CN107979823A - A kind of body recombinant type multi-functional water body environment measurement boat system - Google Patents
A kind of body recombinant type multi-functional water body environment measurement boat system Download PDFInfo
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- CN107979823A CN107979823A CN201711163710.6A CN201711163710A CN107979823A CN 107979823 A CN107979823 A CN 107979823A CN 201711163710 A CN201711163710 A CN 201711163710A CN 107979823 A CN107979823 A CN 107979823A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W40/00—Communication routing or communication path finding
- H04W40/02—Communication route or path selection, e.g. power-based or shortest path routing
- H04W40/22—Communication route or path selection, e.g. power-based or shortest path routing using selective relaying for reaching a BTS [Base Transceiver Station] or an access point
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/18—Water
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
- H04L67/125—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks involving control of end-device applications over a network
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
Abstract
A kind of body recombinant type multi-functional water body environment measurement boat system, measured by the Lentic environment that surveying vessel is formed to distributed Internet of things system progress lake ocean, designed using master and slave type, it can be relayed each other according to the change of communication environment in communication process between each sub- ship, and collect information to lash ship, while lash ship also sends to sub- ship and instructs；When meeting with different watershed features, each hull is combined, surveying vessel is adapted to different water environments；The further computational methods that also proposed the farthest line navigation distance that boat system is measured under the conditions of given charge volume.The present invention provides a kind of measurement boat system of flexible design, can meet that the requirement of different water environments carries out body restructuring in the measurements, lay flexible, energy conservation and environmental protection.
Description
Technical field
The invention belongs to internet of things field, is related to the water body detection of unmanned surveying vessel, is that a kind of body recombinant type is more
Function water body environment measurement boat system.
Background technology
Water body environment monitoring is of great significance for improving water body environment, solving water quality type water shortage, therefore is domestic and international
Government and industry concern.In recent years, with the popularization of the development of the technologies such as Internet of Things, artificial intelligence, and robot, water body
The informationization of environmental monitoring, intelligence and unmanned become its inevitable development trend.Bang shore, text of recording propose one kind by force
The designing scheme of water body environment monitoring system based on technology of Internet of things, the system utilize wireless sensor node and channel radio
Letter technology, realizes the real time information samplings such as water level, flow, alarm and water pollution condition monitoring dual-use function[1].Li Guang
Military, Wei Xiao proposes by force a kind of multi-functional deep water environment protection ship, is mainly used for offshore spilled oil recycling, has concurrently to fritter floating refuse
Recycling function[2].Jin Yinglian, Wang Binrui, Yan Tian are grand to propose a kind of designing scheme of autonomous lake water environmental monitoring ship, utilizes
Three layers of Hierarchical Controller and synovial membrane structure changes rotating speed control algolithm, preferably exclude the mutation disturbance of water velocity, transport hull
Autocontrol system is steady, so as to fulfill the full self monitor of water body environment[3].The unmanned water environment of the propositions such as Lin Qunfu
Intellectual monitoring ship, using solar energy as power source, by alignment system and wireless telecommunication system, can replace people to complete remote
Or the round-the-clock water environment monitoring under adverse circumstances[4].As it can be seen that due to lay flexibly, cost economy, can be in human footmarks
It is rare to or obvious technical advantage, the market such as human footmarks difficulty working region automatic measurement extremely measure unmanned boat for water body environment
Demand it is increasing, while it is also proposed the requirement of higher to its function and performance.
To the communication technology of unmanned boat location technology, hull and control terminal, sensor technology etc. in presently relevant document
Study it is more mature, but the problem of how adapting to different water environments for hull pay close attention to it is less.Unmanned boat is carrying out work waterborne
During industry, various water environments can be inevitably met with：Such as hydrostatic, slight sea, middle wave, billow will be in case of variable weather conditions
Deng in water body.And existing unmanned boat in order to lay flexibly, energy conservation and environmental protection, Ship Structure is often relatively simple, and hull will not be too
Weight.Under the premise of herein, if surveying vessel runs into high sea during the work time, how this resists, and prevents hull from overturning；If nobody
Ship in hydrostatic operation, should provide can quick sailing in ideal circumstances designing scheme.On the other hand, it is considered as to ship
Body structure carries out flexible design, it is normally carried out measurement work when meeting with narrow waters.
The content of the invention
The problem to be solved in the present invention is：The unmanned surveying vessel for monitoring water body environment in the prior art can not be real in monitoring
When tackle different water body environments, it is impossible to meet use demand.
The technical scheme is that：A kind of body recombinant type multi-functional water body environment measurement boat system, including a mother
Ship and some sub- ships, each ship are unmanned surveying vessel, and wireless communication module, GPS positioning module, control are equipped with each ship
Molding block and microprocessor module, wireless communication module, GPS positioning module, control module connection microprocessor module are micro-
Processor module is also connected with Water-Body Information acquisition module, wherein, wireless communication module is used for the information exchange between hull, female
Ship also connects background control center by wireless communication module, and GPS positioning module is positioned for hull, and control module is used to control
The operation of unmanned surveying vessel is made, Water-Body Information acquisition module is used to gather water body environment information, and microprocessor module is used to receive
The information of foregoing each module, and send the corresponding operation control instruction to foregoing each module；Lash ship and sub- ship are in microprocessor
The control down conversion position of module, is combined as different queue forms.
The sub- ship of lash ship has different volumes, when needing to enter narrow waters measurement or during dredging, lash ship send instruction by
The suitably sub- ship of volume enters measurement, and by wireless communication module interactive information between sub- ship and lash ship, sub- ship is gathered
Data message, which is sent to lash ship, to collect, and in the case of narrow waters are longer, instructs more sub- ships to enter, by they using by
The mode of one relaying, lash ship is transmitted to by the information of farthest.
Preferably, the Object combination of measurement boat system is under different water area conditions：When system is in strong wind
During unrestrained environment, lash ship sends the wind data information detected to background control center, and background control center judges that wind-force surpasses
Pre-determined threshold is crossed, then sends instruction to measurement boat system, each ship is arranged according to the target location of systemic presupposition, using lash ship in
The heart entirely measures boat system and lines up to form " ten " font structure, and storm resisting prevents from overturning；When system is in calm water,
Background control center sends instruction by wireless communication module to measurement boat system, and each ship is according to the target location of systemic presupposition
Arrangement, lines up to line up line-styled structure, so as to the quick sailing in hydrostatic by leading whole measurement boat system of lash ship.
Further, according to lash ship and the charge volume of sub- ship, farthest distance to go is calculated, for controlling measurement boat system
Operation, is specially：
If hull charge volume is E, its farthest distance to go is s0Calculating it is as follows：Hull electricity is used to communicate and navigate by water,
According to Shannon's theorems, hull meets following relation when being in a certain position：
In formula, channel width W is known parameters；PtFor signal transmission power；S is signal transmission distance, and transmitting and
The space length of receiving terminal, α are space attenuation index, and η is noise power spectral density, and η=kT, wherein k are normal for Boltzmann
Number, T is absolute constant；C is channel capacity, by the calculation formula of shannon limitObtain；
Derive that signal transmission power is by formula (1)：
OrderFormula (2) is converted into：
Pt=β sα (3)
If the farthest distance to go of hull is s0, then it is used for the energy consumption E to communicate1For：
On the other hand, if hull driving force is F, then it is round-trip needed for ENERGY E2For：
E2=2Fs0 (5)
The gross energy as needed for hull navigation is released in formula (4) and (5) is：
It further can obtain s0Accounting equation：
For stationary channel, space attenuation index α=2, have：
OrderThen formula (8) can be rewritten as：
s0 3+ps0+ q=0 (9)
According to karr pellet promise formula, Real Number Roots therein are only taken, it is as follows that the farthest distance to go of hull is calculated：
In formula,
The form of solution of equation is related with discriminate Δ, since the reachable maximum distance of hull is arithmetic number, given
Under conditions of system charge E, system drive power F, s0Value should be the positive real root of above-mentioned equation.
Further, each hull is equipped with power plant module, and the work for other modules provides electric energy；Lash ship power plant module
Electric energy be more than sub- ship, provide charging for sub- ship, charging modes include the charging base that the automatic positioning of sub- ship is connected to lash ship offer
Seat charges, and wireless charging.
The present invention provides a kind of body recombinant type multi-functional water body environment measurement boat system, and measurement boat system can lead to first
The Lentic environment measurement that the distributed Internet of Things of composition quickly carries out lake ocean is crossed, since system employs master and slave type design, respectively
It can each other be relayed according to the change of communication environment in communication process between sub- ship, and information collected to lash ship；It is female at the same time
Ship can also send to sub- ship and instruct, when meeting with different watershed features, by instruction of the background control center to lash ship, with
Lash ship lines up each hull according to pre-set queue form for basic point, to adapt to different water body environments.In addition,
With regard to the operation of unmanned surveying vessel, system is measured present invention also offers distance to go computational methods, and in the multiple hull of the present invention
Under structure of uniting, the system structure of lighter aboard ship can realize lash ship large volume, the design of sub- ship small size, it is possible to achieve by lash ship
Large copacity power supply is carried, the scheme of charging is provided for sub- ship, due to the flexible body restructuring navigation mould of present invention measurement boat system
Formula, this mode can't influence aquatic monitoring, especially tackle the aquatic monitoring of complicated water channel, present system it is flexible
Property and duration performance all will have more significant advantage than existing unmanned surveying vessel.
Brief description of the drawings
Fig. 1 is the water body environment measurement unmanned boat block diagram of system of the embodiment of the present invention.
Fig. 2 is the cordless communication network schematic diagram of the embodiment of the present invention.
Fig. 3 is the master and slave type structure application schematic diagram of the embodiment of the present invention.
Fig. 4 be the embodiment of the present invention hydrostatic or smooth sea under the conditions of line-styled combining structure schematic diagram.
Fig. 5 be the embodiment of the present invention slight sea under the conditions of line-styled combining structure schematic diagram.
Fig. 6 be the embodiment of the present invention it is middle wave under the conditions of " ten " font combining structure schematic diagram.
Embodiment
The present invention provides a kind of body recombinant type multi-functional water body environment measurement boat system, including a lash ship and some
Sub- ship, each ship are unmanned surveying vessel, be equipped with each ship wireless communication module, GPS positioning module, control module,
And microprocessor module, wireless communication module, GPS positioning module, control module connection microprocessor module, microprocessor
Module is also connected with Water-Body Information acquisition module, wherein, wireless communication module is used for the information exchange between hull, and lash ship is also logical
Wireless communication module connection background control center is crossed, GPS positioning module is positioned for hull, and control module is used to control nobody
The operation of surveying vessel, Water-Body Information acquisition module are used to gather water body environment information, and microprocessor module is used to receive foregoing each
The information of module, and send the corresponding operation control instruction to foregoing each module；Lash ship and sub- ship are in microprocessor module
Down conversion position is controlled, is combined as different queue forms.
In the present invention, sub- ship is navigated by water according to the instruction of lash ship, and lash ship is navigated by water according to the instruction of background control center, for being
The cruising ability of system, present invention provides computational methods, according to lash ship and the charge volume of sub- ship, calculate farthest distance to go,
For controlling the operation of measurement boat system, it is specially：
If hull charge volume is E, its farthest distance to go is s0Calculating it is as follows：Hull electricity is used to communicate and navigate by water,
According to Shannon's theorems, hull meets following relation when being in a certain position：
In formula, channel width W is known parameters；PtFor signal transmission power；S is signal transmission distance, and transmitting and
The space length of receiving terminal, α are space attenuation index, and η is noise power spectral density, and η=kT, wherein k are normal for Boltzmann
Number, T is absolute constant；C is channel capacity, by the calculation formula of shannon limitObtain；
Derive that signal transmission power is by formula (1)：
OrderFormula (2) is converted into：
Pt=β sα (3)
If the farthest distance to go of hull is s0, then it is used for the energy consumption E to communicate1For：
On the other hand, if hull driving force is F, then it is round-trip needed for ENERGY E2For：
E2=2Fs0 (5)
The gross energy as needed for hull navigation is released in formula (4) and (5) is：
It further can obtain s0Accounting equation：
For stationary channel, space attenuation index α=2, have：
OrderThen formula (8) can be rewritten as：
s0 3+ps0+ q=0 (9)
According to karr pellet promise formula, Real Number Roots therein are only taken, it is as follows that the farthest distance to go of hull is calculated：
In formula,
The form of solution of equation is related with discriminate Δ, since the reachable maximum distance of hull is arithmetic number, given
Under conditions of system charge E, system drive power F, s0Value should be the positive real root of above-mentioned equation.
Each hull of present system is equipped with power plant module, and the work for other modules on hull provides electric energy；It is female
The volume of ship can design larger, and sub- ship is smaller, and suitable electrical source of power is carried according to volume, lash ship power plant module
Electric energy is more than sub- ship, provides charging for sub- ship, charging modes include the recharging base that the automatic positioning of sub- ship is connected to lash ship offer
Charge, and wireless charging.
The specific dynamic structure of unmanned surveying vessel and navigation control are the prior art, are no longer described in detail.According to Water-Body Information
The method that the data processing of acquisition module obtains Water-Body Information falls within existing water body e measurement technology, is no longer described in detail.Lead to below
Cross the implementation that embodiment further illustrates the present invention.
As shown in Figure 1, the embodiment of the present invention, which proposes a kind of water body environment, measures unmanned boat system.System by lash ship,
Sub- ship is composed.Wherein, lash ship quantity is 1, and sub- ship quantity is even number, is determined with specific reference to actual demand.Each hull by
Power plant module, Water-Body Information acquisition module, wireless communication module, GPS positioning module, control module and microprocessor module MCU
Composition.Wherein, power plant module is connected with remaining each module, and electric energy is provided for its work.Water-Body Information acquisition module includes printing opacity
The sensors such as rate, intensity of illumination, pH value and signal processing circuit, measure required water body physico-chemical parameter.Wireless communication
Module is based on ZigBee technology and carries out ad hoc network, realizes the information exchange of sub- ship and lash ship；Lash ship is then with background control center
Communicated based on 433M wireless modules, be responsible for the information collected being sent to control centre, and receive the finger of control centre
Order.GPS positioning module is used for the self poisoning of hull, and is sent this information to by wireless communication module in Background control
The heart, realizes the automatic collection of gridding, meets the measurement demand that becomes more meticulous.
Fig. 2 show cordless communication network schematic diagram in measurement boat system.In figure, formed with 1 lash ship and 2 sub- ships
Exemplified by system.The wireless communication module of lash ship includes ZigBee module and 433MHz wireless modules, and the wireless communication of sub- ship is based on
ZigBee module carries out.Wherein, the distance between sub- ship and lash ship are relatively near, therefore use the wireless self-networking based on ZigBee
Network carries out information exchange；It can also each other be relayed based on ZigBee-network between sub- ship, expand the communication range of network.Lash ship
As ZigBee-network PAN coordinator nodes, it is necessary to by the information collected be sent to background control center and receive come from
The instruction of control centre, system and background control center is distant during due to actual job, using the nothing of 433MHz
Wire module realizes telecommunication.
Fig. 3 show master and slave type structure application schematic diagram.The advantage of master and slave type structure is：If desired make in narrow waters
Industry, when lash ship cannot be introduced into, can be measured into narrow space by sub- ship or dredging works.The spirit of whole measuring system
Activity and scope of application bigger.In addition, when group ship power is insufficient, it can be charged by lash ship for it, realize broader waters
Operation.
Since surveying vessel needs just to become one item important performance indexes in different waters operations, stability.Common ship
Its stability is generally improved by the design to hull self structure, but its structure is fixed, and is often adapted to certain a kind of waters ring
Border.For surveying vessel, its working environment differs greatly, and has both been possible to meet with high sea water environment, also can be in easy water
Domain operation.Therefore the requirement of higher is proposed to the flexibility for measuring boat system.The present invention proposes the body group of measurement boat system
Conjunction scheme, so that system is suitable for different water area conditions.
Fig. 4 and Fig. 5 show the system in combination structure under the smaller situation of stormy waves.Wherein, Fig. 4 is " one " under hydrostatic condition
Font combining structure.When system is in quiet underwater work, this line-styled structure makes the resistance suffered by system decline to a great extent,
Meets the needs of high speed operation.Fig. 5 is the line-styled combining structure under the conditions of slight sea, in the case of slightly stormy waves, control
Center then each ship shift position in prompt system, forms the line-styled shown in Fig. 5, and sub- marine railway is listed in lash ship two sides behind,
Both contribute to system overall stability, and also be adapted for middling speed navigation.
Fig. 6 show system in combination structure when meeting with stormy waves.Fig. 6 show " ten " font combination knot under the conditions of middle wave
Structure.When system runs into stormy waves, lash ship sends the wind-force information monitored to background control center, and control centre is to data
For further processing, if judging, wind-force exceedes systemic presupposition thresholding, is sent by cordless communication network to measurement boat system
Instruction, each ship is according to system suggestion and self poisoning system is moved to target location, forms " ten " font group as shown in Figure 6
Close structure.Have in the structure aspect than lash ship can effectively reduce the water resistance of water, both sides it is sub peculiar to vessel in raising system
Stability.System optimizes the deviation post in length and breadth of the sub- ship in both sides according to stormy waves rank, and system lowsteaming, can both make sub- ship
Reduce resistance using wave-making interaction favourable between hull, and effectively increase whole system stability." ten " under rough sea conditions
Font combining structure, at this time, whole system stop navigation, and the formed 90 degree of angles of sub- ship of lash ship both sides, become lash ship two
The wing, is stabilized system.
The combination of said structure body is the program set in advance in hull microprocessor module MCU, all structures
Permutation and combination is carried out by basic point of lash ship, according to the location information of each hull, target location is arrived in navigation to sub- ship automatically, here
Control program for existing unmanned boat control technology realize, be no longer described in detail.
Boat system Object combination implementing procedure is measured, specific implementation step is as follows：
Step 1：When water body environment changes, lash ship reads the data that stormy waves sensor is gathered, and is sent to
Handled in microprocessor module.
Step 2：Microprocessor by read data compared with threshold value set in advance, wherein η1、η2、η3Respectively
The stormy waves lower limit series of corresponding slight sea, middle wave and billow.If stormy waves series is less than η1, then judgement is hydrostatic condition；If stormy waves level
Number is more than η1Less than η2, then judgement is slight sea condition；If stormy waves series is more than η2Less than η3, then judgement is middle unrestrained condition；If wind
Unrestrained series is more than η3, then judgement is rough sea conditions.
Step 3：If judgement is hydrostatic, continue to navigate by water；If not hydrostatic condition, then by wireless communication module to each son
Ship sends still command, and performs step 4.
Step 4：Lash ship reads each sub- ship position information, and is sent to microprocessor and makees to handle in next step.
Step 5：Based on stormy waves rank, according to the combining structure under the conditions of each stormy waves and sub- ship current location information, meter
The replacement position of each sub- ship is calculated, and according to each ship line navigation speed, plans sub- ship navigation route.
Step 6：Lash ship will reset position, headway and navigation route planning information using wireless communication module and send
To sub- ship.
Claims (5)
1. a kind of body recombinant type multi-functional water body environment measurement boat system, it is characterized in that including a lash ship and some sub- ships,
Each ship is unmanned surveying vessel, and wireless communication module, GPS positioning module, control module and micro- place are equipped with each ship
Device module, wireless communication module, GPS positioning module, control module connection microprocessor module are managed, microprocessor module is also connected with
Water-Body Information acquisition module, wherein, wireless communication module is used for the information exchange between hull, and lash ship also passes through radio communication mold
Block connects background control center, and GPS positioning module is positioned for hull, and control module is used for the operation for controlling unmanned surveying vessel,
Water-Body Information acquisition module is used to gather water body environment information, and microprocessor module is used for the information for receiving foregoing each module, and
Send the corresponding operation control instruction to foregoing each module；Lash ship and sub- ship are in the control down conversion position of microprocessor module
Put, be combined as different queue forms.
A kind of 2. body recombinant type multi-functional water body environment measurement boat system according to claim 1, it is characterized in that lash ship
Sub- ship has different volumes, and when needing to enter narrow waters measurement or dredging, it is suitably sub by volume that lash ship sends instruction
Ship enters measurement, and by wireless communication module interactive information between sub- ship and lash ship, the data message that sub- ship is gathered is sent
Collect to lash ship, in the case of narrow waters are longer, instruct more sub- ships to enter, by them by the way of relaying one by one,
The information of farthest is transmitted to lash ship.
A kind of 3. body recombinant type multi-functional water body environment measurement boat system according to claim 1, it is characterized in that different
The Object combination of measurement boat system is under water area condition：When system is in high sea environment, wind-force number that lash ship will be detected
It is believed that breath is sent to background control center, background control center judges that wind-force exceedes pre-determined threshold, then is sent to measurement boat system
Instruction, each ship are arranged according to the target location of systemic presupposition, and entirely measurement boat system lines up to form " ten " word centered on lash ship
Type structure, storm resisting prevent from overturning；When system is in calm water, background control center is by wireless communication module to survey
Measure boat system and send instruction, each ship is arranged according to the target location of systemic presupposition, using lash ship as leading whole measurement boat system row
Team lines up line-styled structure, so as to the quick sailing in hydrostatic.
4. a kind of body recombinant type multi-functional water body environment measurement boat system according to claim 1, it is characterized in that according to
The charge volume of lash ship and sub- ship, calculates farthest distance to go, for controlling the operation of measurement boat system, is specially：
If hull charge volume is E, its farthest distance to go is s0Calculating it is as follows：Hull electricity is used to communicate and navigate by water,
According to Shannon's theorems, hull meets following relation when being in a certain position：
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In formula, channel width W is known parameters；PtFor signal transmission power；S is signal transmission distance, and transmitting and receiving terminal
Space length, α is space attenuation index, and η is noise power spectral density, and η=kT, wherein k are Boltzmann constant, and T is exhausted
To constant；C is channel capacity, by the calculation formula of shannon limitObtain；
Derive that signal transmission power is by formula (1)：
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OrderFormula (2) is converted into：
Pt=β sα (3)
If the farthest distance to go of hull is s0, then it is used for the energy consumption E to communicate1For：
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<mi>E</mi>
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On the other hand, if hull driving force is F, then it is round-trip needed for ENERGY E2For：
E2=2Fs0(5)
The gross energy as needed for hull navigation is released in formula (4) and (5) is：
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<mn>0</mn>
<msub>
<mi>s</mi>
<mn>0</mn>
</msub>
</msubsup>
<mrow>
<msub>
<mi>P</mi>
<mi>t</mi>
</msub>
<mi>d</mi>
<mi>s</mi>
</mrow>
<mo>+</mo>
<mn>2</mn>
<msub>
<mi>Fs</mi>
<mn>0</mn>
</msub>
<mo>=</mo>
<mn>2</mn>
<mi>&beta;</mi>
<mfrac>
<mrow>
<msup>
<msub>
<mi>s</mi>
<mn>0</mn>
</msub>
<mrow>
<mi>&alpha;</mi>
<mo>+</mo>
<mn>1</mn>
</mrow>
</msup>
</mrow>
<mrow>
<mi>&alpha;</mi>
<mo>+</mo>
<mn>1</mn>
</mrow>
</mfrac>
<mo>+</mo>
<mn>2</mn>
<msub>
<mi>Fs</mi>
<mn>0</mn>
</msub>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>6</mn>
<mo>)</mo>
</mrow>
</mrow>
It further can obtain s0Accounting equation：
<mrow>
<msup>
<msub>
<mi>s</mi>
<mn>0</mn>
</msub>
<mrow>
<mi>&alpha;</mi>
<mo>+</mo>
<mn>1</mn>
</mrow>
</msup>
<mo>+</mo>
<mfrac>
<mrow>
<mo>(</mo>
<mi>&alpha;</mi>
<mo>+</mo>
<mn>1</mn>
<mo>)</mo>
<mi>F</mi>
</mrow>
<mi>&beta;</mi>
</mfrac>
<msub>
<mi>s</mi>
<mn>0</mn>
</msub>
<mo>-</mo>
<mfrac>
<mrow>
<mo>(</mo>
<mi>&alpha;</mi>
<mo>+</mo>
<mn>1</mn>
<mo>)</mo>
<mi>E</mi>
</mrow>
<mrow>
<mn>2</mn>
<mi>&beta;</mi>
</mrow>
</mfrac>
<mo>=</mo>
<mn>0</mn>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>7</mn>
<mo>)</mo>
</mrow>
</mrow>
For stationary channel, space attenuation index α=2, have：
<mrow>
<msup>
<msub>
<mi>s</mi>
<mn>0</mn>
</msub>
<mn>3</mn>
</msup>
<mo>+</mo>
<mfrac>
<mrow>
<mn>3</mn>
<mi>F</mi>
</mrow>
<mi>&beta;</mi>
</mfrac>
<msub>
<mi>s</mi>
<mn>0</mn>
</msub>
<mo>-</mo>
<mfrac>
<mrow>
<mn>3</mn>
<mi>E</mi>
</mrow>
<mrow>
<mn>2</mn>
<mi>&beta;</mi>
</mrow>
</mfrac>
<mo>=</mo>
<mn>0</mn>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>8</mn>
<mo>)</mo>
</mrow>
</mrow>
OrderThen formula (8) can be rewritten as：
s0 3+ps0+ q=0 (9)
According to karr pellet promise formula, Real Number Roots therein are only taken, it is as follows that the farthest distance to go of hull is calculated：
<mrow>
<msub>
<mi>s</mi>
<mn>0</mn>
</msub>
<mo>=</mo>
<mroot>
<mrow>
<mo>-</mo>
<mfrac>
<mi>q</mi>
<mn>2</mn>
</mfrac>
<mo>+</mo>
<msqrt>
<mi>&Delta;</mi>
</msqrt>
</mrow>
<mn>3</mn>
</mroot>
<mo>+</mo>
<mroot>
<mrow>
<mo>-</mo>
<mfrac>
<mi>q</mi>
<mn>2</mn>
</mfrac>
<mo>-</mo>
<msqrt>
<mi>&Delta;</mi>
</msqrt>
</mrow>
<mn>3</mn>
</mroot>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>10</mn>
<mo>)</mo>
</mrow>
</mrow>
In formula,
The form of solution of equation is related with discriminate Δ, since the reachable maximum distance of hull is arithmetic number, in given system
Under conditions of electricity E, system drive power F, s0Value should be the positive real root of above-mentioned equation.
A kind of 5. body recombinant type multi-functional water body environment measurement boat system according to claim 1, it is characterized in that each
Hull is equipped with power plant module, and the work for other modules provides electric energy；The electric energy of lash ship power plant module is more than sub- ship, is carried for sub- ship
For charging, the recharging base that charging modes are connected to lash ship offer including the automatic positioning of sub- ship charges, and wireless charging.
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