An intelligent river water quality monitoring system based on remote sensing technology

Abstract

This invention provides an intelligent river water quality monitoring system based on remote sensing technology, belonging to the field of river monitoring technology. It solves the technical problem that current intelligent river water quality monitoring systems cannot achieve comprehensive, all-weather, and integrated monitoring from large-scale to micro-scale perspectives. The intelligent river water quality monitoring system based on remote sensing technology includes a satellite remote sensing module, a UAV remote sensing module, an upper-level gimbal module, and a ground-based water quality detection module. In this invention, by setting up the satellite remote sensing module, UAV remote sensing module, upper-level gimbal module, and ground-based water quality detection module, multi-source collaborative monitoring of river water quality from space, air, and ground is achieved. Furthermore, with the assistance of the unmanned surface vessel's fixed-ship flow measurement component, mobile and fixed-point monitoring can be performed within the river. Simultaneously, by utilizing satellite remote sensing and UAVs, advanced and mature technologies for agricultural non-point source pollution satellite remote sensing and ground-based automatic monitoring are integrated, enabling water quality monitoring to move from large-scale to micro-scale detection.

Description

Technical Field

[0001] This invention belongs to the field of river monitoring technology, and relates to a river monitoring system based on remote sensing technology, particularly an intelligent river water quality monitoring system based on remote sensing technology. Background Technology

[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 to evaluate water quality. The main monitoring items can be divided into two categories: one is comprehensive indicators reflecting water quality, such as temperature, color, turbidity, pH, conductivity, suspended solids, dissolved oxygen, chemical oxygen demand (COD), and biochemical oxygen demand (BOD); the other is some toxic substances, such as phenols, cyanides, arsenic, lead, chromium, cadmium, mercury, and organochlorine pesticides. To objectively evaluate the water quality of rivers and oceans, in addition to the above monitoring items, it is sometimes necessary to measure flow velocity and flow rate.

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

[0004] A search revealed a Chinese patent document disclosing a method for river water quality monitoring based on UAV hyperspectral remote sensing imagery and machine learning [Application No.: CN202410942448.9; Publication No.: CN119178741A]. This method combines UAV hyperspectral remote sensing imagery with machine learning algorithms to construct a river water quality parameter inversion model. The method includes: collecting water samples; acquiring and preprocessing UAV hyperspectral imagery; extracting river portions of the imagery and selecting reflectance values ​​for each band; performing spectral transformation on the original image spectrum; establishing an inversion dataset through feature selection; constructing a water quality parameter inversion model using machine learning algorithms; simulating river water quality parameters using the inversion model; and visualizing the simulation results.

[0005] Although the method disclosed in this patent can be inverted using satellite remote sensing images, the comprehensiveness of monitoring river water sources by single UAV hyperspectral remote sensing detection is limited. It cannot achieve point-to-area combined monitoring, and it cannot accurately monitor ground water sources by movement and fixed point, resulting in poor accuracy of water quality monitoring and hindering the overall comprehensive monitoring of water quality. Summary of the Invention

[0006] The purpose of this invention is to address the aforementioned problems in existing technologies by proposing an intelligent river water quality monitoring system based on remote sensing technology. The technical problem this invention aims to solve is: how to achieve all-time and all-space river water quality monitoring, combining large-scale and micro-scale, point-to-surface monitoring.

[0007] The objective of this invention can be achieved through the following technical solutions:

[0008] A river water quality intelligent monitoring system based on remote sensing technology includes a satellite remote sensing module, a UAV remote sensing module, an upper-air gimbal module, and a ground water quality detection module. The satellite remote sensing module, the UAV remote sensing module, the upper-air gimbal module, and the ground water quality detection module are all connected to a communication module. The communication module aggregates information to form a multi-source information fusion database of ground, air, and space, and transmits the analysis data to the operation terminal through a data analysis module.

[0009] The satellite remote sensing module performs large-scale qualitative inversion monitoring of water quality, obtains the overall trend of regional water quality, provides accurate and targeted data support for ground detection, significantly reduces the workload and cost of manual detection, and communicates the data to the database for analysis and diagnosis through the communication module.

[0010] The UAV remote sensing module performs 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. The data is also communicated to a database for analysis and diagnosis through the communication module, providing accurate and targeted data support for ground detection.

[0011] The high-altitude gimbal module continuously collects multi-element data on agricultural non-point source pollution in key monitoring areas, uses intelligent video sensing to intelligently identify illegal activities, and assists in investigation, law enforcement, and maintenance. The data is communicated to the database through the communication module for monitoring and early warning.

[0012] The ground water quality detection module includes an automatic water quality monitoring station, a DGT water body reactive nitrogen and phosphorus sensor, a hyperspectral water quality sensor, and an unmanned vessel. It collects hydrological indicators simultaneously during water quality monitoring and sampling, and transmits the data to the database through a communication module.

[0013] The working principle of this invention is as follows: Utilizing satellite remote sensing, a drone equipped with a hyperspectral water quality probe and automatic sampler, along with automatic water quality monitoring station equipment, information is aggregated via 4G / 5G / NB-IoT / LoRa communication to construct a spatiotemporal database of agricultural non-point source pollution in a small watershed. This allows for the collection of the latest sensor data from water quality monitoring stations, including station name, reporting equipment, detection time, chlorophyll, total nitrogen, total phosphorus, transparency, COD, turbidity, algal density, ammonia nitrogen, phycocyanin, suspended solids concentration, eutrophication index, water level, water temperature, dissolved oxygen, pH, and conductivity. This data is then collected by an unmanned surface vessel (USV). Specifically, by installing water quality sensors on the front surface of the USV, the vessel can... Mobile monitoring within the river ensures the comprehensiveness and accuracy of river water quality monitoring. During monitoring, a drive motor rotates a reducer that drives a synchronous belt, causing multiple rotating propellers to rotate on both sides of the hull, facilitating precise movement of the hull on the water surface. To achieve accurate monitoring of water flow velocity at designated locations, a stationary flow measurement component is installed inside the unmanned vessel. A bidirectional motor rotates, causing a lead screw to move a movable column on the surface of the upper hull, which in turn moves the radar current meter on top out of the storage compartment. Simultaneously, a first bevel gear is fixedly connected to one end of the lead screw. The meshing of the first and second bevel gears causes the lead screw to drive the gear column via a crossbar. The rotating column rotates, and by meshing with a rack at the bottom of the gear column, the rack drives a chisel on one side to extend outward through the fixed plate. This extension of the chisel allows the hull to be fixed to the riverbank, achieving synchronous extension of the moving column after the hull is fixed. To monitor water flow velocity at different heights, a gear disc is rotatably connected inside the moving column. The gear disc meshes with a rack, allowing the rack to drive the radar current meter through the top plate for height adjustment. To achieve synchronous adjustment of the radar current meter's height and angle, connecting ropes are fixedly installed on both sides of the bottom of the moving column. As the connecting ropes wind around the surface of the rotating drum, and the drum is mounted on the outer wall of the fixed rod via a winding spring, the top plate rises... The rotating drum simultaneously unwinds the connecting rope, causing it to rotate on the outer wall of the fixed rod. A first gear is fixedly connected to the outer wall of the drum. The meshing of the first and second gears causes the second gear to drive the radar current meter to synchronize its angle via the side plate. This ensures the radar current meter opens at the same angle as it rises, guaranteeing its monitoring accuracy. This setup, combined with the communication module, enables multi-source collaborative monitoring of river water quality from air, space, and ground. It facilitates the fusion of data, images, and video big data using artificial intelligence technology, enabling functions such as water quality analysis, pollution source analysis, automatic water quality early warning, agricultural input usage analysis, and engineering effectiveness analysis, as well as data delivery.

[0014] The data analysis module utilizes artificial intelligence technology to integrate data, images, and video big data to achieve water quality analysis, pollution source analysis, automatic water quality early warning, agricultural input usage analysis, and engineering effectiveness analysis.

[0015] Using the above structure, and with the help of the data analysis module, technologies such as electronic maps, big data analysis, and data visualization are employed to display the distribution of rivers, lakes, reservoirs, water stations, hyperspectral water quality monitoring points, and outfalls into rivers and lakes on the map. This allows for a direct understanding of the overall water quality situation and trends of rivers and lakes within the region, including the number of monitoring stations, the status of monitoring station equipment, real-time water quality monitoring data, water levels, and water quality change trends in key areas. It also facilitates the display of water quality distribution in different spatial locations, enables horizontal comparison of water pollution situations, and provides support for the analysis of pollution source areas.

[0016] The operating terminal includes a mobile APP, a WeChat mini-program, a PC system, and a command screen, which facilitates real-time water quality display, water pollution early warning, water quality temporal distribution, water quality spatial distribution, and diagnosis of non-point source pollution problems.

[0017] Using the above structure, the system receives signals via an operating terminal and provides intelligent alarms for water pollution. When values ​​reported by water quality monitoring stations exceed limits, the system displays alarms for specific parameters including chlorophyll, total nitrogen, total phosphorus, transparency, COD, turbidity, algal density, ammonia nitrogen, phycocyanin, suspended solids concentration, eutrophication index, water level, water temperature, dissolved oxygen, pH, and conductivity. Abnormal values ​​and abnormal monitoring stations are prominently displayed. The system also displays alarms for water level exceeding limits reported by water quality monitoring stations and pushes alarm information via mobile app and WeChat mini-program.

[0018] The unmanned boat includes a hull, a water quality sensor fixedly connected to the surface of the hull, and multiple rotating propellers rotatably connected to both sides of the hull. The rotating propellers are driven by a multi-directional rotating assembly. An upper boat seat is fixedly installed on the surface of the hull, and a storage compartment is fixedly connected to the end of the upper boat seat away from the water quality sensor. A boat-stationary flow measurement assembly is connected inside the upper boat seat.

[0019] The fixed-ship flow measurement assembly includes a lead screw, which is rotatably connected to the inside of the upper ship seat. One end of the lead screw is fixedly connected to the output end of a bidirectional motor, and the bidirectional motor is fixedly installed inside the upper ship seat. The outer wall of the lead screw is connected to a movable column through a ball nut, and the movable column is slidably connected above the upper ship seat. The top of the movable column is connected to a radar flow meter through a lifting and opening unit. One end of the lead screw is fixedly connected to a first bevel gear, and the surface of the first bevel gear is meshed with a second bevel gear. The inside of the second bevel gear is fixedly connected to a crossbar, which is rotatably connected to the inside of the upper ship seat.

[0020] A gear column is fixedly connected to the outer wall of the crossbar, and a rack is meshed with the bottom end of the gear column. The rack is slidably connected inside the upper ship seat. A fixing plate is fixedly connected to one end of the rack, and multiple chisels are rotatably connected inside the fixing plate.

[0021] With the above structure, the meshing action of the first bevel gear and the second bevel gear causes the lead screw to rotate synchronously with the crossbar. Under the fixing action of the crossbar and the gear column, the meshing connection between the gear column and the rack allows the rack to drive the chisel on one side to extend outward through the fixing plate. This facilitates the anchoring of the boat against the river wall when it is moored at the riverbank, achieving the moving effect and stability of the unmanned boat for water surface detection. Moreover, the synchronicity of the movement of the chisel and the moving column allows the moving column to move out from inside the storage compartment to monitor the water flow rate after the boat is anchored in the river.

[0022] The lifting and opening unit includes a movable rod, which is rotatably connected inside the moving column. One end of the movable rod is fixedly connected to the output end of an electric motor. The electric motor is fixedly connected to the outer wall of the moving column. A gear disk is fixedly connected to the outer wall of the movable rod, and a toothed rod is meshed with the outer wall of the gear disk. The toothed rod is slidably connected inside the moving column, and a top plate is fixedly connected to the top of the toothed rod.

[0023] Side blocks are fixedly connected to both sides of the bottom of the movable column, and connecting ropes are fixedly connected to the surface of each side block. A rotating drum is wound around the top of the connecting rope, and a fixing rod is rotatably connected to the inner wall of the rotating drum through a winding spring. The fixing rod is fixedly installed above the top plate.

[0024] A first gear is fixedly connected to the outer wall of the rotating drum, and a second gear is meshed with the outer wall of the first gear. A side plate is fixedly connected to the outer side of the second gear, and a radar flow meter is fixedly installed on the surface of the side plate.

[0025] Using the above structure, connecting ropes are fixedly installed on both sides of the bottom of the moving column. As the connecting ropes wind around the surface of the rotating drum, and the drum is mounted on the outer wall of the fixed rod via a winding spring, the rotating drum synchronously unwinds the connecting ropes under the elastic action of the spring when the top plate rises. This facilitates the rise of the top plate at the top of the moving column. While unwinding the connecting ropes, the rotating drum rotates on the outer wall of the fixed rod. A first gear is fixedly connected to the outer wall of the rotating drum. The meshing of the first and second gears causes the second gear to drive the radar current meter to adjust its angle synchronously via the side plate. This allows the radar current meter to adjust its angle accordingly when adjusting its height, ensuring the accuracy of the radar current meter's monitoring. Furthermore, it enables flow velocity monitoring in different water areas, making it highly practical.

[0026] Limiting rings are fixedly connected to both outer walls of the top plate, and the limiting rings are sleeved on the outer periphery of the connecting rope;

[0027] The second gear has mounting plates rotatably connected to both ends, and the mounting plates are fixedly connected to both sides of the top plate.

[0028] By adopting the above structure and setting a limiting ring on the outer periphery of the connecting rope, the connecting rope can move stably on both sides of the top plate during winding and unwinding, thus ensuring the winding and unwinding effect of the connecting rope as the top plate rises and falls.

[0029] The bottom end of the toothed rod is fixedly connected to a sliding plate, and the sliding plate is slidably connected to the inner wall of the moving column;

[0030] The surface of the upper ship seat is provided with a slide rail that can accommodate the movement of the movable column.

[0031] By adopting the above structure and fixing a sliding plate to the bottom of the rack, the rack can drive the radar current meter to make precise height adjustments through the top plate, ensuring the movement effect of the rack. Moreover, by opening a slide on the surface of the upper hull, when the hull is stationary by extending the rod at the riverbank, the moving column inside the storage compartment drives the radar current meter to move through the slide, realizing the precise movement of the radar current meter and facilitating accurate monitoring of the water surface velocity.

[0032] The multi-directional rotation assembly includes a drive motor, which is fixedly installed inside the hull. The output end of the drive motor is fixedly connected to the input end of a reducer, and the output end of the reducer is fixedly connected to two first synchronous pulleys, both of which are rotatably connected inside the hull.

[0033] The outer wall of the first synchronous pulley is engaged with a synchronous belt, and the inner wall of the other side of the synchronous belt is engaged with a second synchronous pulley. The second synchronous pulley is rotatably connected inside the hull. A crank is fixedly connected to the surface of the second synchronous pulley, and a rotating propeller is rotatably connected to the outer side of the crank. A universal joint is fixedly connected to the outer wall of the rotating propeller, and a sleeve is rotatably connected to the outer wall of the universal joint. The sleeve is fixedly installed on the side wall of the hull.

[0034] By adopting the above structure, a universal joint is set in the middle of the rotating propeller. The rotational connection between the universal joint and the sleeve plate makes the crank drive the rotating propeller to rotate stably inside the hull, which facilitates the stable driving of the rotating propeller to the hull. Moreover, by using a universal ball to rotate the crank and the rotating propeller, the propeller's paddling effect is realized, which facilitates the unmanned vessel to move and detect within the river.

[0035] The rotating propeller is arranged in an equidistant spiral shape, and a cleaning float is slidably connected inside each spiral groove. The inner wall of each spiral groove is provided with a movable groove that can accommodate the sliding of the cleaning float.

[0036] With the above structure, the propeller's spiral action facilitates water guidance during rotation, improving its driving effect on the hull. Furthermore, by sliding a cleaning float plate on the inner wall of the spiral groove, the cleaning float plate remains above the spiral groove under the buoyancy of the water as the propeller moves through it. The sliding motion of the propeller allows the cleaning float plate to clean the inner wall of the spiral groove at different positions above, preventing debris and contaminants from entangled on the surface of the propeller and ensuring its working efficiency.

[0037] The upper ship seat is internally fixedly connected to a fixed tube, and the inner wall of the fixed tube is provided with a threaded groove. The inner wall of the threaded groove is slidably connected to a sliding column, and the sliding column is fixedly installed on the outer wall of the chisel, and the sliding column is located on the inner side of the fixed plate.

[0038] A spiral drill plate is fixedly connected to the outer wall of the drill rod, and the spiral drill plate is located outside the fixed plate.

[0039] 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, the fixed plate drives the drill rod to move outward. At the same time, the other end of the drill rod rotates on the inner wall of the fixed tube through the sliding column. This allows the drill rod to be stably inserted into the river wall at the same time as it is inserted into the river wall to fix the boat. This ensures the boat fixing effect and realizes synchronous spiral drilling when the drill rod moves outward, thus ensuring the insertion quality of the drill rod.

[0040] Compared with existing technologies, the intelligent river water quality monitoring system based on remote sensing technology of the present invention has the following advantages:

[0041] 1. In this invention, by setting up a satellite remote sensing module, a UAV remote sensing module, a high-altitude gimbal module, and a ground water quality detection module, multi-source collaborative monitoring of river water quality from space, air, and ground is achieved. Furthermore, with the help of the unmanned vessel's fixed-ship flow measurement component, mobile and fixed-point monitoring can be carried out within the river. At the same time, by utilizing satellite remote sensing and UAVs, advanced and mature technologies for satellite remote sensing and ground automatic monitoring of agricultural non-point source pollution are integrated, enabling water quality monitoring to move from large-scale monitoring to microscopic detection, and realizing dynamic monitoring, tracking, and early warning of agricultural non-point source pollution.

[0042] 2. In this invention, by setting up the fixed-ship flow measurement component, under the action of the bidirectional motor driving the lead screw to rotate, the hull can be fixed to the river wall by extending the drill rod from the upper ship seat. This facilitates the hull to dock and be stationary on the riverbank, realizing fixed-point monitoring of the unmanned vessel on the water surface and improving the monitoring flexibility of the unmanned vessel. At the same time, by synchronizing the movement of the drill rod and the moving column, after the hull is stationary in the river, the moving column can simultaneously move out of the storage compartment to monitor the water surface velocity through the radar current meter, which facilitates on-site monitoring and sensing of the flow rate under different hydrological river conditions.

[0043] 3. In this invention, under the action of the lifting and opening unit, the gear disk is rotated by an electric motor. Under the meshing action of the gear disk and the rack, the rack moves inside the moving column and drives the radar current meter to adjust its height through the top plate. Moreover, with the help of connecting ropes on both sides of the moving column, the rotating drum is installed on the outer wall of the fixed rod through a spring. This enables the radar current meter to adjust its angle accordingly when adjusting its height, ensuring the accuracy of the radar current meter's monitoring. It also enables the monitoring of current velocity in different water areas, making it widely applicable. Attached Figure Description

[0044] Figure 1 This is a schematic diagram of an intelligent river water quality monitoring system based on remote sensing technology according to the present invention;

[0045] Figure 2 This is a schematic diagram of the unmanned vessel in this invention;

[0046] Figure 3 This is a top view of the fixed-ship current measurement component in this invention.

[0047] Figure 4 This is a schematic diagram of the ship-stationary current measurement component in this invention;

[0048] Figure 5 This is a schematic diagram of the connection structure between the drill rod and the fixed tube in this invention.

[0049] Figure 6 In this invention Figure 4 A magnified structural diagram at point A;

[0050] Figure 7 This is a cross-sectional structural diagram of the lifting and closing unit in this invention;

[0051] Figure 8 This is a schematic diagram of the structure of the rotating cylinder and the first gear in this invention;

[0052] Figure 9 This is a schematic diagram of the structure of the multi-directional rotation component in this invention;

[0053] Figure 10 This is a schematic diagram of the rotating propeller and universal joint in this invention;

[0054] Figure 11 This is a schematic diagram of the modular structure of the unmanned vessel in this invention;

[0055] Figure 12 This is a schematic diagram of the monitoring process of the UAV in this invention.

[0056] In the diagram: 1. Hull; 2. Water quality sensor; 3. Rotating propeller; 4. Upper seat; 5. Storage compartment; 6. Lead screw; 7. Bidirectional motor; 8. First bevel gear; 9. Second bevel gear; 10. Crossbar; 11. Gear post; 12. Rack; 13. Fixed plate; 14. Chisel rod; 15. Moving column; 16. Movable rod; 17. Gear disk; 18. Electric motor; 19. Gear rack; 20. Slide plate; 21. Top plate; 22. Side block; 23. Connector 24. Rope; 25. Rotary drum; 26. Fixed rod; 27. Limiting ring; 28. First gear; 29. ​​Second gear; 30. Side plate; 31. Radar flow meter; 32. Mounting plate; 33. Slide rail; 34. Drive motor; 35. Reducer; 36. First synchronous pulley; 37. Synchronous belt; 38. Second synchronous pulley; 39. Crank; 40. Universal joint; 41. Sleeve plate; 42. Fixed tube; 43. Sliding column; 44. Cleaning float; 45. Moving groove. Detailed Implementation

[0057] The following are specific embodiments of the present invention, which are described in conjunction with the accompanying drawings. However, the present invention is not limited to these embodiments.

[0058] like Figures 1-12 As shown, a river water quality intelligent monitoring system based on remote sensing technology includes a satellite remote sensing module, a UAV remote sensing module, an upper-level gimbal module, and a ground water quality detection module. All modules are connected to a communication module. The communication module aggregates information to form a multi-source information fusion database (ground, air, and space), and transmits the analyzed data to the operating terminal via a data analysis module. Specifically, the satellite remote sensing module performs large-scale qualitative inversion monitoring of water quality, obtaining the overall trend of regional water quality, providing accurate and targeted data support for ground detection, significantly reducing the workload and cost of manual detection, and transmitting the data through the communication module. Communication is made to the database for analysis and diagnosis. Based on multi-source satellite remote sensing data, fused data is produced to compensate for the insufficient spatiotemporal resolution of single-source satellite remote sensing data, thereby ensuring the periodicity of water monitoring. The spatiotemporal fusion model is a commonly used remote sensing data fusion method. Its working principle is based on the stability of the spectral characteristics of ground objects. At the same time, the spectral characteristics of the same ground object in the images of satellite sensors with different resolutions should be highly similar. Therefore, it is possible to make inferences based on the variation relationship between the data and take the average of the results to eliminate random errors of different data, thereby improving the accuracy and scientific nature of the inference. The fusion results are then applied to the inversion of chlorophyll a concentration, suspended solids concentration and water surface temperature.

[0059] The UAV remote sensing module performs 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. The communication module transmits data to a database for analysis and diagnosis, providing accurate and targeted data support for ground-based detection. The UAV, equipped with a hyperspectral water quality probe, cruises to achieve real-time monitoring and pollution evidence collection in target areas. Monitoring results are displayed intuitively on a map in the form of a heat map, enabling real-time understanding of water quality status, trends, and pollution source tracing. The UAV, carrying a hyperspectral camera and combining it with an RGB camera, ambient light sensor, and level radar, acquires real-time hyperspectral reflectance data of river water at a height of 2-10 meters. Combined with the built-in water quality inversion algorithm model, it can generate multiple water quality parameters in real time, such as chlorophyll a, total nitrogen, total phosphorus, transparency, COD, turbidity, ammonia nitrogen, and suspended solids concentration, achieving non-contact, real-time online monitoring of water quality.

[0060] The high-altitude pan-tilt module continuously collects multi-element data on agricultural non-point source pollution in key monitoring areas. It utilizes intelligent video sensing to intelligently identify illegal activities and monitor and manage them, assisting in investigations, law enforcement, and maintenance. Through the communication module, it transmits data to the database for monitoring and early warning. By setting up the high-altitude pan-tilt module, poles and towers are erected. Through the management of people and vehicles entering and exiting, perimeter prevention, and patrol monitoring, it can provide early warning, in-process prevention, and post-event source tracing for illegal agricultural pollution activities such as fertilization, pesticide application, illegal land occupation for planting, aquaculture, outdoor barbecues, illegal fishing, and open-air camping. It enables intelligent and precise monitoring of human activities and pollution emissions in agricultural non-point source pollution.

[0061] The surface water quality monitoring module includes an automatic water quality monitoring station, a DGT (Digital Nitrogen and Phosphorus Detector) sensor, a hyperspectral water quality sensor, and an unmanned surface vessel (USV). During water quality monitoring and sampling, hydrological indicators are collected simultaneously, and the data is transmitted to a database via a communication module. Automatic water quality monitoring stations are set up at the lake inlet and central control point to monitor flow rate, water level, COD, total nitrogen, ammonia nitrogen, and total phosphorus. Furthermore, the use of the USV enables flow monitoring within the river, ensuring the continuity and accuracy of the data. The DGT sensor utilizes thin-film gradient diffusion technology for rapid detection and long-term monitoring of phosphate ions in the water.

[0062] The data analysis module utilizes artificial intelligence technology to integrate data, images, and video big data to achieve water quality analysis, pollution source analysis, automatic water quality early warning, agricultural input usage analysis, and engineering effectiveness analysis. Through electronic maps, big data analysis, and data visualization, the module displays the distribution of rivers, lakes, reservoirs, water stations, hyperspectral water quality monitoring points, and outfalls into rivers and lakes on a map. It provides a clear overview of the overall water quality situation and trends in the region, including the number of monitoring stations, equipment status, real-time water quality data, water levels, and water quality trends at key locations. This facilitates the display of water quality distribution in different spatial locations, allows for horizontal comparison of water pollution situations, and provides support for analyzing pollution source areas.

[0063] The operating terminals include a mobile APP, WeChat mini-program, PC system, and command screen, facilitating real-time water quality display, water pollution early warning, water quality temporal distribution, water quality spatial distribution, and non-point source pollution problem diagnosis. The terminals receive data and provide intelligent alarms for water pollution. When values ​​reported by water quality monitoring stations exceed limits, specific alarms are displayed for parameters including chlorophyll, total nitrogen, total phosphorus, transparency, COD, turbidity, algal density, ammonia nitrogen, phycocyanin, suspended solids concentration, eutrophication index, water level, water temperature, dissolved oxygen, pH, and conductivity. Abnormal values ​​and abnormal stations are prominently displayed. The terminals also display alarms for water level exceeding limits reported by water quality monitoring stations and push alarm information via the mobile APP and WeChat mini-program.

[0064] like Figures 1-12 As shown, the unmanned surface vessel (USV) includes a hull (1), a water quality sensor (2), a rotating propeller (3), an upper seat (4), a storage compartment (5), a lead screw (6), a bidirectional motor (7), a first bevel gear (8), a second bevel gear (9), a crossbar (10), a gear post (11), a rack (12), a fixed plate (13), a chisel (14), a moving column (15), a movable rod (16), a gear disk (17), an electric motor (18), a rack (19), a sliding plate (20), a top plate (21), side blocks (22), a connecting rope (23), a rotating drum (24), a fixed rod (25), a limiting ring (26), a first gear (27), a second gear (28), a side plate (29), and a radar current meter (3). 0. Mounting plate 31, slide rail 32, drive motor 33, reducer 34, first synchronous pulley 35, synchronous belt 36, second synchronous pulley 37, crank 38, universal joint 39, sleeve plate 40, fixed pipe 41, sliding column 42, cleaning float 43 and moving groove 44. A water quality sensor 2 is fixedly connected to the surface of the hull 1 to facilitate accurate water quality monitoring on the water surface. In order to achieve stable movement of the hull 1, multiple rotating paddles 3 are rotatably connected to both sides of the hull 1. The rotating paddles 3 are driven by a multi-directional rotating assembly.

[0065] Furthermore, an upper boat seat 4 is fixedly installed on the surface of the hull 1, and a storage compartment 5 is fixedly connected to the end of the upper boat seat 4 away from the water quality sensor 2. A fixed-ship flow measurement assembly is connected inside the upper boat seat 4. Specifically, the fixed-ship flow measurement assembly includes a lead screw 6, which is rotatably connected inside the upper boat seat 4. One end of the lead screw 6 is fixedly connected to the output end of a bidirectional motor 7, which is also fixedly installed inside the upper boat seat 4. A movable column 15 is connected to the outer wall of the lead screw 6 via a ball nut, and the movable column 15 is slidably connected above the upper boat seat 4. A slide rail 32 is provided on the surface of the upper boat seat 4 to accommodate the movement of the movable column 15. A radar flow meter 30 is connected to the top of the movable column 15 via a lifting and opening unit. One end of the lead screw 6 is fixedly connected to a... A first bevel gear 8 is connected to a second bevel gear 9, which is meshed on the surface of the first bevel gear 8. A crossbar 10 is fixedly connected inside the second bevel gear 9 and rotatably connected inside the upper ship seat 4. A gear column 11 is fixedly connected to the outer wall of the crossbar 10, and a rack 12 is meshed at the bottom end of the gear column 11. The rack 12 is slidably connected inside the upper ship seat 4, and a fixing plate 13 is fixedly connected to one end of the rack 12. Multiple chisels 14 are rotatably connected inside the fixing plate 13. With this arrangement, the rotation of the lead screw 6 causes the lead screw 6 to drive the moving column 15 to move on the surface of the upper ship seat 4, causing the moving column 15 to drive the radar flow meter 30 on the top out of the storage compartment 5. At the same time, the first bevel gear 8 is fixedly connected to one end of the lead screw 6. Under the meshing action of the first bevel gear 8 and the second bevel gear 9, the lead screw 6 drives the gear column 11 to rotate synchronously through the crossbar 10. By meshing the rack 12 at the bottom end of the gear column 11, the rack 12 drives the drill rod 14 on one side to extend outward through the fixing plate 13. The upper ship seat 4 is fixedly connected to the inside of the fixing tube 41, and the inner wall of the fixing tube 41 is provided with a threaded groove. The inner wall of the threaded groove is slidably connected to the sliding column 42, and the sliding column 42 is fixedly installed on the outer wall of the drill rod 14. The sliding column 42 is located inside the fixing plate 13. The outer wall of the drill rod 14 is fixedly connected to the spiral drill plate, which is located outside the fixing plate 13. Under the action of the sliding column 42 fixedly connected to the outer wall of the drill rod 14, and the sliding connection of the sliding column 42 in the inner wall of the threaded groove, When the fixed plate 13 moves the drill rod 14 outward, the other end of the drill rod 14 rotates on the inner wall of the fixed pipe 41 via the sliding column 42. This allows the drill rod 14 to be stably inserted into the river wall simultaneously through the rotating spiral drilling plate on the outer wall, ensuring the stability of the hull 1. This also achieves synchronous spiral drilling of the drill rod 14 as it moves outward, guaranteeing the insertion quality of the drill rod 14. Furthermore, the drill rod 14 can be spirally extended to fix the hull 1 to the riverbank, facilitating stable positioning of the hull 1 on the riverbank. The radar current meter 30 monitors the water flow velocity. The radar current meter 30 is made using the Doppler effect principle; when working, it emits electromagnetic waves into the water surface. These electromagnetic waves are scattered upon encountering the moving water surface, forming an echo.Because the received echo frequency deviates slightly from the transmitted frequency, the water surface velocity can be calculated using the Doppler frequency equation. A moving target will generate a low-frequency output signal on the radar sensor. For existing water quality measurement equipment, to achieve accurate operation of the radar current meter 30, the radar current meter 30 needs to be adjusted by 45°-60° at different heights.

[0066] To achieve synchronized angle opening and closing of the radar current meter 30 during height adjustment, a lifting and opening unit is connected to one side of the radar current meter 30. This unit includes a movable rod 16, which is rotatably connected inside a moving column 15. One end of the movable rod 16 is fixedly connected to the output end of an electric motor 18, which is fixedly connected to the outer wall of the moving column 15. A gear disk 17 is fixedly connected to the outer wall of the movable rod 16, and a gear rack 19 is meshed with the outer wall of the gear disk 17. The gear rack 19 is slidably connected inside the moving column 15, and a sliding plate 20 is fixedly connected to the bottom end of the gear rack 19, which is slidably connected to the moving column 15. A top plate 21 is fixedly connected to the top of the gear 19 on the inner wall of column 5. This arrangement allows the gear 19 to move stably inside the moving column 15 by rotating the gear disk 17. To achieve synchronization between the raising and lowering of the gear 19 and the opening and closing of the radar velocity meter 30 angle, side blocks 22 are fixedly connected to both sides of the bottom of the moving column 15. Connecting ropes 23 are fixedly connected to the surface of each side block 22. A rotating drum 24 is wound around the top of the connecting ropes 23. A fixing rod 25 is rotatably connected to the inner wall of the rotating drum 24 through a winding spring. The fixing rod 25 is fixedly installed above the top plate 21. Limiting rings 26 are fixedly connected to the outer walls of both sides of the top plate 21. A limiting ring 26 is fitted around the outer periphery of the connecting rope 23. This ensures the connecting rope 23 moves stably on both sides of the top plate 21 during winding and unwinding, guaranteeing the winding and unwinding effect of the connecting rope 23 as it rises and falls with the top plate 21. Simultaneously, a first gear 27 is fixedly connected to the outer wall of the rotating drum 24, and a second gear 28 is meshed with 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 flow meter 30 is fixedly mounted on the surface of the side plate 29. Mounting plates 31 are rotatably connected to both ends of the second gear 28, and the mounting plates 31 are fixedly connected to both sides of the top plate 21, respectively. At the bottom of the moving column 15, on both sides... The connecting rope 23 is fixedly installed. As the connecting rope 23 winds 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 simultaneously unwinds the connecting rope 23, causing the rotating drum 24 to rotate 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 perform synchronous angle adjustment through the side plate 29. This achieves synchronous angle opening of the radar velocity meter 30 when it rises, ensuring the monitoring accuracy of the radar velocity meter 30.

[0067] The multi-directional rotation assembly includes a drive motor 33, which 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 pulleys 35. Both first synchronous pulleys 35 are rotatably connected inside the hull 1. A synchronous belt 36 is meshed with the outer wall of each first synchronous pulley 35, and a second synchronous pulley 37 is meshed with the inner wall of the other side of the synchronous belt 36. The second synchronous pulley 37 is rotatably connected inside the hull 1. A crank 38 is fixedly connected to the surface of the second synchronous pulley 37, and a rotating propeller 3 is rotatably connected to the outer side of the crank 38. A universal joint 39 is fixedly connected to the outer wall of the rotating propeller 3, and a sleeve 40 is rotatably connected to the outer wall of the universal joint 39. The sleeve 40 is fixedly installed on the side wall of the hull 1. By setting the universal joint 39 in the middle of the rotating propeller 3, the rotational connection between the universal joint 39 and the sleeve 40 ensures that the crank 38 drives the rotating propeller 3 to rotate stably inside the hull 1, facilitating the rotation of the propeller. The 3-axis propulsion system provides stable drive to the hull 1. Furthermore, by using a universal ball joint to connect the crank 38 and the rotating propeller 3, the propeller 3 achieves a paddling effect, facilitating the unmanned vessel's movement and detection within the river. Simultaneously, the rotating propeller 3 is arranged in an equidistant spiral pattern, with a cleaning float 43 slidably connected inside each spiral groove. Each spiral groove's inner wall has a sliding groove 44 to accommodate the sliding of the cleaning float 43. Under the spiral action of the rotating propeller 3, water is easily guided during rotation, improving the propeller 3's driving effect on the hull 1. Moreover, by slidably connecting the cleaning float 43 to the inner wall of the spiral groove, the cleaning float 43 remains above the spiral groove under the buoyancy of the water when the rotating propeller 3 drives the spiral groove to paddle in the water. Through the sliding of the rotating propeller 3, the cleaning float 43 cleans the inner wall of the spiral groove at different positions above via the sliding groove 44, preventing debris and contaminants from entangled on the surface of the rotating propeller 3 and ensuring its effective operation.

[0068] The working principle of this invention is as follows: During use, satellite remote sensing is utilized, and a drone equipped with a hyperspectral water quality probe and automatic sampler, along with automatic water quality monitoring station equipment, aggregates information via 4G / 5G / NB-IoT / LoRa communication to construct a spatiotemporal database of agricultural non-point source pollution in a small watershed. This allows for the collection of the latest sensor data from water quality monitoring stations, including station name, reporting equipment, detection time, chlorophyll, total nitrogen, total phosphorus, transparency, COD, turbidity, algal density, ammonia nitrogen, phycocyanin, suspended solids concentration, eutrophication index, water level, water temperature, dissolved oxygen, pH, and conductivity. Then, data is collected by an unmanned surface vessel (USV). Specifically, by installing a water quality sensor 2 on the front surface of the USV, the vessel hull 1 can perform data collection within the river. Mobile monitoring ensures the comprehensiveness and accuracy of river water quality monitoring. During monitoring, the drive motor 33 drives the reducer 34 to rotate the synchronous belts 36 on both sides, causing multiple rotating propellers 3 to rotate on both sides of the hull 1, facilitating precise movement of the hull 1 on the water surface. To achieve precise monitoring of water flow velocity at a designated location, a fixed-ship flow measurement component is installed inside the unmanned vessel. The rotation of the bidirectional motor 7 causes the lead screw 6 to move the moving column 15 on the surface of the upper hull seat 4, which in turn causes the moving column 15 to move the radar current meter 30 on top out of the storage compartment 5. Simultaneously, by fixing a first bevel gear 8 to one end of the lead screw 6, the meshing action of the first bevel gear 8 and the second bevel gear 9 causes the lead screw 6 to move through the crossbar 1. The gear column 11 rotates synchronously. By meshing with the rack 12 at the bottom end of the gear column 11, the rack 12 drives the drill rod 14 on one side to extend outwards via the fixing plate 13. A sliding column 42 is fixedly connected to the outer wall of the drill rod 14. Under the sliding connection of the sliding column 42 within the threaded groove, the fixing plate 13 drives the drill rod 14 to move outwards. Simultaneously, the other end of the drill rod 14 rotates on the inner wall of the fixing pipe 41 via the sliding column 42. This causes the drill rod 14 to rotate synchronously as it moves through the fixing plate 13. This allows the drill rod 14 to fix the hull 1 to the riverbank via the rotating spiral drill plate on the outer wall. After the hull 1 is fixed, the moving column 15 extends synchronously to one side of the hull 1. This enables monitoring of water flow velocity at different heights. At this time, a gear disk 17 is rotatably connected inside the moving column 15. Through the meshing connection between the gear disk 17 and the rack 19, the rack 19 can drive the radar current meter 30 to adjust its height via the top plate 21. In order to achieve synchronous adjustment of the height and angle of the radar current meter 30, connecting ropes 23 are fixedly installed on both sides of the bottom of the moving column 15. With the connecting ropes 23 winding around the surface of the rotating drum 24, and the rotating drum 24 being installed on the outer wall of the fixed rod 25 by a winding spring, the rotating drum 24 synchronously unwinds the connecting ropes 23 when the top plate 21 rises, causing the rotating drum 24 to rotate on the outer wall of the fixed rod 25. A first gear 27 is fixedly connected to the outer wall of the rotating drum 24. With the meshing action of the first gear 27 and the second gear 28,This causes the second gear 28 to drive the radar current meter 30 to synchronize its angle via the side plate 29, achieving synchronized angle opening of the radar current meter 30 as it rises, thus ensuring the monitoring accuracy of the radar current meter 30. Through this setup, the communication module enables multi-source collaborative monitoring of river water quality from space, ground, and air, facilitating the fusion of data, images, and video big data using artificial intelligence technology. This allows for functions such as water quality analysis, pollution source analysis, automatic water quality early warning, agricultural input usage analysis, and engineering effectiveness analysis, as well as data delivery. This completes the working principle of the intelligent river water quality monitoring system based on remote sensing technology.

[0069] In summary, this invention achieves multi-source collaborative monitoring of river water quality by integrating satellite remote sensing modules, UAV remote sensing modules, high-altitude gimbal modules, and ground-based water quality detection modules. Furthermore, the unmanned vessel's fixed-ship flow measurement components enable mobile and fixed-point monitoring within the river. Simultaneously, by utilizing satellite remote sensing and UAVs, advanced and mature technologies for agricultural non-point source pollution satellite remote sensing and ground-based automatic monitoring are integrated, enabling water quality monitoring to progress from large-scale to microscopic detection. This achieves dynamic monitoring, tracking, and early warning of agricultural non-point source pollution, solving the technical problem that current intelligent river water quality monitoring cannot achieve comprehensive, all-weather river water quality monitoring, from large-scale to microscopic levels, combining point and surface monitoring.

[0070] The specific embodiments described herein are merely illustrative of the spirit of the invention. Those skilled in the art to which this invention pertains may make various modifications or additions to the described specific embodiments or use similar methods to substitute them, without departing from the spirit of the invention or exceeding the scope defined by the appended claims.

Claims

1. A river water quality intelligent monitoring system based on remote sensing technology, comprising a satellite remote sensing module, a UAV remote sensing module, an upper-level gimbal module, and a ground water quality detection module, characterized in that, The satellite remote sensing module, UAV remote sensing module, high-altitude gimbal module and ground water quality detection module are all connected to a communication module. The communication module aggregates information to form a multi-source information fusion database of ground, air and space, and transmits the analysis data to the operation terminal through the data analysis module. The satellite remote sensing module performs large-scale qualitative inversion monitoring of water quality, obtains the overall trend of regional water quality, provides accurate and targeted data support for ground detection, significantly reduces the workload and cost of manual detection, and communicates the data to the database for analysis and diagnosis through the communication module. The UAV remote sensing module performs 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. The data is also communicated to a 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 multi-element data on agricultural non-point source pollution in key monitoring areas, uses intelligent video sensing to intelligently identify illegal activities, and assists in investigation, law enforcement, and maintenance. The data is communicated 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 reactive nitrogen and phosphorus sensor, a hyperspectral water quality sensor, and an unmanned vessel. It collects hydrological indicators simultaneously during water quality monitoring and sampling, and transmits the data to the database through a communication module. The unmanned boat includes a hull (1), a water quality sensor (2) is fixedly connected to the surface of the hull (1), and multiple rotating propellers (3) are rotatably connected to both sides of the hull (1). The rotating propellers (3) are driven by a multi-directional rotating assembly. An upper boat seat (4) is fixedly installed on the surface of the hull (1), and a storage compartment (5) is fixedly connected to the end of the upper boat seat (4) away from the water quality sensor (2). A fixed boat flow measurement assembly is connected inside the upper boat seat (4). The fixed-ship flow measurement assembly includes a lead screw (6), which is rotatably connected to the inside of the upper ship seat (4). One end of the lead screw (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 lead screw (6) is connected to a movable column (15) through a ball nut, and the movable column (15) is slidably connected above the upper ship seat (4). The top of the movable column (15) is connected to a radar flow meter (30) through a lifting and opening unit. One end of the lead screw (6) is fixedly connected to a first bevel gear (8), and the surface of the first bevel gear (8) is meshed with a second bevel gear (9). The inside of the second bevel gear (9) is fixedly connected to a crossbar (10), and the crossbar (10) is rotatably connected to the inside of the upper ship seat (4). A gear column (11) is fixedly connected to the outer wall of the crossbar (10), and a rack (12) is meshed at the bottom end of the gear column (11). The rack (12) is slidably connected inside the upper seat (4). A fixing plate (13) is fixedly connected to one end of the rack (12), and multiple chisels (14) are rotatably connected inside the fixing plate (13).

2. The intelligent river water quality monitoring system based on remote sensing technology according to claim 1, characterized in that, The data analysis module utilizes artificial intelligence technology to integrate data, images, and video big data to achieve water quality analysis, pollution source analysis, automatic water quality early warning, agricultural input usage analysis, and engineering effectiveness analysis.

3. The intelligent river water quality monitoring system based on remote sensing technology according to claim 1, characterized in that, The operating terminal includes a mobile APP, a WeChat mini-program, a PC system, and a command screen, which facilitates real-time water quality display, water pollution early warning, water quality temporal distribution, water quality spatial distribution, and diagnosis of non-point source pollution problems.

4. The intelligent river water quality monitoring system based on remote sensing technology according to claim 1, characterized in that, The lifting and opening unit includes a movable rod (16), which is rotatably connected inside the moving column (15). One end of the movable rod (16) is fixedly connected to the output end of an electric motor (18), which is fixedly connected to the outer wall of the moving column (15). A gear disk (17) is fixedly connected to the outer wall of the movable rod (16), and a gear rod (19) is meshed with the outer wall of the gear disk (17). The gear rod (19) is slidably connected inside the moving column (15), and a top plate (21) is fixedly connected to the top of the gear rod (19). Side blocks (22) are fixedly connected to the bottom two sides of the movable column (15), and connecting ropes (23) are fixedly connected to the surface of the side blocks (22). A rotating drum (24) is wound around the top of the connecting ropes (23), and a fixed rod (25) is rotatably connected to the inner wall of the rotating drum (24) through a winding spring. The fixed rod (25) is fixedly installed above the top plate (21). The outer wall of the rotating drum (24) is fixedly connected to a first gear (27), and the outer wall of the first gear (27) is meshed with a second gear (28). The outer side of the second gear (28) is fixedly connected to a side plate (29), and a radar flow meter (30) is fixedly installed on the surface of the side plate (29).

5. The intelligent river water quality monitoring system based on remote sensing technology according to claim 4, characterized in that, Limiting rings (26) are fixedly connected to both outer walls of the top plate (21), and the limiting rings (26) are sleeved on the outer periphery of the connecting rope (23); The second gear (28) is rotatably connected to both ends of a mounting plate (31), and the mounting plate (31) is fixedly connected to both sides of the top plate (21).

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

7. The intelligent river water quality monitoring system based on remote sensing technology according to claim 1, characterized in that, The multi-directional rotation assembly includes 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 the reducer (34), and the output end of the reducer (34) is fixedly connected to two first synchronous pulleys (35). The first synchronous pulleys (35) are rotatably connected inside the hull (1). The outer wall of the first synchronous pulley (35) is engaged with a synchronous belt (36), and the inner wall of the other side of the synchronous belt (36) is engaged with a second synchronous pulley (37). The second synchronous pulley (37) is rotatably connected to the inside of the hull (1). A crank (38) is fixedly connected to the surface of the second synchronous pulley (37), and a rotating propeller (3) is rotatably connected to the outer side of the crank (38). A universal joint (39) is fixedly connected to the outer wall of the rotating propeller (3), and a sleeve plate (40) is rotatably connected to the outer wall of the universal joint (39). The sleeve plate (40) is fixedly installed on the side wall of the hull (1).

8. The intelligent river water quality monitoring system based on remote sensing technology according to claim 7, characterized in that, The rotating paddle (3) is arranged in an equidistant spiral shape. Each spiral groove is slidably connected to a cleaning float (43), and the inner wall of each spiral groove is provided with a moving groove (44) that can accommodate the sliding of the cleaning float (43).

9. The intelligent river water quality monitoring system based on remote sensing technology according to claim 1, characterized in that, The upper ship seat (4) is fixedly connected to a fixed tube (41), and the inner wall of the fixed tube (41) is provided with a threaded groove. The inner wall of the threaded groove is slidably connected to a sliding column (42), and the sliding column (42) is fixedly installed on the outer wall of the chisel (14). The sliding column (42) is located on the inner side of the fixed 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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