The quality of water bodies in waters has always been a major event related to the national economy and people's livelihood. With the gradual acceleration of the pace of national water environmental protection and governance, the scientific and accurate demand for water quality testing methods and water body sampling range is getting higher and higher. At present, the commonly used water quality testing methods in China have some problems, such as low degree of automation, old sampling methods and poor sample representation. The project team has developed a three-dimensional cooperative mobile whole water environment detection system, which can be used for three-dimensional water body detection such as large-area waters, marine pastures and irregular waters. It can be used for stratified sampling and underwater observation. At the same time, the system can carry a variety of sensors for on-site testing. Aiming at the current problems of low automation and weak coordination ability of water quality sampling, the project independently integrated and developed an air-surface-water trinity joint communication system, which can carry out effective long-distance information transmission and coordination between the whole system; Aiming at the problem of one-sided water sampling, the "five-closed and one-open" water body automatic sampling device has been developed to carry out multi-dimensional sampling, making the sampling level range wider and more efficient; aiming at the problem of missing path guidance of unmanned ship in unfamiliar waters, a method of aerial position guidance and route planning by UAV is designed. In order to ensure the quality of communication and the safety of underwater robot control, multi-core buoyancy cable is used for communication between the unmanned ship and the underwater robot. The project has applied for 9 invention patents, 5 utility model patents and 4 soft works around core technologies and innovation points. The project has been tested in many water environments such as water tanks, freshwater lakes and marine pastures in the pilot base and has been tried out in many application scenarios. The third party has issued user use certificates, test reports, calibration certificates, novelty search reports, etc. The project was highly recognized and affirmed by Academician Ding Dewen of the Chinese Academy of Engineering, and made suggestions for team development and provided a testing environment. The system designed in this project can be equipped with different modular equipment such as underwater cameras, sensors, mechanical arms, etc. to realize customized functions. In addition to water quality detection applications, the system can also be used for water rescue, underwater terrain exploration, underwater archaeology, dam flaw detection, anti-frog people and water safety protection.