WO2019227306A1

WO2019227306A1 - Environment monitoring system using unmanned surface vehicle as carrier and application thereof

Info

Publication number: WO2019227306A1
Application number: PCT/CN2018/088846
Authority: WO
Inventors: 邢博闻
Original assignee: 上海海洋大学
Priority date: 2018-05-29
Filing date: 2018-05-29
Publication date: 2019-12-05
Also published as: AU2018101590A6; ZA201806328B; AU2018101590A4; DE202019001528U1

Abstract

The present invention relates to the technical field of environment monitoring. Disclosed are an environment monitoring system using unmanned surface vehicles as a carrier and an application thereof, comprising unmanned surface vehicles. The unmanned surface vehicles are in a bidirectional signal connection with a network communication base station; and the network communication base station is in a bidirectional signal connection with an integrated operating platform and a cloud server. According to the environment monitoring system using unmanned surface vehicles as a carrier, a plurality of unmanned surface vehicles are provided for environment monitoring; a dissolved oxygen sensor, a COD sensor, a turbidity sensor, a PH sensor and a temperature sensor provided on the unmanned surface vehicle can monitor environment more comprehensively; a GPS module, a camera module and a laser radar module provided on the unmanned surface vehicle can implement automatic track planning and real-time obstacle avoidance, thus improving environment monitoring real-time performance and dynamic performance; and besides, the plurality of unmanned surface vehicles can be in an automatic independent cruising mode or in a collaborative detection mode, and thus environment monitoring efficiency is improved and use convenience is facilitated.

Description

Environment monitoring system using unmanned boat as carrier and application thereof

Technical field

The invention relates to the technical field of environmental monitoring, and in particular to an environmental monitoring system using an unmanned boat as a carrier and its application.

Background technique

Water quality monitoring, as an indispensable technical link in the production and living process of environmental protection, aquaculture, agricultural irrigation, sewage treatment, etc., has a broad market prospect and application space.

At present, the more traditional monitoring methods mainly include: manual sampling, buoy carrier monitoring and unmanned boat monitoring. Among them, manual sampling costs are high and it is difficult to achieve all-weather water quality monitoring. Monitoring based on the buoy carrier can only continuously monitor fixed areas, and it is difficult to achieve global dynamic monitoring of target waters. Therefore, environmental monitoring based on unmanned boats has become the main and inevitable development trend of water quality testing. The current monitoring system generally uses a single unmanned boat for monitoring, its monitoring efficiency is low, and repeated or missing measurements are common. Situation, which affects monitoring effectiveness and accuracy.

Therefore, a new type of environmental monitoring system based on unmanned boats is proposed to solve the above-mentioned problems.

Summary of the Invention

(1) Technical problems solved

In response to the shortcomings of the prior art, the present invention provides an unmanned boat as an environment monitoring system, which has the advantages of high real-time sampling, good dynamics and high efficiency, and solves the current monitoring system generally adopts a single unmanned boat. When monitoring, the monitoring efficiency is low, and the problems of repeated measurement or missing measurement generally affect the monitoring effect and accuracy.

(Two) technical solutions

In order to achieve the objectives of high real-time sampling, good dynamics, and high efficiency, in one aspect, the present invention provides the following technical solution: An environmental monitoring system using an unmanned boat as a carrier, including an unmanned boat device, and the unmanned The boat device is bidirectionally connected to the network communication base station, and the network communication base station is bidirectionally connected to the integrated operation platform and the cloud server.

The unmanned boat device consists of unmanned boat device 1, unmanned boat device 2, and unmanned boat device N, and the unmanned boat device 1, unmanned boat device 2, and unmanned boat device N are all in communication with the network base station. Two-way signal connection. The unmanned boat device is composed of an information acquisition module, a communication module, a GPS module, a camera module, and a lidar module. The information acquisition module, GPS module, camera module, and lidar module are bidirectional with the communication module. Signal connection, the communication module is bidirectionally connected to the network communication base station, the information acquisition module is composed of dissolved oxygen sensor, COD sensor, turbidity sensor, pH sensor and temperature sensor, and the communication module is composed of WIFI and 4G.

Preferably, the internal structure of the unmanned boat device 1 is the same as that of the unmanned boat device 2 and the unmanned boat device N.

In some embodiments, the internal structure of the unmanned boat device 1 is different from the unmanned boat device 2 and the unmanned boat device N.

Preferably, the navigation mode of the unmanned boat device includes three types of remote manual control, automatic independent cruise and cooperative detection.

Preferably, the network communication base station is composed of a WIFI communication base station and a 4G communication base station.

In the embodiment of the present invention, WIFI communication is used when it is within the signal range of the WIFI communication base station, and 4G communication is used when the WIFI link is disconnected.

Preferably, the model of the turbidity sensor may be Rs485, the model of the dissolved oxygen sensor may be 840P, the model of the COD sensor may be LHB-50, and the model of the PH sensor may be SIN-PH160. The type of the temperature sensor may be CWDZ11.

In another aspect, the present invention provides an application of the environmental monitoring system of the present invention in an unmanned boat automatic cruise control program.

In yet another aspect, the present invention provides an application of the environmental monitoring system according to the present invention in an unmanned boat cooperative detection control program.

(Three) beneficial effects

Compared with the prior art, the present invention provides an environmental monitoring system using an unmanned boat as a carrier, which has the following beneficial effects:

The unmanned boat-based environmental monitoring system uses multiple unmanned boats for environmental monitoring. The dissolved oxygen sensor, COD sensor, turbidity sensor, pH sensor and temperature sensor set on the unmanned boat can monitor the environment. More comprehensive; GPS module, camera module and lidar module set on the unmanned boat can realize automatic trajectory planning and avoid obstacles in real time, improving the real-time and dynamic performance of environmental monitoring; at the same time, multiple unmanned boats can be in independent cruise The mode or in the cooperative detection mode improves the efficiency of environmental monitoring and makes it more convenient to use.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a system diagram of an environmental monitoring system using an unmanned boat as a carrier;

FIG. 2 is a composition diagram of a regional environmental cooperative monitoring system based on an unmanned boat as an environmental monitoring system according to the present invention; FIG.

3 is a schematic structural diagram of an unmanned boat device of an environmental monitoring system using the unmanned boat as a carrier according to the present invention;

4 is a schematic structural diagram of an integrated operation platform of an environmental monitoring system using an unmanned boat as a carrier according to the present invention;

5 is a schematic diagram of a control interface of an integrated control platform for an environmental monitoring system using an unmanned boat as a carrier according to the present invention;

6 is a flowchart of an automatic cruise control program for an unmanned boat device of an environmental monitoring system using the unmanned boat as a carrier according to the present invention;

FIG. 7 is a flowchart of a cooperative detection and control program for an unmanned boat device of an environmental monitoring system using the unmanned boat as a carrier according to the present invention.

Detailed ways

In the following, the technical solutions in the embodiments of the present invention will be clearly and completely described with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all the 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 shall fall within the protection scope of the present invention.

1 is a schematic diagram of an environmental monitoring system. An environmental monitoring system using an unmanned boat as a carrier includes an unmanned boat device. The navigation mode of the unmanned device includes three types of remote manual control, automatic independent cruise, and cooperative detection. The unmanned boat in the automatic independent cruise mode performs track planning according to the preset navigation area and its own real-time GPS information, and performs real-time obstacle avoidance based on lidar data. It also adjusts real-time navigation tasks based on sensor data collected by dynamic analysis. The unmanned boat in the cooperative detection mode adjusts the coordinated detection task based on the preset detection area, its own and other unmanned boat position information, and the sensor information on each unmanned boat. The unmanned boat device is connected to the network communication base station in two-way signals. The communication base station is connected to the integrated operation platform and the cloud server with two-way signals. The integrated operation platform can complete remote manual control of a single unmanned boat to realize the detection area settings, the position information of each unmanned boat, and related area sensor data. Centralized display, and set the navigation mode of each unmanned boat, network The communication base station is composed of a WIFI communication base station and a 4G communication base station, and is used to receive information transmitted by the communication module on the unmanned boat device.

The unmanned boat device consists of unmanned boat device 1, unmanned boat device 2, and unmanned boat device N. The internal structure of unmanned boat device 1 is the same as that of unmanned boat device 2 and unmanned boat device N (in In some embodiments, it may also be different.) The unmanned boat device 1, the unmanned boat device 2, and the unmanned boat device N are all connected to the network communication base station in two-way signals. The unmanned boat device 1 is provided by an information acquisition module and a communication module. , GPS module, camera module and lidar module, the information acquisition module, GPS module, camera module and lidar module are all bidirectionally connected to the communication module, and the GPS module, camera module and lidar module are used to collect the unmanned boat navigation status It has two-way signal connection with channel information, communication module and network communication base station. The information acquisition module is composed of dissolved oxygen sensor, COD sensor, turbidity sensor, pH sensor and temperature sensor. The type of dissolved oxygen sensor can be 840P, and the type of COD sensor can be It is LHB-50, the turbidity sensor model can be Rs485, the PH sensor model can be SIN-PH160, and the temperature sensor model can be CWDZ11, the dissolved oxygen sensor, COD sensor, turbidity sensor, PH sensor and temperature sensor set on the unmanned boat can more comprehensively monitor the environment. The communication module is composed of WIFI and 4G. When it is within the signal range of the WIFI communication base station WIFI communication is adopted, and 4G communication is adopted when the WIFI link is disconnected.

Combining with Figure 2, it is a composition diagram of the regional environmental cooperative monitoring system.

Among them, A1, A2, ..., An are unmanned boat devices (n≥2), the number of which depends on the size of the detection area and the number of types of parameters to be detected. Multiple unmanned boat devices work together to form this For the unmanned boat cluster, B is the WIFI network communication base station, C is the integrated control platform, D is the 4G network communication base station, and E is the remote cloud server. For the unmanned boat Ai, if it is in the signal coverage area of the B base station, Then it uses WIFI communication to communicate with the base station, and the communication link is represented by Li1 (L11, L21, ...., Ln1). At the same time, the communication base station B maintains network communication with the remote cloud server E. Its communication link is indicated by L0. The communication base station B uploads the status information of each unmanned boat and the sensor information to the cloud server E through the link L0. In order to store data information, the user uses the integrated control platform C to communicate with the communication base station B through the communication link L01, so as to control each unmanned boat and read the data information. For the unmanned boat Ai, if it is not In the signal coverage area of the B base station, it uses a 4G module to send data information to the remote cloud server E through the 4G network communication base station D. The communication link between Ai and D is represented by Li2 (L12, L22, ... ·, Ln2), the communication between the 4G network communication base station D and the cloud server E is represented by L02. At this time, the user reads the status information and sensor information of Ai through the links L0 and L01.

Combined with Figure 3, it is a composition diagram of the unmanned boat device. The unmanned boat uses Raspberry Pi as the core data processing module, which is represented as U1, U2 is an SD card, which is used to store the operating system and computing data of Raspberry Pi. U2 is installed on U1. On the SD card slot, U3 is an RS485 bus module, which is used to send sensor information to U1. The UART / RX end of U3 is connected to GPIO discipline 8 and discipline 10 of U1, and U4, U5, U6, and U7 are dissolved oxygen. , COD, PH and turbidity sensors, which are connected to U3 through the 485 bus. U8 is a dual DC motor drive module with RZ7899 chip as the core to control the DC motors on the left and right sides of the stern of the unmanned ship (respectively (M1 and M2 indicate) The unmanned boat of the propulsion device adjusts its own heading by configuring the speed difference between the DC motors on the left and right sides. U8 and U1 are connected through the GPIO on U1. U9 is a camera module installed on the bow of the unmanned boat. U10 is used to collect image information in the direction of travel of the unmanned boat. U10 is a LiDAR module (Light Detection and Ranging Equipment, LiDAR) connected to U1 through a USB interface to detect the blocking situation around the unmanned boat. U11 is GPS Block to obtain real-time position information of the unmanned boat, U12 is a 4G communication module to provide a backup communication link Li2 for the unmanned boat Ai, U13 is a WIFI module, connected to U1 through a network interface, and U14 is based on an electronic compass sensor HMC5883L unmanned boat bow direction acquisition module, used to determine the current unmanned boat bow direction, U14 realizes IIC data transmission through SDA pin (pin 3) and SCL pin (pin 5) on U1, U15 For the power supply module, it provides 5V working voltage for U1, and U15 also provides 5V or 12V driving voltage required for sensor operation for U4, U5, U6, U7, and 12V motor driving voltage required for M1, M2.

Combining Figure 4 shows the structure of the integrated control platform. The core of the platform is an embedded tablet device with WIFI communication capabilities. Among them, P1 is the WIFI communication antenna, P2 is the GPS communication antenna, P3 is the power switch button, and P4 is the touch screen. The control program software of the invention patent is installed in the integrated control platform, and is displayed and controlled by P4. The position information (P0) of the control platform will be used as the default point for each unmanned boat to return to the voyage.

With reference to Figure 5, this is the composition chart of the integrated control platform control interface. The functions of the integrated control platform can be analyzed and explained through the interface composition chart. Among them, Z8 is the unmanned boat control selection area, which can be touched by A1, A2, A3, ··· An to select the unmanned boat that needs to be controlled and displayed. Take the unmanned boat Ai as an example to explain the functions of each area. The Z1 area displays the image collected by the unmanned boat Ai camera, and the laser is integrated in Ai. The navigation environment obstacle information returned by the radar. If there are obstacles in the forward route, the dashed line frame (Z9) is marked in the corresponding area to remind the operator of the obstacle information. The Z2 area displays the type of communication link used by Ai (4G or WIFI) and battery power (percentage), Z3 shows the current operating mode (RD, SD, CD) of the unmanned boat Ai. Z4 is the map information of the current location of Ai (embedded electronic map), including its current location, scheduled route and set detection area, etc., Z6 is the sensor parameter display area, and box P displays the current location of Ai (GPS data information ), Box T displays the water temperature information (temperature sensor information) collected by Ai, box PH displays the water pH information (PF sensor information) collected by Ai, and box NTU displays the water turbidity information (turbidity) collected by Ai Degree sensor information), the frame COD displays the chemical oxygen demand information (COD sensor information) of the water body collected by Ai, the frame DO displays the dissolved oxygen information information (dissolved oxygen sensor information) of the water body collected by Ai, and the area Z7 is unmanned The control area of the boat Ai is used to control the direction of the drone in real time. "↑" button means forward, "↓" button means backward, "←" button means turn left, "→" button means turn right, Z5 is a function setting area for setting the environmental monitoring system and each unmanned boat For related tasks and functions, button "A" is the global setting interface display button. When the operator touches button "A", the Z4 area is enlarged and covers Z1, Z2, Z3, Z8, and Z9 areas. At this time, all The position information and navigation path of the unmanned boat will be displayed on the map. The operator can set the global detection area of the unmanned boat and the return position after detection and detection. Press "B" to set the interface for the single boat. Display button. When the operator touches the button "B", the positions of Z4 and Z1 are replaced. The operator sets the navigation area and detection range of the unmanned boat Ai. The button "S" is the communication update button. When the button "S" is touched, the integrated control platform issues data acquisition instructions to each unmanned boat, thereby obtaining the latest data information of each unmanned boat and its onboard sensors. The button "R" is the task termination button. unmanned Stop the current mission function and return home. It should be noted that when there are obstacles on the Ai route of the unmanned boat, the collected sensor data is abnormal, or the power of the power supply, Z1, Z2, Z3, Z4, Z6, Z8, Z9 automatically switch to Interface for Ai.

With reference to FIG. 6, it is a flowchart of an automatic cruise control program for an unmanned boat.

Step 1. Obtain the automatic cruise control mode. The unmanned boat Ai obtains the coordinated detection task instruction issued by the integrated monitoring platform through the link Ai1 (2), and enters step 2 after completion;

Step 2: Obtain the detection area mission. The unmanned boat Ai obtains the detection water range and the sensor type data that need to be collected by the integrated monitoring platform through the link Ai1 (2), and proceeds to step 3 after completion;

Step 3: Obtain the position information and heading information. The unmanned boat Ai obtains the current position and bow direction information by reading the U11 and U14 information, and proceeds to step 4 after completion;

Step 4, adjust the navigation task, and according to the result of the calculation algorithm, the unmanned boat Ai updates its own navigation task, and enters step 5 after completion;

Step 5. Upload the data. The data includes the position, heading, current mission, video information and sensor data of the unmanned boat Ai. The unmanned boat Ai uploads the above data to the integrated monitoring platform through the link Ai1 (2). , When completed, proceed to step 6;

In step 6, the motors M1 and M2 are controlled, and the unmanned boat Ai controls the motors M1 and M2 to control forward and reverse by controlling the U8 module, so as to achieve heading and speed control. After completion, proceed to step 7;

Step 7: Collect lidar data, and the unmanned boat Ai obtains the obstacle information of the current navigation area by reading the U10 information, and proceeds to step 8 after completion;

Step 8, judge, if there are no obstacles in the direction of Ai navigation, go to step 9, if there are obstacles, go to step 12;

Step 9: Collect sensor information, and the unmanned boat Ai obtains the dissolved oxygen, COD, PH, and turbidity sensor information in the form of 485 bus through U3, and proceeds to step 10 after completion;

Step 10, judge, if the collected sensor data is normal, go to step 11, if abnormal, go to step 14;

Step 11: Collect video information, and the unmanned boat Ai obtains video information of the navigation area through the U9 camera module, and returns to step 2 after completion;

In step 12, an alarm is issued, and the unmanned boat Ai sends the information of finding obstacles to the integrated control platform through the link Ai1 (2), and after the completion, it proceeds to step 13;

Step 13. Obstacle avoidance algorithm. The unmanned boat Ai runs the obstacle avoidance algorithm according to the distance and azimuth information of the surrounding obstacles to obtain a new navigation task. After completion, it proceeds to step 4.

Step 14: An alarm is issued, and the unmanned boat Ai sends the sensor data (abnormal data) exceeding the threshold to the integrated control platform through the link Ai1 (2). At this time, Z1, Z2, Z3, Z4 and Z8 of the integrated control platform The area automatically switches to the control interface for the unmanned boat Ai, and after completion, it proceeds to step 15;

Step 15: The optimization strategy of the detection task. The unmanned boat Ai runs the detection task optimization strategy based on the abnormal sensor data to determine the location of the water area that needs to be monitored. After completion, it proceeds to step 4.

With reference to FIG. 7, it is a flowchart of a cooperative detection and control program for an unmanned boat.

Step 1: Obtain the cooperative detection task mode. The unmanned boat Ai obtains the cooperative detection task instruction issued by the integrated monitoring platform through the link Ai1 (2), and enters step 2 after completion;

Step 4: Obtain navigation information of other ships, and the unmanned boat Ai obtains the navigation position and navigation mission information uploaded by other ships through the link Ai1 (2), and enters Step 5 after completion;

Step 5. The coordinated detection strategy. The unmanned boat Ai calculates the coordinated detection strategy to optimize its own navigation task based on its own navigation position, navigation task, and other navigation task information being performed by the unmanned boat. After completion, it proceeds to step 6;

Step 6, adjust the navigation task, and according to the result of the calculation algorithm, the unmanned boat Ai updates its own navigation task, and enters step 7 after completion;

Step 7. Upload the data. The data includes the position, heading, current mission, video information and sensor data of the unmanned boat Ai. The unmanned boat Ai uploads the above data to the integrated monitoring platform through the link Ai1 (2). , Go to step 8 after completion;

In step 8, the motors M1 and M2 are controlled. The unmanned boat Ai controls the motors M1 and M2 by controlling the U8 module to achieve forward and reverse rotation control, thereby achieving heading and speed control. After completion, the process proceeds to step 9;

Step 9: Collect the lidar data, and the unmanned boat Ai obtains the obstacle information of the current navigation area by reading the U10 information, and proceeds to step 10 after completion;

Step 10, judge, if there are no obstacles in the direction of Ai navigation, go to step 11, if there are obstacles, go to step 14;

Step 11: Collect the sensor information, and the unmanned boat Ai obtains the dissolved oxygen, COD, PH, and turbidity sensor information in the form of 485 bus through U3, and proceeds to step 12 after completion;

Step 12, judge, if the collected sensor data is normal, go to step 13, if abnormal, go to step 16;

Step 13. Collect video information, and the unmanned boat Ai obtains video information of the navigation area through the U9 camera module, and returns to step 2 after completion;

Step 14: An alarm is issued, and the unmanned boat Ai sends the information of finding obstacles to the integrated control platform via the link Ai1 (2). At this time, the Z1, Z2, Z3, Z4 and Z8 areas of the integrated control platform are automatically switched to For the control interface of the unmanned boat Ai, go to step 15 after completion;

Step 15: Obstacle avoidance algorithm. The unmanned boat Ai runs the obstacle avoidance algorithm according to the distance and azimuth information of the surrounding obstacles to obtain a new navigation mission. After completion, it proceeds to step 6;

Step 16. An alert is issued, and the unmanned boat Ai sends the sensor data (abnormal data) exceeding the threshold to the integrated control platform through the link Ai1 (2). At this time, Z1, Z2, Z3, Z4 and Z8 of the integrated control platform The area automatically switches to the control interface for the unmanned boat Ai, and when it is completed, it proceeds to step 17;

Step 17: The optimization strategy of the detection task. The unmanned boat Ai runs the optimization strategy of the detection task based on the abnormal sensor data to determine the location of the water area that needs to be monitored. After completion, it proceeds to step 6.

In summary, the unmanned boat-based environmental monitoring system uses multiple unmanned boats for environmental monitoring. The dissolved oxygen sensor, COD sensor, turbidity sensor, pH sensor, and temperature sensor are installed on the unmanned boat. The environmental monitoring can be more comprehensive. The GPS module, camera module and lidar module on the unmanned boat can realize automatic trajectory planning and avoid obstacles in real time, which improves the real-time and dynamic performance of environmental monitoring. Can be in automatic independent cruise mode or in cooperative detection mode, which improves the efficiency of environmental monitoring and is more convenient to use. It solves the current monitoring system generally adopts a single unmanned boat for monitoring, its monitoring efficiency is low, and repeated measurements are common. Or the lack of measurement will affect the monitoring effect and accuracy.

It should be noted that in this article, relational terms such as first and second are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that these entities or operations There is any such actual relationship or order among them. Moreover, the terms "including", "comprising", or any other variation thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or device that includes a series of elements includes not only those elements but also those that are not explicitly listed Or other elements inherent to such a process, method, article, or device. Without more restrictions, the elements defined by the sentence "including a ..." do not exclude the existence of other identical elements in the process, method, article, or equipment that includes the elements.

Although the embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, and substitutions can be made to these embodiments without departing from the principle and spirit of the present invention. And variations, the scope of the invention is defined by the appended claims and their equivalents.

Claims

An environmental monitoring system using an unmanned boat as a carrier includes an unmanned boat device, which is characterized in that: the unmanned boat device is connected to a bidirectional signal of a network communication base station, and the bidirectional signal of the network communication base station and an integrated operation platform and a cloud server connection;

The unmanned boat device consists of unmanned boat device 1, unmanned boat device 2, and unmanned boat device N, and the unmanned boat device 1, unmanned boat device 2, and unmanned boat device N are all in communication with the network base station. Two-way signal connection. The unmanned boat device is composed of an information acquisition module, a communication module, a GPS module, a camera module, and a lidar module. The information acquisition module, GPS module, camera module, and lidar module are bidirectional with the communication module. Signal connection, the communication module is bidirectionally connected to the network communication base station, the information acquisition module is composed of dissolved oxygen sensor, COD sensor, turbidity sensor, pH sensor and temperature sensor, and the communication module is composed of WIFI and 4G.
The environmental monitoring system using unmanned boat as a carrier according to claim 1, characterized in that the internal structure of the unmanned boat device 1 and the unmanned boat device 2 and the unmanned boat device N are the same Or different.
The environmental monitoring system using an unmanned boat as a carrier according to claim 1, characterized in that the navigation mode of the unmanned boat device includes three types of remote manual control, automatic independent cruise and cooperative detection.
The environment monitoring system using an unmanned boat as a carrier according to claim 1, wherein the network communication base station comprises a WIFI communication base station and a 4G communication base station.
The environmental monitoring system using an unmanned boat as a carrier according to claim 4, characterized in that when it is within the signal range of the WIFI communication base station, WIFI communication is used, and 4G communication is used when the WIFI link is disconnected.
The environmental monitoring system using an unmanned boat as a carrier according to claim 1, wherein the model of the turbidity sensor is Rs485, the model of the dissolved oxygen sensor is 840P, and the model of the COD sensor It is LHB-50, the model of the pH sensor is SIN-PH160, and the model of the temperature sensor is CWDZ11.
The application of the environmental monitoring system according to any one of claims 1 to 6 in an unmanned boat automatic cruise control program, comprising the following steps or consisting of the following steps:

Step 1: Obtain the automatic cruise control mode. The unmanned boat Ai obtains the coordinated detection task instruction issued by the integrated monitoring platform through the link Ai12, and enters step 2 after completion;

Step 2: Obtain the detection area mission. The unmanned boat acquires the detection water area and the sensor type data that need to be collected by the integrated monitoring platform through the link. After the completion, the process proceeds to step 3.

Step 3: Obtain the position information and heading information. The unmanned boat Ai obtains the current position and bow direction information by reading the U11 and U14 information, and proceeds to step 4 after completion;

Step 4, adjust the navigation task, and according to the result of the calculation algorithm, the unmanned boat Ai updates its own navigation task, and enters step 5 after completion;

Step 5: upload the data, and the unmanned boat Ai uploads the above data to the integrated monitoring platform through the link Ai12, and proceeds to step 6 after completion;

In step 6, the motors M1 and M2 are controlled, and the unmanned boat Ai controls the motors M1 and M2 to control forward and reverse by controlling the U8 module, so as to achieve heading and speed control. After completion, proceed to step 7;

Step 7: Collect lidar data, and the unmanned boat Ai obtains the obstacle information of the current navigation area by reading the U10 information, and proceeds to step 8 after completion;

Step 8, judge, if there are no obstacles in the direction of Ai navigation, go to step 9, if there are obstacles, go to step 12;

Step 9: Collect sensor information, and the unmanned boat Ai obtains the dissolved oxygen, COD, PH, and turbidity sensor information in the form of 485 bus through U3, and proceeds to step 10 after completion;

Step 10, judge, if the collected sensor data is normal, go to step 11, if abnormal, go to step 14;

Step 11: Collect video information, and the unmanned boat Ai obtains video information of the navigation area through the U9 camera module, and returns to step 2 after completion;

In step 12, an alarm is issued, and the unmanned boat Ai sends the information of finding obstacles to the integrated control platform through the link Ai12, and after completion, it proceeds to step 13;

Step 13. Obstacle avoidance algorithm. The unmanned boat Ai runs the obstacle avoidance algorithm according to the distance and azimuth information of the surrounding obstacles to obtain a new navigation task. After completion, it proceeds to step 4.

Step 14. An alarm is issued, and the unmanned boat Ai sends the sensor data exceeding the threshold value through the link Ai12 to the integrated control platform. At this time, the Z1, Z2, Z3, Z4 and Z8 areas of the integrated control platform are automatically switched to For the control interface of the unmanned boat Ai, go to step 15 after completion;

Step 15: The optimization strategy of the detection task. The unmanned boat Ai runs the detection task optimization strategy based on the abnormal sensor data to determine the location of the water area that needs to be monitored. After completion, it proceeds to step 4.
The application in the automatic cruise control program for an unmanned boat according to claim 7, characterized in that, in step 5, the data content includes a position, a heading of the unmanned boat Ai, a current sailing mission, and video information And sensor data.
The application of the environmental monitoring system according to any one of claims 1 to 6 in an unmanned boat cooperative detection and control program, which comprises the following steps or consists of the following steps:

Step 1: Obtain the cooperative detection task mode. The unmanned boat Ai obtains the cooperative detection task instruction issued by the integrated monitoring platform through the link Ai12, and enters step 2 after completion;

Step 2: Obtain the detection area mission. The unmanned boat Ai obtains the detection water range issued by the integrated monitoring platform and the sensor type data to be collected through the link Ai12, and proceeds to step 3 after completion;

Step 3: Obtain the position information and heading information. The unmanned boat Ai obtains the current position and bow direction information by reading the U11 and U14 information, and proceeds to step 4 after completion;

Step 4: Obtain navigation information of other ships, and the unmanned boat Ai obtains the navigation position and navigation mission information uploaded by other ships through the link Ai12, and enters Step 5 after completion;

Step 5. The coordinated detection strategy. The unmanned boat Ai calculates the coordinated detection strategy to optimize its own navigation task based on its own navigation position, navigation task, and other navigation task information being performed by the unmanned boat. After completion, it proceeds to step 6;

Step 6, adjust the navigation task, and according to the result of the calculation algorithm, the unmanned boat Ai updates its own navigation task, and enters step 7 after completion;

Step 7: upload the data, and the unmanned boat Ai uploads the above data to the integrated monitoring platform through the link Ai12, and enters step 8 after completion;

In step 8, the motors M1 and M2 are controlled. The unmanned boat Ai controls the motors M1 and M2 by controlling the U8 module to achieve forward and reverse rotation control, thereby achieving heading and speed control. After completion, the process proceeds to step 9;

Step 9: Collect the lidar data, and the unmanned boat Ai obtains the obstacle information of the current navigation area by reading the U10 information, and proceeds to step 10 after completion;

Step 10, judge, if there are no obstacles in the direction of Ai navigation, go to step 11, if there are obstacles, go to step 14;

Step 11: Collect the sensor information, and the unmanned boat Ai obtains the dissolved oxygen, COD, PH, and turbidity sensor information in the form of 485 bus through U3, and proceeds to step 12 after completion;

Step 12, judge, if the collected sensor data is normal, go to step 13, if abnormal, go to step 16;

Step 13. Collect video information, and the unmanned boat Ai obtains video information of the navigation area through the U9 camera module, and returns to step 2 after completion;

Step 14: An alarm is issued, and the unmanned boat Ai sends the information of finding obstacles to the integrated control platform through the link Ai12. At this time, the Z1, Z2, Z3, Z4 and Z8 areas of the integrated control platform are automatically switched to target unmanned. The control interface of the boat Ai, after the completion, proceed to step 15;

Step 15: Obstacle avoidance algorithm. The unmanned boat Ai runs the obstacle avoidance algorithm according to the distance and azimuth information of the surrounding obstacles to obtain a new navigation mission. After completion, it proceeds to step 6;

Step 16. An alarm is issued, and the unmanned boat Ai sends the sensor data exceeding the threshold value through the link Ai12 to the integrated control platform. At this time, the Z1, Z2, Z3, Z4 and Z8 areas of the integrated control platform are automatically switched to For the control interface of the unmanned boat Ai, go to step 17 after completion;

Step 17: The optimization strategy of the detection task. The unmanned boat Ai runs the optimization strategy of the detection task based on the abnormal sensor data to determine the location of the water area that needs to be monitored. After completion, it proceeds to step 6.
The application in the unmanned boat cooperative detection and control program according to claim 9, characterized in that, in step 7, the data content includes the position, heading of the unmanned boat Ai, the current sailing mission, and video information And sensor data.