Intelligent water quality real-time monitoring and early warning unmanned ship and unmanned ship system

Abstract

The invention discloses an intelligent water quality real-time monitoring and early warning unmanned ship and an unmanned ship system, and relates to the field of water quality monitoring and unmanned ships, and the unmanned ship adopts a modular structure and comprises a cabin which is internally provided with a GNSS module, a communication module and a main control module; the double ship bodies are fixed to the two sides of the cabin respectively, and lithium battery packs used for storing energy and supplying power are arranged in the two ship bodies; the top plate is fixed on the top surface of the cabin, and a GNSS antenna, an environment sensing module and a solar panel for converting solar energy into electric energy to assist power supply are arranged on the top plate; the two propellers are fixed to the two sides of the rear portion of the bottom of the cabin respectively and used for providing power for the unmanned ship. The lifting mechanism is arranged in the cabin, carries a water quality monitoring module and is used for driving the water quality monitoring module to ascend and descend. The system realizes the functions of water quality real-time monitoring, environment perception, automatic obstacle avoidance and the like, and has the advantages of modular design, high intelligent level and wide application scenarios.

Description

Technical Field

[0001] The present invention relates to the field of water quality monitoring and unmanned boats, and in particular to an intelligent water quality real-time monitoring and early warning unmanned boat and an unmanned boat system that combine artificial intelligence technology, an Internet of Things sensor system, and real-time analysis of water quality data. Background Art

[0002] With the intensification of industrialization, urbanization and agricultural activities, water pollution is becoming increasingly serious. Traditional water quality monitoring methods can no longer meet the needs of real-time and large-scale monitoring. At present, water quality monitoring mainly relies on fixed monitoring points and manual on-site sampling, and then sends it to the laboratory for analysis. This method has the disadvantages of cumbersome operation, high labor cost, large sampling error, inability to reflect the pollution changes in real time, and lag, which makes it difficult to meet the needs of timely and effective management of water quality.

[0003] In recent years, with the development of unmanned driving technology, unmanned water quality monitoring boats (referred to as unmanned boats) and mobile devices have gradually been applied to the field of water quality monitoring. The development of unmanned boats not only effectively solves the limitations of traditional water quality monitoring methods, greatly reduces monitoring costs, but also provides efficient, accurate and intelligent solutions for water environment protection. However, there are still many problems and shortcomings in the actual application of current unmanned boats, mainly including:

[0004] 1. Inconvenient maintenance: The bottom of the unmanned boat is tightly fixed to the upper hull, which makes installation and disassembly difficult, resulting in high maintenance costs.

[0005] 2. Energy limitations: Unmanned boats mainly rely on city electricity, which makes charging inconvenient and has limited endurance, making it difficult to meet long-term monitoring needs.

[0006] 3. Navigation limitations: Currently, GPS and Beidou systems are mainly used for positioning and navigation, and there is insufficient support for other global positioning systems, which limits the global promotion and application. In addition, when the GPS and Beidou signals are poor, the unmanned ship may lose its positioning target, increasing the risk of collision.

[0007] 4. High obstacle avoidance cost: Unmanned ships usually use lidar as the main obstacle avoidance technology, but the high cost of lidar limits the popularization and application of the equipment.

[0008] 5. Insufficient environmental perception: Unmanned ships lack the ability to fully monitor the surrounding environment and an alarm system for abnormal behavior.

[0009] 6. Single monitoring indicators: There are few types of sensors and limited detection indicators, which cannot fully reflect complex water quality conditions.

[0010] 7. Insufficient early warning function: Unmanned boats lack the ability to predict and warn of water quality data and cannot detect potential risks in advance.

[0011] 8. Remote control defects: Due to the lack of remote real-time monitoring and control, users cannot control the operating status of the unmanned boat at any time.

[0012] 9. Lack of route planning: Lack of remote real-time route planning function affects monitoring efficiency.

[0013] 10. Lack of protection device for the sensor: When the detection probe is protected by a device that raises and lowers the detection sleeve through a water pump, water hammer phenomenon is prone to occur due to unstable water pressure, and long-term exposure to water pressure will cause damage to the detection sleeve. Summary of the invention

[0014] The present invention provides an intelligent water quality real-time monitoring and early warning unmanned boat and an unmanned boat system to solve the above-mentioned deficiencies in the functions and performances of the existing water quality monitoring technology and provide reliable support for water environment protection and water resources management.

[0015] The present invention provides an intelligent unmanned boat for real-time monitoring and early warning of water quality, the unmanned boat adopts a modular structure, including: a cabin, in which a GNSS module, a communication module and a main control module are arranged; two hulls are respectively fixed on both sides of the cabin, and lithium battery packs for energy storage and power supply are arranged inside the two hulls; a top plate is fixed on the top surface of the cabin, on which a GNSS antenna, an environmental perception module and a solar panel for converting solar energy into electrical energy for auxiliary power supply are arranged; two thrusters are respectively fixed on both sides of the rear bottom of the cabin, for providing power for the unmanned boat; a lifting mechanism is arranged inside the cabin and equipped with a water quality monitoring module, for driving the water quality monitoring module to rise and fall; wherein the real-time monitoring and early warning of water quality of the unmanned boat includes: the GNSS module receives satellite signals through the GNSS antenna, determines the current position of the unmanned boat according to the satellite signals and LBS base station data, and determines the navigation path and the heading angle and course angle according to the current position of the unmanned boat and the target position of the unmanned boat. distance; the main control module controls the two propellers to drive the unmanned boat to move toward the target position along the navigation path according to the heading angle and distance determined by the GNSS module; the environmental perception module senses the surrounding environment of the unmanned boat during navigation to identify obstacles in the navigation path; the GNSS module dynamically adjusts the navigation path when the environmental perception module identifies an obstacle, and re-determines the heading angle and distance according to the adjusted navigation path, so that the unmanned boat moves toward the target position while bypassing the obstacle; after the unmanned boat reaches the target position, the main control module sinks the water quality monitoring module into the water body through the lifting mechanism, so that the water quality monitoring module collects water quality data of the water area where the unmanned boat is located, and returns the water quality monitoring module to its position to protect the water quality monitoring module after the water quality monitoring module completes the collection; the main control module performs real-time analysis, prediction and early warning on the water quality data collected by the water quality monitoring module, and sends the analysis, prediction and early warning results to the remote control center through the communication module.

[0016] Preferably, the hull and the cabin are fixedly connected via a hull-cabin connecting mechanism, wherein the hull-cabin connecting mechanism comprises a hull-cabin connecting screw and a hull-cabin connecting nut embedded in the hull.

[0017] Preferably, the cabin and the top plate are fixedly connected by top plate fastening screws and a connecting buckle mechanism, wherein the connecting buckle mechanism includes a buckle hook fixed on the top plate and a buckle fixed on the cabin.

[0018] Preferably, the lithium battery pack is enclosed inside the hull by a battery compartment cover, wherein the battery compartment cover is fixedly connected to the hull by cooperation between a battery compartment cover fastening screw and a nut embedded in the hull.

[0019] Preferably, the propeller is fixed to the cabin via a propeller connecting mechanism, wherein the propeller connecting mechanism comprises a propeller connecting screw and a propeller connecting nut.

[0020] Preferably, the lifting mechanism comprises: a guide rail, which is fixed on the inner wall of the cabin; a guide rail locking block, which is fixedly mounted on the guide rail, and its installation position on the guide rail can be adjusted by a locking screw of the locking block; a stepper motor, which is used to realize the lifting function of the water quality monitoring module by rotating the motor; a stepper motor brake, which is used to lock the stepper motor when the power supply is stopped to prevent the stepper motor from rotating abnormally; a stepper motor bracket, which is fixed on the guide rail locking block by screws and is used to install the stepper motor brake and the stepper motor; a screw rod, which is used to rotate when driven by the stepper motor; a screw nut, which is used to cooperate with the screw rod to convert the rotational motion of the stepper motor into the linear motion of the screw nut along the screw rod; a water quality monitoring module, which comprises a sensor box for placing various sensors and a sensor box cover covering the sensor box, wherein the sensor box cover is fixedly connected to the screw nut to adjust the lifting and lowering of the sensor box; a screw limit block, which is used to prevent the screw nut from falling off the screw rod.

[0021] Preferably, the various sensors placed in the sensor box respectively monitor more than 30 water quality indicators including dissolved oxygen, pH value, conductivity, turbidity, and ammonia nitrogen for selection.

[0022] Preferably, the environmental perception module includes: a camera arranged on the top plate, used to collect images of the surrounding environment of the unmanned ship during navigation; an infrared transceiver arranged on the top plate, used to transmit infrared signals and receive reflected signals; wherein, the main control module identifies obstacles in the navigation path from the surrounding environment images through an object recognition model to achieve visual obstacle avoidance, and / or detects obstacles in the navigation path by analyzing the infrared signals and the reflected signals to achieve infrared obstacle avoidance.

[0023] Preferably, the main control module is also used to analyze the surrounding environment image through the object recognition model, identify abnormal conditions at the location of the unmanned ship, and send the surrounding environment image and the abnormal conditions to the remote control center through the communication module, or send the surrounding environment image, the abnormal conditions and early warning information generated based on the abnormal conditions to the remote control center through the communication module.

[0024] Preferably, the GNSS module supports more than two satellite positioning systems and LBS base station positioning systems.

[0025] Preferably, the main control module uses a water quality prediction model to predict the water quality trend based on the water quality data collected by the water quality monitoring module, so as to issue an early warning based on the predicted water quality trend.

[0026] Preferably, the main control module controls the speed and direction of the two propellers by outputting PWM signals to the two propellers.

[0027] Preferably, the unmanned ship also includes a navigation control system for communicating with a mobile APP and / or a cloud system service platform of a remote control center to achieve remote control and intelligent navigation of the unmanned ship.

[0028] Preferably, the unmanned boat further comprises a plurality of warning lights evenly distributed around the edges of the top plate.

[0029] The present invention also provides an unmanned boat system, which includes the above-mentioned intelligent water quality real-time monitoring and early warning unmanned boat and a remote control center for remotely controlling and intelligently navigating the intelligent water quality real-time monitoring and early warning unmanned boat.

[0030] The intelligent water quality real-time monitoring and early warning unmanned boat and unmanned boat system provided by the present invention have the following beneficial effects:

[0031] 1. The modular design facilitates the installation, disassembly and maintenance of the structures of the unmanned boat, reduces the maintenance cost of the unmanned boat, and improves the reliability and durability of the unmanned boat;

[0032] 2. The introduction of solar panels for auxiliary power supply enhances the endurance of the unmanned ship, effectively solving the problems of short endurance and inconvenient charging of traditional equipment, enabling the unmanned ship to work stably for a long time and meet the monitoring needs of multiple scenarios;

[0033] 3. The GNSS module compatible with multiple international positioning systems is used to enhance navigation accuracy and stability. When the signal is poor, the possibility of the unmanned ship losing the positioning target is reduced, and the operation risk of the unmanned ship when the signal is poor is reduced. In addition, the technical barriers to the global application of existing unmanned ships are solved, laying the foundation for the global promotion of water quality monitoring technology;

[0034] 4. The use of lower-cost but more reliable visual obstacle avoidance and / or infrared obstacle avoidance technology improves the economy and popularity of unmanned ships;

[0035] 5. Use cameras to fully monitor the surrounding environment, and identify anomalies in the surrounding environment through object recognition models, so that abnormal conditions can be promptly alarmed;

[0036] 6. The water quality monitoring module integrates a variety of high-precision sensors, which can comprehensively monitor more than 30 water quality indicators including dissolved oxygen, pH value, conductivity, turbidity, ammonia nitrogen, etc. You can also select any combination of water quality indicators you need from more than 30 water quality indicators to provide comprehensive data support for environmental evaluation of complex waters;

[0037] 7. Through real-time monitoring of multiple water quality parameters in the water area, abnormal changes can be discovered in time, so as to send early warning signals to users in time, providing a basis for water quality management and decision-making. In addition, it is equipped with artificial intelligence algorithm models including water quality prediction models to support real-time analysis and prediction of water quality parameter data;

[0038] 8. Users can remotely monitor the unmanned boat through the mobile APP and / or cloud system service platform, so as to grasp the status and monitoring results of the unmanned boat at any time and optimize the intelligent level of water quality management;

[0039] 9. With more flexible and reliable route planning and autonomous obstacle avoidance capabilities, unmanned boats can cover a wide range of waters, significantly improve the efficiency and coverage of water quality monitoring, and adapt to a variety of complex water environments, such as lakes, rivers, reservoirs, etc., improving the practicality of unmanned boats in multiple scenarios;

[0040] 10. Design a lifting mechanism that can safely and effectively protect the sensor, ensure the safety of the sensor in complex water environments, and extend the service life of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 This is the structural diagram of the intelligent unmanned boat for real-time monitoring and early warning of water quality;

[0042] Figure 2 This is a top view of the intelligent water quality real-time monitoring and early warning unmanned boat;

[0043] Figure 3a It is a diagram of the buckle mechanism connecting the top plate and the cabin of the intelligent water quality real-time monitoring and early warning unmanned boat;

[0044] Figure 3b yes Figure 3a An enlarged view of the middle connection buckle mechanism 15;

[0045] Figure 4a This is the propeller structure diagram of the intelligent water quality real-time monitoring and early warning unmanned boat;

[0046] Figure 4b yes Figure 4a an enlarged view of the middle thruster connection mechanism 18;

[0047] Figure 5 yes Figure 1 and Figure 2 An enlarged view of the mid-hull cabin connection mechanism 16;

[0048] Figure 6a This is the upper structure diagram of the cabin of the intelligent water quality real-time monitoring and early warning unmanned ship;

[0049] Figure 6b yes Figure 6a An enlarged view of the sensor lifting system (or lifting mechanism) 19;

[0050] Figure 7 It is a diagram of the sensor lifting mechanism of the intelligent water quality real-time monitoring and early warning unmanned boat;

[0051] Figure 8 It is a cross-sectional view of the lifting structure of the sensor of the intelligent water quality real-time monitoring and early warning unmanned boat;

[0052] Fig. 9 This is the circuit structure diagram of the intelligent water quality real-time monitoring and early warning unmanned boat;

[0053] Explanation of the reference numerals: 1-unmanned ship hull (referred to as hull); 2-unmanned ship cabin (referred to as cabin); 3-unmanned ship top plate (referred to as top plate); 4-battery compartment cover; 5-unmanned ship propeller (referred to as propeller); 6-camera; 7-GNSS antenna; 8-solar panel; 9-warning light; 10-unmanned ship NANO controller box (referred to as NANO controller box); 11-unmanned ship battery (such as lithium battery pack); 12-unmanned ship main controller box (referred to as main controller box); 13-unmanned ship top plate fastening screws (referred to as top plate fastening screws); 14-battery compartment cover fastening screws; 15-connecting buckle mechanism; 151-buckle hook; 152-buckle ;16-hull and cabin connecting mechanism;161-hull and cabin connecting screws;162-hull and cabin connecting nuts;17-infrared transceiver;18-thruster connecting mechanism;181-thruster connecting screws;182-thruster connecting nut;19-lifting mechanism;191-42 stepper motor brake (for example, 42 stepper motor brake);192-stepper motor (for example, 42 stepper motor);193-stepper motor bracket;194-guide rail;195-guide rail locking block;196-locking block locking screw;197-screw;198-screw nut;199-sensor box cover;1910-sensor box;1911-screw limit block. DETAILED DESCRIPTION

[0054] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0055] The present invention proposes an intelligent unmanned boat and unmanned boat system for real-time monitoring and early warning of water quality, which combines multi-parameter sensors, autonomous navigation technology, artificial intelligence algorithms and Internet of Things communication modules to comprehensively improve the efficiency, precision and intelligence of water quality monitoring, make up for the shortcomings of existing water quality monitoring technology, and not only significantly improve the technical level of water quality monitoring and management, but also provide technical support and technical guarantee for water environment protection, water resources management and sustainable development.

[0056] Embodiment 1

[0057] See also Figures 1 to 9 The present invention provides an intelligent water quality real-time monitoring and early warning unmanned boat. Structurally, the unmanned boat adopts a modular structure design, including: a hull 1, a cabin 2, a top plate 3, a battery compartment box for placing a lithium battery pack 11, a propeller 5, an environment perception module including a camera 6 and an infrared transceiver 17, a GNSS antenna 7, a solar panel 8, a NANO controller box 10, a lithium battery pack 11, a main controller box 12, unmanned boat top plate fastening screws 13, battery compartment cover fastening screws 14, a connection buckle mechanism 15, a hull and cabin connection mechanism 16, a propeller connection mechanism 18, and a lifting mechanism 19, wherein:

[0058] Cabin 2, which is equipped with a GNSS module, a communication module, and a main control module;

[0059] Two hulls 1 are fixed on both sides of the cabin 2, and at least one of the hulls 1 is provided with a lithium battery pack 11 for energy storage and power supply;

[0060] A top plate 3, which is fixed to the top surface of the cabin 2, and is provided with a GNSS antenna 7, an environment sensing module and a solar panel 8 for converting solar energy into electrical energy to assist in power supply;

[0061] Two thrusters 5, respectively fixed on both sides of the bottom rear of the cabin 2, for providing power for the unmanned boat;

[0062] The lifting mechanism 19 is disposed inside the cabin 2 and carries a water quality monitoring module, and is used to drive the water quality monitoring module to rise and fall.

[0063] The above modular structures can be quickly disassembled and maintained through standardized interfaces. For example, the hull 1 and the cabin 2 are fixed by hexagonal screws and hexagonal nuts, and the cabin 2 and the top plate 3 are fixed by screws and buckles, which improves the stability and waterproof performance of the structure.

[0064] Functionally, the unmanned ship includes: a functional module, a motion module, a protection module, a sampling module, and a communication module, wherein:

[0065] The energy supply module includes a solar panel 8 and a lithium battery pack 11. The solar panel 8 is installed on the top plate 3 and can convert solar energy into electrical energy to provide sustainable energy supplement for the unmanned ship. The lithium battery pack 11 is used as the main energy storage device to ensure that the unmanned ship can still operate normally in bad weather;

[0066] The motion module includes a high-efficiency propeller 5, which is fixed in the cabin 2 through a propeller connecting mechanism 18. The propeller connecting mechanism 18 is composed of a propeller connecting screw 181 and a propeller connecting nut 182, which ensures the stability and high-efficiency power output of the propeller 5, so that the unmanned ship can move flexibly under different water conditions;

[0067] The protection module, including the cabin 2, the top plate 3, the battery compartment cover 4 and other components, can effectively protect the internal core components from the external environment, wherein the battery compartment cover 4 is fixed by the battery compartment cover fastening screws 14, further enhancing the sealing and safety of the battery compartment;

[0068] The sampling module includes a camera 6, a GNSS antenna 7, an infrared transceiver 17 and a lifting mechanism 19; wherein the camera 6 is installed at the front end of the unmanned boat for real-time monitoring of the surrounding environment and providing visual support for the navigation of the unmanned boat; the GNSS module supports multiple satellite positioning systems such as GPS (Global Positioning System), Beidou (China Satellite Navigation System), GLONASS (Russian Satellite Navigation System), GALILEO (European Satellite Navigation System), QZSS (Japanese Quasi-Zenith Satellite System) and LBS base station positioning (a positioning system based on a cellular network) to provide accurate and real-time location information; the infrared transceiver is used to detect obstacles around the unmanned boat; the lifting mechanism 19 is equipped with a water quality sensor, and the stepper motor 192 drives the screw rod 197 to rotate, so as to raise the sensor box 1910 when the unmanned boat is traveling and accurately lower the sensor box 1910 when sampling, thereby protecting the sensor and extending the service life of the sensor. The lifting mechanism 19 uses components such as the guide rail locking block 195 and the screw rod limit block 1911 to ensure the accuracy and stability of the lifting process.

[0069] The communication module transmits water quality data to the remote control center in real time through the 4G / 5G / 6G wireless network, allowing managers to check the operating status of the unmanned boat and water quality monitoring data at any time. It also supports the interaction between the unmanned boat and the mobile App and cloud system service platform. Users can remotely control the unmanned boat through GIS maps, sound, gestures, and remote controls.

[0070] The intelligent water quality real-time monitoring and early warning unmanned boat of the present invention realizes comprehensive environmental monitoring and automatic obstacle avoidance functions through the equipped camera 6 and infrared transceiver 17, as follows:

[0071] 1. Real-time environmental monitoring and anomaly identification

[0072] Camera 6 is installed at the front end of the unmanned boat to monitor the surrounding environment in real time and obtain environmental conditions. Camera 6 analyzes the monitoring area through an integrated object recognition model, can identify abnormal situations and potential destructive behaviors, and record image information. The unmanned boat can transmit video data and recognition results to the remote monitoring module of the remote monitoring center in real time through the communication module, and trigger an alarm when necessary, providing all-round safety protection for water quality monitoring tasks.

[0073] 2. Intelligent obstacle avoidance function

[0074] Visual obstacle avoidance: The camera uses a deep learning object detection model to accurately identify obstacles in the navigation path, and combines with the main control module to dynamically adjust the navigation route of the unmanned ship, thereby realizing unmanned driving and intelligent obstacle avoidance functions.

[0075] Infrared obstacle avoidance: As the core component of the obstacle avoidance system, the infrared transceiver 17 determines whether there is an obstacle ahead by emitting infrared signals and receiving their reflected signals. When an obstacle is detected, the infrared obstacle avoidance system transmits the signal to the NANO controller in the main control module, which adjusts the operating state of the propeller to achieve automatic obstacle avoidance. The external obstacle avoidance technology makes up for the limitations of the camera visual obstacle avoidance technology in low-light or completely dark environments, allowing the unmanned ship to sail safely in complex and changing environments.

[0076] Among them, the intelligent water quality real-time monitoring and early warning unmanned boat of the present invention is equipped with the Jetson Nano edge computing platform (or Jetson Nano controller), which is the core hardware of intelligent control and data processing, and runs multiple edge computing and intelligent models to support diverse intelligent functions, solving the problems that the existing water quality monitoring technology mainly uses single-chip microcomputers such as STM32 and Arduino, which are limited in computing power and cannot support complex system functions and intelligent applications. The models and corresponding functions run by Jetson Nano include:

[0077] 1. Object recognition model: used to identify anomalies and obstacles in the surrounding environment and support monitoring and obstacle avoidance functions.

[0078] 2. Water quality prediction model: Based on real-time collected water quality data, advanced time series machine learning algorithms are used to predict water quality trends and provide early warning support for environmental monitoring.

[0079] 3. Comprehensive intelligent scheduling: By efficiently processing sensor data and control instructions, the Jetson Nano controller realizes the intelligent operation and collaborative work of various systems of the unmanned ship.

[0080] 4. Improve response speed: Use edge computing devices such as Jetson Nano to process sensor data and run artificial intelligence models in real time to improve response speed and reduce time delays in early warning forecasts.

[0081] In addition, the unmanned ship further includes a navigation control system, which is connected to the mobile terminal App and cloud system service platform of the remote monitoring center through wired and / or wireless communication technology to achieve remote control and intelligent navigation of the unmanned ship. Specifically, it includes the following core functions:

[0082] 1.GIS map support

[0083] The navigation control system integrates a GIS (geographic information system) map module, which displays the current position, route and target area of ​​the unmanned ship on the map in real time, making it easier for users to plan navigation missions and monitor operating status.

[0084] 2.Support multiple control methods

[0085] Users can achieve precise control of the unmanned boat through a variety of control methods, including:

[0086] Voice control: Users can issue simple operation commands through voice commands, such as start, stop, adjust the course, etc.;

[0087] Gesture control: Using smart sensors to identify gesture commands, it is suitable for close-range operation or special environments where it is inconvenient for users to use traditional control methods;

[0088] Remote control: Provides remote control options, especially suitable for application scenarios that require precise control of the navigation path.

[0089] 3. Support real-time data interaction

[0090] Through 4G / 5G / 6G wireless networks, the navigation control system achieves seamless data interaction with the mobile app and cloud system service platform. Users can receive real-time water quality monitoring data, location and operating status of the unmanned vessel, and send new mission instructions or adjust the navigation plan.

[0091] 4. Support remote fault diagnosis

[0092] Through the status data uploaded by the navigation control system, the cloud system service platform can analyze the operation status of each module of the hull, promptly discover and solve potential problems, and improve the reliability and maintenance efficiency of unmanned ship equipment.

[0093] The following describes in detail an intelligent water quality real-time monitoring and early warning unmanned boat of the present invention from nine aspects: unmanned boat structure design, sensor lifting mechanism design and working principle, environmental monitoring and obstacle avoidance system, communication and remote control system, energy supply module design, GNSS module design and positioning function, auxiliary function of GNSS module in intelligent obstacle avoidance, warning light system design and function, and thruster system design and control.

[0094] 1. Unmanned ship structure design

[0095] The intelligent water quality real-time monitoring and early warning unmanned boat of the present invention is composed of a hull 1, a cabin 2, a top plate 3 and related components, and adopts a modular design. The specific structure is as follows:

[0096] 1. Connection between hull 1 and cabin 2

[0097] The hull 1 and the cabin 2 are fixedly connected via a hull-cabin connecting mechanism 16, which includes a hull-cabin connecting screw 161 and a hull-cabin connecting nut 162 embedded in the hull 1, specifically a hexagonal screw 161 and a hexagonal nut 162, which ensures the stability of the connection by the cooperation of the screw and nut.

[0098] 2. Installation of top plate 3

[0099] The cabin 2 and the top plate 3 are fixedly connected by the top plate fastening screws 13 and the connecting buckle mechanism 15, specifically, nine top plate fastening screws 13 and six groups of connecting buckle mechanisms 15 are used, that is, the top plate 3 is connected to the cabin 2 by nine top plate fastening screws 13 and six groups of connecting buckle mechanisms 15. Among them, the connecting buckle mechanism 15 includes a buckle hook 151 fixed on the top plate 3 and a buckle 152 fixed on the cabin 2.

[0100] In addition, the top plate 3 is also used to install the solar panel 8 , the camera 6 and the GNSS antenna 7 .

[0101] 3. Connection of thruster 5

[0102] The propeller 5 is fixed to the lower part of the cabin 2 through a propeller connecting mechanism 18, wherein the propeller connecting mechanism 18 includes a propeller connecting screw 181 and a propeller connecting nut 182, which ensures that the propeller can efficiently transmit power.

[0103] 4. Connection of battery compartment cover 4

[0104] The lithium battery pack 11 is enclosed in the hull 1 by the battery compartment cover 4 , that is, the battery compartment cover 4 has the lithium battery pack 11 built in.

[0105] The battery compartment cover 4 is fixedly connected to the hull 1 by a plurality of battery compartment cover fastening screws 14 (e.g., eight) cooperating with nuts embedded in the hull 1. In addition, the battery compartment cover 4 is designed with a rotating buckle to facilitate quick replacement of batteries.

[0106] 2. Sensor lifting mechanism design and working principle

[0107] 1. Design of lifting mechanism 19

[0108] The lifting mechanism 19 is composed of multiple parts, specifically including the following components:

[0109] 42 Stepper motor brake 191: when the hull power system stops working, lock the 42 stepper motor 192 to prevent abnormal rotation;

[0110] 42 Stepper motor 192: used to drive the screw rod 197 to rotate and realize lifting movement;

[0111] Stepper motor bracket 193: install and fix the stepper motor 192 and the stepper motor brake 191;

[0112] Guide rail 194: It is fixed on the inner wall of the cabin 2 and provides a smooth linear motion trajectory for the lifting and lowering of the sensor box 1910;

[0113] Guide rail locking block 195: fixed on the guide rail 194, and the installation position on the guide rail 194 is adjusted by the locking block locking screw 196;

[0114] Locking block locking screw 196: when loosened, the position of the guide rail locking block 195 on the guide rail 194 can be adjusted, and when tightened, the position of the guide rail locking block 195 can be fixed;

[0115] Screw rod 197: driven by stepping motor 192 to realize rotational motion;

[0116] Screw nut 198: cooperates with screw 197 to convert rotational motion into linear motion;

[0117] A water quality analysis module, which includes a sensor box 1910 for placing various water quality sensors and a sensor box cover 199 covering the sensor box 1910. The sensor box cover 199 is connected to a screw nut 198 by screws to fix the sensor box 1910. The sensor box 1910 is used to install and protect various water quality sensors.

[0118] Screw limit block 1911: prevents the screw nut 198 from exceeding the limit position and falling out when descending.

[0119] 2. Working principle of lifting mechanism 19

[0120] (1) Start the movement

[0121] The stepper motor 192 receives the control signal and rotates, driving the screw rod 197 to rotate synchronously;

[0122] The screw 197 meshes with the screw nut 198 to convert the rotational motion into linear motion.

[0123] (2) Sensor box lifting

[0124] The screw nut 198 moves up and down along the screw 197, and drives the sensor box cover 199 and the sensor box 1910 to be raised and lowered through the screw.

[0125] The sensors built into the sensor box 1910 collect water quality data at different depths during the lifting process.

[0126] (3) Security protection

[0127] The screw limit block 1911 prevents the screw nut 198 from exceeding a predetermined lowering limit position, thereby ensuring the safety of the assembly.

[0128] When the power system stops working, the stepper motor brake 191 automatically locks the stepper motor 192 to prevent abnormal rotation and ensure the stability of the position of the sensor box 1910.

[0129] (4) Position adjustment

[0130] By loosening the locking screw 196 of the locking block, the position of the guide rail locking block 195 on the guide rail 194 can be adjusted to flexibly adapt to different installation requirements.

[0131] 3. Features of lifting mechanism 19

[0132] Accuracy: The stepper motor 192 drive and the screw transmission system are used to ensure that the position of the sensor box 1910 is accurately adjusted to meet the water quality monitoring needs at different depths.

[0133] Stability: The guide rail 194 and the guide rail locking block 195 are designed to ensure a smooth and shake-free lifting process, and the stepper motor brake 191 prevents the risk of displacement after the system loses power.

[0134] Safety: The screw limit block 1911 effectively prevents mechanical over-limit displacement and protects the safe operation of core components.

[0135] Flexibility: The position of the guide rail locking block 195 can be adjusted to adapt to various working environments and structural requirements.

[0136] The sensor lifting mechanism 19 of this embodiment provides a flexible and accurate solution for water quality monitoring of unmanned boats, ensuring data reliability and equipment stability and safety during the monitoring process.

[0137] 3. Environmental Monitoring and Obstacle Avoidance System

[0138] 1. Visual obstacle avoidance

[0139] Camera 6 runs a deep learning object detection model through the Jetson Nano edge computing platform to obtain environmental image data in real time, identify obstacles in the navigation path, and adjust the heading to achieve automatic obstacle avoidance.

[0140] 2. Infrared obstacle avoidance

[0141] The infrared transceiver 17 determines the distance and direction of the obstacle ahead by emitting infrared signals and receiving reflected signals. If an obstacle is detected, the signal is transmitted to the Nano controller 10 of the main control module, and the single-chip microcomputer of the main control module adjusts the state of the propeller 5 and changes the course to avoid the obstacle. The infrared obstacle avoidance system supplements the visual obstacle avoidance function in low light or complete darkness.

[0142] 4. Communication and remote control system

[0143] 1. Communication module

[0144] Data is transmitted to the remote control center in real time via the 4G / 5G / 6G network, supporting remote control and data analysis of unmanned ships.

[0145] 2. Navigation control system

[0146] The system integrates GIS maps and supports voice, gesture and remote control operation functions. It is connected to the mobile App and cloud system service platform via wired or wireless means to achieve remote control of the unmanned ship and accurate issuance of mission instructions.

[0147] 5. Energy supply module design

[0148] The energy supply module includes a solar panel 8 and a lithium battery pack 11

[0149] The solar panel 8 is installed on the top plate 3 to convert solar energy into electrical energy. It is combined with the lithium battery pack 11 to provide efficient and continuous energy supply for the unmanned boat and extend the working time.

[0150] Through the above five parts, the present invention can realize multiple functions such as real-time water quality monitoring, environmental perception, automatic obstacle avoidance and remote control, and has modular design, high intelligence level and wide application scenarios.

[0151] 6. GNSS module design and positioning function

[0152] 1. The GNSS module supports multi-mode positioning systems, including: GPS (Global Positioning System), Beidou (China Satellite Navigation System), GLONASS (Russian Satellite Navigation System), GALILEO (European Satellite Navigation System), QZSS (Japanese Quasi-Zenith Satellite System), LBS base station positioning (positioning system based on cellular network).

[0153] 2. GNSS antenna location

[0154] The GNSS antenna 7 is installed at the front and rear ends of the top plate 3 to receive positioning coordinate signals to ensure the stability and accuracy of all-weather signal reception.

[0155] 3. Working principle of GNSS module

[0156] (1) The GNSS module receives real-time satellite signals through the antenna, combines the LBS base station data, calculates the current position of the unmanned ship, and transmits the positioning information to the NANO controller 10 of the main control module.

[0157] (2) GNSS module sensor provides the following information:

[0158] Current location coordinates: real-time positioning of the unmanned ship on the map.

[0159] Target position relationship: The program solves the relationship between the current position of the unmanned ship and the predetermined target position, and calculates the heading angle and distance.

[0160] 4. Calculation of heading angle and distance

[0161] (1) Heading angle calculation: Based on the coordinates of the current position and the target position, the GNSS module calculates the angle at which the unmanned ship should turn through a program to obtain an accurate heading angle.

[0162] (2) Distance calculation: Calculate the distance information based on the straight-line distance between the current coordinates and the target waypoint to guide navigation path planning.

[0163] 5. Control system and automatic navigation

[0164] (1) The GNSS module transmits the calculated heading angle and distance data to the control system, which automatically adjusts the power distribution and steering angle of the thruster 5 based on the information from other sensors.

[0165] (2) Through the control program, the unmanned ship corrects its course based on real-time data to ensure that it accurately travels to the target location along the predetermined route, achieving fully autonomous navigation and precise path control.

[0166] 7. Auxiliary functions of GNSS module in intelligent obstacle avoidance

[0167] (1) Path planning optimization:

[0168] The GNSS module updates the current position and route information in real time, and works in conjunction with the infrared transceiver 17 and the camera 6 to dynamically adjust the target path after obstacle detection and recalculate the new heading angle and distance.

[0169] (2) Multi-mode compensation function:

[0170] When the GNSS signal is weak or interrupted, the system automatically switches to LBS base station positioning mode and combines inertial navigation data to ensure the unmanned ship's continuous navigation capability in signal-restricted environments.

[0171] By adding a GNSS module, the intelligent water quality real-time monitoring and early warning unmanned boat of the present invention further enhances the reliability and accuracy of multi-mode positioning, and improves the automatic navigation and path planning capabilities of the unmanned boat, effectively expanding its application scenarios in complex waters.

[0172] 8. Warning light system design and function

[0173] 1. Number and distribution of warning lights

[0174] The intelligent water quality real-time monitoring and early warning unmanned boat of the present invention is equipped with eight warning lights 9 which are evenly distributed on the edges of the top plate 3 .

[0175] 2. Warning light colors and modes

[0176] (1) Warning lights are divided into red and blue:

[0177] Red light: used to indicate dangerous areas of the ship or restricted navigation status, alerting surrounding ships and personnel.

[0178] Blue light: used for outline marking in normal navigation mode, enhancing the visibility of the unmanned ship in different environments.

[0179] (2) Flashing mode:

[0180] The warning light works in a periodic flashing manner through the control system, and the flashing frequency and color switching are adjusted according to the mission requirements.

[0181] Typical pattern: Fast flashing indicates warning status, slow flashing for navigation profile display.

[0182] 3. Warning light function

[0183] (1) Outline warning: Flashing lights are used to indicate the outer outline of the unmanned vessel, which effectively improves the visibility of the unmanned vessel, especially at night or in low visibility environments.

[0184] (2) Navigation safety: The red and blue lights flash alternately to alert other ships and nearby personnel, prevent potential collision risks, and ensure the safety of the unmanned ship.

[0185] (3) Status indication: Different light combinations are used to display the current operating status of the unmanned vessel, such as normal operation, warning status, or mission completion.

[0186] 4. Control and integration of warning lights

[0187] (1) The warning light is connected to the NANO controller 10 of the main control module, and the NANO controller 10 of the main control module controls the on and off and flashing mode of the warning light through a preset program.

[0188] (2) When the unmanned ship detects an abnormality (such as an obstacle or mission interruption), the warning light automatically switches to warning mode to enhance the prompt effect.

[0189] By adding eight red and blue warning lights, the intelligent water quality real-time monitoring and early warning unmanned boat of the present invention further enhances its navigation safety, ensures operational stability in complex waters and special environments, and improves interactivity and visibility with the outside world.

[0190] IX. Propulsion System Design and Control

[0191] 1. Thruster location and power source

[0192] The propeller 5 is installed at the rear of the main cabin 2 of the unmanned ship, and is mainly driven by the electric energy of the unmanned ship power supply module to achieve efficient power output.

[0193] 2.Thruster control method

[0194] (1) PWM signal control

[0195] The speed and direction of the thruster 5 are controlled by the PWM (pulse width modulation) signal output of the main controller (e.g., STM32 microcontroller) 11 of the main control module, as follows:

[0196] Forward control: When the duty cycle of the PWM signal is less than the middle value, the propeller rotates forward. The smaller the duty cycle, the faster the speed.

[0197] Reverse control: When the duty cycle of the PWM signal is greater than the middle value, the propeller reverses. The larger the duty cycle, the faster the speed.

[0198] Stop control: When the duty cycle of the PWM signal is equal to the middle value, the propeller stops rotating.

[0199] (2) PID algorithm for heading stabilization

[0200] To prevent the unmanned ship from yaw during its forward motion, a PID (proportional-integral-differential) control algorithm is used to adjust the propeller speed and direction in real time to ensure that the unmanned ship maintains a stable straight forward path. The details are as follows:

[0201] Proportional (P): Determine the adjustment strength according to the deviation amount and correct the deviation quickly.

[0202] Integration (I): accumulates historical errors, eliminates residual deviations, and increases system accuracy.

[0203] Differential (D): Predict the deviation change trend, improve response speed, and prevent over-adjustment.

[0204] 3. Steering control of unmanned ships

[0205] The unmanned ship controls the thruster 5 through a two-wheel differential algorithm to achieve smooth steering, as follows:

[0206] When turning left is required, the speed of the left propeller is reduced while the speed of the right propeller is increased.

[0207] When turning right is required, the speed of the right propeller is reduced and the speed of the left propeller is increased.

[0208] The greater the propeller speed difference, the smaller the turning radius, achieving precise steering control.

[0209] 4. Characteristics of the propulsion system

[0210] (1) Flexibility: The speed and direction of the unmanned boat can be flexibly controlled by adjusting the duty cycle of the PWM signal.

[0211] (2) Stability: The PID control algorithm makes the unmanned ship sail more smoothly and avoids deviation.

[0212] (3) Accuracy: The differential algorithm is combined with the propeller speed adjustment to achieve precise steering control of the unmanned ship.

[0213] Through the optimized design of the propeller control system, the intelligent water quality real-time monitoring and early warning unmanned boat of the present invention can achieve efficient advancement, stable course maintenance, and flexible steering control in complex waters, providing reliable guarantee for its water quality monitoring tasks.

[0214] The steps of real-time monitoring and early warning of water quality of the unmanned boat in this embodiment include:

[0215] Step 1: The GNSS module receives satellite signals through the GNSS antenna 7, and determines the current position of the unmanned ship according to the satellite signals and / or LBS base station data;

[0216] Step 2: The GNSS module determines the navigation path, heading angle and distance according to the current position of the unmanned ship and the target position of the unmanned ship;

[0217] Step 3: The main control module controls the two thrusters 5 to drive the unmanned ship to move toward the target position along the navigation path according to the heading angle and the distance determined by the GNSS module;

[0218] Step 4: The environment perception module perceives the surrounding environment of the unmanned ship during navigation to identify obstacles in the navigation path;

[0219] Step 5: When the environment perception module identifies an obstacle, the GNSS module dynamically adjusts the navigation path, and re-determines the heading angle and the distance according to the adjusted navigation path, so that the unmanned ship moves toward the target position while bypassing the obstacle;

[0220] Step 6: After the unmanned boat reaches the target location, the main control module sinks the water quality monitoring module into the water body through the lifting mechanism 19;

[0221] Step 7: The water quality monitoring module collects water quality data of the water area where the unmanned boat is located;

[0222] Step 8: After the water quality monitoring module completes the collection, the main control module returns the water quality monitoring module to its original position through the lifting mechanism 19 to protect the water quality monitoring module;

[0223] Step 9: The main control module performs real-time analysis, prediction and warning on the water quality data collected by the water quality monitoring module, and sends the analysis, prediction and warning results to the remote control center through the communication module.

[0224] The intelligent water quality real-time monitoring and early warning unmanned boat and unmanned boat system of the present invention are efficient, safe, and environmentally friendly. They can meet the diverse needs of modern water quality monitoring and can be applied to a variety of scenarios, for example, real-time monitoring of water quality changes in rivers, lakes, and reservoirs, and early warning of pollution incidents; environmental monitoring of offshore waters; water quality safety early warning of drinking water sources such as reservoirs and tap water intake points; industrial emission monitoring of wastewater discharge areas near industrial parks and industrial sewage outlets; monitoring of aquaculture water environments to improve the quality of aquatic products; water quality assessment of agricultural irrigation waters; water environment research and data collection by scientific research institutions, etc.

[0225] Embodiment 2

[0226] The present invention also provides an unmanned boat system, which includes the intelligent water quality real-time monitoring and early warning unmanned boat described in Example 1 and a remote control center for remotely controlling and intelligently navigating the intelligent water quality real-time monitoring and early warning unmanned boat.

[0227] The remote control center has a software service system, which includes a mobile terminal APP and a cloud system service platform. By establishing a communication connection between the navigation control system of the intelligent water quality real-time monitoring and early warning unmanned ship and the mobile terminal APP and / or cloud system service platform of the remote control center, remote control of the unmanned ship is achieved.

[0228] In summary, the intelligent water quality real-time monitoring and early warning unmanned boat of the present invention has the following beneficial effects:

[0229] 1. It realizes unmanned and automated water quality monitoring, reduces manual participation and improves monitoring efficiency;

[0230] 2. The maintainability and functional expansion capability of the equipment are improved through modular design;

[0231] 3. Equipped with efficient energy supply modules and motion modules to ensure long-term stable operation of unmanned boats in complex water environments;

[0232] 4. Support real-time data transmission and remote control, and can quickly respond to abnormal water quality and issue early warning prompts;

[0233] 5. The energy supply mode of combining solar panels and lithium battery packs improves the environmental protection and endurance of the equipment;

[0234] 6. The sensor lifting mechanism of the stepper motor, guide rail locking block, screw limit block and other components is designed to ensure the accuracy and stability during the lifting process, and effectively protect and extend the life of the sensor;

[0235] 7. Utilize the edge computing capabilities of the NANO controller to process sensor data and run artificial intelligence models in real time, improve response speed, and reduce time delays in early warning forecasts.

[0236] The preferred embodiments of the present invention are described above with reference to the accompanying drawings, but the scope of the present invention is not limited thereby. Any modification, equivalent substitution and improvement made by those skilled in the art without departing from the scope and essence of the present invention shall be within the scope of the present invention.

Claims

1. An intelligent unmanned boat for real-time water quality monitoring and early warning, characterized in that: The unmanned ship adopts a modular structure, including: A cabin (2) having a GNSS module, a communication module, and a main control module arranged therein; Two hulls (1) are respectively fixed on both sides of the cabin (2), and lithium battery packs (11) for energy storage and power supply are arranged inside the two hulls (1); A top plate (3) fixed to the top surface of the cabin (2), on which a GNSS antenna (7), an environment sensing module and a solar panel (8) for converting solar energy into electrical energy for auxiliary power supply are arranged; Two propellers (5), respectively fixed on both sides of the rear bottom of the cabin (2), for providing power for the unmanned boat; A lifting mechanism (19), arranged inside the cabin (2) and equipped with a water quality monitoring module, and used for driving the water quality monitoring module to be lifted and lowered; Among them, the unmanned boat water quality real-time monitoring and early warning includes: The GNSS module receives satellite signals through the GNSS antenna (7), determines the current position of the unmanned ship according to the satellite signals and LBS base station data, and determines the navigation path, heading angle and range according to the current position of the unmanned ship and the target position of the unmanned ship; The main control module controls the two propellers (5) to drive the unmanned ship to move along the navigation path toward the target location according to the heading angle and the distance determined by the GNSS module; The environment perception module perceives the surrounding environment of the unmanned ship during navigation to identify obstacles in the navigation path; The GNSS module dynamically adjusts the navigation path when the environment perception module identifies an obstacle, and re-determines the heading angle and the distance according to the adjusted navigation path, so that the unmanned ship travels to the target position while bypassing the obstacle; After the unmanned boat reaches the target location, the main control module sinks the water quality monitoring module into the water body through a lifting mechanism (19) so that the water quality monitoring module collects water quality data of the water area where the unmanned boat is located, and after the water quality monitoring module completes the collection, the water quality monitoring module is returned to its original position to protect the water quality monitoring module; The main control module performs real-time analysis, prediction and early warning on the water quality data collected by the water quality monitoring module, and sends the analysis, prediction and early warning results to the remote control center through the communication module.

2. The unmanned ship according to claim 1, characterized in that: The hull (1) and the cabin (2) are fixedly connected via a hull-cabin connecting mechanism (16), wherein the hull-cabin connecting mechanism (16) comprises a hull-cabin connecting screw (161) and a hull-cabin connecting nut (162) embedded in the hull (1); The cabin (2) and the top plate (3) are fixedly connected via top plate fastening screws (13) and a connecting buckle mechanism (15), wherein the connecting buckle mechanism (15) comprises a buckle hook (151) fixed on the top plate (3) and a buckle (152) fixed on the cabin (2); The lithium battery pack (11) is enclosed in the two hulls (1) via a battery compartment cover (4), wherein the battery compartment cover (4) is fixedly connected to the hull (1) via the cooperation of a battery compartment cover fastening screw (14) and a nut embedded in the hull (1); The propeller (5) is fixed to the cabin (2) via a propeller connecting mechanism (18), wherein the propeller connecting mechanism (18) comprises a propeller connecting screw (181) and a propeller connecting nut (182).

3. The unmanned ship according to claim 1, characterized in that: The lifting mechanism (19) comprises: A guide rail (194) fixed on the inner wall of the cabin (2); A guide rail locking block (195) which is fixedly mounted on the guide rail (194) and whose mounting position on the guide rail can be adjusted by a locking block locking screw (196); A stepping motor (192), used to realize the lifting function of the water quality monitoring module through motor rotation driving; A stepper motor brake (191) is used to lock the stepper motor (192) when power is stopped, so as to prevent the stepper motor (192) from rotating abnormally; A stepper motor bracket (193), which is fixed to the guide rail locking block (195) by screws and is used to install the stepper motor brake (191) and the stepper motor (192); A screw rod (197), used for rotating under the drive of the stepping motor (192); A lead screw nut (198) is used to cooperate with the lead screw (197) to convert the rotational motion of the stepping motor (192) into a linear motion of the lead screw nut (198) along the lead screw (197); A water quality monitoring module, comprising a sensor box (1910) for accommodating various sensors and a sensor box cover (199) covering the sensor box (1910), wherein the sensor box cover (199) is fixedly connected to the screw nut (198) to adjust the sensor box (1910) in terms of lifting and lowering; The screw rod limit block (1911) is used to prevent the screw rod nut (198) from coming off the screw rod (197).

4. The unmanned ship according to claim 1, characterized in that: The various sensors placed in the water quality analysis module sensor box (1910) respectively monitor more than 30 water quality indicators including dissolved oxygen, pH value, conductivity, turbidity, and ammonia nitrogen for selection.

5. The unmanned ship according to claim 1, characterized in that: The environment perception module comprises: A camera (6) disposed on the top plate (3) and used to collect images of the surrounding environment of the unmanned ship during navigation; An infrared transceiver (17) disposed on the top plate (3) and used for transmitting infrared signals and receiving reflected signals; The main control module identifies obstacles in the navigation path from the surrounding environment image through an object recognition model to achieve visual obstacle avoidance, and / or detects obstacles in the navigation path by analyzing the infrared signal and the reflected signal to achieve infrared obstacle avoidance.

6. The unmanned ship according to claim 5, characterized in that: The main control module is also used to analyze the surrounding environment image through the object recognition model, identify abnormal conditions at the location of the unmanned ship, and send the surrounding environment image and the abnormal conditions to the remote control center through the communication module, or send the surrounding environment image, the abnormal conditions and warning information generated based on the abnormal conditions to the remote control center through the communication module.

7. The unmanned ship according to claim 1, characterized in that: The GNSS module supports more than two satellite positioning systems and an LBS base station positioning system.

8. The unmanned ship according to claim 1, characterized in that: The main control module uses a water quality prediction model to predict the water quality trend based on the water quality data collected by the water quality monitoring module, so as to issue an early warning based on the predicted water quality trend.

9. The unmanned ship according to claim 1, characterized in that: The unmanned ship also includes a navigation control system for communicating with a mobile APP and / or a cloud system service platform of a remote control center to achieve remote control and intelligent navigation of the unmanned ship.

10. The unmanned ship according to any one of claims 1 to 9, characterized in that: The unmanned boat also includes a plurality of warning lights (9) evenly distributed around the edges of the top plate (3).

11. An unmanned ship system, characterized in that: The system includes the intelligent water quality real-time monitoring and early warning unmanned boat as described in any one of claims 1 to 10 and a remote control center for remotely controlling and intelligently navigating the intelligent water quality real-time monitoring and early warning unmanned boat.

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