Posture-locked and event-driven fixed-point cruising water quality detection ship and method

Abstract

The invention discloses an attitude-locked and event-driven water quality detection ship capable of cruising at a fixed point and a method. The detection ship comprises a ship body, a GPS positioner and a six-axis inertial measurement unit are installed on the ship body and electrically connected with a control system, a water tank is carried on the ship body and communicated with a water pumping pipe and a water drainage pipe, a water baffle is fixedly connected to the tail of the ship body, and propellers are symmetrically arranged on the two sides of the bottom of the water baffle. The method comprises the following steps: acquiring a water quality parameter of a current pose point, comparing the water quality parameter with a threshold value, triggering an event-driven mode when the threshold value is exceeded, interrupting cruising and marking coordinates of the current pose point; acquiring and comparing water quality parameters of adjacent pose points, and determining a target course; and when the water quality detection value falls below the threshold value, ending the event-driven mode and returning to the original cruise path. According to the invention, active attitude locking and depth-keeping sampling are realized through the six-axis inertial measurement unit and adaptive PID control, autonomous traceability is realized through event-driven logic, and a high-precision monitoring scheme from hardware wave dissipation to software steady state is formed.

Description

Technical Field

[0001] This invention belongs to the field of water quality testing technology, and relates to a water quality testing vessel capable of fixed-point navigation with attitude locking and event-driven operation, as well as a water quality testing method capable of fixed-point navigation with attitude locking and event-driven operation. Background Technology

[0002] With increasing environmental awareness and the standardization of water resource management, water quality monitoring of inland rivers, lakes, and reservoirs has become increasingly important. These water bodies are not only ecological barriers for cities but also important sources of drinking water. However, due to the complex environment and vast area of ​​these water bodies, frequent and multi-site regular monitoring is necessary.

[0003] Currently, most water quality monitoring relies on manual methods. Monitoring personnel need to navigate boats or collect samples on the shore, which are then sent to laboratories for analysis. This work is not only labor-intensive and inefficient, but also poses safety risks such as drowning and poisoning when operating in inclement weather or heavily polluted waters. Furthermore, data feedback is often delayed, making it highly uneconomical. While some water quality monitoring equipment is available on the market, such as the application with publication number CN117360128A, which discloses an amphibious intelligent water quality monitoring vessel, traditional differential positioning only considers geodetic coordinates in complex flow fields (such as turbulence and waves), ignoring the dynamic interference of hull movement on sampling depth. This results in abrupt changes in water depth at the inlet, leading to large fluctuations and poor accuracy of sensor data. Another example is the application with publication number CN208140686U, which discloses an intelligent water body monitoring device. While this device can be automatically controlled, it often uses fixed-track cruising and cannot autonomously adjust its navigation strategy based on real-time water quality feedback, making its ability to trace sudden pollution sources extremely weak.

[0004] Therefore, developing an automated water quality monitoring vessel with high environmental adaptability and decision-making capabilities, overcoming the interference of hull swaying on sampling under differential positioning, breaking the limitations of fixed-track cruise on dynamic source tracing tasks, and realizing the technological leap from routine inspection to autonomous traceability is of great significance and has become a key technological direction for improving the refined monitoring capabilities of complex waters. Summary of the Invention

[0005] The purpose of this invention is to provide a water quality inspection vessel capable of fixed-point cruising with attitude locking and event-driven operation, which solves the problems of hull sway interfering with sampling accuracy and lack of autonomous decision-making ability during fixed-track cruising in the prior art.

[0006] A second objective of this invention is to provide a water quality detection method with attitude locking and event-driven fixed-point navigation.

[0007] The technical solution adopted in this invention is a fixed-point cruising water quality testing vessel with attitude locking and event-driven operation, including a hull, a GPS locator and a six-axis inertial measurement unit installed on the upper surface of the hull, the GPS locator and the six-axis inertial measurement unit being electrically connected to a control system, a water tank mounted on the hull, the water tank being connected to a pumping pipe and a drain pipe, a water pump being installed between the water tank and the pumping pipe, a baffle plate being fixedly connected to the stern of the hull, and propellers being symmetrically arranged on both sides of the bottom of the baffle plate.

[0008] The features of this invention are:

[0009] The water tank is equipped with several sensors, which are electrically connected to the control system. The control system is also electrically connected to a propeller. The sensors are a TDS sensor, a pH sensor, and a turbidity sensor. The two propellers are a first propeller and a second propeller.

[0010] The control system integrates an attitude locking module and an event-driven cruise module. The attitude locking module is electrically connected to the six-axis inertial measurement unit, the first propeller, and the second propeller. The event-driven cruise module is electrically connected to the GPS locator, TDS sensor, pH sensor, turbidity sensor, the first propeller, and the second propeller.

[0011] A camera is installed at the bow of the hull, and a battery is installed inside the hull. The battery is electrically connected to the control system, GPS locator, six-axis inertial measurement unit, camera, TDS sensor, pH sensor and turbidity sensor.

[0012] The six-axis inertial measurement unit is set at the geometric center of the hull, and the first sponge and the second sponge are fixed on the outer edges of the two sides of the hull respectively. The first sponge and the second sponge are respectively arranged on both sides of the water tank.

[0013] The hull is also equipped with a J-link interface, which is electrically connected to the control system.

[0014] The second technical solution adopted in this invention is a water quality detection method with attitude locking and event-driven fixed-point navigation, comprising the following steps: Step 1: Control the water quality testing vessel to travel along the set cruise route to the monitoring point for sampling; Step 2: Collect ship attitude data, adjust propeller thrust according to attitude angle deviation, and conduct water quality testing after the ship is balanced. Step 3: Obtain the water quality parameters of the current pose point and compare them with the threshold. When the threshold is exceeded, the event-driven mode is triggered, the cruise is interrupted and the coordinates of the current pose point are marked. Step 4: Obtain the water quality parameters of adjacent pose points, compare them with the water quality parameters of the current pose point, and determine the target heading; Step 5: When the water quality test value falls below the threshold, the event-driven mode ends and the original cruise path is returned.

[0015] The invention is further characterized by: Step 2 is as follows: Step 201: Collect the attitude data of the water quality testing vessel in real time through a six-axis inertial measurement unit, and obtain the attitude angle deviation variance based on the attitude data; Step 202: The attitude locking module uses a PID control algorithm to dynamically adjust the thrust of the first propeller and the second propeller. The proportional coefficient, integral coefficient and derivative coefficient of the PID control algorithm are adaptively adjusted according to the variance of the attitude angle deviation collected by the six-axis inertial measurement unit. Step 203: The attitude locking module achieves attitude locking by fine-tuning the thrust. After the water quality testing vessel is balanced, water quality testing is carried out, and the water inlet of the pumping pipe is at a constant sampling depth.

[0016] Step 3 specifically involves: Step 301: Detect the water quality parameters at the current position point using a TDS sensor, pH sensor, and turbidity sensor; Step 302: Simultaneously, real-time images are acquired through the camera, and the water quality parameters at the current pose point are time-stamped and matched with the real-time images before being stored. Step 303: After completing the data storage of the previous pose points, drain the water sample in the water tank through the drain pipe to prevent cross-contamination. Step 304: Compare the water quality parameters at the current pose point with the threshold. If the threshold is exceeded, trigger the event-driven mode and interrupt the cruise. Step 305: Mark the coordinates of the current pose point using a GPS locator.

[0017] Step 4 is as follows: Step 401: Starting from the current pose point, compare the concentration change rate of adjacent pose points to calculate the concentration gradient; Step 402: When the concentration gradient exceeds the preset threshold, the heading is automatically corrected, and the target heading is corrected to the vector direction of the fastest concentration increase.

[0018] The beneficial effects of this invention are: This invention relates to a stationary-cruising water quality monitoring vessel with attitude locking and event-driven operation. By introducing a six-axis inertial measurement unit and employing extended Kalman filter fusion and adaptive PID control, it actively resists wind and wave interference while ensuring absolute consistency of the water inlet depth of the pumping pipe. This effectively avoids sensor data fluctuations caused by hull rolling, significantly improving the accuracy and stability of water quality monitoring. The physical properties of the first and second sponges stabilize the local flow field at the water tank inlet. Combined with high-precision extended Kalman filter and adaptive PID control algorithms, this forms a comprehensive, high-precision water quality monitoring solution, from hardware wave mitigation to software steady-state operation.

[0019] This invention relates to a fixed-point cruise water quality detection method based on attitude locking and event-driven principles. It constructs an event-driven dynamic source tracing logic, which can autonomously change course to trace the source of pollution based on real-time monitoring values ​​from TDS, pH, and turbidity sensors, greatly improving the response capability and source tracing efficiency to sudden pollution events. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of the attitude locking and event-driven fixed-point cruise water quality inspection vessel of the present invention. Figure 2 This is a side view structural diagram of the attitude locking and event-driven fixed-point cruise water quality inspection vessel of the present invention. Figure 3 This is a schematic diagram of the rear structure of the attitude locking and event-driven fixed-point cruise water quality inspection vessel of the present invention. Figure 4 This is a frontal structural diagram of the attitude locking and event-driven fixed-point cruising water quality inspection vessel of the present invention. Figure 5 This is a flowchart of the attitude locking and event-driven fixed-point cruise water quality detection method of the present invention; Figure 6 This is a block diagram of the hardware and algorithm logic architecture of the control system for the attitude locking and event-driven fixed-point cruise water quality detection method of the present invention.

[0021] In the diagram, 1. Hull; 2. GPS locator; 3. Drain pipe; 4. Pumping pipe; 5. First sponge; 6. Second sponge; 7. TDS sensor; 8. pH sensor; 9. J-link interface; 10. First propeller; 11. Second propeller; 12. Water tank; 13. Water baffle; 14. Turbidity sensor; 15. Camera; 16. Six-axis inertial measurement unit. Detailed Implementation

[0022] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments.

[0023] Example 1 This embodiment provides a stationary cruising water quality monitoring vessel with attitude locking and event-driven operation, such as... Figure 1 As shown, the system includes a hull 1. A GPS locator 2 and a six-axis inertial measurement unit 16 are mounted in an open location on the upper surface of the hull 1. The GPS locator 2 and the six-axis inertial measurement unit 16 are electrically connected to a control system, such as... Figure 2 As shown, the hull 1 is equipped with a water tank 12, which is connected to a suction pipe 4 and a drain pipe 3. A water pump is installed between the water tank 12 and the suction pipe 4. A baffle 13 is fixedly connected to the stern of the hull 1. Figure 3 As shown, propellers are symmetrically arranged on both sides of the bottom of the water baffle 13. The water baffle 13 is used to block the water splashes brought up by the propellers when they are working.

[0024] Example 2 This embodiment provides a stationary cruising water quality monitoring vessel with attitude locking and event-driven operation, such as... Figure 1 As shown, the system includes a hull 1. A GPS locator 2 and a six-axis inertial measurement unit 16 are mounted in an open location on the upper surface of the hull 1. The GPS locator 2 and the six-axis inertial measurement unit 16 are electrically connected to a control system, such as... Figure 2 As shown, the hull 1 is equipped with a water tank 12, which is connected to a suction pipe 4 and a drain pipe 3. A water pump is installed between the water tank 12 and the suction pipe 4. A baffle 13 is fixedly connected to the stern of the hull 1. Figure 3 As shown, propellers are symmetrically arranged on both sides of the bottom of the water baffle 13. The water baffle 13 is used to block the water splashes brought up by the propellers when they are working.

[0025] Several sensors are installed inside the water tank 12. These sensors are electrically connected to the control system, which is also electrically connected to a propeller. The sensors are a TDS sensor 7, a pH sensor 8, and a turbidity sensor 14. The two propellers are a first propeller 10 and a second propeller 11.

[0026] Example 3 This embodiment provides a stationary cruising water quality monitoring vessel with attitude locking and event-driven operation, such as... Figure 1 As shown, the system includes a hull 1, on the upper surface of which a GPS locator 2 and a six-axis inertial measurement unit 16 are mounted. The GPS locator 2 and the six-axis inertial measurement unit 16 are electrically connected to a control system, such as... Figure 2 As shown, the hull 1 is equipped with a water tank 12, which is connected to a suction pipe 4 and a drain pipe 3. A water pump is installed between the water tank 12 and the suction pipe 4. A baffle 13 is fixedly connected to the stern of the hull 1. Figure 3 As shown, propellers are symmetrically arranged on both sides of the bottom of the water baffle 13. The water baffle 13 is used to block the water splashes brought up by the propellers when they are working.

[0027] Several sensors are installed inside the water tank 12. These sensors are electrically connected to the control system, which is also electrically connected to a propeller. The sensors are a TDS sensor 7, a pH sensor 8, and a turbidity sensor 14. The two propellers are a first propeller 10 and a second propeller 11.

[0028] The control system integrates an attitude locking module and an event-driven cruise module. The attitude locking module is electrically connected to the six-axis inertial measurement unit 16, the first propeller 10, and the second propeller 11. The event-driven cruise module is electrically connected to the GPS locator 2, the TDS sensor 7, the pH sensor 8, the turbidity sensor 14, the first propeller 10, and the second propeller 11.

[0029] A camera 15 is installed at the bow of the hull 1. A battery is installed inside the hull 1. The battery is electrically connected to the control system, GPS locator 2, six-axis inertial measurement unit 16, camera 15, TDS sensor 7, pH sensor 8 and turbidity sensor 14 respectively.

[0030] A six-axis inertial measurement unit 16 is positioned at the geometric center of the hull 1 to collect attitude and acceleration information of the hull 1, such as... Figure 4 As shown, a first sponge 5 and a second sponge 6 are fixed to the outer edges of both sides of the hull 1. The first sponge 5 and the second sponge 6 are respectively arranged on both sides of the water tank 12. The first sponge 5 and the second sponge 6 are used for shore buffering and auxiliary buoyancy, and can also reduce small ripples around the hull. When sampling, the local water flow can be kept stable.

[0031] Example 4 This embodiment provides a stationary cruising water quality monitoring vessel with attitude locking and event-driven operation, such as... Figure 1 As shown, the system includes a hull 1, on the upper surface of which a GPS locator 2 and a six-axis inertial measurement unit 16 are mounted. The GPS locator 2 and the six-axis inertial measurement unit 16 are electrically connected to a control system, such as... Figure 2 As shown, the hull 1 is equipped with a water tank 12, which is connected to a suction pipe 4 and a drain pipe 3. A water pump is installed between the water tank 12 and the suction pipe 4. A baffle 13 is fixedly connected to the stern of the hull 1. Figure 3 As shown, propellers are symmetrically arranged on both sides of the bottom of the water baffle 13. The water baffle 13 is used to block the water splashes brought up by the propellers when they are working.

[0032] Several sensors are installed inside the water tank 12. These sensors are electrically connected to the control system, which is also electrically connected to a propeller. The sensors are a TDS sensor 7, a pH sensor 8, and a turbidity sensor 14. The two propellers are a first propeller 10 and a second propeller 11.

[0033] The control system integrates an attitude locking module and an event-driven cruise module. The attitude locking module is electrically connected to the six-axis inertial measurement unit 16, the first propeller 10, and the second propeller 11. The event-driven cruise module is electrically connected to the GPS locator 2, the TDS sensor 7, the pH sensor 8, the turbidity sensor 14, the first propeller 10, and the second propeller 11.

[0034] A camera 15 is installed at the bow of the hull 1. A battery is installed inside the hull 1. The battery is electrically connected to the control system, GPS locator 2, six-axis inertial measurement unit 16, camera 15, TDS sensor 7, pH sensor 8 and turbidity sensor 14 respectively.

[0035] A six-axis inertial measurement unit 16 is positioned at the geometric center of the hull 1 to collect attitude and acceleration information of the hull 1, such as... Figure 4 As shown, a first sponge 5 and a second sponge 6 are fixed to the outer edges of both sides of the hull 1. The first sponge 5 and the second sponge 6 are respectively arranged on both sides of the water tank 12. The first sponge 5 and the second sponge 6 are used for shore buffering and auxiliary buoyancy, and can also reduce small ripples around the hull. When sampling, the local water flow can be kept stable.

[0036] The hull 1 is also equipped with a J-link interface 9, which is electrically connected to the control system. The J-link interface 9 is connected to the circuit board of the control system, and an external debugging terminal is reserved at the rear of the hull 1 to facilitate program download and parameter debugging. The control part receives measurement data from the GPS locator 2, the six-axis inertial measurement unit 16, the camera 15, the TDS sensor 7, the pH sensor 8, and the turbidity sensor 14, and then coordinates the work of the propulsion part to complete the cruise, station positioning, and sampling.

[0037] Example 5 This embodiment provides a water quality detection method with attitude locking and event-driven fixed-point navigation, such as... Figure 5 As shown, it includes the following steps: Step 1: Control the water quality testing vessel to travel along the set cruise route to the monitoring point for sampling; Step 2: Collect the attitude data of hull 1, adjust the propeller thrust according to the attitude angle deviation, and conduct water quality testing after hull 1 is balanced. Step 3: Obtain the water quality parameters of the current pose point and compare them with the threshold. When the threshold is exceeded, the event-driven mode is triggered, the cruise is interrupted and the coordinates of the current pose point are marked. Step 4: Obtain the water quality parameters of adjacent pose points, compare them with the water quality parameters of the current pose point, and determine the target heading; Step 5: When the water quality test value falls below the threshold, the event-driven mode ends and the original cruise path is returned.

[0038] Example 6 Based on the attitude locking and event-driven fixed-point cruise water quality detection method provided in Embodiment 5, this embodiment provides an attitude locking and event-driven fixed-point cruise water quality detection method, such as... Figure 6 As shown, step 2 specifically involves: Step 201: Collect the attitude data of the water quality testing vessel in real time through a six-axis inertial measurement unit, and obtain the attitude angle deviation variance based on the attitude data; Step 202: The attitude locking module uses a PID control algorithm to dynamically adjust the thrust of the first propeller 10 and the second propeller 11. The proportional coefficient, integral coefficient and derivative coefficient of the PID control algorithm are adaptively adjusted according to the variance of the attitude angle deviation collected by the six-axis inertial measurement unit. Step 203: The attitude locking module achieves attitude locking by fine-tuning the thrust. After the water quality testing vessel is balanced, water quality testing is carried out, and the water inlet of the pumping pipe 4 is at a constant sampling depth.

[0039] Example 7 This embodiment provides a water quality detection method with attitude locking and event-driven fixed-point navigation, such as... Figure 6 As shown, step 2 specifically involves: Step 201: Collect the attitude data of the water quality testing vessel in real time through a six-axis inertial measurement unit, and obtain the attitude angle deviation variance based on the attitude data; Step 202: The attitude locking module uses a PID control algorithm to dynamically adjust the thrust of the first propeller 10 and the second propeller 11. The proportional coefficient, integral coefficient and derivative coefficient of the PID control algorithm are adaptively adjusted according to the variance of the attitude angle deviation collected by the six-axis inertial measurement unit. Step 203: The attitude locking module achieves attitude locking by fine-tuning the thrust. After the water quality testing vessel is balanced, water quality testing is carried out, and the inlet of the pumping pipe 4 is at a constant sampling depth.

[0040] Step 3 specifically involves: Step 301: Detect the water quality parameters at the current position point using TDS sensor 7, pH sensor 8, and turbidity sensor 14; Step 302: Simultaneously, real-time images are acquired through camera 15, and the water quality parameters at the current pose point are time-stamped and matched with the real-time images before being stored. Step 303: After completing the data storage of the previous pose points, drain the water sample in the water tank 12 through the drain pipe 3 to prevent cross-contamination; Step 304: Compare the water quality parameters at the current pose point with the threshold. If the threshold is exceeded, trigger the event-driven mode and interrupt the cruise. Step 305: Mark the coordinates of the current pose point using GPS locator 2.

[0041] Example 8 This embodiment provides a water quality detection method with attitude locking and event-driven fixed-point navigation, such as... Figure 6 As shown, step 2 specifically involves: Step 201: Collect the attitude data of the water quality testing vessel in real time through a six-axis inertial measurement unit, and obtain the attitude angle deviation variance based on the attitude data; Step 202: The attitude locking module uses a PID control algorithm to dynamically adjust the thrust of the first propeller 10 and the second propeller 11. The proportional coefficient, integral coefficient and derivative coefficient of the PID control algorithm are adaptively adjusted according to the variance of the attitude angle deviation collected by the six-axis inertial measurement unit. Step 203: The attitude locking module achieves attitude locking by fine-tuning the thrust. After the water quality testing vessel is balanced, water quality testing is carried out, and the inlet of the pumping pipe 4 is at a constant sampling depth.

[0042] Step 3 specifically involves: Step 301: Detect the water quality parameters at the current position point using TDS sensor 7, pH sensor 8, and turbidity sensor 14; Step 302: Simultaneously, real-time images are acquired through camera 15, and the water quality parameters at the current pose point are time-stamped and matched with the real-time images before being stored. Step 303: After completing the data storage of the previous pose points, drain the water sample in the water tank 12 through the drain pipe 3 to prevent cross-contamination; Step 304: Compare the water quality parameters at the current pose point with the threshold. If the threshold is exceeded, trigger the event-driven mode and interrupt the cruise. Step 305: Mark the coordinates of the current pose point using GPS locator 2.

[0043] Step 4 is as follows: Step 401: Starting from the current pose point, compare the concentration change rate of adjacent pose points to calculate the concentration gradient; Step 402: When the concentration gradient exceeds the preset threshold, the heading is automatically corrected, and the target heading is corrected to the vector direction of the fastest concentration increase.

Claims

1. A stationary-point cruising water quality monitoring vessel with attitude locking and event-driven operation, characterized in that, The vessel includes a hull (1), on which a GPS locator (2) and a six-axis inertial measurement unit (16) are installed. The GPS locator (2) and the six-axis inertial measurement unit (16) are electrically connected to a control system. The hull (1) is equipped with a water tank (12), which is connected to a water pumping pipe (4) and a water draining pipe (3). A water pump is installed between the water tank (12) and the water pumping pipe (4). A baffle plate (13) is fixedly connected to the stern of the hull (1), and propellers are symmetrically arranged on both sides of the bottom of the baffle plate (13).

2. The attitude-locking and event-driven fixed-point cruise water quality monitoring vessel according to claim 1, characterized in that, The water tank (12) is equipped with several sensors, which are electrically connected to the control system. The control system is also electrically connected to a propeller. The sensors are a TDS sensor (7), a pH sensor (8), and a turbidity sensor (14). The two propellers are a first propeller (10) and a second propeller (11).

3. The attitude-locking and event-driven fixed-point cruising water quality monitoring vessel according to claim 2, characterized in that, The control system integrates an attitude locking module and an event-driven cruise module. The attitude locking module is electrically connected to a six-axis inertial measurement unit (16), a first propeller (10), and a second propeller (11). The event-driven cruise module is electrically connected to a GPS locator (2), a TDS sensor (7), a pH sensor (8), a turbidity sensor (14), a first propeller (10), and a second propeller (11).

4. The attitude-locking and event-driven fixed-point cruising water quality monitoring vessel according to claim 2, characterized in that, A camera (15) is installed at the bow of the hull (1), and a battery is installed inside the hull (1). The battery is electrically connected to the control system, GPS locator (2), six-axis inertial measurement unit (16), camera (15), TDS sensor (7), pH sensor (8) and turbidity sensor (14).

5. The attitude-locking and event-driven fixed-point cruise water quality monitoring vessel according to claim 1, characterized in that, The six-axis inertial measurement unit (16) is set at the geometric center of the hull (1). The first sponge (5) and the second sponge (6) are fixed on the outer edges of both sides of the hull (1). The first sponge (5) and the second sponge (6) are respectively arranged on both sides of the water tank (12).

6. The attitude-locking and event-driven fixed-point cruising water quality monitoring vessel according to claim 1, characterized in that, The hull (1) is also provided with a J-link interface (9), which is electrically connected to the control system.

7. A water quality detection method with attitude locking and event-driven fixed-point navigation, characterized in that, Includes the following steps: Step 1: Control the water quality testing vessel to travel along the set cruise route to the monitoring point for sampling; Step 2: Collect the attitude data of the hull (1), adjust the propeller thrust according to the attitude angle deviation, and conduct water quality testing after the hull (1) is balanced. Step 3: Obtain the water quality parameters of the current pose point and compare them with the threshold. When the threshold is exceeded, the event-driven mode is triggered, the cruise is interrupted and the coordinates of the current pose point are marked. Step 4: Obtain the water quality parameters of adjacent pose points, compare them with the water quality parameters of the current pose point, and determine the target heading; Step 5: When the water quality test value falls below the threshold, the event-driven mode ends and the original cruise path is returned.

8. The attitude-locking and event-driven fixed-point cruise water quality detection method according to claim 7, characterized in that, Step 2 specifically involves: Step 201: Collect the attitude data of the water quality testing vessel in real time through a six-axis inertial measurement unit, and obtain the attitude angle deviation variance based on the attitude data; Step 202: The attitude locking module uses a PID control algorithm to dynamically adjust the thrust of the first propeller (10) and the second propeller (11). The proportional coefficient, integral coefficient and derivative coefficient of the PID control algorithm are adaptively adjusted according to the variance of the attitude angle deviation collected by the six-axis inertial measurement unit. Step 203: The attitude locking module achieves attitude locking by fine-tuning the thrust. After the water quality testing vessel is balanced, water quality testing is carried out. The inlet of the pumping pipe (4) is at a constant sampling depth.

9. The attitude-locking and event-driven fixed-point cruise water quality detection method according to claim 7, characterized in that, Step 3 specifically involves: Step 301: Detect the water quality parameters at the current position point using the TDS sensor (7), pH sensor (8), and turbidity sensor (14); Step 302: Simultaneously, real-time images are acquired through the camera (15), and the water quality parameters at the current pose point are time-stamped and matched with the real-time images before storage. Step 303: After completing the data storage of the previous pose points, drain the water sample in the water tank (12) through the drain pipe (3) to prevent cross-contamination; Step 304: Compare the water quality parameters at the current pose point with the threshold. If the threshold is exceeded, trigger the event-driven mode and interrupt the cruise. Step 305: Mark the coordinates of the current pose point using the GPS locator (2).

10. The attitude-locking and event-driven fixed-point cruise water quality detection method according to claim 7, characterized in that, Step 4 specifically involves: Step 401: Starting from the current pose point, compare the concentration change rate of adjacent pose points to calculate the concentration gradient; Step 402: When the concentration gradient exceeds a preset threshold, the course is automatically corrected, and the target course is corrected to the vector direction of the fastest concentration increase.

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