A ship-shaped water quality detection device

Abstract

The utility model application provides a kind of ship type water quality detection device, including ship type float structure, power supply module, control module, propulsion assembly and water quality detection component;Ship type float is flat bottom structure, is equipped with watertight cabin accommodating power supply module and control module;Power supply module is electrically connected with control module, propulsion assembly and water quality detection component respectively, provides operating power for each component;Propulsion assembly is installed in stern, can be moved according to control signal driving device;Water quality detection component has at least one water quality sensor, can switch to unfold / storage state, when unfolding, sensor is dipped into water to collect parameter, when storage, can avoid sensor collision damage;Control module is connected with propulsion, detection component communication, according to remote instruction and position information control propulsion assembly moves to target position, then control detection component gathers and receives water quality detection data;Through the device, the autonomous detection of water quality in water area can be realized, which is beneficial to reduce artificial dependence and improve endurance.

Description

Technical Field

[0001] This utility model application belongs to the field of water quality monitoring technology, specifically relating to a ship-shaped water quality testing device. Background Technology

[0002] Currently, in the aquaculture sector, the stability of water quality parameters (such as dissolved oxygen, pH value, ammonia nitrogen content, water temperature, and redox potential) directly affects the growth status and survival rate of farmed organisms. Real-time and accurate monitoring of water quality is a key link in ensuring aquaculture efficiency. Currently, the mainstream water quality monitoring methods in the industry mainly rely on three types of technical solutions: First, fixed water quality monitoring piles. These devices need to be fixed in a certain location in the pond and can only monitor the water quality of a local area. They cannot cover the entire aquaculture area and are prone to data distortion due to uneven water quality distribution, making it difficult to reflect the overall water quality status. Second, manual retrieval-type monitoring equipment. This requires aquaculture personnel to carry instruments into the water regularly to collect samples or conduct on-site testing. This is not only labor-intensive and inefficient, but also susceptible to weather and time constraints, making it difficult to achieve 24-hour continuous monitoring. Third, simple buoy-type monitoring stations. Although they can float on the water surface, most are only equipped with basic sensors and lack autonomous mobility. Their monitoring range is still limited, and they are constrained by battery life, requiring frequent replacement or charging, resulting in high maintenance costs. In addition, the sensors are exposed to the external environment for a long time and are easily damaged by collisions and water flow impacts, affecting their service life. Utility Model Content

[0003] To address the limitations of traditional water quality testing methods, such as limited range, high reliance on manual labor, and insufficient endurance, this utility model application proposes a ship-shaped water quality testing device, comprising: a ship-shaped floating structure, a power supply module, a control module, a propulsion component, and a water quality testing component.

[0004] The hull-shaped floating structure is a flat-bottomed structure with a watertight compartment inside, which is used to house the power supply module and the control module.

[0005] The power supply module is electrically connected to the control module, the propulsion component, and the water quality detection component, respectively, and is used to provide working power to the control module, the propulsion component, and the water quality detection component;

[0006] The propulsion assembly is installed at the stern of the hull-shaped floating structure and is used to drive the hull-shaped floating structure to move according to the received control signal;

[0007] The water quality detection component is equipped with at least one water quality sensor, and the water quality detection component can be switched to an extended state or a retracted state. In the extended state, the water quality sensor is inserted underwater, and water quality parameters are collected based on the received water quality detection signal.

[0008] The control module is communicatively connected to the propulsion component and the water quality detection component, respectively, and is used to send control signals to the propulsion component according to the received remote command and the current position information of the hull-shaped floating structure; it is also used to send water quality detection signals to the water quality detection component when the hull-shaped floating structure moves to the target position, and to receive water quality parameters transmitted by the water quality detection component.

[0009] Optionally, the hull-shaped floating structure is made of ABS plastic through blow molding, and the interior of the hull-shaped floating structure is divided into a bow compartment, a watertight compartment, and a stern compartment by a waterproof partition.

[0010] Optionally, the control module includes a microprocessor, a wireless communication submodule, a positioning submodule, a general-purpose input / output port, an analog-to-digital converter, a PWM generator, and a universal asynchronous transceiver; the wireless communication submodule is used to receive remote commands, and the positioning module is used to obtain the current position information of the hull-shaped floating structure.

[0011] Optionally, the wireless communication submodule is one or more of LoRa, 5G, NB-IoT, or WiFi;

[0012] The positioning submodule is a GPS positioning module or a Beidou positioning module;

[0013] The control module outputs control signals through the general-purpose input / output port, converts the analog voltage signal output by the water quality sensor into a digital signal through the analog-to-digital converter, generates PWM signals to control the propulsion component through the PWM generator, and performs serial data communication with the wireless communication submodule and the positioning submodule through the general-purpose asynchronous transceiver.

[0014] Optionally, the propulsion assembly includes at least one vector thruster;

[0015] The stern of the hull-shaped floating structure has a pre-set opening, the shape of which matches the upper half of the vector thruster shell;

[0016] The interior of the hull-shaped floating structure is reinforced with fiberglass around the opening to form a mounting flange with an O-ring sealing groove;

[0017] The top of the vector thruster extends into a mounting arm, which is fixed to the mounting flange from the inside of the hull-shaped floating structure outwards using polyoxymethylene plastic bolts.

[0018] Optionally, the thrust direction of the vector thruster is controlled by a servo motor, which can drive the nozzle or motor body of the vector thruster to rotate 0-360° in the horizontal plane;

[0019] The thrust of the vector thruster is continuously variable by adjusting the PWM duty cycle of the motor.

[0020] Optionally, the water quality testing component includes: a folding telescopic rod and two electric joints, the two electric joints being respectively located at the root of the folding telescopic rod near the hull-shaped floating structure and at the connection point of the folding telescopic rod;

[0021] The hull-shaped floating structure has a dedicated groove for the water quality testing component; when the water quality testing component is in the stored state, the telescopic rod is folded back and folded by the electric joint, lying flat into the dedicated groove; when the water quality testing component is in the unfolded state, the electric joint drives the folding telescopic rod to unfold to the vertically downward position and lock it.

[0022] Optionally, the water quality sensor includes one or more of the following: pH sensor, conductivity sensor, dissolved oxygen sensor, temperature sensor, redox potential sensor, and ammonia nitrogen sensor.

[0023] Optionally, the power supply module includes: a battery and a power management submodule;

[0024] The battery is electrically connected to the power management submodule;

[0025] The power management submodule is electrically connected to the control module, the propulsion component, and the water quality detection component, respectively. The power management submodule is equipped with a DC-DC step-down voltage regulator circuit to convert the voltage output by the battery into a stable DC power. It is also used to power the low-voltage unit of the control module and to provide a device power bus. Each output of the device power bus is connected in series with a MOSFET switching circuit controlled by the control module to control the power supply to the propulsion component and the water quality detection component.

[0026] Optionally, the water quality testing device further includes: a solar power supply component, which is fixed to the upper surface of the hull-shaped floating structure and electrically connected to the battery of the power supply module;

[0027] The solar power supply assembly includes multiple solar panels, which are fixed to the upper surface of the hull-shaped floating structure by polyoxymethylene plastic bolts. A photovoltaic-specific DC cable is led out from the positive and negative output terminals of the solar panels. The cable is equipped with an anti-reverse insertion MC4 connector at its end, and the cable enters the watertight compartment through a pre-set waterproof gland on the hull-shaped floating structure, where it is electrically connected to the battery.

[0028] Compared with the closest existing technology, the beneficial effects of this utility model application are as follows:

[0029] This utility model application provides a ship-shaped water quality detection device, including: a ship-shaped floating structure, a power supply module, a control module, a propulsion component, and a water quality detection component; the ship-shaped floating structure is a flat-bottomed structure with a watertight compartment inside, the watertight compartment being used to house the power supply module and the control module; the power supply module is electrically connected to the control module, the propulsion component, and the water quality detection component, respectively, and is used to provide working power to the control module, the propulsion component, and the water quality detection component; the propulsion component is installed at the stern of the ship-shaped floating structure and is used to drive the ship-shaped floating structure to move according to received control signals; the water quality detection component is equipped with at least one water quality sensor, and the water quality detection component can be switched to an deployed state or a retracted state, used to extend the water quality sensor underwater in the deployed state and collect water quality parameters according to received water quality detection signals; the control module is communicatively connected to the propulsion component and the water quality detection component respectively, used to send control signals to the propulsion component according to received remote commands and the current position information of the ship-shaped floating structure; and is also used to... When the structure moves to the target position, it sends a water quality detection signal to the water quality detection component and receives the water quality parameters transmitted by the water quality detection component. The boat-shaped floating structure in the water quality detection device of this application adopts a flat bottom design and has a watertight compartment inside, which can reliably accommodate the power supply module and the control module. It can isolate the humid environment and water body of the water, avoid the core circuit failure due to water ingress, and help improve the stability of device operation. The propulsion component is installed at the stern of the boat-shaped floating structure. With the help of the control module, which can receive remote commands, obtain position information and communicate with the propulsion component, it can break through the limitations of traditional fixed detection and achieve more comprehensive water quality monitoring coverage of aquaculture waters. At the same time, the water quality detection component can switch between unfolded and retracted states. When unfolded, the water quality sensor can be extended underwater to collect parameters. When retracted, it can protect the sensor from collision and water flow impact damage. After the device reaches the target position, the control module automatically sends a detection signal to the water quality detection component and receives data. No manual on-site operation is required, which can significantly reduce the dependence on manual labor and improve the automation and efficiency of water quality monitoring. Thus, this device can meet the overall requirements of water quality monitoring for reliability, comprehensiveness and automation. Attached Figure Description

[0030] Figure 1 A schematic diagram of the frame composition of a ship-shaped water quality testing device provided for this utility model application;

[0031] Figure 2 A top view schematic diagram of a ship-shaped water quality testing device provided for this utility model application;

[0032] Figure 3 A cross-sectional view of a ship-shaped water quality testing device provided in this utility model application;

[0033] Figure 4 A schematic diagram showing the storage state of the water quality testing components in a ship-shaped water quality testing device provided in this utility model application. Detailed Implementation

[0034] The specific embodiments of this utility model application will be further described in detail below with reference to the accompanying drawings.

[0035] Example 1:

[0036] This utility model application provides a ship-shaped water quality testing device, the frame composition of which is shown in the schematic diagram below. Figure 1 As shown, it includes:

[0037] The ship-shaped floating structure, power supply module, control module, propulsion components, and water quality detection components;

[0038] The hull-shaped floating structure is a flat-bottomed structure with a watertight compartment inside, which is used to house the power supply module and the control module.

[0039] The power supply module is electrically connected to the control module, the propulsion component, and the water quality detection component, respectively, and is used to provide working power to the control module, the propulsion component, and the water quality detection component;

[0040] The propulsion assembly is installed at the stern of the hull-shaped floating structure and is used to drive the hull-shaped floating structure to move according to the received control signal;

[0041] The water quality detection component is equipped with at least one water quality sensor, and the water quality detection component can be switched to an extended state or a retracted state. In the extended state, the water quality sensor is inserted underwater, and water quality parameters are collected based on the received water quality detection signal.

[0042] The control module is communicatively connected to the propulsion component and the water quality detection component, respectively, and is used to send control signals to the propulsion component according to the received remote command and the current position information of the hull-shaped floating structure; it is also used to send water quality detection signals to the water quality detection component when the hull-shaped floating structure moves to the target position, and to receive water quality parameters transmitted by the water quality detection component.

[0043] In one implementation, the hull-shaped floating structure can be blow-molded from ABS plastic to ensure stability and corrosion resistance. The internal structure can be divided into a bow compartment, a watertight compartment, and a stern compartment by a waterproof partition. In this implementation, ABS plastic itself possesses good structural strength and water resistance, and combined with the blow molding process, it can form an integral, sealed floating body. This ensures that the device can resist corrosion from impurities and microorganisms in aquaculture areas such as ponds during long-term use, extending the floating body's service life. Furthermore, the material properties and flat-bottom design ensure the floating body's stability, preventing damage due to material defects or structural issues. Instability can cause the device to tilt or capsize. Meanwhile, the waterproof bulkhead divides the interior of the float into clearly defined independent compartments. The watertight compartment can be used to house the power supply and control modules. The waterproof function of the bulkhead isolates water that may seep into other compartments, effectively protecting the core circuit components from moisture and water ingress, reducing the risk of failure. The bow and stern compartments can be used to store spare tools, accommodate the installation structure of the propulsion components, or wiring terminals, respectively, making the layout of each component more organized. During later maintenance, the corresponding components in the compartment can be quickly located, improving the ease of operation. The overall design takes into account the environmental adaptability of the device, the protection of the core components, and the convenience of use and maintenance.

[0044] In one implementation, the control module may include a microprocessor (MCU), a wireless communication submodule, a positioning submodule, a general purpose input / output port (GPIO), an analog-to-digital converter (ADC), a PWM generator, and a universal asynchronous transceiver; the wireless communication submodule can be used to receive remote commands, and the positioning module can be used to obtain the current position information of the hull-shaped floating structure;

[0045] For example, the wireless communication submodule can be one or more of LoRa, 5G, NB-IoT, or WiFi;

[0046] The positioning submodule can be a GPS positioning module or a BeiDou positioning module;

[0047] The control module can control the electric actuator by switching the general-purpose input / output port (GPIO) MOSFET, outputting control signals. It converts the analog voltage signals output by the water quality sensor (such as pH, dissolved oxygen, etc.) into digital signals through the analog-to-digital converter (ADC), generates PWM signals to control the speed of the vector thruster motor and the steering servo angle through the PWM generator, and conducts serial data communication with the wireless communication submodule and the positioning submodule through the universal asynchronous transceiver.

[0048] In this implementation, the microprocessor, as the core, coordinates the collaborative work of various components. The inclusion of multiple wireless communication submodules adapts to the communication needs of different aquaculture environments. For example, in remote ponds, LoRa enables long-distance, low-power transmission, while in areas with good signal, 5G or NB-IoT facilitates high-speed, real-time data interaction, ensuring stable reception of remote commands and smooth data transmission. GPS or BeiDou positioning submodules provide precise location information, laying the foundation for autonomous navigation to the target monitoring point. Simultaneously, the GPIO port controls the MOSFET switch to drive the electric actuator, enabling precise unfolding and retraction of the folding telescopic rod of the water quality detection component. The ADC facilitates easy conversion of the outputs from water quality sensors (such as pH and dissolved oxygen sensors). Interference-prone analog voltage signals are converted into stable and reliable digital signals, ensuring the accuracy of water quality parameter acquisition. The PWM generator can generate signals to precisely control the speed of the vector thruster motor and the angle of the steering servo, enabling the hull to move smoothly and turn flexibly. The universal asynchronous transceiver ensures stable serial data communication between the wireless communication submodule, the positioning submodule, and the microprocessor. Overall, the control module can efficiently receive remote commands and obtain accurate positions, as well as precisely control the propulsion components and water quality detection components, and reliably collect and transmit water quality data. Ultimately, this achieves automated and precise operation of the device, significantly reducing the need for manual intervention. At the same time, it can adapt to the communication and positioning requirements of different water scenarios, thereby improving the practicality and operational stability of the device.

[0049] In one implementation, the propulsion component may include at least one vector thruster (preferably two).

[0050] The stern of the hull-shaped floating structure has pre-set openings (preferably two), the shape of which matches the upper half of the vector thruster shell;

[0051] The interior of the hull-shaped floating structure is reinforced with fiberglass around the opening to form a mounting flange with an O-ring sealing groove;

[0052] The top of the vector thruster extends into a mounting arm, which is fixed to the mounting flange from the inside of the hull-shaped floating structure outward by polyoxymethylene plastic bolts. Each vector thruster can have two independent control dimensions (i.e., rotational speed and direction). The control module sends PWM signals and direction commands to the power drive submodule to control the thrust magnitude and thrust direction of the thruster, respectively.

[0053] In this implementation, the configuration of two vector thrusters, coupled with independent speed and direction control, allows the control module to precisely adjust the thrust magnitude and direction via PWM signals and direction commands. Compared to a single thruster, this makes it easier to achieve stable straight-line travel, flexible steering, and stepless speed regulation, adapting to complex movement needs in ponds such as avoiding aquatic plants and adjusting monitoring paths. The stern opening matches the shape of the thruster shell, and the superimposed fiberglass reinforced mounting flange and O-ring sealing groove provide a stable mounting foundation for the thruster, resisting the vibration and impact generated during operation. The O-rings also provide a reliable seal, preventing pond water from seeping into the hull along the installation gap and damaging core components. Polyoxymethylene (POM) plastic bolts fix the mounting arms from the inside out. The material not only has good water resistance and corrosion resistance, making it suitable for long-term use in the humid environment of aquaculture, but also prevents the bolts from being exposed to water flow or collisions and loosening, thus ensuring the stability of the thruster installation.

[0054] In one implementation, the thrust direction of the vector thruster can be controlled by a servo motor, which can drive the nozzle or motor body of the vector thruster to rotate 0-360° in the horizontal plane.

[0055] The thrust of the vector thruster can be continuously variable by adjusting the PWM duty cycle of the motor;

[0056] In this implementation, the thrust direction can be adjusted 0-360° omnidirectionally by driving the vector thruster with a servo motor. This breaks the limitation of traditional thrusters that can only turn in one direction or at a limited angle. In aquaculture waters such as ponds, whether it is to flexibly avoid obstacles such as aquatic plants and floats, to accurately adjust the attitude to dock at the target monitoring point, or to achieve complex movements such as turning on the spot and making lateral fine adjustments, the servo motor can respond quickly and control the thrust direction precisely. This greatly improves the maneuverability of the device in complex aquatic environments. The PWM duty cycle continuously variable transmission can smoothly adjust the thrust according to actual needs. For example, the thrust can be increased to improve movement efficiency when cruising over long distances, and the thrust can be reduced to slowly and accurately position the target point when approaching it. This helps to avoid the impact of sudden speed changes on the stability of the sensor caused by the hull swaying. At the same time, the thrust can be finely adjusted to balance the interference of water flow and wind on the hull, thereby ensuring the stability of the navigation path.

[0057] In one implementation, the water quality testing component may include: a folding telescopic rod and two electric joints. The telescopic rod consists of two sections. The two electric joints are respectively located at the root of the folding telescopic rod near the hull and at the connection of the two rods.

[0058] The hull-shaped floating structure has a dedicated groove for the water quality detection component. When the water quality detection component is in the retracted state, the telescopic rod is folded back (i.e., the first section folds towards the front of the hull through the root, and the second section folds backward) and folded flat into the dedicated groove via the electric joint. When the water quality detection component is in the deployed state, the folding telescopic rod is deployed to the vertically downward position and locked via the electric joint (the joint is driven first, and the two sections of the telescopic rod are deployed to the vertically downward position and locked. In this implementation, the probe can be lowered to 1.5m underwater). When not in use, it can be folded and stored in the groove at the bottom of the hull to prevent collision damage. The water quality sensor is connected to the control module via a digital interface to transmit the detection data (i.e., water quality parameters) to the control module.

[0059] For example, the water quality sensor may include one or more of the following: pH sensor, conductivity sensor, dissolved oxygen sensor, temperature sensor, redox potential sensor, and ammonia nitrogen sensor;

[0060] In this implementation, when not in detection mode, the telescopic rod folds flat and is inserted into a dedicated groove via an electric joint. This effectively prevents damage to the sensor when the device moves, stops, or encounters water flow or floating debris. It also reduces the risk of corrosion from long-term exposure to the aquatic environment, thus extending the service life of the core detection components. During detection, the electric joint drives the telescopic rod to precisely extend to a vertically downward position and lock it in place, allowing the sensor to stably descend to a depth of 1.5m. This depth avoids interference from surface debris and bottom silt, ensuring that the collected water quality parameters (such as dissolved oxygen and pH value) are more consistent with the actual conditions of the aquatic environment, thereby improving the accuracy of the detection data.

[0061] In one implementation, the power supply module may include: a storage battery and a power management submodule;

[0062] The battery is electrically connected to the power management submodule; the battery has functions such as lithium battery charging management, multiple voltage outputs, load control, and protection, and specifically outputs its nominal voltage to the power management submodule.

[0063] The power management submodule is electrically connected to the control module, the propulsion component, and the water quality detection component. Internally, the power management submodule includes a DC-DC step-down voltage regulator circuit to convert the nominal voltage output from the battery into stable DC power. This DC power continuously supplies power to the central processing unit's low-voltage unit via ordinary wires or printed circuit boards. It also provides a device power bus (with a voltage similar to the battery voltage). Each output of the device power bus is connected in series with a MOSFET switch circuit controlled by the control module to control the power supply to the propulsion component and the water quality detection component. When a device needs to be started (e.g., extending a probe), the control module sends a "high-level" signal to the corresponding relay, closing the switch and supplying power to the device's motor. After the action is completed, the signal becomes "low-level," cutting off the power supply. The vector thruster is powered by the high-power output of the power management submodule and connected to an independent power drive submodule. The power drive submodule receives PWM speed control and direction signals from the control module and drives the vector thruster accordingly, achieving stepless speed regulation and forward / reverse control. In addition, to prevent floating debris such as aquatic plants and duckweed from tangling in the pond, stainless steel protective nets with different apertures (e.g., 5mm) can be installed at the inlet of the vector thruster to prevent aquatic plants from tangling around the thruster impeller. The end of the folding telescopic rod of the water quality detection component can be equipped with an elastic rubber anti-collision head. When it touches the rocks on the bottom of the pond (or the support of the aquaculture net cage) during the unfolding process, the torque sensor of the electric joint (integrated into the control module) detects that the resistance exceeds the set threshold (e.g., 5N·m), immediately stops the action, and sends an obstruction signal to the control module. The control module drives the propulsion component to fine-tune the position of the hull (e.g., move laterally by 0.5m) and then tries to unfold the telescopic rod again.

[0064] In one implementation, the underwater detection device may further include: a solar power supply component, which is fixed to the upper surface of the hull-shaped floating structure and electrically connected to the battery of the power supply module;

[0065] The solar power supply assembly includes multiple solar panels (e.g., two panels) to power the control module, motor, and detection devices. The solar panels are fixed to the upper surface of the hull-shaped floating structure using polyoxymethylene (POM) bolts. A photovoltaic-specific DC cable extends from the positive and negative output terminals of the solar panels. The cable ends with an anti-reverse insertion MC4 connector and enters the watertight compartment through a pre-installed waterproof gland on the hull-shaped floating structure, where it connects to the battery. If the solar power supply assembly cannot effectively charge due to continuous cloudy or rainy weather (e.g., light intensity < 20000 lux), and the battery level drops below a set level (e.g., 20%), the control module automatically triggers an emergency return command, prioritizing the return of the hull to its initial deployment position. An SMS reminder is sent to the user via the app, urging timely charging due to low battery levels. The battery is removable and can be charged using the included charger.

[0066] In summary, the hull-shaped water quality monitoring device proposed in this embodiment uses a hull-shaped floating structure as its basic carrier. A flat-bottom design and watertight compartments ensure stable buoyancy and waterproof protection for the core modules (power supply module and control module). The power supply module provides stable power to the control module, propulsion assembly, and water quality monitoring assembly, and can also be supplemented with solar power. The propulsion assembly, installed at the stern, drives the device to move autonomously under the signal control of the control module. The water quality monitoring assembly utilizes a foldable and retractable structure to achieve underwater sensor data collection and storage protection during non-detection periods. The control module receives remote commands, acquires location information, and coordinates the propulsion assembly to cruise to the target location, then triggers the water quality monitoring assembly to collect parameters and receive feedback data. Through the coordinated operation of its components, the entire device achieves autonomous, efficient, and accurate water quality monitoring in different water environments, effectively solving the problems of limited detection range and high reliance on manual labor in traditional fixed systems. It also possesses good environmental adaptability and operational stability.

[0067] Example 2:

[0068] A specific embodiment of the ship-shaped water quality testing device provided by this utility model is illustrated below. The top view of the device is shown in the figure. Figure 2 As shown, it includes: hull 1 and solar panels 2, specifically, a cross-sectional view as follows. Figure 3As shown, the system includes: handle 3, underwater thruster 4, waterproof baffle 5, solar panel fixing bolts 6, first folding detection rod 7, second folding detection rod 8, folding rod fixing 9, telescopic rod 10, and folding rod fixing 11. When data measurement is required, the mobile APP is launched, loads and displays a preset electronic map of the pond (which can be generated by importing images, online maps, or simple drawing). Its GPS / BeiDou positioning submodule obtains its own latitude and longitude coordinates in real time and sends them to the mobile APP through the wireless communication submodule. The APP displays the current position icon of the hull on the map in real time. Users can operate on the map interface of the mobile APP, set target point settings: directly click or long press on the map to set a target location marker, and send commands: click the "Sailing to target point" button. The mobile app sends the target point coordinates to the ship's wireless communication submodule via a 4G / 5G network. The ship's wireless communication submodule receives the remote command and transmits the data to the control module via a UART serial port. The control module continuously obtains its current position from the GPS / BeiDou module and calculates the distance and azimuth between its current position and the target point coordinates. Using a navigation control algorithm (e.g., A* algorithm or Kalman filter algorithm), the main controller generates control commands (PWM signals and angles) for the two vector thrusters, which are then transmitted to the power drive submodule and the integrated steering servo, driving the ship to automatically navigate along a straight line or smooth curve towards the target point. Upon receiving a measurement command, the control module outputs a control signal to the MOSFET switching circuit of the probe telescopic rod, driving the joint servo of the folding mechanism to rotate the telescopic rod from its retracted state to its vertical working state. After the probe stabilizes, the measurement data (i.e., water quality parameters) from the water quality sensor is read through the digital communication interface. After completing the reading, the control module outputs a control signal to the MOSFET switching circuit of the probe telescopic rod, controlling the electric push rod to retract. A schematic diagram of the telescopic rod in its retracted state is shown below. Figure 4 As shown. The control module encapsulates sensor data, positioning information, and system status into a data packet, which is sent to the cloud server via the mobile internet. The mobile client obtains or receives the data packet from the cloud server, parses and visualizes it, and displays the final measurement result in text or pop-up window format.

[0069] Taking a 5-acre rectangular pond as an example for water quality testing, the specific operating steps are as follows:

[0070] (1) Device deployment: Place the device in the shallow water area on the shore of the pond, open the watertight door on the side of the boat-shaped floating structure, check the battery power of the power supply module (judged by the power indicator light on the control module, green light indicates power ≥80%), close the main power switch and then close the door.

[0071] (2) Remote command transmission: The user opens the matching APP on the mobile phone, uploads the pond satellite map through the "Import Map" function (or manually draws the pond boundary), clicks to set 3 target monitoring points on the map (located in the northeast corner, center and southwest corner of the pond respectively), selects the "Zone Cruise" mode, and clicks "Start Task". The APP sends the target point coordinates (latitude and longitude accuracy ±0.5m) and cruise path (the small pond adopts the "Z" shaped path, and the distance between adjacent paths is 10m) to the control module through the 4G network;

[0072] (3) Autonomous cruise and positioning: The GPS positioning submodule of the control module (positioning accuracy ±1m) obtains the current position of the hull in real time, calculates the sailing direction (azimuth) and distance from the current point to the first target point through the Dijkstra path planning algorithm, and sends a PWM control signal to the propulsion component to drive the two vector thrusters to rotate forward at 800rpm, driving the hull to sail in a straight line towards the target point at a speed of 0.8m / s; During the sailing process, the control module compares the deviation between the current position and the planned path every 2 seconds. If the deviation exceeds 0.5m, the sailing direction is corrected by adjusting the speed of the left thruster to 700rpm and keeping the right thruster at 800rpm.

[0073] (4) Water quality detection trigger: When the hull reaches the first target point (position deviation ≤ 0.3m), the control module automatically determines "reaching the target position", sends a "stop" signal to the propulsion component, and sends a "high level" signal to the MOSFET switching circuit of the water quality detection component; the electric joint drives the folding telescopic rod to first rotate out of the special groove (the root joint rotates 90°), and then unfolds the two telescopic rods to the vertical downward position (the rod joint rotates 90°) and locks them. At this time, the water quality sensor is probed to 1.2m underwater (the average water depth of the pond is 1.5m, avoiding interference from floating objects on the water surface and silt at the bottom of the pond);

[0074] (5) Data acquisition and feedback: After the water quality sensor (pH sensor, dissolved oxygen sensor, or temperature sensor can be selected) stabilizes for 3 seconds, it transmits data to the control module via RS485 digital interface (pH accuracy ±0.01, dissolved oxygen accuracy ±0.1mg / L, temperature accuracy ±0.1℃); the control module encapsulates the data and current location information (latitude and longitude, target point number) into a data packet and sends it to the cloud server via the NB-IoT module; the APP obtains data from the cloud in real time and displays it in the form of "value + curve" (such as the dissolved oxygen curve is updated in real time with data of the last 5 minutes). If the dissolved oxygen value is detected to be <3mg / L (the lower limit of suitable dissolved oxygen for fish), the APP will immediately pop up a red pop-up window to remind "the dissolved oxygen in the current area is low, it is recommended to turn on the aerator";

[0075] (6) Detection and storage: After the detection of a single target point is completed (takes about 10 seconds), the control module sends a "low level" signal to the water quality detection component. The electric joint drives the telescopic rod to unlock first and then fold (the rod joint rotates 90° in the opposite direction and the root joint rotates 90° in the opposite direction), and finally lies flat and is put into the special groove. Then the control module drives the propulsion component to move to the second target point and repeats the above detection process. After all target points are detected, it automatically returns to the initial deployment position and waits for the next task instruction.

[0076] In this embodiment, water quality testing of a 5-acre rectangular pond is used as a practical application scenario, fully demonstrating the entire process of the boat-shaped detection device of this utility model from deployment to completion of the monitoring task: The device is based on a hull and solar panels, and is equipped with core components such as an underwater propulsion unit, folding detection rods (first folding detection rod, second folding detection rod), and telescopic rods. Through a closed-loop operation of "remote command transmission - autonomous cruise positioning - water quality detection triggering - data acquisition feedback - component storage and return," it achieves precise and automated monitoring of the water area. In practical applications, the control module relies on the GPS / BeiDou positioning submodule and existing navigation algorithms such as Dijkstra to ensure that the hull accurately reaches the three target monitoring points along a zigzag path; the water quality detection component, through the unfolding and retraction of the folding telescopic rod, can ensure the accuracy of water quality parameter (pH, dissolved oxygen, temperature) acquisition and avoid damage to the sensors when not in a detection state; at the same time, through the linkage of 4G / NB-IoT network with cloud server and mobile APP, real-time data visualization and abnormal warnings (such as pop-up reminders for dissolved oxygen <3mg / L) are achieved. The entire process requires no on-site manual operation, effectively solving the problems of limited range, high reliance on manual labor, and low efficiency in traditional water quality testing. It fully demonstrates the practicality, stability, and efficiency of this utility model in actual aquaculture scenarios, and provides a feasible solution for long-term water quality monitoring in aquaculture waters of different scales.

[0077] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model application and not to limit its protection scope. Although the utility model application has been described in detail with reference to the above embodiments, those skilled in the art should understand that after reading this utility model application, they can still make various changes, modifications or equivalent substitutions to the specific implementation of the application. However, these changes, modifications or equivalent substitutions are all within the protection scope of the claims pending approval.

Claims

1. A ship-shaped water quality testing device, characterized in that, include: The ship-shaped floating structure, power supply module, control module, propulsion components, and water quality detection components; The hull-shaped floating structure is a flat-bottomed structure with a watertight compartment inside, which is used to house the power supply module and the control module. The power supply module is electrically connected to the control module, the propulsion component, and the water quality detection component, respectively, and is used to provide working power to the control module, the propulsion component, and the water quality detection component; The propulsion assembly is installed at the stern of the hull-shaped floating structure and is used to drive the hull-shaped floating structure to move according to the received control signal; The water quality detection component is equipped with at least one water quality sensor, and the water quality detection component can be switched to an extended state or a retracted state. In the extended state, the water quality sensor is inserted underwater, and water quality parameters are collected based on the received water quality detection signal. The control module is communicatively connected to the propulsion component and the water quality detection component, respectively, and is used to send control signals to the propulsion component according to the received remote command and the current position information of the hull-shaped floating structure; it is also used to send water quality detection signals to the water quality detection component when the hull-shaped floating structure moves to the target position, and to receive water quality parameters transmitted by the water quality detection component.

2. The apparatus as claimed in claim 1, characterized in that, The hull-shaped floating structure is made of ABS plastic through blow molding, and the interior of the hull-shaped floating structure is divided into a bow compartment, a watertight compartment, and a stern compartment by a waterproof partition.

3. The apparatus as described in claim 1, characterized in that, The control module includes a microprocessor, a wireless communication submodule, a positioning submodule, a general-purpose input / output port, an analog-to-digital converter, a PWM generator, and a general-purpose asynchronous transceiver; the wireless communication submodule is used to receive remote commands, and the positioning submodule is used to obtain the current position information of the hull-shaped floating structure.

4. The apparatus as described in claim 3, characterized in that, The wireless communication submodule is one or more of LoRa, 5G, NB-IoT or WiFi; The positioning submodule is a GPS positioning module or a Beidou positioning module; The control module outputs control signals through the general-purpose input / output port, converts the analog voltage signal output by the water quality sensor into a digital signal through the analog-to-digital converter, generates PWM signals to control the propulsion component through the PWM generator, and performs serial data communication with the wireless communication submodule and the positioning submodule through the general-purpose asynchronous transceiver.

5. The apparatus as claimed in claim 1, characterized in that, The propulsion assembly includes at least one vector thruster; The stern of the hull-shaped floating structure has a pre-set opening, the shape of which matches the upper half of the vector thruster shell; The interior of the hull-shaped floating structure is reinforced with fiberglass around the opening to form a mounting flange with an O-ring sealing groove; The top of the vector thruster extends into a mounting arm, which is fixed to the mounting flange from the inside of the hull-shaped floating structure outwards using polyoxymethylene plastic bolts.

6. The apparatus as claimed in claim 5, characterized in that, The thrust direction of the vector thruster is controlled by a servo motor, which can drive the nozzle or motor body of the vector thruster to rotate 0-360° in the horizontal plane. The thrust of the vector thruster is continuously variable by adjusting the PWM duty cycle of the motor.

7. The apparatus as claimed in claim 1, characterized in that, The water quality testing component includes: a folding telescopic rod and two electric joints, the two electric joints being respectively located at the root of the folding telescopic rod near the hull-shaped floating structure and at the connection point of the folding telescopic rod; The hull-shaped floating structure has a dedicated groove for the water quality testing component; when the water quality testing component is in the stored state, the telescopic rod is folded back and folded by the electric joint, lying flat into the dedicated groove; when the water quality testing component is in the unfolded state, the electric joint drives the folding telescopic rod to unfold to the vertically downward position and lock it.

8. The apparatus as claimed in claim 1 or 7, characterized in that, The water quality sensor includes one or more of the following: pH sensor, conductivity sensor, dissolved oxygen sensor, temperature sensor, redox potential sensor, and ammonia nitrogen sensor.

9. The apparatus as claimed in claim 1, characterized in that, The power supply module includes: a storage battery and a power management submodule; The battery is electrically connected to the power management submodule; The power management submodule is electrically connected to the control module, the propulsion component, and the water quality detection component, respectively. The power management submodule is equipped with a DC-DC step-down voltage regulator circuit to convert the voltage output by the battery into a stable DC power. It is also used to power the low-voltage unit of the control module and to provide a device power bus. Each output of the device power bus is connected in series with a MOSFET switching circuit controlled by the control module to control the power supply to the propulsion component and the water quality detection component.

10. The apparatus as claimed in claim 1, characterized in that, Also includes: A solar power supply component is fixed to the upper surface of the hull-shaped floating structure and electrically connected to the battery of the power supply module. The solar power supply assembly includes multiple solar panels, which are fixed to the upper surface of the hull-shaped floating structure by polyoxymethylene plastic bolts. A photovoltaic-specific DC cable is led out from the positive and negative output terminals of the solar panels. The cable is equipped with an anti-reverse insertion MC4 connector at its end, and the cable enters the watertight compartment through a pre-set waterproof gland on the hull-shaped floating structure, where it is electrically connected to the battery.

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