Autonomous unmanned boat system and its application for in-situ counting and monitoring of sea cucumbers in pond aquaculture environment

Abstract

The invention relates to an autonomous unmanned boat system and application for in-situ counting and monitoring of sea cucumbers in a pond breeding environment, which belongs to the field of unmanned boats. In order to solve the problem of underwater shooting of unmanned boats, the key point is that the hull support frame is arranged between the first buoy and the second buoy; the telescopic rod includes a fixed rod of a certain height and a telescopic part, and the telescopic part is arranged at the lower end of the fixed rod, the telescopic rod is arranged on the hull support frame, the underwater data acquisition equipment is installed at the bottom end of the telescopic rod, and the telescopic rod includes a vertical state and a horizontal state; a folding quick-release mechanism is installed on the telescopic rod and the hull support frame to fix the telescopic rod in the vertical state or the horizontal state, so that the unmanned boat can take into account both underwater shooting stability and storage convenience.

Description

Technical Field

[0001] The present invention belongs to the field of unmanned boats, and relates to an autonomous unmanned boat system and application for in-situ counting and monitoring of sea cucumbers in a pond aquaculture environment. Background Art

[0002] The ocean is known as the "blue granary" for humans to obtain high-quality protein. With the construction of marine ranches and the rapid development of marine aquaculture, the annual output of sea cucumbers has been ranked first in the world for nearly 15 consecutive years, becoming an indispensable and important part of marine aquaculture. In recent years, the use of modern information technology and intelligent equipment to improve fishery productivity and aquatic resource utilization has promoted the development of marine smart aquaculture.

[0003] Many domestic and foreign research and applications are committed to improving the level of intelligence in aquaculture. For example, Jiang Xianliang and others designed a dynamic monitoring system for aquaculture water quality based on unmanned boats, and realized real-time monitoring of water quality through sensors and data acquisition equipment carried by unmanned boats. Zhao Siqi, Cui Xiufen and others developed a precise feeding system for pond aquaculture, using advanced control technology and sensor equipment to achieve precise feeding of fish, shrimps and crabs in aquaculture ponds. Tang Rong and others developed a fully automatic precise feeding system for pond aquaculture, combining automation technology and intelligent control algorithms to achieve fully automated precise feeding of fish in aquaculture ponds. Zhang Gang and others designed a distributed water quality monitoring system suitable for the recirculating water aquaculture mode of freshwater pearl oysters, and realized real-time monitoring and data collection of aquaculture water quality through multiple monitoring nodes. In addition, Huang Qiangqiang and others designed an underwater video transmission system based on LED, using LED technology to achieve high-definition video transmission of underwater environments. Chen Leilei and others designed an ecological aquaculture system for river crabs based on pond circulation and self-purification, and achieved efficient and environmentally friendly river crab aquaculture by optimizing the combination of pond environment and natural ecosystem. Xie Boyang designed a micro underwater robot for aquaculture. The robot is equipped with a camera and can shoot underwater videos by manually operating the robot. In recent years, deep learning-driven target detection algorithms have been developing rapidly, marking a new era of target detection. Deep learning has also been gradually applied to the field of agricultural breeding and widely used for identification and counting. For example, crops, shrimp seedlings, sea cucumbers, fish, etc.

[0004] However, although the unmanned boats of the prior art use telescopic rods as the fixing device for the camera, the telescopic rods can be extended when working on the water to control the extension of the telescopic rods so that the camera equipment can adjust the depth of entry into the water. However, the existing telescopic rods are mainly put into the water in two ways. One is to manually fix the telescopic rods separated from the hull, which is very easy to cause shaking, so that the clarity and accuracy of the collected images are affected. The other is to fix it on the hull. Since the telescopic rods must enter the water in a vertical state, if the fixing rods of the telescopic rods are too long, since they are always in a vertical state, it is difficult to automatically store them in the hull, which will cause a huge burden on the recovery of the camera equipment and the docking and maintenance of the unmanned boats. To this end, the existing technology can only reduce the length of the fixed rod, but if the fixed rod is too short, the part that enters the water depends entirely on the telescopic part, which requires the telescopic part to have a longer extension length. The existing telescopic devices mostly use a ring method, which results in the telescopic rod to have a very large diameter in order to remain stable during shooting in the water. The equipment is too large, too heavy and the cost is extremely high. In addition, an overly long telescopic part will cause the diameter of the rod body of the telescopic part that is fixed to the camera device to be too small, which will also cause jitter, affecting the clarity and accuracy of the captured image. Summary of the invention

[0005] In order to solve the problem of underwater shooting shaking caused by the short fixed rod and long telescopic part of the telescopic rod in the prior art due to storage considerations, so that storage and stable shooting cannot be achieved at the same time, the unmanned boat system of the present invention can use a fixed rod of a certain length for the telescopic rod used to fix the camera equipment, so that the part entering the water is not limited to the telescopic part of the telescopic rod, and it can still be easily stored.

[0006] An unmanned ship system according to some embodiments of the present application includes:

[0007] first floating body;

[0008] second floating body;

[0009] A hull support frame, arranged between the first buoy and the second buoy;

[0010] Underwater data acquisition equipment;

[0011] A telescopic rod, the telescopic rod comprising a fixed rod of a certain height and a telescopic part, and the telescopic part is arranged at the lower end of the fixed rod, the telescopic rod is arranged on the hull support frame, the underwater data acquisition device is installed at the bottom end of the telescopic rod, and the telescopic rod includes a vertical state and a horizontal state;

[0012] A folding quick-release mechanism is installed on the telescopic rod and the hull support frame to fix the telescopic rod in the vertical state or the horizontal state.

[0013] Beneficial effect: In the above example, the present invention uses a folding quick-release mechanism, with the cooperation of the first insertion slot, the first insertion fitting, the second insertion slot, the second insertion fitting, the rotating slot and the rotating fitting, so that the unmanned boat can perform underwater shooting tasks, and the second insertion slot and the second insertion fitting are quickly separated, and the telescopic rod is rotated from a horizontal state to a vertical state through the rotating slot and the rotating fitting, and the first insertion slot and the first insertion fitting are quickly fixed, so that the telescopic rod is fixed in a vertical state, and underwater shooting tasks can be performed.

[0014] When the unmanned boat completes the underwater shooting task, the first insertion slot component and the first insertion matching component are separated, and the telescopic rod is rotated from a vertical state to a horizontal state by rotating the slot component and the rotating matching component, and the second insertion slot component and the second insertion matching component are quickly fixed, so that the telescopic rod is fixed in a horizontal state to complete the storage.

[0015] In particular, the insert slot component and the insert matching component of the present invention clamp or separate the rear edge of the thickened portion from the edge of the first slot wall to each other front and back, thereby achieving quick separation and fixation. The structure has high fixing stability and is easy to assemble and disassemble, and can be quickly fixed or separated by simply clamping by hand.

[0016] In the above scheme, since the present invention realizes the rapid switching and fixing of the vertical state and the horizontal state of the telescopic rod, it is very convenient to store the telescopic rod, and a great deal of space saving is achieved. Under this scheme, the fixing rod of the telescopic rod can be allowed to use a longer rod, and the fixing rod can be used as the water entry part, so that the water entry length of the telescopic rod can be reduced. In this case, the diameter and weight of the telescopic rod can be reduced, the weight of the equipment can be reduced, and the cost can be reduced. In addition, the stability of underwater shooting can still be maintained.

[0017] Therefore, the present invention enables the unmanned boat to use the telescopic rod for underwater shooting, solves the dilemma of having to reduce shooting stability due to storage difficulties, and enables the unmanned boat to take into account both underwater shooting stability and storage convenience.

[0018] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 Schematic diagram of the first unmanned boat in the embodiment.

[0020] Figure 2 Schematic diagram of the first hull support frame in the embodiment.

[0021] Figure 3Schematic diagram of the second hull support frame in the embodiment.

[0022] Figure 4 It is a partial schematic diagram of the hull support frame in the embodiment.

[0023] Figure 5 It is a schematic diagram of the cooperation between the first insertion slot component and the first insertion matching component in the embodiment.

[0024] Figure 6 Schematic diagram of the cooperation between the rotating groove member and the rotating matching member in the embodiment.

[0025] Figure 7 Schematic diagram of the second unmanned boat in the embodiment.

[0026] Figure 8 It is the overall block diagram of the system.

[0027] Fig. 9 It is the overall link for data collection.

[0028] Fig.10 This is a schematic diagram of the inside of the control box.

[0029] Fig.11 It is the trajectory tracking control system structure.

[0030] Fig.12 This is a satellite image of the scene.

[0031] Fig.13 It is the on-site environment of the sea cucumber circle.

[0032] Fig.14 It is a system on-site work.

[0033] Fig.15 It is a stable test trajectory diagram.

[0034] Fig.16 It is the yaw angle change diagram.

[0035] Fig.17 It is the relationship diagram of underwater propeller speed-thrust.

[0036] Fig.18 It is the power-thrust relationship diagram of underwater propeller.

[0037] Fig.19 It is a curve chart of the set route and the actual route.

[0038] Fig. 20 This is a picture of the sonar calibration experiment.

[0039] Fig.21 This is the result of shooting at a fixed height.

[0040] Fig. 22 It is a diagram of the human-computer interaction platform.

[0041] Fig.23 It is a picture of collecting sea cucumber images.

[0042] Reference numerals:

[0043] 100. The first floating body.

[0044] 200. The second floating body.

[0045] 300. Hull support frame, 310. First longitudinal connecting rod, 320. Second longitudinal connecting rod, 330. Third longitudinal connecting rod, 340. Fourth longitudinal connecting rod, 350. First transverse connecting rod, 360. Second transverse connecting rod, 370. Third transverse connecting rod, 380. Fourth transverse connecting rod, 390. Fifth transverse connecting rod, 3100. Right-angle profile fixing member, 3110. Sharp-angle profile fixing member, 3120. Support plate, 3130. Upper shooting support.

[0046] 400. Telescopic rod.

[0047] 500. Folding quick-release mechanism, 510. Special-shaped support frame, 520. First plug-in slot component, 530. First plug-in matching component, 540. Second plug-in matching component, 550. Rotating slot component, 560. Rotating matching component.

[0048] 600. Mesh cover device.

[0049] 700. Fixings for underwater equipment. DETAILED DESCRIPTION

[0050] Embodiments of the present application are described in detail below with reference to the accompanying drawings, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions.

[0051] An unmanned boat system includes a first floating body 100, a second floating body 200, a boat support frame 300, an underwater data acquisition device, a telescopic rod 400, and a folding quick-release mechanism 500. Among them:

[0052] Underwater data collection equipment, including GoPro cameras, high-definition cameras, sonar, and depth sensors.

[0053] The telescopic rod 400 includes a fixed rod of a certain height and a telescopic part, and the telescopic part is arranged at the lower end of the fixed rod. The telescopic rod 400 is arranged on the hull support frame 300, and the camera is installed at the bottom end of the telescopic rod 400. The telescopic rod 400 includes a vertical state and a horizontal state. An underwater device fixing part 700 is arranged at the lower end of the rod of the telescopic structure, and a sonar and a first camera device are arranged at the front end of the shell of the underwater device fixing part 700. The underwater device fixing part 700 is formed into a lower opening, and a second camera device is arranged at the front end of the opening, and a third camera device is arranged at the rear end of the opening. The camera of the second camera device is arranged forward and downward, and the lens of the third camera is arranged downward. A depth sensor is also arranged on the shell of the underwater device fixing part 700.

[0054] The hull support frame 300 includes a first longitudinal connecting rod 310, a second longitudinal connecting rod 320, a first transverse connecting rod 350, a second transverse connecting rod 360, a third transverse connecting rod 370, a fourth transverse connecting rod 380, a fifth transverse connecting rod 390, a third longitudinal connecting rod 330 and a fourth longitudinal connecting rod 330. Preferably, the first longitudinal connecting rod 310 is provided with a plurality of clamps along the axial direction of the floating body, the first floating body 100 is fixed by the clamps, and the first longitudinal connecting rod 310 is fixed to the upper part of the first floating body 100, the second longitudinal connecting rod 320 is provided with a plurality of clamps along the axial direction of the floating body, the second floating body 200 is fixed by the clamps, and the second longitudinal connecting rod 320 is fixed to the second floating body 200. Preferably, the lower clamp on the first float 100 is connected to the waterproof grass mesh device 600, and the mesh device 600 is formed in the shape of a quadrangular pyramid, the bottom surface of the quadrangular pyramid is arranged in the horizontal direction and is formed to be open, and a water outlet is arranged on the side panel of the quadrangular pyramid.

[0055] The folding quick-release mechanism 500 is installed on the telescopic rod 400 and the hull support frame 300 to fix the telescopic rod 400 in the vertical state or the horizontal state. The folding quick-release mechanism 500 includes a special-shaped support frame 510, a first plug-in slot 520, a first plug-in fitting piece 530, a second plug-in slot, a second plug-in fitting piece 540, a rotating slot 550 and a rotating fitting piece 560, wherein: the first plug-in slot 520 is arranged on the telescopic rod 400 and is arranged above the rotating slot 550, the first plug-in fitting piece 530 is arranged on the special-shaped support frame 510, the special-shaped support frame 510 is arranged on the first transverse connecting rod 350 and the third transverse connecting rod 370, the rotating slot 550 is arranged on the telescopic rod 400 and is arranged above the second plug-in slot, the rotating fitting piece 560 is arranged on the first transverse connecting rod 350, the second plug-in slot is arranged on the telescopic rod 400, and the second plug-in fitting piece 540 is arranged on the fourth transverse connecting rod 380. The telescopic rod 400 is in a first state of being arranged up and down, the first insertion groove 520 is separated from the first insertion fitting 530 arranged on the first transverse connecting rod 350 and the third transverse connecting rod 370, so that the rotating groove 550 rotates downward around the rotating fitting 560 on the first transverse connecting rod 350, so that the telescopic rod 400 rotates clockwise, so that the telescopic rod 400 above the rotating groove 550 rotates to be horizontally forward, and the telescopic rod 400 below the rotating groove 550 rotates to be horizontally backward in the second state, the second insertion groove arranged on the telescopic rod 400 below the rotating groove 550 is engaged with the second insertion fitting 540 on the fourth transverse connecting rod 380 to fix the horizontal state of the telescopic rod 400 for storage. The telescopic rod 400 is in the second state of horizontal arrangement, and the second insertion groove is separated from the second insertion fitting 540 on the fourth transverse connecting rod 380, so that the rotating groove 550 rotates upward around the movable fitting on the first transverse connecting rod 350, so that the telescopic rod 400 rotates counterclockwise, so that the telescopic rod 400 above the rotating groove 550 rotates vertically upward, and the telescopic rod 400 below the rotating groove 550 rotates to the first state of vertically downward, and the first insertion groove 520 on the telescopic rod 400 above the rotating groove 550 is engaged and clamped with the first insertion fitting 530 on the first transverse connecting rod 350 and the third transverse connecting rod 370 to fix the vertical state of the telescopic rod 400 for shooting.

[0056] In the above example, the present invention uses a folding quick-release mechanism 500, and cooperates with the first inserting slot 520, the first inserting fitting 530, the second inserting slot, the second inserting fitting 540, the rotating slot 550 and the rotating fitting 560 to perform underwater shooting tasks on an unmanned boat, and quickly separates the second inserting slot and the second inserting fitting 540, and rotates the slot 550 and the rotating fitting 560 to rotate the telescopic rod from a horizontal state to a vertical state, and quickly fixes the first inserting slot 520 and the first inserting fitting 530, so that the telescopic rod is fixed in a vertical state, and underwater shooting tasks can be performed.

[0057] When the unmanned boat completes the underwater shooting task, the first inserting slot component 520 and the first inserting fitting component 530 are separated, and the telescopic rod is rotated from a vertical state to a horizontal state by rotating the slot component 550 and the rotating fitting component 560, and the second inserting slot component and the second inserting fitting component 540 are quickly fixed, so that the telescopic rod is fixed in a horizontal state to complete the storage.

[0058] In particular, the insert slot component and the insert matching component of the present invention clamp or separate the rear edge of the thickened portion from the edge of the first slot wall to each other front and back, thereby achieving quick separation and fixation. The structure has high fixing stability and is easy to assemble and disassemble, and can be quickly fixed or separated by simply clamping by hand.

[0059] In the above scheme, since the present invention realizes the rapid switching and fixing of the vertical state and the horizontal state of the telescopic rod, it is very convenient to store the telescopic rod, and a great deal of space saving is achieved. Under this scheme, the fixing rod of the telescopic rod can be allowed to use a longer rod, and the fixing rod can be used as the water entry part, so that the water entry length of the telescopic rod can be reduced. In this case, the diameter and weight of the telescopic rod can be reduced, the weight of the equipment can be reduced, and the cost can be reduced. In addition, the stability of underwater shooting can still be maintained.

[0060] In a specific example, the first longitudinal connecting rod 310 of the hull support frame 300 is longitudinally arranged on the first floating body 100 along the axial direction of the first floating body 100 .

[0061] The second longitudinal connecting rod 320 is longitudinally disposed on the second floating body 200 along the axial direction of the second floating body 200 .

[0062] The first transverse connecting rod 350 is transversely disposed between the first ends of the first longitudinal connecting rod 310 and the second longitudinal connecting rod 320 , and the first transverse connecting rod 350 is disposed between the upper surfaces of the first longitudinal connecting rod 310 and the second longitudinal connecting rod 320 .

[0063] The second transverse connecting rod 360 is transversely disposed between the first longitudinal connecting rod 310 and the second longitudinal connecting rod 320 , and the second transverse connecting rod 360 is disposed between the opposite inner surfaces of the first longitudinal connecting rod 310 and the second longitudinal connecting rod 320 .

[0064] The third transverse connecting rod 370 is transversely disposed between the first longitudinal connecting rod 310 and the second longitudinal connecting rod 320 , and the third transverse connecting rod 370 is disposed between the upper surfaces of the first longitudinal connecting rod 310 and the second longitudinal connecting rod 320 .

[0065] The fourth transverse connecting rod 380 is transversely disposed between the first longitudinal connecting rod 310 and the second longitudinal connecting rod 320 , and the fourth transverse connecting rod 380 is disposed between the opposite inner surfaces of the first longitudinal connecting rod 310 and the second longitudinal connecting rod 320 .

[0066] The fifth transverse connecting rod 390 is transversely disposed between the second ends of the first longitudinal connecting rod 310 and the second longitudinal connecting rod 320 , and the fifth transverse connecting rod 390 is disposed between the upper surfaces of the first longitudinal connecting rod 310 and the second longitudinal connecting rod 320 .

[0067] The third longitudinal connecting rod 330 has a first end portion disposed at a first end section of the first transverse connecting rod 350 , a second end portion disposed at a first end section of the fifth transverse connecting rod 390 , and a middle section disposed at a first end section of the third transverse connecting rod 370 .

[0068] The fourth longitudinal connecting rod 340 has a first end portion disposed at the second end section of the first transverse connecting rod 350 , a second end portion disposed at the second end section of the fifth transverse connecting rod 390 , and a middle section disposed at the second end section of the third transverse connecting rod 370 .

[0069] The first longitudinal connecting rod 310 and the second longitudinal connecting rod 320 are arranged in parallel along the axial direction.

[0070] The rod axes of the first transverse connecting rod 350 , the second transverse connecting rod 360 , the third transverse connecting rod 370 , the fourth transverse connecting rod 380 , and the fifth transverse connecting rod 390 are arranged in parallel along the longitudinal direction.

[0071] Among them, the third transverse connecting rod 370 is longitudinally arranged between the first transverse connecting rod 350 and the fifth connecting rod, the second transverse connecting rod 360 is longitudinally arranged between the first transverse connecting rod 350 and the fourth connecting rod, and the fourth connecting rod is longitudinally arranged between the third connecting rod and the fifth connecting rod.

[0072] Among them, the rod axes of the third longitudinal connecting rod 330 and the fourth longitudinal connecting rod 340 are arranged in parallel along the transverse direction, and the third longitudinal connecting rod 330 is arranged between the first longitudinal connecting rod 310 and the second longitudinal connecting rod 320 and above one side close to the first longitudinal connecting rod 310, and the fourth longitudinal connecting rod 340 is arranged between the first longitudinal connecting rod 310 and the second longitudinal connecting rod 320 and above one side close to the second longitudinal connecting rod 320.

[0073] The hull support frame 300 also includes a right-angle profile fixing part 3100 and an acute-angle profile fixing part 3110, wherein the right-angle profile fixing part 3100 includes a rectangular vertical surface, a rectangular transverse surface and a triangular connecting surface, the first side edge of the rectangular vertical surface is connected to the first side edge of the rectangular transverse surface via a first triangular connecting surface, the second side edge of the rectangular vertical surface is connected to the second side edge of the rectangular transverse surface via a second triangular connecting surface, and the rectangular vertical surface and the rectangular transverse surface are provided with connecting holes.

[0074] The sharp-angle profile fixing piece 3110 includes two rectangular angular surfaces and a connecting surface. The inner sides of the two rectangular angular surfaces are opposite to each other and formed into a sharp angle. The two rectangular angular surfaces are connected by at least one connecting surface. A connecting hole is provided on each of the two rectangular angular surfaces.

[0075] The hull support frame 300, wherein: the first end of the first transverse connecting rod 350 is fixed to the upper surface of the first end of the first longitudinal connecting rod 310 through a right-angle profile fixing piece 3100, the end surface of the first end of the first transverse connecting rod 350 is fixed to the rectangular vertical surface of the right-angle profile fixing piece 3100, and the upper surface of the first end of the first longitudinal connecting rod 310 is fixed to the rectangular transverse surface of the right-angle profile fixing piece 3100. The second end of the first transverse connecting rod 350 is fixed to the upper surface of the first end of the second longitudinal connecting rod 320 through a right-angle profile fixing piece 3100, the end surface of the second end of the first transverse connecting rod 350 is fixed to the rectangular vertical surface of the right-angle profile fixing piece 3100, and the upper surface of the first end of the second longitudinal connecting rod 320 is fixed to the rectangular transverse surface of the right-angle profile fixing piece 3100.

[0076] The first end of the second transverse connecting rod 360 is fixed to the inner surface of the first longitudinal connecting rod 310 via a right-angle profile fixing piece 3100, one side of the first end of the second transverse connecting rod 360 is fixed to the rectangular vertical surface of the right-angle profile fixing piece 3100, and the inner surface of the first longitudinal connecting rod 310 is fixed to the rectangular transverse surface of the right-angle profile fixing piece 3100. The second end of the second transverse connecting rod 360 is fixed to the inner surface of the second longitudinal connecting rod 320 via a right-angle profile fixing piece 3100, one side of the second end of the second transverse connecting rod 360 is fixed to the rectangular vertical surface of the right-angle profile fixing piece 3100, and the inner surface of the second longitudinal connecting rod 320 is fixed to the rectangular transverse surface of the right-angle profile fixing piece 3100.

[0077] Among them, the inner surface of the first end of the first longitudinal connecting rod 310 and the outer surface of the first end side of the second transverse connecting rod 360 are fixed by an inclined reinforcing fixing rod, the first end of the inclined reinforcing fixing rod is connected to the inner surface of the first end of the first longitudinal connecting rod 310, and the second end of the inclined reinforcing fixing rod is connected to the outer surface of the first end side of the second transverse connecting rod 360.

[0078] Among them, an acute-angle profile fixing piece 3110 is arranged in the angle formed between the inner surface of the first end of the first longitudinal connecting rod 310 and the inner surface of the inclined reinforcing fixing rod, the inner surface of the first end of the first longitudinal connecting rod 310 is fixed to a rectangular angular surface of the acute-angle profile fixing piece 3110, and the inner surface of the inclined reinforcing fixing rod is fixed to another rectangular angular surface of the acute-angle profile fixing piece 3110.

[0079] Among them, an acute-angle profile fixing member 3110 is arranged in the angle formed between the outer surface of the first end side of the second transverse connecting rod 360 and the inner surface of the inclined reinforcing fixing rod, the outer surface of the first end side of the second transverse connecting rod 360 is fixed to a rectangular angular surface of the acute-angle profile fixing member 3110, and the inner surface of the inclined reinforcing fixing rod is fixed to another rectangular angular surface of the acute-angle profile fixing member 3110.

[0080] Among them, the inner surface of the first end of the second longitudinal connecting rod 320 and the outer surface of the second end side of the second transverse connecting rod 360 are fixed by an inclined reinforcing fixing rod, the first end of the inclined reinforcing fixing rod is connected to the inner surface of the first end of the second longitudinal connecting rod 320, and the second end of the inclined reinforcing fixing rod is connected to the outer surface of the second end side of the second transverse connecting rod 360.

[0081] Among them, an acute-angle profile fixing piece 3110 is arranged in the angle formed between the inner surface of the first end of the second longitudinal connecting rod 320 and the inner surface of the inclined reinforcing fixing rod, the inner surface of the first end of the second longitudinal connecting rod 320 is fixed to a rectangular angular surface of the acute-angle profile fixing piece 3110, and the inner surface of the inclined reinforcing fixing rod is fixed to another rectangular angular surface of the acute-angle profile fixing piece 3110.

[0082] Among them, an acute-angle profile fixing piece 3110 is arranged in the angle formed between the outer surface of the second end side of the second transverse connecting rod 360 and the inner surface of the inclined reinforcing fixing rod, the outer surface of the second end side of the second transverse connecting rod 360 is fixed to a rectangular angular surface of the acute-angle profile fixing piece 3110, and the inner surface of the inclined reinforcing fixing rod is fixed to another rectangular angular surface of the acute-angle profile fixing piece 3110.

[0083] The first end of the third transverse connecting rod 370 is fixed to the upper surface of the middle section of the first longitudinal connecting rod 310 through a right-angle profile fixing piece 3100, the end surface of the first end of the third transverse connecting rod 370 is fixed to the rectangular vertical surface of the right-angle profile fixing piece 3100, and the upper surface of the middle section of the first longitudinal connecting rod 310 is fixed to the rectangular transverse surface of the right-angle profile fixing piece 3100. The second end of the third transverse connecting rod 370 is fixed to the upper surface of the middle section of the second longitudinal connecting rod 320 through a right-angle profile fixing piece 3100, the end surface of the second end of the third transverse connecting rod 370 is fixed to the rectangular vertical surface of the right-angle profile fixing piece 3100, and the upper surface of the middle section of the second longitudinal connecting rod 320 is fixed to the rectangular transverse surface of the right-angle profile fixing piece 3100.

[0084] The first end of the fourth transverse connecting rod 380 is fixed to the inner surface of the first longitudinal connecting rod 310 via a right-angle profile fixing piece 3100, one side of the first end of the fourth transverse connecting rod 380 is fixed to the rectangular vertical surface of the right-angle profile fixing piece 3100, and the inner surface of the first longitudinal connecting rod 310 is fixed to the rectangular transverse surface of the right-angle profile fixing piece 3100. The second end of the fourth transverse connecting rod 380 is fixed to the inner surface of the second longitudinal connecting rod 320 via a right-angle profile fixing piece 3100, one side of the second end of the fourth transverse connecting rod 380 is fixed to the rectangular vertical surface of the right-angle profile fixing piece 3100, and the inner surface of the second longitudinal connecting rod 320 is fixed to the rectangular transverse surface of the right-angle profile fixing piece 3100.

[0085] Among them, the inner surface of the second end of the first longitudinal connecting rod 310 and the outer surface of the first end side of the fourth transverse connecting rod 380 are fixed by an inclined reinforcing fixing rod, the first end of the inclined reinforcing fixing rod is connected to the inner surface of the second end of the first longitudinal connecting rod 310, and the second end of the inclined reinforcing fixing rod is connected to the outer surface of the first end side of the fourth transverse connecting rod 380.

[0086] Among them, an acute-angle profile fixing piece 3110 is arranged in the angle formed between the inner surface of the second end of the first longitudinal connecting rod 310 and the inner surface of the inclined reinforcing fixing rod, the inner surface of the second end of the first longitudinal connecting rod 310 is fixed to a rectangular angular surface of the acute-angle profile fixing piece 3110, and the inner surface of the inclined reinforcing fixing rod is fixed to another rectangular angular surface of the acute-angle profile fixing piece 3110.

[0087] Among them, an acute-angle profile fixing member 3110 is arranged in the angle formed between the outer surface of the first end side of the fourth transverse connecting rod 380 and the inner surface of the inclined reinforcing fixing rod, the outer surface of the first end side of the fourth transverse connecting rod 380 is fixed to a rectangular angular surface of the acute-angle profile fixing member 3110, and the inner surface of the inclined reinforcing fixing rod is fixed to another rectangular angular surface of the acute-angle profile fixing member 3110.

[0088] Among them, the inner surface of the second end of the second longitudinal connecting rod 320 and the outer surface of the second end side of the fourth transverse connecting rod 380 are fixed by an inclined reinforcing fixing rod, the first end of the inclined reinforcing fixing rod is connected to the inner surface of the second end of the second longitudinal connecting rod 320, and the second end of the inclined reinforcing fixing rod is connected to the outer surface of the second end side of the second transverse connecting rod 360.

[0089] Among them, an acute-angle profile fixing piece 3110 is arranged in the angle formed between the inner surface of the second end of the second longitudinal connecting rod 320 and the inner surface of the inclined reinforcing fixing rod, the inner surface of the second end of the second longitudinal connecting rod 320 is fixed to a rectangular angular surface of the acute-angle profile fixing piece 3110, and the inner surface of the inclined reinforcing fixing rod is fixed to another rectangular angular surface of the acute-angle profile fixing piece 3110.

[0090] Among them, an acute-angle profile fixing member 3110 is arranged in the angle formed between the outer surface of the second end side of the fourth transverse connecting rod 380 and the inner surface of the inclined reinforcing fixing rod, the outer surface of the second end side of the fourth transverse connecting rod 380 is fixed to a rectangular angular surface of the acute-angle profile fixing member 3110, and the inner surface of the inclined reinforcing fixing rod is fixed to another rectangular angular surface of the acute-angle profile fixing member 3110.

[0091] The first end of the fifth transverse connecting rod 390 is fixed to the upper surface of the second end of the first longitudinal connecting rod 310 through a right-angle profile fixing piece 3100, the end surface of the first end of the fifth transverse connecting rod 390 is fixed to the rectangular vertical surface of the right-angle profile fixing piece 3100, and the upper surface of the second end of the first longitudinal connecting rod 310 is fixed to the rectangular transverse surface of the right-angle profile fixing piece 3100. The second end of the fifth transverse connecting rod 390 is fixed to the upper surface of the second end of the second longitudinal connecting rod 320 through a right-angle profile fixing piece 3100, the end surface of the second end of the fifth transverse connecting rod 390 is fixed to the rectangular vertical surface of the right-angle profile fixing piece 3100, and the upper surface of the second end of the second longitudinal connecting rod 320 is fixed to the rectangular transverse surface of the right-angle profile fixing piece 3100.

[0092] The lower surface of the first end of the third longitudinal connecting rod 330 is fixed to the upper surface of the first end section of the first transverse connecting rod 350 through a right-angle profile fixing piece 3100, one side surface of the first end of the third longitudinal connecting rod 330 is fixed to the rectangular vertical surface of the right-angle profile fixing piece 3100, and the upper surface of the first end section of the first transverse connecting rod 350 is fixed to the rectangular transverse surface of the right-angle profile fixing piece 3100. The lower surface of the second end of the third longitudinal connecting rod 330 is fixed to the upper surface of the first end section of the fifth transverse connecting rod 390 through a right-angle profile fixing piece 3100, one side surface of the second end of the third longitudinal connecting rod 330 is fixed to the rectangular vertical surface of the right-angle profile fixing piece 3100, and the upper surface of the first end section of the fifth transverse connecting rod 390 is fixed to the rectangular transverse surface of the right-angle profile fixing piece 3100.

[0093] The lower surface of the first end of the fourth longitudinal connecting rod 340 is fixed to the upper surface of the second end section of the first transverse connecting rod 350 through a right-angle profile fixing piece 3100, one side surface of the first end of the fourth longitudinal connecting rod 340 is fixed to the rectangular vertical surface of the right-angle profile fixing piece 3100, and the upper surface of the second end section of the first transverse connecting rod 350 is fixed to the rectangular transverse surface of the right-angle profile fixing piece 3100. The lower surface of the second end of the fourth longitudinal connecting rod 340 is fixed to the upper surface of the second end section of the fifth transverse connecting rod 390 through a right-angle profile fixing piece 3100, one side surface of the second end of the fourth longitudinal connecting rod 340 is fixed to the rectangular vertical surface of the right-angle profile fixing piece 3100, and the upper surface of the second end section of the fifth transverse connecting rod 390 is fixed to the rectangular transverse surface of the right-angle profile fixing piece 3100.

[0094] In one example, the hull support frame 300 also includes a support plate 3120, and the support plate 3120 includes a first support plate 3120, a second support plate 3120, a third support plate 3120 and a fourth support plate 3120. The support plate 3120 includes a transverse support plate, a first vertical support plate, a second vertical support plate, a first inclined plate and a second inclined plate. The first end of the transverse support plate is connected to the first inclined plate, and the second end is connected to the second inclined plate. The first inclined plate is inclined outward and downward, and the second inclined plate is inclined outward and downward. The lower end of the first inclined plate is connected to the first vertical support plate, and the lower end of the second inclined plate is connected to the second vertical support plate.

[0095] The inner side of the plate surface at the lower end of the first vertical support plate is fixed to the side of the third longitudinal connecting rod 330 close to the first longitudinal connecting rod 310 through a right-angle profile fixing piece 3100, the inner side of the plate surface at the lower end of the first vertical support plate is fixed to the rectangular vertical surface of the right-angle profile fixing piece 3100, and the upper surface of the third longitudinal connecting rod 330 is fixed to the rectangular horizontal surface of the right-angle profile fixing piece 3100. The inner side of the plate surface at the lower end of the second vertical support plate is fixed to the side of the fourth longitudinal connecting rod 340 close to the second longitudinal connecting rod 320 through a right-angle profile fixing piece 3100, the inner side of the plate surface at the lower end of the second vertical support plate is fixed to the rectangular vertical surface of the right-angle profile fixing piece 3100, and the upper surface of the fourth longitudinal connecting rod 340 is fixed to the rectangular horizontal surface of the right-angle profile fixing piece 3100.

[0096] Wherein, the supporting plate 3120 supports equipment, and the equipment includes a control device and a signal transmission device.

[0097] The hull support frame 300 also includes an upper shooting pillar 3130, the upper surface of the second end of the first longitudinal connecting rod 310 and the lower surface of the upper shooting pillar 3130 are fixed via a right-angle profile fixing member 3100, the upper surface of the second end of the first longitudinal connecting rod 310 is fixed to the rectangular horizontal surface of the right-angle profile fixing member 3100, and the front surface of the upper shooting pillar 3130 is fixed to the rectangular vertical surface of the right-angle profile fixing member 3100.

[0098] The upper surface of the first longitudinal connecting rod 310 is fixed to the lower surface of the upper shooting support 3130 via an inclined reinforcing fixing rod, the first end of the inclined reinforcing fixing rod is connected to the rear surface of the upper shooting support 3130, and the second end of the inclined reinforcing fixing rod is connected to the upper surface of the first longitudinal connecting rod 310.

[0099] Among them, an acute-angle profile fixing piece 3110 is arranged in the angle formed between the upper surface of the first longitudinal connecting rod 310 and the inner surface of the inclined reinforcing fixing rod, the upper surface of the first longitudinal connecting rod 310 is fixed to a rectangular angular surface of the acute-angle profile fixing piece 3110, and the inner surface of the inclined reinforcing fixing rod is fixed to another rectangular angular surface of the acute-angle profile fixing piece 3110.

[0100] The sharp-angle profile fixing part 3110 is arranged in the angle formed between the rear surface of the upper shooting support 3130 and the inner surface of the inclined reinforcing fixing rod, the rear surface of the upper shooting support 3130 is fixed to one rectangular angular surface of the sharp-angle profile fixing part 3110, and the inner surface of the inclined reinforcing fixing rod is fixed to another rectangular angular surface of the sharp-angle profile fixing part 3110. The camera is arranged at the top of the upper shooting support 3130.

[0101] In one example, the special-shaped support frame 510 in the folding quick-release mechanism includes a first support rod, a second support rod, a third support rod and a fourth support rod.

[0102] The first insertion slot 520 includes a first slot with a notch and a second slot with a notch. The notches of the first slot and the second slot are relatively formed into notches that match the telescopic rod 400. The telescopic rod 400 passes through the notch in the axial direction of the telescopic rod 400. The first insertion slot 520 is fixed to the telescopic rod 400 by the notch. A first plate is arranged on the back of the first slot. The distance between the front end face and the rear end face of the first plate gradually increases from the top and bottom to the middle. A first protrusion is formed in the middle of the first plate, and the first protrusion has a first thickened portion on its outer side. A second plate is arranged on the back of the second slot. The distance between the front end face and the rear end face of the second plate gradually increases from the top and bottom to the middle. A second protrusion is formed in the middle of the second plate, and the second protrusion has a second thickened portion on its outer side. The lateral distance between the first protrusion and the second protrusion is the first distance.

[0103] The first plug-in fitting 530 includes a first fitting and a second fitting. The first fitting forms a first fitting groove, the first fitting groove has a first front end groove wall and a first groove wall through hole provided on the first front end groove wall, and the groove wall edge on the outer side of the first front end groove wall where the first groove wall through hole is located is the first groove wall edge. The second fitting forms a second fitting groove, the second fitting groove has a second front end groove wall and a second groove wall through hole provided on the second front end groove wall, and the groove wall edge on the outer side of the second front end groove wall where the second groove wall through hole is located is the second groove wall edge. The lateral distance between the first front end groove wall and the second front end groove wall is the second distance.

[0104] Wherein, the first distance is greater than the second distance, so that the first plate and the second plate are pressed by external force to be close to each other and inserted into the first slot wall through hole and the second slot wall through hole, and the first plate and the second plate lose external force and separate in the direction away from each other, so that the first outer protrusion is clamped with the first slot wall edge at the rear edge of the first thickened portion of the outer side surface of the first outer protrusion, and the first front end slot wall prevents the first thickened portion of the first outer protrusion of the first plate from being separated from the first slot wall through hole. The second outer protrusion is clamped with the second slot wall edge at the rear edge of the second thickened portion of the outer side surface of the second outer protrusion, and the second front end slot wall prevents the second outer protrusion of the second plate from being separated from the second slot wall through hole.

[0105] The first plate and the second plate are pressed against each other by external force, and the first outer protrusion of the first plate is separated from the edge of the first groove wall in front and back at the rear edge of the first thickened portion of the outer side surface, so that the first outer protrusion of the first plate is separated from the first groove wall through hole. The second outer protrusion of the second plate is separated from the edge of the second groove wall in front and back at the rear edge of the second thickened portion of the outer side surface, so that the second outer protrusion of the second plate is separated from the second groove wall through hole.

[0106] The first support rod is arranged on the outer side of the first matching piece and is tilted outward and downward, and the bottom of the first support rod is fixed to the first transverse connecting rod 350. The second support rod is arranged on the outer side of the second matching piece and is tilted outward and downward, and the bottom of the second support rod is fixed to the first transverse connecting rod 350. The third support rod is arranged on the back side of the first matching piece and is tilted backward and downward, and the bottom of the third support rod is fixed to the third transverse connecting rod 370. The fourth support rod is arranged on the back side of the second matching piece and is tilted backward and downward, and the bottom of the fourth support rod is fixed to the third transverse connecting rod 370.

[0107] The rotating groove member 550 includes a first groove member with a notch and a second groove member with a notch. The notches of the first groove member and the second groove member are relatively formed into notches that cooperate with the telescopic rod 400. The telescopic rod 400 passes through the notch in the axial direction of the telescopic rod 400. The rotating groove member 550 cooperates with the telescopic rod 400 through the notch and is fixed to the telescopic rod 400. A first plate member is arranged on the back of the first groove member, and the distance between the front end face and the rear end face of the first plate member gradually decreases from top to bottom. A second plate member is arranged on the back of the second groove member, and the distance between the front end face and the rear end face of the second plate member gradually decreases from top to bottom. A first accommodation space is formed between the first plate member and the second plate member.

[0108] The rotating fitting member 560 is formed as a semicircular cylinder, and a first receiving groove is provided in the rectangular plane of the cylinder along the axial direction of the cylinder, and the first transverse connecting rod 350 passes through the first receiving groove along the axial direction of the rod, and the groove walls on both sides of the first receiving groove along the axial direction of the cylinder are fixed to the first transverse connecting rod 350 passing through the first receiving groove, and the cylinder below the groove bottom surface of the first receiving groove is provided with a first semicircular groove and a second semicircular groove at intervals along the axial direction of the cylinder, and a first shaft fixed in the cylinder is provided along the axis of the cylinder, and the first shaft passes through the first semicircular groove and the second semicircular groove. The first plate of the rotating groove member 550 is provided in the first semicircular groove, and the first plate is provided with an opening matching the first shaft so that the first plate is connected to the first shaft in the first semicircular groove so as to be able to rotate around the first shaft. The second plate member of the rotating groove member 550 is arranged in the second semicircular groove, and the second plate member is arranged to cooperate with the opening of the first axis so that the second plate member is connected to the first axis in the second semicircular groove so as to be able to rotate around the first axis, and the column part between the first circular groove and the second semicircular groove is arranged in the first accommodating space formed between the first plate member and the second plate member.

[0109] The second insertion slot member includes a first slot member with a notch and a second slot member with a notch. The notches of the first slot member and the second slot member are relatively formed into notches that cooperate with the telescopic rod 400. The telescopic rod 400 passes through the notch axially of the telescopic rod 400. The first insertion slot member 520 cooperates with the telescopic rod 400 and is fixed to the telescopic rod 400 through the notch. A first plate member is arranged on the back of the first slot member. The distance between the front end face and the rear end face of the first plate member gradually increases from top and bottom to the middle. A first outer protrusion is formed in the middle of the first plate member, and the first outer protrusion has a first thickened portion on its outer side surface. A second plate member is arranged on the back of the second slot member. The distance between the front end face and the rear end face of the second plate member gradually increases from top and bottom to the middle. A second outer protrusion is formed in the middle of the second plate member, and the second outer protrusion has a second thickened portion on its outer side surface. The lateral distance between the first outer protrusion and the second outer protrusion is a first distance

[0110] The second plug-in fitting 540 includes a first fitting and a second fitting. The first fitting forms a first fitting groove, the first fitting groove has a first front end groove wall and a first groove wall through hole provided on the first front end groove wall, and the groove wall edge on the outer side of the first front end groove wall where the first groove wall through hole is located is the first groove wall edge. The second fitting forms a second fitting groove, the second fitting groove has a second front end groove wall and a second groove wall through hole provided on the second front end groove wall, and the groove wall edge on the outer side of the second front end groove wall where the second groove wall through hole is located is the second groove wall edge. The lateral distance between the first front end groove wall and the second front end groove wall is the second distance.

[0111] Wherein, the first distance is greater than the second distance, so that the first plate and the second plate are pressed by external force to be close to each other and inserted into the first slot wall through hole and the second slot wall through hole, and the first plate and the second plate lose external force and separate in the direction away from each other, so that the first outer protrusion is clamped with the first slot wall edge at the rear edge of the first thickened portion of the outer side surface of the first outer protrusion, and the first front end slot wall prevents the first thickened portion of the first outer protrusion of the first plate from being separated from the first slot wall through hole. The second outer protrusion is clamped with the second slot wall edge at the rear edge of the second thickened portion of the outer side surface of the second outer protrusion, and the second front end slot wall prevents the second outer protrusion of the second plate from being separated from the second slot wall through hole.

[0112] The first plate and the second plate are pressed against each other by external force, and the first outer protrusion of the first plate is separated from the edge of the first groove wall in front and back at the rear edge of the first thickened portion of the outer side surface, so that the first outer protrusion of the first plate is separated from the first groove wall through hole. The second outer protrusion of the second plate is separated from the edge of the second groove wall in front and back at the rear edge of the second thickened portion of the outer side surface, so that the second outer protrusion of the second plate is separated from the second groove wall through hole.

[0113] Preferably, the first groove member and the second groove member are provided with through holes for fixing the first groove member and the second groove member.

[0114] Preferably, the first matching piece and the second matching piece are provided with through holes for fixing the first matching piece and the second matching piece.

[0115] In another embodiment, the entire system of the present invention is mainly divided into hardware and software designs. At the hardware level, the mechanical structure of the unmanned boat is designed and equipped with sensors for data perception and collection. At the same time, high-power wireless hardware devices are used to transmit data back to the user's software level. In the software part, the data is first integrated and classified through the protocol layer, and then processed and analyzed at the business layer. Finally, in order to enable the operator to operate the system intuitively and simply, a human-computer interaction module is designed. Each module will be briefly introduced below.

[0116] 1) Underwater video acquisition module: The unmanned boat can cruise autonomously in the sea cucumber circle through the trajectory tracking algorithm. The sonar sensor sends sound wave signals to measure the distance to the seabed, and an optimal shooting height is set manually. The height setting algorithm is used to realize the dynamic adjustment of the lifting device. All video data is remotely transmitted and saved through the established video acquisition link.

[0117] 2) Human-computer interaction module: A human-computer interaction platform is designed for the functions of the unmanned boat system, which is easy for farmers to operate. The system displays key information on the main interface through simple UI components, which is convenient for operators to use. In order to realize the autonomous navigation and data collection of the unmanned boat, a route planning module is designed, and the operator can set the route on the map. In the real-time navigation module, users can watch the video collected by the unmanned boat and make a rough assessment of the distribution and number of sea cucumbers. In order to assist in actual operation, a video display module is designed, which can display three-way video at the same time and supports video saving function to help operators monitor the real-time situation of underwater sea cucumbers, obstacles and surrounding environment.

[0118] 3) Multi-target tracking and sea cucumber counting module: The underwater sea cucumber video images collected by the unmanned boat are preprocessed to improve the image quality, including noise removal, image enhancement, and color correction. Then, the target detection algorithm (such as YOLO V10) is used to identify the sea cucumbers in the image. Finally, the multi-target tracking algorithm is applied to track each detected sea cucumber in consecutive frames and count them to help farmers make a rough assessment of the number of sea cucumbers in the circle.

[0119] In one example, the mechanical structure of the unmanned aquaculture boat consists of:

[0120] Hull mechanical structure design: Sea cucumber farming companies conduct fishing operations twice a year, in spring (April-May) and autumn (September-October). The status and quantity of sea cucumbers will be evaluated before the operation. The operation is usually carried out in a wind force environment of 2-3, and the appropriate operation time is selected. Farming companies usually manage 2-5 sea cucumber circles. After completing the observation of a sea cucumber circle, the equipment needs to be moved to the next sea cucumber circle for operation. In order to quickly transport the system, a modular design is adopted. The hull structure is designed as an inflatable pontoon type. All modules support quick disassembly and assembly to ensure the convenience of transportation and operation by the operator. Figure 1 shown.

[0121] Underwater sensing system: The average depth of the sea cucumber circle is between 1 and 2.5 meters, and the underwater environment is complex, including water plants, reefs, etc. Due to the limitations of water quality and camera focal length, the present invention designs an underwater sensing module, which is carried by a telescopic device and is used to collect underwater videos. Considering that the camera field of view is limited, it is inevitable that obstacles in front will not be avoided in time, so two cameras are installed: one for sea cucumber video collection and the other specifically for observing the underwater front environment. The camera fixing structure adopts a multi-degree-of-freedom rotating shaft design, which can adjust the angle according to actual operation requirements to obtain underwater videos at the best angle. After in-depth exchanges with breeding companies, the present invention learned that the company needs high-definition underwater videos as a reference for further research on sea cucumbers. Therefore, the present invention designs a front-end fixed structure equipped with a GoPro camera, which can adjust the angle according to the specific needs of the breeder, and supports the shooting of 4K ultra-clear videos. In order to meet the needs of collecting sea cucumber circle depth data and the height setting function of the telescopic device during autonomous cruising, the present invention also designs a structure equipped with sonar and depth sensors. The entire underwater sensing module adopts a streamlined design to reduce underwater resistance, such as Figure 1 shown.

[0122] Folding quick-release mechanism: The total weight of the telescopic device and the underwater sensing module is about 7.5 kg. In order to ensure tight fixation with the hull, the present invention designs a main frame with a triangular support structure. In order to facilitate personnel loading and transportation, the present invention also designs a shaft buckle kit. This kit allows the telescopic structure to be transformed from a vertical state to a horizontal state without the help of any tools during transportation, thereby saving space. The folding quick-release structure is as follows: Figure 5-6 shown.

[0123] Waterproof grass net cover: In actual use, the sea cucumber circle is complex underwater, and there are a lot of water plants in some areas. In many cases, the propeller of the unmanned boat will be entangled with water plants and lose power during navigation. Since the unmanned boat is mostly sailing forward in the bow direction, it is found that the water plants start to entangle through the front of the propeller during actual navigation. Therefore, the tail of the present invention is not blocked when designing the waterproof grass net cover, which does not affect the thrust and can also reduce the weight of the entire unmanned boat. Figure 1 shown.

[0124] Host control box: Considering the needs of different usage scenarios, the present invention designs a flexible unmanned boat system, which mainly includes two quick-release control boxes: one is the battery box, which provides energy for the entire system; the other is the main control box. These two control boxes can be replaced and transplanted at any time. The internal structure of the control box is as follows Fig. 9 As shown. In order to ensure the stability and anti-interference ability of the system, the present invention is equipped with a 2.4GHz transmission frequency receiver, which is responsible for transmitting the sensor data collected by the controller to the remote control end in real time, so as to monitor the system status in real time and adjust the necessary parameters. Considering the heavy weight of the entire system, the present invention selects a 200W, 80A underwater thruster and electric adjustment to support the maximum speed of the unmanned ship to reach 5m / s and the maximum load capacity of 40 kg. By sending PWM signals by the controller, the two underwater thrusters can be accurately controlled, and the status information of the thrusters can be transmitted back to the controller in real time. In order to ensure that the unmanned ship can accurately navigate along the predetermined route, the present invention adopts a high-precision RTK positioning device and selects a dual-antenna C-RTK 2HP, which has a positioning accuracy of 0.5 meters, a maximum satellite search capability of more than 50 satellites, and a positioning speed of less than 5 seconds. Considering that the work site is often in an island area with weak signals and cannot rely on 4G signals for data transmission, the present invention adopts a high-power bridge solution with a communication distance of up to 3 kilometers to meet daily operation needs.

[0125] In one example, the underwater video acquisition module is designed as follows:

[0126] Overall idea of ​​data collection: The overall link of data collection is as follows: Fig.10 As shown in the figure, it is mainly divided into three parts: first, the unmanned boat is used as the mobile terminal, equipped with cameras and sensors to collect real-time data; second, the data is transmitted through the bridge signal of 5.8GHz frequency, which has a wide transmission range and can carry a large amount of data streams; finally, the base station is set up on the shore to receive signals from the mobile terminal, including video, altimeter and depth sensor data. The received raw data is parsed by human-computer interaction software and displayed on the software interface. The collected raw video is stored on the server side, and the server deploys the target detection algorithm to identify and count the video. Users can make a preliminary assessment of the sea cucumbers in the sea cucumber circle based on the detected number results in order to formulate a reasonable collection and replenishment plan.

[0127] Height-fixing function: In order to capture clear underwater videos, the telescopic device must be kept at a certain height and filmed vertically downward, so the sonar needs to continuously send sound wave pulses underwater. When the sound waves hit underwater objects, some of the sound waves will be reflected back and captured by the receiver. Based on the time difference between the transmission and reception of the sound waves, the height of the seabed can be calculated. Then, the PID control algorithm is used to dynamically output the PWM signal to achieve the height-fixing function of the telescopic rod.

[0128] The PID basic controller calculates the control output based on the current error and the past error. The mathematical expression is shown in Equation 1.

[0129]

[0130] Where u(t) is the controller output, e(t) is the difference between the target altitude and the current altitude, and K p is the proportional gain, K i is the integral gain, K d is the differential gain, e(τ) represents the integral of the error over time, and t represents time.

[0131] Define the target height h target , current height h current , control the output sampling time Δt. Calculate

[0132] Height error e(t) = h target -h current The differential error and integral error are shown in equations 2 and 3.

[0133]

[0134] Where e(i) represents the error value and n represents the number of time steps.

[0135] Finally, the output control calculation is performed, as shown in Formula 4.

[0136]

[0137] The pseudo code based on the PID scaling device is shown in Table 3.

[0138] Table 3 Pseudo code for setting height based on PID lifting and shrinking device

[0139]

[0140]

[0141] Trajectory tracking: The main idea of ​​trajectory tracking is cascade PID. The input of the entire controller is the target position and speed, and the output is thrust. It is mainly divided into inner and outer loop control. The outer loop continuously corrects the position according to the position information feedback, and the inner loop corrects the yaw motion in time according to the speed and heading angle until the target position is reached. The structure of the trajectory tracking control system is as follows: Fig.11 shown.

[0142] Coordinate conversion: Waypoint planning must first have accurate positioning. This system uses a dual-antenna RTK device for positioning, and the output is longitude and latitude information. However, longitude and latitude are coordinates in the spherical coordinate system, but the waypoint planning algorithm is more suitable for plane coordinates. Take the longitude and latitude when the system is powered on for the first time as the coordinate origin and establish the ENU coordinate system. Assume that the reference point coordinates are longitude λ0, latitude φ0, and altitude h0, and the current geographic location coordinates of this system are longitude λ, latitude φ, and altitude h. Then convert the geographic coordinates (latitude, longitude, and altitude) into the Earth-centered Earth-fixed coordinate system (ECEF). The ECEF coordinates are shown in formulas 1, 2, and 3.

[0143] X=(N(φ)+h)cos(φ)cos(λ) (1)

[0144] Y=(N(φ)+h)cos(φ)sin(λ) (2)

[0145] Z=((1-e 2 )N(φ)+h)sin(φ) (3)

[0146] Among them, a = 6378137.0m, f represents the flattening of the earth, e 2 =2f-f 2 , Get the ECEF coordinates (X0, Y0, Z0), and finally convert the ECEF coordinates into ENU coordinates. First calculate the ECEF coordinates (X, Y, Z) of the current position of this system, and then calculate the ECEF coordinate difference formula as shown in 4, 5, and 6.

[0147] ΔX=X-X0(4)

[0148] ΔY=Y-Y0(5)

[0149] ΔZ=Z-Z0(6)

[0150] Using the longitude and latitude of the reference point, construct the rotation matrix from ECEF to ENU, as shown in formula 7.

[0151]

[0152] Substitute the difference into the above transformation matrix and calculate the ENU coordinates (x east ,y north ,zup ).

[0153] In the formula, x east Indicates the east coordinate, y north Indicates the north coordinate, z up Indicates the upward coordinate.

[0154] Differential unmanned ship dynamics model:

[0155] 1) Hull coordinate system and ground coordinate system

[0156] Assume the hull coordinate system O b Fixed on the hull, the x-axis points to the bow, the y-axis points to the left side of the ship, and the z-axis points to the bottom of the ship. e Fixed on the ground, the x-axis points to the east, the y-axis points to the north, and the z-axis points to the sky.

[0157] 2) Description of motion status

[0158] Assume that the position of the ship in the ground coordinate system is (x, y, θ), where (x, y) is the center of mass of the ship and θ is the heading angle of the ship. The speed of the ship in the ship coordinate system is (u, v, r), where u is the forward speed, v is the lateral speed, and r is the angular speed.

[0159] 3) Equations of motion

[0160] The motion state of the unmanned ship can be described by the following dynamic equation.

[0161] Position update equation:

[0162]

[0163] Velocity update equation:

[0164]

[0165] Where m is the mass of the ship, represents the velocity component of the ship in its own x-axis direction, It represents the velocity component of the ship in its own y-axis direction, I z is the moment of inertia of the hull around the z-axis, F x and F y They are the external forces on the hull on the x-axis and y-axis, X u and Y v is the velocity damping coefficient, N r is the rotational damping coefficient, T r and T r are the thrusts of the right and left propellers respectively, and d is the lateral distance between the propeller and the center of the hull.

[0166] Differential drive thrust calculation:

[0167] 1) Thrust calculation

[0168] T r =K r ω r

[0169] T l =K l ω l

[0170] Among them, K r and K l is the thrust coefficient of the propeller, ω r and ω l are the rotational speeds of the right and left propellers.

[0171] 2) Control input

[0172] The differential control method controls the heading and speed of the ship by adjusting the speed difference between the left and right propellers. Assume that the speed difference is Δω=ω r -ω l The average speed is The linear velocity and angular velocity of the ship can be expressed as

[0173]

[0174] r=K d Δω

[0175] Among them, K represents the relationship between the average speed of the propeller and the forward speed of the hull, K d It represents the relationship between the propeller speed difference and the angular velocity of the hull.

[0176] Table 4 Pseudocode based on PID trajectory tracking

[0177]

[0178] Experimental results and analysis

[0179] Experimental setup: The test site is located in the No. 2 sea cucumber pen of Xinyulong Marine Biological Seed Technology Co., Ltd. in Pulandian District, Dalian City, Liaoning Province. The on-site satellite image is as follows: Fig.12 As shown in the figure, the base station is set up on the shore of Haishenquan. The on-site environment is as follows Fig.13 The temperature on that day was 16 degrees Celsius, and the wind force was 2-3 southwest wind. The final design system is as follows Fig.14 shown.

[0180] Hull stability test: The entire unmanned boat weighs 30kg. Considering the wind and waves, the force generated by turning will cause deformation of the hull support frame. The support frame adopts a 20*20 aluminum structure, and angle aluminum is used as a triangular support at the vertical angle. In actual work, due to the different sailing directions of the unmanned boat, it will be affected by the wind, headwind, and crosswind. In order to test its stability, a rectangular route is set to analyze the roll angle and pitch angle in each direction. Set the stability test trajectory as follows Fig.15 shown.

[0181] In a level 3 southwest wind environment, after testing in four directions, the yaw angle and pitch angle in the four directions are all within plus or minus 16°. The hull stability meets the design requirements and can meet the daily operation requirements. The yaw angle changes in each direction are as follows: Fig.16 The maximum and minimum yaw angles are shown in the table.

[0182]

[0183] Underwater propulsion performance test: Under the condition of constant power and speed, the forward thrust of underwater propulsion is better than the reverse thrust. The maximum output power in the forward direction is 200W, while the reverse direction is only 160W. The propulsion is carried on the unmanned ship for actual measurement. The propulsion can make the unmanned ship head at a maximum speed of 5m / s. The thrust is enough to support the entire unmanned ship to sail in the sea cucumber circle. Fig.17 , 18 shown.

[0184] Trajectory tracking:

[0185] In order to ensure that the unmanned boat can collect sea cucumber videos along the predetermined route in the sea cucumber circle, the trajectory tracking function was first tested. Through the developed Android app, two sets of trajectories, a "triangle" and a "J" shape, were planned in the No. 3 sea cucumber circle. Fig.19 As shown in the figure. The experimental data curve shows that although there is an error between the set trajectory and the actual trajectory, the overall navigation can be accurate along the route. Taking the triangular trajectory as an example, three points A, B, and C are taken on the set trajectory, and the function expressions of the straight lines AB, AC, and BC can be obtained. 400 points are randomly selected on the actual navigation trajectory, and the average error is 0.47 meters using formula (1).

[0186]

[0187] Fixed-height shooting function test: Because the depths of sea cucumber circles are different, in order to shoot clear sea cucumber videos, the underwater sensing module must be able to stably maintain a specific height from the seabed. After actual testing, it was found that when the lifting and retracting device was manually controlled, the picture taken was clear when it was kept at 0.8m from the seabed.

[0188] 1) Sonar calibration and height determination function verification

[0189] A pool with a depth of 1.42 meters was built in the laboratory. The sonar was randomly placed vertically in the pool at a certain height and kept motionless. The sonar sensor was tested using a tape measure physical method, such as Fig. 20 The distance from the bottom of the water measured by both methods is 0.82 meters. The height data obtained by the sonar sensor is accurate and can be used as the height determination function data of the telescopic device.

[0190] Through the PID control algorithm, two heights are set, and the lifting and retracting device begins to converge to the set height in about 10 seconds. Fig.21 shown.

[0191] Human-computer interaction platform: Considering the practicality of farmers, the interface design of the human-computer interaction platform is simple and easy to operate. All key data are placed on the main interface, such as underwater video, unmanned boat power, water quality data, sonar distance, etc. The status of the unmanned boat can be monitored in real time through the human-computer interaction platform, and the Gaode API can be called for trajectory planning, so that the unmanned boat can sail autonomously to collect data without the need for farmers to operate. Therefore, the data is saved in the mobile phone folder for later analysis by farmers. Human-computer interaction platform such as Fig. 22 shown.

[0192] Original video acquisition: In the No. 2 circle, an area with a large number of sea cucumbers and a relatively simple underwater environment was selected for acquisition testing. The operator planned a "J" shape on the host computer and set the shooting height to 0.8m. The acquired images are as follows Fig.23 The image is clear and can meet the daily and analytical needs of farmers.

[0193] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical solutions and inventive concepts of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. An unmanned ship system, characterized in that: include first floating body; second floating body; A hull support frame, arranged between the first buoy and the second buoy; Underwater data acquisition equipment; A telescopic rod, the telescopic rod comprising a fixed rod of a certain height and a telescopic part, and the telescopic part is arranged at the lower end of the fixed rod, the telescopic rod is arranged on the hull support frame, the underwater data acquisition device is installed at the bottom end of the telescopic rod, and the telescopic rod includes a vertical state and a horizontal state; A folding quick-release mechanism, mounted on the telescopic rod and the hull support frame, to fix the telescopic rod in the vertical state or the horizontal state; in: The hull support frame comprises A first longitudinal connecting rod is longitudinally arranged on the first floating body along the axial direction of the first floating body; A second longitudinal connecting rod is longitudinally arranged on the second floating body along the axial direction of the second floating body; A first transverse connecting rod is transversely arranged between the first end portions of the first longitudinal connecting rod and the second longitudinal connecting rod, and the first transverse connecting rod is arranged between the upper surfaces of the first longitudinal connecting rod and the second longitudinal connecting rod; A second transverse connecting rod is transversely arranged between the first longitudinal connecting rod and the second longitudinal connecting rod, and the second transverse connecting rod is arranged between the inner surfaces of the first longitudinal connecting rod and the second longitudinal connecting rod that are opposite to each other; a third transverse connecting rod, which is transversely arranged between the first longitudinal connecting rod and the second longitudinal connecting rod, and the third transverse connecting rod is arranged between the upper surfaces of the first longitudinal connecting rod and the second longitudinal connecting rod; a fourth transverse connecting rod, which is transversely arranged between the first longitudinal connecting rod and the second longitudinal connecting rod, and the fourth transverse connecting rod is arranged between the inner surfaces of the first longitudinal connecting rod and the second longitudinal connecting rod that are opposite to each other; a fifth transverse connecting rod, which is transversely arranged between the second ends of the first longitudinal connecting rod and the second longitudinal connecting rod, and the fifth transverse connecting rod is arranged between the upper surfaces of the first longitudinal connecting rod and the second longitudinal connecting rod; a third longitudinal connecting rod, wherein the first end is arranged at the first end section of the first transverse connecting rod, the second end is arranged at the first end section of the fifth transverse connecting rod, and the middle section is arranged at the first end section of the third transverse connecting rod; A fourth longitudinal connecting rod, wherein the first end is arranged at the second end section of the first transverse connecting rod, the second end is arranged at the second end section of the fifth transverse connecting rod, and the middle section is arranged at the second end section of the third transverse connecting rod; Wherein, the rod axes of the first longitudinal connecting rod and the second longitudinal connecting rod are arranged in parallel in the transverse direction; Wherein, the rod axes of the first transverse connecting rod, the second transverse connecting rod, the third transverse connecting rod, the fourth transverse connecting rod and the fifth transverse connecting rod are arranged in parallel along the longitudinal direction; The third transverse connecting rod is longitudinally arranged between the first transverse connecting rod and the fifth transverse connecting rod, the second transverse connecting rod is longitudinally arranged between the first transverse connecting rod and the third transverse connecting rod, and the fourth transverse connecting rod is longitudinally arranged between the third transverse connecting rod and the fifth transverse connecting rod; The rod axes of the third longitudinal connecting rod and the fourth longitudinal connecting rod are arranged in parallel in the transverse direction, and the third longitudinal connecting rod is arranged between the first longitudinal connecting rod and the second longitudinal connecting rod and above a side close to the first longitudinal connecting rod, and the fourth longitudinal connecting rod is arranged between the first longitudinal connecting rod and the second longitudinal connecting rod and above a side close to the second longitudinal connecting rod; in: The folding quick release mechanism includes a special-shaped support frame, a first insertion slot, a first insertion matching piece, a second insertion slot, a second insertion matching piece, a rotating slot and a rotating matching piece, wherein: The first insertion slot is arranged on the telescopic rod and above the rotating slot. The first insertion fitting is arranged on the special-shaped support frame. The special-shaped support frame is arranged on the first transverse connecting rod and the third transverse connecting rod. The rotating slot is arranged on the telescopic rod and above the second insertion slot, and the rotating matching member is arranged on the first transverse connecting rod. The second insertion slot is arranged on the telescopic rod, and the second insertion fitting is arranged on the fourth transverse connecting rod; The telescopic rod is in a first state where the telescopic rod is vertically arranged, the first insertion groove is separated from the first insertion fittings arranged on the first transverse connecting rod and the third transverse connecting rod, so that the rotating groove rotates downward around the rotating fitting on the first transverse connecting rod, so that the telescopic rod rotates clockwise, so that the telescopic rod above the rotating groove rotates horizontally forward, and the telescopic rod below the rotating groove rotates horizontally backward in a second state, and the second insertion groove arranged on the telescopic rod below the rotating groove cooperates and clamps with the second insertion fitting on the fourth transverse connecting rod to fix the horizontal state of the telescopic rod for storage; The telescopic rod is in a second state where the telescopic rod is horizontally arranged, and the second insertion slot is separated from the second insertion fitting on the fourth transverse connecting rod, so that the rotating slot rotates upward around the rotating fitting on the first transverse connecting rod, so that the telescopic rod rotates counterclockwise, so that the telescopic rod above the rotating slot rotates vertically upward, and the telescopic rod below the rotating slot rotates vertically downward in the first state, and the first insertion slot arranged on the telescopic rod above the rotating slot cooperates with the first insertion fitting on the first transverse connecting rod and the third transverse connecting rod to fix the vertical state of the telescopic rod for shooting.

2. The system according to claim 1, characterized in that: The hull support frame also includes A right-angle profile fixing piece, comprising a rectangular vertical surface, a rectangular transverse surface and a triangular connecting surface, wherein a first side edge of the rectangular vertical surface is connected to a first side edge of the rectangular transverse surface via a first triangular connecting surface, a second side edge of the rectangular vertical surface is connected to a second side edge of the rectangular transverse surface via a second triangular connecting surface, and connecting holes are provided on the rectangular vertical surface and the rectangular transverse surface; The sharp-angle profile fixing piece comprises two rectangular angular surfaces and a connecting surface. The inner sides of the two rectangular angular surfaces are opposite to each other and formed into a sharp angle. The two rectangular angular surfaces are connected by at least one connecting surface. The two rectangular angular surfaces are each provided with a connecting hole.

3. The system according to claim 2, characterized in that: The hull support frame, wherein: The first end of the first transverse connecting rod is fixed to the upper surface of the first end of the first longitudinal connecting rod through a right-angle profile fixing piece, the end surface of the first end of the first transverse connecting rod is fixed to the rectangular vertical surface of the right-angle profile fixing piece, and the upper surface of the first end of the first longitudinal connecting rod is fixed to the rectangular transverse surface of the right-angle profile fixing piece; the second end of the first transverse connecting rod is fixed to the upper surface of the first end of the second longitudinal connecting rod through a right-angle profile fixing piece, the end surface of the second end of the first transverse connecting rod is fixed to the rectangular vertical surface of the right-angle profile fixing piece, and the upper surface of the first end of the second longitudinal connecting rod is fixed to the rectangular transverse surface of the right-angle profile fixing piece; The first end of the second transverse connecting rod is fixed to the inner surface of the first longitudinal connecting rod through a right-angle profile fixing piece, a side surface of the first end of the second transverse connecting rod is fixed to the rectangular vertical surface of the right-angle profile fixing piece, and the inner surface of the first longitudinal connecting rod is fixed to the rectangular transverse surface of the right-angle profile fixing piece; the second end of the second transverse connecting rod is fixed to the inner surface of the second longitudinal connecting rod through a right-angle profile fixing piece, a side surface of the second end of the second transverse connecting rod is fixed to the rectangular vertical surface of the right-angle profile fixing piece, and the inner surface of the second longitudinal connecting rod is fixed to the rectangular transverse surface of the right-angle profile fixing piece; The inner surface of the first end of the first longitudinal connecting rod and the outer surface of the first end of the second transverse connecting rod are fixed by an inclined reinforcing fixing rod, the first end of the inclined reinforcing fixing rod is connected to the inner surface of the first end of the first longitudinal connecting rod, and the second end of the inclined reinforcing fixing rod is connected to the outer surface of the first end of the second transverse connecting rod; Wherein, an acute-angle profile fixing piece is arranged in the angle formed between the inner side surface of the first end of the first longitudinal connecting rod and the inner side surface of the inclined reinforcing fixing rod, the inner side surface of the first end of the first longitudinal connecting rod is fixed to one rectangular angular surface of the acute-angle profile fixing piece, and the inner side surface of the inclined reinforcing fixing rod is fixed to another rectangular angular surface of the acute-angle profile fixing piece; Wherein, an acute-angle profile fixing piece is arranged in the angle formed between the outer surface of the first end side of the second transverse connecting rod and the inner surface of the inclined reinforcing fixing rod, the outer surface of the first end side of the second transverse connecting rod is fixed to a rectangular angular surface of the acute-angle profile fixing piece, and the inner surface of the inclined reinforcing fixing rod is fixed to another rectangular angular surface of the acute-angle profile fixing piece; Wherein, the inner surface of the first end of the second longitudinal connecting rod and the outer surface of the second end side of the second transverse connecting rod are fixed by an inclined reinforcing fixing rod, the first end of the inclined reinforcing fixing rod is connected to the inner surface of the first end of the second longitudinal connecting rod, and the second end of the inclined reinforcing fixing rod is connected to the outer surface of the second end side of the second transverse connecting rod; Wherein, an acute-angle profile fixing piece is arranged in the angle formed between the inner side surface of the first end of the second longitudinal connecting rod and the inner side surface of the inclined reinforcing fixing rod, the inner side surface of the first end of the second longitudinal connecting rod is fixed to one rectangular angular surface of the acute-angle profile fixing piece, and the inner side surface of the inclined reinforcing fixing rod is fixed to another rectangular angular surface of the acute-angle profile fixing piece; Wherein, an acute-angle profile fixing piece is arranged in the angle formed between the outer surface of the second end side of the second transverse connecting rod and the inner surface of the inclined reinforcing fixing rod, the outer surface of the second end side of the second transverse connecting rod is fixed to a rectangular angular surface of the acute-angle profile fixing piece, and the inner surface of the inclined reinforcing fixing rod is fixed to another rectangular angular surface of the acute-angle profile fixing piece; The first end of the third transverse connecting rod is fixed to the upper surface of the middle section of the first longitudinal connecting rod through a right-angle profile fixing piece, the end surface of the first end of the third transverse connecting rod is fixed to the rectangular vertical surface of the right-angle profile fixing piece, and the upper surface of the middle section of the first longitudinal connecting rod is fixed to the rectangular transverse surface of the right-angle profile fixing piece; the second end of the third transverse connecting rod is fixed to the upper surface of the middle section of the second longitudinal connecting rod through a right-angle profile fixing piece, the end surface of the second end of the third transverse connecting rod is fixed to the rectangular vertical surface of the right-angle profile fixing piece, and the upper surface of the middle section of the second longitudinal connecting rod is fixed to the rectangular transverse surface of the right-angle profile fixing piece; The first end of the fourth transverse connecting rod is fixed to the inner surface of the first longitudinal connecting rod through a right-angle profile fixing piece, a side surface of the first end of the fourth transverse connecting rod is fixed to the rectangular vertical surface of the right-angle profile fixing piece, and the inner surface of the first longitudinal connecting rod is fixed to the rectangular transverse surface of the right-angle profile fixing piece; the second end of the fourth transverse connecting rod is fixed to the inner surface of the second longitudinal connecting rod through a right-angle profile fixing piece, a side surface of the second end of the fourth transverse connecting rod is fixed to the rectangular vertical surface of the right-angle profile fixing piece, and the inner surface of the second longitudinal connecting rod is fixed to the rectangular transverse surface of the right-angle profile fixing piece; Wherein, the inner surface of the second end of the first longitudinal connecting rod and the outer surface of the first end side of the fourth transverse connecting rod are fixed by an inclined reinforcing fixing rod, the first end of the inclined reinforcing fixing rod is connected to the inner surface of the second end of the first longitudinal connecting rod, and the second end of the inclined reinforcing fixing rod is connected to the outer surface of the first end side of the fourth transverse connecting rod; Wherein, an acute-angle profile fixing piece is arranged in the angle formed between the inner side surface of the second end of the first longitudinal connecting rod and the inner side surface of the inclined reinforcing fixing rod, the inner side surface of the second end of the first longitudinal connecting rod is fixed to one rectangular angular surface of the acute-angle profile fixing piece, and the inner side surface of the inclined reinforcing fixing rod is fixed to another rectangular angular surface of the acute-angle profile fixing piece; Wherein, an acute-angle profile fixing piece is arranged in the angle formed between the outer surface of the first end side of the fourth transverse connecting rod and the inner surface of the inclined reinforcing fixing rod, the outer surface of the first end side of the fourth transverse connecting rod is fixed to a rectangular angular surface of the acute-angle profile fixing piece, and the inner surface of the inclined reinforcing fixing rod is fixed to another rectangular angular surface of the acute-angle profile fixing piece; The inner surface of the second end of the second longitudinal connecting rod and the outer surface of the second end of the fourth transverse connecting rod are fixed by an inclined reinforcing fixing rod, the first end of the inclined reinforcing fixing rod is connected to the inner surface of the second end of the second longitudinal connecting rod, and the second end of the inclined reinforcing fixing rod is connected to the outer surface of the second end of the second transverse connecting rod; Wherein, an acute-angle profile fixing piece is arranged in the angle formed between the inner side surface of the second end of the second longitudinal connecting rod and the inner side surface of the inclined reinforcing fixing rod, the inner side surface of the second end of the second longitudinal connecting rod is fixed to one rectangular angular surface of the acute-angle profile fixing piece, and the inner side surface of the inclined reinforcing fixing rod is fixed to another rectangular angular surface of the acute-angle profile fixing piece; Wherein, an acute-angle profile fixing piece is arranged in the angle formed between the outer surface of the second end side of the fourth transverse connecting rod and the inner surface of the inclined reinforcing fixing rod, the outer surface of the second end side of the fourth transverse connecting rod is fixed to a rectangular angular surface of the acute-angle profile fixing piece, and the inner surface of the inclined reinforcing fixing rod is fixed to another rectangular angular surface of the acute-angle profile fixing piece; The first end of the fifth transverse connecting rod is fixed to the upper surface of the second end of the first longitudinal connecting rod through a right-angle profile fixing piece, the end surface of the first end of the fifth transverse connecting rod is fixed to the rectangular vertical surface of the right-angle profile fixing piece, and the upper surface of the second end of the first longitudinal connecting rod is fixed to the rectangular transverse surface of the right-angle profile fixing piece; the second end of the fifth transverse connecting rod is fixed to the upper surface of the second end of the second longitudinal connecting rod through a right-angle profile fixing piece, the end surface of the second end of the fifth transverse connecting rod is fixed to the rectangular vertical surface of the right-angle profile fixing piece, and the upper surface of the second end of the second longitudinal connecting rod is fixed to the rectangular transverse surface of the right-angle profile fixing piece; The lower surface of the first end portion of the third longitudinal connecting rod is fixed to the upper surface of the first end section of the first transverse connecting rod by a right-angle profile fixing piece, one side surface of the first end portion of the third longitudinal connecting rod is fixed to the rectangular vertical surface of the right-angle profile fixing piece, and the upper surface of the first end section of the first transverse connecting rod is fixed to the rectangular transverse surface of the right-angle profile fixing piece; wherein, the lower surface of the second end portion of the third longitudinal connecting rod is fixed to the upper surface of the first end section of the fifth transverse connecting rod by a right-angle profile fixing piece, one side surface of the second end portion of the third longitudinal connecting rod is fixed to the rectangular vertical surface of the right-angle profile fixing piece, and the upper surface of the first end section of the fifth transverse connecting rod is fixed to the rectangular transverse surface of the right-angle profile fixing piece; The lower surface of the first end portion of the fourth longitudinal connecting rod is fixed to the upper surface of the second end section of the first transverse connecting rod by a right-angle profile fixing piece, one side surface of the first end portion of the fourth longitudinal connecting rod is fixed to the rectangular vertical surface of the right-angle profile fixing piece, and the upper surface of the second end section of the first transverse connecting rod is fixed to the rectangular transverse surface of the right-angle profile fixing piece; the lower surface of the second end portion of the fourth longitudinal connecting rod is fixed to the upper surface of the second end section of the fifth transverse connecting rod by a right-angle profile fixing piece, one side surface of the second end portion of the fourth longitudinal connecting rod is fixed to the rectangular vertical surface of the right-angle profile fixing piece, and the upper surface of the second end section of the fifth transverse connecting rod is fixed to the rectangular transverse surface of the right-angle profile fixing piece.

4. The system according to claim 3, characterized in that: The hull support frame also includes A support plate member, comprising a first support plate member, a second support plate member, a third support plate member and a fourth support plate member, wherein the support plate member comprises a transverse support plate, a first vertical support plate, a second vertical support plate, a first inclined plate and a second inclined plate, wherein the first end of the transverse support plate is connected to the first inclined plate, and the second end is connected to the second inclined plate, the first inclined plate is inclined outwardly and downwardly, and the second inclined plate is inclined outwardly and downwardly, and the lower end of the first inclined plate is connected to the first vertical support plate, and the lower end of the second inclined plate is connected to the second vertical support plate; Wherein, the inner side of the plate surface of the lower end of the first vertical support plate and the side surface of the third longitudinal connecting rod member close to the first longitudinal connecting rod member are fixed by a right-angle profile fixing piece, the inner side of the plate surface of the lower end of the first vertical support plate is fixed to the rectangular vertical surface of the right-angle profile fixing piece, and the upper surface of the third longitudinal connecting rod member is fixed to the rectangular transverse surface of the right-angle profile fixing piece; wherein, the inner side of the plate surface of the lower end of the second vertical support plate and the side surface of the fourth longitudinal connecting rod member close to the second longitudinal connecting rod member are fixed by a right-angle profile fixing piece, the inner side of the plate surface of the lower end of the second vertical support plate is fixed to the rectangular vertical surface of the right-angle profile fixing piece, and the upper surface of the fourth longitudinal connecting rod member is fixed to the rectangular transverse surface of the right-angle profile fixing piece; Wherein, the supporting plate supports equipment, and the equipment includes a control device and a signal transmission device.

5. The system according to claim 4, characterized in that: The hull support frame also includes An upper shooting support, wherein the upper surface of the second end of the first longitudinal connecting rod is fixed to the lower surface of the upper shooting support via a right-angle profile fixing piece, the upper surface of the second end of the first longitudinal connecting rod is fixed to the rectangular transverse surface of the right-angle profile fixing piece, and the front surface of the upper shooting support is fixed to the rectangular vertical surface of the right-angle profile fixing piece; The upper surface of the first longitudinal connecting rod is fixed to the lower surface of the upper shooting support via an inclined reinforcing fixing rod, the first end of the inclined reinforcing fixing rod is connected to the rear surface of the upper shooting support, and the second end of the inclined reinforcing fixing rod is connected to the upper surface of the first longitudinal connecting rod; Wherein, an acute-angle profile fixing piece is arranged in the angle formed between the upper surface of the first longitudinal connecting rod and the inner surface of the inclined reinforcing fixing rod, the upper surface of the first longitudinal connecting rod is fixed to one rectangular angular surface of the acute-angle profile fixing piece, and the inner surface of the inclined reinforcing fixing rod is fixed to another rectangular angular surface of the acute-angle profile fixing piece; Among them, an acute-angle profile fixing piece is arranged in the angle formed between the rear surface of the upper shooting pillar and the inner surface of the inclined reinforcing fixing rod, the rear surface of the upper shooting pillar is fixed to a rectangular angular surface of the acute-angle profile fixing piece, and the inner surface of the inclined reinforcing fixing rod is fixed to another rectangular angular surface of the acute-angle profile fixing piece; a camera is arranged at the top of the upper shooting pillar.

6. The system according to claim 5, characterized in that: The hull support frame, wherein the first longitudinal connecting rod is provided with a plurality of clamps along the axial direction of the floating body, the first floating body is fixed by the clamps, and the first longitudinal connecting rod is fixed to the upper part of the first floating body, and the second longitudinal connecting rod is provided with a plurality of clamps along the axial direction of the floating body, the second floating body is fixed by the clamps, and the second longitudinal connecting rod is fixed to the second floating body; The clamp at the lower part of the first floating body is connected to the mesh device of the waterproof grass, and the mesh device is formed into a quadrangular pyramid shape, the bottom surface of the quadrangular pyramid is arranged in the horizontal direction and is formed into an open shape, and a water outlet is arranged on the side panel of the quadrangular pyramid; An underwater equipment fixing part is arranged at the lower end of the telescopic rod, a sonar and a first camera device are arranged at the front end of the shell of the underwater equipment fixing part, the underwater equipment fixing part is formed with a lower opening, a second camera device is arranged at the front end of the opening, and a third camera device is arranged at the rear end of the opening, the camera of the second camera device is arranged ahead and downward, the lens of the third camera device is arranged downward, and a depth sensor is also arranged on the shell of the underwater equipment fixing part.

7. The system according to any one of claims 1 to 6, characterized in that: The special-shaped support frame includes a first support rod, a second support rod, a third support rod and a fourth support rod; The first insertion slot member comprises a first slot member with a notch and a second slot member with a notch, the notches of the first slot member and the second slot member are relatively formed into notches that match the telescopic rod, the telescopic rod passes through the notch in the axial direction of the telescopic rod, and the first insertion slot member is fixed to the telescopic rod by matching with the telescopic rod through the notch; a first plate member is arranged on the back of the first slot member, the distance between the front end face and the rear end face of the first plate member gradually increases from top and bottom to the middle, and a first outer protrusion is formed in the middle of the first plate member, and the first outer protrusion has a first thickened portion on its outer side surface, a second plate member is arranged on the back of the second slot member, the distance between the front end face and the rear end face of the second plate member gradually increases from top and bottom to the middle, and a second outer protrusion is formed in the middle of the second plate member, and the second outer protrusion has a second thickened portion on its outer side surface; the lateral distance between the first outer protrusion and the second outer protrusion is a first distance; The first plug-in fitting comprises a first fitting and a second fitting, wherein the first fitting forms a first fitting groove, the first fitting groove comprises a first front end groove wall and a first groove wall through hole arranged on the first front end groove wall, and the groove wall edge on the outer side of the first front end groove wall where the first groove wall through hole is located is the first groove wall edge; the second fitting forms a second fitting groove, the second fitting groove comprises a second front end groove wall and a second groove wall through hole arranged on the second front end groove wall, and the groove wall edge on the outer side of the second front end groove wall where the second groove wall through hole is located is the second groove wall edge; the lateral distance between the first front end groove wall and the second front end groove wall is the second distance; Wherein, the first distance is greater than the second distance, so that the first plate and the second plate are pressed by external force to be close to each other and inserted into the first groove wall through-hole and the second groove wall through-hole, and the first plate and the second plate lose external force and separate in the direction away from each other, so that the first outer protrusion is clamped with the first groove wall edge at the rear edge of the first thickened portion of its outer side surface, so that the first front end groove wall prevents the first thickened portion of the first outer protrusion of the first plate from being separated from the first groove wall through-hole; the second outer protrusion is clamped with the second groove wall edge at the rear edge of the second thickened portion of its outer side surface, so that the second front end groove wall prevents the second outer protrusion of the second plate from being separated from the second groove wall through-hole; The first plate and the second plate are pressed against each other by an external force, so that the first outer protrusion of the first plate is separated from the edge of the first groove wall in front and back at the rear edge of the first thickened portion of the outer side surface thereof, so that the first outer protrusion of the first plate is separated from the first groove wall through hole; and the second outer protrusion of the second plate is separated from the edge of the second groove wall in front and back at the rear edge of the second thickened portion of the outer side surface thereof, so that the second outer protrusion of the second plate is separated from the second groove wall through hole; The first support rod is arranged on the outer side surface of the first matching piece and is tilted outward and downward, and the bottom of the first support rod is fixed to the first transverse connecting rod; the second support rod is arranged on the outer side surface of the second matching piece and is tilted outward and downward, and the bottom of the second support rod is fixed to the first transverse connecting rod; the third support rod is arranged on the back side surface of the first matching piece and is tilted backward and downward, and the bottom of the third support rod is fixed to the third transverse connecting rod; the fourth support rod is arranged on the back side surface of the second matching piece and is tilted backward and downward, and the bottom of the fourth support rod is fixed to the third transverse connecting rod; The rotating groove member comprises a first groove member having a notch and a second groove member having a notch, the notches of the first groove member and the second groove member are relatively formed into notches that cooperate with the telescopic rod, the telescopic rod passes through the notch in the axial direction of the telescopic rod, and the rotating groove member cooperates with the telescopic rod and is fixed to the telescopic rod through the notch; a first plate member is arranged on the back of the first groove member, and the distance between the front end face and the rear end face of the first plate member gradually decreases from top to bottom, a second plate member is arranged on the back of the second groove member, and the distance between the front end face and the rear end face of the second plate member gradually decreases from top to bottom, and a first accommodating space is formed between the first plate member and the second plate member; The rotating matching member is formed as a semicircular cylinder, and a first receiving groove is provided on a rectangular plane of the cylinder along the axial direction of the cylinder, the first transverse connecting rod passes through the first receiving groove along the axial direction of the rod, and the groove walls on both sides of the first receiving groove along the axial direction of the cylinder are fixed to the first transverse connecting rod passing through the first receiving groove, and the cylinder below the groove bottom surface of the first receiving groove is provided with a first semicircular groove and a second semicircular groove at intervals along the axial direction of the cylinder, and a first shaft fixed in the cylinder is provided along the axis of the cylinder, and the first shaft passes through the first semicircular groove and the second semicircular groove; the rotating groove member The first plate member is arranged in the first semicircular groove, the first plate member is provided with an opening matched with the first shaft so that the first plate member is connected to the first shaft in the first semicircular groove so as to be able to rotate around the first shaft; the second plate member of the rotating groove member is arranged in the second semicircular groove, the second plate member is provided with an opening matched with the first shaft so that the second plate member is connected to the first shaft in the second semicircular groove so as to be able to rotate around the first shaft, and the column part between the first semicircular groove and the second semicircular groove is arranged in a first accommodating space formed between the first plate member and the second plate member; The second insertion slot member comprises a first slot member with a notch and a second slot member with a notch, the notches of the first slot member and the second slot member are relatively formed into notches that cooperate with the telescopic rod, the telescopic rod passes through the notch in the axial direction of the telescopic rod, and the first insertion slot member is fixed to the telescopic rod by cooperating with the telescopic rod through the notch; a first plate member is arranged on the back side of the first slot member, the distance between the front end face and the rear end face of the first plate member gradually increases from top and bottom to the middle, and a first outer protrusion is formed in the middle of the first plate member, and the first outer protrusion has a first thickened portion on its outer side surface, a second plate member is arranged on the back side of the second slot member, the distance between the front end face and the rear end face of the second plate member gradually increases from top and bottom to the middle, and a second outer protrusion is formed in the middle of the second plate member, and the second outer protrusion has a second thickened portion on its outer side surface; the lateral distance between the first outer protrusion and the second outer protrusion is a first distance; The second plug-in fitting comprises a first fitting and a second fitting, wherein the first fitting forms a first fitting groove, the first fitting groove comprises a first front end groove wall and a first groove wall through hole arranged on the first front end groove wall, and the groove wall edge on the outer side of the first front end groove wall where the first groove wall through hole is located is the first groove wall edge; the second fitting forms a second fitting groove, the second fitting groove comprises a second front end groove wall and a second groove wall through hole arranged on the second front end groove wall, and the groove wall edge on the outer side of the second front end groove wall where the second groove wall through hole is located is the second groove wall edge; the lateral distance between the first front end groove wall and the second front end groove wall is the second distance; Wherein, the first distance is greater than the second distance, so that the first plate and the second plate are pressed by external force to be close to each other and inserted into the first groove wall through-hole and the second groove wall through-hole, and the first plate and the second plate lose external force and separate in the direction away from each other, so that the first outer protrusion is clamped with the first groove wall edge at the rear edge of the first thickened portion of its outer side surface, so that the first front end groove wall prevents the first thickened portion of the first outer protrusion of the first plate from being separated from the first groove wall through-hole; the second outer protrusion is clamped with the second groove wall edge at the rear edge of the second thickened portion of its outer side surface, so that the second front end groove wall prevents the second outer protrusion of the second plate from being separated from the second groove wall through-hole; The first plate and the second plate are pressed against each other by external force, and the first outer protrusion of the first plate is separated from the edge of the first groove wall in front and back at the rear edge of the first thickened portion of the outer side surface, so that the first outer protrusion of the first plate is detached from the through-hole of the first groove wall; and the second outer protrusion of the second plate is separated from the edge of the second groove wall in front and back at the rear edge of the second thickened portion of the outer side surface, so that the second outer protrusion of the second plate is detached from the through-hole of the second groove wall.

8. The system according to claim 7, characterized in that: The first groove member and the second groove member are provided with through holes for fixing the first groove member and the second groove member.

9. The system according to claim 7, characterized in that: The first matching piece and the second matching piece are provided with through holes for fixing the first matching piece and the second matching piece.

10. The system according to claim 7, characterized in that: The unmanned ship achieves underwater altitude determination based on the following method: Sonar continuously sends sound pulses underwater; When the sound waves hit an underwater object, part of them reflects back and is captured by the receiver; The height of the seabed is calculated based on the time difference between the emission and reception of the sound waves; Use PID control algorithm to dynamically output PWM signal to achieve height setting of telescopic rod; The PID basic controller calculates the control output based on the current error and the past error. The mathematical expression is as follows: （1） in is the controller output, is the difference between the target altitude and the current altitude, is the proportional gain, is the integral gain, is the differential gain, The integral of the error over time, Indicates time; Define target height , current height , control the output sampling time ; Calculate height error ; The differential error and integral error are shown in equations (2) and (3): (2) (3) In the formula, represents the error value, represents the number of time steps; Output control calculation, as shown in formula (4): （4） The unmanned ship realizes trajectory tracking based on the following method: Convert geographic coordinates to ENU coordinates; Establish a differential unmanned ship dynamics model; calculating differential drive thrust according to the model to track the trajectory; in: Convert geographic coordinates to ENU coordinates, including: Take the longitude and latitude when the system is powered on for the first time as the coordinate origin and establish the ENU coordinate system, where the reference point coordinates are assumed to be longitude ,latitude ,high , the system's current geographic location coordinates are longitude ,latitude ,high ; The geographic coordinates are converted into the Earth-centered Earth-fixed coordinate system (ECEF) coordinates. The ECEF coordinates are shown in formulas (1), (2) and (3): （1） （2） （3） in, , represents the oblateness of the Earth, , a=6378137.0m, from which we get the ECEF Earth-centered Earth-fixed coordinates , and finally convert the ECEF coordinates into ENU coordinates; Among them, converting ECEF coordinates to ENU coordinates includes: Calculate the ECEF coordinates (X, Y, Z) of the current position of the system, and then calculate the ECEF coordinate difference. The formulas are shown in (4), (5) and (6): （4） （5） （6） Using the longitude and latitude of the reference point, construct the rotation matrix from ECEF to ENU, as shown in (7): （7） Substitute the difference into the above rotation matrix to calculate the ENU coordinates ; In the formula, represents the easting coordinate, represents the north coordinate, Indicates the upward coordinate; Among them, the differential unmanned ship dynamics model is established, including Establish the hull coordinate system and the ground coordinate system: Set the hull coordinate system Fixed on the hull, the x-axis points to the bow, the y-axis points to the left side of the ship, and the z-axis points to the bottom of the ship; suppose the ground coordinate system Fixed on the ground, with the x-axis pointing to the east, the y-axis pointing to the north, and the z-axis pointing to the sky; Description of motion state: Assume that the position of the hull in the ground coordinate system is ,in is the center of mass of the ship, θ is the heading angle of the ship; the speed of the ship in the ship coordinate system is ,in is the forward velocity, is the lateral velocity, is the angular velocity; The equations of motion include the position update equation and the velocity update equation, where: Position update equation: Velocity update equation: in, is the hull mass, represents the velocity component of the ship in its own x-axis direction, It represents the velocity component of the ship in its own y-axis direction. is the moment of inertia of the hull about the z-axis, and are the external forces on the hull on the x-axis and y-axis, and is the velocity damping coefficient, is the rotational damping coefficient, and are the thrusts of the right and left propellers, respectively, and d is the lateral distance between the propeller and the center of the hull; wherein calculating the differential drive thrust according to the model to track the trajectory includes 1) Thrust calculation in, and is the thrust coefficient of the propeller, and are the rotational speeds of the right and left propellers; 2) Control input The differential control method controls the heading and speed of the ship by adjusting the speed difference of the left and right propellers. The average speed is The linear velocity and angular velocity of the hull are expressed as: in, It represents the relationship between the average speed of the propeller and the forward speed of the hull. It represents the relationship between the propeller speed difference and the angular velocity of the hull.

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