Unmanned boat for water quality regulation of intensive culture fishpond and water quality regulation method
By using carbon sequestration, oxygenation, and circulation modules mounted on the unmanned surface vessel, combined with real-time monitoring by a sensor array and decision-making by a control box, the problems of water acidification, hypoxia, and thermal stratification in intensive fishponds were solved, achieving efficient water quality regulation.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-12-04
- Publication Date
- 2026-03-27
AI Technical Summary
The problems of water acidification, hypoxia and thermal stratification in intensive fish ponds are difficult to solve effectively. Traditional equipment cannot provide coordinated treatment, and water quality monitoring is lagging behind, which affects the safety of aquaculture.
The system employs an unmanned surface vessel equipped with a carbon fixation module, an oxygenation module, and a circulation execution module. Combined with real-time monitoring by a sensor array and decision-making by a control box, it achieves synergistic regulation of water quality through efficient oxygenation via micro-nano bubbles, vertical water disturbance, and neutralization by alkaline mineral powder.
It has achieved three-dimensional and collaborative water quality management, increased dissolved oxygen concentration in water bodies, broken thermal stratification, reduced operating costs, and improved the cost-effectiveness and endurance of the equipment.
Smart Images
Figure CN121730236A_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of water quality regulation technology, and in particular relates to an unmanned surface vessel and water quality regulation method for intensive fish farming ponds. Background Technology
[0002] Intensive aquaculture is a mainstream model developed by the aquaculture industry to meet market demands and improve resource utilization efficiency. It achieves a significant increase in yield per unit area of water through high-density stocking of cultured organisms, precise feeding, and meticulous environmental control. However, under high-density aquaculture, uneaten feed and excrement accumulate in large quantities in the water. After decomposition by microorganisms, this not only consumes a large amount of dissolved oxygen but also produces large amounts of carbon dioxide, ammonia nitrogen, and other metabolic byproducts, leading to a decrease in pH and dissolved oxygen concentration, causing problems such as water acidification and eutrophication. Simultaneously, under extreme weather conditions such as high summer temperatures, fishponds are prone to thermal stratification. The high-temperature surface water and the low-temperature bottom water cannot exchange effectively, and the bottom water, due to oxygen deficiency, accumulates harmful substances, further exacerbating water quality deterioration. This directly affects the growth and development of cultured organisms and increases the risk of disease outbreaks.
[0003] Traditional aeration equipment used for water quality regulation, such as impeller and jet aerators, can only replenish oxygen to the surface layer of the water. They cannot break up the thermal stratification of the water, and the problem of oxygen deficiency in the bottom water remains unresolved. This oxygen-deficient environment accelerates the formation of toxic substances such as sulfides and nitrites, threatening aquaculture safety. While adjusting the pH of the water with chemical neutralizers can temporarily alleviate acidification, it easily disrupts the microecological balance of the water, causing secondary pollution such as drug residues. Furthermore, it cannot control the accumulation of carbon dioxide at the source, leading to recurring acidification problems. In addition, water quality monitoring relies heavily on traditional methods of manual, timed sampling and laboratory analysis, which is not only time-consuming and labor-intensive but also suffers from significant monitoring lag, making it difficult to capture real-time dynamic changes in water quality.
[0004] To address these issues, we provide an unmanned surface vessel (USV) and a water quality regulation method for intensive fishpond water quality management. Summary of the Invention
[0005] The purpose of this invention is to provide an unmanned surface vessel (USV) and a water quality regulation method for intensive aquaculture ponds. The method addresses acidification by regulating the CO2 content in the water through a carbon fixation module, combined with the efficient oxygenation technology of micro-nano bubbles in the oxygenation module and the vertical water disturbance function of the circulation execution module. With the real-time and accurate monitoring of the sensor array and the intelligent decision-making of the control box, this invention solves the problems of existing water quality regulation methods being singular, unable to coordinate the treatment of acidification and hypoxia, and lacking specificity for addressing water thermal stratification.
[0006] To solve the above-mentioned technical problems, the present invention is achieved through the following technical solution: This invention relates to an unmanned surface vessel (USV) for water quality regulation in intensive aquaculture ponds, comprising a USV body and a canopy covering the top of the USV body; the interior of the USV body is equipped with a circulation execution module for driving the USV body to move and breaking the thermal stratification of the water in a fixed-point operation mode, a carbon fixation module for neutralizing the acidity of the water and fixing carbon, and an oxygenation module for increasing the dissolved oxygen saturation of the water; the bottom of the USV body is equipped with a sensor array for detecting the water. The cyclic execution module includes a U-shaped mounting base fixedly connected to the outer side of the stern of the unmanned surface vessel (USV), an adjustment motor fixedly connected to the inner side of the stern of the USV, and a drive shaft rotatably connected to the stern of the USV and extending laterally. One end of the drive shaft, located inside the USV, is fixedly connected to the output end of the adjustment motor, and the other end of the drive shaft is equipped with a worm gear. A rotating shaft is rotatably connected inside the mounting base, and an L-shaped mounting bracket and a worm wheel meshing with the worm gear are fixedly connected to the outer surface of the rotating shaft. A propeller is mounted on the outer surface of the mounting bracket.
[0007] The invention is further configured such that the carbon fixation module includes a storage tank for storing alkaline mineral powder, fixedly connected inside the unmanned surface vessel (USV) body, a connecting pipe penetrating the bottom of the USV body, and a water pump fixedly connected to the bottom of the USV body. A screw feeder for conveying the alkaline mineral powder is installed at the bottom of the storage tank, and the output end of the screw feeder is connected to the top of the connecting pipe. A Venturi mixer is installed at the output end of the water pump, and the bottom end of the connecting pipe is connected to the material input end of the Venturi mixer. An anti-clogging nozzle is installed at the output end of the Venturi mixer.
[0008] The present invention is further configured such that the oxygenation module includes a micro-nano bubble generator fixedly connected inside the unmanned surface vessel body and an air pump for supplying air to the micro-nano bubble generator, wherein the output pipe of the micro-nano bubble generator penetrates through the bottom of the inner cavity of the unmanned surface vessel body.
[0009] The present invention is further configured such that the sensor array includes a non-dispersive infrared sensor for monitoring CO2 content in water, a membrane-free fluorescence sensor for monitoring dissolved oxygen content in water, and a temperature sensor for measuring water temperature, all mounted on the bottom of the unmanned surface vessel.
[0010] The invention is further configured such that a power supply module is fixedly connected inside the unmanned surface vessel body, and a solar panel for supplementing power is installed on the top of the vessel cover.
[0011] The present invention is further configured such that a control box is fixedly connected inside the unmanned surface vessel body, and the control box is equipped with a decision module consisting of corresponding data receiving and processing equipment.
[0012] The present invention also provides a water quality adjustment method, which adjusts the water quality according to the following steps: S1: System Initialization and Water Quality Parameter Acquisition After the unmanned surface vessel is started, its bottom non-dispersive infrared sensor, membrane-free fluorescence sensor and temperature sensor simultaneously collect core water quality parameters such as CO2 concentration, dissolved oxygen saturation and water temperature. The data is transmitted in real time to the decision module composed of data receiving and processing equipment built into the control box for preliminary analysis. S2: Water quality parameter pretreatment and anomaly detection The decision module of the control box is based on the preset water quality benchmark threshold of intensive aquaculture fish ponds. It performs standardized preprocessing of the collected parameters and determines whether there are any abnormal indicators in the water body through a multi-parameter coupling algorithm.
[0013] S3: Carbon fixation and acidification neutralization operation When it is determined that the water body has excessive carbon concentration or is at risk of acidification, the carbon fixation module is activated: alkaline mineral powder in the storage tank is quantitatively conveyed to the connecting pipe by a screw feeder, and the water pump draws in-situ water into the Venturi mixer to achieve efficient mixing of alkaline mineral powder and water. The mixture is then directionally discharged into the water body through an anti-clogging nozzle to complete acidification, neutralization and carbon fixation.
[0014] S4: Water Body Thermal Stratification Breakdown Operation When the dissolved oxygen saturation of the water body is insufficient and the vertical temperature gradient exceeds the critical value, the circulation execution module is activated: the motor drives the drive shaft to drive the worm gear, and the rotation shaft angle is adjusted through the worm gear transmission, so that the propeller on the mounting frame is adjusted to the vertical circulation attitude, and the vertical circulation operation of the water body is performed to break the thermal stratification and improve the vertical uniformity of dissolved oxygen. S5: Oxygenation Operation Based on the prediction results of the detection equipment, the oxygenation module is activated: the air pump supplies air to the micro-nano bubble generator, and the micro-nano bubbles generated by the generator are discharged into the water body through the output pipe. Dissolved oxygen is replenished by improving the gas-liquid mass transfer efficiency. When the light conditions are sufficient, the existing equipment operation status is maintained.
[0015] S6: Multi-component coordinated control command output The central control unit of the control box integrates the operating status data of each component, generates and outputs comprehensive control commands, coordinates the operation sequence and power parameters of the carbon fixation module, the cycle execution module and the oxygenation module, and ensures the compatibility of multiple modules operating in parallel. S7: Job Data Archiving and System Standby After completing this round of water quality regulation, the control box records information such as the initial / final state parameters of water quality, component operating conditions, and regulation command parameters for this operation, forming an execution log and storing it.
[0016] The present invention has the following beneficial effects: 1. This invention addresses the acidification and physiological hypoxia of aquaculture water at the source by regulating the CO2 content in the water. At the same time, it combines the efficient oxygenation of the oxygenation module with the water circulation disturbance of the circulation execution module to achieve three-dimensional and synergistic water quality management.
[0017] 2. This invention improves oxygen utilization efficiency by using micro-nano bubble technology, enables navigation and water mixing by equipping a vector thruster, and combines a dual power supply mode of solar energy and battery storage, which greatly reduces the overall operating cost of the unmanned surface vessel and improves the operational cost-effectiveness and endurance of the equipment. Attached Figure Description
[0018] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0019] Figure 1 This is a three-dimensional structural diagram of the present invention.
[0020] Figure 2 This is a schematic diagram of the internal structure of the unmanned surface vessel body of the present invention.
[0021] Figure 3 This is a schematic diagram of the bottom structure of the unmanned surface vessel body of the present invention.
[0022] Figure 4 This is a schematic diagram of the structure of the unmanned surface vessel body of the present invention.
[0023] Figure 5 This is a schematic diagram of the loop execution module of the present invention.
[0024] Figure 6 This is a cross-sectional structural diagram of the storage bin and screw feeder of the present invention.
[0025] Figure 7 This is a flowchart of the control logic of the unmanned surface vessel system of the present invention.
[0026] The attached diagram lists the components represented by each number as follows: 100. Unmanned surface vessel (USV) body; 200. Canopy; 300. Cyclic execution module; 301. Mounting base; 302. Adjustment motor; 303. Drive shaft; 304. Rotary shaft; 305. Mounting bracket; 306. Thruster; 307. Worm gear; 308. Protective cover; 309. Worm; 400. Carbon fixation module; 401. Storage tank; 402. Connecting pipe; 403. Water pump; 404. Screw feeder; 405. Venturi mixer; 406. Anti-clogging nozzle; 500. Power supply module; 600. Control box; 700. Oxygenation module; 701. Micro / nano bubble generator; 702. Air pump; 800. Protective frame; 900. Solar panel; 1100. Non-dispersive infrared sensor; 1200. Membrane-free fluorescent sensor; 1300. Temperature sensor. Detailed Implementation
[0027] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. Example 1
[0028] Please see Figures 1 to 5 This invention relates to an unmanned surface vessel (USV) for intensive fishpond water quality regulation, comprising a USV body 100 and a cover 200 on top of the USV body 100. The USV body 100 internally houses a circulation execution module 300 for driving the USV body 100 and breaking up water thermal stratification in fixed-point operation mode, a carbon fixation module 400 for neutralizing water acidity and fixing carbon, and an oxygenation module 700 for increasing dissolved oxygen saturation. The bottom of the USV body 100 is equipped with a sensor array for water quality detection. By integrating the three core functional modules—circulation execution, carbon fixation, and oxygenation—with the water quality sensor array into the USV body 100, integrated operation of "real-time monitoring and precise regulation" of water quality is achieved, reducing the labor intensity of aquaculture personnel. Simultaneously, during fixed-point operation, the circulation execution module 300 can break up water thermal stratification, solving the problems of oxygen deficiency and pollutant accumulation in the bottom water, providing a stable and suitable growth environment for fish. The cyclic execution module 300 includes a U-shaped mounting base 301 fixedly connected to the outer side of the stern of the unmanned surface vessel (USV) body 100, an adjustment motor 302 fixedly connected to the inner side of the stern of the USV body 100, and a drive shaft 303 rotatably connected to the stern of the USV body 100 and extending laterally through it. One end of the drive shaft 303 located inside the USV body 100 is fixedly connected to the output end of the adjustment motor 302, and the other end of the drive shaft 303 is equipped with a worm gear 309. A rotating shaft 304 is rotatably connected inside the mounting base 301. An L-shaped mounting bracket 305 and a worm wheel 307 meshing with the worm gear 309 are fixedly connected to the outer surface of the rotating shaft 304. A thruster 306 is mounted on the outer surface of the mounting bracket 305. The steering angle of the thruster 306 can be controlled by adjusting the motor 302, thereby realizing the dual functions of USV movement and stationary agitation.
[0029] Specifically, the sensor array includes a non-dispersive infrared sensor 1100 installed on the bottom of the unmanned surface vessel 100 for monitoring CO2 content in the water, a membrane-free fluorescence sensor 1200 for monitoring dissolved oxygen content in the water, and a temperature sensor 1300 for measuring water temperature. The sensor array is specifically designed with dedicated sensors for the three core water quality parameters: CO2, dissolved oxygen, and water temperature. The non-dispersive infrared sensor 1100 provides high accuracy in monitoring CO2 content, the membrane-free fluorescence sensor 1200 avoids the problems of easy contamination and frequent calibration required by traditional membrane sensors, and the temperature sensor 1300 can capture water temperature changes in real time. The three sensors work together to comprehensively reflect the water quality status and provide accurate data support for the activation and adjustment of the carbon sequestration module 400 and the oxygenation module 700.
[0030] Furthermore, a power supply module 500 is fixedly connected inside the unmanned surface vessel body 100, and a solar panel 900 for supplementing power is installed on the top of the canopy 200. The power supply module 500 provides basic power for the operation of each module of the unmanned surface vessel, while the solar panel 900 on the top of the canopy 200 can convert solar energy into electrical energy to supplement the power supply module 500, realizing a dual power supply mode of battery storage and solar energy supplementation, thus extending the endurance of the unmanned surface vessel. The unmanned surface vessel 100 is internally connected to a control box 600. The control box 600 is equipped with a decision module consisting of corresponding data receiving and processing equipment. The decision module consisting of data receiving and processing equipment in the control box 600 can centrally receive monitoring data from the sensor array and quickly analyze and determine whether the water body needs to be adjusted. At the same time, it sends control commands to the cyclic execution module 300, carbon fixation module 400, etc., to realize the automated operation of the unmanned surface vessel.
[0031] The operation process of this embodiment is as follows: When it is necessary to break the thermal stratification of the water, the motor 302 is first started, which drives the drive shaft 303 and the worm gear 309 at the shaft end to rotate. Through the meshing transmission between the worm gear 309 and the worm wheel 307, the rotating shaft 304 is driven to rotate in the mounting base 301, which in turn drives the mounting frame 305 and the propeller 306 on the frame to adjust to the working angle perpendicular to the direction of travel of the unmanned surface vessel 100. Then the propeller 306 is started, and the water is circulated and disturbed in a fixed-point stirring mode, thereby breaking the thermal stratification of the water. Example 2
[0032] Please see Figure 2 , Figure 4 and Figure 6 Based on the first specific embodiment, the carbon fixation module 400 includes a storage tank 401 for storing alkaline mineral powder, fixedly connected inside the unmanned surface vessel (USV) body 100; a connecting pipe 402 penetrating the bottom of the USV body 100; and a water pump 403 fixedly connected to the bottom of the USV body 100. A screw feeder 404 for conveying the alkaline mineral powder is installed at the bottom of the storage tank 401, and the output end of the screw feeder 404 is connected to the top of the connecting pipe 402. A Venturi mixer 405 is installed at the output end of the water pump 403, and the bottom end of the connecting pipe 402 is connected to the material input end of the Venturi mixer 405. The output end of the Venturi mixer 405 is equipped with an anti-clogging nozzle 406. The carbon fixation module 400 uses a screw feeder 404 to achieve quantitative delivery of alkaline mineral powder. Combined with the water pump 403 and the Venturi mixer 405, the powder and water can be fully mixed in the mixer, which improves the reaction efficiency of alkaline mineral powder and CO2 in the water. This not only achieves effective carbon fixation but also neutralizes the acidity of the water and improves the aquaculture water environment. At the same time, the design of the anti-clogging nozzle 406 can prevent powder from depositing and clogging the discharge channel, reduce equipment failure, and ensure the continuous and stable operation of carbon fixation.
[0033] The operation process of this embodiment is as follows: When it is necessary to adjust carbon fixation and neutralize the acidity of the water, the screw feeder 404 is started first, and alkaline mineral powder is quantitatively conveyed from the storage tank 401. It is then conveyed to the material input end of the Venturi mixer 405 through the connecting pipe 402. At the same time, the water pump 403 is started, and the surrounding water is drawn and injected into the Venturi mixer 405. The negative pressure environment formed by the Venturi effect allows the alkaline mineral powder and water to be fully mixed and dissolved in the mixer. The mixed alkaline mineral powder aqueous solution is evenly sprayed into the aquaculture water through the anti-clogging nozzle 406, where it reacts with the free CO2 in the water to fix carbon and neutralize the acidity of the water. Example 3
[0034] Please see Figure 2Based on specific embodiments one and two, the oxygenation module 700 includes a micro / nano bubble generator 701 fixedly connected inside the unmanned surface vessel (USV) body 100 and an air pump 702 for supplying air to the micro / nano bubble generator 701. The output pipe of the micro / nano bubble generator 701 penetrates the bottom of the inner cavity of the USV body 100. The oxygenation module 700 uses the micro / nano bubble generator 701 to generate microbubbles. Compared with traditional oxygenation equipment, micro / nano bubbles have the advantages of large specific surface area, slow rising speed, and high dissolution efficiency, which can improve the absorption efficiency of oxygen in water, rapidly increase the dissolved oxygen saturation of water, and meet the oxygen requirements of high-density aquaculture fish.
[0035] The operation process of this embodiment is as follows: When oxygenation is required, the air pump 702 is started first to continuously supply air to the micro-nano bubble generator 701. The micro-nano bubble generator 701 pressurizes and breaks the air to form micro-nano bubbles. The generated high dissolved oxygen micro-nano bubbles are transported to the bottom of the unmanned surface vessel 100 through the output pipe and released into the aquaculture water. By utilizing the characteristics of large specific surface area and slow rising rate of micro-nano bubbles, the oxygen and water are efficiently integrated, and the dissolved oxygen saturation of the water is rapidly increased. Example 4
[0036] Please see Figure 1 and Figure 3 Based on specific embodiments one to three, the exterior of the unmanned surface vessel 100 is coated with an antifouling coating with a sharkskin-like micro-nano structure to prevent algae and organisms from attaching. The sharkskin-like micro-nano structure antifouling coating has excellent anti-attachment performance, which can effectively reduce the attachment of algae, microorganisms and aquatic organisms in fish ponds to the surface of the unmanned surface vessel 100, avoid the increase in equipment weight, increase in navigation resistance and surface corrosion caused by biological attachment, and reduce the frequency of equipment cleaning and maintenance costs. The bottom of the unmanned surface vessel 100 is fixedly connected to a protective frame 800 for protecting the bottom equipment of the unmanned surface vessel 100. The protective frame 800 can provide physical protection for the sensor array and other equipment at the bottom of the unmanned surface vessel 100, so as to prevent the bottom equipment from being directly damaged by collision when the unmanned surface vessel is operating in shallow water or encountering underwater obstacles. The outer side of the mounting base 301 is fixedly connected to a protective cover 308 for protecting the worm gear 307 and the worm 309, and the worm 309 is rotatably connected to the inside of the protective cover 308. The protective cover 308 can effectively isolate the mud, sand, impurities and aquatic organisms in the fishpond water, prevent them from entering the meshing part of the worm gear 307 and the worm 309, and prevent the transmission mechanism from malfunctioning such as wear and jamming. Example 5
[0037] This is the fifth embodiment of the present invention, which provides a water quality adjustment method, wherein the water quality is adjusted according to the following steps: S1: System Initialization and Water Quality Parameter Acquisition After the unmanned surface vessel 100 is started, its bottom non-dispersive infrared sensor 1100, membrane-free fluorescence sensor 1200 and temperature sensor 1300 simultaneously collect core water quality parameters such as CO2 concentration, dissolved oxygen saturation and water temperature. The data is transmitted in real time to the decision module composed of data receiving and processing equipment built into the control box 600 for preliminary analysis. S2: Water quality parameter pretreatment and anomaly detection The decision module of the control box 600 is based on the preset water quality benchmark threshold of intensive aquaculture fish ponds. It performs standardized preprocessing of the collected parameters and determines whether there are any abnormal indicators in the water body through a multi-parameter coupling algorithm.
[0038] S3: Carbon fixation and acidification neutralization operation When it is determined that the water body has excessive carbon concentration or is at risk of acidification, the carbon fixation module 400 is activated: alkaline mineral powder in the storage tank 401 is quantitatively conveyed to the connecting pipe 402 by the screw feeder 404, and the water pump 403 draws in-situ water into the Venturi mixer 405 to achieve efficient mixing of alkaline mineral powder and water. The mixture is then directionally discharged into the water body through the anti-clogging nozzle 406 to complete acidification neutralization and carbon fixation.
[0039] S4: Water Body Thermal Stratification Breakdown Operation When the dissolved oxygen saturation of the water body is insufficient and the vertical temperature gradient exceeds the critical value, the circulation execution module 300 is activated: the motor 302 drives the drive shaft 303 to drive the worm gear 309, and the worm wheel 307 drives and adjusts the angle of the rotating shaft 304, so that the propeller 306 on the mounting frame 305 is adjusted to the vertical circulation attitude, and the vertical circulation operation of the water body is performed to break the thermal stratification and improve the vertical uniformity of dissolved oxygen. S5: Oxygenation Operation Based on the prediction results of the detection equipment, the oxygenation module 700 is activated: the air pump 702 supplies air to the micro-nano bubble generator 701, and the micro-nano bubbles generated by the generator are discharged into the water body through the output pipe. Dissolved oxygen is replenished by improving the gas-liquid mass transfer efficiency. When the light conditions are sufficient, the existing equipment operation status is maintained.
[0040] S6: Multi-component coordinated control command output The central control unit of the control box 600 integrates the operating status data of each component, generates and outputs comprehensive control commands, coordinates the operation sequence and power parameters of the carbon fixation module 400, the cyclic execution module 300, and the oxygenation module 700, and ensures the compatibility of multi-module parallel operation. S7: Job Data Archiving and System Standby After completing this round of water quality regulation, the control box 600 records the initial / final state parameters of water quality, component operating conditions, and regulation command parameters for this operation, forming an execution log and storing it.
[0041] In the description of this specification, references to terms such as "an embodiment," "example," "specific example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.
[0042] The preferred embodiments of the present invention disclosed above are merely illustrative of the invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the invention to the specific implementations described. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention.
Claims
1. An unmanned vehicle for adjusting water quality of an intensive fish farming pond, comprising an unmanned vehicle body (100) and a vehicle cover (200) covering the top of the unmanned vehicle body (100); characterized in that: The unmanned surface vessel (100) is internally equipped with a cyclic execution module (300) for driving the unmanned surface vessel (100) to move and break the thermal stratification of the water in the fixed-point operation mode, a carbon fixation module (400) for neutralizing the acidity of the water and fixing carbon, and an oxygenation module (700) for increasing the dissolved oxygen saturation of the water. The bottom of the unmanned surface vessel (100) is equipped with a sensor array for detecting the water. The cyclic execution module (300) includes a U-shaped mounting base (301) fixedly connected to the outer side of the stern of the unmanned surface vessel (100), an adjustment motor (302) fixedly connected to the inner side of the stern of the unmanned surface vessel (100), and a drive shaft (303) rotatably connected to the stern of the unmanned surface vessel (100) and extending laterally. One end of the drive shaft (303) located inside the unmanned surface vessel (100) is fixedly connected to the output end of the adjustment motor (302). The other end of the drive shaft (303) is equipped with a worm gear (309). A rotating shaft (304) is rotatably connected inside the mounting base (301). An L-shaped mounting bracket (305) and a worm wheel (307) meshing with the worm gear (309) are fixedly connected to the outer surface of the rotating shaft (304). A thruster (306) is installed outside the mounting bracket (305).
2. The unmanned vehicle for water quality regulation of intensive fish farming ponds according to claim 1, characterized in that, The carbon fixation module (400) includes a storage tank (401) for storing alkaline mineral powder, which is fixedly connected inside the unmanned surface vessel (100), a connecting pipe (402) penetrating the bottom of the unmanned surface vessel (100), and a water pump (403) fixedly connected to the bottom of the unmanned surface vessel (100). The bottom of the storage tank (401) is equipped with a screw feeder (404) for conveying alkaline mineral powder, and the output end of the screw feeder (404) is connected to the top of the connecting pipe (402). The output end of the water pump (403) is equipped with a Venturi mixer (405), and the bottom end of the connecting pipe (402) is connected to the material input end of the Venturi mixer (405). The output end of the Venturi mixer (405) is equipped with an anti-clogging nozzle (406).
3. The unmanned vehicle for adjusting water quality of an intensive fish farming pond according to claim 1, characterized in that, The oxygenation module (700) includes a micro-nano bubble generator (701) fixedly connected inside the unmanned surface vessel body (100) and an air pump (702) for supplying air to the micro-nano bubble generator (701). The output pipe of the micro-nano bubble generator (701) passes through the bottom of the inner cavity of the unmanned surface vessel body (100).
4. The unmanned vehicle for adjusting water quality of an intensive fish farming pond according to claim 1, characterized in that, The sensor array includes a non-dispersive infrared sensor (1100) for monitoring CO2 content in water, a membrane-free fluorescence sensor (1200) for monitoring dissolved oxygen content in water, and a temperature sensor (1300) for measuring water temperature, all mounted on the bottom of the unmanned surface vessel (100).
5. The unmanned vehicle for water quality regulation of an intensive fish farming pond according to claim 1, characterized in that, The unmanned surface vessel body (100) is also fixedly connected to a power supply module (500), and a solar panel (900) for supplementing power is installed on the top of the hull (200).
6. The unmanned vehicle for water quality regulation of an intensive fish farming pond according to claim 1, characterized in that, The unmanned ship body (100) is internally fixedly connected with a control box (600), and the control box (600) is internally provided with a decision module composed of corresponding data receiving and processing equipment.
7. The unmanned vehicle for water quality regulation of an intensive fish farming pond according to claim 1, characterized in that, The unmanned ship body (100) is externally coated with a sharkskin micro-nano structure antifouling coating for preventing algae and biological adhesion.
8. The unmanned vehicle for water quality regulation of an intensive fish farming pond according to claim 1, characterized in that, The bottom of the unmanned ship body (100) is fixedly connected with a protection frame (800) for protecting the bottom equipment of the unmanned ship body (100).
9. The unmanned vehicle for water quality regulation of an intensive fish farming pond according to claim 1, characterized in that, The outer side of the mounting seat (301) is fixedly connected with a protective cover (308) for protecting the worm gear (307) and the worm (309), and the worm (309) is rotationally connected to the inside of the protective cover (308).
10. A method of water quality conditioning, characterized by: The unmanned ship for adjusting water quality of an intensive fish pond according to any one of claims 1-9 adjusts water quality according to the following steps: S1: system initialization and water quality parameter acquisition After the unmanned ship body (100) is started, the non-dispersive infrared sensor (1100), the membraneless fluorescence method sensor (1200) and the temperature sensor (1300) at the bottom thereof synchronously acquire core water quality parameters such as water CO2 concentration, dissolved oxygen saturation and water temperature, and the data is transmitted in real time to the decision module composed of data receiving and processing equipment built in the control box (600) for preliminary analysis; S2: water quality parameter preprocessing and abnormality determination The decision module of the control box (600) performs standardized preprocessing on the collected parameters based on a preset intensive fish pond water quality benchmark threshold, and determines whether the water body has index abnormalities through a multi-parameter coupling algorithm; S3: carbon fixation and acidification neutralization operation When it is determined that the water body has carbon concentration overrun or acidification risk, the carbon fixation module (400) is started: the alkaline mineral powder in the storage tank (401) is quantitatively delivered to the connecting pipe (402) through the spiral feeder (404), the water pump (403) extracts in-situ water body to input the Venturi mixer (405), realizing efficient mixing of the alkaline mineral powder and the water body, the mixed liquid is directionally discharged into the water body through the anti-blocking nozzle (406), and the acidification neutralization and carbon fixation are completed; S4: water body thermal stratification breaking operation When the water body dissolved oxygen saturation is insufficient and the vertical temperature gradient exceeds the critical value, the circulating execution module (300) is started: the adjusting motor (302) drives the drive shaft (303) to drive the worm (309), the angle of the worm gear (307) is transmitted to control the angle of the rotating shaft (304), so that the propeller (306) on the mounting frame (305) is adjusted to a vertical circulation posture, and the water body vertical circulation operation is performed to break the thermal stratification and improve the vertical uniformity of dissolved oxygen; S5: oxygenation operation Based on the prediction result of the detection equipment, the oxygenation module (700) is started: the air pump (702) supplies gas source to the micro-nano bubble generator (701), the micro-nano bubbles generated by the generator are discharged into the water body through the output pipe, the dissolved oxygen is supplemented by improving the gas-liquid mass transfer efficiency, and when the light condition is sufficient, the existing equipment operation state is maintained; S6: multi-component collaborative regulation instruction output The central control unit of the control box (600) integrates the operation state data of each component, generates and outputs comprehensive control instructions, and cooperates with the operation time sequence and power parameters of the carbon sequestration module (400), the circulation execution module (300) and the oxygen increasing module (700) to ensure the compatibility of the parallel operation of the multiple modules. S7: Job data archiving and system standby After completing the water quality adjustment of this round, the control box (600) records the water quality initial / terminal state parameters, component operation conditions, control instruction parameters and other information of this operation, forms an execution log and stores it.