11, thus preventing damage from external environmental factors such as wind, waves, and seawater splashes, providing effective protection. When hyperspectral observation is required, the controller extends the telescopic drive rod 21, pushing the hyperspectral main unit 23 and the lightning rod 24 to the exterior of the cabin 11. At this time, the gimbal 22 can adjust the observation direction of the hyperspectral main unit 23 in multiple dimensions, ensuring that the hyperspectral main unit 23 can accurately and comprehensively acquire hyperspectral data from shallow sea areas. The lightning rod 24 protects the hyperspectral main unit 23 and other electronic equipment from lightning strikes during thunderstorms, further enhancing the safety and reliability of the entire hyperspectral observation equipment 2.

[0075] In this embodiment, the hyperspectral host 23 is a hyperspectral camera in the prior art, which can realize hyperspectral observation of shallow sea pollution and record observation data.

[0076] Specifically, the telescopic drive rod 21 is an electric push rod or electric telescopic rod in the prior art, which is set vertically with the lower end as the first end and the upper end as the second end. The lower end is fixedly connected to the bottom of the inner side of the cabin 11, and the upper end can switch between the inner and outer sides of the cabin 11 through the opening, thereby enabling the hyperspectral host 23 to move vertically, thus realizing pollution observation and effective protection of the hyperspectral host 23.

[0077] In some embodiments, please refer to Figures 7 to 8The door 12 is a sensor-operated door with one end hinged to the top of the unmanned vessel hull 1. The door 12 is electrically connected to the controller and its operation is controlled by the controller. When the door 12 is closed, there is a sealed connection between the door 12 and the unmanned vessel hull 1, ensuring that impurities and outside air cannot pass through the gap between the door 12 and the unmanned vessel hull 1.

[0078] When the opening and closing door 12 is in the open state, it is a double door that allows the hyperspectral observation device 2 to pass through, and it operates in conjunction with the hyperspectral observation device 2.

[0079] To enable the water intake position of the water inlet pipe 31 to be adjusted in the horizontal plane and to achieve multi-position adjustment, please refer to some embodiments. Figures 4 to 5 A rotating structure 13 is installed on the top of the unmanned vessel hull 1, avoiding the opening and closing door 12. The lower end of the rotating structure 13 is fixedly connected to the top of the unmanned vessel hull 1, and the upper end has a circumferential rotational degree of freedom. A vertically arranged hollow column 14 is connected to the upper end of the rotating structure 13. A water intake pipe 31 passes through the lower side wall of the hollow column 14 and exits from the upper end of the hollow column 14. The water intake end of the water intake pipe 31 is set downwards, and the water intake position is adjusted by rotating the rotating structure 13. In this embodiment, the orientation of the water intake end of the water intake pipe 31 can be adjusted by rotating the rotating structure 13, so that water samples can be taken from different positions. In this embodiment, the height of the hollow column 14 can be reasonably selected according to the actual situation.

[0080] The rotating structure 13 is fixedly installed on the top of the unmanned vessel hull 1. Its upper end can rotate circumferentially, thereby driving the hollow column 14 to rotate around its axis. The hollow column 14 is coaxially arranged with the center of the rotating structure 13. The rotation of the rotating structure 13 improves the flexibility and comprehensiveness of water sample collection in shallow sea polluted areas.

[0081] In some embodiments, please refer to Figures 4 to 5 The upper end of the hollow column 14 is connected to one end of a horizontally arranged hollow cantilever beam 15. The interior of the hollow cantilever beam 15 is connected to the interior of the hollow column 14. The other end of the hollow cantilever beam 15 is connected to a telescopic water intake structure 16. The upper end of the telescopic water intake structure 16 is connected to the hollow cantilever beam 15 and the lower end is set downward. The water intake pipe 31 passes through the hollow column 14 and the hollow cantilever beam 15 in sequence, and exits from the end of the hollow cantilever beam 15 away from the hollow column 14. After exiting, it is connected to the water intake pipe 161 of the telescopic water intake structure 16. The telescopic water intake structure 16 has a water intake pipe 161 that moves vertically up and down.

[0082] By incorporating the hollow cantilever beam 15, the water intake range of the water intake pipeline 31 can be further expanded, allowing the unmanned vessel hull 1 to collect water samples from a larger area around its hull when in a fixed position. The design of the telescopic water intake structure 16 addresses the issue of water sample collection at different depths. When seawater samples need to be collected at different depths, the telescopic water intake structure 16 can drive the water intake pipe 161 to move vertically up and down, thereby adjusting the water intake depth of the pipe 161. This ensures that polluted water samples at specific depths can be obtained, further improving the accuracy and targeting of water sample collection and meeting the needs of shallow sea pollution observation for water sample analysis at different spatial locations and depths.

[0083] It is important to note that a safety margin is provided between the water inlet pipe 31 and the water intake pipe 161. This means that when the water intake pipe 161 moves downwards, the water inlet pipe 31 can always maintain a connection with the water intake pipe 161. This prevents a break between the water intake pipe 161 and the water inlet pipe 31, thus ensuring that water samples can be taken from different depths.

[0084] When this invention is in operation, the water inlet pipe 31 is rotated and its position adjusted by the rotating structure 13, moving the water inlet pipe 31 to the side of the unmanned vessel hull 1. When not in operation, the water inlet pipe 31 is rotated by the rotating structure 13 and positioned above the unmanned vessel hull 1. A support platform 17 is provided at the upper end of the unmanned vessel hull 1, at which time the hollow cantilever beam 15 can be placed on the upper end of the support platform 17. In this case, the support platform 17 provides stable support for the hollow cantilever beam 15.

[0085] In some embodiments, please refer to Figures 4 to 5 The telescopic water intake structure 16 has a telescopic push rod 162 connected to the hollow cantilever beam 15. The water intake pipe 161 is vertically arranged and its upper end is connected to the push tip of the telescopic push rod 162. The water intake end of the water inlet pipe 31 is connected to the side of the water intake pipe 161. The height of the water intake pipe 161 is adjusted by means of the telescopic push rod 162, and the position of the water intake pipe 161 in the horizontal plane is adjusted by means of the rotating structure 13. In this embodiment, the telescopic push rod 162 is an electric push rod in the prior art. Its push tip faces downward and is connected to the upper end of the water intake pipe 161. The upper end of the water intake pipe 161 is closed, and the water inlet pipe 31 is flexible. The water inlet pipe 31 is connected to the side wall of the water intake pipe 161 near its upper end, so that the water sample can flow into the water inlet pipe 31 after passing through the water intake pipe 161, and finally into the water sample retention and testing machine 32, so as to facilitate the detection, analysis and retention of the water sample.

[0086] In this embodiment, the water intake pipe 161 can be detached from the telescopic push rod 162. When not in operation, the water intake pipe 161 can be removed from the telescopic push rod 162, thus forming the following configuration: Figure 1-2As shown in the diagram, this position also facilitates the rotation of the hollow cantilever beam 15 above the unmanned vessel hull 1, making it easier to store and reduce space occupation.

[0087] The telescopic push rod 162 is electrically connected to the controller and its operation is controlled by the controller. That is, the controller is equipped with a control module (such as a control button or knob) that can control the telescopic push rod 162 to extend and retract.

[0088] In some embodiments, please refer to Figures 4 to 5 The rotating structure 13 is an electrically controlled rotary table. The rotating structure 13 is connected to the controller via signal, and the operation of the rotating structure 13 is controlled by the controller.

[0089] This electrically controlled rotary table is an existing technology, such as an electric rotary table or rotary motor. Its rotating part is the upper end, which is planar and fixed to the lower end of the hollow column 14. Through control signals sent by the controller, the rotating part can drive the hollow cantilever beam 15 to rotate 360 ​​degrees in the horizontal plane, thereby achieving flexible adjustment of the horizontal position of the water intake pipe 161. In this way, combined with the adjustment of the height of the water intake pipe 161 by the telescopic push rod 162, the telescopic water intake structure 16 can accurately acquire water samples at different locations and depths over a large range, greatly improving the flexibility and comprehensiveness of water sample collection, thus meeting the needs of multi-dimensional sampling and analysis of water bodies in different areas during shallow sea pollution observation.

[0090] In some embodiments, please refer to Figure 1 and Figure 9 A meteorological parameter sampling device 4 is connected to the top of the unmanned vessel hull 1. The meteorological parameter sampling device 4 is used to sample and analyze the meteorological parameters around the unmanned vessel hull 1. The meteorological parameter sampling device 4 in this embodiment is existing technology. It is connected to the controller signal and can send meteorological signals to the controller. In this embodiment, the controller is set on the top of the unmanned vessel hull 1 or inside the cabin 11, or in a position that is convenient for manual operation.

[0091] The meteorological parameter sampling device 4 integrates multiple sensor modules, including temperature and humidity sensors, air pressure sensors, and wind speed and direction sensors. It can collect key meteorological data in real time, such as air temperature, relative humidity, atmospheric pressure, instantaneous wind speed, average wind speed, and wind direction, in the unmanned surface vessel's (USV) navigation area. These meteorological parameters are not only important input factors for shallow sea pollution diffusion models—for example, wind direction and speed directly affect the drift direction and diffusion speed of pollutants on the sea surface, and temperature and humidity changes may affect the volatilization characteristics of certain volatile pollutants—but also provide a reference for the safe navigation of the USV. For instance, when the wind speed exceeds a preset safety threshold, the controller can issue a timely warning signal or adjust the navigation plan based on the information fed back by the meteorological parameter sampling device 4, ensuring the safe operation of the USV and the reliability of data acquisition under complex meteorological conditions. Simultaneously, the collected meteorological data, along with hyperspectral water quality data and water sample data, will be transmitted to the shore-based control center, providing researchers with multi-dimensional data support for a comprehensive analysis of shallow sea pollution and its correlation with meteorological conditions.

[0092] To achieve regulation of the internal air environment of the cabin 11, in some embodiments, please refer to... Figure 6 The unmanned vessel hull 1 is connected to an air control device 5, which is used to regulate the air environment inside the cabin 11 so that the air temperature inside the cabin 11 meets the preset requirements.

[0093] In some embodiments, please refer to Figure 6 The air control equipment 5 includes an air conditioning unit and an air purification unit. The air conditioning unit is connected to the hull 1 of the unmanned vessel and has an air duct that connects to its air outlet. The air duct connects to the interior of the cabin 11. The air conditioning unit is used to regulate the air temperature inside the cabin 11. The air purification unit is located inside the cabin 11 and is used to purify the air inside the cabin 11.

[0094] The air conditioning unit is a conventional air conditioner that can automatically start and stop according to a preset temperature threshold inside the cabin 11. It distributes temperature-regulated air evenly into the cabin 11 through air ducts, ensuring that the precision instruments inside (such as hyperspectral sensors and data acquisition modules) are in a suitable operating temperature environment, preventing performance degradation or malfunction due to excessively high or low temperatures. The air purification unit is a conventional air purifier with built-in high-efficiency filters and adsorption materials, effectively filtering dust, moisture, and potentially corrosive gases from the cabin air. This prevents these impurities from adhering to instrument surfaces or entering the equipment, affecting measurement accuracy and equipment lifespan. Both units work together to create a clean and stable air environment inside the cabin 11, ensuring the stable operation of electronic equipment and optical components during long-term maritime operations of the unmanned vessel.

[0095] like Figure 10The diagram shows the structure of the automatic anchor winch 6 of the hyperspectral system for a protective mobile unmanned surface vessel (USV) used for shallow sea pollution observation. The automatic anchor winch 6 secures the hull 1 of the USV. The automatic anchor winch 6 in this embodiment is existing technology and is located at the stern of the USV hull 1, thus fixing the position of the USV hull 1.

[0096] Specifically, the automatic anchor winch 6 includes a drive motor, a drum, an anchor chain, and an anchor body. The drive motor is located below the deck of the unmanned surface vessel (USV) hull 1, and its output shaft is connected to the drum located above the deck. One end of the anchor chain is wound around the drum, and the other end is fixedly connected to the anchor body. When the USV needs to operate in a designated observation area, the drive motor rotates forward, driving the drum to release the anchor chain. The anchor body quickly sinks to the seabed under gravity, and the tension of the anchor chain stabilizes the USV hull 1, preventing the hull from drifting due to ocean currents or waves, and ensuring that equipment such as hyperspectral sensors can conduct accurate and stable observations of the target area. When the operation is completed or the observation position needs to be moved, the drive motor reverses, driving the drum to wind up the anchor chain. The anchor body is pulled to a preset position at the bottom of the hull and locked, preventing the anchor body from colliding with seabed obstacles or increasing navigation resistance during navigation. In addition, the automatic anchor winch is equipped with an anchor chain length sensor and a tension sensor, which can monitor the lowering length and tension of the anchor chain in real time. When the anchor chain tension exceeds the preset safety value, the drive motor automatically stops lowering and issues an alarm to prevent the anchor chain from breaking due to overload. At the same time, based on the lowering length of the anchor chain and the draft of the hull, the system can help determine whether the anchor has stably gripped the bottom, ensuring the reliability of the hull fixation and providing a solid mooring guarantee for the unmanned vessel to conduct long-term, high-precision pollution observation in complex shallow sea environments.

[0097] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A protective mobile unmanned surface vessel hyperspectral system for shallow sea pollution observation, characterized in that, include: The unmanned vessel hull has a compartment located inside it with an opening at its upper end that extends through the top of the unmanned vessel hull. The top of the unmanned vessel hull is connected to an opening door for opening or closing the opening at the upper end of the compartment. A hyperspectral observation device has a first end connected to the interior of the cabin, and a second end having a degree of freedom to move between the interior and exterior of the cabin through an opening at the top of the cabin. When the opening and closing door is opened, the second end of the hyperspectral observation device extends out of the cabin and is used for hyperspectral observation. When the second end of the hyperspectral observation device retracts into the cabin, the opening and closing door closes to form protection for the hyperspectral observation device. The water sampling and testing device includes a water intake pipe located on the side of the hull of the unmanned vessel for extracting water samples and a water sampling and testing machine connected to the outlet end of the water intake pipe and located inside the cabin. The controller is connected to the hyperspectral observation equipment and the water sample retention and detection device respectively, and is used to control the operation of the hyperspectral observation equipment and the water sample retention and detection device respectively.

2. The protective mobile unmanned surface vessel hyperspectral system for shallow sea pollution observation as described in claim 1, characterized in that, The hyperspectral observation equipment includes: A telescopic drive rod, the first end of which is connected to the interior of the cabin, and the second end which has a degree of freedom to move between the interior and exterior of the cabin through an opening at the top of the cabin. The telescopic drive rod is signal-connected to the controller and its operation is controlled by the controller. A gimbal is connected to the telescopic drive rod near the second end. The gimbal passes through the upper opening of the cabin via the telescopic drive rod and can move between the inside and outside of the cabin. A hyperspectral host is connected to the gimbal, and the hyperspectral host is used to perform hyperspectral observations and the observation direction is adjusted by means of the gimbal. A lightning rod is connected to the telescopic drive rod near the second end. The lightning rod passes through the opening at the top of the cabin via the telescopic drive rod and can move between the inside and outside of the cabin.

3. The protective mobile unmanned surface vessel hyperspectral system for shallow sea pollution observation as described in claim 1, characterized in that, The opening and closing door is a sensor-operated door with one end hinged to the top of the unmanned vessel's hull. The opening and closing door is electrically connected to the controller and its operation is controlled by the controller.

4. The protective mobile unmanned surface vessel hyperspectral system for shallow sea pollution observation as described in claim 1, characterized in that, A rotating structure is provided on the top of the unmanned vessel hull, avoiding the opening and closing door. The lower end of the rotating structure is fixedly connected to the top of the unmanned vessel hull, and the upper end has a circumferential rotational degree of freedom. A hollow column is vertically arranged connected to the upper end of the rotating structure. The water intake pipe passes through the lower side wall of the hollow column and exits from the upper end of the hollow column. The water intake end of the water intake pipe is set downward, and the water intake position is adjusted by rotating the rotating structure.

5. A protective mobile unmanned surface vessel hyperspectral system for shallow sea pollution observation as described in claim 4, characterized in that, The upper end of the hollow column is connected to one end of a horizontally arranged hollow cantilever beam. The interior of the hollow cantilever beam is connected to the interior of the hollow column. The other end of the hollow cantilever beam is connected to a telescopic water intake structure. The upper end of the telescopic water intake structure is connected to the hollow cantilever beam, and the lower end is arranged downward. The water intake pipe passes through the hollow column and the hollow cantilever beam in sequence, and exits from the end of the hollow cantilever beam away from the hollow column. After exiting, it is connected to the water intake pipe of the telescopic water intake structure. The telescopic water intake structure has a water intake pipe that moves vertically up and down.

6. A protective mobile unmanned surface vessel hyperspectral system for shallow sea pollution observation as described in claim 5, characterized in that, The telescopic water intake structure has a telescopic push rod connected to the hollow cantilever beam. The water intake pipe is vertically arranged and its upper end is connected to the push end of the telescopic push rod. The water intake end of the water inlet pipe is connected to the side of the water intake pipe. The height of the water intake pipe is adjusted by means of the telescopic push rod, and the position of the water intake pipe in the horizontal plane is adjusted by means of the rotating structure.

7. A protective mobile unmanned surface vessel hyperspectral system for shallow sea pollution observation as described in claim 4, characterized in that, The rotating structure is an electrically controlled rotary table, and the rotating structure is signal-connected to the controller. The operation of the rotating structure is controlled by the controller.

8. A protective mobile unmanned surface vessel hyperspectral system for shallow sea pollution observation as described in claim 1, characterized in that, The unmanned vessel is equipped with a meteorological parameter sampling device on its top hull, which is used to sample and analyze meteorological parameters around the unmanned vessel.

9. A protective mobile unmanned surface vessel hyperspectral system for shallow sea pollution observation as described in claim 1, characterized in that, The unmanned vessel is equipped with an air control device, which is used to regulate the air environment inside the cabin.

10. A protective mobile unmanned surface vessel hyperspectral system for shallow sea pollution observation as described in claim 9, characterized in that, The air conditioning equipment includes: An air conditioning unit is connected to the hull of the unmanned vessel and has an air duct that connects to its air outlet. The air duct connects to the interior of the cabin, and the air conditioning unit is used to regulate the air temperature inside the cabin. An air purification unit is installed inside the cabin and is used to purify the air inside the cabin.

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