River water quality intelligent monitoring system based on remote sensing technology

Abstract

The invention provides an intelligent river water quality monitoring system based on a remote sensing technology, belongs to the technical field of river monitoring, and solves the technical problem that the current intelligent river water quality monitoring cannot realize full-space-time river water quality monitoring from large scale to microcosmic scale and point-surface combination. A river water quality intelligent monitoring system based on a remote sensing technology comprises a satellite remote sensing module, an unmanned aerial vehicle remote sensing module, a high-altitude holder module and a ground water quality detection module. According to the invention, through the arrangement of the satellite remote sensing module, the unmanned aerial vehicle remote sensing module, the high-altitude holder module and the ground water quality detection module, the air-space-tower-ground multi-source cooperative monitoring of the river water quality is realized, and under the action of the fixed-ship flow measurement assembly of the unmanned ship, moving and fixed-point monitoring can be carried out in the river; and meanwhile, satellite remote sensing and an unmanned aerial vehicle are utilized, and agricultural non-point source pollution satellite remote sensing and ground automatic monitoring advanced mature technologies are integrated, so that water quality monitoring is changed from large-scale monitoring to microscopic detection.

Description

Technical Field

[0001] The invention belongs to the technical field of river monitoring, and relates to a river monitoring system based on remote sensing technology, in particular to an intelligent river water quality monitoring system based on remote sensing technology. Background Art

[0002] Water quality monitoring is the process of monitoring and measuring the types of pollutants in water bodies, the concentrations of various pollutants and their changing trends, and evaluating the water quality. The main monitoring items can be divided into two categories: one is comprehensive indicators reflecting water quality, such as temperature, chromaticity, turbidity, pH value, conductivity, suspended solids, dissolved oxygen, chemical oxygen demand and biochemical oxygen demand; the other is some toxic substances, such as phenol, cyanide, arsenic, lead, chromium, cadmium, mercury and organic pesticides; in order to objectively evaluate the water quality of rivers and oceans, in addition to the above-mentioned monitoring items, it is sometimes necessary to measure flow rate and flow.

[0003] Remote sensing technology is a technology that obtains information about the earth's surface by using satellites, aircraft, drones and other carriers. It uses the principle of interaction between electromagnetic wave radiation and ground objects. By receiving and interpreting electromagnetic wave signals reflected, emitted or scattered by the earth's surface, it can obtain various surface information, including topography, landforms, vegetation, land use, water resources, climate change, etc. Remote sensing technology has the characteristics of globality, long distance and high resolution, and can provide large-scale, continuous and multi-temporal surface monitoring and change analysis. Remote sensing technology has a wide range of applications in many fields, including environmental protection, agriculture, urban planning, resource management, disaster monitoring and emergency response.

[0004] After searching, for example, Chinese patent literature discloses a river water quality monitoring method based on UAV hyperspectral remote sensing images and machine learning [Application number: CN202410942448.9; Announcement number: CN119178741A]. This method combines UAV hyperspectral remote sensing images with machine learning algorithms to construct a river water quality parameter inversion model, including: collecting water samples, obtaining UAV hyperspectral images and preprocessing; extracting images of river parts and selecting the reflectivity of each band of the image; spectrally transforming the original spectrum of the image, establishing an inversion data set through feature screening, and using machine learning algorithms to construct a water quality parameter inversion model; simulating the water quality parameters of the river through the water quality parameter inversion model, and visualizing the simulation results.

[0005] Although the method disclosed in this patent can be inverted through satellite remote sensing images, the comprehensiveness of single drone hyperspectral remote sensing detection in monitoring river water sources is limited, and it is impossible to achieve point-to-surface combined monitoring, and it is not possible to perform accurate mobile and fixed-point monitoring of ground water sources, which makes the authenticity of water quality monitoring poor and is not conducive to overall and comprehensive monitoring of water quality conditions. Summary of the invention

[0006] The purpose of the present invention is to address the above-mentioned problems in the existing technology and to propose an intelligent river water quality monitoring system based on remote sensing technology. The technical problem to be solved by the invention is: how to realize full-time and space river water quality monitoring from large scale to micro scale and combining points and surfaces.

[0007] The purpose of the present invention can be achieved by the following technical solutions: A river water quality intelligent monitoring system based on remote sensing technology includes a satellite remote sensing module, an unmanned aerial vehicle remote sensing module, a high-altitude pan-tilt module and a ground water quality detection module, wherein the satellite remote sensing module, the unmanned aerial vehicle remote sensing module, the high-altitude pan-tilt module and the ground water quality detection module are all connected to a communication module, the communication module gathers information to form a ground-air-sky multi-source information fusion database, and transmits the analysis data to an operation terminal through a data analysis module; The satellite remote sensing module conducts large-scale qualitative inversion monitoring of water quality, obtains the overall trend of regional water quality conditions, provides accurate and targeted data support for ground detection, greatly reduces the workload and cost of manual detection, and communicates data to the database for analysis and diagnosis through the communication module; The UAV remote sensing module conducts medium-scale semi-quantitative inversion monitoring of water quality, conducts high-definition image surveys of pollution sources, and investigates crop planting distribution, achieving high-precision and mobile monitoring of regional water quality, and communicates data to the database for analysis and diagnosis through the communication module, providing accurate and targeted data support for ground detection; The high-altitude gimbal module continuously collects multiple elements of agricultural non-point source pollution in key monitoring areas, uses video intelligent perception, intelligently identifies illegal behaviors, patrols, monitors and manages, assists in investigation, law enforcement and maintenance, and communicates data to the database through the communication module for monitoring and early warning; The ground water quality detection module includes an automatic water quality monitoring station, a DGT water body active nitrogen and phosphorus sensor, a hyperspectral water quality sensor and an unmanned boat. It collects hydrological indicators simultaneously during water quality monitoring sampling and transmits the data to a database through a communication module.

[0008] The working principle of the present invention is: using satellite remote sensing, unmanned aerial vehicles equipped with hyperspectral water quality probes and automatic samplers, and water quality automatic monitoring station technical equipment, information is gathered through 4G / 5G / NB-IoT / Lora communication methods, and a spatiotemporal database of agricultural non-point source pollution in small watersheds is constructed. The latest sensor feedback data of water quality monitoring stations can be collected, including station name, reporting equipment, detection time, chlorophyll, total nitrogen, total phosphorus, transparency, COD, turbidity, algae density, ammonia nitrogen, phycocyanin, suspended matter concentration, eutrophication index, water level, water temperature, dissolved oxygen, PH, conductivity, and then the data collected by unmanned boats is used. Specifically, by setting a water quality sensor on the front surface of the unmanned boat, the hull can be Mobile monitoring is carried out inside the river to ensure the comprehensiveness and authenticity of river water quality monitoring. During monitoring, the drive motor drives the reducer to drive the synchronous belt to rotate, and then multiple rotating paddles are rotated on both sides of the hull to facilitate the precise movement of the hull on the water surface. In order to realize the accurate monitoring of the water surface flow velocity at the specified position of the unmanned boat, a fixed ship flow measurement component is arranged inside the unmanned boat. Through the rotation of the bidirectional motor, the screw rod drives the moving column to move on the surface of the upper ship seat, and the moving column drives the radar flow meter on the top to move out of the storage bin. At the same time, the first bevel gear is fixedly connected to one end of the screw rod, and under the meshing action of the first bevel gear and the second bevel gear, the screw rod drives the gear column to move synchronously through the cross bar. The gear column rotates step by step, and the rack is meshed at the bottom end of the gear column, so that the rack drives the drill rod on one side to extend outward through the fixed plate, so that the drill rod can be extended to fix the hull on the river channel, and the mobile column is synchronously extended after the hull is fixed. In order to realize the flow velocity monitoring of the water surface at different heights, a gear plate is rotatably connected inside the mobile column, and the gear plate is meshed with the gear rod, so that the gear rod can drive the radar current meter to adjust the height through the top plate. In order to realize the synchronous adjustment of the height and angle of the radar current meter, connecting ropes are fixedly installed on both sides of the bottom of the mobile column. When the connecting rope is wound on the surface of the rotating drum, the rotating drum is installed on the outer wall of the fixed rod through a winding spring, so that the top plate can be raised when it rises. , the rotating drum synchronously unwinds the connecting rope, which makes the rotating drum rotate on the outer wall of the fixed rod, and the first gear is fixedly connected to the outer wall of the rotating drum. Under the meshing action of the first gear and the second gear, the second gear drives the radar current meter to synchronize the angle through the side plate, thereby realizing the synchronized angle opening of the radar current meter when the altitude rises, thereby ensuring the monitoring accuracy of the radar current meter. Through such a setting, under the action of the communication module, multi-data realizes the multi-source coordinated monitoring of river water quality in the air, space, tower and ground, which is convenient for the fusion of data, images and video big data through artificial intelligence technology, and realizes water quality status analysis, pollution source analysis, automatic water quality early warning, agricultural materials use analysis and engineering effectiveness analysis functions and data push.

[0009] The data analysis module uses artificial intelligence technology to integrate data, images and video big data to achieve water quality status analysis, pollution source analysis, automatic water quality warning, agricultural inputs use analysis and project effectiveness analysis.

[0010] With the above structure, under the action of the data analysis module, electronic maps, big data analysis, data visualization and other technologies are used to display the distribution of rivers, lakes, water stations, hyperspectral water quality monitoring points, outlets into rivers and lakes on the map. The number of monitoring stations, equipment conditions of monitoring stations, real-time water quality monitoring data, water levels, and water quality change trends in important parts can be used to intuitively grasp the overall situation of river and lake water quality in the region and its changing trends, facilitate the display of water quality distribution in different spatial locations, and compare water pollution conditions horizontally, providing support for analyzing pollution source areas.

[0011] The operating terminal includes a mobile phone APP, a WeChat applet, a PC system and a command screen, which is convenient for real-time water quality display, water pollution early warning, water quality time distribution, water quality spatial distribution and non-point source pollution problem diagnosis.

[0012] By adopting the above structure, the operation terminal is used to receive and intelligently alarm for water pollution. When the values ​​reported by the water quality monitoring station exceed the limit, specifically, chlorophyll, total nitrogen, total phosphorus, transparency, COD, turbidity, algae density, ammonia nitrogen, phycocyanin, suspended solids concentration, eutrophication index, water level, water temperature, dissolved oxygen, PH, and conductivity, an alarm will be displayed. Abnormal values ​​and abnormal sites will be prominently displayed. At the same time, an alarm will be displayed for the water level height exceeding the limit reported by the water quality monitoring station, and the alarm information will be pushed through the mobile phone APP and WeChat applet.

[0013] The unmanned boat comprises a hull, a water quality sensor is fixedly connected to the surface of the hull, and a plurality of rotating paddles are rotatably connected to both sides of the hull, and the rotating paddles are driven by a multi-directional rotating assembly, an upper boat seat is fixedly installed on the surface of the hull, and a storage bin is fixedly connected to the surface of the upper boat seat away from the water quality sensor, and a fixed boat flow measuring assembly is connected inside the upper boat seat; The ship-fixing and current-measuring assembly includes a screw rod, which is rotatably connected to the interior of the upper ship seat, one end of the screw rod is fixedly connected to the output end of the bidirectional motor, and the bidirectional motor is fixedly installed inside the upper ship seat, the outer wall of the screw rod is connected to a moving column through a ball nut, and the moving column is slidably connected to the top of the upper ship seat, and the top of the moving column is connected to a radar current meter through a lifting and closing unit, one end of the screw rod is fixedly connected to a first bevel gear, and the surface of the first bevel gear is meshedly connected to a second bevel gear, the interior of the second bevel gear is fixedly connected to a cross bar, and the cross bar is rotatably connected to the interior of the upper ship seat; The outer wall of the crossbar is fixedly connected with a gear column, and the bottom end of the gear column is meshedly connected with a rack, the rack is slidably connected to the inside of the upper boat seat, one end of the rack is fixedly connected with a fixed plate, and a plurality of drill rods are rotatably connected inside the fixed plate.

[0014] With the above structure, under the meshing action of the first bevel gear and the second bevel gear, the screw rod synchronously drives the cross bar to rotate when it rotates, and under the fixing action of the cross bar and the gear column, through the meshing connection of the gear column and the rack, the rack drives the drill rod on one side to extend outward through the fixed plate, so that when the hull is docked at the riverside, the drill rod and the river wall can be used to fix the ship, thereby realizing the movement effect and stability of the unmanned ship on the water surface detection, and through the synchronization of the movement of the drill rod and the moving column, after the hull is fixed in the river, the moving column can be driven out of the storage bin to monitor the flow rate of the water surface.

[0015] The lifting and closing unit includes a movable rod, the movable rod is rotatably connected to the inside of the moving column, and one end of the movable rod is fixedly connected to the output end of the electric motor, the electric motor is fixedly connected to the outer wall of the moving column, the outer wall of the movable rod is fixedly connected to a gear plate, and the outer wall of the gear plate is meshingly connected to a gear rod, the gear rod is slidably connected to the inside of the moving column, and the top end of the gear rod is fixedly connected to a top plate; The two sides of the bottom of the movable column are fixedly connected with side blocks, and the surfaces of the side blocks are fixedly connected with connecting ropes, the top of the connecting rope is wound and connected with a rotating drum, and the inner wall of the rotating drum is rotatably connected with a fixing rod through a winding spring, and the fixing rod is fixedly installed above the top plate; The outer wall of the rotating drum is fixedly connected with a first gear, and the outer wall of the first gear is meshingly connected with a second gear, the outer side of the second gear is fixedly connected with a side plate, and a radar velocity meter is fixedly installed on the surface of the side plate.

[0016] The above structure is adopted, by fixing the connecting rope on both sides of the bottom of the moving column, and by installing the rotating drum on the outer wall of the fixed rod through the winding spring under the action of the connecting rope being wound on the surface of the rotating drum, when the top plate rises, under the elastic action of the spring, the rotating drum synchronously unwinds the connecting rope, so that the top plate can rise on the top of the moving column. When unwinding the connecting rope, the rotating drum is rotated on the outer wall of the fixed rod, and the first gear is fixedly connected to the outer wall of the rotating drum. Under the meshing action of the first gear and the second gear, the second gear drives the radar current meter to synchronize the angle through the side plate, thereby realizing the corresponding angle adjustment of the radar current meter when adjusting the height, ensuring the monitoring accuracy of the radar current meter, and realizing the flow velocity monitoring of different waters, which is highly practical.

[0017] The outer walls on both sides of the top plate are fixedly connected to limit rings, and the limit rings are sleeved on the outer circumference of the connecting rope; Both ends of the second gear are rotatably connected with mounting plates, and the mounting plates are respectively fixedly connected to both sides of the top plate.

[0018] With the above structure, by providing a limit ring on the outer periphery of the connecting rope, the connecting rope can move stably on both sides of the top plate when being retracted and unreeled, ensuring the retracting and unreeling effect of the connecting rope as the top plate rises and falls.

[0019] The bottom end of the gear rod is fixedly connected with a slide plate, and the slide plate is slidably connected to the inner wall of the moving column; The surface of the upper boat seat is provided with a slideway capable of accommodating the movement of the movable column.

[0020] By adopting the above structure, by fixing the slide plate at the bottom end of the gear rod, the gear rod drives the radar current meter through the top plate to perform precise height adjustment, thereby ensuring the movement effect of the gear rod, and by providing a slideway on the surface of the upper ship seat, when the hull is fixed at the river channel by extending the drill rod, the moving column drives the radar current meter to move through the slideway inside the storage bin, thereby realizing the precise movement of the radar current meter and facilitating the radar current meter to perform precise flow velocity monitoring of the water surface.

[0021] The multi-directional rotation assembly includes a drive motor, and the drive motor is fixedly installed inside the hull, the output end of the drive motor is fixedly connected to the input end of the reducer, and the output end of the reducer is fixedly connected to two first synchronous wheels, and the first synchronous wheels are both rotatably connected to the inside of the hull; The outer wall of the first synchronous wheel is meshedly connected with a synchronous belt, and the inner wall on the other side of the synchronous belt is meshedly connected with a second synchronous wheel, the second synchronous wheel is rotatably connected to the inside of the hull, a crank is fixedly connected to the surface of the second synchronous wheel, and a rotating paddle is rotatably connected to the outer side of the crank, the outer wall of the rotating paddle is fixedly connected to a universal joint, the outer wall of the universal joint is rotatably connected to a sleeve plate, and the sleeve plate is fixedly mounted on the side wall of the hull.

[0022] By adopting the above structure, a universal joint is arranged in the middle part of the rotating paddle. Under the rotational connection between the universal joint and the sleeve plate, the crank drives the rotating paddle to rotate stably inside the hull, which is convenient for the rotating paddle to drive the hull stably. In addition, by using a universal ball for rotational connection between the crank and the rotating paddle, the rowing effect of the rotating paddle is achieved, which is convenient for the unmanned boat to perform movement detection inside the river.

[0023] The rotating paddles are arranged in an equidistant spiral shape, the interior of each spiral groove is slidably connected with a cleaning floating plate, and the inner wall of each spiral groove is provided with a movable groove capable of accommodating the sliding of the cleaning floating plate.

[0024] By adopting the above structure, under the spiral action of the rotating paddle, it is convenient for the rotating paddle to guide water when rotating, which is beneficial to improving the driving effect of the rotating paddle on the hull, and by slidingly connecting the cleaning float on the inner wall of the spiral groove, when the rotating paddle drives the spiral groove to row in the water, the cleaning float is always kept above the spiral groove under the buoyancy of the water. Through the sliding of the rotating paddle, the cleaning float cleans the inner wall of the spiral groove at different positions above through the moving groove, avoiding the entanglement of debris and pollutants on the surface of the rotating paddle, thereby ensuring the working effect of the rotating paddle.

[0025] The interior of the upper boat seat is fixedly connected with a fixing pipe, and the inner wall of the fixing pipe is provided with a threaded groove, the inner wall of the threaded groove is slidably connected with a sliding column, and the sliding column is fixedly installed on the outer wall of the drill rod, and the sliding column is arranged on the inner side of the fixing plate; The outer wall of the drill rod is fixedly connected with a spiral drill plate, and the spiral drill plate is located outside the fixed plate.

[0026] By adopting the above structure, a sliding column is fixedly connected to the outer wall of the drill rod. Under the action of the sliding column sliding connection on the inner wall of the threaded groove, when the fixed plate drives the drill rod to move outward, the other end of the drill rod rotates on the inner wall of the fixed tube through the sliding column. When the drill rod is plugged into the river channel wall to fix the ship, the spiral drilling plate on the outer wall is rotated to stably connect with the river channel wall, thereby ensuring the ship fixing effect of the hull, realizing synchronous spiral drilling of the drill rod when it moves outward, and ensuring the plug-in quality of the drill rod.

[0027] Compared with the prior art, the river water quality intelligent monitoring system based on remote sensing technology of the present invention has the following advantages: 1. In the present invention, through the setting of satellite remote sensing module, UAV remote sensing module, high-altitude gimbal module and ground water quality detection module, multi-source coordinated monitoring of river water quality is realized, and under the action of the fixed ship flow measurement component of the unmanned ship, mobile and fixed-point monitoring can be carried out inside the river. At the same time, satellite remote sensing and UAV are used to integrate the advanced and mature technologies of satellite remote sensing and ground automatic monitoring of agricultural non-point source pollution, so that water quality monitoring can be upgraded from large-scale monitoring to microscopic detection, realizing dynamic monitoring, tracking and early warning of agricultural non-point source pollution.

[0028] 2. In the present invention, by setting up the ship fixing and flow measuring assembly, under the action of the rotation of the screw rod driven by the bidirectional motor, the hull can be plugged and fixed to the river wall through the drill rod extending out of the upper ship seat, which is convenient for the hull to dock and fix the ship at the river bank, realizing the fixed-point monitoring of the unmanned ship on the water surface, and improving the monitoring flexibility of the unmanned ship. At the same time, through the synchronization of the movement of the drill rod and the mobile column, after the hull is fixed in the river, the mobile column can synchronously move out of the storage bin to monitor the water surface flow rate through the radar flow meter, which is convenient for on-site monitoring and sensing of the flow under different hydrological river conditions.

[0029] 3. In the present invention, under the action of the lifting and closing unit, the gear plate is driven to rotate by an electric motor, and under the meshing action of the gear plate and the gear rod, the gear rod drives the radar current meter through the top plate inside the moving column to adjust the height. Moreover, under the action of the connecting ropes arranged on both sides of the moving column, the rotating drum is installed on the outer wall of the fixed rod through the clockwork spring, so that the radar current meter can perform corresponding angle adjustment when adjusting the height, thereby ensuring the monitoring accuracy of the radar current meter and realizing flow velocity monitoring in different waters, and has wide applicability. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a schematic diagram of a river water quality intelligent monitoring system based on remote sensing technology of the present invention; Figure 2 It is a schematic diagram of the structure of the unmanned ship in the present invention; Figure 3 It is a schematic diagram of the top view of the structure of the ship-fixing and flow-measuring assembly in the present invention; Figure 4 It is a structural schematic diagram of the ship-fixing and current-measuring assembly in the present invention; Figure 5 This is a schematic diagram of the connection structure between the drill rod and the fixed tube in the present invention. Figure 6 The present invention Figure 4 A schematic diagram of the enlarged structure at point A; Figure 7 It is a schematic cross-sectional structure diagram of the lifting and closing unit in the present invention; Figure 8 It is a structural schematic diagram of the rotating drum and the first gear in the present invention; Fig. 9 It is a structural schematic diagram of the multi-directional rotating assembly in the present invention; Fig.10 It is a schematic diagram of the structure of the rotating propeller and the universal joint in the present invention; Fig.11 It is a schematic diagram of the module structure of the unmanned ship in the present invention; Fig.12 It is a schematic diagram of the monitoring process of the UAV in the present invention.

[0031] In the figure, 1, hull; 2, water quality sensor; 3, rotating paddle; 4, upper seat; 5, storage compartment; 6, screw rod; 7, bidirectional motor; 8, first bevel gear; 9, second bevel gear; 10, cross bar; 11, gear column; 12, rack; 13, fixed plate; 14, drill rod; 15, moving column; 16, movable rod; 17, gear plate; 18, electric motor; 19, gear rod; 20, slide plate; 21, top plate; 22, side block; 23, connection Rope; 24, rotating drum; 25, fixing rod; 26, limiting ring; 27, first gear; 28, second gear; 29, side plate; 30, radar flow meter; 31, mounting plate; 32, slideway; 33, driving motor; 34, reducer; 35, first synchronous wheel; 36, synchronous belt; 37, second synchronous wheel; 38, crank; 39, universal joint; 40, sleeve plate; 41, fixing pipe; 42, slide column; 43, cleaning float; 44, moving groove. DETAILED DESCRIPTION

[0032] The following are specific embodiments of the present invention and the accompanying drawings to further describe the technical solution of the present invention, but the present invention is not limited to these embodiments.

[0033] like Figure 1-Figure 12 As shown, a river water quality intelligent monitoring system based on remote sensing technology includes a satellite remote sensing module, an unmanned aerial vehicle remote sensing module, a high-altitude pan-tilt module and a ground water quality detection module. The satellite remote sensing module, the unmanned aerial vehicle remote sensing module, the high-altitude pan-tilt module and the ground water quality detection module are all connected to a communication module. The communication module gathers information to form a multi-source information fusion database of the ground, air and space, and transmits the analysis data to the operation terminal through the data analysis module. Specifically, the satellite remote sensing module performs large-scale qualitative inversion monitoring of water quality, obtains the overall trend of regional water quality conditions, provides accurate and targeted data support for ground detection, greatly reduces the workload and cost of manual detection, and transmits data to the operation terminal through the communication module. Communicate to the database for analysis and diagnosis. Based on multi-source satellite remote sensing data, produce fused data to make up for the insufficient spatiotemporal resolution of single-source satellite remote sensing data, so as to ensure the periodicity of water area monitoring. The spatiotemporal fusion model is a commonly used remote sensing data fusion method. The working principle is based on the stability of the spectral characteristics of the ground object. At the same time, the spectral characteristics of the same ground object imaged by satellite sensors with different resolutions should be highly similar. Therefore, it can be inferred based on the change relationship between the data and the average of the results can be taken to eliminate the accidental errors of the distinguishable data, thereby improving the accuracy and scientificity of the inference, and the fusion results are applied to the inversion of chlorophyll a concentration, suspended matter concentration and water surface temperature. The UAV remote sensing module conducts mesoscale semi-quantitative inversion monitoring of water quality, conducts high-definition image surveys of pollution sources, and investigates crop planting distribution, achieving high-precision and mobile monitoring of regional water quality. It also communicates data to the database through the communication module for analysis and diagnosis, providing accurate and targeted data support for ground detection. The UAV equipped with a hyperspectral water quality probe cruises to achieve real-time monitoring and pollution evidence collection in the target area. The monitoring results are intuitively displayed on the map in the form of a heat map, enabling real-time understanding of water quality conditions, changing trends and pollution tracing. The UAV drives the hyperspectral camera, combined with the RGB camera, ambient light sensor, and liquid level radar to obtain real-time hyperspectral reflectance data of river water bodies below 2-10 meters in height. Combined with the built-in water quality inversion algorithm model, it can generate multiple water quality index parameters in real time, such as chlorophyll a, total nitrogen, total phosphorus, transparency, COD, turbidity, ammonia nitrogen, suspended solids concentration, etc., to achieve non-contact real-time online monitoring of water quality. The high-altitude PTZ module continuously collects multiple elements of agricultural non-point source pollution in key monitoring areas, uses video intelligent perception, intelligently identifies illegal behaviors, patrols, monitors and manages, assists in investigation, law enforcement and maintenance, and communicates data to the database through the communication module for monitoring and early warning. Through the setting of the high-altitude PTZ module, poles and towers are established, and through the access management of people and vehicles, perimeter prevention and patrol monitoring, it targets human fertilization, pesticide spraying, illegal land occupation for planting, aquaculture, outdoor barbecue, illegal fishing, open-air camping and other illegal agricultural pollution behaviors, and achieves advance warning, in-process containment, and post-event tracing, and conducts intelligent and precise monitoring of human activity management and pollution emissions in agricultural non-point source pollution; The ground water quality detection module includes an automatic water quality monitoring station, DGT water body active nitrogen and phosphorus sensors, hyperspectral water quality sensors and unmanned boats. Hydrological indicators are collected simultaneously during water quality monitoring sampling, and the data is transmitted to the database through the communication module. Automatic water quality monitoring stations are set up at the lake entrance and the central control point to monitor flow, water level, COD, total nitrogen, ammonia nitrogen, and total phosphorus indicators. In addition, through the setting of unmanned boats, flow detection inside the river is realized, ensuring the continuity and authenticity of the detection data. Among them, the DGT water body active nitrogen and phosphorus sensor uses thin film gradient diffusion technology to quickly detect and monitor phosphate ions in the water for a long time.

[0034] The data analysis module uses artificial intelligence technology to integrate data, images and video big data to achieve water quality status analysis, pollution source analysis, automatic water quality warning, agricultural inputs use analysis and project effectiveness analysis. Under the action of the data analysis module, electronic maps, big data analysis, data visualization and other technologies are used to display the distribution of rivers, lakes, water stations, hyperspectral water quality monitoring points, outlets into rivers and lakes on the map. It can display the number of monitoring stations, equipment conditions of monitoring stations, real-time water quality monitoring data, water levels, and water quality change trends in important parts, and intuitively grasp the overall situation of river and lake water quality in the region and its changing trends, facilitate the display of water quality distribution in different spatial locations, and compare water pollution conditions horizontally to provide support for analyzing pollution source areas.

[0035] The operating terminal includes mobile phone APP, WeChat applet, PC system and command screen, which are convenient for real-time water quality display, water pollution warning, water quality time distribution, water quality spatial distribution and non-point source pollution problem diagnosis. It is received through the operating terminal, and intelligent alarm is given for water pollution. When the values ​​reported by the water quality monitoring station exceed the limit, specifically, alarm display is given for chlorophyll, total nitrogen, total phosphorus, transparency, COD, turbidity, algae density, ammonia nitrogen, phycocyanin, suspended matter concentration, eutrophication index, water level, water temperature, dissolved oxygen, PH and conductivity. Abnormal values ​​and abnormal sites are prominently displayed. At the same time, the water level height exceeding the limit reported by the water quality monitoring station is alarmed and displayed, and the alarm information is pushed through the mobile phone APP and WeChat applet.

[0036] like Figure 1-Figure 12 As shown, the unmanned boat includes a hull 1, a water quality sensor 2, a rotating paddle 3, a boat seat 4, a storage bin 5, a screw 6, a bidirectional motor 7, a first bevel gear 8, a second bevel gear 9, a cross bar 10, a gear column 11, a rack 12, a fixed plate 13, a drill rod 14, a mobile column 15, a movable rod 16, a gear plate 17, an electric motor 18, a gear rod 19, a slide plate 20, a top plate 21, a side block 22, a connecting rope 23, a rotating drum 24, a fixing rod 25, a limiting ring 26, a first gear 27, a second gear 28, a side plate 29, and a radar flow meter 3. 0, mounting plate 31, slideway 32, drive motor 33, reducer 34, first synchronous wheel 35, synchronous belt 36, second synchronous wheel 37, crank 38, universal joint 39, sleeve plate 40, fixed pipe 41, slide column 42, cleaning floating plate 43 and moving groove 44, a water quality sensor 2 is fixedly connected to the surface of the hull 1, so that the water quality sensor 2 can accurately monitor the water quality on the water surface, and in order to achieve a stable movement effect of the hull 1, a plurality of rotating paddles 3 are rotatably connected to both sides of the hull 1, and the rotating paddles 3 are driven by a multi-directional rotating assembly; Furthermore, an upper ship seat 4 is fixedly installed on the surface of the hull 1, and a storage bin 5 is fixedly connected to the end of the surface of the upper ship seat 4 away from the water quality sensor 2, and a ship fixing and flow measuring component is connected inside the upper ship seat 4. Specifically, the ship fixing and flow measuring component includes a screw rod 6, which is rotatably connected to the inside of the upper ship seat 4, one end of the screw rod 6 is fixedly connected to the output end of a bidirectional motor 7, and the bidirectional motor 7 is fixedly installed inside the upper ship seat 4, the outer wall of the screw rod 6 is connected to a moving column 15 through a ball nut, and the moving column 15 is slidably connected to the top of the upper ship seat 4, a slideway 32 that can accommodate the movement of the moving column 15 is provided on the surface of the upper ship seat 4, the top of the moving column 15 is connected to a radar flow meter 30 through a lifting and opening and closing unit, and one end of the screw rod 6 is fixedly connected to the second A bevel gear 8 is provided, and the surface of the first bevel gear 8 is meshedly connected with the second bevel gear 9, the interior of the second bevel gear 9 is fixedly connected with a cross bar 10, the cross bar 10 is rotatably connected to the interior of the upper ship seat 4, the outer wall of the cross bar 10 is fixedly connected with a gear column 11, and the bottom end of the gear column 11 is meshedly connected with a rack 12, the rack 12 is slidably connected to the interior of the upper ship seat 4, one end of the rack 12 is fixedly connected with a fixed plate 13, and the interior of the fixed plate 13 is rotatably connected with a plurality of drill rods 14. Through such an arrangement, under the rotation of the screw rod 6, the screw rod 6 drives the moving column 15 to move on the surface of the upper ship seat 4, so that the moving column 15 drives the radar current meter 30 on the top to drive out of the storage compartment 5. At the same time, by fixing the first bevel gear 8 at one end of the screw rod 6, Under the meshing action of the first bevel gear 8 and the second bevel gear 9, the screw rod 6 drives the gear column 11 to rotate synchronously through the cross bar 10, and the rack 12 is meshed at the bottom end of the gear column 11, so that the rack 12 drives the drill rod 14 on one side to extend outward through the fixed plate 13. The interior of the upper seat 4 is fixedly connected with a fixed tube 41, and the inner wall of the fixed tube 41 is provided with a threaded groove, and the inner wall of the threaded groove is slidably connected with a sliding column 42, and the sliding column 42 is fixedly installed on the outer wall of the drill rod 14, and the sliding column 42 is arranged on the inner side of the fixed plate 13, and the outer wall of the drill rod 14 is fixedly connected with an auger plate, and the auger plate is located on the outer side of the fixed plate 13. Under the action of the sliding column 42 fixedly connected to the outer wall of the drill rod 14, the sliding column 42 is slidably connected to the inner wall of the threaded groove. When the fixing plate 13 drives the drill rod 14 to move outward, the other end of the drill rod 14 rotates on the inner wall of the fixing tube 41 through the sliding column 42, so that the drill rod 14 is stably plugged into the river wall by the spiral drilling plate rotating the outer wall when plugging into the river wall to fix the ship, thereby ensuring the ship fixing effect of the hull 1, realizing synchronous spiral drilling when the drill rod 14 moves outward, and ensuring the plugging quality of the drill rod 14, so that the drill rod 14 can fix the hull 1 on the river bank through spiral extension, which is convenient for the hull 1 to be stably fixed on the river bank, and the water surface flow velocity is monitored by the radar current meter 30. The radar current meter 30 is made according to the principle of Doppler effect. When working, it generates electromagnetic waves to the water surface. The electromagnetic waves are scattered when encountering the moving water surface and form echoes.Since the received echo frequency is offset relative to the transmitting frequency, the water surface velocity can be obtained by the Doppler frequency equation. A moving target will generate a low-frequency output signal in the radar sensor. For existing water quality measurement equipment, in order to achieve the precise operation of the radar flow meter 30, the radar flow meter 30 needs to be adjusted at 45°-60° at different heights.

[0037] In order to realize the synchronous angle opening and closing of the radar velocity meter 30 when the height is adjusted, a lifting and closing unit is connected to one side of the radar velocity meter 30, wherein the lifting and closing unit includes a movable rod 16, the movable rod 16 is rotatably connected to the inside of the moving column 15, and one end of the movable rod 16 is fixedly connected to the output end of the electric motor 18, the electric motor 18 is fixedly connected to the outer wall of the moving column 15, the outer wall of the movable rod 16 is fixedly connected to the gear plate 17, and the outer wall of the gear plate 17 is meshedly connected to the gear rod 19, the gear rod 19 is slidably connected to the inside of the moving column 15, the bottom end of the gear rod 19 is fixedly connected to the slide plate 20, and the slide plate 20 is slidably connected to the moving column 15. 5, a top plate 21 is fixedly connected to the top of the gear rod 19. By such an arrangement, the rotation of the gear plate 17 can realize the stable lifting and lowering of the gear rod 19 inside the mobile column 15. In order to realize the synchronization of the lifting and lowering of the gear rod 19 and the angle opening and closing of the radar current meter 30, side blocks 22 are fixedly connected to both sides of the bottom of the mobile column 15, and the surfaces of the side blocks 22 are fixedly connected to the connecting ropes 23. The top of the connecting rope 23 is wound and connected to the rotating drum 24, and the inner wall of the rotating drum 24 is rotatably connected to the fixing rod 25 through the winding spring. The fixing rod 25 is fixedly installed above the top plate 21, and the outer walls of both sides of the top plate 21 are fixedly connected to the limiting rings 26. The limiting rings 26 is sleeved on the outer periphery of the connecting rope 23, and a limiting ring 26 is arranged on the outer periphery of the connecting rope 23, so that the connecting rope 23 can move stably on both sides of the top plate 21 when winding and unwinding, ensuring the winding and unwinding effect of the connecting rope 23 with the lifting and lowering of the top plate 21. At the same time, a first gear 27 is fixedly connected to the outer wall of the rotating drum 24, and a second gear 28 is meshedly connected to the outer wall of the first gear 27, and a side plate 29 is fixedly connected to the outer side of the second gear 28, and a radar velocity meter 30 is fixedly installed on the surface of the side plate 29, and both ends of the second gear 28 are rotatably connected to the mounting plates 31, and the mounting plates 31 are respectively fixedly connected to both sides of the top plate 21, and on both sides of the bottom of the moving column 15 The connecting rope 23 is fixedly installed. When the connecting rope 23 is wound on the surface of the rotating drum 24, the rotating drum 24 is installed on the outer wall of the fixed rod 25 through a winding spring. When the top plate 21 rises, the rotating drum 24 synchronously unwinds the connecting rope 23, so that the rotating drum 24 rotates on the outer wall of the fixed rod 25. The first gear 27 is fixedly connected to the outer wall of the rotating drum 24. Under the meshing action of the first gear 27 and the second gear 28, the second gear 28 drives the radar velocity meter 30 to adjust the synchronous angle through the side plate 29, thereby realizing the synchronous angle opening of the radar velocity meter 30 at the rising height, and ensuring the monitoring accuracy of the radar velocity meter 30.

[0038] The multi-directional rotation component includes a driving motor 33, and the driving motor 33 is fixedly installed inside the hull 1, the output end of the driving motor 33 is fixedly connected to the input end of the reducer 34, and the output end of the reducer 34 is fixedly connected to two first synchronous wheels 35, the first synchronous wheels 35 are rotatably connected to the inside of the hull 1, the outer wall of the first synchronous wheel 35 is meshedly connected to a synchronous belt 36, and the inner wall of the other side of the synchronous belt 36 is meshedly connected to a second synchronous wheel 37, the second synchronous wheel 37 is rotatably connected to the inside of the hull 1, the surface of the second synchronous wheel 37 is fixedly connected to a crank 38, and the outer side of the crank 38 is rotatably connected to a rotating paddle 3, the outer wall of the rotating paddle 3 is fixedly connected to a universal joint 39, the outer wall of the universal joint 39 is rotatably connected to a sleeve plate 40, and the sleeve plate 40 is fixedly installed on the side wall of the hull 1, by arranging a universal joint 39 in the middle part of the rotating paddle 3, under the rotational connection between the universal joint 39 and the sleeve plate 40, the crank 38 drives the rotating paddle 3 to rotate, and it is stable inside the hull 1, which is convenient for the rotating paddle 3 can stably drive the hull 1, and by using a universal ball to rotatably connect the crank 38 and the rotating paddle 3, the paddling effect of the rotating paddle 3 is achieved, which is convenient for the unmanned boat to perform mobile detection inside the river. At the same time, the rotating paddle 3 is arranged in an equidistant spiral shape, and a cleaning float 43 is slidably connected to the inside of each spiral groove, and a moving groove 44 that can accommodate the sliding of the cleaning float 43 is opened on the inner wall of each spiral groove. Under the spiral action of the rotating paddle 3, it is convenient for the rotating paddle 3 to guide water when rotating, which is beneficial to improving the driving effect of the rotating paddle 3 on the hull 1, and by slidingly connecting the cleaning float 43 on the inner wall of the spiral groove, when the rotating paddle 3 drives the spiral groove to paddle in the water, the cleaning float 43 is always kept above the spiral groove under the buoyancy of the water. Through the sliding of the rotating paddle 3, the cleaning float 43 cleans the inner wall of the spiral groove at different positions above through the moving groove 44, avoiding the surface of the rotating paddle 3 from being entangled with miscellaneous pollutants, and ensuring the working effect of the rotating paddle 3.

[0039] The working principle of the present invention is as follows: when in use, satellite remote sensing is used, and the drone is equipped with a hyperspectral water quality probe and an automatic sampler, and the water quality automatic monitoring station technical equipment is used to gather information through 4G / 5G / NB-IoT / Lora communication methods to build a spatiotemporal database of agricultural non-point source pollution in small watersheds. The latest sensor feedback data of the water quality monitoring station can be sent, including the station name, reporting equipment, detection time, chlorophyll, total nitrogen, total phosphorus, transparency, COD, turbidity, algae density, ammonia nitrogen, phycocyanin, suspended matter concentration, eutrophication index, water level, water temperature, dissolved oxygen, PH, and conductivity. Then, the data collected by the unmanned boat is used. Specifically, by setting a water quality sensor 2 on the front surface of the unmanned boat, the hull 1 can be used inside the river. Mobile monitoring ensures the comprehensiveness and authenticity of river water quality monitoring. During monitoring, the drive motor 33 drives the reducer 34 to drive the synchronous belts 36 on both sides to rotate, so that the multiple rotating paddles 3 rotate on both sides of the hull 1, which is convenient for the hull 1 to move accurately on the water surface. In order to realize the accurate monitoring of the water surface flow velocity at the specified position of the unmanned boat, a fixed ship flow measurement component is arranged inside the unmanned boat. The two-way motor 7 rotates, so that the screw rod 6 drives the moving column 15 to move on the surface of the upper ship seat 4, and the moving column 15 drives the radar current meter 30 on the top to drive out of the storage bin 5. At the same time, the first bevel gear 8 is fixedly connected to one end of the screw rod 6. Under the meshing action of the first bevel gear 8 and the second bevel gear 9, the screw rod 6 passes through the cross bar 1 0 drives the gear column 11 to rotate synchronously, and the rack 12 is meshed at the bottom end of the gear column 11, so that the rack 12 drives the drill rod 14 on one side to extend outward through the fixed plate 13, and the sliding column 42 is fixedly connected to the outer wall of the drill rod 14. Under the action of the sliding column 42 slidingly connected on the inner wall of the threaded groove, when the fixed plate 13 drives the drill rod 14 to move outward, the other end of the drill rod 14 is rotated on the inner wall of the fixed tube 41 through the sliding column 42, so that the drill rod 14 is rotated synchronously when moving through the fixed plate 13, so that the drill rod 14 can fix the hull 1 on the riverside by rotating the spiral drill plate on the outer wall, and realizes that after the hull 1 is fixed, the moving column 15 is synchronously extended on one side of the hull 1, in order to realize the flow velocity monitoring of the water surface at different heights, When the gear plate 17 is connected to the inside of the mobile column 15, the gear plate 17 is connected to the gear rod 19 by meshing, so that the gear rod 19 can drive the radar velocity meter 30 to adjust the height through the top plate 21. In order to achieve the synchronous adjustment of the height and angle of the radar velocity meter 30, a connecting rope 23 is fixedly installed on both sides of the bottom of the mobile column 15. When the connecting rope 23 is wound around the surface of the rotating drum 24, the rotating drum 24 is installed on the outer wall of the fixed rod 25 through a winding spring. When the top plate 21 rises, the rotating drum 24 synchronously unwinds the connecting rope 23, so that the rotating drum 24 rotates on the outer wall of the fixed rod 25. The first gear 27 is fixedly connected to the outer wall of the rotating drum 24. Under the meshing action of the first gear 27 and the second gear 28,The second gear 28 drives the radar velocity meter 30 to synchronize the angle through the side plate 29, realizing the synchronized angle opening of the radar velocity meter 30 when the height is increased, ensuring the monitoring accuracy of the radar velocity meter 30. Through such a setting, the communication module enables the multi-data to realize the multi-source coordinated monitoring of river water quality in the sky, tower and ground, making it easy to carry out data, image and image big data fusion through artificial intelligence technology, realize water quality status analysis, pollution source analysis, water quality automatic warning, agricultural materials use analysis and engineering effectiveness analysis functions and data push, thus completing the working principle of the river water quality intelligent monitoring system based on remote sensing technology.

[0040] In summary, in the present invention, through the setting of satellite remote sensing modules, UAV remote sensing modules, high-altitude gimbal modules and ground water quality detection modules, multi-source coordinated monitoring of river water quality is realized, and under the action of the fixed ship flow measurement component of the unmanned boat, mobile and fixed-point monitoring can be carried out inside the river. At the same time, satellite remote sensing and UAVs are used to integrate advanced and mature technologies of satellite remote sensing and ground automatic monitoring of agricultural non-point source pollution, so that water quality monitoring can be upgraded from large-scale monitoring to microscopic detection, and dynamic monitoring, tracking and early warning of agricultural non-point source pollution can be realized, which solves the technical problem that the current intelligent monitoring of river water quality cannot realize the full-time and space river water quality monitoring from large-scale to microscopic and point-to-surface combination.

[0041] The specific embodiments described herein are merely examples of the spirit of the present invention. Those skilled in the art may make various modifications or additions to the specific embodiments described or replace them in similar ways, but they will not deviate from the spirit of the present invention or exceed the scope defined by the appended claims.

Claims

1. A river water quality intelligent monitoring system based on remote sensing technology, including a satellite remote sensing module, an unmanned aerial vehicle remote sensing module, a high-altitude pan-tilt module and a ground water quality detection module, characterized in that: The satellite remote sensing module, the UAV remote sensing module, the high-altitude gimbal module and the ground water quality detection module are all connected to a communication module, which gathers information to form a ground-air-sky multi-source information fusion database, and transmits the analysis data to the operation terminal through the data analysis module; The satellite remote sensing module conducts large-scale qualitative inversion monitoring of water quality, obtains the overall trend of regional water quality conditions, provides accurate and targeted data support for ground detection, greatly reduces the workload and cost of manual detection, and communicates data to the database for analysis and diagnosis through the communication module; The UAV remote sensing module conducts medium-scale semi-quantitative inversion monitoring of water quality, conducts high-definition image surveys of pollution sources, and investigates crop planting distribution, achieving high-precision and mobile monitoring of regional water quality, and communicates data to the database for analysis and diagnosis through the communication module, providing accurate and targeted data support for ground detection; The high-altitude gimbal module continuously collects multiple elements of agricultural non-point source pollution in key monitoring areas, uses video intelligent perception, intelligently identifies illegal behaviors, patrols, monitors and manages, assists in investigation, law enforcement and maintenance, and communicates data to the database through the communication module for monitoring and early warning; The ground water quality detection module includes an automatic water quality monitoring station, a DGT water body active nitrogen and phosphorus sensor, a hyperspectral water quality sensor and an unmanned boat. It collects hydrological indicators simultaneously during water quality monitoring sampling and transmits the data to a database through a communication module.

2. According to claim 1, a river water quality intelligent monitoring system based on remote sensing technology is characterized in that: The data analysis module uses artificial intelligence technology to integrate data, images and video big data to achieve water quality status analysis, pollution source analysis, automatic water quality warning, agricultural inputs use analysis and project effectiveness analysis.

3. The river water quality intelligent monitoring system based on remote sensing technology according to claim 1 is characterized in that: The operating terminal includes a mobile phone APP, a WeChat applet, a PC system and a command screen, which is convenient for real-time water quality display, water pollution early warning, water quality time distribution, water quality spatial distribution and non-point source pollution problem diagnosis.

4. The river water quality intelligent monitoring system based on remote sensing technology according to claim 1 is characterized in that: The unmanned boat comprises a hull (1), a water quality sensor (2) is fixedly connected to the surface of the hull (1), and a plurality of rotating paddles (3) are rotatably connected to both sides of the hull (1), the rotating paddles (3) being driven by a multi-directional rotating assembly, an upper boat seat (4) is fixedly mounted on the surface of the hull (1), and a storage bin (5) is fixedly connected to the end of the surface of the upper boat seat (4) away from the water quality sensor (2), and a boat fixing and flow measuring assembly is connected inside the upper boat seat (4); The ship-fixing and current-measuring assembly comprises a screw rod (6), the screw rod (6) being rotatably connected to the interior of the upper ship seat (4), one end of the screw rod (6) being fixedly connected to the output end of a bidirectional motor (7), and the bidirectional motor (7) being fixedly installed inside the upper ship seat (4), the outer wall of the screw rod (6) being connected to a moving column (15) via a ball nut, and the moving column (15) being slidably connected to the top of the upper ship seat (4), the top of the moving column (15) being connected to a radar current meter (30) via a lifting and closing unit, one end of the screw rod (6) being fixedly connected to a first bevel gear (8), and the surface of the first bevel gear (8) being meshingly connected to a second bevel gear (9), the interior of the second bevel gear (9) being fixedly connected to a cross bar (10), and the cross bar (10) being rotatably connected to the interior of the upper ship seat (4); The outer wall of the crossbar (10) is fixedly connected to a gear column (11), and the bottom end of the gear column (11) is meshingly connected to a rack (12), the rack (12) is slidably connected to the inside of the upper boat seat (4), and one end of the rack (12) is fixedly connected to a fixing plate (13). A plurality of drill rods (14) are rotatably connected to the inside of the fixing plate (13).

5. The river water quality intelligent monitoring system based on remote sensing technology according to claim 4 is characterized in that: The lifting and closing unit comprises a movable rod (16), the movable rod (16) is rotatably connected to the inside of the movable column (15), one end of the movable rod (16) is fixedly connected to the output end of an electric motor (18), the electric motor (18) is fixedly connected to the outer wall of the movable column (15), the outer wall of the movable rod (16) is fixedly connected to a gear plate (17), the outer wall of the gear plate (17) is meshingly connected to a gear rod (19), the gear rod (19) is slidably connected to the inside of the movable column (15), and the top end of the gear rod (19) is fixedly connected to a top plate (21); The two sides of the bottom of the movable column (15) are fixedly connected to side blocks (22), and the surfaces of the side blocks (22) are fixedly connected to connecting ropes (23), the top of the connecting rope (23) is wound around and connected to a rotating drum (24), and the inner wall of the rotating drum (24) is rotatably connected to a fixing rod (25) via a winding spring, and the fixing rod (25) is fixedly installed above the top plate (21); A first gear (27) is fixedly connected to the outer wall of the rotating drum (24), and a second gear (28) is meshingly connected to the outer wall of the first gear (27). A side plate (29) is fixedly connected to the outer side of the second gear (28), and a radar velocity meter (30) is fixedly mounted on the surface of the side plate (29).

6. The river water quality intelligent monitoring system based on remote sensing technology according to claim 5 is characterized in that: The outer walls on both sides of the top plate (21) are fixedly connected to limit rings (26), and the limit rings (26) are sleeved on the outer circumference of the connecting rope (23); Both ends of the second gear (28) are rotatably connected to mounting plates (31), and the mounting plates (31) are respectively fixedly connected to two sides of the top plate (21).

7. The river water quality intelligent monitoring system based on remote sensing technology according to claim 5 is characterized in that: The bottom end of the gear rod (19) is fixedly connected to a slide plate (20), and the slide plate (20) is slidably connected to the inner wall of the moving column (15); The surface of the upper ship seat (4) is provided with a slideway (32) capable of accommodating the movement of the movable column (15).

8. The river water quality intelligent monitoring system based on remote sensing technology according to claim 4 is characterized in that: The multi-directional rotation assembly comprises a drive motor (33), and the drive motor (33) is fixedly installed inside the hull (1), the output end of the drive motor (33) is fixedly connected to the input end of a reducer (34), and the output end of the reducer (34) is fixedly connected to two first synchronous wheels (35), and the first synchronous wheels (35) are both rotatably connected to the inside of the hull (1); The outer wall of the first synchronous wheel (35) is meshedly connected with a synchronous belt (36), and the inner wall of the other side of the synchronous belt (36) is meshedly connected with a second synchronous wheel (37); the second synchronous wheel (37) is rotatably connected inside the hull (1); a crank (38) is fixedly connected to the surface of the second synchronous wheel (37), and the outer side of the crank (38) is rotatably connected to a rotating propeller (3); the outer wall of the rotating propeller (3) is fixedly connected with a universal joint (39), and the outer wall of the universal joint (39) is rotatably connected with a sleeve plate (40), and the sleeve plate (40) is fixedly mounted on the side wall of the hull (1).

9. The river water quality intelligent monitoring system based on remote sensing technology according to claim 8 is characterized in that: The rotating paddles (3) are arranged in an equidistant spiral shape, the interior of each spiral groove is slidably connected to a cleaning floating plate (43), and the inner wall of each spiral groove is provided with a movable groove (44) capable of accommodating the sliding of the cleaning floating plate (43).

10. The river water quality intelligent monitoring system based on remote sensing technology according to claim 4 is characterized in that: The upper seat (4) is fixedly connected to a fixing tube (41) inside, and a thread groove is formed on the inner wall of the fixing tube (41), a sliding column (42) is slidably connected to the inner wall of the thread groove, and the sliding column (42) is fixedly mounted on the outer wall of the drill rod (14), and the sliding column (42) is arranged on the inner side of the fixing plate (13); The outer wall of the drill rod (14) is fixedly connected to a spiral drill plate, which is located outside the fixed plate (13).

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