Intelligent unmanned ship for water quality monitoring

Abstract

The invention discloses an intelligent unmanned ship for water quality monitoring, and relates to the technical field of environmental protection, the intelligent unmanned ship comprises a ship body, a driving structure and an electric control box, the ship body is of a symmetrical structure, the ship body is provided with a plurality of sensor interfaces for connecting sensors, the sensors are used for monitoring water quality, and the driving structure is connected with the electric control box. The driving structure and the electric control box are both arranged on the boat body, the driving structure is used for driving the boat body to move, and the sensor is electrically connected with the electric control box. According to the intelligent unmanned ship for water quality monitoring, the unmanned ship can dive into water and monitor the water quality in real time in a designated area, the water quality condition of the area is obtained, the water quality monitoring efficiency is improved, and the monitoring coverage range is expanded.

Description

Technical Field

[0001] The present invention relates to the technical field of environmental protection, and in particular to an intelligent unmanned boat for water quality monitoring. Background Art

[0002] Water quality monitoring is an important part of environmental protection, directly related to the quality of human life and the sustainable development of the ecological environment. Globally, with the increase of population, industrial activities and agricultural irrigation, water pollution is becoming increasingly serious, leading to the deterioration of water quality in lakes, rivers and oceans; at the same time, with the development of fisheries, high-density aquaculture increases the biological load in the water, causing the accumulation of harmful substances such as ammonia, and real-time monitoring is needed to reduce the impact on fishery farming.

[0003] Traditional water quality monitoring methods mainly rely on manual sampling and laboratory analysis, or rely on buoys for single-point detection, but this method is time-consuming and costly, and it is difficult to meet the high-frequency, wide-range and real-time requirements of modern water quality monitoring. Therefore, there is an urgent need for an efficient monitoring method to obtain water quality data in a timely and accurate manner. Summary of the invention

[0004] The purpose of the present invention is to provide an intelligent unmanned boat for water quality monitoring to solve the problems existing in the above-mentioned prior art. The unmanned boat can dive into the water and monitor the water quality in a designated area in real time to obtain the water quality conditions in the area, which not only improves the efficiency of water quality monitoring, but also expands the monitoring coverage.

[0005] To achieve the above object, the present invention provides the following solutions:

[0006] The present invention provides an intelligent unmanned boat for water quality monitoring, comprising: a hull, a driving structure and an electric control box, wherein the hull is a symmetrical structure, the hull is provided with a plurality of sensor interfaces for connecting sensors, the sensors are used to monitor water quality, the driving structure and the electric control box are both arranged on the hull, the driving structure is used to drive the hull to move, and the sensors are electrically connected to the electric control box.

[0007] Preferably, the hull is a symmetrical structure and is made of PVC.

[0008] Preferably, the hull includes a head structure, an electric control box support structure, two first oblique four-way valves, two first straight tubes and two first three-dimensional four-way valves, the head structure is located at the front side of the electric control box support structure, the electric control box support structure is used to set the electric control box, the two first oblique four-way valves, two first straight tubes and two first three-dimensional four-way valves are symmetrically arranged on both sides of the head structure or the electric control box support structure, the two first oblique four-way valves are respectively connected to the head structure, the two first three-dimensional four-way valves are respectively connected to the electric control box support structure, and the first oblique four-way valve is also respectively connected to the first straight tube and the first three-dimensional four-way valve.

[0009] Preferably, the head structure is a three-way structure, a GNSS receiving antenna is provided at the first interface of the head structure, a camera and a searchlight are provided at the second interface of the head structure, the GNSS receiving antenna, the camera and the searchlight are all electrically connected to the electrical control box, and the third interface of the head structure is the sensor interface.

[0010] Preferably, the first port of the first oblique four-way is used to set up Bluetooth, and the Bluetooth is electrically connected to the electric control box. The second port of the first oblique four-way is used to connect to the first straight pipe. The third port of the first oblique four-way is used to connect to the first interface of the first three-dimensional four-way. The fourth port of the first oblique four-way is used to connect to the head structure. The second interface of the first three-dimensional four-way is provided with the sensor interface. The third interface of the first three-dimensional four-way is used to set up the driving structure. The fourth interface of the first three-dimensional four-way is used to connect to the support structure of the electric control box.

[0011] Preferably, the third port of the first oblique cross-way is connected to the first interface of the first three-dimensional cross-way through a first elbow, and the first elbow is provided with the sensor interface; the fourth port of the first oblique cross-way is connected to one end of the second elbow, and the second elbow is provided with the sensor interface, and the other ends of the two second elbows are respectively connected to the third elbow, and the third elbow is used to connect to the head structure.

[0012] Preferably, a battery is disposed inside the first straight tube.

[0013] Preferably, the electric control box support structure is a three-way structure, the electric control box is provided at the first interface of the electric control box support structure, the second interface of the electric control box support structure and the third interface of the electric control box support structure are respectively connected to the fourth interface of the first three-dimensional four-way structure, and the sensor interface is also provided on the electric control box support structure.

[0014] Preferably, the two driving structures are symmetrically arranged at the tail of the hull, and the driving structure includes a motor and a propeller. The motor is drivingly connected to the propeller, and a protective cover is arranged on the outer side of the propeller.

[0015] Preferably, a counterweight is provided at the rear of the hull.

[0016] Compared with the prior art, the present invention has achieved the following technical effects:

[0017] The intelligent unmanned boat for water quality monitoring of the present invention can be equipped with multiple different sensors as needed to monitor different parameters of water quality. The present invention enables the unmanned boat to dive into the water and monitor the water quality in a designated area in real time to obtain the water quality conditions in the area, which not only improves the efficiency of water quality monitoring, but also expands the monitoring coverage. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 An axonometric diagram of an intelligent unmanned boat for water quality monitoring according to the present invention;

[0020] Figure 2 A top view of the intelligent unmanned boat for water quality monitoring of the present invention;

[0021] Figure 3 A side view of the intelligent unmanned boat for water quality monitoring of the present invention;

[0022] Figure 4 It is a schematic diagram of the structure of both sides of the hull of the present invention;

[0023] Figure 5 It is a schematic diagram of the Bluetooth and SMA extension cable of the present invention;

[0024] Figure 6 It is a schematic diagram of the driving structure of the present invention;

[0025] Figure 7 It is a schematic diagram of the first straight tube and battery of the present invention;

[0026] Figure 8 It is a schematic diagram of the head structure of the present invention;

[0027] Fig. 9 It is a schematic diagram of the electric control box and the electric control box supporting structure of the present invention;

[0028] In the figure: 100-intelligent unmanned boat for water quality monitoring, 1-electric control box, 2-sensor, 3-head structure, 4-electric control box support structure, 5-first oblique four-way, 6-first straight pipe, 7-first three-dimensional four-way, 8-Bluetooth, 9-SMA extension cable, 10-waterproof cap, 11-counterweight, 12-battery, 13-pipe cap, 14-first elbow, 15-sensor interface, 16-second elbow, 17-third elbow, 18-connector, 19-inspection cover, 20-motor, 21-propeller, 22-GNSS receiving antenna, 23-camera, 24-searchlight, 25-self-locking switch, 26-aviation plug, 27-protective cover. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0030] The purpose of the present invention is to provide an intelligent unmanned boat for water quality monitoring to solve the problems existing in the above-mentioned prior art. The unmanned boat can dive into the water and monitor the water quality in a designated area in real time to obtain the water quality conditions in the area, which not only improves the efficiency of water quality monitoring, but also expands the monitoring coverage.

[0031] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0032] like Figures 1 to 9 As shown, this embodiment provides an intelligent unmanned boat 100 for water quality monitoring, including: a hull, a driving structure and an electric control box 1. The hull is a symmetrical structure. The hull is provided with a plurality of sensor interfaces 15 for connecting sensors 2. The sensors 2 are used to monitor water quality. The driving structure and the electric control box 1 are both provided on the hull. The driving structure is used to drive the hull to move. The sensors 2 are electrically connected to the electric control box 1. The intelligent unmanned boat 100 for water quality monitoring of this embodiment can be provided with a plurality of different sensors 2 as needed to monitor different parameters of water quality. The sensors 2 can be dissolved oxygen sensors, pH sensors, temperature sensors, turbidity sensors, and chlorophyll sensors. This embodiment enables the unmanned boat to dive into the water and monitor the water quality in a designated area in real time to obtain the water quality of the area, which not only improves the efficiency of water quality monitoring, but also expands the monitoring coverage.

[0033] Specifically, in this embodiment, the hull is a symmetrical structure, and the hull is made of PVC.

[0034] In this embodiment, the hull includes a head structure 3, an electric control box support structure 4, two first oblique four-way valves 5, two first straight tubes 6 and two first three-dimensional four-way valves 7. The head structure 3 is located at the front side of the electric control box support structure 4. The electric control box support structure 4 is used to set the electric control box 1. The two first oblique four-way valves 5, the two first straight tubes 6 and the two first three-dimensional four-way valves 7 are symmetrically arranged on both sides of the head structure 3 or the electric control box support structure 4, respectively. The two first oblique four-way valves 5 are respectively connected to the head structure 3, the two first three-dimensional four-way valves 7 are respectively connected to the electric control box support structure 4, and the first oblique four-way valve 5 is also respectively connected to the first straight tube 6 and the first three-dimensional four-way valve 7.

[0035] In this embodiment, the first port of the first oblique cross-way 5 is provided with an inner cleaning port, a waterproof ring is provided in the inner cleaning port, the inner cleaning port is connected to an inspection cover 19 with a through hole in the middle, an SMA extension line 9 is provided at the through hole, one end of the SMA extension line 9 on one side is connected to the Bluetooth 8, the Bluetooth 8 is electrically connected to the electric control box 1, a waterproof cap 10 is provided on the outer side of the Bluetooth 8, the waterproof cap 10 is connected to the inner cleaning port, and one end of the SMA extension line 9 on the other side is connected to the antenna; the second port of the first oblique cross-way 5 is the inner cleaning port, and the second port of the first oblique cross-way 5 is used to connect to the One end of the first straight tube 6 is connected, a battery 12 is arranged in the first straight tube 6, a tube cap 13 is arranged at the other end of the first straight tube 6, the battery 12 is used to power the structure that needs to be powered, the third port of the first oblique cross 5 is connected to the 135° first elbow 14, the 135° first elbow 14 is connected to the first interface of the first three-dimensional cross 7 through a straight tube, the first elbow 14 is provided with a sensor interface 15, and the specific structure of the sensor interface 15 is as follows: an inspection cover 19 with a hole is arranged at the first elbow 14, and a nut is passed through the through hole of the inspection cover 19 A female head is fixed, the female head is connected to the male head of the aviation plug, the other end of the male head of the aviation plug is connected to the cable, and the cable is used to connect to the sensor 2. The fourth port of the first oblique cross 5 is connected to one end of the second elbow 16 of 45° through a straight pipe, and the second elbow 16 is provided with a sensor interface 15. The other ends of the two second elbows 16 are respectively connected to the third elbows 17 of 90°, and the third elbow 17 is used to connect to the head structure 3 through a connector 18 with a thread. The second interface of the first three-dimensional cross 7 is provided with a sensor interface 15, and the third interface of the first three-dimensional cross 7 It is connected to the external cleaning port, and the external cleaning port is provided with an inspection cover 19 with a hole in the middle. The third interface of the first three-dimensional four-way 7 is located at the tail of the device. The third interface of the first three-dimensional four-way 7 is used to set the motor 20 of the driving structure. The motor 20 is preferably a waterproof motor. The output shaft of the motor 20 is connected to the propeller 21 of the driving structure through a coupling. The coupling passes through the through hole on the inspection cover 19. The two sides of the propeller 21 are fixed by nuts. A protective cover 27 is provided on the outside of the propeller 21. The fourth interface of the first three-dimensional four-way 7 is used to connect to the electric control box support structure 4.

[0036] In this embodiment, the head structure 3 is a three-way structure, specifically a three-way pipe with a water-flowing port. An internal cleaning port is provided at the first interface of the head structure 3, and an inspection cover 19 with a through hole is provided at the internal cleaning port. An SMA extension line 9 is provided at the inspection cover 19, and one end of the SMA extension line 9 is connected to a GNSS receiving antenna 22, which is used to achieve positioning. The second interface of the head structure 3 is located at the front end of the device, and the second interface of the head structure 3 is connected to a straight pipe. Two through holes are provided at the pipe cap 13 of the straight pipe, and a camera 23 and a searchlight 24 are respectively provided at the two through holes. The camera 23 is set at the through hole by glue, and the searchlight 24 is threadedly connected to the through hole and locked with a nut. The GNSS receiving antenna 22, the camera 23 and the searchlight 24 are all electrically connected to the electric control box 1, and the third interface of the head structure 3 is provided with an internal cleaning port, which can be used as a sensor interface 15, and a waterproof ring is provided at the internal cleaning port, and the internal cleaning port is closed by the inspection cover 19.

[0037] In this embodiment, the electric control box support structure 4 is a three-way structure, specifically a three-way pipe with a water-flowing port. The first interface of the electric control box support structure 4 is connected to the electric control box 1 through a straight pipe. The electric control box 1 includes an upper cover and a lower cover, and the upper cover is tightly closed with the lower cover. The rear end of the upper cover is provided with two holes, one hole is used to set a self-locking switch 25 for turning on or off the machine, and the outside of the other hole is a 6-core aviation plug 26, which is connected to the female head stuck in the hole through a waterproof rubber ring. The female head is connected with a cable, and the cable is connected to the core board and SOC board (System on Chip, system on chip), bottom board circuit board, GNSS receiving antenna board, and 4G antenna board are electrically connected. The core board is loaded with MCU (Microcontroller Unit). MCU is responsible for providing system management capabilities (such as status management, fault monitoring, etc.), transmitting signals of related parts (such as sensor 2, GNSS receiving antenna 22, etc.) and functional modules of hull drive (such as thrusters, lifting mechanisms for controlling surfacing and diving on the ship, etc.). SOC is responsible for providing full-function prediction functions, including data access, calculation (perception fusion control) and output of interaction and control instructions for all prediction functions. The bottom board circuit board is responsible for providing interfaces for motor 20, sensor 2, etc. The second interface of the electric control box support structure 4 and the third interface of the electric control box support structure 4 are respectively connected to the fourth interface of the first three-dimensional four-way 7. A sensor interface 15 is also provided on the electric control box support structure 4.

[0038] In this embodiment, a counterweight 11 is provided at the rear of the hull to balance the overall structure.

[0039] The hull of this embodiment is made of PVC pipes, which is low in cost and conducive to large-scale production. The hull of this embodiment is provided with multiple sensor interfaces 15, which can be provided with different sensors 2, and has various functions. By replacing different sensors 2, it can adapt to the application scenarios of unmanned ships and has a wide range of applications. Positioning can be achieved through the GNSS receiving antenna 22, and video monitoring can be achieved through the camera 23.

[0040] The intelligent unmanned boat 100 for water quality monitoring of this embodiment can be combined with a variety of intelligent algorithms to realize machine learning posture recognition and classification, write algorithm functions based on inertial navigation principles and quaternion theory to realize posture solution and digital twins, and realize water quality prediction, early warning and other functions based on deep learning LSTM (Long Short-Term Memory) algorithm. Real-time target detection is achieved based on YOLOv5, and autonomous cruising is achieved using MPC (Model Predictive Control). Combined with the MCU+SOC dual computing platform, real-time monitoring of water bodies and parameters, hull motion control, posture reconstruction, data reporting and command issuance can be realized; the device of this embodiment can also be equipped with OTA Over-The-Air Technology to realize remote upgrades, and the hull does not need to be recalled when the version is upgraded.

[0041] The intelligent unmanned boat 100 for water quality monitoring of this embodiment can be used to combine multiple technologies such as autonomous navigation, water quality data collection, edge computing, remote communication upgrades, data prediction and early warning, etc., which can not only realize the precise positioning and path navigation of the unmanned boat, but also perform real-time data processing and analysis through edge computing technology, thereby improving the real-time and stability of the system. At the same time, through data transmission, it can maintain the continuity and accuracy of data in complex water environments.

[0042] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only used to help understand the method and core ideas of the present invention. At the same time, for those skilled in the art, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. An intelligent unmanned boat for water quality monitoring, characterized in that: include: A hull, a driving structure and an electric control box, wherein the hull is a symmetrical structure, the hull is provided with a plurality of sensor interfaces for connecting sensors, the sensors are used to monitor water quality, the driving structure and the electric control box are both arranged on the hull, the driving structure is used to drive the hull to move, and the sensors are electrically connected to the electric control box.

2. The intelligent unmanned boat for water quality monitoring according to claim 1 is characterized in that: The hull is a symmetrical structure and is made of PVC.

3. The intelligent unmanned boat for water quality monitoring according to claim 1 is characterized in that: The hull includes a head structure, an electric control box support structure, two first oblique four-way valves, two first straight tubes and two first three-dimensional four-way valves. The head structure is located at the front side of the electric control box support structure, and the electric control box support structure is used to set the electric control box. The two first oblique four-way valves, two first straight tubes and two first three-dimensional four-way valves are symmetrically arranged on both sides of the head structure or the electric control box support structure, respectively. The two first oblique four-way valves are respectively connected to the head structure, the two first three-dimensional four-way valves are respectively connected to the electric control box support structure, and the first oblique four-way valve is also respectively connected to the first straight tube and the first three-dimensional four-way valve.

4. The intelligent unmanned boat for water quality monitoring according to claim 3 is characterized in that: The head structure is a three-way structure, a GNSS receiving antenna is arranged at the first interface of the head structure, a camera and a searchlight are arranged at the second interface of the head structure, the GNSS receiving antenna, the camera and the searchlight are all electrically connected to the electrical control box, and the third interface of the head structure is the sensor interface.

5. The intelligent unmanned boat for water quality monitoring according to claim 3 is characterized in that: The first port of the first oblique four-way is used to set up Bluetooth, and the Bluetooth is electrically connected to the electric control box. The second port of the first oblique four-way is used to connect to the first straight pipe. The third port of the first oblique four-way is used to connect to the first interface of the first three-dimensional four-way. The fourth port of the first oblique four-way is used to connect to the head structure. The second interface of the first three-dimensional four-way is provided with the sensor interface. The third interface of the first three-dimensional four-way is used to set up the driving structure. The fourth interface of the first three-dimensional four-way is used to connect to the support structure of the electric control box.

6. The intelligent unmanned boat for water quality monitoring according to claim 5 is characterized in that: The third port of the first oblique cross-way is connected to the first interface of the first three-dimensional cross-way through a first elbow, and the first elbow is provided with the sensor interface; the fourth port of the first oblique cross-way is connected to one end of the second elbow, and the second elbow is provided with the sensor interface, and the other ends of the two second elbows are respectively connected to the third elbow, and the third elbow is used to connect to the head structure.

7. The intelligent unmanned boat for water quality monitoring according to claim 3 is characterized in that: The first straight tube is used to arrange a battery.

8. The intelligent unmanned boat for water quality monitoring according to claim 3 is characterized in that: The electric control box support structure is a three-way structure, the electric control box is provided at the first interface of the electric control box support structure, the second interface of the electric control box support structure and the third interface of the electric control box support structure are respectively connected to the fourth interface of the first three-dimensional four-way structure, and the sensor interface is also provided on the electric control box support structure.

9. The intelligent unmanned boat for water quality monitoring according to claim 1, characterized in that: The two driving structures are symmetrically arranged at the tail of the hull, and the driving structure comprises a motor and a propeller. The motor is drivingly connected to the propeller, and a protective cover is arranged on the outer side of the propeller.

10. The intelligent unmanned boat for water quality monitoring according to claim 1, characterized in that: A counterweight is arranged at the rear of the hull.

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