Marine hydrology multi-parameter profile observation system based on unmanned ship

Abstract

The invention discloses an unmanned ship-based marine hydrology multi-parameter profile observation system, which comprises an unmanned ship, a control system and a data acquisition system, and the control system and the data acquisition system are arranged on the unmanned ship, the control system comprises a communication subsystem, a navigation subsystem and a navigation control subsystem, and the data acquisition system comprises a hydrological acquisition subsystem, a meteorological acquisition subsystem, a spatio-temporal information acquisition subsystem and a profile observation device subsystem. The section observation device subsystem comprises an electric winch device, an automatic cable arrangement device, a foreign matter shoveling device and an automatic cleaning device which are located on a ship deck of the unmanned ship. The system has the advantages of being full-automatic, low in cost, high in efficiency and high in precision, wide-area marine hydrological data can be collected in real time, safe operation under complex sea conditions is guaranteed through the self-adaptive risk avoiding and path planning functions of the system, real-time data return and interaction are achieved, and the timeliness of data collection and the flexibility of data utilization are greatly improved.

Description

Technical Field

[0001] The invention belongs to the field of ocean hydrological profile observation systems, and in particular relates to an ocean hydrological multi-parameter profile observation system based on an unmanned boat. Background Art

[0002] The ocean hydrographic profile observation system is currently an important means of detecting ocean vertical temperature, salinity, depth, chlorophyll, dissolved oxygen, turbidity and other ocean information. Traditional observation methods mainly rely on large scientific research ships, anchored buoys, submersible buoys and underwater gliders, but they face many challenges. Large scientific research ships have safety hazards, poor maneuverability and high observation costs, and are insufficient in spatial coverage. Although anchored buoys and submersible buoys can provide data for single points or specific areas, they face problems of high cost, poor flexibility and low spatial resolution. Although underwater gliders can collect data continuously, the communication and data transmission speeds are slow, which limits the timely acquisition of large-area data.

[0003] The patent with publication number CN212500925U provides a multifunctional unmanned boat for hydrological environment monitoring. It uses remote-controlled unmanned boats to replace traditional fishing boats and kayaks to improve the convenience of operating equipment. It adopts the design feature of the middle installation through hole, which can carry different sensors according to needs, and can switch different sensors at any time to operate, reducing the cost of the owner to purchase multiple boats. At the same time, the positioning module and camera are set to facilitate the collection of the coordinates of the hull and the image information of the water surface. At the same time, the infrared sensing device is used to sense obstacles on the water surface to avoid the hull from colliding and causing losses. This patent uses remote control to control the unmanned boat for hydrological environment observation. Its observation strategy and path require real-time human intervention, lacking a certain degree of autonomy and flexibility. At the same time, the hydrological sensor used to monitor environmental parameters is installed on a fixed cylindrical shell, and the depth of its detection of hydrological parameters is subject to certain restrictions.

[0004] The patent with the authorization announcement number CN115407404B provides an adaptive marine mobile acoustic tomography device, which uses multiple mobile observation stations and fixed observation stations to be deployed in the observation waters. It can solve the sound line propagation quality problem caused by the jump layer effect caused by seasonal changes in the fixed point observation system in the marine environment, thereby improving the observation quality of ocean current data and the stability of each observation station. The system combines the layout of mobile and fixed observation stations and optimizes the configuration of observation equipment, effectively solving the limitations of traditional fixed point observation systems under specific marine environmental conditions. The patent uses a wave glider as a mobile observation platform. This platform is greatly affected by the marine environment, the platform moves slowly, and lacks the ability to observe long-distance movements. Summary of the invention

[0005] In view of the problems existing in the prior art, the present invention provides an ocean hydrological multi-parameter profile observation system based on an unmanned boat, which is fully automatic, low-cost, highly efficient and highly accurate, and can collect wide-area ocean hydrological data in real time. Its adaptive risk avoidance and path planning functions ensure safe operation in complex sea conditions, and can realize real-time data transmission and interaction, greatly improving the timeliness of data collection and the flexibility of data utilization.

[0006] The technical solution of the present invention is as follows:

[0007] An ocean hydrological multi-parameter profile observation system based on an unmanned boat comprises an unmanned surface boat, a control system and a data acquisition system arranged on the unmanned surface boat, wherein;

[0008] The control system includes a communication subsystem, a navigation subsystem and a navigation control subsystem;

[0009] The data acquisition system includes a hydrological acquisition subsystem, a meteorological acquisition subsystem, a spatiotemporal information acquisition subsystem and a profile observation device subsystem;

[0010] The profile observation device subsystem includes an electric winch device, an automatic cable arrangement device, a foreign matter removal device and an automatic cleaning device located on the deck of the surface unmanned boat;

[0011] The hydrological data acquisition subsystem includes a CTD multi-parameter sensor installed on the electric winch device and an ADCP sensor installed under the hull of the unmanned surface boat.

[0012] Preferably, in the unmanned boat-based ocean hydrological multi-parameter profile observation system, the electric winch device comprises:

[0013] A fixing seat, which is arranged on the upper surface of the deck of the unmanned surface boat;

[0014] A winch fixing seat, which is arranged on the fixing seat;

[0015] A motor, which is fixed on the fixing seat and has an output end arranged horizontally;

[0016] A winch is fixed at the output end of the motor and is located in the winch fixing seat. The winch is connected to a bearing of the winch fixing seat. The cable of the CTD multi-parameter sensor is wound around the winch.

[0017] Preferably, in the unmanned boat-based ocean hydrological multi-parameter profile observation system, the cable arrangement device comprises:

[0018] A wire arrangement rack, which is arranged on the fixing seat through two limiting columns and is located directly below the capstan fixing seat;

[0019] A transmission gear set, which is arranged between the output end of the motor and the wire arrangement rack, and the transmission gear set drives the wire arrangement rack to reciprocate left and right;

[0020] A guide roller, which is arranged on the side of the capstan fixing seat and is parallel to the capstan;

[0021] and a wire rack, which is fixedly arranged on the wire rack and has a cable guide hole at a position above the guide roller, through which the cable of the CTD multi-parameter sensor passes and the CTD multi-parameter sensor is arranged at the end.

[0022] Preferably, in the unmanned boat-based ocean hydrological multi-parameter profile observation system, the foreign matter removal device comprises:

[0023] An annular fixing frame fixed on the conductor frame, wherein the cable is passed through;

[0024] A foreign body sensor, which is arranged in the annular fixing frame;

[0025] and four shovel pieces, which are distributed in a ring shape and arranged at the output end of the electric cylinder, and the electric cylinder is electrically connected to the foreign object sensor.

[0026] Preferably, in the unmanned boat-based ocean hydrological multi-parameter profile observation system, the surface unmanned boat comprises:

[0027] Hull structure;

[0028] Powertrain;

[0029] and a power supply system, which is arranged in a recessed receiving groove on the boat deck of the hull structure.

[0030] Preferably, in the unmanned boat-based ocean hydrological multi-parameter profile observation system,

[0031] The navigation communication subsystem includes a communication terminal system and a communication antenna device arranged on the unmanned boat;

[0032] The navigation control subsystem includes a central control system and a visual sensor arranged inside the cabin of the unmanned boat;

[0033] The navigation subsystem includes a radar position sensor and a position compensator located above the cabin of the unmanned boat. The radar position sensor, the position compensator and the central control system are electrically connected.

[0034] Preferably, in the unmanned boat-based ocean hydrological multi-parameter profile observation system, the meteorological collection subsystem is an AIRMAR meteorological data collection sensor installed above the radar position sensor.

[0035] The present invention has the following beneficial effects:

[0036] (1) Remote control, autonomous decision-making, and long-term endurance: The unmanned boat can be remotely controlled and make autonomous decisions, which avoids operational errors and improves the accuracy of data collection. At the same time, the unmanned boat carries external energy and has continuous endurance, and can reach the target area stably and quickly.

[0037] (2) Fast speed, can freely change targets according to instructions, and is flexible: The unmanned boat has a high speed, can freely change targets according to instructions, and has a high degree of flexibility. It can flexibly adjust the route and direction according to needs and plans to ensure efficient completion of the task.

[0038] (3) Multi-parameter hydrological and meteorological data acquisition: The system can simultaneously collect a variety of hydrological and meteorological data, providing comprehensive environmental information and providing reliable support for scientific research and decision-making.

[0039] (4) Remote real-time data transmission and interaction: The system has real-time data transmission and interaction capabilities to ensure that information can be delivered in a timely manner, providing guarantees for rapid response and decision-making.

[0040] (5) Equipment recovery and maintenance: The unmanned boat has self-judgment and processing capabilities, and can recover and maintain equipment according to actual conditions to ensure the long-term stable operation of the system.

[0041] Other advantages, objectives and features of the present invention will be embodied in part through the following description, and in part will be understood by those skilled in the art through study and practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 A structural block diagram of an embodiment of an unmanned boat-based ocean hydrological multi-parameter profile observation system provided by the present invention;

[0043] Figure 2 A three-dimensional diagram of an unmanned boat in one embodiment of the ocean hydrological multi-parameter profile observation system based on an unmanned boat provided by the present invention;

[0044] Figure 3 A bottom view of an unmanned boat in one embodiment of the ocean hydrological multi-parameter profile observation system based on an unmanned boat provided by the present invention;

[0045] Figure 4 A front view of an unmanned boat in one embodiment of the ocean hydrological multi-parameter profile observation system based on an unmanned boat provided by the present invention;

[0046] Figure 5A schematic diagram of the structure of a meteorological acquisition subsystem in an embodiment of an unmanned boat-based ocean hydrological multi-parameter profile observation system provided by the present invention;

[0047] Figure 6 A schematic diagram of the structure of a CTD sensor in one embodiment of an unmanned boat-based ocean hydrological multi-parameter profile observation system provided by the present invention;

[0048] Figure 7 A schematic structural diagram of an electric winch device in one embodiment of an unmanned boat-based ocean hydrological multi-parameter profile observation system provided by the present invention;

[0049] Figure 8 A schematic structural diagram of a foreign matter removal device in one embodiment of an unmanned boat-based ocean hydrological multi-parameter profile observation system provided by the present invention;

[0050] Fig. 9 A top view of a foreign matter removal device in one embodiment of the ocean hydrological multi-parameter profile observation system based on an unmanned boat provided by the present invention;

[0051] Fig.10 A working flow chart of an embodiment of the ocean hydrological multi-parameter profile observation system based on an unmanned boat provided by the present invention;

[0052] Fig.11 A structural block diagram of a central control system in one embodiment of an unmanned boat-based ocean hydrological multi-parameter profile observation system provided by the present invention. DETAILED DESCRIPTION

[0053] The present invention is further described in detail below in conjunction with the accompanying drawings so that those skilled in the art can implement the invention with reference to the description.

[0054] Traditional ocean hydrological information observation systems mainly rely on platforms such as large research vessels, buoys, submersibles and underwater gliders. Although these systems are technologically mature, they each have significant defects. Observations by large research vessels require a lot of manpower and material support, with high observation costs, poor flexibility, and certain safety risks. In addition, human factors may affect data accuracy and are limited by fatigue operation time. Although buoys and submersibles can collect hydrological profile parameters in fixed sea areas, they have low resolution, limited control capabilities, are easily affected by ocean currents, have delayed data return, and are easily damaged and lost. Underwater gliders move slowly, their operating depth is affected by water currents, and their stability is poor.

[0055] In contrast, unmanned boats have significant advantages in path planning, heading analysis and attitude control, and can achieve high-precision data collection. Unmanned boats do not require human control, avoiding safety issues caused by fatigue working time and dangerous sea conditions, while having greater flexibility in time and space. Unmanned boats are fast, maneuverable, and efficient, and can quickly complete mission objectives. However, unmanned boats also have certain disadvantages in dealing with some special problems. For example, the increase in marine debris and attached organisms in recent years may cause sensors to be entangled during the recovery process, affecting the recovery and service life of the equipment. In addition, the wiring problem of the equipment recovery cable may also make the unmanned boat unable to solve these problems by itself.

[0056] In view of this, the present invention proposes an ocean hydrological multi-parameter profile observation system based on an unmanned boat, which can quickly and flexibly collect accurate data for different regions and sea conditions, and transmit and interact with real-time data. At the same time, the system can recycle and maintain the equipment according to actual conditions, thereby overcoming the shortcomings of traditional observation methods.

[0057] The purpose of the present invention is to solve the problems of low accuracy of artificial ocean hydrological observation and meteorological observation data collection, fatigue time of people working on the ocean, difficulty in avoiding dangerous situations, difficulty in real-time data transmission and interaction, and regional restrictions. The present invention includes an unmanned boat, a control system, and a data acquisition system. The hull of the unmanned boat includes a hull structure (catamaran structure) and a drive structure (water jet propulsion). The control system includes a navigation communication subsystem, a navigation subsystem, and a navigation control subsystem. The data acquisition system includes a hydrological acquisition subsystem, a meteorological acquisition subsystem, a spatiotemporal information acquisition system, and a profile observation device. The communication subsystem mainly includes an embedded communication terminal system and a communication antenna located at the tail of the hull. The navigation subsystem mainly obtains detailed position information from a radar position sensor and a position error compensator located above the cabin and then transmits it to the central control system. The navigation control subsystem is controlled by a central control system located inside the cabin to perform reconnaissance based on a visual sensor, and the navigation control subsystem performs route planning. The hydrological data acquisition system includes a CTD sensor, a bottom control baffle, and an ADCP sensor installed below the hull. The sunken batteries on the deck of the ship provide energy, and various drive motors, sensors, transducers, etc. are deployed under the deck. The meteorological collection subsystem includes the AIRMAR meteorological data collection sensor installed above the radar. The spatiotemporal information collection system includes Beidou and GPS positioning systems and a clock. The profile observation device includes an electric winch device located on the deck of the ship, a wire guide hole, a high-pressure water spray head and a foreign object removal device on the electric winch device. When the foreign object sensor on the foreign object removal device detects foreign objects, it will cause four blades to wrap around the cable to remove the foreign objects, and the winch, transmission gear set and wire rack in the electric winch device can move the corresponding distance according to the number of turns of the winch.

[0058] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6 As shown, the present invention proposes an ocean hydrological multi-parameter profile observation system based on an unmanned boat, which includes an unmanned boat, a control system 2 and a data acquisition system 3 arranged on the unmanned boat, wherein;

[0059] The control system 2 includes a navigation control subsystem 21, a navigation subsystem 22, a communication subsystem 23 and a winch subsystem, wherein the winch subsystem includes an electric winch device 24, a foreign matter removal device 244 and a high-pressure water spray head 243 located on the deck of the unmanned boat;

[0060] The data acquisition system 3 includes a hydrological acquisition subsystem and a meteorological acquisition subsystem. The hydrological acquisition subsystem includes a CTD sensor 311 installed on the electric winch device 241 and an ADCP sensor 313 installed under the hull of the unmanned boat, and a bottom control baffle 312 is provided under the hull;

[0061] like Figure 7 As shown, the electric winch device 24 and the automatic wire arrangement device include:

[0062] A fixing seat, which is arranged on the upper surface of the deck of the unmanned boat;

[0063] The cable rack 247 is arranged on the fixing seat through two limiting columns;

[0064] A capstan fixing seat 241, which is arranged on the fixing seat and is located directly above the cable arrangement rack 247;

[0065] A motor, which is fixed on the fixing seat and has an output end arranged horizontally;

[0066] A winch, which is fixed to the output end of the motor and located in the winch fixing seat 241, the winch is connected to the winch fixing seat 241 by a bearing, and the cable of the CTD sensor is wound around the winch;

[0067] A transmission gear set 246, which is disposed between the output end of the motor and the cable arrangement rack 247, and the transmission gear set drives the cable arrangement rack to reciprocate left and right;

[0068] A guide roller 245, which is arranged on the side of the capstan fixing seat 241 and is parallel to the capstan;

[0069] And a wire rack 242, which is fixedly arranged on the wire rack 247 and has a cable guide hole at a position above the guide roller 245, and the wire of the CTD sensor passes through the wire guide hole and the CTD sensor is arranged at the end.

[0070] The motor drives the winch to rotate, which in turn drives the cable to be wound around the winch, and at the same time lifts the CTD sensor. The cable rack drives the cable to move at the same time under the transmission of the transmission gear set, so that the cable and wire can be evenly distributed on the winch; when the CTD sensor needs to be lowered, the motor reverses and drives the winch to rotate in the opposite direction, the cable is retracted, and the wire drives the CTD sensor downward.

[0071] The hull of the unmanned boat includes a hull structure 11 (catamaran structure) and a driving structure 12 (water jet propulsion).

[0072] A sunken storage battery 4 is deployed on the ship deck to provide energy, and various drive motors, sensors, transducers, etc. are deployed under the deck.

[0073] CTD: Usually consists of one or more sensors, including temperature sensors, conductivity sensors and pressure sensors. The device can be installed on a profile observation system, towed system, buoy, submersible or underwater autonomous vehicle.

[0074] ADCP: Acoustic Doppler current profiler, uses an acoustic transducer to emit acoustic pulse waves, which are backscattered by unevenly distributed sediment particles, plankton and other anti-scattering bodies in the water body. The transducer receives the signal and measures the flow velocity by measuring the Doppler frequency shift. This measurement method does not disturb the flow field, has the characteristics of short test time and large velocity measurement range, and is widely used in cross-section flow monitoring.

[0075] like Figure 8 and Fig. 9 As shown, in one embodiment of the ocean hydrological multi-parameter profile observation system based on the unmanned boat provided by the present invention, the foreign matter removal device includes:

[0076] An annular fixing frame fixed on the wire rack, through which the wire is passed, so that the wire and the cable can be driven to move left and right together;

[0077] A foreign body sensor 2442, which is disposed in the annular fixing frame;

[0078] and four shovel members 2441 , which are distributed in a ring shape and are arranged at the output end of the electric cylinder 2443 , and the electric cylinder is electrically connected to the foreign object sensor.

[0079] Working process description: When the sensor is recovered after data collection is completed, if there is no interference such as marine debris, the four shovels are attached to the four walls of the fixed frame and will not gather around the cable. When the sensor detects that there are foreign objects such as garbage on the cable, the electric cylinder will drive the four shovels to move around the cable, and there is a certain gap between the shovels and the cable shell, so that the shovels can complete the shoveling task without damaging the cable. When the shoveling task is completed, the electric cylinder drives the shovels to move to the wall of the fixed frame. The entire device is rigidly connected to the wire frame, that is, it moves with the movement of the wire frame.

[0080] In one embodiment of the ocean hydrological multi-parameter profile observation system based on an unmanned boat provided by the present invention,

[0081] The navigation control subsystem 21 includes a central control system and a visual sensor 211 arranged inside the cabin of the unmanned boat;

[0082] The navigation subsystem 22 includes a radar position sensor 221 and a position compensator 222 located above the cabin of the unmanned boat. The radar position sensor 221, the position compensator 222 and the central control system are electrically connected.

[0083] In one embodiment of the unmanned boat-based ocean hydrological multi-parameter profile observation system provided by the present invention, the meteorological collection subsystem is an AIRMAR meteorological data collection sensor 321 installed above the radar position sensor 221 .

[0084] AIRMAR: Marine mobile meteorological monitoring sensor that can calculate dynamic true wind speed and direction based on apparent wind, speed and heading of unmanned boats. Its internal GPS and 3D electronic compass provide heading, position, ground speed and ground heading functions, which are necessary for dynamic true wind data processing on mobile unmanned boats.

[0085] like Fig.10 As shown, the workflow of the present invention is as follows:

[0086] The shore-based control console conveys the task requirements to the control system through the communication system, and the control system allocates the tasks. The navigation control system and the navigation system plan the path to drive the system to the target through mutual cooperation, and the navigation system feeds back the position information to the control system in real time through GPS and Beidou dual-mode positioning. Then the control system transmits information to the winch system and the data acquisition system based on the position information, and the next step of equipment deployment and data acquisition is carried out when the target position is reached. After the data collection is completed, the hydrological data and meteorological data are transmitted back through the communication system. After the hydrological collection is completed, a feedback will be given to the winch system for equipment recovery and maintenance. The winch system is equipped with a wire hole and a steering drum. The gears are used to make the number of turns of the winch equal to the moving distance of the wire hole with a fixed transmission ratio to achieve automatic wiring. Finally, after completing all the processes, a feedback is given to the navigation control system to drive it back.

[0087] like Fig.11 As shown, the main control unit of the present invention uses an AT89C51 single-chip microcomputer, the turbidity sensor, temperature sensor, position sensor, reconnaissance module, etc. are connected to the A / D conversion port, the communication module, winch control, drive structure, etc. are all connected to the single-chip microcomputer serial port, and the communication system uses a 4G / 5G module to enable the single-chip microcomputer to interact and transmit data with the shore base. The winch system is connected to the single-chip microcomputer I / O pin through a stepper motor drive circuit and is controlled by the feedback result of the positioning system. At the same time, the winch system input is also controlled by the data acquisition output feedback.

[0088] At present, the collection of marine hydrological information is mainly completed by dispatching large scientific research ships, deploying anchored buoys, submerged buoys, underwater gliders, etc. Although these traditional methods can complete the task, they have many disadvantages. First, large scientific research ships have errors in the planning of navigation routes, the determination of collection points, and the release timing of sensors, resulting in low collection accuracy. In addition, the fatigue of staff working time limits and the dangers of unknown sea conditions may threaten life safety. Secondly, anchored buoys and submerged buoys can only collect data in fixed sea areas. The increase in the number of deployments will affect hydrological information, and their flexibility is poor. Underwater gliders move slowly, the operating depth is affected by the water flow, the stability is poor, and data from specific sea areas cannot be collected in real time. These methods have problems such as low collection accuracy, slow speed, inflexibility, inability to collect data in real time, and difficulty in recovering and maintaining sensor equipment.

[0089] In view of these characteristics, the present invention combines the advantages of unmanned boats, such as high speed, self-planning routes, high flexibility, and real-time information transmission and interaction, to design a comprehensive observation of ocean hydrological information using unmanned boats. The system can realize efficient collection of ocean hydrological and meteorological information while ensuring personal safety and improving data accuracy. At the same time, the unmanned boat can realize the recovery and maintenance of equipment without human intervention, which improves work efficiency and operation safety.

[0090] Taking advantage of the unmanned boat's intelligent route planning, precise positioning, and autonomous decision-making, an ocean hydrological multi-parameter profile observation system is designed to ensure the accuracy of data collection location and data information, ensure personnel safety, improve work efficiency, and flexibly collect meteorological, hydrological, and atmospheric parameter information in specific sea areas in real time. It can also flexibly respond to different actual situations and realize equipment recovery and maintenance.

[0091] (1) Data collection accuracy: The precise positioning system reduces human operation errors and greatly improves data collection accuracy.

[0092] (2) Data collection timeliness: The faster execution speed of the collection system enables real-time data collection capabilities, as well as real-time information transmission and interactive communication functions.

[0093] (3) Stronger flexibility and endurance: The system is more flexible in dealing with areas that are far apart and has better endurance.

[0094] (4) Equipment recovery and maintenance: The system has devices designed to handle special problems encountered during equipment recovery and maintenance.

[0095] The present invention effectively avoids operational errors and improves data collection accuracy through intelligent route planning and autonomous decision-making of the unmanned boat. At the same time, the remote control and real-time data transmission capabilities of the unmanned boat ensure timely transmission of information and flexible response. In addition, the unmanned boat also has the ability to recycle and maintain equipment, which solves the problems in traditional observation methods and greatly improves work efficiency and safety.

[0096] The CTD sensor of the present invention is retracted and extended by an electric winch and is equipped with a control system to complete the lifting and lowering. The lifting and lowering method can also be achieved by combining the control system with hydraulic devices, pulley block structures, etc.

[0097] The catamaran ship type adopted by the present invention can also achieve the purpose of integrating sensors to collect data on hydrological information and meteorological information by using single-hull and multi-hull ships.

[0098] The power device used in the present invention is a water jet propulsion device, but the purpose can also be achieved by using a propeller, a jet propulsion device, a duct propulsion device, etc.

[0099] The energy source used in the present invention is a battery, and its power source can also be an internal combustion engine, a diesel engine, a gas turbine, etc. to achieve the same purpose.

[0100] Although the embodiments of the present invention have been disclosed as above, they are not limited to the applications listed in the specification and the implementation modes. They can be fully applied to various fields suitable for the present invention. For those familiar with the art, additional modifications can be easily implemented. Therefore, without departing from the general concept defined by the claims and the scope of equivalents, the present invention is not limited to specific details.

Claims

1. The ocean hydrological multi-parameter profile observation system based on unmanned boat is characterized by: It includes an unmanned surface boat, a control system and a data acquisition system arranged on the unmanned surface boat, wherein; The control system includes a communication subsystem, a navigation subsystem and a navigation control subsystem; The data acquisition system includes a hydrological acquisition subsystem, a meteorological acquisition subsystem, a spatiotemporal information acquisition subsystem and a profile observation device subsystem; The profile observation device subsystem includes an electric winch device, an automatic cable arrangement device, a foreign matter removal device and an automatic cleaning device located on the deck of the surface unmanned boat; The hydrological data acquisition subsystem includes a CTD multi-parameter sensor installed on the electric winch device and an ADCP sensor installed under the hull of the unmanned surface boat.

2. The ocean hydrological multi-parameter profile observation system based on an unmanned boat according to claim 1, characterized in that: The electric winch device comprises: A fixing seat, which is arranged on the upper surface of the deck of the unmanned surface boat; A winch fixing seat, which is arranged on the fixing seat; A motor, which is fixed on the fixing seat and has an output end arranged horizontally; A winch is fixed at the output end of the motor and is located in the winch fixing seat. The winch is connected to a bearing of the winch fixing seat. The cable of the CTD multi-parameter sensor is wound around the winch.

3. The ocean hydrological multi-parameter profile observation system based on an unmanned boat as claimed in claim 2, characterized in that: The cable arrangement device comprises: A wire arranging rack, which is arranged on the fixing seat through two limiting columns and is located directly below the capstan fixing seat; a transmission gear set, which is arranged between the output end of the motor and the wire arranging rack, and the transmission gear set drives the wire arranging rack to reciprocate left and right; A guide roller, which is arranged on the side of the capstan fixing seat and is parallel to the capstan; and a wire rack, which is fixedly arranged on the wire rack and has a cable guide hole at a position above the guide roller, through which the cable of the CTD multi-parameter sensor passes and the CTD multi-parameter sensor is arranged at the end.

4. The ocean hydrological multi-parameter profile observation system based on an unmanned boat as claimed in claim 3, characterized in that: The foreign matter removing device comprises: An annular fixing frame fixed on the conductor frame, wherein the cable is passed through; A foreign body sensor, which is arranged in the annular fixing frame; and four shovel pieces, which are distributed in a ring shape and arranged at the output end of the electric cylinder, and the electric cylinder is electrically connected to the foreign object sensor.

5. The ocean hydrological multi-parameter profile observation system based on an unmanned boat as claimed in claim 4, characterized in that: The unmanned surface boat comprises: Hull structure; Powertrain; and a power supply system, which is arranged in a recessed receiving groove on the boat deck of the hull structure.

6. The ocean hydrological multi-parameter profile observation system based on an unmanned boat as claimed in claim 5, wherein the navigation communication subsystem includes a communication terminal system and a communication antenna device arranged on the unmanned boat; The navigation control subsystem includes a central control system and a visual sensor arranged inside the cabin of the unmanned boat; the navigation subsystem includes a radar position sensor and a position compensator located above the cabin of the unmanned boat, and the radar position sensor, the position compensator and the central control system are electrically connected.

7. The ocean hydrological multi-parameter profile observation system based on an unmanned boat as claimed in claim 6, characterized in that: The weather collection subsystem is an AIRMAR weather data collection sensor installed above the radar position sensor.

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