Overwater unmanned intelligent water ecological restoration system

Abstract

The invention discloses an overwater unmanned intelligent water ecological restoration system, which comprises a hyperspectral intelligent water quality online monitoring device, a hyperspectral data processing platform, a hyperspectral data processing platform and a hyperspectral data processing platform, meanwhile, standard-exceeding data fed back by the hyperspectral data processing platform is received and used for carrying out standard-exceeding positioning on a sampling site, and all standard-exceeding positioning information is fed back to the overwater unmanned intelligent equipment terminal control platform so as to generate a repair route; the overwater unmanned intelligent mobile repairing device is used for receiving the repairing route sent by the overwater unmanned intelligent equipment terminal control platform and automatically repairing the standard exceeding point location of the target water area according to the repairing route; wherein the repair mode comprises membrane aeration bio-membrane reactor system repair and micro-nano aeration repair; according to the invention, an unmanned full-intelligent precise restoration network system for a water area environment can be realized, and the purposes of energy conservation, consumption reduction, cost reduction and efficiency improvement are achieved during water ecological restoration.

Description

Technical Field

[0001] The present invention belongs to the technical field of environmental restoration, and specifically relates to an unmanned intelligent water ecological restoration system on water. Background Art

[0002] Water pollution usually includes two types: eutrophication and black and smelly water.

[0003] Eutrophication of water bodies is mainly caused by point source pollution and non-point source pollution of heavy nitrogen and phosphorus. Point source pollution is mainly caused by a considerable amount of untreated sewage being directly discharged into rivers or lakes and other water bodies; non-point source pollution is mainly caused by the fact that nitrogen fertilizers and phosphorus fertilizers used for agricultural fertilization cannot be fully utilized by plants, and enter the receiving water body with surface runoff during precipitation, causing the nitrogen and phosphorus concentrations in the water body to increase, leading to eutrophication of the water body; the formation of black and smelly water bodies is mainly due to the fact that the water environment suffers from organic pollution that exceeds its self-purification capacity, causing water hypoxia and the generation of odorous substances.

[0004] In view of the above situation, the existing water ecological environment restoration and management usually adopts manual sampling and analysis and uses water body restoration equipment to assist in the restoration and management of the target water area. The manpower and material resources used in the restoration process are huge, and the operation and maintenance costs are extremely high. In addition, it is of utmost importance to promote energy conservation, emission reduction and efficient use of resources in the field of water environment management by combining technological innovation and management innovation. Summary of the invention

[0005] In view of this, the purpose of the present invention is to provide an unmanned intelligent water ecological restoration system on water to solve the above-mentioned technical problems.

[0006] In order to achieve the above object, the present invention provides the following technical solutions:

[0007] An unmanned intelligent water ecological restoration system on water, comprising:

[0008] Hyperspectral intelligent online water quality monitoring equipment is used to sample water quality in the target waters according to the planned route and upload it to the hyperspectral data processing platform. It also receives the excessive data fed back by the hyperspectral data processing platform to locate the excessive sampling locations, and feeds back all excessive location information to the terminal control platform of the unmanned intelligent equipment on the water to generate a repair route.

[0009] The unmanned intelligent mobile repair device on water is used to receive the repair route sent by the unmanned intelligent equipment terminal control platform on water, and automatically repair the exceeding points in the target water area according to the repair route; among them, the repair methods include membrane aeration biofilm reactor system repair and micro-nano aeration repair.

[0010] Furthermore, an unmanned intelligent water ecological restoration system on water also includes: an unmanned intelligent charging dock, which is used to automatically charge the unmanned intelligent mobile restoration device on water and the hyperspectral intelligent water quality online monitoring equipment.

[0011] Furthermore, the hyperspectral intelligent water quality online monitoring equipment is also used to send power warning information and positioning information to the terminal control platform of the unmanned intelligent equipment on the water when the power is lower than the preset power;

[0012] The unmanned intelligent mobile repair device on water is also used to send power warning information and positioning information to the unmanned intelligent equipment terminal control platform on water when the power is lower than the preset power;

[0013] The terminal control platform for unmanned intelligent equipment on water is also used to generate a return route according to the positioning of the unmanned intelligent mobile repair device on water or the hyperspectral intelligent water quality online monitoring device and the unmanned intelligent charging dock when the power of the unmanned intelligent mobile repair device on water or the hyperspectral intelligent water quality online monitoring device is lower than the preset power, so as to control the unmanned intelligent mobile repair device on water or the hyperspectral intelligent water quality online monitoring device to go to the unmanned intelligent charging dock for automatic charging;

[0014] Hyperspectral intelligent water quality online monitoring equipment is also used to automatically cut off the power and pop up the unmanned intelligent charging dock after charging is completed;

[0015] The unmanned intelligent mobile repair device on water is also used to automatically cut off the power and pop out of the unmanned intelligent charging dock after charging is completed;

[0016] The terminal control platform for unmanned intelligent equipment on water is also used to regenerate a second return route according to the positioning of the starting point of the return route after the unmanned intelligent mobile repair device on water or the hyperspectral intelligent water quality online monitoring equipment automatically powers off and pops out, so as to control the unmanned intelligent mobile repair device on water or the hyperspectral intelligent water quality online monitoring equipment to go to the previous memory point and continue working according to the second return route.

[0017] Furthermore, an unmanned intelligent water ecological restoration system on water also includes:

[0018] The hyperspectral intelligent water quality online monitoring equipment is also used to automatically cut off the power and pop out of the unmanned intelligent charging dock after charging is completed, and automatically return to the last memory point to continue working according to the preset working time;

[0019] The unmanned intelligent mobile repair device on water is also used to automatically cut off power and pop out of the unmanned intelligent charging dock after charging is completed, and then automatically return to the last memory point to continue working according to the preset working time.

[0020] Furthermore, the hyperspectral intelligent water quality online monitoring equipment samples the water quality of the target water area, including: obtaining the characteristic spectral information of the water body reflection and absorption of the target water area, analyzing and processing the characteristic spectral information to obtain water quality parameters; wherein, the water quality parameters include the monitoring information of pH, chlorophyll, total phosphorus, chemical oxygen demand, ammonia nitrogen, dissolved oxygen, turbidity, total nitrogen, suspended solids, TOC, cyanobacteria and green algae.

[0021] Furthermore, the hyperspectral data processing platform comprises a method for judging the data exceeding the standard by setting the standard value of each water quality parameter to calculate whether the collected water quality parameter exceeds the standard, and judging the water quality parameter exceeding the standard as the data exceeding the standard.

[0022] Furthermore, the method for the terminal control platform of the unmanned intelligent equipment on water to generate a repair route includes: connecting all the exceeding positioning information and drawing a route for the unmanned intelligent mobile repair device on water as the repair route.

[0023] Furthermore, an unmanned intelligent water ecological restoration system on water also includes:

[0024] The membrane aeration biofilm reactor system repair is to carry out membrane aeration biofilm repair on the excessive points with a deep-water reoxygenation biofilm device, and couple it with automatic drug delivery; the water-based unmanned intelligent mobile repair device includes a water platform equipped with a small air compressor and a winch to provide power for the deep-water reoxygenation biofilm device;

[0025] Micro-nano aeration repair is to carry out automatic aeration repair of exceeding standard points with a micro-nano aeration device; among them, the water platform included in the unmanned intelligent mobile repair device is equipped with a gas-liquid mixing pump and a gas-liquid mixing tank to provide a source of micro-nano gas-dissolved water for the linear micro-nano aeration device.

[0026] Furthermore, an unmanned intelligent water ecological restoration system on water also includes:

[0027] A self-organizing network communication module is provided on the hyperspectral intelligent online water quality monitoring equipment, the unmanned intelligent mobile repair device on the water, and the communication transfer module, and is used to construct a self-organizing network of the hyperspectral intelligent online water quality monitoring equipment, the unmanned intelligent mobile repair device on the water, and the communication transfer module;

[0028] The communication transfer module is respectively connected to the hyperspectral data processing platform and the terminal control platform of the unmanned intelligent equipment on water;

[0029] Among them, the hyperspectral intelligent online water quality monitoring equipment and the unmanned intelligent mobile repair device on the water transmit their own relevant information to the communication transfer module through the self-organizing network, and the communication transfer module transmits the relevant information to the hyperspectral data processing platform and the unmanned intelligent equipment terminal control platform on the water through the communication connection;

[0030] Relevant information includes equipment number, work progress, current position, data transmission time, execution route and travel speed;

[0031] The work progress of the hyperspectral intelligent water quality online monitoring equipment includes water quality sampling;

[0032] The work progress of the unmanned intelligent mobile repair device on water includes the repair progress;

[0033] The terminal control platform of unmanned intelligent equipment on the water receives relevant information and the excessive positioning information sent by the hyperspectral data processing platform. Based on the principle of non-zero-sum game and with the goal of minimizing driving cost, it conducts real-time path planning and adjustment for all hyperspectral intelligent online water quality monitoring equipment and unmanned intelligent mobile repair devices on the water.

[0034] Furthermore, an unmanned intelligent water ecological restoration system on water also includes:

[0035] Automatic traction module, installed on the hyperspectral intelligent water quality online monitoring equipment and the unmanned intelligent mobile repair device on water;

[0036] The hyperspectral intelligent water quality online monitoring device is also used to stop working and wait for traction when the self-organizing network communication module inside it cannot receive or send self-organizing network signals;

[0037] The unmanned intelligent mobile repair device on water is also used to stop working and wait for towing when the self-organizing network communication module inside it cannot receive or send self-organizing network signals;

[0038] The relevant information also includes power warning information;

[0039] Among them, when the communication relay module finds that the self-organizing network signal of any hyperspectral intelligent water quality online monitoring device or unmanned intelligent mobile repair device on water is lost, or finds that the relevant information transmitted by any hyperspectral intelligent water quality online monitoring device or unmanned intelligent mobile repair device on water has inconsistent behavior, it is determined that the current device has a fault;

[0040] If it is determined that any device has a fault, and the cause of the fault is the loss of the self-organizing network signal of the hyperspectral intelligent online water quality monitoring device or the unmanned intelligent mobile repair device on water, its positioning information is determined according to the relevant information received before the self-organizing network signal is lost, as the second exceeding standard positioning information;

[0041] If it is determined that any device has a fault, and the cause of the fault is that the relevant information transmitted by the hyperspectral intelligent online water quality monitoring device or the unmanned intelligent mobile repair device on the water is inconsistent, the terminal control platform of the unmanned intelligent device on the water sends a stop working signal, which is transmitted to the corresponding hyperspectral intelligent online water quality monitoring device or the unmanned intelligent mobile repair device on the water through the communication relay module, and the relevant information returned when it stops working is obtained, and its positioning information is determined as the second exceeding standard positioning information;

[0042] The terminal control platform of the unmanned intelligent equipment on the water receives the relevant information and uses the relevant information including the power warning information as the target information. Based on the target information, the positioning information of the unmanned intelligent charging dock and the second exceeding-standard positioning information, the platform aims to tow the faulty equipment at the minimum cost. Based on the principle of non-zero-sum game, the platform performs real-time path planning and adjustment for the hyperspectral intelligent online water quality monitoring equipment and the unmanned intelligent mobile repair device on the water related to the target information.

[0043] A hyperspectral intelligent online water quality monitoring device or an unmanned intelligent mobile repair device on water corresponding to the planned path that satisfies the minimum cost for towing the faulty equipment is obtained as the towing equipment. When the towing equipment drives to the specified position of the faulty equipment, the towing equipment and the faulty equipment are towed and linked according to the automatic towing modules built into the towing equipment and the faulty equipment until the towing is released within the preset area of ​​the unmanned intelligent charging dock.

[0044] The beneficial effects of the present invention are:

[0045] The present invention proposes an unmanned intelligent water ecological restoration system on water. Compared with the prior art method of using manual assistance combined with machine execution to determine the degree of pollution of the target water area and repair the target water area, the present application realizes an unmanned, fully intelligent and precise restoration network system for the water environment through the above-mentioned technical scheme, which can realize unmanned automatic restoration work in multiple water areas, greatly save manpower and material resources, reduce operation and maintenance costs, and achieve the purpose of energy saving, consumption reduction, cost reduction and efficiency improvement.

[0046] Other advantages, objectives and features of the present invention will be described in the following description and will be apparent to those skilled in the art to some extent, or they may be taught from the practice of the present invention. The purposes and other advantages of the present invention may be realized and obtained by the structures particularly pointed out in the written description and the accompanying drawings.

[0047] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0049] Figure 1 This is a module schematic diagram of an unmanned intelligent water ecological restoration system on water in an embodiment of the present invention;

[0050] Figure 2 This is a schematic diagram of the connection of self-organizing network devices in an unmanned intelligent water ecological restoration system on water in an embodiment of the present invention. DETAILED DESCRIPTION

[0051] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0052] like Figure 1 As shown, the present invention provides an unmanned intelligent water ecological restoration system on water, comprising:

[0053] Hyperspectral intelligent online water quality monitoring equipment is used to sample water quality in the target waters according to the planned route and upload it to the hyperspectral data processing platform. It also receives the excessive data fed back by the hyperspectral data processing platform to locate the excessive sampling locations, and feeds back all excessive location information to the terminal control platform of the unmanned intelligent equipment on the water to generate a repair route.

[0054] The unmanned intelligent mobile repair device on water is used to receive the repair route sent by the unmanned intelligent equipment terminal control platform on water, and automatically repair the excessive points in the target water area according to the repair route; the repair methods include membrane aeration biofilm reactor system repair and micro-nano aeration repair;

[0055] The working principle of the above technical solution is as follows: the present invention proposes an unmanned intelligent water ecological restoration system on water, including a hyperspectral intelligent online water quality monitoring device, a hyperspectral data processing platform, an unmanned intelligent device terminal control platform on water and an unmanned intelligent mobile restoration device on water. Among them, the hyperspectral intelligent online water quality monitoring device preferably has a device size of 80*80*50cm, and is independently equipped with a small unmanned intelligent mobile system, which can realize route planning and automatic return when the battery is low. At the same time, the hyperspectral intelligent online water quality monitoring device can realize route planning and automatic return when the battery is low. In actual operation, the hyperspectral intelligent online water quality monitoring device first samples water quality at multiple points in the target water area according to the planned route, and uploads the sampling results to the hyperspectral data processing platform. The hyperspectral data processing platform performs routine sampling on the sampling results according to the standard values ​​of the water quality parameters. After calculation and analysis, the sampling results with exceeding standard data are fed back to the hyperspectral intelligent online water quality monitoring equipment. The hyperspectral intelligent online water quality monitoring equipment locates the sampling points according to the exceeding standard sampling results, and during the monitoring process, all the exceeding standard positioning information is fed back to the terminal control platform of the unmanned intelligent equipment on the water, so that the terminal control platform of the unmanned intelligent equipment on the water can generate a repair route according to the exceeding standard positioning information and send it to the unmanned intelligent mobile repair device on the water. The repair method is preferably to draw lines connecting the exceeding water quality points; then, when the unmanned intelligent mobile repair device on the water receives the repair route, it automatically repairs the exceeding points in the target water area according to the repair route, and the exceeding points are the positions corresponding to the exceeding standard positioning information; wherein, the repair methods adopted by the automatic repair include but are not limited to membrane aeration biofilm reactor system repair and micro-nano aeration repair;

[0056] The beneficial effect of the above technical scheme is: compared with the method of using manual assistance combined with machine execution in the prior art to determine the degree of pollution of the target water area and repair the target water area, the present application realizes an unmanned fully intelligent and precise repair network system for the water environment through the above technical scheme, which can realize unmanned automatic repair work in multiple water areas, greatly save manpower and material resources, reduce operation and maintenance costs, and achieve the purpose of energy saving and consumption reduction as well as cost reduction and efficiency improvement.

[0057] In one embodiment, an unmanned intelligent water ecological restoration system on water further includes:

[0058] Unmanned intelligent charging dock, used to automatically charge unmanned intelligent mobile repair devices on water and hyperspectral intelligent water quality online monitoring equipment;

[0059] The unmanned intelligent charging dock preferably has two wireless charging ports, one large and one small, which are specially used for charging unmanned intelligent mobile repair devices on water and hyperspectral intelligent water quality online monitoring equipment;

[0060] It is worth noting that as the pollution level of the target waters increases, in order to improve the efficiency of pollution remediation, a large number of unmanned intelligent mobile repair devices can be deployed on the water to repair multiple points of the target waters at the same time. At this time, the number of wireless charging ports of the unmanned intelligent charging dock can be increased accordingly according to actual needs;

[0061] The beneficial effects of the above technical solution are: through the above technical solution, an unmanned intelligent charging dock is set up in the target waters to further improve the reliability of the unmanned fully intelligent precision repair network system in the water environment. Through the unmanned intelligent charging dock, the corresponding monitoring and repair equipment in the target waters can continue to work in an unmanned environment, which is beneficial to improving the repair efficiency.

[0062] In one embodiment, the hyperspectral intelligent water quality online monitoring device is also used to send power warning information and positioning information to the water unmanned intelligent device terminal control platform when the power is lower than the preset power;

[0063] The unmanned intelligent mobile repair device on water is also used to send power warning information and positioning information to the unmanned intelligent equipment terminal control platform on water when the power is lower than the preset power;

[0064] The terminal control platform for unmanned intelligent equipment on water is also used to generate a return route according to the positioning of the unmanned intelligent mobile repair device on water or the hyperspectral intelligent water quality online monitoring device and the unmanned intelligent charging dock when the power of the unmanned intelligent mobile repair device on water or the hyperspectral intelligent water quality online monitoring device is lower than the preset power, so as to control the unmanned intelligent mobile repair device on water or the hyperspectral intelligent water quality online monitoring device to go to the unmanned intelligent charging dock for automatic charging;

[0065] Hyperspectral intelligent water quality online monitoring equipment is also used to automatically cut off the power and pop up the unmanned intelligent charging dock after charging is completed;

[0066] The unmanned intelligent mobile repair device on water is also used to automatically cut off the power and pop out of the unmanned intelligent charging dock after charging is completed;

[0067] The terminal control platform for unmanned intelligent equipment on water is also used to regenerate a second return route according to the location of the starting point of the return route after the unmanned intelligent mobile repair device on water or the hyperspectral intelligent water quality online monitoring device is automatically powered off and ejected, so as to control the unmanned intelligent mobile repair device on water or the hyperspectral intelligent water quality online monitoring device to continue working at the last memory point according to the second return route;

[0068] The working principle of the above technical solution is as follows: the hyperspectral intelligent online water quality monitoring equipment and the unmanned intelligent mobile repair device on the water both have the function of automatic return at low power. When the power of the two is lower than the preset value (the preset value is preferably selected to be greater than the power required for the straight-line distance between the current positioning and the positioning of the unmanned intelligent charging dock), the power warning information and its current positioning information are sent to the terminal control platform of the unmanned intelligent device on the water. Then the control platform calculates the return route of the two by sorting out the routes of other water equipment working on the water. The return route may include the specific return route and the possible stagnation time during the return process (for example, when there is a conflict with other routes being executed). According to the return route generated by the aforementioned control platform, the hyperspectral intelligent online water quality monitoring equipment and the unmanned intelligent mobile repair device on the water return to the unmanned intelligent charging dock for charging. It is worth noting that in the hyperspectral intelligent water quality After the online monitoring equipment and the unmanned intelligent mobile repair device on the water are charged, there is no need to manually cut off the power. Instead, they automatically cut off the power after charging is completed and pop up the unmanned intelligent charging dock, and feedback the charging completion information to the unmanned intelligent device terminal control platform on the water. The unmanned intelligent device terminal control platform on the water then plans a second return route for it based on its previous mission route, positioning information before charging, and positioning information of the unmanned intelligent charging dock. It is worth noting that the second return route planning also includes the possible stagnation time during the return process, mainly based on the equipment that is performing the task. Of course, since the hyperspectral intelligent water quality online monitoring equipment and the unmanned intelligent mobile repair device on the water are fully charged after charging, the planning of the second return route can be based on the principle of the fastest time combined with the principle of not disturbing the established route of the equipment that is performing the task, and jointly determine the second return route, so that it can quickly return to the previous memory point to continue working, thereby improving the repair efficiency;

[0069] The beneficial effects of the above technical solution are: through the above technical solution, it is beneficial to improve the unmanned fully intelligent and precise restoration network system of the water environment, realize the comprehensive automated restoration of the target water area, improve the stability and reliability of the restoration process, eliminate the need for manual charging, reduce dependence on manual restoration, save labor costs and improve water ecological restoration efficiency.

[0070] In one embodiment, an unmanned intelligent water ecological restoration system on water further includes:

[0071] The hyperspectral intelligent water quality online monitoring equipment is also used to automatically cut off the power and pop out of the unmanned intelligent charging dock after charging is completed, and automatically return to the last memory point to continue working according to the preset working time;

[0072] The unmanned intelligent mobile repair device on water is also used to automatically cut off the power and pop out of the unmanned intelligent charging dock after charging is completed, and automatically return to the last memory point to continue working according to the preset working time;

[0073] The working principle of the above technical solution is: when the target water area has a small demand for hyperspectral intelligent online water quality monitoring equipment and unmanned intelligent mobile repair device on the water, that is, it only includes one hyperspectral intelligent online water quality monitoring equipment and unmanned intelligent mobile repair device on the water, there is no need to consider the route that will affect other water equipment on the return journey. At this time, the hyperspectral intelligent online water quality monitoring equipment and the unmanned intelligent mobile repair device on the water only need to automatically cut off the power and pop up the unmanned intelligent charging dock after charging is completed, and then automatically return to the previous memory point according to the preset working time to continue working. The preset working time refers to the working time set by the user to prevent accidents such as collisions caused by other people sailing, fishing, etc. in the target water area. It is worth noting that the hyperspectral intelligent online water quality monitoring equipment and the unmanned intelligent mobile repair device on the water are both equipped with obstacle avoidance modules, which can perform stagnation waiting or simple obstacle avoidance operations when encountering obstacles;

[0074] The beneficial effects of the above technical solution are: through the above technical solution, the flexibility of the system is met in realizing an unmanned fully intelligent precision repair network system in the water environment, and a reasonable number of water intelligent devices can be arranged according to actual needs. When there are too few water intelligent devices, the water intelligent devices can complete the return to the last memory point through their own route planning capabilities and automatic cruising capabilities, thereby reducing the frequency of use of the terminal control platform of the water unmanned intelligent device and achieving the purpose of reducing costs and increasing efficiency.

[0075] In one embodiment, the hyperspectral intelligent water quality online monitoring device samples water quality in the target water area, including: obtaining characteristic spectral information of water body reflection and absorption in the target water area, and analyzing and processing the characteristic spectral information to obtain water quality parameters; wherein the water quality parameters include monitoring information of pH, chlorophyll, total phosphorus, chemical oxygen demand, ammonia nitrogen, dissolved oxygen, turbidity, total nitrogen, suspended solids, TOC, blue algae and green algae;

[0076] Among them, the method of analyzing and processing the characteristic spectrum information to obtain water quality parameters belongs to the routine operation of those skilled in the art, and will not be described in detail here;

[0077] The types of information included in the water quality parameters are preferably set according to the actual needs of the target waters, and do not necessarily include all 12 indicators such as pH, chlorophyll, total phosphorus, chemical oxygen demand, ammonia nitrogen, dissolved oxygen, turbidity, total nitrogen, suspended solids, TOC, blue algae and green algae, but also include other related indicators besides these 12 indicators;

[0078] The beneficial effects of the above technical solution are: through the above technical solution, the determination of water quality monitoring types is completed, which provides a theoretical basis for subsequent automated water ecological restoration, and is beneficial to improving the reliability of the unmanned fully intelligent and precise restoration network system for the aquatic environment.

[0079] In one embodiment, the hyperspectral data processing platform determines the excessive data by setting the standard value of each water quality parameter to calculate whether the collected water quality parameter exceeds the standard, and determining the excessive water quality parameter as excessive data;

[0080] The standard values ​​of each water quality parameter are determined based on the remediation standards received by the user;

[0081] The beneficial effects of the above technical solution are: through the above technical solution, the judgment criteria for exceeding the standard data are determined, and restoration standards are provided for subsequent water ecological restoration, which is beneficial to ensuring the integrity of the unmanned fully intelligent and precise restoration network system for the water environment.

[0082] In one embodiment, the method for generating a repair route by the terminal control platform of the unmanned intelligent device on water includes: drawing a route of the unmanned intelligent mobile repair device on water as the repair route by connecting all the exceeding standard positioning information;

[0083] When drawing the connection line, it is preferred to construct a cost function, and take the route with the minimum cost as the repair route;

[0084] The beneficial effect of the above technical solution is: through the above technical solution, the route planning of the unmanned intelligent mobile repair device on the water is completed, providing reliable line support for the subsequent unmanned intelligent mobile repair device on the water to repair the target water area.

[0085] In one embodiment, an unmanned intelligent water ecological restoration system on water further includes:

[0086] The membrane aeration biofilm reactor system repair is to carry out membrane aeration biofilm repair on the excessive points with a deep-water reoxygenation biofilm device, and couple it with automatic drug delivery; the water-based unmanned intelligent mobile repair device includes a water platform equipped with a small air compressor and a winch to provide power for the deep-water reoxygenation biofilm device;

[0087] Micro-nano aeration repair is to carry out automatic aeration repair of excessive points with a micro-nano aeration device; the water-based unmanned intelligent mobile repair device includes a water platform equipped with a gas-liquid mixing pump and a gas-liquid mixing tank to provide a source of micro-nano gas-dissolved water for the linear micro-nano aeration device;

[0088] It is worth noting that when the unmanned intelligent water ecological restoration system proposed in this application is used to restore the water ecology of the target water area, the restoration methods include but are not limited to membrane aeration biofilm reactor system restoration and micro-nano aeration restoration;

[0089] The beneficial effects of the above technical solution are: through the above technical solution, two feasible restoration solutions are proposed, which is beneficial to ensuring the integrity of the unmanned fully intelligent and precise restoration network system for the aquatic environment.

[0090] In one embodiment, an unmanned intelligent water ecological restoration system on water further includes:

[0091] A self-organizing network communication module is provided on the hyperspectral intelligent online water quality monitoring equipment, the unmanned intelligent mobile repair device on the water, and the communication transfer module, and is used to construct a self-organizing network of the hyperspectral intelligent online water quality monitoring equipment, the unmanned intelligent mobile repair device on the water, and the communication transfer module;

[0092] The communication transfer module is respectively connected to the hyperspectral data processing platform and the terminal control platform of the unmanned intelligent equipment on water;

[0093] Among them, the hyperspectral intelligent online water quality monitoring equipment and the unmanned intelligent mobile repair device on the water transmit their own relevant information to the communication transfer module through the self-organizing network, and the communication transfer module transmits the relevant information to the hyperspectral data processing platform and the unmanned intelligent equipment terminal control platform on the water through the communication connection;

[0094] Relevant information includes equipment number, work progress, current position, data transmission time, execution route and travel speed;

[0095] The work progress of the hyperspectral intelligent water quality online monitoring equipment includes water quality sampling;

[0096] The work progress of the unmanned intelligent mobile repair device on water includes the repair progress;

[0097] The terminal control platform of unmanned intelligent equipment on water receives relevant information and the excessive positioning information sent by the hyperspectral data processing platform. Based on the principle of non-zero-sum game and with the goal of minimizing driving cost, it conducts real-time path planning and adjustment for all hyperspectral intelligent online water quality monitoring equipment and unmanned intelligent mobile repair devices on water.

[0098] The working principle and beneficial effects of the above technical solution are as follows: Under actual circumstances, the area of ​​the target waters that need to be restored for water ecology varies. For target waters with smaller areas, only a small amount of hyperspectral intelligent online water quality monitoring equipment and unmanned intelligent mobile repair devices on the water are needed to complete the restoration of the target waters. At this time, due to the small area of ​​the target waters, the water intelligent devices in this system require a shorter communication transmission distance, so the communication equipment corresponding to the hyperspectral data processing platform and the water unmanned intelligent device terminal control platform can be placed on the shore to facilitate communication and control of the water intelligent devices. At the same time, due to the small number of devices deployed, the complexity of route planning is relatively low, which has an impact on the rationality and optimality of route planning. The demand for small costs is reduced; however, when the target water area is large at this time, if the method of deploying a small amount of hyperspectral intelligent water quality online monitoring equipment and unmanned intelligent mobile repair devices on the water is still adopted, the repair efficiency will be reduced. Therefore, this system proposes a repair method, that is, according to the area of ​​the target water area and the maximum monitoring and repair efficiency of each hyperspectral intelligent water quality online monitoring equipment and unmanned intelligent mobile repair device on the water, an appropriate amount of hyperspectral intelligent water quality online monitoring equipment and unmanned intelligent mobile repair devices on the water are deployed to the target water area for water ecological restoration. At this time, due to the increase in the area of ​​the target water area, the performance of the original communication device on the hyperspectral intelligent water quality online monitoring equipment and the unmanned intelligent mobile repair device on the water is not improved. Under this premise, the communication equipment corresponding to the hyperspectral data processing platform and the terminal control platform of the unmanned intelligent equipment on water needs to be placed in the center of several intelligent equipment on water in order to reliably communicate and control all intelligent equipment on water. However, in the above method, the communication equipment corresponding to the hyperspectral data processing platform and the terminal control platform of the unmanned intelligent equipment on water needs to be placed in the center of several intelligent equipment on water, which will increase the difficulty of system installation and reduce the adaptability of the repair scene. That is, when facing target waters of different areas, the layout position needs to be replanned, and the communication equipment needs to be waterproofed, which increases the cost. If the hyperspectral intelligent water quality online monitoring equipment and the unmanned intelligent mobile water quality monitoring equipment are adopted, the communication equipment will be more convenient to install and control. If the performance of the original communication device on the repair device is not improved to overcome the problem of the increase in the target water area, the performance of the original communication device on the hyperspectral intelligent water quality online monitoring equipment and the unmanned intelligent mobile repair device on the water will not be perfectly displayed as the target water area changes, or there will be a waste of performance, and the adaptability of the repair scene is not high; at the same time, since a certain number of hyperspectral intelligent water quality online monitoring equipment and unmanned intelligent mobile repair devices on the water are deployed in the target water area, it is necessary to reasonably plan the route planning of each intelligent device on the water, and try to meet the minimum cost of all route planning, so as to further improve the reliability of the fully intelligent and precise repair network system with unmanned control in the target water area;

[0099] Therefore, in order to solve the above technical problems, the present invention proposes an unmanned intelligent water ecological restoration system on water, including an ad hoc network communication module, which is arranged on a hyperspectral intelligent online water quality monitoring device, an unmanned intelligent mobile restoration device on water, and a communication transfer module, and is used to construct an ad hoc network of the hyperspectral intelligent online water quality monitoring device, the unmanned intelligent mobile restoration device on water, and the communication transfer module;

[0100] By using the self-organizing network, the information of each unmanned intelligent device on the water can be jumped through the network and finally transmitted to the communication transfer module. Through this method, the size of the target water area and the performance of the communication device on the unmanned intelligent device on the water can be fixed. By using the characteristics of the self-organizing network, the information of each unmanned intelligent device on the water can be transmitted to the communication transfer module through other unmanned intelligent devices on the water. Figure 2 As shown;

[0101] The communication transfer module is respectively connected to the hyperspectral data processing platform and the terminal control platform of the unmanned intelligent equipment on water;

[0102] Then, through the communication transfer module on the shore, the network connection is used to connect to the background hyperspectral data processing platform and the terminal control platform of unmanned intelligent equipment on the water. Compared with the aforementioned existing technologies, it is beneficial to reduce the installation cost and maximize the scenario applicability of the system;

[0103] Among them, the hyperspectral intelligent online water quality monitoring equipment and the unmanned intelligent mobile repair device on the water transmit their own relevant information to the communication transfer module through the self-organizing network, and the communication transfer module transmits the relevant information to the hyperspectral data processing platform and the unmanned intelligent equipment terminal control platform on the water through the communication connection;

[0104] Relevant information includes but is not limited to equipment number, work progress, current location, data transmission time, execution route and travel speed; the data included in the relevant information is used for monitoring and restoration of water ecology, and the information may be added or reduced according to changes in restoration standards;

[0105] The working progress of the hyperspectral intelligent water quality online monitoring equipment includes water quality sampling, that is, the progress and results of water quality sampling;

[0106] The working progress of the unmanned intelligent mobile repair device on water includes the repair progress, i.e. the currently repaired excess points and the unrepaired excess points, as well as the excess points being repaired and the corresponding repair progress;

[0107] The terminal control platform of the unmanned intelligent equipment on the water receives the relevant information and the excessive positioning information sent by the hyperspectral data processing platform, and based on the principle of non-zero-sum game, with the purpose of minimizing the driving cost, performs real-time path planning and adjustment for all hyperspectral intelligent online water quality monitoring equipment and unmanned intelligent mobile repair devices on the water; it is worth noting that when the unmanned intelligent mobile repair device on the water completes the repair of any excessive positioning point, it feeds back the point repair information to the terminal control platform of the unmanned intelligent equipment on the water, so as to mark the corresponding excessive positioning information as repaired, and the excessive positioning information with the repaired mark is not used for subsequent real-time path planning and adjustment;

[0108] In order to solve the problem of preventing multiple devices from being concentrated and piled up, overlapping routes, and the problem of returning to the previous memory point after charging to work and finding that the previous working point has been repaired or monitored by other devices of the same type when a certain number of hyperspectral intelligent water quality online monitoring devices and unmanned intelligent mobile repair devices on the water are deployed in the target waters, this application uses the principle of non-zero-sum game to obtain relevant information of all water equipment, over-standard positioning information sent by the hyperspectral data processing platform, and executed route information, based on a pre-set cost function, with the purpose of minimizing the cost, to perform real-time path planning and adjustment for all hyperspectral intelligent water quality online monitoring devices and unmanned intelligent mobile repair devices on the water; wherein the pre-set cost function should include relevant cost parameters such as route travel time, repair urgency, and equipment number priority (the priority of the equipment number corresponding to the hyperspectral intelligent water quality online monitoring equipment is higher than the priority of the equipment number of the unmanned intelligent mobile repair device on the water).

[0109] In one embodiment, an unmanned intelligent water ecological restoration system on water further includes:

[0110] Automatic traction module, installed on the hyperspectral intelligent water quality online monitoring equipment and the unmanned intelligent mobile repair device on water;

[0111] The hyperspectral intelligent water quality online monitoring device is also used to stop working and wait for traction when the self-organizing network communication module inside it cannot receive or send self-organizing network signals;

[0112] The unmanned intelligent mobile repair device on water is also used to stop working and wait for towing when the self-organizing network communication module inside it cannot receive or send self-organizing network signals;

[0113] The relevant information also includes power warning information;

[0114] Among them, when the communication relay module finds that the self-organizing network signal of any hyperspectral intelligent water quality online monitoring device or unmanned intelligent mobile repair device on water is lost, or finds that the relevant information transmitted by any hyperspectral intelligent water quality online monitoring device or unmanned intelligent mobile repair device on water has inconsistent behavior, it is determined that the current device has a fault;

[0115] If it is determined that any device has a fault, and the cause of the fault is the loss of the self-organizing network signal of the hyperspectral intelligent online water quality monitoring device or the unmanned intelligent mobile repair device on water, its positioning information is determined according to the relevant information received before the self-organizing network signal is lost, as the second exceeding standard positioning information;

[0116] If it is determined that any device has a fault, and the cause of the fault is that the relevant information transmitted by the hyperspectral intelligent online water quality monitoring device or the unmanned intelligent mobile repair device on the water is inconsistent, the terminal control platform of the unmanned intelligent device on the water sends a stop working signal, which is transmitted to the corresponding hyperspectral intelligent online water quality monitoring device or the unmanned intelligent mobile repair device on the water through the communication relay module, and the relevant information returned when it stops working is obtained, and its positioning information is determined as the second exceeding standard positioning information;

[0117] The terminal control platform of the unmanned intelligent equipment on the water receives the relevant information and uses the relevant information including the power warning information as the target information. Based on the target information, the positioning information of the unmanned intelligent charging dock and the second exceeding-standard positioning information, the platform aims to tow the faulty equipment at the minimum cost. Based on the principle of non-zero-sum game, the platform performs real-time path planning and adjustment for the hyperspectral intelligent online water quality monitoring equipment and the unmanned intelligent mobile repair device on the water related to the target information.

[0118] Obtain a hyperspectral intelligent online water quality monitoring device or an unmanned intelligent mobile repair device on water corresponding to the planned path that satisfies the minimum cost for towing the faulty device, and use it as a towing device. When the towing device drives to the designated location of the faulty device, the towing device and the faulty device are towed and linked according to the automatic towing modules built into the towing device and the faulty device until the towing is released in the preset area of ​​the unmanned intelligent charging dock.

[0119] The working principle and beneficial effect of the above technical solution are as follows: when the system is actually used to perform unmanned repair of water ecology, when the repair equipment fails, it is necessary to manually dispatch recovery equipment to recover the failed equipment, and it is impossible to realize a truly unmanned fully intelligent and precise repair network system for the target water area environment. In this regard, the present application also proposes a self-recovery method, which does not require human intervention to arrange recovery equipment, and at the same time, it will not cause too much impact on the ongoing water ecological restoration while performing self-recovery. It is used to solve the problem that when the repair equipment fails, it is necessary to manually dispatch recovery equipment to recover the failed equipment, and it is impossible to realize a truly unmanned fully intelligent and precise repair network system for the target water area environment. It is beneficial to improve the reliability of the unmanned fully intelligent and precise repair network system for the target water area environment. Specifically, the present application proposes the following technical solutions:

[0120] By setting the automatic traction module on the hyperspectral intelligent water quality online monitoring equipment and the unmanned intelligent mobile repair device on the water, it is convenient for the mutual recovery between the unmanned intelligent devices on the water in the self-recovery mode. The specific device of the automatic traction module is not limited, as long as the automatic traction and towing function can be realized;

[0121] The hyperspectral intelligent online water quality monitoring equipment and the unmanned intelligent mobile repair device on water are both used to stop working and wait for towing when the self-organizing network communication module inside them cannot receive or send self-organizing network signals; at the same time, the relevant information also includes power warning information; the specific execution process is as follows:

[0122] When the communication transfer module finds that the self-organizing network signal of any hyperspectral intelligent water quality online monitoring device or the unmanned intelligent mobile repair device on the water is lost, or finds that the relevant information transmitted by any hyperspectral intelligent water quality online monitoring device or the unmanned intelligent mobile repair device on the water is inconsistent in behavior, it is determined that the current device is faulty; wherein, the judgment standard for the loss of the self-organizing network signal is that the communication transfer module has not received the relevant information of a certain device within a preset time, and the judgment standard for inconsistent behavior is that the data in the relevant information does not match. For example, the work progress in the relevant information transmitted by any device is that repair work is in progress, but the travel speed included in the corresponding relevant information does not match the work progress, then it is determined that its behavior is inconsistent;

[0123] If it is determined that any device has a fault, and the cause of the fault is the loss of the self-organizing network signal of the hyperspectral intelligent online water quality monitoring device or the unmanned intelligent mobile repair device on water, its positioning information is determined according to the relevant information received before the self-organizing network signal is lost, as the second exceeding standard positioning information;

[0124] If it is determined that any device has a fault, and the cause of the fault is that the relevant information transmitted by the hyperspectral intelligent online water quality monitoring device or the unmanned intelligent mobile repair device on the water is inconsistent, the terminal control platform of the unmanned intelligent device on the water sends a stop working signal, which is transmitted to the corresponding hyperspectral intelligent online water quality monitoring device or the unmanned intelligent mobile repair device on the water through the communication relay module, and the relevant information returned when it stops working is obtained, and its positioning information is determined as the second exceeding standard positioning information;

[0125] The terminal control platform for unmanned intelligent devices on water receives relevant information and uses relevant information including power warning information as target information. The power warning information indicates that the corresponding unmanned intelligent device on water sends a charging request to the terminal control platform for unmanned intelligent devices on water, so as to obtain the charging instruction and the corresponding return route issued by the terminal control platform for unmanned intelligent devices on water;

[0126] Then, according to the target information, the positioning information of the unmanned intelligent charging dock and the second excessive positioning information, with the purpose of towing the faulty equipment at the minimum cost, based on the non-zero-sum game principle, the hyperspectral intelligent water quality online monitoring equipment and the unmanned intelligent mobile repair device on the water related to the target information are real-time path planning and adjustment; that is, firstly, a towing cost function is set based on the purpose of towing the faulty equipment at the minimum cost, and it is determined which device among the hyperspectral intelligent water quality online monitoring equipment and the unmanned intelligent mobile repair device on the water corresponding to all the target information has the lowest driving cost of towing the faulty equipment when returning, and then the target return route obtained for the purpose of towing the faulty equipment at the minimum cost is a fixed route, based on the non-zero-sum game principle, according to the preset cost function and the minimum cost purpose, the hyperspectral intelligent water quality online monitoring equipment and the unmanned intelligent mobile repair device on the water corresponding to all the remaining target information are re-planned for the minimum cost return route, wherein the preset cost function should include relevant cost parameters such as route travel time, repair urgency and equipment number priority (the priority of the equipment number corresponding to the hyperspectral intelligent water quality online monitoring equipment is higher than the priority of the equipment number of the unmanned intelligent mobile repair device on the water);

[0127] A hyperspectral intelligent online water quality monitoring device or an unmanned intelligent mobile repair device on water corresponding to a planned path that satisfies the minimum cost for towing the faulty equipment is obtained as a towing device. When the towing device drives to the specified position of the faulty equipment, the towing device and the faulty equipment are towed and linked according to the automatic towing modules built into the towing device and the faulty equipment until the towing is released within the preset area of ​​the unmanned intelligent charging dock. The preset area of ​​the unmanned intelligent charging dock is planned in advance by the user, and the planning principle is not to affect the operation of other unmanned intelligent equipment on the water.

[0128] Finally, it should be noted that the above preferred embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail through the above preferred embodiments, those skilled in the art should understand that various changes can be made in form and details without departing from the scope defined by the claims of the present invention.

Claims

1. An unmanned intelligent water ecological restoration system on water, characterized in that: include: Hyperspectral intelligent online water quality monitoring equipment is used to sample water quality in the target waters according to the planned route and upload it to the hyperspectral data processing platform. It also receives the excessive data fed back by the hyperspectral data processing platform to locate the excessive sampling locations, and feeds back all excessive location information to the terminal control platform of the unmanned intelligent equipment on the water to generate a repair route. The unmanned intelligent mobile repair device on water is used to receive the repair route sent by the unmanned intelligent equipment terminal control platform on water, and automatically repair the exceeding points in the target water area according to the repair route; among them, the repair methods include membrane aeration biofilm reactor system repair and micro-nano aeration repair.

2. The unmanned intelligent water ecological restoration system on water according to claim 1 is characterized in that: Also includes: Unmanned intelligent charging dock, used for automatic charging of unmanned intelligent mobile repair devices on water and hyperspectral intelligent water quality online monitoring equipment.

3. The unmanned intelligent water ecological restoration system on water according to claim 2 is characterized in that: The hyperspectral intelligent water quality online monitoring equipment is also used to send power warning information and positioning information to the terminal control platform of the unmanned intelligent equipment on the water when the power is lower than the preset power; The unmanned intelligent mobile repair device on water is also used to send power warning information and positioning information to the unmanned intelligent equipment terminal control platform on water when the power is lower than the preset power; The terminal control platform for unmanned intelligent equipment on water is also used to generate a return route according to the positioning of the unmanned intelligent mobile repair device on water or the hyperspectral intelligent water quality online monitoring device and the unmanned intelligent charging dock when the power of the unmanned intelligent mobile repair device on water or the hyperspectral intelligent water quality online monitoring device is lower than the preset power, so as to control the unmanned intelligent mobile repair device on water or the hyperspectral intelligent water quality online monitoring device to go to the unmanned intelligent charging dock for automatic charging; Hyperspectral intelligent water quality online monitoring equipment is also used to automatically cut off the power and pop up the unmanned intelligent charging dock after charging is completed; The unmanned intelligent mobile repair device on water is also used to automatically cut off the power and pop out of the unmanned intelligent charging dock after charging is completed; The terminal control platform for unmanned intelligent equipment on water is also used to regenerate a second return route according to the positioning of the starting point of the return route after the unmanned intelligent mobile repair device on water or the hyperspectral intelligent water quality online monitoring equipment automatically powers off and pops out, so as to control the unmanned intelligent mobile repair device on water or the hyperspectral intelligent water quality online monitoring equipment to go to the previous memory point and continue working according to the second return route.

4. The unmanned intelligent water ecological restoration system on water according to claim 3 is characterized in that: Also includes: The hyperspectral intelligent water quality online monitoring equipment is also used to automatically cut off the power and pop out of the unmanned intelligent charging dock after charging is completed, and automatically return to the last memory point to continue working according to the preset working time; The unmanned intelligent mobile repair device on water is also used to automatically cut off power and pop out of the unmanned intelligent charging dock after charging is completed, and then automatically return to the last memory point to continue working according to the preset working time.

5. The unmanned intelligent water ecological restoration system on water according to claim 1 is characterized in that: The hyperspectral intelligent online water quality monitoring equipment samples the water quality of the target water area, including: obtaining the characteristic spectral information of the water body reflection and absorption of the target water area, analyzing and processing the characteristic spectral information to obtain water quality parameters; among which, the water quality parameters include monitoring information of pH, chlorophyll, total phosphorus, chemical oxygen demand, ammonia nitrogen, dissolved oxygen, turbidity, total nitrogen, suspended solids, TOC, blue algae and green algae.

6. The unmanned intelligent water ecological restoration system on water according to claim 1 is characterized in that: The hyperspectral data processing platform's method for judging excessive data includes: setting the standard value of each water quality parameter to calculate whether the collected water quality parameters exceed the standard, and judging the excessive water quality parameters as excessive data.

7. The unmanned intelligent water ecological restoration system on water according to claim 1 is characterized in that: The method for generating a repair route by a terminal control platform of an unmanned intelligent device on water includes: connecting all the exceeding positioning information and drawing a route for the unmanned intelligent mobile repair device on water as the repair route.

8. The unmanned intelligent water ecological restoration system on water according to claim 1 is characterized in that: Also includes: The membrane aeration biofilm reactor system repair is to carry out membrane aeration biofilm repair on the excessive points with a deep-water reoxygenation biofilm device, and couple it with automatic drug delivery; the water-based unmanned intelligent mobile repair device includes a water platform equipped with a small air compressor and a winch to provide power for the deep-water reoxygenation biofilm device; Micro-nano aeration repair is to carry out automatic aeration repair of exceeding standard points with a micro-nano aeration device; among them, the water platform included in the unmanned intelligent mobile repair device is equipped with a gas-liquid mixing pump and a gas-liquid mixing tank to provide a source of micro-nano gas-dissolved water for the linear micro-nano aeration device.

9. The unmanned intelligent water ecological restoration system on water according to claim 1 is characterized in that: Also includes: A self-organizing network communication module is provided on the hyperspectral intelligent online water quality monitoring equipment, the unmanned intelligent mobile repair device on the water, and the communication transfer module, and is used to construct a self-organizing network of the hyperspectral intelligent online water quality monitoring equipment, the unmanned intelligent mobile repair device on the water, and the communication transfer module; The communication transfer module is respectively connected to the hyperspectral data processing platform and the terminal control platform of the unmanned intelligent equipment on water; Among them, the hyperspectral intelligent online water quality monitoring equipment and the unmanned intelligent mobile repair device on the water transmit their own relevant information to the communication transfer module through the self-organizing network, and the communication transfer module transmits the relevant information to the hyperspectral data processing platform and the unmanned intelligent equipment terminal control platform on the water through the communication connection; Relevant information includes equipment number, work progress, current position, data transmission time, execution route and travel speed; The work progress of the hyperspectral intelligent water quality online monitoring equipment includes water quality sampling; The work progress of the unmanned intelligent mobile repair device on water includes the repair progress; The terminal control platform of unmanned intelligent equipment on the water receives relevant information and the excessive positioning information sent by the hyperspectral data processing platform. Based on the principle of non-zero-sum game and with the goal of minimizing driving cost, it conducts real-time path planning and adjustment for all hyperspectral intelligent online water quality monitoring equipment and unmanned intelligent mobile repair devices on the water.

10. The unmanned intelligent water ecological restoration system on water according to claim 9, characterized in that: Also includes: Automatic traction module, installed on the hyperspectral intelligent water quality online monitoring equipment and the unmanned intelligent mobile repair device on water; The hyperspectral intelligent water quality online monitoring device is also used to stop working and wait for traction when the self-organizing network communication module inside it cannot receive or send self-organizing network signals; The unmanned intelligent mobile repair device on water is also used to stop working and wait for towing when the self-organizing network communication module inside it cannot receive or send self-organizing network signals; The relevant information also includes power warning information; Among them, when the communication relay module finds that the self-organizing network signal of any hyperspectral intelligent water quality online monitoring device or unmanned intelligent mobile repair device on water is lost, or finds that the relevant information transmitted by any hyperspectral intelligent water quality online monitoring device or unmanned intelligent mobile repair device on water has inconsistent behavior, it is determined that the current device has a fault; If it is determined that any device has a fault, and the cause of the fault is the loss of the self-organizing network signal of the hyperspectral intelligent online water quality monitoring device or the unmanned intelligent mobile repair device on water, its positioning information is determined according to the relevant information received before the self-organizing network signal is lost, as the second exceeding standard positioning information; If it is determined that any device has a fault, and the cause of the fault is that the relevant information transmitted by the hyperspectral intelligent online water quality monitoring device or the unmanned intelligent mobile repair device on the water is inconsistent, the terminal control platform of the unmanned intelligent device on the water sends a stop working signal, which is transmitted to the corresponding hyperspectral intelligent online water quality monitoring device or the unmanned intelligent mobile repair device on the water through the communication relay module, and the relevant information returned when it stops working is obtained, and its positioning information is determined as the second exceeding standard positioning information; The terminal control platform of the unmanned intelligent equipment on the water receives the relevant information and uses the relevant information including the power warning information as the target information. Based on the target information, the positioning information of the unmanned intelligent charging dock and the second exceeding-standard positioning information, the platform aims to tow the faulty equipment at the minimum cost. Based on the principle of non-zero-sum game, the platform performs real-time path planning and adjustment for the hyperspectral intelligent online water quality monitoring equipment and the unmanned intelligent mobile repair device on the water related to the target information. A hyperspectral intelligent online water quality monitoring device or an unmanned intelligent mobile repair device on water corresponding to the planned path that satisfies the minimum cost for towing the faulty equipment is obtained as the towing equipment. When the towing equipment drives to the specified position of the faulty equipment, the towing equipment and the faulty equipment are towed and linked according to the automatic towing modules built into the towing equipment and the faulty equipment until the towing is released within the preset area of ​​the unmanned intelligent charging dock.

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