Autonomous identification: search, locate and track illegal fishing, accurate and efficient Publicity and warning: voice system for fish protection knowledge publicity, warning against fishing Path planning: cleaning path planning, daily cruise cleaning Obstacle avoidance navigation: automatic obstacle avoidance, automatic navigation Navigation accuracy: effective control of speed, yaw, turning radius and other parameters Data collection and transmission: collect detection data in real time and send back collected data and pictures Environmental detection: hydrology, water quality, meteorological real-time data detection Human-computer interaction: voice interaction, multimedia interaction Early warning return: low energy automatic return, monitoring and fault alarm Unmanned operation: a variety of control methods combined, independent decision + remote control + central control + mobile phone (tablet) mobile terminal