A collaborative patrol management system for unmanned ship clusters

Abstract

The present invention discloses an unmanned boat cluster collaborative patrol management system, which controls the unmanned boat patrol through an unmanned boat control terminal, tracks and records the position coordinates of the suspicious boat when a suspicious boat is found, and notifies the suspicious boat to stop for inspection. After the suspicious boat stops, the inspection personnel are notified through the integrated management terminal to inspect the suspicious boat, and if the suspicious boat does not stop, the security personnel are notified to round up the suspicious boat, thereby realizing that unmanned boats replace manual labor for long-term patrol and guard duty, greatly reducing the labor intensity of fishery law enforcement personnel and improving the efficiency of patrol and guard duty, and forming an unmanned boat cluster with multiple unmanned boats, and allocating patrol areas to the multiple unmanned boats according to a preset control area map, and the multiple unmanned boats plan patrol paths by themselves in different patrol areas, thereby realizing the collaborative patrol of the unmanned boat cluster, and solving the problem that the operation capacity of a single unmanned boat is limited and it is difficult to be competent for large-scale patrol tasks.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned ships, and in particular to an unmanned ship patrol management system, in particular to an unmanned ship cluster collaborative patrol management system. Background Art

[0002] In order to effectively combat illegal fishing, electric fishing, and poisoning of fish, curb overfishing, and protect the marine ecology, the fishery administration needs to be on duty and patrol the sea at any time. This results in long patrol times for the fishery administration. During the non-fishing moratorium period, patrols are required day and night, with an operation time of 4-5 hours; during the fishing moratorium period, all-weather duty and patrols are required, which requires a large number of fishery law enforcement personnel to work in rotation for a long time. The personnel are tired and inevitably make mistakes. In addition, in addition to performing normal fishery law enforcement tasks, fishery personnel also conduct follow-up inspections on marine dumping of garbage and inland sewage discharge, and maritime search and rescue, etc. The tasks are diverse and heavy.

[0003] Unmanned ships are another major research field in the field of unmanned technology after drones and unmanned vehicles. They concentrate on high-end technologies such as ship design, new power, information collection and processing, and intelligent motion control. With the maturity of technology, unmanned ship technology has begun to be used to assist fishery law enforcement personnel in performing water patrol tasks. However, due to objective factors such as size, cost, and endurance, the operating capacity of a single unmanned ship is limited and it is difficult to perform large-scale patrol tasks. Therefore, multiple unmanned ships are needed to perform cluster collaborative operations. Unmanned ship cluster collaboration has become a hot technical issue in the development of marine equipment. Summary of the invention

[0004] In order to solve the technical problems existing in the background technology, the present invention proposes an unmanned boat cluster collaborative patrol management system, which enables unmanned boats to replace manual labor for long-term patrol and guard duty, greatly reduces the labor intensity of fishery law enforcement personnel, and improves the efficiency of patrol and guard duty.

[0005] The purpose of the present invention can be achieved through the following technical solutions:

[0006] An unmanned ship cluster collaborative patrol management system, comprising an integrated management terminal and a plurality of unmanned ship control terminals connected to the integrated management terminal for communication, wherein the unmanned ship cluster is composed of a plurality of unmanned ships patrolling in different patrol areas;

[0007] A plurality of unmanned boat control terminals are respectively installed on a plurality of unmanned boats to plan patrol routes of the unmanned boats according to the assigned patrol areas, control the unmanned boats to patrol in the patrol areas according to the planned patrol routes, detect and identify passing ships in the patrol areas, and when a suspicious ship that cannot be identified or does not pass is detected, a preset sound alarm is issued to notify the suspicious ship to stop for inspection, and the position coordinates of the suspicious ship are continuously recorded, and the driving direction and speed of the suspicious ship are monitored. If the suspicious ship stops within a preset time, a first warning signal containing the position coordinates of the suspicious ship is sent to the integrated management terminal; otherwise, the unmanned boat is controlled to follow the suspicious ship and a second warning signal containing the real-time position coordinates of the suspicious ship is continuously sent to the integrated management terminal;

[0008] The integrated management terminal is installed in the command and management center to assign patrol areas to multiple unmanned ships according to the preset control area map. When the first warning signal sent by the unmanned ship control terminal is received, the coordinates of the suspicious ship's parking position are obtained and sent to the inspectors, who are notified to inspect the suspicious ship. When the second warning signal sent by the unmanned ship control terminal is received, the real-time position coordinates of the suspicious ship are continuously obtained, and security personnel are notified to round up the suspicious ship.

[0009] Furthermore, the integrated management terminal includes a map import module and an area allocation module, and the unmanned boat control terminal includes a map receiving module, a path planning module and a driving control module;

[0010] The map import module is used for the staff of the command and management center to import the preset control area map;

[0011] The area allocation module divides the preset control area map into multiple patrol areas according to the number of unmanned ships and numbers each patrol area to obtain a patrol map, and sends the designated number and patrol map to the designated unmanned ship control terminal in sequence;

[0012] A map receiving module is used to receive the designated number and patrol map output by the integrated management terminal and obtain the assigned patrol area;

[0013] The path planning module randomly plans a patrol path that enables the unmanned ship control terminal to monitor the entire assigned patrol area according to the preset monitoring radius of the unmanned ship control terminal;

[0014] The driving control module is used to control the unmanned boat to patrol along the patrol path planned by the path planning module.

[0015] Furthermore, when the driving control module controls the unmanned boat to patrol along the planned patrol path and return to the initial position, the path planning module randomly plans a patrol path again that allows the unmanned boat control terminal to monitor the entire assigned patrol area, so that the patrol path of the unmanned boat is different each time.

[0016] Furthermore, the unmanned boat control terminal includes a video acquisition module, an image preprocessing module, an image analysis module, an identity recognition module and a sound alarm module;

[0017] The video acquisition module collects video image information on the water surface around the unmanned ship in real time through the camera installed on the side of the unmanned ship, and uploads it to the integrated management terminal in real time;

[0018] An image preprocessing module, which preprocesses the images collected by the video acquisition module;

[0019] The image analysis module compares and analyzes the pre-processed image with the preset images of ships / no ships on the water surface to determine whether there are other ships on the water surface. If there are other ships, a "ship detected" signal is output to the identity recognition module;

[0020] The identity recognition module, when receiving the "vessel detected" signal, identifies the identity information of the vessel through a preset recognition method, and determines whether the vessel has the right of passage. If the vessel is identified as not having the right of passage, the vessel is marked as a suspicious vessel, and an alarm signal is sent to the alarm management module;

[0021] The alarm management module, when receiving an alarm signal, blows the horn and issues a preset sound alarm to notify suspicious vessels to stop immediately and accept inspection.

[0022] Furthermore, the preset identification method includes the following steps:

[0023] All vessels with access rights in the control area are registered in advance, and certificates with a predetermined time-limited access code are issued and placed at designated locations on the vessels. At the same time, the access code is updated to the identity recognition modules of all unmanned vessel control terminals;

[0024] When the identification module receives a "vessel detected" signal, it scans the designated position of the vessel on the image and identifies the passcode placed at that position of the vessel;

[0025] If the recognition result is that the person has permission to pass, no processing will be done;

[0026] If the identification result shows that the passage authority has expired or cannot be identified, it means that the vessel has no passage authority and will be marked as a suspicious vessel.

[0027] Furthermore, the unmanned boat control terminal also includes a GPS positioning module, an ultrasonic ranging module, a coordinate calculation module, a timing module, a speed analysis module and an early warning module;

[0028] GPS positioning module, used to collect the position coordinates of the unmanned boat in real time, mark them on the patrol map, and upload them to the integrated management terminal in real time;

[0029] The ultrasonic distance measurement module is used to continuously collect the distance data between the unmanned ship and the suspicious ship when the alarm management module receives the alarm signal;

[0030] The coordinate calculation module calculates the position coordinates of the suspicious ship based on the position coordinates of the unmanned ship collected by the GPS positioning module, the distance data from the suspicious ship collected by the ultrasonic ranging module, and the installation orientation of the corresponding video acquisition module, and marks it on the patrol map;

[0031] The timing module is used to start timing when the alarm management module receives an alarm signal;

[0032] The speed analysis module analyzes and calculates the traveling direction and speed of the suspicious vessel according to the position coordinate changes of the suspicious vessel output by the coordinate calculation module within a unit time;

[0033] The early warning module sends a first early warning signal to the integrated management terminal when the speed analysis module detects that the speed of the suspicious vessel drops to zero within a preset time. The first early warning signal includes a patrol map marking the coordinates of the current positions of the unmanned vessel and the suspicious vessel.

[0034] Furthermore, the unmanned boat control terminal also includes a tracking management module. When the speed analysis module detects that the suspicious ship is still traveling at a certain speed after a preset time, the unmanned boat is switched to tracking mode. According to the speed and direction of the suspicious ship output by the speed analysis module, the tracking speed and tracking path of the unmanned boat are planned in real time, and the speed and tracking path are output to the driving control module to control the unmanned boat to follow the suspicious ship along the tracking path. At the same time, the early warning module continuously sends a second early warning signal to the integrated management terminal, and the second early warning signal includes a patrol map that marks the real-time position coordinates of the unmanned ship and the suspicious ship.

[0035] Furthermore, the integrated management terminal also includes a data receiving module, a communication module and a visual display module;

[0036] A data receiving module is used to receive real-time position coordinates, video image information and warning signals uploaded by multiple unmanned ship control terminals. When a first warning signal is received, the coordinates of the suspicious ship's stopping position are obtained. When a second warning signal is received, the real-time position coordinates of the suspicious ship are continuously obtained.

[0037] The communication module is used to communicate with the inspectors / security personnel. When the first warning signal is received, the coordinates of the suspicious vessel's parking position are sent to the inspectors to notify the inspectors to inspect the suspicious vessel. When the second warning signal is received, the real-time position coordinates of the suspicious vessel are continuously updated and sent to the security personnel to assist the security personnel in rounding up the suspicious vessel.

[0038] The visualization display module uses a large screen to mark the real-time position coordinates of multiple unmanned ships on the patrol map for display, and displays the video image information collected by multiple unmanned ship control terminals in a split-screen manner.

[0039] Furthermore, the integrated management terminal also includes an intelligent scheduling module. When the second warning signal is received, the route of the suspicious ship is analyzed according to the real-time position coordinates of the suspicious ship and the speed and direction of the suspicious ship, and the position of the suspicious ship at the next preset time node is predicted. If it is predicted that the suspicious ship will leave the first patrol area of ​​the current unmanned ship and enter the adjacent second patrol area at the next preset time node, a control instruction is output to control the current unmanned ship to switch to patrol mode and continue to patrol along the planned patrol path. At the same time, a control instruction is output to control the unmanned ship in the second patrol area to switch to tracking mode, plan a tracking path and start following the suspicious ship along the tracking path.

[0040] The beneficial effects of the present invention are as follows: the unmanned boat cluster collaborative patrol management system provided by the present application controls the unmanned boat to patrol within the patrol area through the unmanned boat control terminal installed on the unmanned boat; when a suspicious ship is found, the position coordinates of the suspicious ship are tracked and recorded, and the suspicious ship is notified to stop for inspection; after the suspicious ship stops, the inspection personnel are notified through the integrated management terminal in the command and management center to inspect the suspicious ship; if the suspicious ship does not stop, the security personnel are notified to round up the suspicious ship, thereby realizing that unmanned boats replace manual labor for long-term patrol and guard duty; fishery law enforcement personnel only need to inspect or round up suspicious ships when suspicious ships appear, which greatly reduces the labor intensity of fishery law enforcement personnel and improves the efficiency of patrol and guard duty; by forming a cluster of unmanned boats and allocating patrol areas to the multiple unmanned boats according to a preset control area map, the multiple unmanned boats plan patrol routes in different patrol areas by themselves, thereby realizing the collaborative patrol of the unmanned boat cluster and solving the problem that the operating capacity of a single unmanned boat is limited and it is difficult to perform large-scale patrol tasks. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 Schematic diagram of the system architecture of the present invention. DETAILED DESCRIPTION

[0042] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0043] like Figure 1 As shown, the present invention provides a collaborative patrol management system for unmanned ship clusters, including an integrated management terminal and a plurality of unmanned ship control terminals that are communicatively connected to the integrated management terminal, and the unmanned ship cluster is composed of a plurality of unmanned ships patrolling in different patrol areas. The plurality of unmanned ship control terminals are respectively installed on a plurality of unmanned ships to plan the patrol paths of the unmanned ships according to the assigned patrol areas, control the unmanned ships to patrol in the patrol areas according to the planned patrol paths, detect and identify passing ships in the patrol areas, and when a suspicious ship that cannot be identified or is not identified is detected, a preset sound alarm is issued to notify the suspicious ship to stop for inspection, and the position coordinates of the suspicious ship are continuously recorded, and the driving direction and speed of the suspicious ship are monitored. If the suspicious ship stops within the preset time, a first warning signal containing the position coordinates of the suspicious ship is sent to the integrated management terminal, otherwise, the unmanned ship is controlled to follow the suspicious ship and continuously send a second warning signal containing the real-time position coordinates of the suspicious ship to the integrated management terminal. The integrated management terminal is installed in the command and management center to assign patrol areas to multiple unmanned ships according to the preset control area map. When the first warning signal sent by the unmanned ship control terminal is received, the coordinates of the suspicious ship's parking position are obtained and sent to the inspectors, who are notified to inspect the suspicious ship. When the second warning signal sent by the unmanned ship control terminal is received, the real-time position coordinates of the suspicious ship are continuously obtained, and security personnel are notified to round up the suspicious ship.

[0044] Specifically, the integrated management terminal includes a map import module and an area allocation module. The map import module is used for the staff of the command management center to import the preset control area map; the area allocation module divides the preset control area map into multiple patrol areas according to the number of unmanned boats and numbers each patrol area to obtain a patrol map, and sends the designated number and patrol map to the designated unmanned boat control terminal in turn.

[0045] The unmanned boat control terminal includes a map receiving module, a path planning module and a driving control module. Among them, the map receiving module is used to receive the designated number and patrol map output by the integrated management terminal to obtain the assigned patrol area; the path planning module randomly plans a patrol path that allows the unmanned boat control terminal to monitor the entire assigned patrol area according to the preset monitoring radius of the unmanned boat control terminal; the driving control module is used to control the unmanned boat to patrol along the patrol path planned by the path planning module; and when the driving control module controls the unmanned boat to patrol along the planned patrol path and returns to the initial position, the path planning module randomly plans a patrol path that allows the unmanned boat control terminal to monitor the entire assigned patrol area, so that the patrol path of the unmanned boat is different each time, avoiding regular patrol work and improving the effectiveness of patrol work.

[0046] The unmanned boat control terminal also includes a video acquisition module, an image preprocessing module, an image analysis module, an identity recognition module and a sound alarm module. Among them, the video acquisition module collects video image information on the water surface around the unmanned boat in real time through the camera installed on the side of the unmanned boat, and uploads it to the integrated management terminal in real time; the image preprocessing module preprocesses the images collected by the video acquisition module; the image analysis module compares and analyzes the preprocessed images with the preset images of the water surface with / without ships, and determines whether there are other ships on the water surface. If so, it outputs a "ship detected" signal to the identity recognition module; when the identity recognition module receives the "ship detected" signal, it identifies the identity information of the ship through a preset identification method, determines whether the ship has the right of passage, and if the ship is identified as having no right of passage, it marks the ship as a suspicious ship and sends an alarm signal to the alarm management module; when the alarm management module receives the alarm signal, it blows the whistle and sends a preset sound alarm to notify the suspicious ship to stop immediately and accept inspection.

[0047] The preset identification method includes the following steps:

[0048] All vessels with access rights in the control area are registered in advance, and certificates with a predetermined time-limited access code are issued and placed at designated locations on the vessels. At the same time, the access code is updated to the identity recognition modules of all unmanned vessel control terminals;

[0049] When the identification module receives a "vessel detected" signal, it scans the designated position of the vessel on the image and identifies the passcode placed at that position of the vessel;

[0050] If the recognition result is that the person has permission to pass, no processing will be done;

[0051] If the identification result shows that the passage authority has expired or cannot be identified, it means that the vessel has no passage authority and will be marked as a suspicious vessel.

[0052] The unmanned boat control terminal also includes a GPS positioning module, an ultrasonic ranging module, a coordinate calculation module, a timing module, a speed analysis module and an early warning module. Among them, the GPS positioning module is used to collect the position coordinates of the unmanned boat in real time, mark them on the patrol map, and upload them to the integrated management terminal in real time; the ultrasonic ranging module is used to continuously collect the distance data between the unmanned boat and the suspicious boat when the alarm management module receives the alarm signal; the coordinate calculation module calculates the position coordinates of the suspicious boat according to the position coordinates of the unmanned boat collected by the GPS positioning module, the distance data from the suspicious boat collected by the ultrasonic ranging module and the installation orientation of the corresponding video acquisition module, and marks them on the patrol map; the timing module is used to start timing when the alarm management module receives the alarm signal; the speed analysis module analyzes and calculates the driving direction and speed of the suspicious boat according to the change of the position coordinates of the suspicious boat output by the coordinate calculation module within a unit time; the early warning module sends a first early warning signal to the integrated management terminal when the speed analysis module detects that the driving speed of the suspicious boat drops to zero within a preset time, wherein the first early warning signal includes a patrol map with the current position coordinates of the unmanned boat and the suspicious boat marked.

[0053] The unmanned boat control terminal also includes a tracking management module. When the speed analysis module detects that the suspicious ship is still traveling at a certain speed after a preset time, the unmanned boat is switched to tracking mode. According to the speed and direction of the suspicious ship output by the speed analysis module, the tracking speed and tracking path of the unmanned boat are planned in real time and output to the driving control module to control the unmanned boat to follow the suspicious ship along the tracking path. At the same time, the early warning module continuously sends a second early warning signal to the integrated management terminal. The second early warning signal includes a patrol map that marks the real-time position coordinates of the unmanned boat and the suspicious ship.

[0054] The integrated management terminal also includes a data receiving module, a communication module and a visualization display module; wherein the data receiving module is used to receive real-time position coordinates, video image information and warning signals uploaded by multiple unmanned ship control terminals. When the first warning signal is received, the parking position coordinates of the suspicious ship are obtained. When the second warning signal is received, the real-time position coordinates of the suspicious ship are continuously obtained. The communication module is used to communicate with inspectors / security personnel. When the first warning signal is received, the parking position coordinates of the suspicious ship are sent to the inspectors to notify the inspectors to inspect the suspicious ships. When the second warning signal is received, the real-time position coordinates of the suspicious ships are continuously updated and sent to the security personnel to assist the security personnel in rounding up the suspicious ships. The visualization display module uses a large screen to mark the real-time position coordinates of multiple unmanned ships on the patrol map for display, and displays the video image information collected by multiple unmanned ship control terminals in split screen.

[0055] The integrated management terminal also includes an intelligent scheduling module. When the second warning signal is received, the route of the suspicious ship is analyzed according to the real-time position coordinates of the suspicious ship and the speed and direction of the suspicious ship, and the position of the suspicious ship at the next preset time node is predicted. If it is predicted that the suspicious ship will leave the first patrol area of ​​the current unmanned ship and enter the adjacent second patrol area at the next preset time node, a control instruction is output to control the current unmanned ship to switch to patrol mode and continue to patrol along the planned patrol path. At the same time, a control instruction is output to control the unmanned ship in the second patrol area to switch to tracking mode, plan a tracking path and start following the suspicious ship along the tracking path.

[0056] When the present invention is working, first, the staff of the command and management center imports a preset control area map into the integrated management terminal. The integrated management terminal divides the preset control area map into multiple patrol areas according to the number of unmanned boats and sends it to the designated unmanned boat control terminal. Then, the unmanned boat control terminal randomly plans a patrol path that can cover the entire patrol area according to the assigned patrol area, and controls the unmanned boat to enter the patrol mode, patrols along the patrol path, and uploads the position coordinates of the unmanned boat to the integrated management terminal in real time. When the unmanned boat patrols, it uses a preset recognition method to identify passing ships. When a suspicious ship is found, it blows the horn and issues a sound alarm to notify the suspicious ship to stop immediately and accept inspection, and monitors the position coordinates of the suspicious ship, calculates the driving direction and speed of the suspicious ship, and if the driving speed of the suspicious ship drops to zero within the preset time, a first warning signal containing the stop position coordinates of the suspicious ship is sent to the integrated management terminal to notify the inspectors to inspect the suspicious ship. If the suspicious ship still maintains a certain speed after the preset time, the unmanned boat is switched to the tracking mode. According to the driving speed and direction of the suspicious ship, the tracking speed and tracking path of the unmanned boat are planned in real time, and the unmanned boat is controlled to follow the suspicious ship along the tracking path. At the same time, a second warning signal containing the real-time position coordinates of the suspicious ship is continuously sent to the integrated management terminal to assist security personnel in encircling the suspicious ship. At the same time, the integrated management terminal analyzes the route of the suspicious vessel based on the real-time position coordinates of the suspicious vessel and the speed and direction of the suspicious vessel, and predicts the position of the suspicious vessel at the next preset time node. If it is predicted that the suspicious vessel will leave the first patrol area of ​​the current unmanned vessel and enter the adjacent second patrol area at the next preset time node, the terminal outputs a control instruction to control the unmanned vessel in the second patrol area to switch to the tracking mode, plan a tracking path and start following the suspicious vessel along the tracking path. At the same time, the terminal outputs a control instruction to control the current unmanned vessel to switch to the patrol mode and continue patrolling along the planned patrol path. When the unmanned vessel patrols along the planned patrol path and returns to the initial position, a patrol path that can cover the entire patrol area is randomly planned again, so that the patrol path of the unmanned vessel is different each time.

[0057] The unmanned boat cluster collaborative patrol management system provided by the present application controls the unmanned boat to patrol within the patrol area through the unmanned boat control terminal installed on the unmanned boat. When a suspicious vessel is found, the position coordinates of the suspicious vessel are tracked and recorded, and the suspicious vessel is notified to stop for inspection. After the suspicious vessel stops, the inspection personnel are notified to inspect the suspicious vessel through the integrated management terminal in the command and management center. If the suspicious vessel does not stop, the security personnel are notified to round up the suspicious vessel, thereby realizing that unmanned boats replace manual labor for long-term patrol and guard duty. Fishery law enforcement personnel only need to inspect or round up suspicious vessels when suspicious vessels appear, which greatly reduces the labor intensity of fishery law enforcement personnel and improves the efficiency of patrol and guard duty. By forming an unmanned boat cluster with multiple unmanned boats and assigning patrol areas to multiple unmanned boats according to a preset control area map, multiple unmanned boats plan patrol routes in different patrol areas by themselves, thereby realizing collaborative patrol of unmanned boat clusters, and solving the problem that a single unmanned boat has limited operating capabilities and is difficult to perform large-scale patrol tasks.

[0058] The above contents are merely examples and explanations of the structure of the present invention. The technicians in this technical field may make various modifications or additions to the specific embodiments described or replace them in a similar manner. As long as they do not deviate from the structure of the invention or exceed the scope defined by the claims, they should all fall within the protection scope of the present invention.

Claims

1. An unmanned boat cluster collaborative patrol management system, characterized in that: It includes an integrated management terminal and multiple unmanned ship control terminals that are connected to the integrated management terminal in communication, and the unmanned ship cluster is composed of multiple unmanned ships patrolling in different patrol areas; A plurality of unmanned boat control terminals are respectively installed on a plurality of unmanned boats to plan patrol routes of the unmanned boats according to the assigned patrol areas, control the unmanned boats to patrol in the patrol areas according to the planned patrol routes, detect and identify passing ships in the patrol areas, and when a suspicious ship that cannot be identified or does not pass is detected, a preset sound alarm is issued to notify the suspicious ship to stop for inspection, and the position coordinates of the suspicious ship are continuously recorded, and the driving direction and speed of the suspicious ship are monitored. If the suspicious ship stops within a preset time, a first warning signal containing the position coordinates of the suspicious ship is sent to the integrated management terminal; otherwise, the unmanned boat is controlled to follow the suspicious ship and a second warning signal containing the real-time position coordinates of the suspicious ship is continuously sent to the integrated management terminal; The integrated management terminal is installed in the command and management center to assign patrol areas to multiple unmanned ships according to the preset control area map. When the first warning signal sent by the unmanned ship control terminal is received, the coordinates of the parking position of the suspicious ship are obtained and sent to the inspectors, and the inspectors are notified to inspect the suspicious ship. When the second warning signal sent by the unmanned ship control terminal is received, the real-time position coordinates of the suspicious ship are continuously obtained, and the security personnel are notified to round up the suspicious ship. The integrated management terminal includes a map import module, an area allocation module and an intelligent scheduling module; The unmanned boat control terminal includes a map receiving module, a path planning module, a driving control module, a GPS positioning module, an ultrasonic ranging module, a coordinate calculation module, a timing module, a speed analysis module, an early warning module and a tracking management module; The map import module is used for the staff of the command and management center to import the preset control area map; The area allocation module divides the preset control area map into multiple patrol areas according to the number of unmanned ships and numbers each patrol area to obtain a patrol map, and sends the designated number and patrol map to the designated unmanned ship control terminal in sequence; A map receiving module is used to receive the designated number and patrol map output by the integrated management terminal and obtain the assigned patrol area; The path planning module randomly plans a patrol path that enables the unmanned ship control terminal to monitor the entire assigned patrol area according to the preset monitoring radius of the unmanned ship control terminal; A driving control module is used to control the unmanned boat to patrol along the patrol path planned by the path planning module; GPS positioning module, used to collect the position coordinates of the unmanned boat in real time, mark them on the patrol map, and upload them to the integrated management terminal in real time; The ultrasonic distance measurement module is used to continuously collect the distance data between the unmanned ship and the suspicious ship when the alarm management module receives the alarm signal; The coordinate calculation module calculates the position coordinates of the suspicious ship based on the position coordinates of the unmanned ship collected by the GPS positioning module, the distance data from the suspicious ship collected by the ultrasonic ranging module, and the installation orientation of the corresponding video acquisition module, and marks it on the patrol map; The timing module is used to start timing when the alarm management module receives an alarm signal; The speed analysis module analyzes and calculates the traveling direction and speed of the suspicious vessel according to the position coordinate changes of the suspicious vessel output by the coordinate calculation module within a unit time; The early warning module sends a first early warning signal to the integrated management terminal when the speed analysis module detects that the speed of the suspicious vessel drops to zero within a preset time. The first early warning signal includes a patrol map with the coordinates of the current positions of the unmanned vessel and the suspicious vessel marked; The tracking management module switches the unmanned boat to the tracking mode when the speed analysis module detects that the suspicious boat is still traveling at a certain speed after the preset time. According to the speed analysis module outputs the speed and direction of the suspicious boat, the tracking speed and tracking path of the unmanned boat are planned in real time, and the speed and direction are output to the driving control module to control the unmanned boat to follow the suspicious boat along the tracking path. At the same time, the early warning module continuously sends the second early warning signal to the integrated management terminal. The second early warning signal includes a patrol map with the real-time position coordinates of the unmanned boat and the suspicious boat marked; The intelligent scheduling module, when receiving the second warning signal, analyzes the route of the suspicious vessel according to the real-time position coordinates of the suspicious vessel and the speed and direction of the suspicious vessel, and predicts the position of the suspicious vessel at the next preset time node. If it is predicted that the suspicious vessel will leave the first patrol area of ​​the current unmanned vessel and enter the adjacent second patrol area at the next preset time node, a control instruction is output to control the current unmanned vessel to switch to patrol mode and continue patrolling along the planned patrol path. At the same time, a control instruction is output to control the unmanned vessel in the second patrol area to switch to tracking mode, plan a tracking path and start following the suspicious vessel along the tracking path.

2. The unmanned boat cluster collaborative patrol management system according to claim 1 is characterized in that: When the driving control module controls the unmanned boat to patrol along the planned patrol path and return to the initial position, the path planning module randomly plans a patrol path again that allows the unmanned boat control terminal to monitor the entire assigned patrol area, so that the patrol path of the unmanned boat is different each time.

3. The unmanned boat cluster collaborative patrol management system according to claim 1 is characterized in that: The unmanned ship control terminal includes a video acquisition module, an image preprocessing module, an image analysis module, an identity recognition module and a sound alarm module; The video acquisition module collects video image information on the water surface around the unmanned ship in real time through the camera installed on the side of the unmanned ship, and uploads it to the integrated management terminal in real time; An image preprocessing module, which preprocesses the images collected by the video acquisition module; The image analysis module compares and analyzes the pre-processed image with the preset images of ships / no ships on the water surface to determine whether there are other ships on the water surface. If there are other ships, a "ship detected" signal is output to the identity recognition module; The identity recognition module, when receiving the "vessel detected" signal, identifies the identity information of the vessel through a preset recognition method, and determines whether the vessel has the right of passage. If the vessel is identified as not having the right of passage, the vessel is marked as a suspicious vessel, and an alarm signal is sent to the alarm management module; The alarm management module, when receiving an alarm signal, blows the horn and issues a preset sound alarm to notify suspicious vessels to stop immediately and accept inspection.

4. The unmanned boat cluster collaborative patrol management system according to claim 3 is characterized in that: The preset recognition method includes the following steps: All vessels with access rights in the control area are registered in advance, and certificates with a predetermined time-limited access code are issued and placed at designated locations on the vessels. At the same time, the access code is updated to the identity recognition modules of all unmanned vessel control terminals; When the identification module receives the "vessel detected" signal, it scans the designated position of the vessel on the image and identifies the passcode placed at that position of the vessel; If the recognition result is that the person has permission to pass, no processing will be done; If the identification result shows that the passage authority has expired or cannot be identified, it means that the vessel has no passage authority and will be marked as a suspicious vessel.

5. The unmanned boat cluster collaborative patrol management system according to claim 1 is characterized in that: The integrated management terminal also includes a data receiving module, a communication module and a visual display module; A data receiving module is used to receive real-time position coordinates, video image information and warning signals uploaded by multiple unmanned ship control terminals. When a first warning signal is received, the coordinates of the suspicious ship's stopping position are obtained. When a second warning signal is received, the real-time position coordinates of the suspicious ship are continuously obtained. The communication module is used to communicate with the inspectors / security personnel. When the first warning signal is received, the coordinates of the suspicious vessel's parking position are sent to the inspectors to notify the inspectors to inspect the suspicious vessel. When the second warning signal is received, the real-time position coordinates of the suspicious vessel are continuously updated and sent to the security personnel to assist the security personnel in rounding up the suspicious vessel. The visualization display module uses a large screen to mark the real-time position coordinates of multiple unmanned ships on the patrol map for display, and displays the video image information collected by multiple unmanned ship control terminals in a split-screen manner.

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