Multifunctional unmanned ship

Abstract

The invention relates to the technical field of surface water body treatment, and discloses a multifunctional unmanned ship, which comprises a ship body, a power system, a control system, a sensor module, an execution module and a data communication module, the ship body adopts a streamline design, the load capacity is 55kg, and the anti-storm grade reaches above level 3; the power system is driven by hybrid energy and comprises a solar cell panel and a lithium battery pack. The control system supports autonomous navigation, path planning and obstacle avoidance functions based on an artificial intelligence algorithm; the sensor module comprises a water quality sensor probe, a visual identification system and a sonar system; the execution module comprises a garbage collection device and a rescue device; the data communication module comprises a wireless communication antenna, supports wireless network transmission and uploads collected data to a cloud platform. Water quality monitoring, water surface cleaning, fish and bird recognition, underwater topographic mapping and emergency rescue functions are integrated on a single platform, so that the comprehensive efficiency of water area management is remarkably improved.

Description

Technical Field

[0001] The present invention relates to the technical field of surface water body treatment, and particularly to a multi-functional unmanned boat. Background Art

[0002] In recent years, with the increasing efforts in ecological civilization construction and environmental protection, the treatment of surface water body pollution and ecological protection have become one of the important topics in the environmental field of our country. Especially in urban lakes, rivers, reservoirs, and nearshore waters, due to the complex pollution sources and diverse management requirements, the traditional single-functional water quality monitoring, water surface cleaning, or ecological survey equipment has been difficult to meet the increasingly high treatment requirements. Currently, the mainstream surface water body treatment technologies include fixed water quality monitoring stations, portable water quality monitors, manually-driven cleaning boats, floating garbage collection devices, unmanned aerial vehicle (UAV) ecological monitoring systems, and professional underwater topographic mapping equipment (such as sonar mapping boats), etc. Although these devices and technologies can solve certain problems in practical applications, there are still obvious deficiencies and technical bottlenecks in actual operation, which are specifically manifested as follows: First, the existing water quality monitoring technologies have problems of insufficient data acquisition efficiency and continuity. Although the currently widely used fixed monitoring stations can collect water quality data in real time, they are usually fixed at certain specific points, with an extremely limited coverage range, and it is difficult to adjust the monitoring position and frequency at any time, making it difficult to cope with sudden water pollution incidents and pollution investigation work in large areas of water; while the portable monitoring equipment highly relies on manual operation, with high labor intensity and high labor costs, and it is difficult to achieve long-term continuous monitoring tasks, greatly limiting the continuity and real-time nature of water quality data.

[0003] Second, the traditional water surface cleaning technologies generally have low efficiency, high energy consumption, and obvious ecological interference. The currently commonly used manually-driven cleaning boats or simple floating garbage collection devices have a single function and a low level of intelligence, and need to frequently travel back and forth to unload garbage, with low operation efficiency, high fuel consumption, and high operation costs; in addition, the ecological protection requirements are usually ignored during the mechanical cleaning process, which is likely to have a negative impact on the water area ecosystem, such as noise and vibration interfering with the normal activities of aquatic animals.

[0004] Third, the current ecological monitoring technologies have a single means and lack the ability of linkage management. Currently, the monitoring of the water area ecological environment mostly adopts the methods of UAV aerial photography or shore-based camera monitoring, but these systems generally operate independently, lacking the data linkage ability and coordination with water quality monitoring and cleaning operations, resulting in a significant reduction in the integration and availability of ecological data in water environment management, and it is difficult to support accurate ecological regulation decisions.

[0005] Fourth, the technical equipment for underwater topographic surveying is costly and has poor adaptability, making it difficult to popularize and apply. Traditional underwater surveys usually use professional survey ships equipped with large sonar devices. The purchase and maintenance costs of the operation equipment are high, the operating costs are high, and it is usually applicable to open waters. It is insufficiently adaptable in small or narrow river channels and shallow areas, and the surveying difficulty is relatively large, unable to meet the more detailed requirements for surface water area topographic surveys.

[0006] Fifth, existing technologies generally lack the ability to respond to emergencies and integrate comprehensive functions. Most current water area governance equipment is designed with a single function, such as water quality monitoring, cleaning, or ecological monitoring. The fragmentation of functions is severe, and it cannot respond quickly in sudden environmental events or emergency rescue scenarios. At the same time, surface emergency rescue equipment generally requires manual operation, lacking automated and intelligent response means, and it is difficult to complete rescue tasks quickly and effectively under complex environmental conditions.

[0007] In view of the above problems, there is an urgent need to develop a surface water body governance platform that integrates multiple functions and has a high degree of automation and intelligent operation capabilities to achieve an integrated solution for continuous water quality monitoring, real-time ecological environment observation, surface cleaning, underwater topographic surveying, and emergency rescue for sudden events. Summary of the Invention

[0008] In view of the deficiencies of the prior art, the present invention provides a multi-functional unmanned boat with high integration and comprehensive functions. Through advanced artificial intelligence technology, precise navigation control systems, efficient cleaning and rescue modules, and real-time data communication and intelligent analysis platforms, it solves the key technical bottlenecks such as fragmented functions, low monitoring efficiency, serious ecological disturbance, slow emergency response, and poor equipment adaptability in the prior art, providing an intelligent, intensive, and efficient new solution for surface water body environmental governance.

[0009] To achieve the above objectives, the present invention is realized through the following technical solutions: A multi-functional unmanned boat, including a hull, a power system, a control system, a sensor module, an execution module, and a data communication module, wherein: The hull is designed with a streamlined shape, with a load capacity of 55 kg and a wave resistance level of above grade 3; The power system is driven by a hybrid energy source, including solar panels and a lithium battery pack, supporting a maximum speed of 2.2 m / s and an operating speed of 1.2 m / s; The control system is based on artificial intelligence algorithms, supporting autonomous navigation, path planning, and obstacle avoidance functions, with the navigation accuracy controlled within 0.3 m; The sensor module includes a water quality sensor probe, a visual recognition system, and a sonar system, used to collect water quality parameters, fish and bird information, and underwater topographic data in real time; The execution module includes a garbage collection device and a rescue device, which are used to perform water surface cleaning and emergency rescue tasks; The data communication module includes a wireless communication antenna, supports wireless network transmission, and uploads the collected data to the cloud platform.

[0010] Preferably, the water quality sensor probe includes a pH sensor, a dissolved oxygen sensor, a conductivity sensor and a temperature sensor, which are installed in the telescopic probe at the bottom of the hull, and the diving depth of the probe can be adjusted to 1 m; the control system dynamically adjusts the cruising path and sampling frequency according to the water quality abnormal data.

[0011] Preferably, the garbage collection device includes a wide-width funnel-shaped opening, a rotating roller and a conveyor belt. The opening width is 80 cm, the roller rotation speed range is 0 - 50 rpm, and the conveyor belt sends the garbage into a storage bin with a capacity of 20 L; a sonic repeller, which is slender in shape, is also included below the garbage collection device for driving away fish; the execution module also includes multiple layers of filters, namely a coarse filter, a fine filter and an activated carbon adsorption layer, for removing oil stains.

[0012] Preferably, the visual recognition system includes a binocular camera and a monocular camera. The resolution of the binocular camera is 1920×1080, the field of view angle is 120°, and it supports stereoscopic imaging and target distance measurement. The monocular camera is used for wide-angle monitoring; the control system has a built-in deep learning model with an identification accuracy of ≥95% for real-time identification of fish and birds in the water area.

[0013] Preferably, the sonar system includes a single-beam depth sounder and a side-scan sonar. The frequency of the single-beam depth sounder is 200 kHz, and the sounding range is 0.5 - 100 m. The frequency of the side-scan sonar is 500 kHz, and the scanning width is 50 m; the control system generates a three-dimensional underwater topographic map according to the sonar system data.

[0014] Preferably, the rescue device includes an inflatable life buoy and a mechanical grasping device. The diameter of the life buoy after unfolding is 1 m, and the buoyancy is 50 kg. The mechanical grasping device is a three-claw robotic arm with a grasping range of 0 - 30 cm and a grasping force of 10 kg; the control system supports sending rescue instructions by a remote control or a mobile terminal.

[0015] Preferably, the control system includes a millimeter-wave radar and an obstacle avoidance control unit. The radar detection distance is 50 m. When the distance to an obstacle ≤ 4 m, the control system adjusts the heading or decelerates to perform automatic obstacle avoidance.

[0016] Preferably, the hull is made of a biodegradable polylactic acid composite material. The power system includes solar panels and an energy recovery system with a recovery rate of 20%, the noise is controlled below 50 dB, and the vibration frequency ≤ 10 Hz.

[0017] Preferably, the data communication module supports Wi-Fi, 4G or 5G networks through a wireless communication antenna, and the data transmission rate ≥ 10 Mbps; the cloud platform provides data storage, analysis and sharing functions, and supports the generation of water quality heat maps and biological distribution maps.

[0018] Preferably, the unmanned boat can autonomously switch operating modes in water quality monitoring, water surface cleaning, fish and bird identification, underwater topographic surveying and emergency rescue tasks, and dynamically adjust the execution order according to the task priority through the control system.

[0019] Working principle: The multi-functional unmanned boat realizes the automated operation of water area management by integrating multiple functional modules; the unmanned boat is driven by a hybrid energy source, using solar energy and batteries to provide power to drive the propeller to make the hull sail on the water surface; the control system is based on artificial intelligence algorithms, plans the route according to the preset path or real-time instructions, and automatically adjusts the course or decelerates when an obstacle is detected; the sensor module collects water quality parameters, takes pictures of water surface organisms and detects underwater topography in real time, and the data is uploaded to the cloud platform through a wireless network for execution; the execution module cleans floating garbage and adsorbs oil stains during navigation, and at the same time releases a life-saving device or grabs an object to assist in rescue in case of an emergency; all tasks are coordinated and operated through the control system, and the priority can be dynamically adjusted according to environmental changes to ensure the efficient completion of water quality monitoring, water surface cleaning, biological identification, topographic surveying and emergency rescue and other tasks.

[0020] The present invention provides a multi-functional unmanned boat. It has the following beneficial effects: 1. By integrating water quality monitoring, water surface cleaning, fish and bird identification, underwater topographic surveying and emergency rescue functions on a single platform, the present invention significantly improves the comprehensive efficiency of water area management. The unmanned boat is equipped with a variety of sensors and execution modules, and can complete multiple tasks simultaneously during a single cruise, reducing the time and resource consumption required for separately using multiple devices in traditional methods. The efficiency is improved by about 50% compared with step-by-step operation.

[0021] 2. The control system of the unmanned boat of the present invention is based on artificial intelligence algorithms, and can dynamically adjust the operating mode and execution order according to the water area environment and task requirements, and has high task adaptability; by integrating path planning and obstacle avoidance functions, the unmanned boat can automatically adjust the course or decelerate when an obstacle (such as a floating log within 4 m) is detected, and the navigation accuracy is maintained within ±0.3 m; in addition, the system supports preferentially covering high-pollution areas according to the pollution data detected in the water quality, and the sampling frequency is adjusted from 1 Hz to 10 Hz to ensure the pertinence and accuracy of data collection.

[0022] 3. The unmanned boat of the present invention adopts a degradable polylactic acid composite material and a solar-powered drive system, reducing the environmental impact during operation. The drive system preferentially uses solar energy, with a power generation of 180 - 200 Wh per hour, reducing the dependence on fossil fuels. The carbon emissions are reduced by approximately 90% compared to traditional fuel boats. At the same time, the garbage collection device is equipped with a sonic dispersion function to drive fish away when cleaning floating debris. The noise is controlled below 50 dB, and the vibration frequency is ≤ 10 Hz, avoiding direct harm to aquatic organisms and being suitable for ecologically sensitive waters.

[0023] 4. The present invention uploads water quality, biological, and terrain data to the cloud platform in real time through wireless communication. The unmanned boat provides comprehensive data support for water area management. The cloud platform can process 100,000 data records per day, generating water quality heat maps (resolution 1m × 1m) and biological distribution maps. The data transmission rate is ≥ 10 Mbps, supporting sharing among multiple institutions, and the data utilization rate is increased by approximately 60%.

[0024] 5. The design of the garbage collection device and mechanical grasping device of the unmanned boat of the present invention improves the execution efficiency of surface cleaning and emergency rescue. The funnel-shaped opening and multi-layer filter of the garbage collection device can clean 10 - 20 kg of floating garbage per day, and the oil absorption capacity reaches 200 mg / g of activated carbon; the mechanical grasping device and inflatable life ring can be deployed within 30 seconds, and the rescue response time is shortened to within 10 minutes. In river applications, the unmanned boat can reach the target point at a speed of 2.2 m / s after receiving a signal of a person falling into the water, and the rescue success rate is increased to 90%. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a rear - view three - dimensional structure schematic diagram of the multifunctional unmanned boat of the present invention; Figure 2 It is a side - view three - dimensional structure schematic diagram of the multifunctional unmanned boat of the present invention; Figure 3 It is a partial structure schematic diagram of the millimeter - wave radar of the multifunctional unmanned boat of the present invention; Figure 4 It is a partial structure schematic diagram of the solar panels of the multifunctional unmanned boat of the present invention; Figure 5 It is a partial structure schematic diagram of the sonic disperser of the multifunctional unmanned boat of the present invention; Figure 6 It is a partial structure schematic diagram of the wireless communication antenna of the multifunctional unmanned boat of the present invention; Figure 7 It is a partial structure schematic diagram of the binocular camera of the multifunctional unmanned boat of the present invention; Figure 8 It is a data communication and cloud platform flow chart of the multifunctional unmanned boat of the present invention.

[0026] Among them, 1. hull; 2. solar panels; 3. binocular camera; 4. monocular camera; 5. garbage collection device; 6. acoustic disrupter; 7. mechanical grasping device; 8. wireless communication antenna; 9. water quality sensor probe; 10. sonar system; 11. millimeter wave radar. Detailed implementation

[0027] Next, the technical solutions of the present invention will be clearly and completely described in conjunction with the accompanying drawings of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts belong to the scope of protection of the present invention.

[0028] Please refer to the attached Figure 1 attachment Figure 3 and attachment Figure 8 The embodiment of the present invention provides a multi-functional unmanned ship, including a hull 1, a power system, a control system, a sensor module, an execution module and a data communication module, wherein: The hull 1 adopts a streamlined design, with a load capacity of 55 kg and a wave resistance level of above level 3; The power system is driven by a hybrid energy source, including solar panels 2 and a lithium battery pack, supporting a maximum speed of 2.2 m / s and a working speed of 1.2 m / s; The control system is based on an artificial intelligence algorithm, supporting autonomous navigation, path planning and obstacle avoidance functions, and the navigation accuracy is controlled within 0.3 m; The sensor module includes a water quality sensor probe 9, a visual recognition system and a sonar system 10, which are used to collect water quality parameters, fish and bird information and underwater terrain data in real time; The execution module includes a garbage collection device 5 and a rescue device, which are used to perform water surface cleaning and emergency rescue tasks; The data communication module includes a wireless communication antenna 8, supporting wireless network transmission and uploading the collected data to the cloud platform.

[0029] Specifically, the length, width, and height ratio of the hull 1 has been optimized to ensure good hydrodynamic performance during water navigation. Multiple buoyancy compartments are provided at its bottom, and the buoyancy compartments adopt a honeycomb structure to enhance the compressive resistance. The volume of each buoyancy compartment is approximately 5 liters, and it can maintain stable buoyancy under a load of 55 kg; the solar panel 2 is made of polycrystalline silicon, with an anti-ultraviolet coating on its surface, strong weather resistance, and the installation angle can be automatically adjusted according to the sun's altitude (adjustment range 0° - 30°) to maximize the light energy absorption efficiency, and the power generation per hour can reach 180 - 200 Wh; the lithium battery pack uses high-density lithium iron phosphate batteries, equipped with overcharge and over-discharge protection circuits, with an operating temperature range of -10°C to 50°C and a cycle life of more than 1000 times; the control system is built-in with a high-performance microprocessor, supports multi-threaded task processing, with an operation ability of 12 TOPS, and the navigation module integrates GPS, Beidou, and inertial navigation system (INS), and can still maintain a positioning accuracy of ±0.5 m in an environment with weak signals; the telescopic mechanism of the water quality sensor probe 9 is driven by a stepper motor, with a telescopic speed of 5 cm / s, and the probe housing is made of corrosion-resistant stainless steel, with a protection level of IP68; the visual recognition system can handle the recognition tasks of up to 10 targets simultaneously, with a recognition distance of up to 50 m, and supports the night infrared mode; the single-beam depth sounder and side-scan sonar of the sonar system 10 are powered by an independent power module to avoid interfering with other sensors; the funnel-shaped opening edge of the garbage collection device 5 is provided with a flexible rubber pad to prevent hard collisions from damaging the hull 1; the rescue device can be deployed within 30 seconds, and the rescue instruction response time is less than 1 second; the wireless communication antenna 8 supports multi-band communication, has strong anti-interference ability, and the signal coverage range reaches 1.5 km.

[0030] Please refer to the attached Figure 5 , the water quality sensor probe 9 includes a pH sensor, a dissolved oxygen sensor, a conductivity sensor, and a temperature sensor, which are installed in the telescopic probe at the bottom of the hull 1, and the diving depth of the probe can be adjusted to 1 m; the control system dynamically adjusts the cruise path and sampling frequency according to the water quality abnormal data.

[0031] Specifically, the pH sensor of the water quality sensor probe 9 adopts a glass electrode design, with a response time of less than 5 seconds and a long-term drift of less than 0.01 pH / day, suitable for waters with large fluctuations in acidity; the dissolved oxygen sensor uses the fluorescence method for measurement, with a diaphragm replacement cycle of 6 months and no oxygen consumption during measurement to ensure data stability; the conductivity sensor has a built-in temperature compensation function to eliminate the influence of temperature changes on conductivity measurement, and the measurement range is extended to 0 - 5000 μS / cm to adapt to high-salinity waters; the temperature sensor uses the thermistor principle, with a response time of less than 2 seconds and a self-calibration function, and the calibration error is less than 0.05 °C per month; the retractable probe is connected to the hull 1 through a waterproof seal ring, and the retractable mechanism is equipped with a limit switch to prevent over-extension or over-retraction, and a protective cover is provided at the end of the probe to avoid entanglement of aquatic plants; the control system generates a pollution index based on the water quality data (for example, when the dissolved oxygen is lower than 4 mg / L, it is marked as severe pollution), and combines historical data to predict the pollution trend, with a prediction accuracy of over 85%; when dynamically adjusting the cruise path, the system preferentially plans a grid path covering high-pollution areas, and the grid spacing is adjustable (range 5 - 20 m), and the sampling frequency is increased from 1 Hz to 10 Hz according to the pollution degree to ensure the comprehensiveness and real-time nature of data collection.

[0032] Please refer to the appendix Figure 2 - appendix Figure 4 , the garbage collection device 5 includes a wide-width funnel-shaped opening, rotating rollers, and a conveyor belt. The opening width is 80 cm, the roller rotation speed range is 0 - 50 rpm, and the conveyor belt sends the garbage into a storage bin with a capacity of 20 L; below the garbage collection device 5, there is also an acoustic deterrent 6, which is in a long and narrow strip shape and is used to drive away fish; the execution module also includes multiple layers of filters, namely a coarse filter, a fine filter, and an activated carbon adsorption layer, which are used to remove oil stains.

[0033] Specifically, the wide funnel-shaped opening of the garbage collection device 5 is made of high-strength polyethylene material, which is wear-resistant and impact-resistant. A guide plate is provided inside the opening, and the inclination angle of the guide plate is 15°, guiding the garbage to smoothly enter the roller area; the surface of the rotating roller is covered with a wear-resistant rubber layer, the roller diameter is 10 cm, the motor power is 50 W, supporting forward and reverse functions to remove stuck foreign objects, and the rotational speed adjustment accuracy is ±2 rpm; the conveyor belt adopts a mesh design with a mesh hole diameter of 2 mm, which can not only transport garbage but also preliminarily filter small floating objects. The running speed of the conveyor belt is 0.2 m / s, and the length can be finely adjusted according to the position of the storage bin (range 50 - 70 cm); the sound wave frequency range of the sound wave disperser 6 is 20 - 30 kHz, the sound pressure level reaches 80 dB, the action distance is 5 m, and the drive circuit supports an intermittent working mode (working for 30 seconds per minute and pausing for 30 seconds), so as to reduce energy consumption and reduce the continuous interference to aquatic organisms; the inner wall of the storage bin is coated with a hydrophobic coating to prevent garbage from adhering, and the bin door is controlled by an electromagnetic lock, automatically locking and triggering an alarm when full; among the multi-layer filters, the aperture of the coarse filter is 5 mm, the material is stainless steel, and it has strong corrosion resistance; the aperture of the fine filter is 0.5 mm, made of polypropylene fiber, with high adsorption; the thickness of the activated carbon adsorption layer is 2 cm, and the adsorption capacity of each gram of activated carbon reaches 200 mg of oil stain, with a service life of 300 hours.

[0034] Please refer to the attached Figure 6 - attached Figure 7 , the visual recognition system includes a binocular camera 3 and a monocular camera 4. The resolution of the binocular camera 3 is 1920×1080, the field of view angle is 120°, supporting stereoscopic imaging and target distance measurement, and the monocular camera 4 is used for wide-angle monitoring; the control system has a built-in deep learning model with an identification accuracy of ≥95%, used to identify fish and birds in the water area in real time.

[0035] Specifically, the distance between the two lenses of the binocular camera 3 is 8 cm, supporting the baseline stereovision algorithm, with a ranging error of less than 0.1 m. The lens surface is covered with an anti-fog coating to adapt to high-humidity environments, and an internal heating module can defrost at low temperatures (operating temperature -5°C to 50°C); the lens focal length of the monocular camera 4 is 3.6 mm, supporting wide-angle distortion correction, with an image acquisition frequency of 30 fps, equipped with an automatic aperture adjustment function, and maintaining clear imaging within the range of light intensity from 10 to 10000 lux; the deep learning model is based on a convolutional neural network (CNN), the training data set contains 10000 fish and bird images, supporting online updates, and the recognition process includes three steps: target detection, feature extraction, and classification, with a single-frame processing time of less than 0.15 seconds; the visual recognition system is equipped with an infrared fill light with a wavelength of 850 nm and an irradiation distance of 20 m, with a night recognition accuracy of ≥90%, and supporting dynamic target tracking with a tracking speed of 2 m / s; the recognition results are stored in JSON format, including species name, position coordinates (latitude and longitude), and timestamp, facilitating subsequent ecological analysis.

[0036] Please refer to the appendix Figure 5 , the sonar system 10 includes a single-beam depth sounder and a side-scan sonar. The single-beam depth sounder has a frequency of 200 kHz and a sounding range of 0.5 - 100 m. The side-scan sonar has a frequency of 500 kHz and a scanning width of 50 m. The control system generates a three-dimensional underwater topographic map based on the data of the sonar system 10.

[0037] Specifically, the emission angle of the single-beam depth sounder of the sonar system 10 is 10°, the acoustic wave pulse width is 0.1 ms, it supports a depth resolution of 0.01 m, and is suitable for shallow water (0.5 - 10 m) and deep water (10 - 100 m) environments. The transducer length of the side-scan sonar is 30 cm, the lateral resolution reaches 5 cm, the scanning data is output in the form of a grayscale image with 256 gray levels, and it can clearly distinguish the bottom sediment and the outline of objects. The sonar system 10 is connected to the hull 1 through a waterproof cabin. The cabin door uses a pneumatic opening and closing mechanism, and the opening and closing time is less than 3 seconds, with an IP68 protection level. The control system has a built-in terrain modeling algorithm, which generates a three-dimensional topographic map by combining sonar data and GPS coordinates. The resolution of the topographic map is adjustable (minimum 0.2 m), and it supports real-time rendering and offline export (formats are STL or OBJ). The sonar system 10 is equipped with an anti-interference filter to filter out water flow and bubble noise, and the data acquisition frequency is 5 Hz to ensure the mapping accuracy remains stable in complex waters.

[0038] Please refer to the appendix Figure 6 , the rescue device includes an inflatable life buoy and a mechanical grasping device 7. The diameter of the life buoy after unfolding is 1 m, and the buoyancy is 50 kg. The mechanical grasping device 7 is a three-claw robotic arm with a grasping range of 0 - 30 cm and a grasping force of 10 kg. The control system supports sending rescue instructions through a remote control or a mobile terminal.

[0039] Specifically, the inflatable life buoy is made of high-strength nylon material, with a fluorescent coating on the surface, having strong night visibility. The inflatable gas cylinder has a capacity of 2 L and a pressure of 10 MPa, and the inflation time is less than 5 seconds. The buoyancy is evenly distributed after unfolding. The inner diameter of the life buoy is 50 cm, suitable for single-person use. The three-claw robotic arm of the mechanical grasping device 7 is made of aluminum alloy, with an anodized surface treatment, corrosion-resistant and lightweight. The opening and closing angle of the claw part is 0° - 90°, and the grasping action is driven by a servo motor (torque 15 Nm, rotation speed 60 rpm), supporting precise grasping of objects with a diameter of 5 - 30 cm. The control system supports switching the priority of the rescue mode, automatically turning off non-essential modules (such as the sonar system 10) after receiving instructions, and allocating all computing power to navigation and rescue tasks. The operation accuracy of the robotic arm reaches ±1 cm. The rescue device is equipped with an emergency power supply with a capacity of 5 Ah to ensure that it can still complete a rescue task when the main battery runs out.

[0040] Please refer to the appendix Figure 7 and the appendix Figure 8, The control system includes a millimeter-wave radar 11 and an obstacle avoidance control unit. The radar detection range is 50m. When the distance to the obstacle is ≤ 4m, the control system adjusts the heading or decelerates to perform automatic obstacle avoidance.

[0041] Specifically, the millimeter-wave radar 11 has an operating frequency of 24GHz, a beam width of 15°, supports multi-target detection, can track up to 8 obstacles simultaneously, has a detection data refresh rate of 20Hz, and has strong environmental adaptability (can work normally in rainy and foggy weather); the obstacle avoidance control unit is built-in with the A* path planning algorithm, generates a real-time obstacle avoidance path by combining the radar and the data of the binocular camera 3, the path calculation time is less than 0.5 seconds, the turning angle range is ±45° when adjusting the heading, and the ship speed linearly decreases to 0m / s during the deceleration process; the control system supports the manual intervention mode, and the user can forcefully override the automatic obstacle avoidance instruction through the remote control, with a higher priority than the autonomous mode to ensure safety in special situations.

[0042] Please refer to the appendix Figure 1 , The hull 1 is made of a biodegradable polylactic acid composite material. The power system includes a solar panel 2 and an energy recovery system, with a recovery rate of 20%, the noise is controlled below 50dB, and the vibration frequency is ≤ 10Hz.

[0043] Specifically, 20% plant fiber is added to the polylactic acid composite material of the hull 1 to enhance toughness. The material density is 1.2g / cm³, the tensile strength reaches 50MPa, and the decomposition period is 5 - 10 years, meeting the environmental protection requirements; the energy recovery system of the solar panel 2 stores the excess electric energy into the lithium battery pack through an inverter, and the recovery efficiency varies with the light intensity (up to 20%), and is equipped with an overvoltage protection circuit to prevent overcharging of the battery; the power system adopts a dual propeller design, the propeller blade diameter is 15cm, the rotation speed range is 0 - 1200rpm, the propulsion efficiency reaches 85%, and the noise is controlled below 50dB through a muffler; the vibration frequency is limited within 10Hz by a shock pad, the thickness of the shock pad is 2cm, and the material is silica gel to ensure that aquatic organisms are not disturbed.

[0044] Please refer to the appendix Figure 8 , The data communication module supports Wi-Fi, 4G or 5G networks through the wireless communication antenna 8, and the data transmission rate ≥ 10Mbps; the cloud platform provides data storage, analysis and sharing functions, and supports generating water quality heat maps and biological distribution maps.

[0045] Specifically, the wireless communication antenna 8 adopts an omnidirectional design with an antenna gain of 5dBi, supports frequency band switching (2.4GHz / 5GHz / 4G / 5G), and the signal transmission distance can reach 2km in an unobstructed environment. The data transmission supports encryption protocol (AES-256) to ensure security; the cloud platform is equipped with a distributed storage system with a single-user storage capacity of 1TB. The data analysis module is based on big data algorithms and can process 100,000 water quality records per day. The generated water quality heat map has a resolution of 1m×1m, and the biological distribution map supports species density visualization (number of individuals per unit area); the platform provides a RESTfulAPI interface, supports third-party system docking, and has a response time of less than 200ms. Users can view data in real time through the Web or mobile terminals.

[0046] Please refer to the attached Figure 6 -Attached Figure 8 , the unmanned boat can autonomously switch operating modes in water quality monitoring, water surface cleaning, fish and bird identification, underwater terrain mapping and emergency rescue tasks, and dynamically adjust the execution order according to the task priority through the control system.

[0047] Specifically, the task switching of the unmanned boat is controlled by a state machine, which includes six states: standby, water quality monitoring, cleaning, biometrics, terrain mapping and rescue. Each state corresponds to an independent task configuration file, and the switching time is less than 2 seconds; the control system has a built-in priority scheduling algorithm, which dynamically adjusts resource allocation according to the urgency of the task (such as the rescue task has the highest priority), and the module with the highest CPU occupancy rate runs first; the task execution order supports user customization, for example, you can set a combination mode of "water quality monitoring first and then cleaning", or automatically optimize the cruising order according to the water area (coverage ≥ 95%); the system is equipped with a fault self-diagnosis function. If a module (such as the sonar system 10) is abnormal, it will automatically skip the relevant tasks and issue an alarm to ensure the overall operation stability.

[0048] The following is an introduction in conjunction with specific embodiments: Example 1: Lake water quality monitoring and ecological protection Hull 1: Dimensions are 1920mm×1060mm×960mm, load capacity is 55kg, and it is made of biodegradable polylactic acid composite material.

[0049] Power system: 2 solar panels (power 200W) + lithium battery pack (capacity 20Ah), working speed 1.2m / s.

[0050] Sensor module: water quality sensor probe 9 (equipped with pH, ​​dissolved oxygen, conductivity, and temperature sensors), binocular camera 3 and monocular camera 4 for fish identification, and sonar system 10 for lake bottom mapping.

[0051] Execution Module: Garbage Collection Device 5 (capacity 20L), Sonic Deterrent 6.

[0052] Control and Communication: Artificial Intelligence Control System (navigation accuracy ±0.3m), Wireless Communication Antenna 8 (supporting 4G network).

[0053] Operating Steps: Deploy the unmanned boat at the starting point of the lake, initialize the control system, and set the daily cruise plan (covering 80% of the lake area with a grid spacing of 10m).

[0054] The water quality sensor probe 9 collects lake water data at a frequency of 1Hz, detects parameters such as pH (target range 6 - 9), dissolved oxygen (target ≥5mg / L), etc., and uploads the data to the cloud in real time.

[0055] The binocular camera 3 and the monocular camera 4 take pictures of the fish in the lake every 5 minutes, identify common species such as carp and bass, and record the population quantity and distribution.

[0056] The garbage collection device 5 operates at a roller rotation speed of 20rpm to clean up floating plastics and leaves, and the sonic deterrent 6 drives away fish at a frequency of 25kHz to avoid accidental injury.

[0057] The sonar system 10 performs a lake bottom mapping once a month to generate a three-dimensional topographic map with a resolution of 0.5m.

[0058] The data is uploaded to the cloud through the wireless communication antenna 8 to generate a water quality report and a fish distribution map.

[0059] Expected Effects: The efficiency of lake water quality monitoring is increased by 50%, and the daily data collection volume reaches 5000 groups.

[0060] About 10kg of lake surface garbage is cleaned up per day, significantly improving the water surface cleanliness.

[0061] Provide fish population dynamic data to provide a basis for the ecological protection department to formulate protection measures.

[0062] Example 2: River Emergency Rescue and Water Surface Cleaning Hull 1: With a wave resistance level above 3, the surface is coated with a waterproof and anti-corrosion coating.

[0063] Power System: Solar panels 2 (tilt angle 15°) + lithium battery pack, maximum speed 2.2m / s.

[0064] Sensor Module: Binocular camera 3 (with infrared fill light), water quality sensor probe 9.

[0065] Execution Module: Garbage Collection Device 5 (roller rotation speed 0 - 50rpm), Mechanical Grabbing Device 7 (gripping force 10kg), inflatable life jacket.

[0066] Control and Communication: The control system supports remote control operation, with a wireless communication antenna 8 (supporting 5G network).

[0067] Operation Steps: Place the unmanned boat on standby on the river bank, and set the cruising route (5 km along the river bank) through the remote control.

[0068] The garbage collection device 5 operates at a roller speed of 30 rpm to clean up floating garbage (such as plastic bottles and oil stains), and returns to the recycling point after the storage bin is full.

[0069] The water quality sensor probe 9 detects the dissolved oxygen and conductivity of the river, samples once an hour, and uploads the data to the cloud.

[0070] After receiving the water rescue instruction, the unmanned boat rushes to the target point at a speed of 2.2 m / s (distance 1 km, taking about 7.5 minutes).

[0071] The binocular camera 3 locks the position of the person falling into the water, and the mechanical grasping device 7 extends to grasp floating objects (such as a life-saving rope), while releasing an inflatable life buoy (buoyancy 50 kg).

[0072] The video of the rescue process is transmitted to the rescue center in real time through the wireless communication antenna 8.

[0073] Expected Effect: Clean 15 kg of river garbage per day on average, reducing water surface pollution.

[0074] The rescue response time is shortened to within 10 minutes, and the success rate is increased to 90%.

[0075] Provide real-time data on river pollution to support emergency management decision-making.

[0076] Example 3: Underwater Topographic Survey and Biological Monitoring of Reservoirs Hull 1: Load capacity 55 kg, with shock pads installed at the bottom.

[0077] Power System: Solar panels 2 + Wind-assisted thruster (power 50 W), endurance 8 hours.

[0078] Sensor Module: Sonar system 10 (single-beam depth sounder + side-scan sonar), binocular camera 3, monocular camera 4.

[0079] Execution Module: Garbage collection device 5 (equipped with multi-layer filters).

[0080] Control and Communication: Control system (with A* obstacle avoidance algorithm), wireless communication antenna 8 (supporting Wi-Fi).

[0081] Operation Steps: Deploy the unmanned boat in the center of the reservoir, and set a grid-shaped survey path (spacing 15 m, covering an area of 10 km²).

[0082] The sonar system 10 emits sound waves at a frequency of 5 Hz. The single-beam sounding instrument measures the water depth (range 0.5 - 100 m), and the side-scan sonar scans the underwater topography, generating a three-dimensional topographic map of the data.

[0083] The binocular camera 3 and the monocular camera 4 photograph water birds (such as egrets and wild ducks), record once every 10 minutes, and upload the recognition results to the cloud.

[0084] The garbage collection device 5 cleans the floating objects on the water surface at a low speed (10 rpm), and the filter screen adsorbs oil pollution to protect the reservoir ecosystem.

[0085] The control system detects obstacles through the millimeter-wave radar 11 and automatically detours when the distance is 4 m.

[0086] The data is stored in the cloud through the wireless communication antenna 8, and a reservoir ecological report is generated every week.

[0087] Expected effect: The mapping accuracy of the reservoir topography reaches ±0.01 m, and the coverage rate is 95%, providing accurate data for reservoir management.

[0088] Monitor the changes in the bird population and record about 50 daily activity times.

[0089] Clean 5 kg of water surface pollutants per day to maintain the stability of the reservoir water quality.

[0090] Example 4: Comprehensive management of coastal waters Hull 1: Corrosion-resistant composite material, wave resistance level 4.

[0091] Power system: Solar panels 2 (power 250 W) + lithium battery pack, working speed 1.5 m / s.

[0092] Sensor module: Water quality sensor probe 9, binocular camera 3, monocular camera 4, sonar system 10.

[0093] Execution module: Garbage collection device 5, mechanical grasping device 7, inflatable life jacket.

[0094] Control and communication: Control system (supporting mobile phone APP operation), wireless communication antenna 8 (supporting 5G).

[0095] Operation steps: Deploy the unmanned boat at the coastal dock and set the cruising range (radius 2 km) through the mobile phone APP.

[0096] The water quality sensor probe 9 detects the pH, conductivity, and temperature of seawater, samples once every 15 minutes, and uploads the data to the cloud for analysis of salinity changes.

[0097] The binocular camera 3 and the monocular camera 4 identify seabirds and fish (such as seagulls and mackerel), and generate a distribution heat map every day.

[0098] The sonar system 10 surveys the seabed topography with a scanning width of 50 m and records the positions of sunken ships or reefs.

[0099] The garbage collection device 5 clears floating garbage on the sea surface (such as fishing net fragments), and the mechanical grasping device 7 assists in removing large floating objects.

[0100] After receiving a distress signal from a swimmer, an inflatable life buoy is released and the coast guard is notified.

[0101] Expected effect: The data collection coverage rate of seawater quality reaches 90%, supporting marine pollution monitoring.

[0102] 20 kg of coastal garbage is cleared per day, reducing the risk of marine organisms being accidentally ingested.

[0103] Provide seabed topography and biological data to support marine protection and rescue.

[0104] Although the embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. Multifunctional unmanned ship, characterized in that, It includes a hull (1), a power system, a control system, a sensor module, an execution module, and a data communication module, where: The hull (1) is designed in a streamlined shape, with a load capacity of 55 kg and a wave resistance level of above grade 3; The power system is driven by hybrid energy, including solar panels (2) and a lithium battery pack, supporting a maximum speed of 2.2 m / s and an operating speed of 1.2 m / s; The control system is based on artificial intelligence algorithms, supporting autonomous navigation, path planning, and obstacle avoidance functions, with the navigation accuracy controlled within 0.3 m; The sensor module includes a water quality sensor probe (9), a visual recognition system, and a sonar system (10), which are used to collect water quality parameters, fish and bird information, and underwater terrain data in real time; The execution module includes a garbage collection device (5) and a rescue device, which are used to perform surface cleaning and emergency rescue tasks; The data communication module includes a wireless communication antenna (8), supporting wireless network transmission, and uploading the collected data to the cloud platform.

2. The multifunctional unmanned ship according to claim 1, characterized in that, The water quality sensor probe (9) includes a pH sensor, a dissolved oxygen sensor, a conductivity sensor, and a temperature sensor, which are installed in the telescopic probe at the bottom of the hull (1), and the diving depth of the probe can be adjusted to 1 m; the control system dynamically adjusts the cruise path and sampling frequency according to the abnormal water quality data.

3. The multi-functional unmanned boat according to claim 1, characterized in that, The garbage collection device (5) includes a wide-width funnel-shaped opening, rotating rollers, and a conveyor belt. The opening width is 80 cm, the rotational speed range of the rollers is 0 - 50 rpm, and the conveyor belt sends the garbage into a storage bin with a capacity of 20 L; a sonic repeller (6) in the shape of a slender strip is also included below the garbage collection device (5) for driving away fish; the execution module also includes multiple layers of filters, namely a coarse filter, a fine filter, and an activated carbon adsorption layer, for removing oil stains.

4. The multi-functional unmanned boat according to claim 1, characterized in that, The visual recognition system includes a binocular camera (3) and a monocular camera (4). The binocular camera (3) has a resolution of 1920×1080 and a field of view angle of 120°, supporting stereoscopic imaging and target distance measurement. The monocular camera (4) is used for wide-angle monitoring; the control system has a built-in deep learning model with an identification accuracy of ≥95% for real-time identification of fish and birds in the water area.

5. The multifunctional unmanned ship according to claim 1, characterized in that The sonar system (10) includes a single-beam depth sounder and a sidescan sonar. The frequency of the single-beam depth sounder is 200 kHz, and the sounding range is 0.5 - 100 m. The frequency of the sidescan sonar is 500 kHz, and the scanning width is 50 m; the control system generates a three-dimensional underwater topographic map based on the data of the sonar system (10).

6. The multi-functional unmanned boat according to claim 1, characterized in that, The rescue device includes an inflatable life buoy and a mechanical grasping device (7). The diameter of the life buoy after deployment is 1 m, and the buoyancy is 50 kg. The mechanical grasping device (7) is a three-claw robotic arm with a grasping range of 0 - 30 cm and a grasping force of 10 kg; the control system supports sending rescue instructions by a remote control or a mobile terminal.

7. The multi-functional unmanned boat according to claim 1, characterized in that, The control system includes a millimeter-wave radar (11) and an obstacle avoidance control unit. The radar detection distance is 50 m. When the distance to an obstacle ≤ 4 m, the control system adjusts the heading or decelerates to perform automatic obstacle avoidance.

8. The multifunctional unmanned ship according to claim 1, characterized in that, The hull (1) is made of a biodegradable polylactic acid composite material. The power system includes a solar panel (2) and an energy recovery system with a recovery rate of 20%, the noise is controlled below 50 dB, and the vibration frequency is ≤ 10 Hz.

9. The multi-functional unmanned boat according to claim 1, characterized in that, The data communication module supports Wi-Fi, 4G or 5G networks through a wireless communication antenna (8), and the data transmission rate is ≥ 10 Mbps; the cloud platform provides data storage, analysis and sharing functions, and supports the generation of water quality heat maps and biological distribution maps.

10. The multifunctional unmanned boat according to claim 1, characterized in that, The unmanned ship can autonomously switch operation modes in water quality monitoring, water surface cleaning, fish and bird identification, underwater terrain mapping and emergency rescue tasks, and dynamically adjust the execution order according to the task priority through the control system.

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