Unmanned ship for water quality monitoring

Abstract

The utility model discloses an unmanned ship for water quality monitoring. The unmanned ship comprises a ship body, a water quality sampling pipe, a peristaltic pump, water quality monitoring equipment, an airborne computer, a flight control module and power and control equipment, wherein the water quality sampling pipe, the peristaltic pump and the water quality monitoring equipment are mounted on a ship body platform panel of the ship body; the airborne computer is wirelessly connected with a control end; wherein a second instruction output end of the flight control module is respectively connected with a first instruction input end of the power and control equipment and a second instruction input end of the peristaltic pump; the peristaltic pump is connected with the water quality sampling pipe, the water sample extraction end of the water quality sampling pipe extends downwards to a water source below the ship body, and the water sample output end of the water quality sampling pipe is connected with the water sample input end of the water quality monitoring equipment; and the monitoring result output end of the water quality monitoring equipment is connected with the input end of the airborne computer. On the basis, automatic sampling and water quality monitoring of the unmanned ship can be realized, the time consumed by a worker in the sampling and inspection process is shortened, and the water quality monitoring efficiency and accuracy are improved.

Description

Technical Field

[0001] The present application relates to the technical field of water quality monitoring equipment, and more specifically, to an unmanned boat for water quality monitoring. Background Art

[0002] In recent years, the pollution of rivers, oceans and other water bodies has received widespread attention, and a lot of money has been invested in the protection of lakes, rivers and oceans, striving to comprehensively improve water environment management and ensure water quality safety. Water quality monitoring is the most critical step in improving the water environment.

[0003] Water quality monitoring includes two steps: water sample collection and water sample monitoring. It is understandable that the water quality of the same river in different basins is not the same, so staff need to collect water samples at multiple collection points, or staff need to operate unmanned boats to collect water samples. Furthermore, the staff will send the collected water samples to laboratories, water quality monitoring stations, etc. for monitoring. In this process, water samples may also deteriorate and be polluted, making the final water quality monitoring results inaccurate. Therefore, how to collect water samples efficiently and improve the accuracy of water quality monitoring results has become an urgent problem to be solved. Utility Model Content

[0004] In view of this, the present application provides an unmanned boat for water quality monitoring, which is used to solve the existing problem of how to efficiently collect water samples and improve the accuracy of water quality monitoring results.

[0005] In order to achieve the above objectives, the proposed solution is as follows:

[0006] The first aspect of the present application provides an unmanned boat for water quality monitoring, comprising:

[0007] A hull, a water quality sampling tube, a peristaltic pump and a water quality monitoring device installed on a hull platform panel of the hull, an onboard computer wirelessly connected to a control end, a flight control module connected to a first command output end of the onboard computer, and a power and control device;

[0008] The second command output terminal of the flight control module is respectively connected to the first command input terminal of the power and control device and the second command input terminal of the peristaltic pump;

[0009] The peristaltic pump is connected to the water quality sampling tube, the water sample extraction end of the water quality sampling tube extends downward to the water source under the hull, and the water sample output end of the water quality sampling tube is connected to the water sample input end of the water quality monitoring device;

[0010] The monitoring result output terminal of the water quality monitoring device is connected to the input terminal of the onboard computer.

[0011] In a possible implementation, a filtering device is provided at the water sample extraction end of the water quality sampling tube.

[0012] In a possible implementation, the water sample output end of the water quality sampling tube is a bifurcated port, and the bifurcated port includes: a first output end and a second output end;

[0013] The first output end is connected to the water sample input end of the water quality monitoring device;

[0014] The second output end is connected to a water quality sample storage tube.

[0015] In a possible implementation, the method further includes:

[0016] A camera connected to the image acquisition instruction output end of the flight control module, and the camera is installed on the hull platform panel of the hull, so that the shooting range of the camera is the water source under the hull.

[0017] In a possible implementation, it further includes: a data transmission module and / or an image transmission module connected to the image output end of the camera.

[0018] In a possible implementation, the hull includes: a locking device, and the hull platform panel is fixed to the hull through the locking device.

[0019] In a possible implementation, it also includes: a positioning module.

[0020] In a possible implementation, the power and control device includes: a drive motor and a steering servo.

[0021] In a possible implementation, it further includes: a receiver arranged in a connection line between the power and control device and the flight control module.

[0022] In a possible implementation, the hull includes: a lithium battery.

[0023] The unmanned boat for water quality monitoring provided in this application can enable staff to remotely send control instructions to the onboard computer of the unmanned boat through the control terminal. The onboard computer dispatches the control instructions to the flight control module. The flight control module controls the power and control equipment according to the control instructions to make the unmanned boat navigate to the collection point, and controls the peristaltic pump to extract water samples, thereby realizing automatic sampling of the unmanned boat.

[0024] The peristaltic pump of the unmanned boat compresses the water sampling tube and slowly draws the water source contacted by the water sampling end to the water quality monitoring equipment. The water quality monitoring equipment monitors the collected water samples in real time, reducing the possibility of water sample contamination and improving the accuracy of water quality monitoring.

[0025] Furthermore, the water quality monitoring equipment sends the water quality monitoring results to the control end through the onboard computer for the staff to view, which reduces the time spent by the staff in sampling and sending for inspection and improves the efficiency of water quality monitoring. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0027] Figure 1 A top view of an unmanned boat for water quality monitoring provided by an embodiment of the utility model;

[0028] Figure 2 A side view of an unmanned boat for water quality monitoring provided by an embodiment of the utility model;

[0029] Figure 3 A schematic structural diagram of an unmanned boat for water quality monitoring provided in an embodiment of the utility model.

[0030] Legend:

[0031] 10-hull; 20-hull platform panel; 30-water quality sampling tube; 40-peristaltic pump; 50-water quality monitoring equipment; 60-flight control module; 70-camera; 80-filter device; 90-positioning module; 100-receiver. DETAILED DESCRIPTION

[0032] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. In the description of the utility model, it should be understood that the orientation or position relationship indicated by the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", etc. is based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the utility model. For ordinary technicians in this field, the specific meanings of the above terms in the utility model can be understood in specific circumstances. Multiple technical solutions in the same embodiment, as well as multiple technical solutions in different embodiments, can be arranged and combined to form new technical solutions without contradictions or conflicts, all within the scope of protection required by the utility model.

[0033] The utility model provides an unmanned boat for water quality monitoring, referring to Figure 1 , an overhead view of an unmanned boat for water quality monitoring provided by an embodiment of the utility model, wherein the unmanned boat includes: a hull 10, a water quality sampling tube 30, a peristaltic pump 40 and a water quality monitoring device 50 installed on a hull platform panel 20 of the hull 10, an onboard computer wirelessly connected to the control end, a flight control module 60 connected to the first command output end of the onboard computer, and a power and control device.

[0034] The second command output terminal of the flight control module 60 is respectively connected to the first command input terminal of the power and control device and the second command input terminal of the peristaltic pump 40;

[0035] The peristaltic pump 40 is connected to the water sampling tube 30, the water sampling end of the water sampling tube 30 extends downward to the water source below the hull 10, and the water sample output end of the water sampling tube 30 is connected to the water sample input end of the water quality monitoring device 50;

[0036] The monitoring result output terminal of the water quality monitoring device 50 is connected to the input terminal of the onboard computer.

[0037] The control end can be a mobile device such as a computer, laptop, mobile phone or tablet at a ground station, or it can be a remote control end of a remote-controlled unmanned boat. The controller can achieve wireless connection / wireless communication with the onboard computer on the unmanned boat, and is used to send control instructions from the staff to the onboard computer, such as navigation instructions such as the speed and steering of the unmanned boat, collection instructions for the unmanned boat to start collecting water samples, request instructions for obtaining monitoring results, etc.

[0038] The onboard computer can also be called an onboard computer. The corresponding computer program can be pre-configured for the onboard computer to realize intelligent control and autonomous decision-making of the unmanned ship. For example, when a computer program for realizing abnormal monitoring result alarm is running on the onboard computer, when the onboard computer receives the monitoring result sent by the water quality monitoring equipment and it does not meet the preset water quality standard, the onboard computer sends an abnormal alarm signal to the control end through wireless communication, prompting the staff that the water quality at the current collection point is abnormal.

[0039] The flight control module can also be called a flight controller or autopilot. It is used to assist or fully self-service the coordinated control of other systems or components of the unmanned ship during the cruising process of the unmanned ship according to the flight control program pre-burned in the flight control module. In the embodiment of the utility model, the flight control module can at least control the power and control equipment and peristaltic pump of the unmanned ship.

[0040] The first command output terminal of the onboard computer is connected to the command input terminal of the flight control module, and the control command issued by the ground user at the control terminal is sent to the flight control module through the onboard computer. The flight control module responds to the control command and coordinates and controls the various equipment and systems on the unmanned ship connected to it, so that the unmanned ship completes the task issued by the ground user.

[0041] For example, the flight control module receives a control instruction sent by the onboard computer to monitor the water quality of collection point A. The flight control module analyzes the control instruction to include: navigation instructions and collection instructions. In one possible implementation, the flight control module plans the target navigation route based on the current location and collection point A, and generates a power control instruction corresponding to the target navigation route. Furthermore, the power control instruction is sent to the power and control device through the first instruction input end connected to the second instruction output end of the flight control module to control the unmanned ship to navigate to the collection point A. When the unmanned ship arrives at the collection point A, the collection instruction is sent to the peristaltic pump through the second instruction input end connected to the second instruction output end of the flight control module, so that the peristaltic pump starts to run and extracts water samples from the water source for monitoring.

[0042] After the peristaltic pump receives the collection instruction, the roller or pressure shoe in the peristaltic pump will compress the hose, i.e. the water quality sampling tube, when rotating, so that the liquid is sucked into the water quality sampling tube through the vacuum formed for water quality sampling or monitoring.

[0043] The water sampling tube transports the collected water samples to the water quality monitoring equipment for water quality monitoring. This water quality monitoring equipment can also be called an integrated water quality monitoring equipment, which is a device that integrates multiple detection functions and can simultaneously monitor multiple parameters in water quality, such as pH value, dissolved oxygen, turbidity, conductivity, COD (chemical oxygen demand), ammonia nitrogen, total phosphorus, total nitrogen, etc. Therefore, the water sample does not need to be taken out and can be directly transported to the water quality monitoring equipment for monitoring, which reduces the possibility of water sample contamination and improves the accuracy of water quality monitoring.

[0044] Furthermore, the water quality monitoring equipment will send the water quality monitoring results of the water sample to the control end through the onboard computer for the ground station staff to view. Based on this, the unmanned ship can realize automatic water quality monitoring, without the need for staff to take water samples from the unmanned ship and send them for inspection, saving staff time and improving inspection efficiency. Optionally, the onboard computer can also store the current collection point and the monitoring results in correspondence, which is convenient for subsequent water quality comparison or retrieval of historical monitoring data.

[0045] To sum up, in the unmanned boat for water quality monitoring provided by the utility model, the staff can remotely send control instructions to the onboard computer of the unmanned boat through the control end, and the onboard computer dispatches the control instructions to the flight control module. The flight control module controls the power and control equipment according to the control instructions to make the unmanned boat sail to the collection point, and controls the peristaltic pump to extract water samples, thereby realizing automatic sampling of the unmanned boat.

[0046] The peristaltic pump of the unmanned boat slowly extracts the water source that the water sampling end contacts to the water quality monitoring equipment by compressing the water sampling tube. The water quality monitoring equipment monitors the collected water quality in real time, reducing the possibility of water sample contamination and improving the accuracy of water quality monitoring. Furthermore, the water quality monitoring equipment sends the water quality monitoring results to the control end through the onboard computer for the staff to view, which reduces the time consumed by the staff in the sampling and inspection process and improves the efficiency of water quality monitoring.

[0047] Next, other possible implementations of the utility model are described.

[0048] In one possible implementation, refer to Figure 2 , a side view of an unmanned boat for water quality monitoring provided by an embodiment of the utility model, wherein a filtering device 80 is provided at the water sampling end of the water quality sampling tube.

[0049] It is understandable that when extracting water quality samples, there may be a large amount of impurities and waste on the surface of the water body. If they are not treated in time, the impurities will also be extracted as water quality samples. On the one hand, it will affect the results of water quality monitoring and reduce the accuracy of water quality monitoring. On the other hand, it will cause blockage of water quality sampling tubes and water quality monitoring equipment, and even cause damage to the equipment, affecting the normal use of unmanned boats in water quality monitoring.

[0050] Therefore, the embodiment of the utility model is equipped with a filter device at the water sampling end of the water sampling tube to filter out most of the impurities and prevent excessive impurities and waste from entering. Optionally, the filter device may include a filter net, a microporous filter, etc. The filter device may also adhere to the debris while intercepting the debris. Therefore, when the unmanned ship returns, the staff can replace the filter device of the unmanned ship to ensure that the filter device can be used normally for the next voyage.

[0051] In a possible implementation, the water sample output end of the water quality sampling tube is a bifurcated port, which includes: a first output end and a second output end; the first output end is connected to the water sample input end of the water quality monitoring equipment; and the second output end is connected to the water quality sample storage tube.

[0052] The embodiment of the utility model sets the water sample output end of the water quality sampling tube as a bifurcated port, so that two water samples can be obtained. One water sample is sent to the water quality monitoring equipment for monitoring, and the other water sample is sent to the water quality sample storage tube as a reserved sample. When the unmanned boat returns, it can bring back the water sample in the water quality sample storage tube, so that the staff can further study the water sample in the water quality sample storage tube. Based on this, the unmanned boat can simultaneously and automatically complete the work of water quality monitoring and water sampling, thereby improving the water quality monitoring efficiency of the staff.

[0053] In another possible implementation, the unmanned boat for water quality monitoring may also include: a camera 70 connected to the image acquisition command output end of the flight control module 60, and the camera 70 is installed on the hull platform panel 20 of the hull 10, so that the shooting range of the camera 70 is the water source under the hull 10.

[0054] In the process of water quality monitoring, in addition to leaving water samples, it may be necessary to collect images of the water surface for reference for subsequent research. Therefore, in the embodiment of the utility model, a camera is installed on the hull platform panel of the hull, and its installation position is such that the camera's shooting range is the position of the water source under the hull, referring to Figure 1 , Figure 2 The camera is installed at the bow position. Optionally, the camera position can be adjusted according to the shooting needs of the staff and is not the only limitation here.

[0055] It can be understood that the camera receives a request to obtain the water source image of the collection point (hereinafter referred to as the image acquisition request) through the image acquisition instruction output terminal of the flight control module, and then starts the camera to shoot. The image acquisition request can be sent by the onboard computer to the camera through the flight control module when the water quality monitoring result of the collection point A is detected to be abnormal; or the onboard computer forwards the image acquisition request sent by the ground staff to the onboard computer through the control terminal to the flight control module, and further, the flight control module sends the image acquisition request to the camera.

[0056] In order to ensure that the image data captured by the camera can be successfully transmitted back to the control end for ground staff to view and store, the unmanned ship also includes: a data transmission module and / or an image transmission module connected to the image output end of the camera.

[0057] The digital transmission technology is a technology for transmitting data wirelessly, and the image transmission technology is a technology for transmitting videos and images taken by a camera. Based on this, the embodiment of the utility model installs a digital transmission module that implements the digital transmission technology and an image transmission module that implements the image transmission technology on the unmanned ship.

[0058] Among them, the image transmission module and the data transmission module can obtain water source images from the camera by connecting to the camera. The image transmission module can compress and encode the obtained water source images and transmit them in the form of data encoding to ensure the stability and real-time performance of image and video transmission; the digital transmission module can wirelessly transmit the water source images obtained from the camera to the control end.

[0059] Optionally, if the image transmission module has a wireless transmission function, the unmanned boat can be equipped with only one image transmission module, which will wirelessly transmit the converted coded image data to the control end, so that the staff at the control end of the ground station can receive and view the water source image in real time. If the image transmission module does not have a wireless transmission function, the unmanned boat can be equipped with both an image transmission module and a digital transmission module. The digital transmission module obtains the water source image converted into a coded form from the image transmission module through a connection with the image transmission module, and wirelessly transmits it to the control end.

[0060] Optionally, the wireless transmission realized by the data transmission module is bidirectional. Therefore, the control end can also send control instructions to the data transmission module of the unmanned ship, which is forwarded by the data transmission module to the flight control module, so as to realize the control of the unmanned ship or information interaction.

[0061] In one possible implementation, refer to Figure 2 The unmanned ship also includes a positioning module 90.

[0062] It is understandable that unless the difference in water surface conditions increases, the staff cannot distinguish which water area the image belongs to based on the images of different water sources / water areas taken by the camera. Therefore, in order to improve the correlation between images, monitoring results and collection points, this embodiment installs a positioning module on the unmanned boat. When the flight control module of the unmanned boat sends a control instruction to any device such as the peristaltic pump or the camera, it also sends a positioning information acquisition instruction to the positioning module 90 to obtain the positioning information of the collection point where the current unmanned boat is located, and associates the positioning information with the obtained water source image and monitoring results, and sends the associated image, monitoring result and positioning information to the control end together to help the staff complete the matching work.

[0063] In an embodiment of the utility model, the hull includes: a locking device, and the hull platform panel is fixed to the hull through the locking device.

[0064] The hull platform panel is equipped with water sampling tubes, peristaltic pumps, water quality monitoring equipment, positioning modules, etc., and the stability of the hull platform panel needs to be ensured. Therefore, a locking device is set on the hull to fix the hull platform panel to the hull to ensure that the hull platform panel remains stable during the navigation of the unmanned ship to avoid rollover and other situations. Optionally, other devices for fixing the hull platform panel can be used, such as clamps, magnetic fixing devices, positioning pins and positioning holes, etc. When producing unmanned ships, appropriate fixing devices can be selected based on the cost, needs and other considerations of the staff.

[0065] In a possible implementation, the power and control equipment of the unmanned ship may include: a drive motor and a steering servo.

[0066] The driving motor generates a rotational torque through electromagnetic induction, converting electrical energy into mechanical energy, and then drives the unmanned boat to travel; the steering servo controls the rotation of the rudder surface to control the direction of the unmanned boat. When the driving motor and the steering servo receive the navigation instructions sent by the flight control module, they drive the unmanned boat and control the direction of the unmanned boat according to the navigation instructions.

[0067] The unmanned boat also includes: a receiver 100 arranged in a connection line between the power and control device and the flight control module.

[0068] The function of the receiver 100 is to convert the navigation instructions issued by the flight control module into a signal type that is compatible with the drive motor and the steering servo, so that the drive motor and the steering servo can respond correctly.

[0069] The hull of the unmanned boat includes: lithium batteries, which are used to provide power to various equipment in the unmanned boat, such as water quality monitoring equipment, peristaltic pumps, cameras, flight control modules, onboard computers and other equipment that requires power.

[0070] Next, Figure 3 The structural schematic diagram of an unmanned boat for water quality monitoring provided by the embodiment of the utility model is displayed, and an unmanned boat for water quality monitoring proposed by the utility model is exemplarily described.

[0071] Figure 3 It can also be understood as a connection diagram of various control signals and signal transmission in the unmanned boat. Among them, the equipment involved in control signals and data transmission in the unmanned boat includes: 4K camera, network switch, data transmission / image transmission module, GPS precision positioning module, Pixhawk flight control module, receiver, Jetson Xavier NX onboard computer, integrated water quality monitoring equipment, drive motor, steering servo, peristaltic pump and 12V lithium battery; the ground station includes a control terminal or remote control for real-time monitoring of data.

[0072] The Jetson Xavier NX onboard computer in the unmanned boat is connected to the integrated water quality monitoring equipment and the Pixhawk flight control module respectively. The integrated water quality monitoring equipment feeds back the water quality monitoring results to the ground station through the Jetson Xavier NX onboard computer, and the Jetson Xavier NX onboard computer forwards the control commands sent by the ground station to the Pixhawk flight control module.

[0073] The Pixhawk flight control module is connected to the GPS precise positioning module, the network switch, and the receiver respectively, that is, the Pixhawk flight control module sends the positioning request and the navigation instruction to the GPS precise positioning module and the receiver respectively, so as to achieve positioning and drive the unmanned ship to navigate.

[0074] A network switch is a device that expands the network and can provide more connection ports for the Pixhawk flight control module so that more devices can be connected. In this example, the network switch is used to connect the Pixhawk flight control module to the 4K camera and the data transmission / image transmission module. The 4K camera is the camera described above. The functions of the camera and the data transmission / image transmission module in the unmanned boat can be referred to above and will not be repeated here.

[0075] Understandably, Figure 3 The Pixhawk flight control module, Jetson Xavier NX onboard computer, 4K camera, and GPS precise positioning module shown in the figure are different from the flight control module, onboard computer, camera, and positioning module described above in terms of model and brand. For example, the positioning module can also use the Beidou dual-mode positioning ATK-MO1218 module, which plays the same role as the positioning module in the unmanned ship. In actual application, the type of device to be used can be customized and is not limited here.

[0076] To sum up, in view of the low operating efficiency and low intelligence level of existing monitoring unmanned boats, the unmanned boat provided for water quality monitoring can automatically monitor water quality information and transmit it back to the ground after comparison; in view of the complex mechanical structure of existing unmanned boats, the mechanical structure of the unmanned boats is simplified to the greatest extent, reducing the probability of equipment damage caused by the complex structure; at the same time, in view of the problem that there may be a large amount of impurities and waste on the surface of the water body, a filtering device is installed at the water inlet port of the water quality sampling tube to further ensure the normal operation of the equipment in complex water environments.

[0077] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions recorded in the aforementioned embodiments or make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An unmanned boat for water quality monitoring, characterized in that: include: A hull, a water quality sampling tube, a peristaltic pump and a water quality monitoring device installed on a hull platform panel of the hull, an onboard computer wirelessly connected to a control end, a flight control module connected to a first command output end of the onboard computer, and a power and control device; The second command output terminal of the flight control module is respectively connected to the first command input terminal of the power and control device and the second command input terminal of the peristaltic pump; The peristaltic pump is connected to the water quality sampling tube, the water sample extraction end of the water quality sampling tube extends downward to the water source under the hull, and the water sample output end of the water quality sampling tube is connected to the water sample input end of the water quality monitoring device; The monitoring result output terminal of the water quality monitoring device is connected to the input terminal of the onboard computer.

2. The unmanned boat for water quality monitoring according to claim 1, characterized in that: The water sample extraction end of the water quality sampling tube is provided with a filtering device.

3. The unmanned boat for water quality monitoring according to claim 2, characterized in that: The water sample output end of the water quality sampling tube is a bifurcated port, and the bifurcated port includes: a first output end and a second output end; The first output end is connected to the water sample input end of the water quality monitoring device; The second output end is connected to a water quality sample storage tube.

4. The unmanned boat for water quality monitoring according to claim 3, characterized in that: Also includes: A camera connected to the image acquisition instruction output end of the flight control module, and the camera is installed on the hull platform panel of the hull, so that the shooting range of the camera is the water source under the hull.

5. The unmanned boat for water quality monitoring according to claim 4, characterized in that: Also includes: A data transmission module and / or an image transmission module connected to the image output terminal of the camera.

6. The unmanned boat for water quality monitoring according to claim 5, characterized in that: The hull comprises a locking device, and the hull platform panel is fixed to the hull through the locking device.

7. The unmanned boat for water quality monitoring according to claim 6, characterized in that: Also includes: Positioning module.

8. The unmanned boat for water quality monitoring according to any one of claims 1 to 7, characterized in that: The power and control equipment includes: a driving motor and a steering servo.

9. The unmanned boat for water quality monitoring according to claim 8, characterized in that: Also includes: A receiver is arranged in the connection line between the power and control device and the flight control module.

10. The unmanned boat for water quality monitoring according to claim 1, characterized in that: The hull includes: a lithium battery.

Images