CN105371896A - Cruising water quality multi-parameter remote monitoring system and method capable of self-learning locus navigation - Google Patents

Abstract

The invention discloses a self-learning trajectory navigation cruising type water quality multi-parameter remote monitoring system and method, belonging to the technical field of aquaculture. Including: the hull, the measuring device located on the hull, the execution device and the server; use the GPS positioning module to accurately measure the position information of the hull, record the movement track of the hull and measure the target points through the server, and realize that the hull can be learned after the manual remote control demonstration route on site The route will be automatically navigated according to this route, automatically parked at the target point for measurement, and remotely wirelessly transmit water quality parameters such as water temperature, dissolved oxygen value, pH value (PH value), water level, etc. The operating position and water quality parameter data of the measuring ship can be monitored in real time through the mobile client, control commands can be sent to control the actions of control nodes near the measuring ship, and the trajectory of the measuring ship can also be corrected. The water quality remote monitoring system has the advantages of low cost, high mobility and wide measurement range.

Description

A self-learning trajectory navigation cruising type water quality multi-parameter remote monitoring system and method

technical field

The invention belongs to GPS positioning technology and wireless sensor network technology, in particular to a system for cruising dynamic measurement of water quality at water intakes for aquaculture, river management and urban water supply and remote monitoring through mobile phones.

Background technique

my country is a big aquaculture country. Over the years, the scale of aquaculture has continued to expand, and the natural carrying capacity of the aquaculture water body has become increasingly saturated. The traditional extensive aquaculture model that relies on scale expansion to increase production is no longer suitable for the sustainable development of aquaculture. In recent years, with the adjustment of the agricultural structure, the farming model is gradually changing to an intensive factory farming model represented by high-density farming and circulation farming. Water quality monitoring is an important link in aquaculture. Keeping the dissolved oxygen, PH value and temperature in the water within a certain suitable range for fish plays a decisive role in the growth of fish. Modern farming models have stricter requirements for water quality monitoring.

In my country, water quality monitoring is carried out manually for a relatively long period of time. Professionals judge the water quality based on experience or manually take samples to the laboratory for analysis. The error is large and the cycle is long. With the development of sensor technology, portable multi-parameter water quality measuring instruments provide farmers with more accurate and convenient monitoring methods, but they are still highly dependent on people and cannot be measured online 24/7. Water quality automatic on-line monitoring instruments and systems have only been developed and applied in the past ten years. The main problems are: 1) Most of the water quality monitoring sensor nodes use wired wiring, which is difficult to wire, high in cost and small in distribution range; 2) The sensor nodes are fixed For measurement, if the number of points is too small, the measurement range will be limited, and if the number of measurement points is increased, the cost will be too high; 3) The commonly used on-site monitoring and remote monitoring use computers as the operating objects, and the area is limited and the portability is not high.

GPS technology is more and more widely used in transportation. It provides technical support in many aspects such as modern traffic intelligent management, vehicle dispatching and command, guidance and navigation of vehicles and ships, and dynamic monitoring of vehicle operating performance. In the field of agriculture, GPS is mainly used in combination with GIS to monitor crop yield, soil composition and property distribution, and guide aircraft to properly fertilize, sow and spray pesticides.

At present, there are some patents related to wireless remote monitoring of water quality. For example, the invention patent with the publication number of CN103024007A "Remote water environment monitor and monitoring method based on Zigbee and GPRS", which is fixedly distributed in different areas through multiple Zigbee slave nodes The water quality parameters of the entire water area are collected, and the collected data from the slave node is sent to the master node through the Zigbee network. After the data is encapsulated by the ARM processor, it is sent to the remote host computer through the GPRS module. This method uses multiple acquisition nodes, requires multiple sets of acquisition sensor equipment, and is costly.

Contents of the invention

In order to solve the problems of few distribution points and high cost of the current fixed water quality monitoring system, the present invention proposes a cruising type aquaculture water quality remote monitoring system. Through this system, remote monitoring of large-scale aquaculture waters can be carried out, and the start and stop of aerators can be controlled in different regions.

Operate the manual remote control survey ship for the first time to make the survey ship learn the moving path, and then switch to automatic navigation. The water quality of multiple target points in the water area is measured by the cruising of the measuring ship, and the measured data is uploaded to the server using the GPRS module. The server controls the pre-arranged executive device near the measuring point to generate a corresponding response according to the comparison between the measured data and the set value. Actions to achieve the purpose of regulating water quality; at the same time, the system can also send data to the Android client of the mobile device through the server, so that the user can perform manual control. Realize the technical scheme of the present invention as follows:

A self-learning trajectory navigation cruising multi-parameter remote monitoring system for water quality, including: a measuring ship, a server, and an executing device;

The measuring ship includes a hull and a measuring device arranged on the hull, the measuring device measures water quality parameters and the position information of the hull on the one hand, and the measuring device interacts with the server on the other hand;

The server controls the movement of the hull and the water quality adjustment according to the information uploaded by the measuring device;

The actuating device interacts with the measuring device, the actuating device being used to regulate water quality.

A preferred technical solution, the measuring device includes: a control module, an information collection module, a power output module, and a power supply module; the information collection module and the power output module are all connected to the control module, and the power supply module is a control module , information collection module, power output module power supply.

In a preferred technical solution, the information collection module includes a water quality monitoring module, a GPS positioning module and an electronic compass, and the water quality monitoring module, the GPS positioning module and the electronic compass are all connected to the control module;

In a preferred technical solution, the power output module includes: a drive circuit, a left motor, a right motor, and a transmission; the drive circuit is connected to the control module, the left motor, the right motor, and the transmission; the transmission is DC.

In the preferred technical solution, the control module includes a GPRS module and a CC2530 module; the GPRS module is connected to the CC2530 module; the power module includes two sets of lithium batteries.

In a preferred technical solution, the water quality monitoring module includes: a pH sensor, a fluorescence dissolved oxygen sensor, and a water level sensor.

In the preferred technical solution, the execution device includes a control node and an actuator, and the actuator includes a water pump, a drainage pump, a waterwheel type aerator and an impeller type aerator; the control node is composed of a CC2530 control chip, an intermediate relay and contactors.

The preferred technical solution further includes a remote controller, which is used to control the first track of the survey ship and set the target point.

The preferred technical solution also includes thin-film solar energy arranged on the top of the hull.

The preferred technical solution further includes a mobile device client interacting with the server.

Based on the above monitoring system, the present invention proposes a multi-parameter remote monitoring method for water quality, comprising the following steps:

Step 1, arrange the actuator in a suitable position in the water;

Step 2. Manually control the remote control to make the survey ship drive around the water area, determine several monitoring target points during the driving process, and record the position information of the target points and upload them to the server;

Step 3, the server controls the direction of the survey ship according to the current position information of the survey ship, including calculating the straight-line distance and direction angle between the current position and the target point, and then compares the direction angle with the magnetic north direction angle to obtain the steering angle of the hull, so that the measurement The ship sails close to the i-th target; where, i=1,2,3...N, N is the number of target points set;

Step 4, execute step 3 again after a delay of 10 seconds;

Step 5, repeat step 4 until the survey ship automatically reaches the i-th target point;

Step 6, stop driving, and perform water quality monitoring, the monitoring includes shallow water area monitoring and deep water area monitoring;

Step 7, upload the water quality parameters monitored in step 6 to the server, and the server performs water quality control according to the comparison between the water quality parameters and the preset values;

Step 8: Repeat steps 3 to 7 to complete the water quality monitoring of the remaining target points in turn; cut off the power and charge the battery for the next round of monitoring.

Compared with prior art, the beneficial effect of the present invention:

(1) To overcome the shortcomings of fixed distribution of traditional detection terminals, high cost, and limited measurement range, it can move and measure the water quality of different water layers at multiple points in the water area.

(2) The survey ship has GPS positioning function, which supplements the location information of the measurement point, which helps to monitor and analyze the water quality changes in different locations in the area, refines the control, and can select the nearest actuator according to the location.

(3) The survey ship has a learning function, and can automatically navigate to each target point after the first setting.

(4) The work of different aerators can be controlled in different regions according to different situations.

(5) The water quality can be remotely monitored anywhere through the mobile phone.

Description of drawings

Fig. 1 is a schematic diagram of a measuring device of the present invention;

Fig. 2 is a system structure diagram of the present invention;

Fig. 3 is a program flow chart of the present invention;

Fig. 4 is a survey ship self-learning navigation track figure of the present invention;

Fig. 5 is the mobile phone client interface of the present invention.

Figure 6 is a schematic diagram of the drive circuit.

detailed description

The invention proposes a self-learning trajectory navigation cruising type water quality multi-parameter remote monitoring system, which includes a measuring ship, a server and an executing device. The measuring ship is composed of a hull and a measuring device located on the hull. The hull is used to carry the equipment of the entire measuring device and provide a platform for water mobile measurement; the measuring device measures water quality parameters and the position information of the hull on the one hand, and interact with the server. The server controls the movement of the hull and the water quality adjustment according to the information uploaded by the measuring device. The execution device interacts with the measurement device to adjust the water quality; the execution device includes a control node and an actuator, and the actuator includes a water pump, a drainage pump, a waterwheel type aerator and an impeller type aerator, and the control node is located at In the control cabinet, it is used to control the corresponding actions of the actuator. The control node is composed of CC2530 control chip connected to the relay and contactor. When the survey ship moves near the control node, the control node responds to the control command sent by the survey ship, and opens or closes the corresponding actuator.

The present invention will be further described below in combination with the accompanying drawings and specific embodiments.

As shown in Figure 1 and Figure 2, the measurement device located on the measurement ship mainly includes a control module, an information collection module, a power output module, and a power supply module.

The control module is composed of a GPRS module and a CC2530 module. The GPRS module is mainly used for remote data transmission and remote control. On the one hand, the CC2530 module interacts with the server through the GPRS module, and on the other hand, communicates with the remote controller and the execution device through its own ZigBee module. The control nodes interact and perform on-site control.

The information collection module includes a water quality monitoring module, a GPS positioning module and an electronic compass. The water quality monitoring module is composed of a sensor group, specifically including: pH sensor, fluorescence method dissolved oxygen sensor, water level sensor, pH sensor is used to obtain the pH value of water quality, fluorescence method The dissolved oxygen sensor is used to obtain the dissolved oxygen and water temperature of the water quality; the GPS positioning module is used to obtain the longitude and latitude information of the hull; the electronic compass is used to obtain the magnetic north direction angle of the hull.

The power output module is composed of the left motor, the right motor, the drive circuit and the transmission device. The control of the left motor, the right motor and the transmission device is realized through the drive circuit. The adjustment is to control the vertical movement of the sensor group by controlling the transmission device, and the transmission device adopts a DC motor.

The power module is composed of two sets of lithium batteries, which can not only reduce the overall weight but also enhance the battery life of the survey ship. In addition, a layer of thin-film solar energy is attached to the top of the ship, combined with a solar controller to charge the lithium battery.

As further shown in Figure 2, the remote controller is connected to the CC2530 module through the ZigBee network, and the CC2530 module is connected to the power output module; in this way, it can be realized that the left motor and the right motor of the power output module can be controlled by operating the remote controller, and then the hull can be driven Direction control; on the other hand, the CC2530 module interacts with the CC2530 node in the control node to realize the control of the actuator. The fluorescent dissolved oxygen sensor is connected to the GPRS module through the RS485 bus, and the detected water quality dissolved oxygen and water temperature information are sent to the server through the GPRS module. The GPS positioning module is connected with the GPRS module through the RS485 bus, and sends the position information (including latitude and longitude and magnetic north direction angle) of the hull to the server through the GPRS module. The pH sensor is connected to the pH transmitter, and the pH transmitter is connected to the GPRS module through the RS485 bus, and the pH value of the detected water quality is sent to the server through the GPRS module. The power supply module supplies power to each module of the measuring device. In addition, the mobile device client can also be set up to connect to the server as required. Data exchange between the GPRS module and the server, and between the server and the client is carried out through the TCP/IP protocol.

As shown in Figure 3, the method of utilizing the monitoring system of the present invention to monitor and adjust water quality is as follows:

Step 1, arrange the actuator in a suitable position in the water;

Step 2. Manually control the remote control to make the survey ship drive around the water area, determine several monitoring target points during the driving process, and record the position information of the target points and upload them to the server;

Step 3. The server controls the direction of the survey ship according to the current position information of the survey ship, so that the survey ship sails in the direction close to the i-th target point. The specific implementation is as follows:

The GPS positioning module receives recommended minimum positioning information (RMC) and ground speed information (VTG). Among them, RMC is used to obtain latitude and longitude, and VTG is used to obtain speed and direction. Because the area of the pond is limited, the spherical surface can be approximated as a plane. When the target point is determined, it is necessary to calculate the straight-line distance and direction angle based on the current point (current position) and the target point, and then compare it with the current magnetic north direction angle of the bow. Find the steering angle.

The formula for calculating the distance between two points is:

$\mathrm{<span\; class="notranslate">\; S</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; \&times;</span>\mathrm{<span\; class="notranslate">\; arcsin</span>}<span\; class="notranslate">\; (</span>\sqrt{{\mathrm{<span\; class="notranslate">\; sin</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}\frac{\mathrm{<span\; class="notranslate">\; a</span>}}{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; L</span>}\mathrm{<span\; class="notranslate">\; A</span>}\mathrm{<span\; class="notranslate">\; T</span>}\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; \&times;</span>\mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; L</span>}\mathrm{<span\; class="notranslate">\; A</span>}\mathrm{<span\; class="notranslate">\; T</span>}\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; \&times;</span>{\mathrm{<span\; class="notranslate">\; sin</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}\frac{\mathrm{<span\; class="notranslate">\; b</span>}}{\mathrm{<span\; class="notranslate">\; 2</span>}}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; \&times;</span>\mathrm{<span\; class="notranslate">\; r</span>}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>$

The formula for calculating the direction angle is:

$\mathrm{<span\; class="notranslate">\; \&alpha;</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; arctan</span>}<span\; class="notranslate">\; (</span>\frac{\mathrm{<span\; class="notranslate">\; Y</span>}}{\mathrm{<span\; class="notranslate">\; x</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; )</span>$

in,

$\left\{\begin{array}{c}\mathrm{<span\; class="notranslate">\; x</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; \&times;</span>\mathrm{<span\; class="notranslate">\; arcsin</span>}<span\; class="notranslate">\; (</span>\sqrt{\mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; L</span>}\mathrm{<span\; class="notranslate">\; A</span>}\mathrm{<span\; class="notranslate">\; T</span>}\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; \&times;</span>\mathrm{<span\; class="notranslate">\; cos</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; L</span>}\mathrm{<span\; class="notranslate">\; A</span>}\mathrm{<span\; class="notranslate">\; T</span>}\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; \&times;</span>{\mathrm{<span\; class="notranslate">\; sin</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}\frac{\mathrm{<span\; class="notranslate">\; b</span>}}{\mathrm{<span\; class="notranslate">\; 2</span>}}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; \&times;</span>\mathrm{<span\; class="notranslate">\; r</span>}\\ \mathrm{<span\; class="notranslate">\; Y</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; \&times;</span>\mathrm{<span\; class="notranslate">\; arcsin</span>}<span\; class="notranslate">\; (</span>\sqrt{{\mathrm{<span\; class="notranslate">\; sin</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}\frac{\mathrm{<span\; class="notranslate">\; a</span>}}{\mathrm{<span\; class="notranslate">\; 2</span>}}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; \&times;</span>\mathrm{<span\; class="notranslate">\; r</span>}\end{array}\right.<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 3</span>}<span\; class="notranslate">\; )</span>$

In the above formulas (1) to (3), a is the latitude difference between the current point and the target point, b is the longitude difference between the current point and the target point, LAT1 is the latitude of the current point, LAT2 is the latitude of the target point, and X and Y are respectively is the projection of the straight-line distance between two points on the latitude and longitude.

Calculate the straight-line path to the i-th target point, control the CC2530 module, and then control the left motor and the right motor of the power output module to adjust the driving direction of the survey ship, so that the survey ship automatically drives to the i-th target point; , i=1,2,3...N, N is the number of target points set;

Step 4, execute step 3 again after a delay of 10 seconds;

Step 5, repeat step 4 until the survey ship automatically reaches the i-th target point;

Step 6, stop driving, carry out water quality monitoring, concrete implementation is as follows:

Control the transmission device to lower the sensor group to a relatively shallow depth underwater, such as 30cm underwater, and start collecting water quality parameters after waiting for one minute; after half a minute, lower the sensor group to a relatively deep underwater depth, such as 1.2 meters underwater, wait for one minute Collect water quality parameters after 10 minutes, and take back the sensor group after the measurement is completed;

Step 7, upload the water quality parameters monitored in step 6 to the server, and the server performs water quality control according to the water quality parameters; the specific implementation is as follows:

The server compares the received water quality parameters with the preset values, and sends control commands to the CC2530 module. The CC2530 module interacts with the CC2530 node in the control node, and then the CC2530 node controls the nearby actuators to generate actions.

For example: when the upper water temperature is too high, the water pump and drainage pump are used to supply water to the pool to control the upper water temperature; when the pH value is high, the water pump and drainage pump are used to change water; when the dissolved oxygen content is too low When the waterwheel type aerator is used, the convection of the upper and lower layers is enhanced to increase the dissolved oxygen in the lower layer, and the impeller type aerator is used to increase oxygen in a large area of the water area.

Step 8, repeat steps 3 to 7, and measure the remaining target points in turn.

After a round of measurement is completed, the power is cut off and the battery is charged using thin-film solar energy. Check the battery voltage, if it can meet the requirements before the next round of measurement, it will run normally, if it is not fully charged, then postpone the test for half an hour until the voltage requirements are met. In general, the endurance of the battery is enough to ensure that the hull cruises for a circle. If there is no power in the middle, the solar controller will automatically cut off the load to charge the battery, and connect the load after it is fully charged.

As shown in Figure 4, for an embodiment of survey ship learning trajectory navigation route, N=12 monitoring target points are set altogether, and the distance between each target point is about 50 meters, after the server records the longitude and latitude information of each target point , plan the navigation path in sequence to automatically navigate and correct the direction of the survey ship.

As shown in Figure 5, it is the operation interface of a mobile phone client embodiment of the client of the present invention. The turn and right turn buttons control the direction of the ship's movement. Generally, medium and high speeds are selected for forward and reverse, and low speeds are selected for left and right turns. Through the mobile client, the user can interact with the server anytime and anywhere to monitor the water quality, control the movement track of the survey ship, and force the actuators near the survey ship to be turned on or off, and the actuators can be controlled by the start and stop buttons on the interface. switch.

As shown in Figure 6, for the schematic diagram of the power output drive circuit of the measurement ship, the L298N double H-bridge DC motor drive chip is selected to drive the motor. Among them, IN1 and IN2 are left motor drive signal inputs, IN3 and IN4 are right motor drive signal inputs, ENA and ENB are input signal enable terminals, OUT1 and OUT2 are left motor drive output signals, OUT3 and OUT4 are right motor drive output signals , VSS is connected to +5V to power the driver board, and VS is connected to 12V as the driving voltage of the motor. One end of IN1, IN2, IN3, IN4, ENA, ENB is respectively connected to P0.4, P0.5, P0.6, P0.7, P1.0, P1.1 of CC2530, IN1, IN2, IN3, IN4, ENA , and the other end of ENB are respectively connected to IN1, IN2, IN3, IN4, ENA, and ENB of L298N; the drive output signals OUT1, OUT2, OUT3, and OUT4 of the left and right motors are respectively connected to the output ports OUT1, OUT2, and OUT3 of L298N. , OUT4, and determine the direction of the left motor by controlling P0.4 and P0.5. If P0.4 is high level and P0.5 is low level, the left motor will rotate forward, and P0.4 is low level. If P0.5 is high level, the left motor will reverse. Output the analog PWM signal through P1.0 to adjust the speed of the left motor, and the control process of the right motor is consistent with the control process of the aforementioned left motor.

The above is only used to describe the technical solutions and specific embodiments of the present invention, and is not used to limit the protection scope of the present invention. It should be understood that any modification, improvement or equivalent Substitutions and the like will fall within the protection scope of the present invention.

Claims (10)

1. A self-learning trajectory navigation cruising type water quality multi-parameter remote monitoring system, characterized in that it includes: a survey ship, a server and an execution device; The measuring ship includes a hull and a measuring device arranged on the hull, the measuring device measures water quality parameters and the position information of the hull on the one hand, and the measuring device interacts with the server on the other hand; The server controls the movement of the hull and controls and adjusts the water quality according to the information uploaded by the measuring device; The actuating device interacts with the measuring device, the actuating device being used to regulate water quality. 2. A kind of self-learning trajectory navigation cruising type water quality multi-parameter remote monitoring system according to claim 1, is characterized in that, described measurement device comprises: control module, information acquisition module, power output module and power supply module; Both the information collection module and the power output module are connected to the control module, and the power supply module supplies power to the control module, the information collection module and the power output module. 3. A kind of self-learning track navigation cruising type water quality multi-parameter remote monitoring system according to claim 2, it is characterized in that, described information acquisition module comprises water quality monitoring module, GPS positioning module and electronic compass, and described water quality monitoring module , the GPS positioning module and the electronic compass are both connected to the control module. 4. A kind of self-learning trajectory navigation cruising type water quality multi-parameter remote monitoring system according to claim 2, is characterized in that, described power output module comprises: drive circuit, left motor, right motor, transmission device; The circuit is respectively connected with the control module, the left motor, the right motor and the transmission device; the transmission device is a DC motor. 5. A kind of self-learning trajectory navigation cruising type water quality multi-parameter remote monitoring system according to claim 2, is characterized in that, described control module comprises GPRS module and CC2530 module; Described GPRS module is connected with CC2530 module; The power module includes two sets of lithium batteries; the water quality monitoring module includes: a pH sensor, a fluorescence dissolved oxygen sensor, and a water level sensor. 6. A kind of self-learning trajectory navigation cruising type water quality multi-parameter remote monitoring system according to claim 1, it is characterized in that, described executing device comprises control node and actuator, and described actuator comprises suction pump, drainage pump, Waterwheel type aerator and impeller type aerator; the control node is composed of CC2530 control chip, intermediate relay and contactor. 7. A self-learning trajectory navigation cruising multi-parameter remote monitoring system for water quality according to claim 1, further comprising a remote controller for controlling the first trajectory of the survey ship and setting target points. 8. A self-learning trajectory navigation cruising type water quality multi-parameter remote monitoring system according to claim 1, characterized in that it also includes thin-film solar energy arranged on the top of the hull. 9. A self-learning trajectory navigation cruising type water quality multi-parameter remote monitoring system according to claim 1, further comprising a mobile device client interacting with the server. 10. A water quality multi-parameter remote monitoring method, is characterized in that, comprises the steps: Step 1, arrange the actuator in a suitable position in the water; Step 2. Manually control the remote control to make the survey ship drive around the water area, determine several monitoring target points during the driving process, and record the position information of the target points and upload them to the server; Step 3, the server controls the direction of the survey ship according to the current position information of the survey ship, including calculating the straight-line distance and direction angle between the current position and the target point, and then compares the direction angle with the magnetic north direction angle to obtain the steering angle of the hull, so that the measurement The ship sails close to the i-th target; where, i=1,2,3...N, N is the number of target points set; Step 4, execute step 3 again after a delay of 10 seconds; Step 5, repeat step 4 until the survey ship automatically reaches the i-th target point; Step 6, stop driving, and perform water quality monitoring, the monitoring includes shallow water area monitoring and deep water area monitoring; Step 7, upload the water quality parameters monitored in step 6 to the server, and the server performs water quality control according to the comparison between the water quality parameters and the preset values; Step 8: Repeat steps 3 to 7 to complete the water quality monitoring of the remaining target points in turn; cut off the power and charge the battery for the next round of monitoring.