An unmanned ship for collecting cyanobacterial blooms in slow-flowing water bodies

Abstract

The utility model provides a kind of slow-flowing water body blue-green algae bloom collection unmanned ship, comprising: unmanned ship body, its deck close to bow is concave and forms the collection groove of spoon shape;Unmanned ship body is at the water depth of pre-set, along with the navigation of unmanned ship body, blue-green algae bloom floating on water surface and water jointly enter into collection groove;Draft device, for being installed on unmanned ship body, for controlling the water depth of unmanned ship body;Ship cover, it is installed in the position of unmanned ship body deck close to stern, and it is internally provided with containing cavity;The side of ship cover close to bow is provided with through opening, and containing cavity is communicated with collection groove by through opening;Air flotation device, it is arranged in containing cavity;Separation device, it is arranged in containing cavity, for separating blue-green algae bloom after air flotation from water.The present unmanned ship avoids the mode of traditional trawl dragging, thereby reduce the problem that this kind of blue-green algae bloom is collected again and escapes.

Description

Technical Field

[0001] This utility model belongs to the field of cyanobacteria collection technology, specifically relating to an unmanned vessel for collecting cyanobacteria blooms in slow-flowing water. Background Technology

[0002] Cyanobacterial blooms are macroscopic floating aggregates of blue-green or other colors formed on the water surface when cyanobacteria proliferate in large quantities under suitable conditions. Current cyanobacterial treatment methods mainly include mechanical algae removal, biological algae removal, and chemical algae removal, among which unmanned surface vessels (USVs) have become the mainstream equipment for mechanical algae removal.

[0003] Most existing unmanned surface vessels (USVs) for collecting cyanobacteria employ a trawl mode, automatically navigating along a planned route using a pre-programmed trawl net to capture floating cyanobacterial blooms. However, the trawl mode suffers from significant limitations in slow-moving water bodies: the slow flow velocity, the tendency for algal blooms to accumulate in large patches with strong adhesion, and the resulting clogging of the trawl nets can drastically reduce collection efficiency. Furthermore, the low-velocity water flow makes it difficult for the trawl net to generate effective traction, leading to the escape of algal blooms or incomplete collection. Therefore, this solution proposes a novel USV for collecting cyanobacterial blooms in slow-moving water environments. This new USV will utilize a collection mechanism distinct from trawl nets, adapting to the environmental characteristics of slow-moving water bodies to improve collection effectiveness. Utility Model Content

[0004] This invention proposes an unmanned vessel for collecting cyanobacterial blooms in slow-flowing water bodies to solve the above-mentioned problems.

[0005] To achieve the above objectives, the present invention proposes the following technical content: An unmanned surface vessel for collecting cyanobacterial blooms in slow-flowing water includes: The unmanned vessel's hull has a downward-curved deck near the bow that forms a spoon-shaped collection trough. At a preset draft, as the unmanned vessel sails, the blue-green algae bloom floating on the water surface enters the collection trough along with the water. A draft control device is installed on the hull of an unmanned vessel to control its draft depth. The canopy is installed on the deck of the unmanned vessel near the stern and has a cavity inside. An opening is provided on the side of the canopy near the bow, and the cavity is connected to the collection trough through the opening. An air flotation device is installed in the containment cavity to make the cyanobacterial bloom that enters the containment cavity float on the water surface; The separation device, located in the containment cavity, is used to separate the cyanobacterial bloom after air flotation from the water.

[0006] Furthermore, the draft device includes: The controller is installed in the cabin of the unmanned vessel. The unmanned surface vessel (USV) is equipped with an inlet pump, an outlet pump, and a water tank. The inlet and outlet pumps are installed in the cabin of the USV hull. The inlet pump has an inlet pipe fixedly installed at its inlet end, with the end of the inlet pipe extending outside the cabin of the USV hull and located in the water. The outlet of the inlet pump is connected to the water tank via a pipeline. The outlet pump has an outlet pipe installed at its outlet end, with the other end of the outlet pipe extending outside the cabin of the USV hull. The inlet and outlet pipes are equipped with electric valves for inlet and outlet respectively. An acoustic ranging sensor is installed on the hull of a ship to detect its distance from the water surface.

[0007] Furthermore, the air flotation device includes: An air compressor is installed inside the accommodating cavity of the ship's cover. The air inlet of the air compressor extends to the outside of the accommodating cavity, and the air outlet is connected to the air outlet pipe. An air plate is installed in a receiving cavity, and an air chamber is opened in the air plate. The air outlet of the air compressor is connected to the air chamber through an air outlet pipe. The upper surface of the air plate is recessed downward to form a gathering groove. Several micro-holes are opened on the bottom surface of the gathering groove. The micro-holes are the only way for gas to escape from the air chamber. The pore diameter is 100-500 micrometers.

[0008] Furthermore, the separation device includes: The separation cylinder has its top located within the receiving cavity; vertically arranged baffles are installed inside the separation cylinder, dividing the separation cylinder cavity into a water cavity and an algae cavity; The inner wall of the water chamber is inclined with a framed filter cloth. The frame of the filter cloth is detachably installed on the inner wall of the water chamber. The outer edge of the filter cloth frame is sealed to the inner wall of the water chamber by a rubber layer. The lower end of the filter cloth is at the same height as the surface of the collection trough. A drain pipe is installed at the bottom of the water chamber. The other end of the drain pipe passes through the cabin and extends to the outside. A drain pump is installed on the drain pipe. A mesh algae basket is placed in the algae chamber through a pre-set platform. A manually openable cover door is installed on the top of the boat cover. A float level switch is installed in the water chamber to control the circuit of the drain pump.

[0009] Furthermore, a motor is installed in the receiving cavity, with the motor shaft facing downwards and perpendicular to the surface of the filter cloth; a strip-shaped brush is fixed on the motor shaft, and the bristles of the strip-shaped brush are in contact with the upper surface of the filter cloth.

[0010] Furthermore, a filter plate with a 1cm aperture is installed at the opening of the boat cover.

[0011] By employing the above-described technical content, the beneficial effects that this solution can achieve are: 1. This solution does not rely on trawls to collect cyanobacterial blooms. Instead, it uses the combination of draft depth and a spoon-shaped collection trough to automatically collect cyanobacterial blooms and water while the ship is sailing, reducing the chance of the collected cyanobacterial blooms escaping again.

[0012] 2. By tilting the filter cloth, the design of both the strip brush and the tilted filter cloth is used to prevent clogging. This double-layer protection ensures stable separation of cyanobacteria blooms and water. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the overall structure of the unmanned vessel; Figure 2 This is a schematic diagram of the overall structure of the water intake device; Figure 3 This is a schematic diagram of the air flotation device; Figure 4 This is a diagram showing the positional relationship between the air plate and the separator cylinder.

[0014] 1. Unmanned surface vessel hull; 2. Collection tank; 3. Inlet pump; 4. Outlet pump; 5. Water tank; 6. Inlet electric valve; 7. Drain electric valve; 8. Cover; 9. Filter plate; 10. Air compressor; 11. Air plate; 12. Air outlet pipe; 13. Micropores; 14. Separation cylinder; 15. Filter cloth; 16. Motor; 17. Strip brush; 18. Acoustic ranging sensor. Detailed Implementation

[0015] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0016] like Figure 1 As shown, an unmanned vessel for collecting cyanobacterial blooms in slow-flowing water includes: The unmanned surface vessel (USV) hull 1 features a forward-swept spoon-shaped bow, a design already in use. The deck near the bow of USV hull 1 is recessed to form a spoon-shaped collection trough 2, similar in shape to a ladle. During USV hull 1's navigation, based on the draft (described later), cyanobacterial blooms and water floating on the surface flow together from the bow into the collection trough 2.

[0017] like Figure 2 As shown, the unmanned vessel hull 1 is equipped with a "draft control device" in its cabin to control the draft of the unmanned vessel hull 1. The draft control device includes: The controller is installed in the cabin of the unmanned vessel hull 1 to avoid water intrusion; The water pump and corresponding piping assembly includes an inlet pump 3, an outlet pump 4, and a water tank 5 with an open opening. Both the inlet pump 3 and the outlet pump 4 are installed in the cabin of the unmanned vessel hull 1. An inlet pipe is fixedly installed at the inlet end of the inlet pump 3. The end of the inlet pipe away from the inlet pump 3 extends outside the cabin of the unmanned vessel hull 1 and is submerged in water. The section where the inlet pipe penetrates the unmanned vessel hull 1 is sealed with structural adhesive to prevent leakage from the cabin. The outlet end of the inlet pump 3 is connected to the water tank 5 via a pipe. The inlet end of the outlet pump 4 is connected to the water tank 5 via a pipe. A drain pipe is installed at the outlet end of the outlet pump 4, with the other end extending outside the cabin of the unmanned vessel hull 1. The section where the drain pipe penetrates the unmanned vessel hull 1 is sealed with structural adhesive to prevent leakage from the cabin.

[0018] The aforementioned inlet and outlet pipes are respectively equipped with an inlet electric valve 6 and an outlet electric valve 7. The inlet electric valve 6, the outlet electric valve 7, the inlet pump 3, and the outlet pump 4 are all controlled by a controller to open and close. After the inlet pump 3 and the inlet electric valve 6 operate, they pump external water into the storage tank; after the outlet pump 4 and the outlet electric valve 7 operate, they pump the water in the storage tank 5 to the outside.

[0019] The water tank 5 is installed according to a predetermined rule: its installation position is approximately at the center of gravity of the unmanned vessel hull 1. Under this design rule, changes in the overall weight of the hull caused by increases or decreases in the water volume in the water tank 5 will cause the hull to change its draft vertically, preventing it from capsizing to either side. An acoustic ranging sensor 18 (e.g., [missing information]) is installed at the same height on both sides of the unmanned vessel hull 1. Figure 1 The ultrasonic ranging sensor 18 is connected to a controller. The controller controls the ultrasonic wave ranging sensor 18 to emit ultrasonic waves downwards. After being reflected by the water surface, the ultrasonic waves are received by the ultrasonic ranging sensor 18. The controller calculates the time difference between the emission and return of the ultrasonic wave and, combined with the speed of sound, calculates the height of the ultrasonic ranging sensor 18 above the water surface. It should be noted that, because the water is in a slow-moving body with weak water undulation, the ultrasonic ranging sensor 18 can effectively measure the distance. The data measured by both ultrasonic ranging sensors 18 are transmitted to the controller. The controller takes the average of the two data points and considers it as the reference value H of the distance between the ultrasonic ranging sensor 18 and the water surface. 平 Combined with the preset acoustic ranging sensor 18 height H 传 This allows us to calculate the draft of the unmanned vessel hull 1, i.e., H. 吃 =H 传 - H 平 In the formula, H 吃 Indicates draft; H 传 The installation height of the acoustic ranging sensor 18 is a known quantity; H 平This represents the average value of the data monitored by the two acoustic ranging sensors 18.

[0020] The controller controls the water intake and discharge of the inlet pump 3 and the outlet pump 4 to keep the hull 1 of the unmanned vessel at a preset draft depth. At this preset draft depth, it can ensure that the inlet of the aforementioned water intake pipe is below the water surface, and also ensure that the blue-green algae bloom and water floating on the water surface can enter the collection tank 2.

[0021] The specific draft control rules are as follows: Initially, the hull is placed in the water, at which point the hull has not collected any blue-green algae and the water tank 5 is empty; only under the weight of the hull is the inlet pipe port below the water surface. At this time, the draft is much less than the set threshold.

[0022] Then, the controller begins to close the drain electric valve 7 and the outlet pump 4, and opens the inlet pump 3 and the inlet electric valve 6. The inlet pump 3 pumps water from the external water area to the storage tank 5, thereby increasing the overall weight of the unmanned vessel hull 1 until the draft reaches the set threshold. At this point, the controller closes the inlet pump 3 and the inlet electric valve 6. During the collection of cyanobacterial blooms, the weight of the cyanobacterial blooms will gradually increase the draft of the unmanned vessel hull 1. However, during this process, the controller continuously controls the drain electric valve 7 and the outlet pump 4 to open, and the inlet pump 3 and the inlet electric valve 6 to close. The outlet pump 4 continuously pumps water from the storage tank 5 to the external water area, thereby maintaining the dynamic stability of the draft.

[0023] A canopy 8 is installed on the deck of the unmanned surface vessel (USV) near the stern. The canopy 8 contains a cavity, which is not sealed but has vents connecting it to the outside atmosphere. This cavity is used to house the cyanobacterial bloom collection device described later. The specific structure is as follows: like Figure 1 and Figure 3 The boat cover 8 has an opening on the side near the bow. Water and cyanobacterial blooms that have entered the collection tank 2 are continuously drawn into the receiving cavity through this opening by the power generated during the boat's navigation. A filter plate 9 is installed near the opening on the boat cover 8. The filter plate 9 has a pore size of approximately 1 cm and is used to filter large debris, such as tree branches on the water surface. In the design, the surface of the filter plate 9 can be slightly tilted 5 degrees towards the direction of navigation. This allows debris impacting the surface of the filter plate 9 to automatically detach from the filter plate 9 under the force generated at this angle, thus returning to the water.

[0024] like Figure 3 As shown, this unmanned surface vessel is also equipped with an air flotation device to float the cyanobacterial blooms entering the collection tank 2 to the surface. The principle is that the cyanobacterial blooms combine with tiny air bubbles to form a unified whole, thereby increasing buoyancy and causing the cyanobacterial blooms to float on the surface. This air flotation device includes: An air compressor 10 is installed inside the receiving cavity of the ship cover 8. The air inlet of the air compressor 10 extends to the outside of the receiving cavity, and the air outlet is connected to the two air outlet pipes 12 described later.

[0025] An air plate 11 is horizontally installed in the receiving cavity. An air chamber is formed in the air plate 11. The air outlet of the air compressor 10 is connected to the air chamber through two air outlet pipes 12. The upper surface of the air plate 11 is recessed downward to form a collection groove. Several micro holes 13 are formed on the bottom surface of the collection groove. The micro holes 13 are the only way for gas to escape from the air chamber. The pore size is 100-500 micrometers. This pore size is not only basically smaller than the diameter of most cyanobacterial blooms, but also because the air compressor 10 continuously fills the air chamber with air through the air outlet pipes 12, the air pressure in the air chamber is greater than the air pressure in the receiving cavity. Therefore, cyanobacterial blooms (including a few fine impurities) will not enter the air chamber through the micro holes 13.

[0026] Since the micropores 13 are distributed throughout the collection groove, covering the entire path of the cyanobacterial bloom displacement, the gas discharged from the micropores 13 can combine with the cyanobacterial bloom at each location. At the same time, the speed of the entire hull is controlled within the range of 1m / s-1.5m / s, which allows sufficient time for the cyanobacterial bloom and the gas to combine.

[0027] From a top-down view, the collecting trough is an isosceles trapezoid, tapering towards its narrow end. The larger opening faces the through-hole, while the smaller opening faces the stern, and this smaller opening connects to the separation device described later. Water and cyanobacterial blooms entering the collecting trough from the through-hole cannot pass through the micropores 13 into the air chamber due to the aforementioned reasons. Therefore, they first converge from the larger opening end of the collecting trough, then from the smaller opening end, and finally enter the separation device. For example... Figure 4 As shown, the separation device includes: The separator 14 is installed in the ship's hold, with its top extending into the receiving cavity. The top of the separator 14 is a slope, lower on the side near the bow and higher on the side near the stern. The lower side is connected to the narrow end of the receiving groove through a pre-set notch. A vertically arranged baffle is installed in the separator 14, dividing the separator 14 into two chambers. One chamber is near the bow and serves as a water chamber; the other chamber is near the stern and serves as an algal chamber for collecting cyanobacterial blooms.

[0028] A framed filter cloth 15 is installed at an angle on the inner wall of the water chamber. The angled surface of the filter cloth 15 is parallel to the top angled surface of the separation cylinder 14, and the overall height of the filter cloth 15 is slightly lower than the top angled surface of the separation cylinder 14. The lower end of the filter cloth 15 is at the same height as the surface of the collection groove. The frame of the filter cloth 15 is installed on the inner wall of the water chamber by clips or bolts. It can be manually removed and replaced after a period of use. The outer edge of the frame is sealed to the inner wall of the water chamber by a rubber layer bonded to the inner wall of the water chamber. The filter cloth 15 is made of non-woven fabric with small pores on its surface, which allows water to pass through while preventing cyanobacterial blooms from passing through. The advantage of this angled design of the filter cloth 15 is that, under the power of the ship's movement, the cyanobacterial blooms and water reaching the filter cloth 15 from the aforementioned gap continuously impact the surface of the angled filter cloth 15. Under this impact force, even if a very small amount of cyanobacterial blooms with a diameter that is too small blocks the pores of the filter cloth 15, they can be impacted and discharged into the water chamber, avoiding blockage. This is one of the anti-clogging measures. Under this power, the cyanobacterial bloom moves towards the algal cavity, and the top opening of the algal cavity allows the cyanobacterial bloom after water separation to enter and be collected by the algal basket inside.

[0029] A drain pipe (its structure not shown in the figure) is installed at the bottom of the water chamber. The other end of the drain pipe extends out of the cabin and to the outside. A drain pump (its structure not shown in the figure) is installed on the drain pipe to quickly discharge water and a small amount of small-pore cyanobacterial blooms into the water chamber and out of the hull 1 of the unmanned vessel. The drain outlet is located above the water surface. In other embodiments, the drain pipe is a Venturi tube. The end of the Venturi tube with a faster flow rate is connected to the inlet of the pump. The cyanobacterial blooms leaking into the water chamber first pass through the Venturi tube and then enter the inlet of the drain pump. The high-speed, low-pressure zone at the throat of the Venturi tube creates a huge pressure difference between the cyanobacterial blooms and the external environment, causing the cyanobacterial cells to rupture, thereby preventing the clogging of the drain pump filter.

[0030] The reason for designing the drain pump is that during the navigation of the unmanned vessel hull 1, the water intake of the bow collection tank 2 is relatively large. The rapid drainage by the drain pump can prevent excessive water accumulation in the water chamber. The rated power selection rule of the drain pump depends on the navigation speed of the hull. The two are designed in cooperation. The design principle is that the drainage volume P1 of the drain pump at its rated power must be greater than the water volume P2 introduced by the hull navigation. A float level switch (existing device) is installed in the water chamber to control whether the drain pump is powered on or off. The basic principle is: when the water volume in the water chamber rises to a high level, the float level switch opens, the drain pump drains water and causes the water level in the water chamber to drop. When the water level reaches a low level, the float level switch opens, the drain pump stops working, and the above operation is repeated when the water volume in the water chamber rises to a high level again.

[0031] A mesh algae basket (pore size approximately 100-500 micrometers) is placed in the algae chamber via a pre-set platform. The platform is fixed to the inner wall of the algae chamber, with a gap between it and the bottom of the chamber. A through hole is provided in the middle of the platform to allow the water in the algae basket to connect to the manifold described later, thus supporting and collecting the cyanobacterial bloom. A pressure sensor is installed on the platform at the bottom of the algae basket and is electrically connected to the aforementioned controller. After the cyanobacterial bloom is collected, the overall weight of the algae basket and the bloom increases, resulting in greater pressure on the pressure sensor. When the preset weight is reached (i.e., when the pressure reaches the preset level), it indicates that sufficient cyanobacterial bloom has been collected in the algae basket, and the controller then controls the unmanned vessel hull 1 to automatically return to the dock. The top of the boat cover 8 is equipped with a manually openable door. This door is not only used for equipment installation but also for allowing personnel to remove the algae basket and promptly clean up the algae bloom when it is abundant. After cleaning, personnel send a collection signal back to the controller of the unmanned boat hull 1. Upon receiving the signal, the unmanned boat hull 1 automatically resumes collecting the algae bloom. A manifold is installed at the bottom of the algae chamber. Water draining from the algae basket mesh is collected in the manifold. Based on the principle of gravity flow, the manifold automatically discharges water away from the unmanned boat hull 1 without any power source. The drain outlet is located on the water surface.

[0032] A motor 16 is installed in the cover 8, with its shaft facing downwards. In design, the motor shaft is perpendicular to the surface of the filter cloth 15. A strip-shaped brush 17 is fixed to the shaft. The motor shaft rotates at one revolution per second. When installing the strip-shaped brush 17, it is necessary to avoid interference from the filter cloth frame, ensuring that the brush 17 only brushes the fabric portion of the filter cloth 15 and can rotate normally with the motor shaft. The strip-shaped brush 17 is made of nylon, with the bristles attached to the upper surface of the filter cloth 15. After the motor 16 starts, the bristles continuously scrape the upper surface of the filter cloth 15, cleaning the fine pores of the filter cloth 15 and further removing any remaining small cyanobacteria blooms, ensuring the filtration effect of the filter cloth – this is only the second anti-clogging measure. Furthermore, the strip-shaped brush 17, by rotating and carrying the cyanobacteria blooms, brushes them from the filter cloth surface into the algae cavity.

[0033] The process of this unmanned surface vessel collecting cyanobacterial blooms: first: The unmanned boat docked in the dock. After receiving the collection signal, its controller began to collect the blue-green algae bloom and controlled the water pump to gradually bring the boat to the required draft. Once the draft is reached, the controller controls the unmanned vessel to depart from the dock and navigate in the slow-flowing water along a preset route. Due to the design of the draft, the surface water rises upward at the bow during the voyage. Thanks to the design of the spoon-shaped collection trough 2, the surface water and the blue-green algae bloom are drawn into the collection trough at the bow.

[0034] Water and cyanobacterial blooms in the collection tank enter the receiving cavity through the opening in the ship cover, are filtered by the filter plate, and then flow into the collection tank of the air flotation device.

[0035] Then: After the unmanned vessel begins to sail, the controller activates the air compressor, which inflates the air plate through the air outlet. The gas then emerges from the micropores at the bottom of the collection tank, forming tiny bubbles. These bubbles combine with the cyanobacterial bloom within the collection tank, increasing their buoyancy and causing them to float on the water surface. They then move with the water flow towards the narrow end of the collection tank (facing the stern) and enter the opening of the separation cylinder.

[0036] Water containing cyanobacteria flows through the opening onto the filter cloth of the separation cylinder (the cyanobacteria are on the surface due to air flotation, while the water is in the lower layer). The water seeps through the perforations of the filter cloth into the water chamber below, and is then discharged from the hull by the drain pump through the drain pipe. A motor drives a strip brush (rotating at 1 revolution per second) to scrape the surface of the filter cloth, pushing the cyanobacteria on the filter cloth into the algae chamber, where they fall into the mesh algae basket. A pressure sensor at the bottom of the algae basket monitors the weight in real time, and when a preset value is reached, it sends a signal to the controller. The controller then stops the unmanned surface vessel (USV) from its collection operation and automatically plans a return route to the dock. Personnel open the hatch, remove the algae basket to clean the cyanobacteria, reset the pressure sensor, and wait for personnel to resend the collection signal. Once the signal is sent, the USV resumes its operation.

[0037] Based on the above-described preferred embodiments of this utility model, and through the foregoing description, those skilled in the art can make various changes and modifications without departing from the technical concept of this utility model. The technical scope of this utility model is not limited to the contents of the specification, but must be determined according to the scope of the claims.

Claims

1. An unmanned surface vessel for collecting cyanobacterial blooms in slow-flowing water, characterized in that, include: The hull of the unmanned vessel has a downward-recessed deck near the bow that forms a spoon-shaped collection trough. At a preset draft depth, as the unmanned vessel sails, the blue-green algae bloom floating on the water surface enters the collection tank along with the water. A draft control device is installed on the hull of an unmanned vessel to control its draft depth. The canopy is installed on the deck of the unmanned vessel near the stern and has a cavity inside. An opening is provided on the side of the canopy near the bow, and the cavity is connected to the collection trough through the opening. An air flotation device is installed in the containment cavity to make the cyanobacterial bloom that enters the containment cavity float on the water surface; The separation device, located in the containment cavity, is used to separate the cyanobacterial bloom after air flotation from the water.

2. The unmanned vessel for collecting cyanobacterial blooms in slow-flowing water as described in claim 1, characterized in that, The water supply device includes: The controller is installed in the cabin of the unmanned vessel. The unmanned surface vessel (USV) is equipped with an inlet pump, an outlet pump, and a water tank. The inlet and outlet pumps are installed in the cabin of the USV hull. The inlet pump has an inlet pipe fixedly installed at its inlet end, with the end of the inlet pipe extending outside the cabin of the USV hull and located in the water. The outlet of the inlet pump is connected to the water tank via a pipeline. The outlet pump has an outlet pipe installed at its outlet end, with the other end of the outlet pipe extending outside the cabin of the USV hull. The inlet and outlet pipes are equipped with electric valves for inlet and outlet respectively. An acoustic ranging sensor is installed on the hull of a ship to detect its distance from the water surface.

3. The unmanned vessel for collecting cyanobacterial blooms in slow-flowing water as described in claim 1, characterized in that, The air flotation device includes: An air compressor is installed inside the accommodating cavity of the ship's cover. The air inlet of the air compressor extends to the outside of the accommodating cavity, and the air outlet is connected to the air outlet pipe. An air plate is installed in a receiving cavity, and an air chamber is opened in the air plate. The air outlet of the air compressor is connected to the air chamber through an air outlet pipe. The upper surface of the air plate is recessed downward to form a gathering groove. Several micro-holes are opened on the bottom surface of the gathering groove. The micro-holes are the only way for gas to escape from the air chamber. The pore diameter is 100-500 micrometers.

4. The unmanned vessel for collecting cyanobacterial blooms in slow-flowing water as described in claim 3, characterized in that, The separation device includes: The separation cylinder has its top located within the receiving cavity; vertically arranged baffles are installed inside the separation cylinder, dividing the separation cylinder cavity into a water cavity and an algae cavity; The inner wall of the water chamber is inclined with a framed filter cloth. The frame of the filter cloth is detachably installed on the inner wall of the water chamber. The outer edge of the filter cloth frame is sealed to the inner wall of the water chamber by a rubber layer. The lower end of the filter cloth is at the same height as the surface of the collection trough. A drain pipe is installed at the bottom of the water chamber. The other end of the drain pipe passes through the cabin and extends to the outside. A drain pump is installed on the drain pipe. A mesh algae basket is placed in the algae chamber through a pre-set platform. A manually openable cover door is installed on the top of the boat cover. A float level switch is installed in the water chamber to control the circuit of the drain pump.

5. The unmanned vessel for collecting cyanobacterial blooms in slow-flowing water as described in claim 4, characterized in that, A motor is installed in the receiving cavity, with the motor shaft facing downwards and perpendicular to the surface of the filter cloth; a strip brush is fixed on the motor shaft, and the bristles of the strip brush are in contact with the upper surface of the filter cloth.

6. The unmanned vessel for collecting cyanobacterial blooms in slow-flowing water as described in claim 4, characterized in that, A filter plate with a 1cm aperture is installed at the opening of the boat cover.

Images