Unmanned boat system for automatically delivering medicine and control method of unmanned boat system

Abstract

The present invention provides an unmanned boat system for automatically delivering medicines and a control method for the unmanned boat system, which relates to the technical field of automatic control systems. A mathematical analysis model is constructed according to water quality measurement data through a calculation module to simulate the water flow field distribution and the blue algae concentration distribution through the mathematical analysis model; the water flow field distribution and the blue algae concentration distribution are optimized and analyzed by an optimization module using a preset optimization algorithm to determine the target delivery route and the target delivery amount corresponding to each medicine; the unmanned boat is controlled to sail along the target delivery route through a control module; and the medicine delivery device is used to automatically deliver medicines in batches according to the target delivery amount corresponding to each medicine. The present invention can significantly reduce the workload of medicine delivery, reduce the disturbance caused by artificial delivery of medicines, and can improve the system complexity and the control accuracy of automatic delivery of multiple medicines in batches, thereby significantly improving the treatment effect of blue algae blooms.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic control systems, and in particular to an unmanned boat system for automatically delivering medicines and a control method for the unmanned boat system. Background Art

[0002] Cyanobacteria bloom refers to the sudden growth and reproduction of large numbers of cyanobacteria cells in water bodies, forming a blue-green bloom phenomenon. Cyanobacteria bloom not only changes the color of the water, but also produces toxic and harmful substances, seriously endangering the water ecological environment and drinking water safety.

[0003] At present, the main methods for controlling cyanobacteria blooms include: chemical methods (adding copper sulfate, H2O2 and other chemical agents to kill cyanobacteria), physical methods (aeration and oxygenation of water bodies, coagulation and sedimentation to remove algae cells, etc.), biological methods (selective viruses, algae natural enemies, etc.), and ecological regulation methods (applying biological agents, nutrients, etc. to regulate the water environment). Relevant technologies have proposed that the concentration of cyanobacteria can be predicted by relying on the modified Monod equation, and any of the above-mentioned control schemes can be used for the introduction of a single agent. However, the system complexity of this scheme is relatively low, and the control strategy is relatively simple. It only relies on the predicted concentration to introduce a single agent, and cannot achieve complex and refined control, resulting in poor control effects of cyanobacteria blooms. Summary of the invention

[0004] In view of this, the purpose of the present invention is to provide an unmanned boat system for automatically delivering chemicals and a control method for the unmanned boat system. The automatic delivery by the unmanned boat can significantly reduce the workload of drug delivery and reduce the disturbance caused by manual delivery of chemicals, and can improve the system complexity and the control accuracy of automatic delivery of multiple chemicals in batches, thereby significantly improving the control effect of cyanobacteria blooms.

[0005] In a first aspect, an embodiment of the present invention provides an unmanned boat system for automatically delivering medicines, the unmanned boat system comprising: a computing module, an optimization module, a control module and a medicine delivery device, the optimization module being communicatively connected to the computing module, the control module and the medicine delivery device respectively; wherein the computing module is used to receive water quality measurement data sent by an external water quality detection device, and to construct a mathematical analysis model based on the water quality measurement data, so as to simulate the water flow field distribution and the cyanobacteria concentration distribution through the mathematical analysis model, wherein the water quality measurement data comprises: measured water flow, water depth, bottom quality, temperature and light, and the boundary conditions of the mathematical analysis model comprise: river inflow and wind field information; the optimization module is used to optimize and analyze the water flow field distribution and the cyanobacteria concentration distribution using a preset optimization algorithm, and determine the target delivery route and the target delivery amount corresponding to each medicine; the control module is used to control the unmanned boat to navigate along the target delivery route; the medicine delivery device is used to automatically deliver medicines in batches according to the target delivery amount corresponding to each medicine.

[0006] In one embodiment, the control module includes: a control layer and an execution layer, the control layer is respectively communicated with the execution layer and the optimization module; wherein the control layer includes: a host computer, an industrial computer and an embedded microcontroller, the control layer is used to perform control operations on the target delivery route sent by the optimization module, generate navigation control instructions, and send the navigation control instructions to the execution layer; the execution layer includes actuators such as propulsion motors and steering gears, and the execution layer is used to receive control instructions and execute operations corresponding to the control instructions, so that the unmanned ship can sail along the target delivery route.

[0007] In one embodiment, the control module also includes: a perception layer, which is communicatively connected to the control layer; wherein the perception layer includes: GPS, an inertial measurement unit, an encoder, a wind sensor and a water quality detection device, and the perception layer is used to determine the real-time navigation status of the unmanned ship hull according to the feedback signals of the GPS, the inertial measurement unit and the encoder, and to determine the external disturbance information and obstacle information according to the detection results of the wind sensor and the water quality detection equipment, and send the real-time navigation status, external disturbance information and obstacle information to the control layer so that the control layer can perform path compensation and route replanning.

[0008] In one embodiment, the control module further includes: a communication layer, which is used to realize data interaction between various layers of the control module and data interaction between the control module and the optimization module.

[0009] In one embodiment, the drug delivery device includes: a control system, a metering system and a drug storage chamber module, and the control system is communicatively connected with the metering system, the drug storage chamber module and the optimization module respectively; wherein the control system is used to generate drug metering instructions and valve control instructions according to the target delivery amount corresponding to each drug sent by the optimization module, and send the drug metering instructions to the metering system, and send the valve control instructions to the drug storage chamber module; the metering system is used to accurately measure the target delivery amount of the drug according to the drug metering instructions, and feed back the real-time metering data to the control system, so that the control system sends the valve control instructions to the drug storage chamber module; the drug storage chamber module includes: a plurality of independent drug storage chambers, each independent drug storage chamber stores a corresponding drug respectively, and the drug storage chamber module is used to open the valve of the corresponding independent drug storage chamber according to the valve control instructions, and automatically deliver the drugs in batches with the target delivery amount of the drug.

[0010] In one embodiment, the medicine storage tank further includes: a medicine supply port and a hatch control valve; wherein the medicine supply port is used for adding medicine and cleaning medicine residue; the hatch control valve is used for quickly discharging the target amount of medicine out of the hatch of the medicine storage tank by pressurized delivery when the medicine is released.

[0011] In one embodiment, the drug delivery device also includes: a fault detection system, which is arranged in the metering system and the hatches of each drug storage compartment. The fault detection system is used to send abnormal information to the control system when abnormal information is detected, and to issue a fault alarm prompt when the fault diagnosis result fed back by the control system is a fault.

[0012] In the second aspect, an embodiment of the present invention also provides a control method for an unmanned boat system, which is applied to an unmanned boat system for automatically delivering medicines. The unmanned boat system includes: a computing module, an optimization module, a control module and a medicine delivery device. The method includes: obtaining water quality measurement data, and using the computing module and the optimization module to model the water quality measurement data and perform optimization analysis and processing to determine a target delivery route and a target delivery amount corresponding to each medicine, wherein the water quality measurement data includes: measured water flow, water depth, bottom quality, temperature and light; generating a first control instruction according to the target delivery route, and generating a second control instruction according to the target delivery amount corresponding to each medicine, wherein the first control instruction is a navigation control instruction, and the second control instruction is a medicine metering instruction and a valve control instruction; sending the first control instruction to the control module, and sending the second control instruction to the medicine delivery device, so that the unmanned boat sails along the target delivery route, and automatically delivers various types of medicines in batches accurately with the target delivery amount during the navigation process.

[0013] In one embodiment, after the step of sending the first control instruction to the control module, it includes: obtaining feedback signals from the GPS, inertial measurement unit and encoder; using a preset Kalman filter to filter and predict the feedback signals to determine the current position and predicted position of the unmanned ship, and using the current position and predicted position to determine the real-time navigation status of the unmanned ship hull to track the navigation route of the unmanned ship.

[0014] In one embodiment, after the step of tracking the navigation route of the unmanned ship, it includes: obtaining the detection results of the wind sensor and the water quality detection equipment, and determining the external disturbance information and obstacle information according to the detection results; performing control compensation for the real-time navigation status and external disturbance information, and when obstacle information is detected, using a preset dynamic programming algorithm combined with the obstacle information to perform route replanning processing to determine the optimal route for obstacle avoidance, so that the unmanned ship can safely navigate along the optimal route for obstacle avoidance.

[0015] The embodiments of the present invention bring the following beneficial effects:

[0016] An unmanned boat system for automatically delivering medicines and a control method for the unmanned boat system provided in an embodiment of the present invention control the unmanned boat to automatically deliver medicines by setting a calculation module, an optimization module, a control module and a medicine delivery device; wherein the calculation module is used to receive water quality measurement data sent by an external water quality detection device, and construct a mathematical analysis model according to the water quality measurement data, so as to simulate the water flow field distribution and the cyanobacteria concentration distribution through the mathematical analysis model; the optimization module is used to optimize and analyze the water flow field distribution and the cyanobacteria concentration distribution by using a preset optimization algorithm, and determine a target delivery route and a target delivery amount corresponding to each medicine; the control module is used to control the unmanned boat to navigate along the target delivery route; the medicine delivery device is used to automatically deliver medicines in batches according to the target delivery amount corresponding to each medicine. The embodiment of the present invention can significantly reduce the workload of medicine delivery, reduce the disturbance caused by human delivery of medicines, and can improve the system complexity and the control accuracy of automatic delivery of multiple medicines in batches, thereby significantly improving the control effect of cyanobacteria blooms.

[0017] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention are realized and obtained by the structures particularly pointed out in the description, claims and drawings.

[0018] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0020] Figure 1 A schematic diagram of the structure of an unmanned boat system for automatically delivering medicines provided by an embodiment of the present invention;

[0021] Figure 2 A schematic diagram of the structure of a control module provided by an embodiment of the present invention;

[0022] Figure 3 A schematic diagram of the structure of a drug delivery device provided by an embodiment of the present invention;

[0023] Figure 4 A flow chart of a control method for an unmanned ship system provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution of the present invention will be clearly and completely described in combination with the embodiments below. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0025] At present, cyanobacteria bloom refers to the sudden growth and reproduction of cyanobacteria cells in water bodies, forming a blue-green bloom phenomenon. Cyanobacteria bloom not only changes the color of water bodies, but also produces toxic and harmful substances, seriously endangering the water ecological environment and drinking water safety. The main methods for controlling cyanobacteria blooms include: chemical methods (adding copper sulfate, H2O2 and other chemical agents to kill cyanobacteria), physical methods (aeration and oxygenation of water bodies, coagulation and sedimentation to remove algae cells, etc.), biological methods (selective viruses, algae natural enemies, etc.), and ecological regulation methods (applying biological agents, nutrients, etc. to regulate the water environment). Relevant technologies have proposed that the concentration of cyanobacteria can be predicted by relying on the improved Monod equation, and any of the above-mentioned control schemes can be used for the release of a single agent. However, the system complexity of this scheme is relatively low, and the control strategy is relatively simple. It only relies on the predicted concentration to release a single agent, and cannot achieve complex and refined control, resulting in poor control effects of cyanobacteria blooms.

[0026] Compared with the existing control strategy of autonomous quantitative administration based on early warning signals, the present invention dynamically plans routes based on real-time data, optimizes the administration of multiple agents, optimizes administration based on multiple factors, and has complex and precise control. In addition, compared with the prior art of using a single agent such as calcium peroxide-alginate sustained-release agent for administration, the present invention adopts multiple agents for coordinated control, which also improves the control effect of cyanobacteria blooms. Based on this, the unmanned boat system for automatic administration of agents and the control method of the unmanned boat system provided by the present invention can significantly reduce the workload of agent administration and reduce the disturbance caused by manual administration of agents, and can improve the system complexity and the control accuracy of automatic administration of multiple agents in batches, thereby significantly improving the control effect of cyanobacteria blooms.

[0027] To facilitate understanding of this embodiment, firstly, an unmanned boat system for automatically delivering medicines disclosed in an embodiment of the present invention is described in detail. The embodiment of the present invention provides a structural schematic diagram of an unmanned boat system for automatically delivering medicines, such as Figure 1 As shown, the unmanned boat system includes: a computing module, an optimization module, a control module and a medicine delivery device, and the optimization module is communicatively connected with the computing module, the control module and the medicine delivery device respectively.

[0028] The calculation module is used to receive water quality measurement data sent by an external water quality detection device, and construct a mathematical analysis model based on the water quality measurement data to simulate the water flow field distribution and cyanobacteria concentration distribution through the mathematical analysis model, wherein the water quality measurement data include: measured water flow, water depth, bottom quality, temperature and light, and the boundary conditions of the mathematical analysis model include: river inflow and wind field information. The constructed mathematical analysis model can be a mathematical model based on differential equations. In addition, the system can also include water quality detection equipment for monitoring parameters such as water pH value, dissolved oxygen concentration, nutrient concentration and light intensity.

[0029] The optimization module is used to optimize the analysis and processing of the water flow field distribution and the cyanobacteria concentration distribution using a preset optimization algorithm, and to determine the target delivery route and the target delivery amount of each agent. The objective function of the optimization module includes optimization objectives such as the evaluation of the cyanobacteria control effect and the total dosage. In the optimization calculation, the optimization module takes into account the synergistic effect between the agents and performs mathematical modeling.

[0030] The control module is used to navigate according to the target delivery route output by the optimization module, and to issue navigation instructions through the communication link, thereby controlling the unmanned boat to navigate along the target delivery route. In other words, the control module is responsible for controlling the unmanned boat to accurately navigate along the delivery route given by the optimization module and to deliver the agent in batches. Therefore, the control module first needs to consider the motion control problem of the unmanned boat itself. In addition, as a special surface mobile platform, the movement of the unmanned boat is affected by many factors such as water flow, wind force, and hull structure. Therefore, the control system needs to have strong robustness and adaptability.

[0031] The agent delivery device is used to automatically deliver agents in batches according to the target delivery amount of each agent. In other words, the agent delivery device is the key execution component in the unmanned boat system to achieve accurate batch delivery of various agents. Its structural design needs to meet multiple functional requirements and efficiently coordinate with other modules of the system. The agent delivery device delivers organic acids, oxygenators, probiotics, sodium humate, blue water spirit and other agents in segments and batches according to the delivery amount. The specific delivery amount of the agents delivered depends on the optimization module.

[0032] See also Figure 2The schematic diagram of the structure of a control module shown in the figure, the control module includes: a control layer, an execution layer, a perception layer and a communication layer, the control layer is respectively connected to the execution layer and the optimization module for communication, the perception layer is connected to the control layer for communication, and the communication layer is used to realize the data interaction between the layers of the control module, and the data interaction between the control module and the optimization module. In one embodiment, it is necessary to select suitable sensors such as GPS / Beidou positioning module, IMU inertial measurement unit, encoder, etc. to obtain the state quantities such as the posture, speed, angular velocity, etc. of the unmanned ship. The state quantities measured by these sensors have certain noise and errors, so it is necessary to design a filtering algorithm to pre-process the raw data to obtain a more accurate state estimate. In addition, the control module needs to comprehensively consider external disturbances such as water flow and wind force, and make corresponding compensation. Specifically:

[0033] The control layer includes: a host computer, an industrial computer and an embedded microcontroller. The control layer is used to undertake the operation of the control algorithm and the issuance of instructions, that is, to perform control operations on the target delivery route sent by the optimization module, generate navigation control instructions, and send the navigation control instructions to the execution layer.

[0034] The execution layer includes actuators such as propulsion motors and steering gears. The execution layer is used to receive control instructions and execute operations corresponding to the control instructions to enable the unmanned ship to navigate along the target delivery route.

[0035] The perception layer includes: GPS / Beidou positioning, inertial measurement unit (IMU), encoder, wind sensor and water quality testing equipment, etc. The perception layer is used to obtain the position, speed, heading, water flow, water quality and other environmental information of the unmanned ship, that is, according to the feedback signals of GPS, inertial measurement unit and encoder, the real-time navigation status of the unmanned ship is determined, and according to the detection results of wind sensor and water quality testing equipment, the external disturbance information and obstacle information are determined, and the real-time navigation status, external disturbance information and obstacle information are sent to the control layer so that the control layer can perform path compensation and route replanning.

[0036] See also Figure 3 A schematic structural diagram of a drug delivery device is shown, the drug delivery device includes: a control system, a metering system, a drug storage cabin module and a fault detection system, and the control system is communicatively connected with the metering system, the drug storage cabin module and the optimization module respectively.

[0037] The control system is used to generate agent metering instructions and valve control instructions according to the target release amount of each agent sent by the optimization module, and send the agent metering instructions to the metering system and the valve control instructions to the medicine storage compartment module. In other words, the control system, as the core part of the agent delivery device, receives instructions from the host computer, controls the hatch switches of each medicine storage compartment and the operation of the metering system, and ensures that the release of agents is accurately controlled according to the instructions of the optimization module.

[0038] The metering system is used to accurately measure the target amount of medicine according to the medicine metering instructions, and feed back the real-time metering data to the control system so that the control system can issue valve control instructions to the medicine storage compartment module. In one embodiment, the metering system may include an electronic scale, etc., which is used to accurately measure the amount of each medicine released, and has waterproof and dustproof characteristics.

[0039] The medicine storage tank module includes: multiple independent medicine storage tanks, each independent medicine storage tank stores a corresponding medicine, and the medicine storage tank module is used to open the valve of the corresponding independent medicine storage tank according to the valve control instruction, and automatically release the medicine in batches with the target release amount of medicine. In addition, the medicine storage tank also includes: a medicine supply port and a hatch control valve, wherein the medicine supply port is used to add medicine and clean up medicine residues, and the hatch control valve is used to quickly discharge the target release amount of medicine from the hatch of the medicine storage tank through pressurized transportation when the medicine is released. In one embodiment, the hatch component should adopt a pneumatic or electric control valve to achieve rapid opening and closing At the same time, consider using gravity flow or pressurized delivery to discharge the agent out of the hatch. Each medicine storage tank is dedicated to storing one type of medicine and is equipped with a hatch control system to ensure independent storage of the agent and avoid cross contamination. The medicine storage tank module also needs to be equipped with a protective shell, which should be corrosion-resistant and leak-proof to protect the internal medicine and the device itself. The inner lining is made of stainless steel or corrosion-resistant materials to ensure its durability. The volume design of the medicine storage tank should be reasonable to ensure that there is enough space to store the agent. At the same time, the volume and weight of the agent delivery device need to comply with the load limit of the unmanned ship to avoid affecting the navigation performance.

[0040] The fault detection system is installed in the metering system and the hatches of each medicine storage tank. When abnormal information is detected, the fault detection system sends the abnormal information to the control system, and when the fault diagnosis result fed back by the control system is a fault, a fault alarm prompt is issued. Specifically, as the key to ensure the normal operation of the dosing device, the fault detection system needs to be equipped with fault sensors such as pressure and flow at each hatch and metering system to monitor possible abnormalities. The control system will determine whether a fault has occurred based on the data of these sensors, and set a fault alarm mechanism to send an alarm signal to the user to remind him to perform maintenance or processing in time.

[0041] In addition, a drug flow monitoring system is required to achieve closed-loop control and ensure the accuracy of drug delivery. The metering system is connected to the control system via serial communication to facilitate real-time transmission and processing of data.

[0042] Furthermore, 3D modeling technology can be used to optimize the spatial arrangement between modules, reduce volume and weight, thereby optimizing the structural layout and interface of the dosing device, and reasonably arrange the installation position and orientation according to the gravity distribution to ensure the stability of the device and the convenience of operation. At the same time, interfaces with the unmanned ship power system and control system are reserved to facilitate the integration of the overall system.

[0043] In one embodiment, a human-machine interface can also be designed to facilitate maintenance operators to perform settings and maintenance, thereby improving the friendliness and efficiency of operations. Through the above scheme, the present invention can design a dosing device with complete functions, compact structure and strong fault tolerance. The device can accurately execute the delivery instructions of the optimization module, give full play to the synergistic effect between the agents, and achieve efficient and uniform control of cyanobacteria. It is an indispensable key execution component of the entire unmanned boat system.

[0044] See also Figure 4 The flowchart of a control method of an unmanned ship system shown in FIG. 4 is applied to an unmanned ship system for automatically delivering medicines. The unmanned ship system includes: a calculation module, an optimization module, a control module and a medicine delivery device. The method mainly includes the following steps S402 to S406:

[0045] Step S402, obtain water quality measurement data, and use the calculation module and the optimization module to model and optimize the water quality measurement data to determine the target delivery route and the target delivery amount corresponding to each agent, wherein the water quality measurement data includes: measured water flow, water depth, bottom quality, temperature and light, the water quality measurement data can be obtained through detection by water quality detection equipment, and the external disturbance information and obstacle information can be determined according to the detection results of the wind sensor and the water quality detection equipment. In one embodiment, the optimization module also considers the synergistic effect between the agents during the optimization calculation, and performs mathematical modeling on them. In view of the synergistic effect between different agents, an evaluation model is established, and the synergistic effect is incorporated into the optimization target to achieve the optimal ratio of multiple agents, thereby determining the target delivery amount corresponding to each agent.

[0046] Step S404, generating a first control instruction according to the target delivery route, and generating a second control instruction according to the target delivery amount corresponding to each medicine, wherein the first control instruction is a navigation control instruction, and the second control instruction is a medicine metering instruction and a valve control instruction. In one embodiment, the navigation control instruction is used to control the propulsion motor, steering gear and other actuators in the execution layer of the unmanned ship control module to adjust the navigation state of the unmanned ship, the medicine metering instruction is used to control the metering system to accurately meter the target delivery amount of medicine, and the valve control instruction is used to control the opening and closing states of multiple independent medicine storage compartments of the medicine storage compartment module.

[0047] Step S406, sending the first control instruction to the control module, and sending the second control instruction to the drug delivery device, so that the unmanned boat sails along the target delivery route, and during the navigation process, automatically delivers various types of drugs in batches with target delivery amounts. In one embodiment, after receiving the first control instruction, the control module can also use the real-time monitored water flow field data to estimate the water flow disturbance force exerted on the unmanned boat, and compensate it as a disturbance input to the control system. At the same time, the wind speed and direction can be measured by the wind sensor, the wind disturbance can be estimated, and compensation can be performed.

[0048] The unmanned boat system for automatically delivering drugs and the control method of the unmanned boat system provided in the embodiments of the present invention can significantly reduce the workload of drug delivery and reduce the disturbance caused by manual delivery of drugs, and can improve the system complexity and the control accuracy of automatic delivery of multiple drugs in batches, thereby significantly improving the control effect of cyanobacteria blooms.

[0049] For the aforementioned step S406, when the first control instruction is sent to the control module so that the unmanned ship sails along the target delivery route, the kinematic model and dynamic model of the unmanned ship can be established, the desired track is used as the desired track input, and the actual position and speed are used as feedback signals. By designing a suitable state feedback controller, accurate track tracking control of the unmanned ship can be achieved. That is to say, the feedback signals of the GPS, inertial measurement unit and encoder can be obtained, and the feedback signals can be filtered and predicted using a preset Kalman filter to determine the current position and predicted position of the unmanned ship, and the real-time navigation state of the unmanned ship hull can be determined using the current position and predicted position to track the navigation route of the unmanned ship. Specifically, first, a 3-DOF motion model of the unmanned ship needs to be established, including position, heading and speed, as well as a 6-DOF dynamic model. Mechanical model, then, use advanced control algorithms such as linear or nonlinear model predictive control (MPC) to design a path tracking controller. In addition, by integrating sensor data such as GPS / Beidou, inertial measurement unit (IMU), encoder, and applying Kalman filtering technology, an accurate estimate of the hull state can be obtained. At the same time, it is also necessary to consider water flow field data to estimate water flow disturbances and make corresponding control compensations, monitor wind field information to estimate wind disturbances, and make corresponding adjustments. In terms of route planning and re-planning, based on dynamic programming and A-Star and other algorithms, the optimal obstacle avoidance route can be quickly planned. With changes in the environment, such as dynamic changes in water flow fields and obstacles, the route needs to be dynamically replanned to adapt to these changes. In addition, safety constraints such as distance obstacles and weather conditions must also be included in the planning algorithm to ensure the navigation safety of the unmanned ship.

[0050] In one embodiment, the control module also needs to perform route planning and re-planning, obtain the detection results of wind sensors and water quality detection equipment, and determine external disturbance information and obstacle information based on the detection results, and then perform control compensation for the real-time navigation status and external disturbance information. When obstacle information is detected, the preset dynamic programming algorithm is used in combination with the obstacle information to perform route re-planning processing to determine the optimal route for obstacle avoidance, so that the unmanned boat can safely navigate along the optimal route for obstacle avoidance. That is to say, although the optimization module has given the best delivery route, various unexpected situations may be encountered during the actual execution process, such as encountering obstacles, drastic changes in water flow conditions, etc., which require real-time adjustment of the route. Therefore, the control module needs to have the ability to quickly re-plan the route to avoid obstacles, or dynamically adjust the optimal route according to new water flow field data.

[0051] In addition, unmanned ships need to meet certain safety constraints when performing tasks, such as the need to control the ship to maintain a safe distance from the shore or other obstacles, the need to avoid restricted areas, and the need to adjust the driving speed according to weather conditions. The control module can also fully take these safety constraints into account to ensure that the unmanned ship performs its tasks safely and reliably.

[0052] Furthermore, the control module needs to work closely with other modules to achieve efficient information transmission and seamless task integration. For example, it can obtain real-time water flow field and cyanobacteria concentration distribution data from the calculation module, and the latest delivery route instructions from the optimization module to form a closed-loop control.

[0053] In one embodiment, the unmanned boat system for automatically delivering agents will automatically plan the route and deliver multiple agents according to the distribution of cyanobacteria and the diffusion trend of water flow, including organic acids, oxygen-enhancing tablets, probiotics (lactic acid bacteria, Bacillus, nitrifying bacteria), sodium humate and blue water spirit, etc. The specific dosage will be determined according to the pH value of the water body, dissolved oxygen concentration, nutrient salt concentration and light intensity. Since there are some synergistic effects between organic acids, oxygen-enhancing tablets, probiotics (lactic acid bacteria, Bacillus, nitrifying bacteria), sodium humate and blue water spirit, the overall best effect of controlling cyanobacteria blooms can be achieved, specifically:

[0054] 1. Organic acids lower the pH value of water, inhibit the growth of blue algae, and create a suitable environment for the subsequent addition of probiotics.

[0055] 2. Oxygen-enhancing tablets can increase the dissolved oxygen content in water, meet the survival needs of aerobic probiotics, and increase their activity and quantity.

[0056] 3. Lactic acid bacteria can decompose organic matter and degrade toxins released by cyanobacteria; Bacillus can produce antibiotics to inhibit cyanobacteria; nitrifying bacteria accelerate nitrogen cycle and reduce nitrogen content in water, thereby inhibiting the growth of cyanobacteria. The synergistic effect of these probiotic communities can effectively control cyanobacteria.

[0057] 4. Sodium humate can not only adsorb and precipitate cyanobacterial toxins, but also promote the growth of aerobic probiotics and provide nutrients for aquatic plants. Sodium humate has a certain shading effect. Sodium humate is a brown-black high-molecular organic compound that can absorb and block a certain proportion of sunlight. When sodium humate is added to the water body, it will make the water body appear brown or dark, thus playing a shading role. Moderate shading can inhibit the photosynthesis and growth and reproduction of cyanobacteria. Cyanobacteria are a type of phytoplankton that requires sufficient light. When the water body is shaded by sodium humate, the ability of cyanobacteria to obtain light energy is reduced, and the growth rate will be inhibited. It should be noted that the shading effect of sodium humate is limited. Excessive addition may cause the water body to become too dark, affecting the survival of other organisms in the aquatic ecosystem.

[0058] 5. Blue Water Spirit is a complex microbial preparation, which is rich in a variety of bacteria and enzymes that have antagonistic effects on cyanobacteria and can accelerate the decomposition of cyanobacterial cells.

[0059] Therefore, these agents are used in combination. Organic acids and oxygen-enhancing tablets first optimize the water environment and provide suitable conditions for the probiotic community. Among them, probiotics can effectively degrade cyanobacteria toxins and inhibit the growth of cyanobacteria; sodium humate further absorbs toxins and creates a good environment for aquatic plants; and blue water spirit directly decomposes cyanobacteria cells. Each agent cooperates with each other to achieve the best treatment effect.

[0060] First, define the variables: C is the biomass of cyanobacteria, M is the biomass of beneficial microorganisms, A is the dosage of organic acid, O is the dosage of oxygen tablets, P is the dosage of probiotics, H is the dosage of sodium humate, B is the dosage of blue water spirit, t is time, then the cyanobacteria biomass change rate equation can be expressed as:

[0061]

[0062] Among them, r is the natural growth rate of cyanobacteria, K is the environmental carrying capacity, α1, α2, α3, α4, α5 are the inhibition coefficients of various agents and microorganisms on cyanobacteria, is the effect function of alkalinity on the growth of cyanobacteria, and f(I) is the effect function of light intensity on the growth of cyanobacteria. The present invention can use the Monod equation to describe this relationship, namely:

[0063]

[0064] Where I is the light intensity penetrating the water body (given by the sodium humate shading equation), is the semi-saturated light intensity constant. When the dosage of sodium humate H increases, the light intensity I passing through the water body decreases, thereby reducing the value of f(I) and ultimately slowing down the growth rate of cyanobacteria.

[0065] The present invention takes into account the dual effects of sodium humate, including direct inhibition (via terms) and indirect shading (through the effect on f(I)), where The value of needs to be determined through experiments, which represents the When the growth rate of cyanobacteria reaches half of the maximum growth rate.

[0066] The equation for the change rate of beneficial microbial biomass can be expressed as:

[0067]

[0068] Among them, β1 and β2 are the promotion coefficients of probiotics and sodium humate on microbial growth, L is the environmental carrying capacity of microorganisms, and d is the natural mortality rate of microorganisms.

[0069] The alkalinity change equation can be expressed as:

[0070]

[0071] in, is the influence coefficient of organic acid on alkalinity, is the effect coefficient of probiotics on alkalinity (may be positive because some probiotics may produce alkaline substances), is the influence coefficient of microbial activity on alkalinity. This model can well reflect the buffering capacity of water bodies and the complex effects of various treatment methods on the chemical properties of water bodies.

[0072] Dissolved oxygen concentration equation:

[0073]

[0074] Among them, DO is the current dissolved oxygen concentration, γ is the oxygenation efficiency coefficient of the oxygenation tablet, and δ is the microbial oxygen consumption coefficient.

[0075] pH equation:

[0076]

[0077] Wherein, pH0 is the initial pH value, and ε is the efficiency coefficient of the organic acid in reducing the pH.

[0078] Sodium humate shading effect equation:

[0079]

[0080] Among them, I is the light intensity penetrating the water body, I0 is the initial light intensity, and λ is the light attenuation coefficient of sodium humate. This mathematical model describes the complex relationship between the dosage of the agent, the biomass of cyanobacteria and the biomass of microorganisms through a series of differential equations and algebraic equations. The model takes into account factors such as the growth and inhibition of cyanobacteria, the growth and death of beneficial microorganisms, changes in dissolved oxygen, the adjustment of pH value, and changes in light intensity.

[0081] Furthermore, to obtain more accurate results, it is necessary to determine various parameters (such as r, K, , , , , , In addition, other factors such as temperature, nutrient concentration, and certain nonlinear interactions may need to be considered to more fully describe the actual ecosystem.

[0082] In summary, the present invention releases a variety of synergistic agents, which can quickly improve water quality and kill cyanobacteria with lasting effects. The use of unmanned boats to deliver drugs avoids labor costs and reduces human disturbances. In addition, the invention only needs to set the target water area to automatically complete the entire process, which greatly reduces the workload. The modular design of the unmanned boat system that automatically delivers drugs is also easy to expand and upgrade, and add new functions, thereby integrating new technologies such as remote sensing and underwater motion to adapt to new governance needs.

[0083] Furthermore, the present invention also establishes a model for evaluating the synergistic effect of drugs to exert the overall maximum governance effect, and establishes an evaluation model for the synergistic effect between different drugs, incorporating the synergistic effect into the optimization goal to achieve the optimal ratio of multiple drugs and maximize the overall governance potential.

[0084] Finally, it should be noted that the above-described embodiments are only specific implementations of the present invention, which are used to illustrate the technical solutions of the present invention, rather than to limit them. The protection scope of the present invention is not limited thereto. Although the present invention is described in detail with reference to the above-described embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-described embodiments within the technical scope disclosed by the present invention, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. An unmanned boat system for automatically delivering medicines, characterized in that: The unmanned ship system includes: a calculation module, an optimization module, a control module and a medicine delivery device, wherein the optimization module is respectively connected to the calculation module, the control module and the medicine delivery device in communication; wherein, The calculation module is used to receive water quality measurement data sent by an external water quality detection device, and construct a mathematical analysis model according to the water quality measurement data, so as to simulate the water flow field distribution and the blue algae concentration distribution through the mathematical analysis model, wherein the water quality measurement data includes: measured water flow, water depth, bottom quality, temperature and light, and the boundary conditions of the mathematical analysis model include: river inflow and wind field information; The optimization module is used to optimize and analyze the flow field distribution of the water body and the concentration distribution of the cyanobacteria by using a preset optimization algorithm, and determine the target delivery route and the target delivery amount of each agent, wherein the agents include: organic acid, oxygen tablets, lactic acid bacteria, sodium humate and blue water spirit, the organic acid is used to reduce the pH value of the water body and inhibit the growth of cyanobacteria, the oxygen tablets are used to increase the dissolved oxygen content of the water body and increase the survival requirements of aerobic probiotics, the probiotics are used to inhibit the growth of cyanobacteria by producing antibiotics and accelerating the nitrogen cycle, the sodium humate is used to adsorb and precipitate cyanobacterial toxins, and the blue water spirit is a composite microbial preparation used to accelerate the decomposition of cyanobacterial cells; The control module is used to control the unmanned boat to sail along the target delivery route; The medicine delivery device is used to automatically deliver medicines in batches according to the target delivery amount corresponding to each medicine; Among them, the target dosage of each agent is determined through a preset mathematical model based on the growth and inhibition of cyanobacteria, the growth and death of beneficial microorganisms, the change of dissolved oxygen, the adjustment of pH value and the change of light intensity; Among them, the cyanobacteria biomass change rate equation can be expressed as: ； Among them, C is the biomass of cyanobacteria, M is the biomass of beneficial microorganisms, A is the dosage of organic acid, O is the dosage of oxygen tablets, P is the dosage of probiotics, H is the dosage of sodium humate, B is the dosage of blue water spirit, t is time, r is the natural growth rate of cyanobacteria, K is the environmental carrying capacity, α1, α2, α3, α4, α5 are the inhibition coefficients of various agents and microorganisms on cyanobacteria, is the effect function of alkalinity on the growth of cyanobacteria, and f(I) is the effect function of light intensity on the growth of cyanobacteria; Among them, the light intensity is described by the Monod equation: ； Where I is the light intensity passing through the water, is the half-saturated light intensity constant. When the dosage of sodium humate H increases, the light intensity I penetrating the water body decreases, the value of f(I) decreases, and the growth rate of cyanobacteria slows down. Among them, the equation for the change rate of beneficial microbial biomass is expressed as: ； Among them, β1 and β2 are the promotion coefficients of probiotics and sodium humate on microbial growth, L is the environmental carrying capacity of microorganisms, and d is the natural mortality rate of microorganisms; The alkalinity change equation can be expressed as: ； in, is the influence coefficient of organic acid on alkalinity, is the effect coefficient of probiotics on alkalinity, is the influence coefficient of microbial activity on alkalinity; Dissolved oxygen concentration equation: ； Among them, DO is the current dissolved oxygen concentration, γ is the oxygenation efficiency coefficient of the oxygenation tablet, and δ is the microbial oxygen consumption coefficient; pH equation: ； Wherein, pH0 is the initial pH value, ε is the efficiency coefficient of the organic acid in reducing pH; Sodium humate shading effect equation: ； Among them, I is the light intensity passing through the water body, I0 is the initial light intensity, and λ is the light attenuation coefficient of sodium humate.

2. The unmanned boat system for automatically delivering medicine according to claim 1, characterized in that: The control module includes: a control layer and an execution layer, wherein the control layer is respectively connected to the execution layer and the optimization module in communication; wherein, The control layer includes: a host computer, an industrial computer and an embedded microcontroller, and the control layer is used to perform control operations on the target delivery route sent by the optimization module, generate navigation control instructions, and send the navigation control instructions to the execution layer; The execution layer includes an execution mechanism, which includes a propulsion motor and a steering gear. The execution layer is used to receive the control instruction and execute the operation corresponding to the control instruction so that the unmanned ship sails along the target delivery route.

3. The unmanned boat system for automatically delivering medicine according to claim 2, characterized in that: The control module further includes: a perception layer, the perception layer is communicatively connected with the control layer; wherein, The perception layer includes: GPS, inertial measurement unit, encoder, wind sensor and water quality detection equipment. The perception layer is used to determine the real-time navigation status of the unmanned ship according to the feedback signals of the GPS, the inertial measurement unit and the encoder, determine the external disturbance information and obstacle information according to the detection results of the wind sensor and the water quality detection equipment, and send the real-time navigation status, the external disturbance information and the obstacle information to the control layer so that the control layer can perform path compensation and route replanning.

4. The unmanned boat system for automatically delivering medicine according to claim 2, characterized in that: The control module further includes: a communication layer, wherein the communication layer is used to realize data interaction between the various layers of the control module and data interaction between the control module and the optimization module.

5. The unmanned boat system for automatically delivering medicine according to claim 1, characterized in that: The drug delivery device comprises: a control system, a metering system and a drug storage module, wherein the control system is respectively connected to the metering system, the drug storage module and the optimization module in communication; wherein, The control system is used to generate a medicine metering instruction and a valve control instruction according to the target dosage corresponding to each medicine sent by the optimization module, and send the medicine metering instruction to the metering system and send the valve control instruction to the medicine storage cabin module; The metering system is used to accurately measure the target dosage of medicine according to the medicine metering instruction, and feed back the real-time metering data to the control system so that the control system sends the valve control instruction to the medicine storage cabin module; The medicine storage chamber module includes: multiple independent medicine storage chambers, each of which stores a corresponding medicine. The medicine storage chamber module is used to open the valve of the corresponding independent medicine storage chamber according to the valve control instruction, and automatically release the medicine in batches with the target release amount of medicine.

6. The unmanned boat system for automatically delivering medicine according to claim 5, characterized in that: The medicine storage cabin also includes: a medicine supply port and a hatch control valve; wherein, The medicine supply port is used to add medicine and clean up medicine residue; The hatch control valve is used to quickly discharge the target amount of medicine out of the hatch of the medicine storage tank through pressurized transportation when the medicine is released.

7. The unmanned boat system for automatically delivering medicine according to claim 5, characterized in that: The drug delivery device also includes: a fault detection system, which is arranged in the metering system and the hatches of each drug storage compartment. The fault detection system is used to send the abnormal information to the control system when abnormal information is detected, and to issue a fault alarm prompt when the fault diagnosis result fed back by the control system is a fault.

8. A control method for an unmanned ship system, characterized in that: The method is applied to an unmanned ship system for automatically delivering medicines, wherein the unmanned ship system comprises: a calculation module, an optimization module, a control module and a medicine delivery device, and the method comprises: Acquire water quality measurement data, and use the calculation module and optimization module to construct a model and perform optimization analysis on the water quality measurement data to determine the target delivery route and the target delivery amount corresponding to each agent, wherein the water quality measurement data includes: measured water flow, water depth, bottom quality, temperature and light; Generate a first control instruction according to the target delivery route, and generate a second control instruction according to the target delivery amount corresponding to each medicine, wherein the first control instruction is a navigation control instruction, and the second control instruction is a medicine metering instruction and a valve control instruction; The first control instruction is sent to the control module, and the second control instruction is sent to the drug delivery device, so that the unmanned boat sails along the target delivery route, and during the navigation process, various drugs are automatically delivered in batches with the target delivery amount, wherein the drugs include: organic acid, oxygen tablets, lactic acid bacteria, sodium humate and blue water spirit, the organic acid is used to reduce the pH value of the water body and inhibit the growth of cyanobacteria, the oxygen tablet is used to increase the dissolved oxygen content of the water body and increase the survival requirements of aerobic probiotics, the probiotics are used to inhibit the growth of cyanobacteria by producing antibiotics and accelerating the nitrogen cycle, the sodium humate is used to adsorb and precipitate cyanobacterial toxins, and the blue water spirit is a composite microbial preparation used to accelerate the decomposition of cyanobacterial cells; Among them, the target dosage of each agent is determined through a preset mathematical model based on the growth and inhibition of cyanobacteria, the growth and death of beneficial microorganisms, the change of dissolved oxygen, the adjustment of pH value and the change of light intensity; Among them, the cyanobacteria biomass change rate equation can be expressed as: ； Among them, C is the biomass of cyanobacteria, M is the biomass of beneficial microorganisms, A is the dosage of organic acid, O is the dosage of oxygen tablets, P is the dosage of probiotics, H is the dosage of sodium humate, B is the dosage of blue water spirit, t is time, r is the natural growth rate of cyanobacteria, K is the environmental carrying capacity, α1, α2, α3, α4, α5 are the inhibition coefficients of various agents and microorganisms on cyanobacteria, is the effect function of alkalinity on the growth of cyanobacteria, and f(I) is the effect function of light intensity on the growth of cyanobacteria; Among them, the light intensity is described by the Monod equation: ； Where I is the light intensity passing through the water, is the half-saturated light intensity constant. When the dosage of sodium humate H increases, the light intensity I penetrating the water body decreases, the value of f(I) decreases, and the growth rate of cyanobacteria slows down. Among them, the equation for the change rate of beneficial microbial biomass is expressed as: ； Among them, β1 and β2 are the promotion coefficients of probiotics and sodium humate on microbial growth, L is the environmental carrying capacity of microorganisms, and d is the natural mortality rate of microorganisms; The alkalinity change equation can be expressed as: ； in, is the influence coefficient of organic acid on alkalinity, is the effect coefficient of probiotics on alkalinity, is the influence coefficient of microbial activity on alkalinity; Dissolved oxygen concentration equation: ； Among them, DO is the current dissolved oxygen concentration, γ is the oxygenation efficiency coefficient of the oxygenation tablet, and δ is the microbial oxygen consumption coefficient; pH equation: ； Wherein, pH0 is the initial pH value, ε is the efficiency coefficient of the organic acid in reducing pH; Sodium humate shading effect equation: ； Among them, I is the light intensity passing through the water body, I0 is the initial light intensity, and λ is the light attenuation coefficient of sodium humate.

9. The control method of the unmanned ship system according to claim 8, characterized in that: After the step of sending the first control instruction to the control module, the method further comprises: Get feedback signals from GPS, inertial measurement unit and encoder; The feedback signal is filtered and predicted using a preset Kalman filter to determine the current position and predicted position of the unmanned ship, and the real-time navigation status of the unmanned ship hull is determined using the current position and the predicted position to track the navigation route of the unmanned ship.

10. The control method of the unmanned ship system according to claim 9, characterized in that: After the step of tracking the navigation route of the unmanned ship, the method further comprises: Obtaining detection results of wind sensors and water quality detection equipment, and determining external disturbance information and obstacle information based on the detection results; Control compensation is performed for the real-time navigation status and the external disturbance information, and when the obstacle information is detected, a preset dynamic programming algorithm is used in combination with the obstacle information to perform route replanning processing to determine the optimal route for obstacle avoidance, so that the unmanned ship can safely navigate along the optimal route for obstacle avoidance.

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