Dual-mode unmanned ocean research vessel

Abstract

The present invention relates to the technical field of unmanned ships, in particular to a dual-mode marine unmanned intelligent scientific research vessel, comprising an unmanned ship body, wherein the unmanned ship body is provided with a bow peak cabin, an instrument and equipment cabin, a moon pool cabin, a rear battery cabin, an engine room, and a stern cabin in sequence from bow to stern, a front battery cabin is provided below the instrument and equipment cabin, fuel tank cabins are provided on both sides of the front battery cabin, and also comprises a task operation assembly and an intelligent navigation control system; the system is used to issue instructions to the intelligent navigation control system and a mother ship / shore-based remote control monitoring platform; by carrying an integrated turbulence observation system, the problem of insufficient frequency or low time resolution of small-scale turbulence observation is solved, the long-term continuous observation needs and the synchronous observation of turbulence and temperature-salinity-depth / current are met, and the observation accuracy of the integrated turbulence observation system is guaranteed, and the intelligent control of the navigation of the unmanned ship is realized, ensuring the long-term autonomous, safe and stable operation under various sea conditions in the deep sea and ocean.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned ships, in particular to a dual-mode ocean unmanned intelligent scientific research ship. Background Art

[0002] An unmanned ship is a fully automatic surface robot that can navigate on the water according to preset tasks without remote control, relying on precise satellite positioning and self-sensing. At present, with the advancement of science and technology, there are no technical barriers to using unmanned ships to conduct marine observation and investigation. They are low-cost, highly flexible, and can achieve twice the result with half the effort. They will surely become a new trend in marine investigation.

[0003] CN110182343A discloses an unmanned ship. The unmanned ship includes a hull and a main propeller arranged at the tail of the hull. The unmanned ship also includes a lateral propeller, which is arranged at the bow of the hull and is used to generate a propulsion force that is angled with the length direction of the hull. Applying the technical solution of the present invention, the unmanned ship mainly generates propulsion force through the main propeller at the tail of the hull to achieve movement. When the unmanned ship needs to achieve a very small turning radius, the lateral propeller generates lateral propulsion force to cooperate with the main propeller, so that the unmanned ship can freely adjust its posture within a very small range in a dynamic state, so as to facilitate more flexible cooperation with the underwater robot and ensure the coordinated work of the unmanned ship and the underwater robot. However, due to its shallow draft and poor ability to resist high sea conditions, the unmanned ship cannot guarantee its navigation stability and data validity under conditions of large wind and waves. In complex waters, large areas of water, and with numerous operating tasks, its efficiency in performing operating tasks will also be greatly reduced.

[0004] "Turbulence" is a small-scale irregular motion in a fluid. It is called "the last unsolved important problem in classical physics" (Feynman, 1963). It cannot be explained with accurate physical and mathematical expressions. It is a bottleneck that has not yet been broken through in physical oceanography and the entire fluid mechanics theory. The reason for this situation is the lack of sufficient observational data, and it is impossible to recognize the law of small-scale turbulent mixing under different conditions. For example, the results of numerical simulations show that when the resolution of the model can more fully distinguish the sub-mesoscale, the sea surface turbulent heat flux shows a systematic change and its intensity is close to the average value (Suetal, 2008), which means that multi-scale ocean processes such as sub-mesoscale have an impact on turbulence, but these results cannot be confirmed from observations. Therefore, how to break through the shackles of traditional thinking, adopt innovative technical solutions, and obtain enough first-hand turbulence data has become the key to achieving a breakthrough in turbulence theory, and it is also one of the focuses of competition in international oceanography and fluid mechanics.

[0005] In addition to affecting the large-scale circulation, water mass, and carbon dioxide distribution by affecting the vertical redistribution of ocean heat, turbulence also has significant climatological effects. In current marine and atmospheric science research, small-scale ocean turbulence processes with a scale of O(0.1m)–O(1m) are a hot spot, which mainly affects climate change by affecting the heat flux at the air-sea interface. For example, when the turbulent mixing coefficient inside the ocean is changed in the ocean model, the deep circulation structure in the ocean will change dramatically (such as Simmons et al., 2003); when the intensity of turbulent mixing in the ocean barrier layer or thermocline is changed in the ocean-climate model, the intensity of El Niño and Southern Oscillation (ENSO) will change significantly, and ENSO may even be suppressed or even eliminated (such as Maes et al., 2005; Meehl et al., 2011). Therefore, turbulent mixing is considered to be an important theoretical path to improve ENSO forecasts in the future (Wenge et al., 2021).

[0006] At present, there is a lack of in-depth understanding of the occurrence of turbulent mixing, including its temporal and spatial distribution variation characteristics and its relationship with multi-scale ocean and atmospheric processes. It is impossible to establish an accurate relationship between turbulence and other processes, which further restricts the understanding of the redistribution process of ocean heat, salinity, carbon dioxide concentration, etc. caused by turbulence, making it impossible to well implement the sub-grid process parameterization of traditional ocean and ocean-atmosphere dynamic models, affecting the accurate construction of ocean and ocean-atmosphere numerical models, resulting in its forecast deviation for high-impact times such as typhoons and ENSO, and also affecting the understanding of the ocean absorption and transfer of carbon dioxide. At the same time, the impact depth of turbulent mixing can reach hundreds of meters, significantly changing the density structure in the vertical direction of the water body, thereby affecting the direction and intensity of underwater sound propagation, and having an important impact on the operational stability, maneuverability and communication security of underwater platforms. Insufficient understanding of the "turbulent" process and mechanism has led to the inability to accurately predict the variation of the ocean background and the variation of the underwater sound propagation field, limiting the maneuverability and safety of underwater mobile platforms, and thus becoming a major demand problem that needs to be solved urgently.

[0007] However, there are three reasons why the ocean turbulence theory has been difficult to make breakthroughs for a long time. First, there is a lack of long-term, continuous and high-frequency turbulence observations, which makes it impossible to fully observe all the physical laws contained in the turbulent process and find out the laws of turbulent mixing and variation. Most of the current small-scale turbulence observations are limited to single-point single-time profile observations, which are similar to blind men touching an elephant. They cannot form effective samples and cannot discover the real laws. Secondly, the current scientific survey ships do not have the ability to automatically lower turbulence observation equipment and temperature, salinity, depth / current observation equipment at the same time. The separate observation of turbulence and temperature, salinity, depth / current is extremely labor-intensive and unsustainable, which not only makes the observation time asynchronous, but also greatly reduces the time continuity. In other words, due to the limitations of instruments and equipment, it is impossible to achieve synchronous observation of turbulence and temperature, salinity, depth / current and high-frequency high-traversal sampling, which hinders the study of turbulence generation and variation mechanisms. Finally, most of the current observations are single-ship observations or continuous observations by buoys far apart. Neither of them can achieve coordinated observations and high vertical resolution observations in the sub-mesoscale and mesoscale, which hinders the study of the impact of multiple scale processes on turbulence.

[0008] CN115290056B discloses a mobile hydraulic lifting ocean turbulence observation base, including a turbulence meter winch, a movable base, a hydraulic lifting device and a universal shipboard installation device. The mobile hydraulic lifting ocean turbulence observation base uses a movable base to carry the turbulence meter winch, the hydraulic lifting device and the universal shipboard installation device to move synchronously, and the turbulence observation instrument is freely pushed on the deck of the observation ship to adapt to different sea conditions and select a suitable observation position for installation and fixation on the survey ship; the turbulence meter winch is lifted by the hydraulic lifting device and clamped against the shipboard for installation and fixation to adapt to different heights of the shipboard, thereby enhancing versatility; the universal shipboard installation device can match the shipboards of different structures, and there is no need to punch holes or weld the ship deck and shipboard for installation, thereby reducing the installation operation cycle of the turbulence meter winch and greatly improving the efficiency of marine observation operations.

[0009] However, the turbulence observer needs to remain in a free state during observation, otherwise the observation accuracy of the turbulence observer will be affected. The above-mentioned prior art uses a turbulence observer winch to lower the turbulence observer. If the cable is not controlled, the upward traction force generated by the turbulence observer winch will affect the observation accuracy of the turbulence observer.

[0010] In addition, with the development of science and technology, the application research of unmanned ships is becoming more and more extensive. Path planning technology and autonomous navigation technology are key issues in the research of unmanned ships, and are also important contents of the research on artificial intelligence of unmanned ships. To a certain extent, they indicate the level of intelligence of unmanned ships. Unmanned ships need to navigate and operate autonomously in complex marine environments, so unmanned ships have more stringent requirements on maneuverability, control performance and reliability. In order to ensure that unmanned ships can complete various complex tasks safely, reliably and autonomously, it is necessary to study more advanced technologies such as navigation control systems.

[0011] Currently, the only reference data used for unmanned ship navigation is GPS positioning information. Dynamic obstacles on the route, such as information about other surrounding ships, cannot be accessed. Static obstacles such as coastlines and islands encountered by unmanned ships during navigation are difficult to avoid effectively. These all seriously affect the navigation safety of unmanned ships. Summary of the invention

[0012] In view of the deficiencies in the above-mentioned existing technologies, a dual-mode ocean unmanned intelligent scientific research vessel is provided. By being equipped with an integrated turbulence observation system, the problems of insufficient frequency or low temporal resolution of small-scale turbulence observations are solved, the needs of long-term continuous observations and synchronous observation of turbulence and temperature, salinity, depth / current are met, the observation accuracy of the integrated turbulence observation system is guaranteed, and intelligent control of the navigation of the unmanned ship is realized, ensuring long-term autonomous, safe and stable operation under various sea conditions in the deep sea and ocean.

[0013] In order to solve the above technical problems, the technical solution adopted by the present invention is that a dual-mode unmanned ocean intelligent scientific research vessel includes an unmanned ship body, wherein the unmanned ship body is provided with a bow peak cabin, an instrument and equipment cabin, a moon pool cabin, a rear battery cabin, an engine cabin, and a stern cabin in sequence from the bow to the stern, a front battery cabin is provided below the instrument and equipment cabin, and fuel tank cabins are provided on both sides of the front battery cabin.

[0014] It also includes a mission operation assembly and an intelligent navigation control system; as well as a mother ship / shore-based remote control monitoring platform for issuing instructions to the intelligent navigation control system and receiving monitoring data from the dual-mode semi-submersible unmanned ship in real time for display and intervention;

[0015] The task operation assembly includes:

[0016] The front ballast tanks arranged on both sides of the moon pool are used to control the ballast so that the unmanned ship body can switch between the surface and semi-submerged dual modes. The two front ballast tanks are respectively provided with a ballast water pump with forward and reverse functions and used to fill or empty the two front ballast tanks with seawater, and a liquid level sensor for detecting the liquid level in the two front ballast tanks. An integrated turbulence observation system is arranged in the moon pool. Two marine diesel engines and two marine gearboxes are arranged in the engine room. Two jet pumps with dynamic positioning function are arranged behind the two marine diesel engines. A lifting mechanism for lifting and lowering the integrated turbulence observation system is arranged above the engine room. A passage for allowing the integrated turbulence observation system to pass is arranged at the bottom of the moon pool. Automatic opening and closing cover plates for opening and closing the passage are arranged on both sides of the bottom of the integrated turbulence observation system. The controller is also included;

[0017] The intelligent flight control system comprises:

[0018] Communication module: Real-time transmission of commands from the mother ship / shore-based remote control monitoring platform to the semi-submersible unmanned vessel, as well as data feedback from the dual-mode semi-submersible unmanned vessel to the mother ship / shore-based remote control monitoring module;

[0019] Onboard control module: Receive, store and transmit the instructions issued by the mother ship / shore-based remote control monitoring platform, and send the basic data information and video image information of the unmanned ship during navigation to the mother ship / shore-based monitoring platform in real time through the communication module;

[0020] Internal state perception module: real-time collection of basic data information of the dual-mode semi-submersible unmanned ship under navigation status;

[0021] External environment perception module: collects and integrates environmental data information of the dual-mode semi-submersible unmanned ship in real time through remote sensors;

[0022] Intelligent navigation module: receives instructions transmitted by the shipboard control module and generates a navigation system according to the instructions issued;

[0023] Navigation control module: executes the instructions of the shipboard control module, and obtains the data information of the internal state perception module, the external environment perception module, the intelligent navigation module and the task operation assembly in real time, and controls the dual-mode semi-submersible unmanned ship in real time according to the above data information, and sends the above data information to the shipboard control module.

[0024] The above-mentioned dual-mode unmanned ocean intelligent scientific research vessel, the integrated turbulence observation system includes an instrument cabin and a probe cabin, a floating platform is provided on the upper part of the instrument cabin, a bracket is provided at the bottom of the instrument cabin, a fixing plate is provided in the instrument cabin, a micro battery compartment and a turbulence profile observation instrument are provided on the fixing plate, a temperature-salinity-depth meter is vertically provided on the outer wall of the instrument cabin through a positioning block, a connecting piece is provided at the bottom of the instrument cabin, a downward-mounted acoustic Doppler current profiler and a battery compartment are correspondingly provided on the connecting piece, and a deceleration wing is correspondingly provided under the floating platform.

[0025] The above-mentioned dual-mode marine unmanned intelligent scientific research vessel, the lifting mechanism includes a winch seat arranged above the engine room, a winch body arranged on the winch seat, a cable and two corresponding guide rollers, and also includes a first seat plate arranged outside the moon pool cabin, a first pulley and a first pulley frame are arranged below the first seat plate, a guide rod rotatably connected to the first pulley frame is arranged on the first pulley frame, a guide wheel is arranged on the guide rod, a second seat plate is arranged on the inner wall of the moon pool cabin, a second pulley and a second pulley frame are arranged on the second seat plate, a conduit for allowing the cable to pass is arranged on the wall of the moon pool cabin, a hanging plate is arranged above the micro battery compartment, and a hanging hole is arranged on the hanging plate.

[0026] The above-mentioned dual-mode unmanned ocean intelligent research vessel also includes a detection system for cooperating with the lifting mechanism to keep the integrated turbulence observation system in a free state during observation, the detection system includes a high-definition camera arranged just above the inside of the moon pool cabin, an ultraviolet lighting lamp arranged on the inner wall of the moon pool cabin, a fluorescent coating coated on the cable, and a cable release control module, the cable release control module includes a cable release margin calculation module, a lifting mechanism control module and a cable release completion module;

[0027] The cable release margin calculation module is used to analyze the image data collected by the high-definition camera in real time frame by frame and calculate the current release margin;

[0028] Lifting mechanism control module: controls the motor speed according to the cable release margin to perform cable release operation;

[0029] Cable releasing completion module: loop the cable release margin calculation module and the lifting mechanism control module until the cable releasing operation is completed;

[0030] The working steps of the cable release control module are:

[0031] S1:

[0032] (1) Preprocess the image to remove noise;

[0033] (2) According to the unique brightness characteristics of the cable in the image, the processed image is segmented, and then the brightness characteristics of each sub-region are compared, and the pixels that meet the brightness characteristics of the cable are marked. All sub-regions with pixels that meet the brightness characteristics of the cable are spliced ​​to obtain the position of the cable;

[0034] (3) Find the starting position of the cable from the edge of the image, and then perform segmentation processing along the trajectory of the cable;

[0035] (4) For each section of the cable, fit the circle with the highest matching degree and obtain the corresponding center of the circle;

[0036] (5) Calculate the corresponding arc length as the length of the cable segment through the starting point and the center point of the circle;

[0037] (6) Add the lengths of all cable segments to obtain the length of the cable in the current image;

[0038] (7) Calculate the current release margin based on the preset maximum release length threshold of the cable and the cable length in the current image.

[0039] Release margin = release length threshold - cable length in the current image;

[0040] S2: Control the speed of the winch body according to the cable release margin to perform the cable release operation;

[0041] S3: S1 and S2 are repeated in a loop until the cable-releasing operation is completed.

[0042] The above-mentioned dual-mode unmanned marine intelligent scientific research vessel has a wireless charging transmitting coil in a circular array on the floating platform, and a wireless charging receiving coil device in a circular array below the wireless charging transmitting coil. The wireless charging receiving coil device includes a first round seat, a waterproof glue potting layer is provided in the first round seat, a second round seat is provided above the waterproof glue potting layer, a pressure-resistant glue potting layer is provided in the second round seat, and a wireless charging receiving coil is provided above the pressure-resistant glue potting layer, and also includes an independent charging controller.

[0043] The above-mentioned dual-mode unmanned ocean intelligent research vessel, the intelligent navigation module also includes a path planning module composed of an obstacle judgment module and an obstacle avoidance decision module: receiving data information from the external environment perception module, and performing path planning, generating a track, and navigating according to the data information from the external environment perception module;

[0044] Obstacle judgment module: Obstacle prediction is performed based on the data information of the external environment perception module. For obstacles with uncertain data information, the obstacle is first further expanded based on the predicted data of the obstacle position, thereby converting the uncertainty data of the obstacle position into specific data and judging whether the obstacle is a static obstacle or a dynamic obstacle;

[0045] Obstacle avoidance decision module: For dynamic obstacles, the speed is changed without changing the original trajectory to avoid the obstacle; for static obstacles, the heading angle difference with the obstacle is determined, and then the maritime rules are determined. Then, the speed direction is changed according to the content of the maritime rules, thereby changing the path to avoid the obstacle. After changing the path to avoid the obstacle, it returns to the original path.

[0046] The above-mentioned dual-mode ocean unmanned intelligent scientific research vessel, the intelligent navigation module also includes a path tracking module: through satellite navigation and inertial navigation, real-time monitoring of whether the current driving state of the unmanned ship deviates from the planned segment path, if deviation occurs, a signal is sent to the navigation control module to adjust the unmanned ship to the planned segment path, otherwise the current driving state is kept unchanged.

[0047] In the above-mentioned dual-mode unmanned ocean intelligent scientific research vessel, the intelligent navigation module also includes a return module: when the communication is interrupted, the intelligent navigation module generates a return track, and the navigation control module controls the return according to the return track.

[0048] The above-mentioned dual-mode unmanned ocean intelligent research vessel, the basic data information includes speed, heading, heading, position, attitude, battery power, remaining fuel, engine speed, and rudder angle; the environmental data information includes inertial navigation information, radar information, laser information, visual information, AIS information, and chart information.

[0049] The above-mentioned semi-dual-mode unmanned ocean intelligent research vessel is provided with rear ballast tanks extending rearward on both sides of the engine room for assisting the ship in self-righting, and also includes two regulating water pumps for adjusting the water volume in the rear ballast tanks.

[0050] The beneficial effect of the dual-mode unmanned ocean intelligent research vessel of the present invention is that by integrating a multi-in-one observation system such as a turbulence profiler / temperature-salinity-depth instrument / lowering acoustic Doppler current profiler (VMP / CTD / LADCP) on the unmanned ship, and controlling the lifting and lowering through a lifting mechanism, the three-in-one synchronous observation of turbulence / temperature-salinity-depth / current (VMP / CTD / LADCP) can be completed by lowering once, and it can be quickly recovered after being lowered to the target depth, and then the second release can be quickly started, and the cycle is repeated. According to calculations, it can achieve high-frequency observations of 5-8 times per hour, which is 10 times the speed of manual observation, thereby well solving the problem of insufficient frequency of small-scale turbulence observations or low temporal resolution. By using my country's autonomous satellite communications, navigation, autonomous control and environmental perception and other new technologies, we can realize the integrated long-term fixed-point continuous observation of the ocean dynamic environment, realize the acquisition of large sample turbulence and other ocean dynamic environment data, reveal the mechanism of small-scale turbulence in the ocean, and achieve a breakthrough in turbulence theory, clarify its climate effect, improve the accuracy of ocean-atmosphere numerical simulation, and promote the output of major achievements.

[0051] The hull and the integrated turbulence observation system adopt a conformal integrated design and embedded installation, which not only ensures the integrity and watertightness of the hull structure, but also improves seakeeping and stability, reduces resistance during navigation, and ensures propulsion efficiency. The hull adopts a mid-V ship design, which reduces the resistance of high-speed navigation in waves and improves seakeeping.

[0052] By installing a front ballast tank, a ballast water pump, a liquid level sensor, a controller, and two marine diesel engines and two marine gearboxes in the engine room, and two jet pumps with dynamic positioning function behind the two marine diesel engines, high-speed surface navigation and semi-submerged low-speed navigation can be achieved, which facilitates the rapid tracking, multi-point, and high-frequency measurement of typhoons and vortices, and realizes the synchronous detection of one ship equivalent to multiple ships.

[0053] When sailing in a semi-submerged state, the hull is below the water surface, and only part of the hull's appendages are above the water surface. It can greatly reduce the interference of wind and waves on the water surface, greatly improving safety and stability. On both sides of the engine room, there are rear ballast tanks extending backwards to assist the ship in self-righting. It also includes two regulating water pumps for adjusting the amount of water in the rear ballast tanks, increasing the water contact area at the bottom of the hull, and playing the role of anti-roll fins. Improve the stability of the semi-submerged state, thereby providing a stable environment for the precise measurement of turbulence observation equipment. It has the ability to self-right in both modes, becoming a "tumbler" at sea, meeting normal operations in level 3 sea conditions and safe navigation in level 4 sea conditions. According to the needs of dual-mode operations, taking into account the hull weight, speed and endurance performance, the dual-mode conversion is smooth and time-saving.

[0054] The semi-submersible ocean intelligent observation unmanned ship can form a formation with the "Science" mother ship to carry out synchronous collaborative observation. It can realize collaborative observation at fixed positions for both parties, as well as collaborative observation at synchronous moving positions. Their relative positions and distances can be flexibly set according to the ocean site conditions, thereby effectively solving the problem of low spatial resolution of observations. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Figure 1 is a side view of the present invention;

[0056] Figure 2 A bottom view of the present invention;

[0057] Figure 3 A schematic diagram of the arrangement positions of the various cabins of the present invention;

[0058] Figure 4 It is a side view of the lifting mechanism;

[0059] Figure 5 It is a schematic diagram of the working state of the integrated turbulence observation system;

[0060] Figure 6 It is a structural schematic diagram of an automatic opening and closing cover;

[0061] Figure 7 This is the main view of the integrated turbulence observation system;

[0062] Figure 8 This is a top view of the floating platform;

[0063] Fig. 9 A top view of a wireless charging transmitting coil;

[0064] Fig.10 It is a structural schematic diagram of a wireless charging receiving coil device;

[0065] Fig.11 is a structural schematic diagram of the first round seat;

[0066] Fig.12 is a schematic diagram of the structure of the second round seat;

[0067] Fig.13 It is a schematic diagram of the structure of the wireless charging receiving coil;

[0068] Fig.14 This is a schematic diagram of the internal structure of the battery compartment;

[0069] Fig.15 for Figure 2 A partial enlarged view of part A.

[0070] 1. Unmanned ship body; 2. Bow cabin; 3. Instrument and equipment cabin; 4. Moon pool cabin; 5. Rear battery cabin; 6. Engine cabin; 7. Stern cabin; 8. Fuel tank cabin; 9. Front ballast tank; 10. Rear ballast tank; 11. Regulating water pump; 12. Marine diesel engine; 13. Jet pump; 14. Convex deck; 15. Lifting mast; 16. Cover body; 17. Hydraulic cylinder; 18. Winch seat; 19. Winch body; 20. Cable; 21. Guide roller; 22. First seat plate; 23. First pulley; 24. First pulley frame; 25. Guide rod; 26. Guide wheel; 27. Second seat plate; 28. Second pulley frame; 29. ​​Catheter; 30. Camera; 31. Integrated Turbulence observation system; 32. Instrument cabin; 33. Probe cabin; 34. Floating platform; 35. Bracket; 36. Fixing plate; 37. Micro battery compartment; 38. Turbulence profile observation instrument; 39. Positioning block; 40. Temperature-salinity-depth instrument; 41. Lowered acoustic Doppler current profiler; 42. Battery compartment; 43. Watertight plug-in; 44. Cover; 45. Battery bracket; 46. First clamp; 47. Second clamp; 48. Wireless charging transmitting coil; 49. First round seat; 50. Waterproof glue layer; 51. Second round seat; 52. Pressure-resistant glue layer; 53. Wireless charging receiving coil; 54. Wireless data transmission module; 55. Deceleration wings; 56. Independent charging controller. DETAILED DESCRIPTION

[0071] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0072] like Figure 1-14 As shown, the dual-mode unmanned marine intelligent research vessel includes an unmanned ship body 1, and the unmanned ship body 1 is provided with a bow peak cabin 2, an instrument and equipment cabin 3, a moon pool cabin 4, a rear battery cabin 5, a cabin 6, and a stern cabin 7 from the bow to the stern. A front battery cabin is provided below the instrument and equipment cabin 3, and fuel tank cabins 8 are provided on both sides of the front battery cabin. The diameter of the moon pool cabin is ≮550mm. A convex deck 14 is provided in the middle of the unmanned ship body 1, and a wind and rainproof hatch cover is provided on the convex deck. A navigation radar and an antenna are provided above the instrument and equipment cabin. The lifting mast 15 is used as a load-bearing method. After descending, the equipment above the lifting mast is embedded in the convex deck, and the hardware equipment of the navigation control system and the power distribution equipment are provided in the instrument and equipment cabin. With the help of semi-submersible mode, lifting mast and other technologies, the wind-receiving surface is reduced and the stability is enhanced.

[0073] It also includes a mission operation assembly and an intelligent navigation control system; as well as a mother ship / shore-based remote control monitoring platform for issuing instructions to the intelligent navigation control system and receiving monitoring data from the dual-mode semi-submersible unmanned ship in real time for display and intervention;

[0074] The task operation assembly includes:

[0075] The front ballast tanks 9 arranged on both sides of the moon pool 4 can switch between the surface and semi-submerged dual modes by controlling the ballast. The two front ballast tanks are respectively provided with a ballast water pump with forward and reverse functions for filling or emptying the two front ballast tanks with seawater, and a liquid level sensor for detecting the liquid level in the two front ballast tanks, and also include a controller; the controller is a PLC.

[0076] An integrated turbulence observation system 31 is provided in the moon pool cabin, two marine diesel engines and two marine gearboxes are provided in the engine room, two jet pumps with dynamic positioning function are provided behind the two marine diesel engines, a lifting mechanism for lifting and lowering the integrated turbulence observation system is provided above the engine room, a passage allowing the integrated turbulence observation system to pass is provided at the bottom of the moon pool cabin, and automatic opening and closing cover plates for opening and closing the passage plates are provided on both sides of the bottom of the integrated turbulence observation system, the automatic opening and closing cover plates include two rod bodies whose tops are rotatably connected to the inner wall of the moon pool cabin 4, cover plate bodies 16 rotatably connected to the two rod bodies are provided at the bottoms of the two rod bodies, and hydraulic cylinders 17 hinged on the inner wall of the moon pool cabin 4 for driving the cover plate body 16 to operate, which are symmetrical on the left and right.

[0077] The intelligent flight control system comprises:

[0078] Communication module: real-time transmission of commands issued by the mother ship / shore-based remote control monitoring platform to the semi-submersible unmanned vessel, as well as data feedback from the dual-mode semi-submersible unmanned vessel to the mother ship / shore-based remote control monitoring module; the communication module can adopt Beidou and Tiantong dual-mode communication modules to send relevant data parameters such as unmanned ship positioning, heading, speed, etc. to the mother ship / shore-based remote control monitoring platform, so as to realize remote monitoring of the mother ship / shore-based remote control monitoring platform.

[0079] Onboard control module: Receive, store and transmit the instructions issued by the mother ship / shore-based remote control monitoring platform, and send the basic data information and video image information of the unmanned ship during navigation to the mother ship / shore-based monitoring platform in real time through the communication module;

[0080] Internal state perception module: real-time collection of basic data information of the dual-mode semi-submersible unmanned ship under navigation status;

[0081] External environment perception module: collects and integrates environmental data information of the dual-mode semi-submersible unmanned ship in real time through remote sensors;

[0082] Intelligent navigation module: receives instructions transmitted by the shipborne control module, and generates a navigation system according to the instructions issued; the navigation system is a multi-in-one navigation system with mutual backup formed by domestic "Beidou" and inertial navigation.

[0083] Navigation control module: executes the instructions of the shipboard control module, and obtains the data information of the internal state perception module, the external environment perception module, the intelligent navigation module and the task operation assembly in real time, and controls the dual-mode semi-submersible unmanned ship in real time according to the above data information, and sends the above data information to the shipboard control module.

[0084] The integrated turbulence observation system includes an instrument cabin 32 and a probe cabin 33. A floating platform 34 is provided on the upper part of the instrument cabin 32, a bracket 35 is provided at the bottom of the instrument cabin 32, a fixing plate 36 is provided in the instrument cabin 32, a micro battery compartment 37 and a turbulence profile observation instrument 38 are provided on the fixing plate 36, a temperature-salinity-depth instrument 40 is vertically provided on the outer wall of the instrument cabin 32 through a positioning block 39, a connecting piece is provided at the bottom of the instrument cabin 32, a lowered acoustic Doppler current profiler 41 and a battery compartment 42 are correspondingly provided on the connecting piece, and a watertight plug-in 43 is provided on the lowered acoustic Doppler current profiler and the battery compartment. The battery compartment includes a compartment body, a cover body 44 provided at both ends of the compartment body, and a battery bracket 45 provided in the compartment body for carrying batteries. A deceleration wing 55 is correspondingly provided below the floating platform 34. The connecting piece includes a first clamp 46 arranged at the bottom of the instrument cabin 32, and a second clamp 47 correspondingly arranged on both sides of the first clamp 46 and connected to the first clamp. Through the above structure, the lowered acoustic Doppler current profiler and the temperature-salinity depth meter are kept as far away from the probe of the turbulence profile observer as possible, eliminating the influence of the lowered acoustic Doppler current profiler and the temperature-salinity depth meter on the shear probe of the turbulence profile observer during the lowering process, so as to facilitate the collection of high-quality turbulence profile data. The height of the integrated turbulence observation system is 1650mm, and the maximum diameter is not more than 300mm. The weight in the air is about 78.7 kg. In order to improve the pressure resistance of the integrated turbulence observation system entering the deep sea, the interior of the instrument cabin 32 and the probe cabin 33 are integrally filled with glue.

[0085] The lifting mechanism includes a winch seat 18 arranged above the cabin 6, a winch body 19 arranged on the winch seat 18, a cable 20 and two corresponding guide rollers 21, and also includes a first seat plate 22 arranged outside the moon pool cabin 4, a first pulley 23 and a first pulley frame 24 are arranged below the first seat plate 22, a guide rod 25 rotatably connected to the first pulley frame 24 is arranged on the first pulley frame 24, a guide wheel 26 is arranged on the guide rod 25, a second seat plate 27 is arranged on the inner wall of the moon pool cabin 4, a second pulley and a second pulley frame 28 are arranged on the second seat plate 27, a conduit 29 for allowing the cable to pass is arranged on the wall of the moon pool cabin 4, a hanging plate is arranged above the micro battery compartment, and a hanging hole is arranged on the hanging plate.

[0086] A wireless charging transmitting coil 48 is arranged in a circular array on the floating platform, and a wireless charging receiving coil device is arranged in a circular array below the wireless charging transmitting coil 48. The wireless charging receiving coil device comprises a first round seat 49, a waterproof glue potting layer 50 is arranged in the first round seat 49, a second round seat 51 is arranged above the waterproof glue potting layer 50, a pressure-resistant glue potting layer 52 is arranged in the second round seat 51, a wireless charging receiving coil 53 is arranged above the pressure-resistant glue potting layer 52, and an independent charging controller 56 is also included.

[0087] The number of wireless charging receiving coil devices is eight, and the number of independent charging controllers is eight. To ensure the ideal charging effect, one wireless charging transmitting coil corresponds to two wireless charging receiving coils, so that the eight coils can work at full power. The number of micro battery compartments is six, and each micro battery compartment is equipped with an 18650 lithium battery. A wireless data transmission module 54 is also provided on the fixed plate. The wireless data transmission module 54 is connected to the shipborne data server through a serial port, and transmits the data in the VMP memory to the shipborne data server, realizing the real-time acquisition of large sample volume field observation data. With the help of the turbulence profile data processing system, the turbulence mixing characteristic information of a specific sea area is obtained, and combined with my country's independent satellite communication system and intelligent navigation control system, the real-time transmission of feature-level fusion data is realized, and the turbulence mixing process of the deep sea ocean is broadcast live. The wireless data transmission module is a prior art and will not be described here.

[0088] A ballast water pump with forward and reverse functions and used to fill or empty the two front ballast tanks with seawater, as well as a liquid level sensor, are respectively provided in the two front ballast tanks. The high-speed and semi-submerged navigation modes are quickly switched through the above system. The two ballast water pumps are respectively provided at the bottom of the two front ballast tanks. The pump flow rate is ≥100L / min, and rapid filling / emptying can be achieved within 20 minutes. The liquid level sensor in the ballast tank can feed back the liquid level status in the tank to the navigation control module. The navigation control module sends a signal to the controller according to the instruction of the ship-borne control module to inject or discharge seawater into the ballast tank to achieve dual-mode switching. Two marine diesel engines 12, two marine gearboxes, and two sets of jet pumps 13 are provided in the engine room. The marine diesel engine is a Japanese YANMAR marine diesel engine. The gearbox adopts two ZF68 marine gearboxes produced by the German ZF company, with a speed ratio of 1.514. The jet pump is a KAMEWA FF240 water jet propulsion device, which can provide dynamic positioning control. The dual-mode semi-submersible unmanned ship has structural features such as a single body, a single deck, and a mid-V-shaped pointed bilge to ensure high-speed navigation on the water surface. When semi-submerged, it is in a low-profile ship (LPV) state. Due to its low profile, the low-profile ship has the function of reducing characteristic signals in infrared, radar, vision, acoustics and spectrum, so it has good stealth. The mid-V-shaped ship design reduces the resistance of high-speed navigation in waves and improves wave resistance. When semi-submerged, the hull is below the water surface, and only part of the hull appendage is above the water surface. It can greatly reduce the interference of wind and waves on the water surface and greatly improve safety and stability. On both sides of the cabin, there are rear ballast tanks 10 extending backward to assist the ship's self-righting, and also include two regulating water pumps 11 for adjusting the water volume in the rear ballast tank, which increases the water contact area of ​​the bottom of the hull, plays the role of anti-roll fins, and improves the stability of the semi-submerged state, thereby providing a stable environment for the precise measurement of the integrated turbulence observation system. It has the ability to self-right in both modes, becoming a "tumbler" at sea, meeting normal operations in sea conditions of level 3 and safe navigation in sea conditions of level 4. According to the needs of dual-mode operation, taking into account the hull weight, speed and endurance performance, the dual-mode conversion is smooth and time-saving. The length, width and height of the dual-mode semi-submersible unmanned ship are: 8.5×2.5×2.6 meters. It uses high-performance composite materials mainly made of aramid and carbon fiber. The core material is made of Balsa and PVC. The weight is ≯8t, making it light and strong. It can be retracted and released by a single point of the mother ship, and is propelled by dual diesel engines and dual jet pumps. The dual mode is controlled by the ballast water tank and the conversion time is ≮10min. The full load displacement in the high-speed surface state is 7.45t and the speed is 25kn. The full load displacement in the semi-submerged state is 11.69t and the speed is 5kn. Equipped with 2300L of fuel and 80kW·h of lithium batteries, it can meet the requirements of high-speed surface endurance of ≮450m or semi-submerged working endurance of ≮360h.

[0089] It also includes a detection system for cooperating with the lifting mechanism to keep the integrated turbulence observation system in a free state during observation, the detection system includes a high-definition camera arranged directly above the inside of the moon pool cabin, an ultraviolet lighting lamp arranged on the inner wall of the moon pool cabin, a fluorescent coating coated on the cable, and a cable release control module, the cable release control module includes a cable release margin calculation module, a lifting mechanism control module and a cable release completion module;

[0090] The cable release margin calculation module is used to analyze the image data collected by the high-definition camera in real time frame by frame and calculate the current release margin;

[0091] Lifting mechanism control module: controls the motor speed according to the cable release margin to perform cable release operation;

[0092] Cable releasing completion module: loop the cable release margin calculation module and the lifting mechanism control module until the cable releasing operation is completed;

[0093] The working steps of the cable release control module are:

[0094] S1:

[0095] (1) Preprocess the image to remove noise;

[0096] (2) According to the unique brightness characteristics of the cable in the image, the processed image is segmented, and then the brightness characteristics of each sub-region are compared, and the pixels that meet the brightness characteristics of the cable are marked. All sub-regions with pixels that meet the brightness characteristics of the cable are spliced ​​to obtain the position of the cable;

[0097] (3) Find the starting position of the cable from the edge of the image, and then perform segmentation processing along the trajectory of the cable;

[0098] (4) For each section of the cable, fit the circle with the highest matching degree and obtain the corresponding center of the circle;

[0099] (5) Calculate the corresponding arc length as the length of the cable segment through the starting point and the center point of the circle;

[0100] (6) Add the lengths of all cable segments to obtain the length of the cable in the current image;

[0101] (7) Calculate the current release margin based on the preset maximum release length threshold of the cable and the cable length in the current image.

[0102] Release margin = release length threshold - cable length in the current image;

[0103] S2: Control the speed of the winch body according to the cable release margin to perform the cable release operation;

[0104] S3: S1 and S2 are repeated in a loop until the cable-releasing operation is completed.

[0105] During the lowering process of the integrated turbulence observation system, a certain number of cables (such as 2-5 circles) are maintained while floating in the moon pool through intelligent control means such as high-definition camera video acquisition and surplus cable feature extraction, ensuring that the cables do not exert tension on the observation system and that it can be lowered freely. During cyclic observation, a new lowering can be started when the equipment is lifted close to the bottom of the ship. The winch changes the design speed according to the VMP's underwater lowering speed (acceleration first and then constant speed), and a proper amount of cable is reserved throughout the entire process to allow the VMP equipment to be lowered freely, preventing the generation of upward traction from the winch and ensuring the observation accuracy of the integrated turbulence observation system.

[0106] The intelligent navigation module also includes a path planning module composed of an obstacle judgment module and an obstacle avoidance decision module: receiving data information from the external environment perception module, and performing path planning, generating a track, and navigating according to the data information from the external environment perception module;

[0107] Obstacle judgment module: Obstacle prediction is performed based on the data information of the external environment perception module. For obstacles with uncertain data information, the obstacle is first further expanded based on the predicted data of the obstacle position, thereby converting the uncertainty data of the obstacle position into specific data and judging whether the obstacle is a static obstacle or a dynamic obstacle;

[0108] Obstacle avoidance decision module: For dynamic obstacles, the speed is changed without changing the original trajectory to avoid the obstacle; for static obstacles, the heading angle difference with the obstacle is determined, and then the maritime rules are determined. Then, the speed direction is changed according to the content of the maritime rules, thereby changing the path to avoid the obstacle. After changing the path to avoid the obstacle, it returns to the original path.

[0109] The intelligent navigation module also includes a path tracking module: through satellite navigation and inertial navigation, it monitors in real time whether the current driving state of the unmanned ship deviates from the planned route segment path. If deviation occurs, a signal is sent to the navigation control module to adjust the unmanned ship to the planned route segment path, otherwise the current driving state remains unchanged.

[0110] The intelligent navigation module also includes a return module: when the communication is interrupted, the intelligent navigation module generates a return track, and the navigation control module controls the return according to the return track.

[0111] The basic data information includes speed, heading, heading, position, attitude, battery power, remaining fuel, engine speed, and rudder angle; the environmental data information includes inertial navigation information, radar information, laser information, visual information, AIS information, and chart information.

[0112] A ballast water pump with forward and reverse functions and used to fill or empty the two front ballast tanks with seawater, as well as a liquid level sensor, are respectively provided in the two front ballast tanks. The high-speed and semi-submerged navigation modes are quickly switched through the above system. The two ballast water pumps are respectively provided at the bottom of the two front ballast tanks. The pump flow rate is ≥100L / min, and rapid filling / emptying can be achieved within 20 minutes. The liquid level sensor in the ballast tank can feed back the liquid level status in the tank to the navigation control module. The navigation control module sends a signal to the controller according to the instruction of the ship-borne control module to inject or discharge seawater into the ballast tank to achieve dual-mode switching. Two marine diesel engines 12, two marine gearboxes, and two sets of jet pumps 13 are provided in the engine room. The marine diesel engine is a Japanese YANMAR marine diesel engine. The gearbox adopts two ZF68 marine gearboxes produced by the German ZF company, with a speed ratio of 1.514. The jet pump is a KAMEWA FF240 water jet propulsion device, which can provide dynamic positioning control. The dual-mode semi-submersible unmanned ship has structural features such as a single body, a single deck, and a mid-V-shaped pointed bilge to ensure high-speed navigation on the water surface. When semi-submerged, it is in a low-profile ship (LPV) state. Due to its low profile, the low-profile ship has the function of reducing characteristic signals in infrared, radar, vision, acoustics and spectrum, so it has good stealth. The mid-V-shaped ship design reduces the resistance of high-speed navigation in waves and improves wave resistance. When semi-submerged, the hull is below the water surface, and only part of the hull is above the water surface. It can greatly reduce the interference of wind and waves on the water surface and greatly improve safety and stability. There are rear ballast tanks extending to the rear on both sides of the cabin to assist the ship in self-righting, and also include two regulating water pumps for adjusting the water volume in the rear ballast tanks, increasing the water contact area at the bottom of the hull, and playing the role of anti-roll fins. Improve the stability of the semi-submerged state, thereby providing a stable environment for the precise measurement of the integrated turbulence observation system. It has the ability to self-right in both modes, becoming a "tumbler" at sea, meeting normal operations in sea conditions of level 3 and safe navigation in sea conditions of level 4. According to the needs of dual-mode operation, taking into account the hull weight, speed and endurance performance, the dual-mode conversion is smooth and time-saving. The length, width and height of the dual-mode semi-submersible unmanned ship are: 8.5×2.5×2.6 meters. It uses high-performance composite materials mainly made of aramid and carbon fiber. The core material is made of Balsa and PVC. The weight is ≯8t, making it light and strong. It can be retracted and released by a single point of the mother ship, and is propelled by dual diesel engines and dual jet pumps. The dual mode is controlled by the ballast water tank and the conversion time is ≮10min. The full load displacement in the high-speed surface state is 7.45t and the speed is 25kn. The full load displacement in the semi-submerged state is 11.69t and the speed is 5kn. Equipped with 2300L of fuel and 80kW·h of lithium batteries, it can meet the requirements of high-speed surface endurance of ≮450m or semi-submerged working endurance of ≮360h.

[0113] The following is a working reference example of an integrated turbulence observation system. The mother ship / shore-based remote monitoring platform issues a command: set the number of observations and observation time for the integrated turbulence observation system to complete a data transmission to the shipboard control module and the mother ship / shore-based remote monitoring platform. For example, set the first 10 observations (or the first 3 hours of observations). After the navigation control module receives the data from the integrated turbulence observation system, it sends it to the mother ship / shore-based remote monitoring module through the shipboard control module for reading. After reading, the observation system continues to work.

[0114] Composition and functions of mother ship / shore-based remote monitoring platform:

[0115] Contains a set of portable handheld control terminals, a set of fixed control consoles and related control system software; supports Android mobile phone systems and WINDOWS systems;

[0116] Support electronic nautical charts of working sea areas;

[0117] Supports setting of task points, electronic fence boundaries, and operation time and duration;

[0118] Support task saving, modification, management and loading;

[0119] Support unmanned ship system status monitoring and display;

[0120] You can check the speed, heading, heading, position, battery power, remaining fuel, working status, driving path and observation system operation information of the unmanned ship;

[0121] It can send out alarm information such as the remaining fuel level of the unmanned ship and the remaining power of all batteries;

[0122] The measurement data of the instruments carried by the unmanned ship can be displayed in real time;

[0123] Can display video images captured by the camera of the unmanned ship;

[0124] It can realize the interactive conversion of control rights of unmanned ships;

[0125] The display should be no less than 14-inch LED display;

[0126] The resolution should not be less than 1920*1080;

[0127] Processor no less than Intel® Core i5-8250U processor 1.8GHz;

[0128] The memory is not less than 8GB DDR4; the hard disk capacity is not less than SSD 1TB;

[0129] Based on QGC secondary development, it supports Android and Windows operating systems;

[0130] Developed based on QT environment, implemented with C++ code, and can run across platforms.

[0131] Composition and functions of the shipboard control module (shipboard controller):

[0132] Contains dual-layer hardware structure and control software of flight control computer and navigation attitude controller;

[0133] It has dual working modes of remote control and autonomous navigation;

[0134] It has the function of real-time data transmission, and sends the basic data information of the unmanned ship (speed, heading, heading, position, battery power, remaining fuel, engine speed, rudder angle, observation system operation data, etc.), video images and other information to the mother ship / shore-based remote control monitoring module in real time, with data delay <500ms;

[0135] With online storage function, storage capacity ≥ 5TB;

[0136] It has the function of real-time monitoring of shipboard equipment and can turn on, off and operate designated equipment according to working conditions;

[0137] The shipboard control module adopts the embedded LINUX system and the open ROS2 architecture, and is located in the instrument and equipment cabin, which can provide users with secondary development functions; the shipboard controller hardware configuration: adopts the Intel Apollo Lake SoC + FPGA processor architecture, onboard ≥4G memory, and no less than the following interfaces, including 2 CAN buses, 2 RS485 buses, and 4 RS232 buses. EMC meets CE / FCC Class B;

[0138] The software architecture adopts a distributed architecture to reduce the impact of sensor data loss on unmanned ship control.

[0139] Composition and functions of the navigation control module (navigation controller):

[0140] The navigation controller uses RTOS embedded operating system, integrated with IMU, GPS board, communication board and other sensors. Provide RS232, RS485, CAN interface. Length, width and height are no more than 20cm.

[0141] The navigation controller and the shipboard controller use Ethernet and CAN for communication control. An external communication module can be installed.

[0142] The heading control accuracy of the navigation controller is no more than 1°, the speed control accuracy is no more than 0.1m / s, and the track tracking accuracy is no more than 0.5m. The heading and speed controller settings support online model identification and self-tuning, and provide inspection reports from provincial and above inspection agencies. The algorithm theory results can provide appraisal reports from relevant societies.

[0143] The decision-making planning software supports the ROS system implemented in C / C++ code;

[0144] The navigation control software is implemented using C / C++ code.

[0145] The radar information, laser information and AIS information are collected through navigation radar, laser radar and AIS; the maximum detection distance of the navigation radar is ≥12nm; the minimum effective distance is ≤50m; the communication interface adopts RJ45; multiple types of data are provided, including support for radar echo, target track data message, and navigation data forwarding; the transmitter frequency is X-band 9.3~9.4GHz; the maximum scanning bandwidth is 75MHz.

[0146] The detection distance of the laser radar is ≥80m; frame rate is ≥5Hz; number of lines is ≥16; detection blind area is ≤0.4m; detection error is ≤2cm; horizontal field of view is 360°, resolution is 0.1°; vertical field of view is 30°, resolution is 2°; protection level is IP67; Ethernet output rate is ≥100Mbps.

[0147] AIS frequency range: 156.025-162.025MHz; receiving sensitivity: <-107dBm (20%PER); bit rate: 9600bps±50ppm (GMSK); 1200bps±30ppm (FSK); channel bandwidth 25KHz.

[0148] There is also a camera 30 on the unmanned boat body 1. Visual information can be transmitted back to the mother ship / shore-based remote control monitoring platform in real time through the camera 30 carried by the boat, and the surface video image can be displayed; the frame rate of the camera: 50Hz: 25fps (1920×1080, 1280×960, 1280×720), 50fps (1280×960, 1280×720); optical zoom: 23x zoom; digital zoom: 16x zoom; infrared irradiation distance ≥100m; focal length: 4.8-115mm; horizontal viewing angle: 64.5-3.2° (wide angle-telephoto); adjustment range: horizontal 360°, vertical -15°~90°; storage function supports MicroSD / SDHC / SDXC card (256G); video compression standard: H.265 / H.264 / MJPEG.

[0149] The camera carried by the ship can also monitor the environment around the unmanned ship. When encountering forced salvage and recovery, the information data is sent to the navigation control module, the navigation control module sends the information data to the shipboard control module, the shipboard control module sends the information data to the mother ship / shore-based monitoring platform, and the mother ship / shore-based monitoring platform issues the integrated turbulence observation system recovery command and return command to ensure the safety of the integrated turbulence observation system.

[0150] The dual-mode ocean unmanned intelligent research vessel is mainly used to perform ocean survey tasks. It can form a formation with the mother ship "Science" to carry out synchronous collaborative observations, which can realize collaborative observations at fixed positions for both parties, as well as collaborative observations at synchronous moving positions, and their mutual positions and distances can be flexibly set according to the ocean site conditions, thus solving the problem of low spatial resolution of observations. The unmanned ship can conduct centralized observations specifically for turbulence because it does not affect other operations of the mother ship "Science". During the automatic observation of the unmanned ship, "Science" can sail to other sites to carry out operations without the need to take care of the unmanned ship nearby. It is estimated that 500L of fuel can maintain the fixed-point continuous observation of the unmanned ship for about 20 days, and the unmanned ship is designed to carry 2000L of fuel, which can meet the needs of long-term continuous observation, thus solving the problem of short continuous observation time. The mixing that occurs in the barrier layer of the traditional operating area of ​​"Science" - the warm pool area of ​​the western Pacific Ocean has an important impact on high-impact sea-air events such as ENSO and climate change, and is an area of ​​great interest to marine and atmospheric sciences. With the convenience of long-term observations in the warm pool area by the "Science", concentrated, long-term and continuous turbulence observations are carried out using unmanned ships to obtain a large amount of first-hand turbulence data, and to clarify the occurrence law of turbulent mixing in the warm pool barrier layer and even the thermocline. It is not only expected to break through the turbulence theory, but also to help innovate the ENSO theory, reveal the law of heat transfer in the tropical Pacific Ocean, and improve the warm pool formation theory, which has important scientific value. With the help of the "Science" six voyages a year (at least three into the warm pool area), each voyage has an average survey time of 45 days. Ideally, within a year, about 6 continuous turbulence observations of more than 20 days can be achieved, which is close to the sum of similar observations in the world in the past, greatly enhancing my country's competitiveness in field observations and related theoretical research on small-scale turbulent mixing and sub-mesoscale processes in the ocean.

[0151] Of course, the above description is not a limitation of the present invention, and the present invention is not limited to the above examples. Changes, modifications, additions or substitutions made by ordinary technicians in this technical field within the essential scope of the present invention should also fall within the protection scope of the present invention.

Claims

1. Dual-mode unmanned intelligent ocean research vessel, characterized by: The unmanned boat body comprises a bow peak cabin, an instrument cabin, a moon pool cabin, a rear battery cabin, an engine cabin, and a stern cabin, wherein a front battery cabin is arranged below the instrument cabin, and fuel tank cabins are arranged on both sides of the front battery cabin. It also includes a mission operation assembly and an intelligent navigation control system; as well as a mother ship / shore-based remote control monitoring platform for issuing instructions to the intelligent navigation control system and receiving monitoring data from the dual-mode semi-submersible unmanned ship in real time for display and intervention; The task operation assembly includes: The front ballast tanks arranged on both sides of the moon pool are used to control the ballast so that the unmanned ship body can switch between the surface and semi-submerged dual modes. The two front ballast tanks are respectively provided with a ballast water pump with forward and reverse functions and used to fill or empty the two front ballast tanks with seawater, and a liquid level sensor for detecting the liquid level in the two front ballast tanks. An integrated turbulence observation system is arranged in the moon pool. Two marine diesel engines and two marine gearboxes are arranged in the engine room. Two jet pumps with dynamic positioning function are arranged behind the two marine diesel engines. A lifting mechanism for lifting and lowering the integrated turbulence observation system is arranged above the engine room. A passage for allowing the integrated turbulence observation system to pass is arranged at the bottom of the moon pool. Automatic opening and closing cover plates for opening and closing the passage are arranged on both sides of the bottom of the integrated turbulence observation system. The controller is also included; The intelligent flight control system comprises: Communication module: Real-time transmission of commands from the mother ship / shore-based remote control monitoring platform to the semi-submersible unmanned vessel, as well as data feedback from the dual-mode semi-submersible unmanned vessel to the mother ship / shore-based remote control monitoring module; Onboard control module: Receive, store and transmit the instructions issued by the mother ship / shore-based remote control monitoring platform, and send the basic data information and video image information of the unmanned ship during navigation to the mother ship / shore-based monitoring platform in real time through the communication module; Internal state perception module: real-time collection of basic data information of the dual-mode semi-submersible unmanned ship under navigation status; External environment perception module: collects and integrates environmental data information of the dual-mode semi-submersible unmanned ship in real time through remote sensors; Intelligent navigation module: receives instructions transmitted by the shipboard control module and generates a navigation system according to the instructions issued; Navigation control module: executes the instructions of the shipboard control module, and obtains the data information of the internal state perception module, the external environment perception module, the intelligent navigation module and the task operation assembly in real time, and controls the dual-mode semi-submersible unmanned ship in real time according to the above data information, and sends the above data information to the shipboard control module; The basic data information includes speed, heading, heading, position, attitude, battery power, remaining fuel, engine speed, and rudder angle; the environmental data information includes inertial navigation information, radar information, laser information, visual information, AIS information, and chart information; The integrated turbulence observation system comprises an instrument cabin and a probe cabin, a floating platform is arranged on the upper part of the instrument cabin, a bracket is arranged on the bottom of the instrument cabin, a fixing plate is arranged in the instrument cabin, a micro battery compartment and a turbulence profile observation instrument are arranged on the fixing plate, a temperature-salinity-depth instrument is vertically arranged on the outer wall of the instrument cabin through a positioning block, a connecting piece is arranged at the bottom of the instrument cabin, a downward-type acoustic Doppler current profiler and a battery compartment are arranged on the connecting piece, and a deceleration wing is arranged under the floating platform; the lifting mechanism comprises a winch arranged above the cabin A seat, a winch body arranged on the winch seat, a cable and two corresponding guide rollers, and also includes a first seat plate arranged outside the moon pool cabin, a first pulley and a first pulley frame are arranged below the first seat plate, a guide rod rotatably connected to the first pulley frame is arranged on the first pulley frame, a guide wheel is arranged on the guide rod, a second seat plate is arranged on the inner wall of the moon pool cabin, a second pulley and a second pulley frame are arranged on the second seat plate, a conduit for allowing the cable to pass is arranged on the wall of the moon pool cabin, a hanging plate is arranged above the micro battery compartment, and a hanging hole is arranged on the hanging plate; It also includes a detection system for cooperating with the lifting mechanism to keep the integrated turbulence observation system in a free state during observation, the detection system includes a high-definition camera arranged directly above the inside of the moon pool cabin, an ultraviolet lighting lamp arranged on the inner wall of the moon pool cabin, a fluorescent coating coated on the cable, and a cable release control module, the cable release control module includes a cable release margin calculation module, a lifting mechanism control module and a cable release completion module; The cable release margin calculation module is used to analyze the image data collected by the high-definition camera in real time frame by frame and calculate the current release margin; Lifting mechanism control module: controls the motor speed according to the cable release margin to perform cable release operation; Cable releasing completion module: loop the cable release margin calculation module and the lifting mechanism control module until the cable releasing operation is completed; The working steps of the cable release control module are: S1: (1) Preprocess the image to remove noise; (2) According to the unique brightness characteristics of the cable in the image, the processed image is segmented, and then the brightness characteristics of each sub-region are compared, and the pixels that meet the brightness characteristics of the cable are marked. All sub-regions with pixels that meet the brightness characteristics of the cable are spliced ​​to obtain the position of the cable; (3) Find the starting position of the cable from the edge of the image, and then perform segmentation processing along the trajectory of the cable; (4) For each section of the cable, fit the circle with the highest matching degree and obtain the corresponding center of the circle; (5) Calculate the corresponding arc length as the length of the cable segment through the starting point and the center point of the circle; (6) Add the lengths of all cable segments to obtain the length of the cable in the current image; (7) Calculate the current release margin based on the preset maximum release length threshold of the cable and the cable length in the current image. Release margin = release length threshold - cable length in the current image. S2: Control the speed of the winch body according to the cable release margin to perform the cable release operation; S3: S1 and S2 are repeated in a loop until the cable-releasing operation is completed.

2. The dual-mode unmanned intelligent marine research vessel according to claim 1 is characterized in that: There is a wireless charging transmitting coil in a circular array on the floating platform, and a wireless charging receiving coil device in a circular array below the wireless charging transmitting coil. The wireless charging receiving coil device includes a first round seat, a waterproof glue potting layer is provided in the first round seat, a second round seat is provided above the waterproof glue potting layer, a pressure-resistant glue potting layer is provided in the second round seat, and a wireless charging receiving coil is provided above the pressure-resistant glue potting layer, and also includes an independent charging controller.

3. The dual-mode unmanned intelligent marine research vessel according to claim 2 is characterized in that: The intelligent navigation module also includes a path planning module composed of an obstacle judgment module and an obstacle avoidance decision module: receiving data information from the external environment perception module, and performing path planning, generating a track, and navigating according to the data information from the external environment perception module; Obstacle judgment module: Obstacle prediction is performed based on the data information of the external environment perception module. For obstacles with uncertain data information, the obstacle is first further expanded based on the predicted data of the obstacle position, thereby converting the uncertainty data of the obstacle position into specific data and judging whether the obstacle is a static obstacle or a dynamic obstacle; Obstacle avoidance decision module: For dynamic obstacles, the speed is changed without changing the original trajectory to avoid the obstacle; for static obstacles, the heading angle difference with the obstacle is determined, and then the maritime rules are determined. Then, the speed direction is changed according to the content of the maritime rules, thereby changing the path to avoid the obstacle. After changing the path to avoid the obstacle, it returns to the original path.

4. The dual-mode unmanned intelligent marine research vessel according to claim 3 is characterized in that: The intelligent navigation module also includes a path tracking module: through satellite navigation and inertial navigation, it monitors in real time whether the current driving state of the unmanned ship deviates from the planned route segment path. If deviation occurs, a signal is sent to the navigation control module to adjust the unmanned ship to the planned route segment path, otherwise the current driving state remains unchanged.

5. The dual-mode unmanned intelligent marine research vessel according to claim 4 is characterized in that: The intelligent navigation module also includes a return module: when the communication is interrupted, the intelligent navigation module generates a return track, and the navigation control module controls the return according to the return track.

6. The dual-mode unmanned intelligent marine research vessel according to claim 5 is characterized in that: A rear ballast tank extending rearwards for assisting the ship in self-righting is arranged on both sides of the engine room, and also includes two regulating water pumps for regulating the water volume in the rear ballast tank.

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