Intelligent unmanned ship for water quality monitoring

Abstract

The application 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 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, the driving structure and the electric control box are arranged on the ship body, the driving structure is used for driving the ship body to move, and the sensors are electrically connected with the electric control box.The intelligent unmanned ship for water quality monitoring can dive into water and monitor water quality in a specified area in real time, so that the water quality condition of the area is obtained, the efficiency of water quality monitoring is improved, and the monitoring coverage is also expanded.

Description

Technical Field

[0001] This invention relates to the field of environmental protection technology, and in particular to an intelligent unmanned vessel for water quality monitoring. Background Technology

[0002] Water quality monitoring is a crucial aspect of environmental protection, directly impacting human quality of life and the sustainable development of the ecological environment.

[0003] Traditional water quality monitoring methods mainly rely on manual sampling and laboratory analysis, or on single-point detection using buoys. However, these methods are time-consuming and costly, making it 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 this invention is to provide an intelligent unmanned vessel for water quality monitoring to solve the problems existing in the prior art. The unmanned vessel can submerge in the water and monitor the water quality in a designated area in real time to obtain the water quality status of the area. This not only improves the efficiency of water quality monitoring but also expands the monitoring coverage.

[0005] To achieve the above objectives, the present invention provides the following solution:

[0006] This invention provides an intelligent unmanned surface vessel for water quality monitoring, comprising: a hull, a drive structure, and an electronic control box. The hull has a symmetrical structure and is provided with several sensor interfaces for connecting sensors. The sensors are used to monitor water quality. The drive structure and the electronic control box are both located on the hull. The drive structure is used to drive the hull to move, and the sensors are electrically connected to the electronic control box.

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

[0008] Preferably, the hull includes a bow structure, an electrical control box support structure, two first oblique four-way connectors, two first straight pipes, and two first three-dimensional four-way connectors. The bow structure is located in front of the electrical control box support structure, which is used to house the electrical control box. The two first oblique four-way connectors, the two first straight pipes, and the two first three-dimensional four-way connectors are symmetrically arranged on both sides of the bow structure or the electrical control box support structure. The two first oblique four-way connectors are connected to the bow structure, and the two first three-dimensional four-way connectors are connected to the electrical control box support structure. The first oblique four-way connectors are also connected to the first straight pipes and the first three-dimensional four-way connectors.

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

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

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

[0012] Preferably, the first straight tube is used to house the battery.

[0013] Preferably, the electrical control box support structure is a three-way structure, the electrical control box is provided at the first interface of the electrical control box support structure, the second interface and the third interface of the electrical 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 electrical control box support structure.

[0014] Preferably, the two drive structures are symmetrically arranged at the stern of the hull. Each drive structure includes a motor and a propeller. The motor is connected to the propeller in a transmission manner, and a protective cover is provided on the outside of the propeller.

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

[0016] The present invention achieves the following technical effects compared to the prior art:

[0017] The intelligent unmanned vessel 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 vessel to submerge in the water and monitor the water quality in a designated area in real time, thereby obtaining the water quality status of the area. This not only improves the efficiency of water quality monitoring, but also expands the monitoring coverage. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is an isometric drawing of an intelligent unmanned vessel for water quality monitoring according to the present invention.

[0020] Figure 2 This is a top view of the intelligent unmanned vessel for water quality monitoring according to the present invention;

[0021] Figure 3 This is a side view of the intelligent unmanned vessel for water quality monitoring according to the present invention;

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

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

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

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

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

[0027] Figure 9 This is a schematic diagram of the electrical control box and its supporting structure according to the present invention.

[0028] In the diagram: 100 - Intelligent unmanned vessel for water quality monitoring; 1 - Electrical control box; 2 - Sensor; 3 - Head structure; 4 - Electrical control box support structure; 5 - First oblique four-way connector; 6 - First straight pipe; 7 - First three-dimensional four-way connector; 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 Implementation

[0029] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0030] The purpose of this invention is to provide an intelligent unmanned vessel for water quality monitoring to solve the problems existing in the prior art. The unmanned vessel can submerge in the water and monitor the water quality in a designated area in real time to obtain the water quality status of the area. This not only improves the efficiency of water quality monitoring but also expands the monitoring coverage.

[0031] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be 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 surface vessel 100 for water quality monitoring, including: a hull, a drive structure, and an electronic control box 1. The hull has a symmetrical structure and is equipped with several sensor interfaces 15 for connecting sensors 2. The sensors 2 are used to monitor water quality. The drive structure and the electronic control box 1 are both located on the hull. The drive structure is used to drive the hull movement, and the sensors 2 are electrically connected to the electronic control box 1. The intelligent unmanned surface vessel 100 for water quality monitoring in this embodiment can be equipped with multiple 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 surface vessel to submerge in water and monitor the water quality in a designated area in real time, obtaining the water quality status of that area. This not only improves the efficiency of water quality monitoring but also expands the monitoring coverage.

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

[0034] In this embodiment, the hull includes a bow structure 3, an electrical control box support structure 4, two first oblique four-way connectors 5, two first straight pipes 6, and two first three-dimensional four-way connectors 7. The bow structure 3 is located in front of the electrical control box support structure 4. The electrical control box support structure 4 is used to house the electrical control box 1. The two first oblique four-way connectors 5, the two first straight pipes 6, and the two first three-dimensional four-way connectors 7 are symmetrically arranged on both sides of the bow structure 3 or the electrical control box support structure 4. The two first oblique four-way connectors 5 are connected to the bow structure 3, and the two first three-dimensional four-way connectors 7 are connected to the electrical control box support structure 4. The first oblique four-way connectors 5 are also connected to the first straight pipes 6 and the first three-dimensional four-way connectors 7.

[0035] In this embodiment, the first port of the first oblique four-way connector 5 is provided with an inner cleaning port, and a waterproof ring is provided inside 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 cable 9 is provided at the through hole. One end of the SMA extension cable 9 on one side is connected to a Bluetooth 8. The Bluetooth 8 is electrically connected to the electronic control box 1. A waterproof cap 10 is provided on the outside of the Bluetooth 8. The waterproof cap 10 is connected to the inner cleaning port. One end of the SMA extension cable 9 on the other side is connected to an antenna. The second port of the first oblique four-way connector 5 is the inner cleaning port, and the second port of the first oblique four-way connector 5 is used to connect with... One end of the first straight pipe 6 is connected to a battery 12, and the other end of the first straight pipe 6 is equipped with a pipe cap 13. The battery 12 is used to power the structure that needs to be energized. The third port of the first oblique four-way 5 is connected to the first 135° bend 14. The first 135° bend 14 is connected to the first interface of the first three-dimensional four-way 7 through a straight pipe. The first bend 14 is equipped with a sensor interface 15. The specific structure of the sensor interface 15 is as follows: the first bend 14 is equipped with a perforated inspection cover 19, and the through hole of the inspection cover 19 is connected by a nut. A female connector is fixed, which connects to a male connector. The other end of the male connector is connected to a cable for connection to sensor 2. The fourth port of the first oblique four-way connector 5 is connected to one end of a 45° second elbow 16 via a straight pipe. The second elbow 16 is equipped with a sensor interface 15. The other ends of the two second elbows 16 are respectively connected to a 90° third elbow 17. The third elbow 17 is used to connect to the head structure 3 via a threaded connector 18. The second interface of the first three-dimensional four-way connector 7 is equipped with a sensor interface 15, and the third interface of the first three-dimensional four-way connector 7... The device is connected to the external cleaning port, which is equipped with an inspection cover 19 with a central hole. The third interface of the first three-dimensional four-way connector 7 is located at the tail of the device. The third interface of the first three-dimensional four-way connector 7 is used to install the motor 20 of the drive structure. The motor 20 is preferably a waterproof motor. The output shaft of the motor 20 is connected to the propeller 21 of the drive 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 connector 7 is used to connect to the electrical 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 drain outlet. The first interface of the head structure 3 is provided with an internal cleaning port, and the internal cleaning port is provided with an inspection cover 19 with a through hole. An SMA extension cable 9 is provided at the inspection cover 19. One end of the SMA extension cable 9 is connected to a GNSS receiving antenna 22. The GNSS receiving antenna 22 is used for positioning. The second interface of the head structure 3 is located at the front end of the device and is connected to a straight pipe. The cap 13 of the straight pipe is provided with two through holes, and a camera 23 and a searchlight 24 are respectively provided at the two through holes. The camera 23 is installed at the through hole with glue, and the searchlight 24 is threaded 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 electrical control box 1. The third interface of the head structure 3 is provided with an internal cleaning port, which can be used as a sensor interface 15. 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 control box support structure 4 is a three-way structure, specifically a tee pipe with a drain outlet. The first interface of the control box support structure 4 is connected to the control box 1 through a straight pipe. The control box 1 includes an upper cover and a lower cover, which are fastened together. The rear end of the upper cover has two holes. One hole is used to install a self-locking switch 25 to enable or disable the device. The other hole has a 6-pin aviation connector 26 on its outer side, which is connected to a female connector that is locked in the hole through a waterproof rubber ring. A cable is connected to the female connector, and the cable is connected to the core board and SOC board (System on...) in the control box 1. The chip (System-on-a-Chip), the baseboard circuit board, the GNSS receiving antenna board, and the 4G antenna board are electrically connected. The core board carries an MCU (Microcontroller Unit), which is responsible for providing system management capabilities (such as status management and fault monitoring), transmitting signals from related components (such as sensor 2, GNSS receiving antenna 22, etc.), and providing functional modules for hull drive (such as thrusters, lifting mechanisms for controlling the ship's surfacing and diving, etc.). The SOC is responsible for providing full-function prediction capabilities, including data access, calculation (sensor fusion control), and output of interaction and control commands for all prediction functions. The baseboard circuit board is responsible for providing interfaces for motor 20, sensor 2, etc. The second interface 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. The electric control box support structure 4 is also equipped with a sensor interface 15.

[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-cost and conducive to mass production. The hull of this embodiment is equipped with multiple sensor interfaces 15, which can accommodate different sensors 2, offering diverse functions. By replacing different sensors 2, it can adapt to various application scenarios of the unmanned surface vessel, making it suitable for 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 surface vessel 100 for water quality monitoring in this embodiment can be combined with various intelligent algorithms to achieve machine learning attitude recognition and classification. Based on the principles of inertial navigation and quaternion theory, algorithm functions are written to realize attitude calculation and digital twin. Based on the deep learning LSTM (Long Short-Term Memory) algorithm, it realizes multiple functions such as water quality prediction and early warning. Based on YOLOv5, it realizes real-time target detection. It uses MPC (Model Predictive Control) to realize autonomous navigation. Combined with the MCU+SOC dual computing platform, it realizes real-time monitoring of water body and parameters, hull motion control, attitude reconstruction, data reporting and command issuance. The device in 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 upgrading the version.

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

[0042] Specific examples have been used to illustrate the principles and implementation methods of this invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this invention. Furthermore, those skilled in the art will recognize that, based on the ideas of this invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this invention.

Claims

1. An intelligent unmanned surface vessel for water quality monitoring, characterized in that: The intelligent unmanned vessel for water quality monitoring is capable of submerging in water and includes: a hull, a drive structure, and an electronic control box. The hull has a symmetrical structure and is equipped with several sensor interfaces for connecting sensors. The sensors are used to monitor water quality. The drive structure and the electronic control box are both located on the hull. The drive structure is used to drive the hull to move, and the sensors are electrically connected to the electronic control box. The hull includes a bow structure, an electrical control box support structure, two first oblique four-way connectors, two first straight pipes, and two first three-dimensional four-way connectors. The bow structure is located in front of the electrical control box support structure, which is used to house the electrical control box. The two first oblique four-way connectors, the two first straight pipes, and the two first three-dimensional four-way connectors are symmetrically arranged on both sides of the bow structure or the electrical control box support structure. The two first oblique four-way connectors are connected to the bow structure, and the two first three-dimensional four-way connectors are connected to the electrical control box support structure. The first oblique four-way connectors are also connected to the first straight pipes and the first three-dimensional four-way connectors. The head structure is a tee pipe with a spout for smooth flow; 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, and the fourth interface of the first three-dimensional four-way is used to connect to the electrical control box support structure. The third port of the first oblique four-way is connected to the first interface of the first three-dimensional four-way through a first elbow. The fourth port of the first oblique four-way is connected to one end of a second elbow. The other ends of the two second elbows are respectively connected to a third elbow. The third elbow is used to connect to the head structure. The electrical control box support structure is a tee pipe with a drain outlet. The second and third interfaces of the electrical control box support structure are respectively connected to the fourth interface of the first three-dimensional four-way connector.

2. The intelligent unmanned vessel for water quality monitoring according to claim 1, characterized in that: The hull is made of PVC.

3. The intelligent unmanned vessel for water quality monitoring according to claim 1, characterized in that: A GNSS receiving antenna is provided at the first interface of the head structure, and 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 electronic control box. The third interface of the head structure is the sensor interface.

4. The intelligent unmanned vessel for water quality monitoring according to claim 1, 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 electronic control box. The second interface of the first stereo four-way is provided with the sensor interface, and the third interface of the first stereo four-way is used to set up the driving structure.

5. The intelligent unmanned vessel for water quality monitoring according to claim 4, characterized in that: The first elbow is provided with the sensor interface; the second elbow is provided with the sensor interface.

6. The intelligent unmanned vessel for water quality monitoring according to claim 1, characterized in that: The first straight tube is used to house the battery.

7. The intelligent unmanned vessel for water quality monitoring according to claim 1, characterized in that: The first interface of the electrical control box support structure is provided with the electrical control box, and the sensor interface is also provided on the electrical control box support structure.

8. The intelligent unmanned vessel for water quality monitoring according to claim 1, characterized in that: Two drive structures are symmetrically arranged at the stern of the hull. Each drive structure includes a motor and a propeller. The motor is connected to the propeller in a transmission manner, and a protective cover is provided on the outside of the propeller.

9. The intelligent unmanned vessel for water quality monitoring according to claim 1, characterized in that: The stern of the hull is equipped with a counterweight.

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