CN212871209U

CN212871209U - Aquatic ecology investigation system based on unmanned ship

Info

Publication number: CN212871209U
Application number: CN202021501949.7U
Authority: CN
Inventors: 李涛; 王坎; 文威
Original assignee: Central Southern Safety & Environment Technology Institute Co ltd
Current assignee: Central Southern Safety & Environment Technology Institute Co ltd
Priority date: 2020-07-27
Filing date: 2020-07-27
Publication date: 2021-04-02
Anticipated expiration: 2030-07-27

Abstract

The utility model discloses an aquatic ecology investigation system based on unmanned ship, which comprises a ship-mounted controller and a shore-based control platform, wherein the ship-mounted controller is respectively connected with a positioning device, an environment sensing device, a ship-mounted data processing device, a power supply device and a propelling device; the shipborne controller comprises a CAN interface, a serial port, an I2C interface and a LAN interface, the shipborne controller is connected with the propelling equipment and the shipborne data processing equipment through the CAN interface, is connected with the positioning equipment through the serial port, is connected with the environment sensing equipment through the I2C interface, is connected with the shore-based communication equipment through the LAN interface, and is connected with the shore-based control platform; the shipborne data processing equipment is connected with a water quality monitoring instrument, a hydrological monitoring instrument, a terrain and aquatic animal and plant monitoring instrument. The utility model discloses can realize all-weather incessant data acquisition to the data volume that makes aquatic ecology investigation is bigger, the accuracy is better, efficiency is higher.

Description

Aquatic ecology investigation system based on unmanned ship

Technical Field

The utility model relates to an aquatic ecology investigation field especially relates to water quality monitoring, underwater topography survey and aquatic animal and plant population measurement etc. specifically are an aquatic ecology investigation system based on unmanned ship.

Background

The existing aquatic ecology investigation comprises the investigation of water quality, water temperature, hydrology, aquatic animal and plant communities and the like, and mainly has the following problems: (1) the potential safety hazard exists in manual ship taking sampling or manual bank operation; (2) the sampling efficiency is low, the operation time is long, and generally, one hour or two hours or longer time is needed for manually obtaining the data of one monitoring point location; (3) effective sampling data are few, and the integral analysis of a large water area cannot be achieved, the existing data analysis only can be performed by point and strip surfaces, and the data comparison is one-sided and is not accurate enough; (4) the manual sampling is influenced by the external environment, and manual work cannot be carried out under bad weather conditions such as night, rain, snow, wind and wave and the like; (5) the manual sampling precision is low, and certain position deviation exists when data of different time periods of the same point are manually collected; (6) different data sampled by a person at the same point need to be acquired in different modes, and multiple persons and multiple departments need to coordinate, so that the required equipment and auxiliary tools are various due to different working modes, and the data as much as possible cannot be acquired at one time; (7) the existing method is to adopt means such as fishing, large-scale professional equipment and professional operators are needed, quick response cannot be realized in many areas, the operation difficulty is high, and certain ecological destructiveness is realized; (8) the manual sampling procedure is complicated, the operation difficulty is high, and professional technicians are needed.

Through search, some relevant documents have been found to solve one or more problems existing in the existing aquatic ecological environment survey, such as: china with publication number CN209410285U specially beneficial to 2019, 9, 20 discloses a water quality monitoring and water treatment integrated unmanned ship, which comprises an aluminum alloy unmanned ship carrier, a shipborne micro-nano water treatment device, a water treatment agent feeding device, an energy module, a propeller propulsion mechanism, a water quality on-line monitoring sensor module, a hydrological on-line monitoring sensor module, a video monitoring device module, an STM32 singlechip main control module, a GPS/Beidou NEO-7 navigation positioning module and a wireless data transmission module, wherein the main control module is connected with the navigation module, the water quality on-line monitoring sensor module, the hydrological on-line monitoring sensor module, a data transmission module, a shore remote upper computer and a remote controller, and is also connected with the shipborne micro-nano water treatment device and the water treatment agent feeding device, so that not only can the water quality parameters and the hydrological parameters be monitored in real time on-line, but also the water body can be repaired in situ by carrying the micro-, the intelligent navigation system has the functions of autonomous navigation and intelligent obstacle avoidance, and can be remotely controlled or remotely controlled through an upper computer platform.

China with publication number CN207617933U specially facilitates 2018, 7 and 17 discloses an unmanned ship for river water quality monitoring, which comprises a ship body, a main control chip arranged on the ship body, a power supply and power system, an autonomous cruising device, a video acquisition device, a water quality information acquisition device and a wireless communication system. The unmanned ship of the utility model takes STM32F103VET6 as a core, adopts an internal bus to manage a power supply and a power system in a unified way, and adopts an autonomous cruise system, a video acquisition system and a water quality information acquisition system, which integrate the functions of online water quality monitoring, water body sampling, water area environment video evidence obtaining and the like into a whole, thereby greatly improving the automation level of the river water environment pollution monitoring; unmanned ship sexual valence relative altitude, portable easily operates, can realize more convenient, efficient water sampling function, improves river course waters environmental monitoring efficiency.

It is obvious that the degree of difficulty is obtained to current working method data, and required multiple data need multiple means operation to be accomplished many times, and personnel's operation of wading into water has the potential safety hazard, and the wide work load of monitoring range is big, and the zoology community data is along with the change in time and place, and the artifical data accuracy of acquireing is not high, and the sample process needs to use large-scale mechanical equipment with high costs scheduling problem, still needs the problem of solution in the aquatic ecological environment investigation urgently.

Disclosure of Invention

For overcoming the not enough of above-mentioned prior art, the utility model provides an aquatic ecological investigation system based on unmanned ship can realize all-weather incessant data acquisition to the data volume that makes aquatic ecological investigation is bigger, the accuracy is better, efficiency is higher.

The utility model discloses a realize through following technical scheme:

an unmanned ship-based aquatic ecology investigation system comprises a ship-mounted controller and a shore-based control platform, wherein the ship-mounted controller is respectively connected with a positioning device, an environment sensing device, a ship-mounted data processing device, a power supply device and a propelling device; the shipborne controller comprises a CAN interface, a serial port, an I2C interface and a LAN interface, the shipborne controller is connected with the propelling equipment and the shipborne data processing equipment through the CAN interface, is connected with the positioning equipment through the serial port, is connected with the environment sensing equipment through the I2C interface, is connected with the shore-based communication equipment through the LAN interface, and is connected with the shore-based control platform; the shipborne data processing equipment is connected with a water quality monitoring instrument, a hydrological monitoring instrument, a terrain and aquatic animal and plant monitoring instrument.

In the technical scheme, the unmanned ship carries a water quality, hydrology, terrain and aquatic animal and plant monitoring instrument to monitor the water quality, hydrology, terrain and aquatic animal and plant data of the water area where the unmanned ship runs; the unmanned ship realizes data transmission between an onboard controller and a shore-based control platform based on a point-to-point protocol, receives and executes a control command sent by the shore-based control platform, simultaneously transmits monitoring data of the unmanned ship to the shore-based control platform, receives, stores, analyzes and calculates the data through the shore-based control platform, realizes remote control of the unmanned ship, and performs wireless data transmission and processing. According to the technical scheme, the system obtains positioning information of the unmanned ship through the positioning device, obtains environment information of the unmanned ship through the environment sensing device, supplies power for other devices of the unmanned ship through the power supply device, enables the unmanned ship to run through the propelling device, processes monitoring data through the shipborne data processing device, and transmits the monitoring data to the shore-based control platform through the shipborne controller.

As a further technical scheme, the unmanned ship comprises a deck, a control cabin and a ship bottom, wherein a positioning device and an environment sensing device are arranged on the deck; a ship-mounted controller, a ship-mounted data processing device, a power supply device, a water quality monitoring instrument, a hydrological monitoring instrument and a topographic and aquatic animal and plant monitoring instrument are arranged in the control cabin, and measuring ends of the water quality monitoring instrument, the hydrological monitoring instrument and the topographic and aquatic animal and plant monitoring instrument penetrate through the bottom of the ship and are contacted with water flow; and the ship bottom is provided with a propelling device. The positioning device may employ a GPS satellite receiver. The shipborne data processing equipment can be realized by adopting a single chip microcomputer or an MCU (microprogrammed control unit) and the like.

As a further technical scheme, one end of the deck is provided with an environment sensing device, and the other end opposite to the environment sensing device is provided with a positioning device; and a communication antenna is also arranged at one end of the deck, which is positioned at the positioning equipment.

As a further technical scheme, a plurality of fixing holes are formed in the bottom of the ship and are respectively used for installing and fixing measuring ends of a water quality monitoring instrument, a hydrological monitoring instrument and a terrain and aquatic animal and plant monitoring instrument; and waterproof layers are arranged between the inner side wall of the fixed hole and the outer side walls of the measuring ends of the water quality monitoring instrument, the hydrological monitoring instrument, the terrain and the aquatic animal and plant monitoring instrument. The shore-based control platform can acquire the monitoring data of the unmanned ship in real time, store and analyze the monitoring data, and obtain the water quality, hydrology, terrain and aquatic animal and plant conditions of the water area where the unmanned ship is located.

As a further technical scheme, a working indication device is arranged on the deck, the shipborne controller comprises an IO interface, and the working indication device is connected with the shipborne controller through the IO interface. The work indication device comprises an acousto-optic-electric indication device.

As a further technical solution, the environment sensing device includes a video monitoring apparatus, a gyroscope and a compass; the video monitoring device is connected with the shipborne controller through the LAN interface; the gyroscope and the compass are connected with the onboard controller through an I2C interface.

As a further technical scheme, the power supply equipment comprises a storage battery and electric quantity monitoring equipment, and the electric quantity monitoring equipment is connected with the ship-mounted controller through an analog-to-digital conversion interface.

As a further technical scheme, the propelling device comprises a propeller provided with a steering engine, and the propeller is arranged at the tail end of the bottom of the unmanned ship.

As a further technical scheme, the terrain and aquatic animal and plant monitoring instrument comprises sonar equipment.

As a further technical solution, the hydrologic monitoring instrument comprises a doppler flow meter.

Compared with the prior art, the beneficial effects of the utility model reside in that:

(1) the utility model discloses a bank base control platform sends control command and gives unmanned ship's on-board controller, and on-board controller sails and transmits position information, environmental information, quality of water, hydrology, topography and aquatic animal and plant information that unmanned ship locates to bank base control platform according to control command, carries out the receipt, storage and the analytical calculation of data through bank base control platform, realizes remote control unmanned ship to the integration system of wireless data transmission and processing.

(2) The utility model discloses utilize unmanned ship to carry on quality of water, hydrology and topography and aquatic animal and plant monitoring instrument, go through the quality of water, hydrology and topography and aquatic animal and plant data in the waters to unmanned ship and monitor, need not artifical and take advantage of the ship to follow, through bank base control platform remote control operation, solved operating personnel's safety problem, be difficult for receiving the influence of external environment, do not destroy aquatic ecology; the method can be used for simultaneously acquiring various data, and does not need the cooperation of multiple persons and multiple departments, so that the sampling efficiency is high; the unmanned ship can be remotely controlled to acquire data of a large water area, so that effective data is improved, and the integral analysis of the large water area is realized; centimeter-level positioning of the same data acquisition point is realized through positioning equipment, and the sampling precision is high; in addition, the system is convenient to operate and high in data processing speed.

(3) The utility model discloses a positioning device acquires unmanned ship's locating information, acquire unmanned ship's environmental information through environment perception equipment, supply power for unmanned ship other equipment through power supply unit, make unmanned ship travel through propulsion equipment, handle monitoring data through shipborne number processing equipment, transmit monitoring data to bank base control platform through shipborne controller, carry out point-to-point data communication between shipborne controller through unmanned ship and the bank base control platform, receive the control command and the execution that bank base control platform sent, transmit unmanned ship's monitoring data to bank base control platform simultaneously.

Drawings

Fig. 1 is a schematic view of an unmanned ship-based aquatic ecology investigation system according to an embodiment of the present invention.

Fig. 2 is a schematic view of an unmanned ship according to an embodiment of the present invention.

Fig. 3 is a schematic diagram of an interface connection of an onboard controller according to an embodiment of the present invention.

In the figure: 1. an onboard controller; 101. a serial port; 102. a CAN interface; 103. an I2C interface; 104. a LAN interface; 105. an IO interface; 106. an ADC interface; 2. positioning equipment; 3. an environment-aware device; 4. a shipborne data processing device; 5. a power supply device; 6. a propulsion device; 601. a propeller; 602. a steering engine; 7. a water quality monitoring instrument; 8. a hydrologic monitoring instrument; 9. a terrain and aquatic animal and plant monitoring instrument; 10. shore-based communication equipment; 11. a shore-based control platform; 12. a work indication device; 13. mounting holes; 14. a communication antenna.

Detailed Description

The technical solutions of the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings, and it is to be understood that the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts belong to the protection scope of the present invention.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and to simplify the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present invention. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; may be mechanically connected, may be electrically connected or may be in communication with each other; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In the present disclosure, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact between the first and second features, or may comprise contact between the first and second features not directly. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

Examples

Referring to fig. 1 to 3, the present embodiment provides an unmanned ship-based aquatic ecology investigation system, including an onboard controller 1 and a shore-based control platform 11, where the onboard controller 1 is respectively connected to a positioning device 2, an environment sensing device 3, an onboard data processing device 4, a power supply device 5 and a propulsion device 6; the shipborne controller 1 comprises a CAN interface 102, a serial port 101, an I2C interface 103 and a LAN interface 104, is connected with the propulsion device 6 and the shipborne data processing device 4 through the CAN interface 102, is connected with the positioning device 2 through the serial port 101, is connected with the environment sensing device 3 through the I2C interface 103, is connected with the shore-based communication device 10 through the LAN interface 104, and the shore-based communication device 10 is connected with the shore-based control platform 11; the shipborne data processing equipment 4 is connected with a water quality monitoring instrument 7, a hydrological monitoring instrument 8 and a terrain and aquatic animal and plant monitoring instrument 9.

In one embodiment, the unmanned ship is equipped with a water quality, hydrology, terrain, and aquatic animal and plant monitoring device 9 for monitoring the water quality, hydrology, terrain, and aquatic animal and plant data of the water area through which the unmanned ship travels. The water quality data is based on water quality monitoring equipment carried by an unmanned ship, and water temperature, PH, conductivity, dissolved oxygen, turbidity, chlorophyll, blue-green algae, COD, ammonia nitrogen and other water quality data in water are obtained and are matched with GIS information at the same time. The underwater topography is based on sonar equipment carried by an unmanned ship, and underwater topography data is obtained. The hydrological data is data such as a hydrological flow direction in a basin obtained based on a hydrological ADCP (doppler velocity flowmeter) mounted on an unmanned ship. The aquatic animal and plant data is based on sonar equipment carried by an unmanned ship, and population data of underwater animal and plant communities is obtained. The shipborne equipment can acquire various data of the same water area at one time, and the data acquisition speed can reach the second level.

Furthermore, Visual Habitut data processing software is arranged in the shore-based control platform 11 to analyze data of aquatic plants, the software can help a user to download a map by one key, clearly identify results of tracks, water depths, submerged vegetation and substrate types of an investigation region on the map, generate a distribution map by an interpolation method, and meanwhile, the analyzed data can support introduction of ArcGIS and other software to perform high-level mapping and support calling and downloading of the map from GoogEarth, Bing, Open Street and other map servers.

The unmanned ship comprises a deck, a control cabin and a ship bottom, wherein a positioning device 2 and an environment sensing device 3 are arranged on the deck; the control cabin is internally provided with a ship-mounted controller 1, a ship-mounted data processing device 4, a power supply device 5, a water quality monitoring instrument 7, a hydrological monitoring instrument 8 and a topographic and aquatic animal and plant monitoring instrument 9, and measuring ends of the water quality monitoring instrument 7, the hydrological monitoring instrument 8 and the topographic and aquatic animal and plant monitoring instrument 9 penetrate through the bottom of the ship to be contacted with water flow; the bottom of the vessel is provided with a propulsion device 6. The shipborne data processing equipment 4 can be realized by adopting a single chip microcomputer or an MCU (microprogrammed control unit) and the like.

And the middle position of the deck is provided with a mounting hole 13 for mounting equipment in the control cabin.

One end of the deck is provided with an environment sensing device 3, and the other end opposite to the environment sensing device 3 is provided with a positioning device 2; a communication antenna 14 is also mounted on the deck at the end of the positioning device 2.

The ship bottom is provided with a plurality of fixing holes which are respectively used for installing and fixing the water quality monitoring instrument 7, the hydrological monitoring instrument 8 and the measuring ends of the topographic and aquatic animal and plant monitoring instrument 9; and waterproof layers are arranged between the inner side wall of the fixed hole and the outer side walls of the measuring ends of the water quality monitoring instrument 7, the hydrological monitoring instrument 8 and the terrain and aquatic animal and plant monitoring instrument 9. The shore-based control platform 11 can acquire the monitoring data of the unmanned ship in real time, store and analyze the monitoring data, and obtain the water quality, hydrology, terrain and aquatic animal and plant conditions of the water area where the unmanned ship is located.

The on-board ship-mounted controller is characterized in that a work indicating device 12 is arranged on the deck, the ship-mounted controller 1 comprises an IO interface 105, and the work indicating device 12 is connected with the ship-mounted controller 1 through the IO interface 105. The work indication device 12 comprises an acousto-optic pointing device.

The environment sensing equipment 3 comprises a video monitoring device, a gyroscope and a compass; the video monitoring device is connected with the shipborne controller 1 through a LAN interface 104; the gyroscope and compass are connected to the onboard controller 1 through an I2C interface 103.

The power supply device 5 comprises a storage battery and an electric quantity monitoring device, and the electric quantity monitoring device is connected with the shipborne controller 1 through an analog-to-digital conversion interface 106.

The propulsion device 6 comprises a propeller 601 provided with a steering engine 602, and the propeller 601 is arranged at the tail end of the bottom of the unmanned ship.

The unmanned ship can also carry meteorological monitoring equipment.

As an implementation mode, water quality, weather, hydrology and aquatic animal and plant community monitoring equipment can be installed on a full-automatic unmanned ship, the aquatic ecological state of a large-scale full basin is investigated, corresponding software big data processing is combined, the aquatic ecological investigation data volume is larger, the accuracy is better, the efficiency is higher, and all-weather uninterrupted data acquisition can be realized.

The utility model discloses in, aquatic ecology investigation system based on unmanned ship comprises surface of water robot hull, major control system (including host system and the embedded software of master control), electrical power generating system, on-board remote controller communication system and quality of water, hydrology, topography under water, aquatic animal and plant monitoring facilities part, builds a local area network, realizes remote control hull to the integration system of wireless data transmission and processing. The unmanned ship aquatic ecological survey system can receive and execute the instruction of the remote controller, and complete all navigation tasks and working tasks through the remote controller; the unmanned ship can be remotely controlled to run according to GPS positioning under ship control. Meanwhile, water quality, hydrology, underwater topography and aquatic animal and plant monitoring equipment carried by the unmanned ship aquatic ecological survey system acquires corresponding monitoring data from a water body and sends the corresponding monitoring data to the shore-based control platform 11 in real time, and the shore-based control platform 11 combines ship-borne GPS data to realize data acquisition, storage, analysis and calculation through the shore-based control platform 11.

In the description herein, references to the description of the terms "one embodiment," "certain embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; these modifications and substitutions do not depart from the essence of the corresponding technical solutions of the embodiments of the present invention.

Claims

1. An unmanned ship-based aquatic ecology investigation system comprises a ship-mounted controller and a shore-based control platform, and is characterized in that the ship-mounted controller is respectively connected with a positioning device, an environment sensing device, a ship-mounted data processing device, a power supply device and a propelling device; the shipborne controller comprises a CAN interface, a serial port, an I2C interface and a LAN interface, the shipborne controller is connected with the propelling equipment and the shipborne data processing equipment through the CAN interface, is connected with the positioning equipment through the serial port, is connected with the environment sensing equipment through the I2C interface, is connected with the shore-based communication equipment through the LAN interface, and is connected with the shore-based control platform; the shipborne data processing equipment is connected with a water quality monitoring instrument, a hydrological monitoring instrument, a terrain and aquatic animal and plant monitoring instrument.

2. The unmanned, boat-based aquatic ecology survey system of claim 1, wherein said unmanned boat comprises a deck, a control cabin and a boat bottom, said deck having a positioning device and an environmental sensing device disposed thereon; a ship-mounted controller, a ship-mounted data processing device, a power supply device, a water quality monitoring instrument, a hydrological monitoring instrument and a topographic and aquatic animal and plant monitoring instrument are arranged in the control cabin, and measuring ends of the water quality monitoring instrument, the hydrological monitoring instrument and the topographic and aquatic animal and plant monitoring instrument penetrate through the bottom of the ship and are contacted with water flow; and the ship bottom is provided with a propelling device.

3. The unmanned ship-based aquatic ecology survey system of claim 2, wherein an environment sensing device is installed at one end of said deck, and a positioning device is installed at the other end opposite to said environment sensing device; and a communication antenna is also arranged at one end of the deck, which is positioned at the positioning equipment.

4. The unmanned ship-based aquatic ecology survey system according to claim 2, wherein a plurality of fixing holes are provided at the bottom of the ship for fixing the measuring ends of the water quality monitoring instrument, the hydrological monitoring instrument and the topographic and aquatic animal and plant monitoring instrument, respectively; and waterproof layers are arranged between the inner side wall of the fixed hole and the outer side walls of the measuring ends of the water quality monitoring instrument, the hydrological monitoring instrument, the terrain and the aquatic animal and plant monitoring instrument.

5. An unmanned ship-based aquatic ecology investigation system according to claim 2, wherein a work indication device is provided on the deck, the on-board controller comprises an IO interface, and the work indication device is connected with the on-board controller through the IO interface.

6. The unmanned, boat-based aquatic ecology survey system of claim 1, wherein said environmental awareness apparatus comprises a video monitoring device, a gyroscope, and a compass; the video monitoring device is connected with the shipborne controller through the LAN interface; the gyroscope and the compass are connected with the onboard controller through an I2C interface.

7. The unmanned, watercraft-based aquatic ecology survey system of claim 1, wherein said power supply means comprises a battery and a power monitoring means, said power monitoring means being connected to an onboard controller via an analog-to-digital conversion interface.

8. The unmanned ship-based aquatic ecology investigation system of claim 1, wherein the propulsion device comprises a propeller equipped with a steering engine, the propeller being provided at the aft end of the bottom of the unmanned ship.

9. An unmanned ship-based aquatic ecology survey system according to claim 1, wherein said terrain and aquatic animal and plant monitoring equipment comprises sonar equipment.

10. The unmanned, marine-based aquatic ecology survey system of claim 1 wherein the hydrological monitoring instrument comprises a doppler flow meter.