Water-turbine generator set overflowing water quality sediment characteristic on-line monitoring system and method based on unmanned ship

Abstract

The invention provides a water-turbine generator set overflowing water quality sediment characteristic online monitoring system and method based on an unmanned ship, and the system comprises an unmanned ship platform which is internally provided with a sampling detection cabin. A sampling detection module for detecting water quality sediment characteristics is detachably mounted in the sampling detection cabin; a power cabin is arranged at the tail of the unmanned ship platform, and an unmanned ship transmission module for driving the power cabin to move is arranged in the power cabin; an image detection device for image acquisition is mounted at the front end of the unmanned ship platform; a sampling and collecting device for collecting a water sample is mounted at the bottom of the unmanned ship platform; the image detection device, the sampling and collecting device and the sampling and detecting module are connected and jointly form an unmanned ship sediment characteristic online collecting and detecting system; and an unmanned ship online intelligent cruise system for realizing automatic cruise is carried on the unmanned ship platform. The online monitoring of the sediment characteristics of the overflowing water quality can be realized.

Description

Technical Field

[0001] This invention belongs to the field of online monitoring technology of sediment characteristics, and relates to the collection and monitoring in natural environments. Specifically, it is an online monitoring system and method for sediment characteristics of water flowing through a hydro-generator unit based on an unmanned surface vessel. Background Technology

[0002] In hydroelectric power generation, the impact of sediment carried in the water on machinery is particularly significant. The characteristics of the sediment particles themselves, such as particle size, shape, mineral composition, and hardness, all affect the service life and operating efficiency of the machinery. Regarding concentration, the degree of abrasion caused by particles increases with increasing concentration. Furthermore, cavitation inhibits abrasion caused by low-concentration particles while promoting abrasion caused by high-concentration particles. Therefore, research on sediment concentration and particle size distribution is essential.

[0003] Current traditional research methods, such as gravimetric analysis for sediment concentration detection, sieving for sediment particle size distribution, and subsequent sedimentation, filtration, and drying methods, as well as manually operated instruments like isotope analyzers, turbidity conversion analyzers, vibrating analyzers, suspended sediment samplers, bedload samplers, and riverbed sediment samplers, rely heavily on manual labor. While these methods can effectively analyze sediment characteristics, they are time-consuming. Gravimetric analysis requires 24 hours of drying and weighing after sampling, and sieving requires 4 to 5 hours of manual sample separation. Data feedback is delayed by more than 12 hours, making them unsuitable for sudden surges in sediment concentration after heavy rains. This can lead to missed early warning windows for turbine erosion, and they are also resource-intensive, sometimes requiring multiple personnel to operate simultaneously. In summary, traditional methods are cumbersome, time-consuming, labor-intensive, and highly subjective.

[0004] Furthermore, traditional methods cannot achieve online monitoring, lack multi-dimensional measurement, and are relatively limited in scope. Due to the complex and variable underwater environment, the aforementioned methods also lack real-time capability. While they can serve as effective laboratory tools, they cannot provide timely feedback of valuable information and cannot establish a multi-dimensional information model for flowing water quality and sediment. Sampling cannot accurately reflect the real-time state of flowing water quality and sediment.

[0005] Meanwhile, traditional methods lack advanced technological support, limiting their development. Traditional methods are no longer applicable with the continuous development of intelligent technologies such as embedded systems and integrated systems. The operation and maintenance of power plant equipment also requires improvements in the technical level of monitoring flowing water quality and sediment. Summary of the Invention

[0006] To address the aforementioned problems, the present invention aims to overcome the shortcomings of existing methods. The main objective of this invention is to provide an online monitoring system and method for the sediment characteristics of a hydro-generator unit based on an unmanned surface vessel (USV). This system primarily targets the online monitoring of sediment properties such as sediment concentration and particle size distribution. It enables data collection, detection, transmission, and remote control within the USV, overcoming the time lag inherent in traditional sediment characteristic detection methods and achieving multi-dimensional monitoring. It offers advantages such as low cost, good scalability, and strong practicality, and can be applied to water resource management, environmental monitoring, and flood control and disaster relief.

[0007] To achieve the aforementioned technical features, the present invention aims to provide an online monitoring system for the sediment characteristics of a hydro-turbine generator set based on an unmanned surface vessel (USV). The monitoring system includes an USV platform, an internal sampling and detection chamber containing a detachable sampling and detection module for detecting the sediment characteristics of the water. A power compartment is located at the stern of the USV platform, containing a USV transmission module for driving its movement. An image detection device for image acquisition is installed at the front of the USV platform. A sampling and collection device for water sample collection is installed at the bottom of the USV platform. The image detection device, the sampling and collection device, and the sampling and detection module are connected and together constitute an online sediment characteristic acquisition and detection system for the USV. The unmanned surface vessel (USV) platform is equipped with an online intelligent cruise system for achieving automatic cruise. The unmanned surface vessel (USV) platform is equipped with a SCADA system information transmission module. The USV's online sediment characteristic acquisition and detection system is connected to the remote control terminal through the SCADA system information transmission module, and realizes dynamic and routine online monitoring of water quality and sediment characteristics in the watershed. At the same time, the detected data is stored in a timely manner to a remote server for analysis and preservation.

[0008] Preferably, the unmanned surface vessel online intelligent cruise system adopts a GNSS / SINS / DVL integrated navigation system and realizes inertial navigation of the unmanned surface vessel platform's position and heading; The unmanned surface vessel online intelligent cruise system also includes an obstacle avoidance module for obstacle avoidance; The unmanned surface vessel's online intelligent cruise system is equipped with a navigation controller based on the ADRC algorithm and a speed controller based on the SMCNN algorithm.

[0009] Preferably, the GNSS supports both BeiDou-3 and GPS dual-mode, wherein the RTK mode planar accuracy is ≤1m; the SINS module can work independently for ≥30 minutes with a positioning error of ≤5m.

[0010] Preferably, the obstacle avoidance module uses a fusion of lidar and ultrasonic sensors, with a response time of less than 0.5s and a detour radius of ≥5m, to enable the unmanned surface vessel platform to identify obstacles and perform hazard avoidance operations.

[0011] Preferably, the power battery of the unmanned surface vessel's transmission module is a wide-temperature LFP battery with an IP68 protection rating and a range of ≥24 hours; the propulsion motor has a rated power of 8kW and a speed of 1000-3000r / min, and returns to port for charging when the battery's usable capacity is less than 20%.

[0012] Preferably, the SCADA system information transmission module is a SCADA system information transmission module built on the 5G / 4G RTU transmission method, which transmits information using the TCP protocol, supports AES-256 encryption and breakpoint resume, has a network interruption time of ≤30 minutes and can be retransmitted, and uses an SD card for local cache with a read / write speed of ≥10MB / s.

[0013] Preferably, the sampling and collection device includes a telescopic sampling tube with a trumpet-shaped opening, and a depth sensor for detecting the descent depth is installed on the tube.

[0014] Preferably, the sampling and testing chamber is equipped with a quartz glass testing pool and a horizontal shock-absorbing electronic balance; The sampling and detection module is equipped with eight sample storage tanks. The sample storage tanks are connected to the sampling tubes via stainless steel flanges and are equipped with sealing gaskets. Two of the eight sample storage tanks are filter water tanks, and the other six are sample storage water tanks. Each sample storage tank is equipped with a liquid level sensor at the top and bottom. After the sampling and detection is completed, the filtered water in the filter water tank is pumped into the sample storage water tank by a flushing pump to reduce the impact on the next water sample. The sampling tubes and sample storage tanks are cleaned with hydrochloric acid solution weekly. The sampling and detection module is equipped with a sediment detection sensor for detecting the characteristics of water sediment. The sediment detection sensor can detect sediment concentration, sediment particle size distribution, sediment hardness and sediment shape.

[0015] Preferably, the unmanned surface vessel platform is equipped with an acoustic Doppler current profiler (ADCP) for monitoring water flow velocity; The unmanned surface vessel platform is equipped with a pressure sensor for water pressure monitoring; The monitoring frequency of the unmanned surface vessel sediment characteristic online acquisition and detection system changes dynamically with a monitoring cycle of T hours as the basic monitoring cycle. Within each cycle, the corresponding flow velocity and pressure data are collected by the ADCP and pressure sensor carried by the unmanned surface vessel. Three water samples are collected at randomly selected time points within the cycle. When the fluctuation of the water flow velocity at the monitoring point is greater than 5%, an encryption mechanism is automatically triggered, and one additional monitoring is added every S minutes. The monitoring period for the initial deployment of the unmanned surface vessel is set at 7 days, and the monitoring period is dynamically adjusted according to the geological and hydrological characteristics of the location.

[0016] Another aspect of the present invention provides an online monitoring method for the sediment characteristics of the flowing water in a hydro-turbine generator unit based on an unmanned surface vessel (USV). The monitoring method is implemented using the aforementioned online monitoring system for the sediment characteristics of the flowing water in a hydro-turbine generator unit based on an USV, and includes the following steps: Step 1, Setting up monitoring points: The area near the water intake pipe in the waters in front of the dam is designated as the operating area for the unmanned surface vessel (USV) platform, and monitoring points are set up. At the same time, one USV will conduct cyclic monitoring of multiple water turbines as needed to achieve overall monitoring of the water turbine generator set. Step 2, Automatic cruise of the unmanned surface vessel platform: The location information of the monitoring point is transmitted to the unmanned surface vessel (USV) platform through the SCADA system information transmission module via the remote control terminal. The USV platform is then guided by the USV online intelligent cruise system and controlled to run to the corresponding monitoring point. Step 3, Automatic water sample collection: After the unmanned surface vessel platform moves to the corresponding monitoring point, the sampling and collection device is lowered and the lowering depth is monitored by the depth sensor to ensure that the accurate sampling depth is reached. Water samples are then collected and the sampling progress is observed through the remote control terminal to ensure that a sufficient amount of water samples are collected. Step 4, Automatic detection of water samples: After the water samples are collected, the sampling and testing module automatically performs online testing on the water samples to obtain water quality and sediment characteristics data; Step 5, Data transmission and storage: After the test is completed, the water quality and sediment characteristics data are transmitted to the remote control terminal through the SCADA system information transmission module for analysis and storage. Step 6, Automatic Operation of the Unmanned Surface Vehicle Platform: By setting the sampling cycle of the unmanned surface vessel (USV) platform through a remote control terminal, it is ensured that the USV platform will automatically move to the next monitoring point for cyclic sampling and testing after completing the detection of one monitoring point.

[0017] The present invention has the following beneficial effects: 1. By using online monitoring technology, this invention greatly avoids the problems of redundancy, time-consuming and labor-intensive processes, and subjective influences associated with traditional methods. At the same time, it does not completely abandon traditional methods but utilizes the advantages of accurate measurement methods such as gravimetric and sieving methods, which, together with unmanned surface vessels, continue to serve the overall system solution.

[0018] 2. This invention takes into account the complex and ever-changing underwater environment, and can accurately reflect the state of sediment in the flowing water during the operation of the unmanned surface vessel. The sampling and detection module and the sampling and collection device are designed according to the water body and the hull environment to reduce interference from the detection environment.

[0019] 3. This invention enables unmanned navigation functions such as automatic cruise, online monitoring of environmental changes while sampling, obstacle avoidance, and timely return to port, in conjunction with the navigation system. The power battery uses wide-temperature LFP cells to adapt to the temperature difference environment in Southwest China, with a failure rate of less than 5%, ensuring the integrity and safety of monitoring data and the hull.

[0020] 4. This invention innovatively proposes to apply unmanned surface vessel (USV) technology to the online monitoring of sediment characteristics of water flowing through hydro-generator units. The entire process can basically achieve online data acquisition and monitoring, which has broad development prospects, strong practicality, and good applicability. Attached Figure Description

[0021] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0022] Figure 1 This is a schematic diagram of the overall construction method of the present invention.

[0023] Figure 2 This is a schematic diagram of the overall unmanned surface vessel model of the present invention.

[0024] Figure 3 This is a functional schematic diagram of the unmanned surface vessel model of the present invention.

[0025] Figure 4 This is a schematic diagram of the integrated sampling and monitoring device of the present invention.

[0026] Figure 5 This is a diagram showing the initial operation of the system of the present invention.

[0027] Figure 6 This is a diagram showing the operation of the system in the later stages of processing according to the present invention.

[0028] Figure 1 In Chinese: L1 is a schematic diagram of the early stage of the solution, L2 is a schematic diagram of the middle stage of the solution, and L3 is a schematic diagram of the late stage of the solution. Figure 3 In the middle: sampling and detection module Y1, unmanned surface vessel transmission module Y2; Figure 4 In the middle: image detection device Y3, sampling and collection device Y4. Detailed Implementation

[0029] The embodiments of the present invention will be further described below with reference to the accompanying drawings.

[0030] Example 1: See Figure 1-6An online monitoring system for the sediment characteristics of a hydro-turbine generator set based on an unmanned surface vessel (USV) is disclosed. The system includes an USV platform with a sampling and detection chamber inside, housing a detachable sampling and detection module Y1 for detecting water quality and sediment characteristics. A power compartment is located at the stern of the USV platform, housing a sampling and detection module Y2 for driving its movement. An image detection device Y3 for image acquisition is installed at the front of the USV platform. A sampling and collection device Y4 for water sample collection is installed at the bottom of the USV platform. The image detection device Y3, the sampling and collection device Y4, and the sampling and detection module Y1 are connected to form an online sediment characteristic acquisition and detection system for the USV. The USV platform is equipped with an online intelligent cruise system for automatic navigation. A SCADA system information transmission module is also installed on the USV platform. The online sediment characteristic acquisition and detection system is connected to a remote control terminal through the SCADA system information transmission module, enabling dynamic and routine online monitoring of water quality and sediment characteristics in the watershed. Simultaneously, the detected data is promptly stored on a remote server for analysis and preservation. By adopting the aforementioned online monitoring system, an integrated design system is created that combines an online sediment characteristic acquisition and detection system with advanced navigation and obstacle avoidance technologies. This system enables automatic route planning and cruise mission execution, reducing human intervention. It allows for wireless transmission of various data. The system enables multi-process, online operation and analysis of water body data collection, characteristic detection, data transmission, and remote control within the unmanned surface vessel. This allows for dynamic and routine online monitoring of sediment characteristics in the watershed, while simultaneously storing all key data collected on a remote server for preservation.

[0031] Furthermore, the online intelligent cruise system for unmanned surface vessels (USVs) employs a GNSS / SINS / DVL integrated navigation system to achieve inertial navigation of the USV platform's position and heading. The system also includes an obstacle avoidance module and is equipped with a navigation controller based on the ADRC algorithm and a speed controller based on the SMCNN algorithm. This online intelligent cruise system enables the automatic navigation operation of the USV platform during subsequent sampling processes.

[0032] Furthermore, the GNSS supports both BeiDou-3 and GPS dual-mode, with a RTK mode planar accuracy ≤1m; the SINS module can operate independently for ≥30 minutes with a positioning error ≤5m. This GNSS / SINS / DVL integrated navigation system ensures the accuracy and reliability of positioning for subsequent unmanned surface vessel (USV) operations.

[0033] Furthermore, the obstacle avoidance module uses a fusion of lidar and ultrasonic sensors, with a response time of less than 0.5s and a detour radius of ≥5m, to enable obstacle judgment and hazard avoidance operations for the unmanned surface vessel platform.

[0034] Furthermore, the power battery of the sampling and detection module Y2 uses a wide-temperature LFP battery with an IP68 protection rating and a range of ≥24 hours; the propulsion motor has a rated power of 8kW and a speed of 1000-3000r / min, and returns to base for charging when the battery capacity drops below 20%. The aforementioned battery module provides effective power supply, and automatic return ensures operational safety.

[0035] Furthermore, the SCADA system information transmission module is a SCADA system information transmission module built on the 5G / 4G RTU transmission method, which transmits information using the TCP protocol, supports AES-256 encryption and breakpoint resume, has a network interruption time of ≤30 minutes and can be retransmitted, and uses an SD card for local cache with a read / write speed of ≥10MB / s.

[0036] Furthermore, the sampling and collection device Y4 includes a telescopic sampling tube with a trumpet-shaped opening, and a depth sensor for detecting the descent depth is installed on the tube.

[0037] In this embodiment, the sampling tube opening is 70mm and the inner wall roughness is 0.6μm; the sampling tube opening is trumpet-shaped with a diameter of 80mm, and a depth sensor is installed 300mm from the tube end.

[0038] Furthermore, the sampling and testing chamber is equipped with a quartz glass testing pool and a horizontal shock-absorbing electronic balance; The sampling and detection module Y1 is equipped with eight sample storage tanks. The sample storage tanks are connected to the sampling tubes via stainless steel flanges and are equipped with sealing gaskets. Two of the eight sample storage tanks are filter water tanks, and the other six are sample storage tanks. Each sample storage tank is equipped with a liquid level sensor at the top and bottom. After the sampling and detection is completed, the filtered water in the filter water tank is pumped into the sample storage tank by a flushing pump to reduce the impact on the next water sample. The sampling tubes and sample storage tanks are cleaned with hydrochloric acid solution weekly. The sampling and detection module Y1 is equipped with a sediment detection sensor for detecting the characteristics of water sediment. The sediment detection sensor can detect the characteristics of sediment concentration, sediment particle size distribution, sediment hardness and sediment shape.

[0039] Furthermore, the unmanned surface vessel (USV) platform is equipped with an acoustic Doppler current profiler (ADCP) for water flow velocity monitoring; the USV platform is also equipped with a pressure sensor for water pressure monitoring; the monitoring frequency of the USV sediment characteristic online acquisition and detection system dynamically changes based on a 3-hour monitoring cycle. Within each cycle, the corresponding flow velocity and pressure data are collected by the ADCP and pressure sensor on the USV platform, and three water samples are randomly selected at different times within the cycle.

[0040] When the fluctuation of water flow velocity at the monitoring point is greater than 5%, the characteristics of water sediment may change significantly. In this case, the encryption mechanism will be automatically triggered, and monitoring will be added once every 30 minutes. In order to adapt to the hydropower geomorphological characteristics in the southwest region, the monitoring cycle during the initial deployment of the unmanned surface vessel is set to 7 days. The monitoring cycle will be dynamically adjusted according to the geological and hydrological characteristics of the location.

[0041] Furthermore, the sediment characteristics are categorized into concentration, particle size distribution, sediment hardness, and shape. Sediment concentration refers to the mass of sediment contained in a unit volume of water, and is an important indicator for measuring the sediment content in rivers, lakes, and other water bodies. Sediment particle size distribution refers to the distribution of various particle sizes in a sand sample, reflecting the parent rock properties of the sediment and demonstrating the strength of its sorting by water flow and its transport characteristics. Sediment hardness and shape are two important aspects of sediment properties, significantly influencing sediment behavior and impact. Sediment hardness primarily depends on its mineral composition, generally consisting mainly of quartz and feldspar, and often contains some heavy minerals such as magnetite. These factors collectively determine the sediment hardness.

[0042] Example 2: Another aspect of the present invention provides an online monitoring method for the sediment characteristics of the flowing water in a hydro-turbine generator unit based on an unmanned surface vessel (USV). The monitoring method is implemented using the aforementioned online monitoring system for the sediment characteristics of the flowing water in a hydro-turbine generator unit based on an USV, and includes the following steps: Step 1, Setting up monitoring points: The area near the water intake pipe in the waters in front of the dam is designated as the operating area for the unmanned surface vessel (USV) platform, and monitoring points are set up. At the same time, one USV will conduct cyclic monitoring of multiple water turbines as needed to achieve overall monitoring of the water turbine generator set. Step 2, Automatic cruise of the unmanned surface vessel platform: The location information of the monitoring point is transmitted to the unmanned surface vessel (USV) platform through the SCADA system information transmission module via the remote control terminal. The USV platform is then guided by the USV online intelligent cruise system and controlled to run to the corresponding monitoring point. Step 3, Automatic water sample collection: After the unmanned surface vessel platform moves to the corresponding monitoring point, the sampling and collection device Y4 is lowered and monitored by a depth sensor at a depth of 3-5m to ensure that the accurate sampling depth is reached. Water samples are then collected and the sampling progress is observed through a remote control terminal to ensure that a sufficient amount of water samples are collected. Step 4, Automatic detection of water samples: After the water samples are collected, the sampling and testing module Y1 automatically performs online testing on the water samples to obtain water quality and sediment characteristics data. Step 5, Data transmission and storage: After the test is completed, the water quality and sediment characteristics data are transmitted to the remote control terminal through the SCADA system information transmission module for analysis and storage. Step 6, Automatic Operation of the Unmanned Surface Vehicle Platform: By setting the sampling cycle of the unmanned surface vessel (USV) platform through a remote control terminal, it is ensured that the USV platform will automatically move to the next monitoring point for cyclic sampling and testing after completing the detection of one monitoring point.

Claims

1. An online monitoring system for the sediment characteristics of water flowing through a hydro-generator unit based on an unmanned surface vessel, characterized in that, The monitoring system includes an unmanned surface vessel (USV) platform. Inside the USV platform is a sampling and detection chamber, inside which a sampling and detection module for detecting water quality and sediment characteristics is detachably installed. At the stern of the USV platform is a power compartment, inside which is a USV transmission module for driving its movement. At the front of the USV platform is an image detection device for image acquisition. At the bottom of the USV platform is a sampling and collection device for water sample collection. The image detection device, sampling and collection device, and sampling and detection module are connected and together constitute an online sediment characteristic acquisition and detection system for the USV. The unmanned surface vessel (USV) platform is equipped with an online intelligent cruise system for achieving automatic cruise. The unmanned surface vessel (USV) platform is equipped with a SCADA system information transmission module. The USV's online sediment characteristic acquisition and detection system is connected to the remote control terminal through the SCADA system information transmission module, and realizes dynamic and routine online monitoring of water quality and sediment characteristics in the watershed. At the same time, the detected data is stored in a timely manner to a remote server for analysis and preservation.

2. The online monitoring system for the sediment characteristics of a hydro-generator unit based on an unmanned surface vessel according to claim 1, characterized in that: The unmanned surface vessel online intelligent cruise system adopts a GNSS / SINS / DVL integrated navigation system and realizes inertial navigation of the unmanned surface vessel platform's position and heading; The unmanned surface vessel online intelligent cruise system also includes an obstacle avoidance module for obstacle avoidance; The unmanned surface vessel's online intelligent cruise system is equipped with a navigation controller based on the ADRC algorithm and a speed controller based on the SMCNN algorithm.

3. The online monitoring system for the characteristics of sediment in the flow water of a hydro-generator unit based on an unmanned surface vessel, as described in claim 2, is characterized in that: The GNSS supports both BeiDou-3 and GPS dual-mode, with a RTK mode planar accuracy of ≤1m; the SINS module can work independently for ≥30 minutes with a positioning error of ≤5m.

4. The online monitoring system for the characteristics of sediment in the flow water of a hydro-generator unit based on an unmanned surface vessel, as described in claim 3, is characterized in that: The obstacle avoidance module uses a fusion of lidar and ultrasonic sensors, with a response time of less than 0.5s and a detour radius of ≥5m, to enable the unmanned surface vessel platform to identify obstacles and perform hazard avoidance operations.

5. The online monitoring system for the sediment characteristics of a hydro-generator unit based on an unmanned surface vessel according to claim 1, characterized in that: The power battery of the unmanned surface vessel's transmission module is a wide-temperature LFP battery with an IP68 protection rating and a range of ≥24 hours; the propulsion motor has a rated power of 8kW and a speed of 1000-3000r / min, and returns to port for recharging when the battery's usable capacity is less than 20%.

6. The online monitoring system for the characteristics of sediment in the flow water of a hydro-generator unit based on an unmanned surface vessel as described in claim 1, characterized in that: The SCADA system information transmission module is a SCADA system information transmission module built on the 5G / 4G RTU transmission method. It uses the TCP protocol for transmission, supports AES-256 encryption and breakpoint resume, network interruption ≤30min, and can retransmit. The local cache uses SD card, with a read and write speed ≥10MB / s.

7. The online monitoring system for the sediment characteristics of a hydro-generator unit based on an unmanned surface vessel according to claim 1, characterized in that: The sampling and collection device includes a telescopic sampling tube with a trumpet-shaped opening, and a depth sensor for detecting the descent depth is installed on the tube.

8. The online monitoring system for the sediment characteristics of a hydro-generator unit based on an unmanned surface vessel according to claim 7, characterized in that: The sampling and testing chamber is equipped with a quartz glass testing pool and a horizontal shock-absorbing electronic balance; The sampling and detection module is equipped with eight sample storage tanks. The sample storage tanks are connected to the sampling tubes via stainless steel flanges and are equipped with sealing gaskets. Two of the eight sample storage tanks are filter water tanks, and the other six are sample storage water tanks. Each sample storage tank is equipped with a liquid level sensor at the top and bottom. After the sampling and detection is completed, the filtered water in the filter water tank is pumped into the sample storage water tank by a flushing pump to reduce the impact on the next water sample. The sampling tubes and sample storage tanks are cleaned with hydrochloric acid solution weekly. The sampling and detection module is equipped with a sediment detection sensor for detecting the characteristics of water sediment. The sediment detection sensor can detect sediment concentration, sediment particle size distribution, sediment hardness and sediment shape.

9. The online monitoring system for the characteristics of sediment in the flow water of a hydro-generator unit based on an unmanned surface vessel, as described in claim 1, is characterized in that: The unmanned surface vessel platform is equipped with an acoustic Doppler current profiler (ADCP) for monitoring water flow velocity. The unmanned surface vessel platform is equipped with a pressure sensor for water pressure monitoring; The monitoring frequency of the unmanned surface vessel sediment characteristic online acquisition and detection system changes dynamically with a monitoring cycle of T hours as the basic monitoring cycle. Within each cycle, the corresponding flow velocity and pressure data are collected by the ADCP and pressure sensor carried by the unmanned surface vessel. Three water samples are collected at randomly selected time points within the cycle. When the fluctuation of the water flow velocity at the monitoring point is greater than 5%, an encryption mechanism is automatically triggered, and one additional monitoring is added every S minutes. The monitoring period for the initial deployment of the unmanned surface vessel is set at 7 days, and the monitoring period is dynamically adjusted according to the geological and hydrological characteristics of the location.

10. A method for online monitoring of the sediment characteristics of water flowing through a hydro-generator unit based on an unmanned surface vessel, characterized in that, The monitoring method is implemented using the online monitoring system for the characteristics of sediment in the flow water of a hydro-generator unit based on an unmanned surface vessel, as described in any one of claims 1-9, and includes the following steps: Step 1, Setting up monitoring points: The area near the water intake pipe in the waters in front of the dam is designated as the operating area for the unmanned surface vessel (USV) platform, and monitoring points are set up. At the same time, one USV will conduct cyclic monitoring of multiple water turbines as needed to achieve overall monitoring of the water turbine generator set. Step 2, Automatic cruise of the unmanned surface vessel platform: The location information of the monitoring point is transmitted to the unmanned surface vessel (USV) platform through the SCADA system information transmission module via the remote control terminal. The USV platform is then guided by the USV online intelligent cruise system and controlled to run to the corresponding monitoring point. Step 3, Automatic water sample collection: After the unmanned surface vessel platform moves to the corresponding monitoring point, the sampling and collection device is lowered and the lowering depth is monitored by the depth sensor to ensure that the accurate sampling depth is reached. Water samples are then collected and the sampling progress is observed through the remote control terminal to ensure that a sufficient amount of water samples are collected. Step 4, Automatic detection of water samples: After the water samples are collected, the sampling and testing module automatically performs online testing on the water samples to obtain water quality and sediment characteristics data; Step 5, Data transmission and storage: After the test is completed, the water quality and sediment characteristics data are transmitted to the remote control terminal through the SCADA system information transmission module for analysis and storage. Step 6, Automatic Operation of the Unmanned Surface Vehicle Platform: By setting the sampling cycle of the unmanned surface vessel (USV) platform through a remote control terminal, it is ensured that the USV platform will automatically move to the next monitoring point for cyclic sampling and testing after completing the detection of one monitoring point.

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