Multi-equipment collaborative ocean observation monitoring system based on deep-sea underwater bottom-supported platform

Abstract

The invention provides an ocean observation and monitoring system based on a deep-sea underwater bottom-supported platform, and belongs to the technical field of ocean observation and monitoring. Comprising a plurality of deep-sea platforms which are fixedly arranged at a certain depth below the water surface and used for generating power under the action of ocean current, locally storing electric energy and carrying out deep-sea monitoring in an adjacent range to obtain deep-sea environment information; the plurality of cross-medium aircrafts are used for receiving the deep sea environment information sent by the deep sea platforms, performing joint detection in underwater areas near the plurality of deep sea platforms, or performing joint detection in water surface low-altitude areas, and sending the obtained deep sea environment information or joint detection results outwards; the plurality of high-altitude airships are arranged at high-altitude positions of the sea area and are used for communicating with the plurality of cross-medium aircrafts and receiving deep sea environment information or joint detection results; and the near-earth satellite is used for communicating with the plurality of high-altitude airships, receiving the deep sea environment information or the joint detection result forwarded by the plurality of high-altitude airships, and realizing background synchronization and remote storage.

Description

Technical Field

[0001] The present invention relates to the field of ocean observation and monitoring technology, and in particular to a multi-equipment coordinated ocean observation and monitoring system based on a deep-sea underwater bottom-mounted platform. Background Art

[0002] my country has a marine territory of more than 3 million square kilometers. The development and protection of marine environment and resources are of great significance to the construction of a strong country, national rejuvenation, and the significant improvement of urban and rural living environment. The development and protection of underwater resources involves the detection of fish schools, marine ecological group detection, coral reef protection, shipwreck exploration and auxiliary salvage, and the search of seabed sediments; the monitoring of sea surface involves the monitoring of sea surface pollutants and the tracking of smuggling ships.

[0003] Conventional surface and underwater monitoring methods mainly use ships combined with towed unmanned submersibles or released drones, which can only search and track limited ranges underwater or on the surface. They are also limited by the bottleneck of battery life and cannot be away from the location of the deployed ship for a long time, resulting in very limited application scope and usage scenarios of the detection equipment.

[0004] Therefore, it is necessary to provide a multi-equipment collaborative ocean observation and monitoring system based on a deep-sea underwater bottom-mounted platform, combining an underwater deep-sea platform, a cross-medium aircraft and a high-altitude airship that can perform cross-medium flight on the surface and underwater respectively. The deep-sea platform can use underwater ocean currents to generate electricity and store energy, and communicate and charge adjacent cross-medium aircraft underwater, build underwater-surface-above-water-air-space communication links, realize the networking of ocean data and long-term unmanned operation, and improve the shortcomings of existing ocean observation equipment with single functions and inability to achieve stereoscopic observation. This is very necessary. Summary of the invention

[0005] In view of this, the present invention proposes a multi-equipment collaborative ocean observation and monitoring system based on a deep-sea underwater bottom-mounted platform, which can realize underwater-surface-above-water stereoscopic observation, does not require manual ship platform management, and networks equipment at various height levels, ultimately realizing cross-height and cross-medium three-dimensional ocean monitoring.

[0006] The present invention provides a multi-equipment coordinated ocean observation and monitoring system based on a deep-sea underwater bottom-mounted platform, comprising:

[0007] Several deep-sea platforms are fixed at a certain depth below the water surface, used to generate electricity and store electricity locally under the action of ocean currents, and to conduct deep-sea monitoring in the immediate area to obtain deep-sea environmental information;

[0008] Several cross-medium aircraft are used to receive deep-sea environmental information sent by deep-sea platforms, conduct joint detection in underwater areas near several deep-sea platforms, or conduct joint detection in low-altitude areas above the water surface, and send the obtained deep-sea environmental information or joint detection results to the outside;

[0009] Several high-altitude airships are deployed at high altitudes in the sea area to communicate with several cross-medium aircraft and receive deep-sea environment information or joint detection results;

[0010] The near-Earth satellite is used to communicate with several high-altitude airships, receive deep-sea environment information or joint detection results forwarded by several high-altitude airships, and realize background synchronization and remote storage.

[0011] On the basis of the above technical scheme, preferably, the several deep-sea platforms all include a platform layer, several columns, several ocean current energy generators, energy storage equipment and deep-sea monitoring equipment; the platform layer is located underwater and arranged parallel to the sea level, and several columns are arranged on the side of the platform layer close to the seabed, one end of the several columns is fixedly connected to the platform layer, and the other end of the several columns extends vertically downward and extends into the seabed; several ocean current energy generators are arranged one by one on the outside of the several columns; an energy storage device is arranged on the side of the platform layer close to the sea level; the output end of the ocean current energy generator is electrically connected to the energy storage device, and the energy storage device is also provided with several underwater charging connectors, and the several underwater charging connectors are used to charge several cross-media aircraft; a deep-sea monitoring device is also arranged on the side of the energy storage device close to the sea level, the deep-sea monitoring device is electrically connected to the energy storage device, and the deep-sea monitoring device is used to obtain deep-sea environmental information and communicate with several cross-media aircraft.

[0012] Preferably, the plurality of cross-medium aircrafts each comprise a body, a dual-purpose propeller, a pair of front winglets, a pair of main wings, a tail cabin, a tail wing and a pair of rear winglets; a dual-purpose propeller is provided at one end of the body, a pair of front winglets are symmetrically provided at the side of the body, a pair of main wings are provided at the top of the body, and the pair of front winglets and the pair of main wings are both hingedly connected to the body; a tail cabin is provided at the other end of the body, a tail wing is provided at the top of the tail cabin, a pair of rear winglets are symmetrically provided at the side of the tail cabin, and the tail wing and the pair of rear winglets are both hingedly connected to the tail cabin; the dual-purpose propeller is used to drive the body forward underwater or in the air, A pair of front winglets and a pair of rear winglets are used to change the pitch attitude of the main body underwater or in the air; a pair of main wings are used to unfold when flying in the air to increase lift, and to fold up when sailing underwater to reduce navigation resistance; airborne equipment and airborne communication units are also provided in the main body, and the airborne communication units are respectively communicated with the airborne equipment and the deep-sea monitoring equipment to receive the deep-sea environment information sent by the deep-sea monitoring equipment; several airborne equipment on the cross-medium aircraft are used for joint detection of underwater areas or joint detection of low-altitude areas on the water surface, and obtain joint detection results, and send the joint detection results to the airborne communication unit.

[0013] Further preferably, the airborne equipment on several cross-medium aircraft is used for joint detection of underwater areas, that is, the several cross-medium aircraft first obtain first position information of the area where the underwater target is located when sailing underwater; then the cross-medium aircraft floats up and completes the cross-medium, realizes low-altitude flight above the water surface, and sends out the deep-sea environment information and the first position information; after traveling to the direction where the underwater target is located, the several cross-medium aircraft re-cross the medium and enter the water, update the second position information of the area where the underwater target is located, so that the underwater target is located within the virtual range formed by the several cross-medium aircraft, and send the second position information outward; the first position information and the second position information together constitute the joint detection result of the underwater area.

[0014] More preferably, the first position information is obtained by performing underwater sonar detection through airborne equipment to obtain the current position of the underwater target, and a plurality of cross-medium aircraft are arranged in a first virtual regular hexagon, each cross-medium aircraft is located at a vertex position of the first virtual regular hexagon, and the spacing between adjacent vertices does not exceed half of the underwater sonar detection radius; according to the number of identification signals of the same underwater target returned by the plurality of cross-medium aircraft within the detection range, the position of the underwater target relative to the center of the first virtual regular hexagon is determined, which is the first position information;

[0015] After obtaining the first position information, a number of cross-medium aircraft maneuvers according to the orientation of the underwater target; a number of cross-medium aircraft float up and complete the cross-medium, extend a pair of main wings, and realize low-altitude flight. During the flight, the layout of the first virtual regular hexagon is still maintained. A number of cross-medium aircraft send deep-sea detection information and the first position information to a number of high-altitude airships; when flying to the area directly above the underwater target, when the underwater target is within the projection range of the first virtual regular hexagon, five cross-medium aircraft enter the water in turn and maintain the five vertex positions of the first virtual regular hexagon, and only one cross-medium aircraft is retained, and the cross-medium aircraft that has entered the water is replaced by the other cross-medium aircraft. The entry position of the high-altitude aircraft is recorded, and the spacing between the several cross-medium aircraft that re-enter the water is scaled proportionally to obtain a second virtual regular hexagon. The entry positions of the five cross-medium aircraft, the proposed entry position of the cross-medium aircraft currently flying at a low altitude, and the side length of the second virtual regular hexagon are used as the second position information. After the cross-medium aircraft currently flying at a low altitude sends it to the several high-altitude airships, the cross-medium aircraft currently flying at a low altitude enters the water and reaches the vertex of the second virtual regular hexagon. The side length of the second virtual regular hexagon does not exceed the side length of the first virtual regular hexagon, and the underwater target is also located inside the second virtual regular hexagon.

[0016] Further preferably, the airborne equipment on several cross-medium aircraft is used for joint detection of low-altitude areas over water, which is to group the several cross-medium aircraft into an array, and the several cross-medium aircraft turn on the airborne equipment on their bodies to take images of the water surface directly below, and any one of the cross-medium aircraft obtains all the water surface images in the array, stitches the water surface images to obtain a stitched image, identifies water surface targets in the stitched image, and uses the stitched image and water surface targets as the results of joint detection of low-altitude areas over water, and the cross-medium aircraft sends the results of joint detection of low-altitude areas over water to several high-altitude airships.

[0017] More preferably, identifying the water surface target in the stitched image specifically includes the following steps:

[0018] Pre-acquire images containing surface targets, including images of the same surface target under different lighting conditions and viewing angles;

[0019] Use a labeling tool to label the water surface targets in the image containing the water surface targets to generate labeling samples for training;

[0020] Convert the labeled samples into grayscale images and perform denoising to obtain a sample set;

[0021] Use the YOLO model architecture to divide the sample set into a training set and a validation set for model training, and use the validation set to evaluate the accuracy of the trained model.

[0022] The trained YOLO model is built into the airborne equipment of several cross-medium aircraft to perform real-time recognition of surface targets.

[0023] Still further preferably, the deep-sea detection information, the first position signal, the second position signal and the position of the surface target are all coordinates in a world coordinate system.

[0024] Preferably, several high-altitude airships adopt a virtual rectangular layout above the water surface, and the several high-altitude airships are respectively located at the vertices and the center of the virtual rectangle, and the model receiving ranges of adjacent high-altitude airships partially overlap; after the high-altitude airship receives the deep-sea environment information or the joint detection results, the layout of the several high-altitude airships is changed to extend the signal transmission time with the near-Earth satellite.

[0025] Further preferably, after receiving the deep-sea environment information or the joint detection result, the high-altitude airship changes the layout of several high-altitude airships to extend the signal transmission time with the near-Earth satellite, so that after any high-altitude airship receives the deep-sea environment information or the joint detection result, the received deep-sea environment information or the joint detection result is shared among the high-altitude airships in the virtual rectangular layout; according to the orbital inclination of the nearest near-Earth satellite and the satellite transit orbit, the position of each high-altitude airship is adjusted so that each high-altitude airship maneuvers to a curve that coincides with the orbital inclination of the near-Earth satellite, and at least one high-altitude airship communicates with the near-Earth satellite; after the satellite transits, the virtual rectangular layout of the high-altitude airship is restored; several deep-sea platforms, several cross-media aircraft, several high-altitude airships and near-Earth satellites together constitute an underwater-surface-above-water stereoscopic observation network, and construct a complete cross-media and cross-altitude signal transmission link.

[0026] The multi-equipment coordinated ocean observation and monitoring system based on a deep-sea underwater bottom-mounted platform provided by the present invention has the following beneficial effects compared with the prior art:

[0027] (1) The present invention does not need to rely on ship platforms to launch short-distance, recoverable underwater vehicles and low-altitude aircraft. Instead, it uses a deep-sea platform preset underwater to conduct environmental detection and charge and track cross-medium aircraft. The cross-medium aircraft has greater autonomy and can track and locate underwater targets or surface targets as needed, eliminating the frequent recovery and launch workload. The high-altitude airship realizes continuous monitoring and data forwarding of the corresponding sea area, and establishes a three-dimensional ocean monitoring system of deep sea-shallow sea-sea surface-low altitude-high altitude-near-earth orbit. Corresponding actuators and independent data transmission and reception links are set for areas at different altitudes, reducing the complexity of the system;

[0028] (2) The cross-medium aircraft obtains the rough first position information of the underwater target underwater, then crosses the medium and flies at a low altitude on the water surface to relocate the underwater target, narrow the search range, and update the precise second position information of the underwater target, thus realizing the function of double relocation;

[0029] (3) For targets on the water surface, the cross-medium aircraft flies at a constant speed in an array, synchronously acquires images of the designated area and stitches them together to expand the search range. Then, the pre-trained algorithm for identifying surface targets in the stitched images is used to quickly classify and identify the surface targets, thus realizing the function of surface target tracking.

[0030] (4) The high-altitude airship can adjust its layout according to the inclination of the route of the near-Earth satellite to achieve reliability in data transmission between it and the near-Earth satellite. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0032] Figure 1 It is a schematic diagram of the operation equipment at different heights of the multi-equipment coordinated ocean observation and monitoring system based on the deep-sea underwater bottom-mounted platform of the present invention;

[0033] Figure 2 It is a functional schematic diagram of the equipment at different heights of the multi-equipment coordinated ocean observation and monitoring system based on the deep-sea underwater bottom-mounted platform of the present invention;

[0034] Figure 3 A three-dimensional diagram of a deep-sea platform of the present invention of a multi-equipment coordinated ocean observation and monitoring system based on a deep-sea underwater bottom-mounted platform;

[0035] Figure 4 It is a schematic diagram of the layout of the cross-medium aircraft of the multi-equipment cooperative ocean observation and monitoring system based on the deep-sea underwater bottom-seated platform of the present invention for joint detection of underwater areas;

[0036] Figure 5 A schematic diagram of the corresponding areas of the signal sources of underwater targets corresponding to the layout of the cross-medium aircraft of the multi-equipment cooperative ocean observation and monitoring system based on the deep-sea underwater bottom-seated platform of the present invention;

[0037] Figure 6 It is a schematic diagram of the layout of the cross-medium aircraft of the multi-equipment cooperative ocean observation and monitoring system based on the deep-sea underwater bottom-seated platform of the present invention when conducting joint detection of low-altitude areas on the water surface;

[0038] Figure 7 It is a schematic diagram of the layout of the high-altitude airship of the multi-equipment coordinated ocean observation and monitoring system based on the deep-sea underwater bottom-mounted platform of the present invention;

[0039] Figure 8 It is a schematic diagram of the high-altitude airship of the multi-equipment cooperative ocean observation and monitoring system based on the deep-sea underwater bottom-mounted platform of the present invention maneuvering to a curve that coincides with the inclination of the near-Earth satellite orbit. DETAILED DESCRIPTION

[0040] The following will be combined with the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0041] In view of this, if Figure 1 Combination Figure 2 As shown, the present invention provides a multi-equipment coordinated ocean observation and monitoring system based on a deep-sea underwater bottom-mounted platform, comprising:

[0042] Several deep-sea platforms are fixedly installed at a certain depth below the water surface, used to generate electricity and store electricity locally under the action of ocean currents, conduct deep-sea monitoring in the vicinity, and obtain deep-sea environmental information; the deep-sea platforms can be installed at different underwater locations at intervals as needed.

[0043] Several cross-medium aircraft are used to receive deep-sea environmental information sent by deep-sea platforms, conduct joint detection in underwater areas near several deep-sea platforms, or conduct joint detection in low-altitude areas above the water surface, and send the obtained deep-sea environmental information or joint detection results to the outside; several cross-medium aircraft can be charged and supplemented with energy through deep-sea platforms to improve the disadvantage of limited cruising distance.

[0044] Several high-altitude airships are deployed at high altitudes in the sea area to communicate with several cross-media aircraft and receive deep-sea environmental information or joint detection results; the high-altitude airships are used to receive data collected by the cross-media aircraft and further forward it.

[0045] The near-Earth satellite is used to communicate with several high-altitude airships, receive deep-sea environment information or joint detection results forwarded by several high-altitude airships, and realize background synchronization and remote storage.

[0046] By combining the above equipment, a three-dimensional ocean monitoring system can be constructed covering different altitude areas such as deep sea, shallow sea, sea surface, low altitude, high altitude and low-Earth orbit.

[0047] like Figure 3As shown, several deep-sea platforms all include a platform layer, several columns, several ocean current energy generators, energy storage equipment and deep-sea monitoring equipment; the platform layer is located underwater and arranged parallel to the sea level, and several columns are arranged on the side of the platform layer close to the seabed, one end of the several columns is fixedly connected to the platform layer, and the other end of the several columns extends vertically downward and extends into the seabed; several ocean current energy generators are arranged one by one on the outside of the several columns; an energy storage device is arranged on the side of the platform layer close to the sea level; the output end of the ocean current energy generator is electrically connected to the energy storage device, and the energy storage device is also provided with several underwater charging connectors, and the several underwater charging connectors are used to charge several cross-medium aircraft; a deep-sea monitoring device is also arranged on the side of the energy storage device close to the sea level, the deep-sea monitoring device is electrically connected to the energy storage device, and the deep-sea monitoring device is used to obtain deep-sea environmental information and communicate with several cross-medium aircraft.

[0048] The deep-sea platform mainly provides fixed-point deep-sea monitoring data, such as deep-sea hydrological data and fish data observation. At the same time, it takes advantage of the fixed platform and selects a suitable layout location. The ocean current power generation equipment it carries generates electricity under the action of the ocean current and stores it. The electricity generated by the ocean current power generation equipment is stored inside the deep-sea platform. When the cross-medium aircraft has less electricity, it can be charged underwater through the charging interface on the deep-sea platform, so that the energy of the cross-medium aircraft can be replenished in time, ensuring the integrity and reliability of the entire system link communication. Deep-sea environmental information specifically includes the corresponding depth underwater temperature, the corresponding depth current direction, the corresponding depth salinity, the corresponding depth seawater pH value, the corresponding depth seawater trace element content and the corresponding depth ocean sound signal. The corresponding depth ocean sound signal here can be the reflection signal of underwater fish, underwater salvage or adjacent cross-medium aircraft obtained by sonar.

[0049] like Figure 2As shown, several cross-medium aircraft all include a body, a dual-purpose propeller, a pair of front winglets, a pair of main wings, a tail cabin, a tail wing and a pair of rear winglets; a dual-purpose propeller is provided at one end of the body, a pair of front winglets are symmetrically provided on the side of the body, a pair of main wings are provided on the top of the body, and the pair of front winglets and the pair of main wings are both hinged to the body; a tail cabin is provided at the other end of the body, a tail wing is provided on the top of the tail cabin, a pair of rear winglets are symmetrically provided on the side of the tail cabin, and the tail wing and the pair of rear winglets are both hinged to the tail cabin; the dual-purpose propeller is used to drive the body forward underwater or in the air, and a A pair of front winglets and a pair of rear winglets are used to change the pitch attitude of the main body underwater or in the air; a pair of main wings are used to unfold when flying in the air to increase lift, and to fold up when sailing underwater to reduce navigation resistance; airborne equipment and airborne communication units are also provided in the main body, and the airborne communication units are respectively communicated with the airborne equipment and the deep-sea monitoring equipment to receive the deep-sea environment information sent by the deep-sea monitoring equipment; several airborne equipment on the cross-medium aircraft are used for joint detection of underwater areas or joint detection of low-altitude areas on the water surface, and obtain joint detection results, and send the joint detection results to the airborne communication unit.

[0050] Correspondingly, the airborne equipment on the cross-medium aircraft body can detect the underwater temperature at the corresponding depth, the direction of the ocean current at the corresponding depth, the salinity at the corresponding depth, the pH value of seawater at the corresponding depth, the content of trace elements in seawater at the corresponding depth, and the ocean sound signal at the corresponding depth when sailing underwater. The ocean sound signal here is similar to that of the deep-sea platform, which is the reflection signal of underwater fish, underwater salvage, or adjacent cross-medium aircraft obtained by the current cross-medium aircraft underwater through sonar; when flying at low altitude on the water surface, the airborne equipment can take pictures of the sea surface, obtain thermal imaging images of the sea surface, and measure the sea area meteorology including sea area wind direction measurement, air pressure, etc. The cross-medium aircraft has two different working states, namely, joint detection of underwater areas and joint detection of low-altitude areas on the surface. The two working modes are explained below.

[0051] 1. The airborne equipment on several cross-medium aircraft is used for joint detection of underwater areas. The several cross-medium aircraft first obtain the first position information of the area where the underwater target is located when sailing underwater; then the cross-medium aircraft floats up and completes the cross-medium, realizes low-altitude flight above the water surface, and sends out the deep-sea environment information and the first position information. After traveling to the direction where the underwater target is located, the several cross-medium aircraft re-cross the medium and enter the water, update the second position information of the area where the underwater target is located, so that the underwater target is located in the virtual range surrounded by the several cross-medium aircraft, and send the second position information outward; the first position information and the second position information together constitute the joint detection result of the underwater area.

[0052] The first position information is obtained by performing underwater sonar detection through airborne equipment to obtain the current position of the underwater target, and a plurality of cross-medium aircraft are arranged in a first virtual regular hexagon, each cross-medium aircraft is located at a vertex position of the first virtual regular hexagon, and the distance between adjacent vertices does not exceed half of the underwater sonar detection radius; according to the number of identification signals of the same underwater target returned by the plurality of cross-medium aircraft within the detection range, the position of the underwater target relative to the center of the first virtual regular hexagon is determined, which is the first position information;

[0053] After obtaining the first position information, a number of cross-medium aircraft maneuvers according to the orientation of the underwater target; a number of cross-medium aircraft float up and complete the cross-medium, extend a pair of main wings, and realize low-altitude flight. During the flight, the layout of the first virtual regular hexagon is still maintained. A number of cross-medium aircraft send deep-sea detection information and the first position information to a number of high-altitude airships; when flying to the area directly above the underwater target, when the underwater target is within the projection range of the first virtual regular hexagon, five cross-medium aircraft enter the water in turn and maintain the five vertex positions of the first virtual regular hexagon, and only one cross-medium aircraft is retained, and the cross-medium aircraft that has entered the water is replaced by the other cross-medium aircraft. The entry position of the high-altitude aircraft is recorded, and the spacing between the several cross-medium aircraft that re-enter the water is scaled proportionally to obtain a second virtual regular hexagon. The entry positions of the five cross-medium aircraft, the proposed entry position of the cross-medium aircraft currently flying at a low altitude, and the side length of the second virtual regular hexagon are used as the second position information. After the cross-medium aircraft currently flying at a low altitude sends it to the several high-altitude airships, the cross-medium aircraft currently flying at a low altitude enters the water and reaches the vertex of the second virtual regular hexagon. The side length of the second virtual regular hexagon does not exceed the side length of the first virtual regular hexagon, and the underwater target is also located inside the second virtual regular hexagon.

[0054] like Figure 4 and Figure 5 As shown, in one embodiment, six cross-medium aircraft form a formation and can be numbered in order of due north and due east directions; Figure 4 The numbering sequence of the formation is given in . It should be noted that the number of cross-media aircraft in the figure is not regarded as a limitation on the scheme, and the number of cross-media aircraft actually used can be increased or decreased as needed.

[0055] Since it is relatively easy to judge the depth information, the three-dimensional space is simplified into a plane space for two-dimensional positioning. First, the sonar azimuth information of multiple cross-medium aircraft is used. Since the relative azimuth output is based on a single cross-medium aircraft as the reference system, it is based on the relative heading angle azimuth output by a single cross-medium aircraft relative to the current cross-medium aircraft. Translated into mathematical thinking, it is to use a single cross-medium aircraft as the endpoint and draw a ray with the azimuth as the direction. Theoretically, if there is no measurement error, the ray should converge at one point. Due to the grouping setting, there will be recognition differences when detecting underwater targets such as fish schools. When the fish schools inside the six cross-medium aircraft are detected, the six aircraft will return recognition signals, but as the fish schools are offset from the center position of the virtual regular hexagon, the detection signal will decrease. There are 5 detection signals, 4 detection signals, 3 detection signals, 2 detection signals, 1 detection signal, etc. There are 6 types in total. The number of different signal sources corresponds to the area diagram as shown in the figure. Figure 5 As shown in (a), the shaded part in the figure represents the area where different numbers of detection signals may appear.

[0056] First, determine the number of signal sources. If there are 6 signal sources, it means that the fish school is located in the center of the first virtual regular hexagon, and the ideal detection rays will converge at one point. Figure 5 As shown in (b) in the figure, there are often errors in underwater measurements. The actual situation may be as follows Figure 5 In case (c) of the figure, it may be difficult to converge at one point. In this case, multiple rays will enclose a closed area. The size of the closed area is directly related to the accuracy of sonar detection. The smaller the angle deviation, the smaller the area of ​​the closed area, and the closer the surface is to a point. When there is a non-ideal state, the area of ​​the closed area enclosed by the largest ray is retained. When the sonar accuracy is high, the area of ​​the area will not be too large. If the position of the signal source is not in the center area of ​​the first virtual regular hexagon, the target area of ​​the underwater target is located according to the number of signal sources and the orientation of the rays. Similarly, Figure 5 (c) in the figure determines the area enclosed by the rays of the underwater target and memorizes the depth information of the underwater target.

[0057] After finding the approximate range of the school of fish, the cross-medium aircraft maneuvers according to the direction. First, the cross-medium aircraft floats upward to complete the cross-medium, and transmits the first position information of the school of fish to the high-altitude airship at low altitude. The signal receiving end on the high-altitude airship receives the first position signal. At the same time, according to the collected underwater target direction, the grouped cross-medium aircraft performs rapid maneuvers at low altitude. Compared with underwater maneuvers, the cross-medium aircraft has an absolute speed advantage at low altitude on the water surface, and the formation remains the same during flight. Figure 4 or Figure 5The formation shown in the figure, when traveling at low altitude to the area where the fish school is located, completes the cross-medium task again. The cross-medium method at this time is as follows: First, when reaching the area directly above or in front of the underwater target with a small locking range, cross-medium aircraft No. 5 and No. 6 complete the cross-medium operation first. When flying to the middle of the locking area, cross-medium aircraft No. 3 and No. 4 perform cross-medium movement. Finally, after flying over the edge of the detection area, cross-medium aircraft No. 1 and No. 2 complete the cross-medium movement. After completing the cross-medium task, the six cross-medium aircraft complete the dive according to the depth in the first position information detected and recorded before. After reaching the recorded depth, continue to detect. Considering that the fish school is moving synchronously, cross-medium aircraft No. 1 and No. 2 will continue to move after reaching the projection position of the second virtual regular hexagon. Aircraft No. 5 and No. 6 enter the water in advance, because after maneuvering to the vicinity of the corresponding position, it is necessary to appropriately expand the search and detection range to avoid the detection range being too small, resulting in the fish school having left the previous detection area; at this time, the searched fish school should be located in the second virtual regular hexagon area surrounded by the six cross-medium aircraft. And following the maneuver, the No. 1 cross-medium aircraft completes the cross-medium movement, and before entering underwater, transmits the second position information to one or more high-altitude airships corresponding to the current sea area.

[0058] For other seabed observation needs, we also use the form of formation to select different detection equipment such as cameras and multi-beam sonar to conduct seabed detection in larger areas according to the water depth. It can mainly be used for coral reef protection, marine ecosystem monitoring, shipwreck exploration and auxiliary salvage, and search for seabed sediments. I will not go into details here.

[0059] 2. The airborne equipment on several cross-medium aircraft is used for joint detection of low-altitude areas on the water surface. The several cross-medium aircraft are arranged in an array. Several cross-medium aircraft turn on the airborne equipment on their bodies to take images of the water surface directly below. Any cross-medium aircraft obtains all the water surface images in the array, stitches the water surface images to obtain a stitched image, identifies the water surface targets in the stitched image, and uses the stitched image and the water surface targets as the joint detection results of the low-altitude areas on the water surface. The cross-medium aircraft sends the joint detection results of the low-altitude areas on the water surface to several high-altitude airships.

[0060] like Figure 6As shown in the figure, the array grouping method is based on the consideration of sea surface image splicing. The surface targets monitored by this scheme include oil spill accidents, tracking of smuggling ships, etc., which all need to obtain image signals and perform target recognition. Each cross-media aircraft is equipped with a camera, but due to the limited overhead viewing angle, it is impossible to cover a large area of ​​the sea surface in the monitoring area. Since the image output by the camera is similar to a rectangle, for the consideration of image splicing, the 6 aircraft are grouped into a square array of 2 rows × 3 columns, and the overhead viewing angle of the cross-media aircraft camera is considered during the specific grouping, so that there is overlap between the overhead viewing angles. At this time, the images taken by the cross-media aircraft of the group can be integrated into a large picture to expand the scope of reconnaissance, tracking, and monitoring, and at the same time, effective information coordination can be achieved. When a larger range is required, the original grouping is regarded as the initial formation, and multiple formations are further spliced ​​and cooperated to further expand the observation range. According to the requirements of the observation range, more cross-media aircraft formations can be connected and networked to meet the requirements of a larger surface target monitoring range.

[0061] The recording device of the cross-medium aircraft identifies the surface target in the spliced ​​image, which specifically includes the following steps:

[0062] Pre-acquire images containing surface targets, including images of the same surface target under different lighting conditions and viewing angles;

[0063] Use a labeling tool to label the water surface targets in the image containing the water surface targets to generate labeling samples for training;

[0064] Convert the labeled samples into grayscale images and perform denoising to obtain a sample set;

[0065] Use the YOLO model architecture to divide the sample set into a training set and a validation set for model training, and use the validation set to evaluate the accuracy of the trained model.

[0066] The trained YOLO model is built into the airborne equipment of several cross-medium aircraft to perform real-time recognition of surface targets.

[0067] It should be noted that the above-mentioned deep-sea detection information, the first position signal, the second position signal and the position of the surface target are all coordinates in the world coordinate system. This is an absolute position signal, which is a position signal obtained by coordinate transformation between the local coordinate system where the recording device of the cross-medium aircraft is located and the geocentric coordinate system.

[0068] Several high-altitude airships are arranged in a virtual rectangular layout above the water surface. Several high-altitude airships are located at the vertices and center of the virtual rectangle, and the model receiving ranges of adjacent high-altitude airships partially overlap. After receiving deep-sea environmental information or joint detection results, the high-altitude airships change their layout to extend the signal transmission time with near-earth satellites. Five high-altitude airships are designed for a large sea area and numbered. The rectangular layout is as follows: Figure 7 shown.

[0069] The layout of high-altitude airships needs to be set up in combination with the sea conditions. Considering that its main function is to connect the communication closed loop between cross-media aircraft and satellites, it is necessary to meet the communication needs with cross-media aircraft and satellites at the same time. In terms of communication with cross-media aircraft, as long as the corresponding sea area can achieve full coverage of the signal reception range. In terms of satellite communication, there are currently two communication methods. One is to complete information transmission by exchanging information with communication satellites, but communication satellites generally use geostationary orbits, which are located 35786km above the earth's equator. Satellites rotate around the earth from west to east at a speed of 3075 meters per second on this orbit. The distance between communication satellites and the earth is far, the time required for signal transmission is long, the delay is high, and the transmission efficiency is very low. Another communication mode is that high-altitude airships transmit information with near-earth satellites. The distance between near-earth satellites and the earth is much smaller than that of communication satellites. For example, in SpaceX's "Starlink Project", the distance between the "Starlink" satellite and the earth is 550km. The characteristic of a near-Earth satellite is that the angle between its orbit around the Earth and the Earth's equator is less than 90°. There is a window in the transit time of a near-Earth satellite, and different near-Earth satellites have different transit orbit angles. According to the satellite's transit angle, this scheme uses a rectangular airship layout. Regardless of the layout, the communication interconnection between the high-altitude airships must be guaranteed to be smooth. When information sharing can be achieved between high-altitude airships, the signal transmission time can be extended by flying the high-altitude airship in a small range.

[0070] like Figure 8 As shown, after receiving the deep-sea environment information or the joint detection result, the high-altitude airship changes the layout of several high-altitude airships to extend the signal transmission time with the near-Earth satellite. After any high-altitude airship receives the deep-sea environment information or the joint detection result, the received deep-sea environment information or the joint detection result is shared among the high-altitude airships in the virtual rectangular layout; according to the orbital inclination of the nearest near-Earth satellite and the satellite transit orbit, the position of each high-altitude airship is adjusted so that each high-altitude airship maneuvers to a curve that coincides with the orbital inclination of the near-Earth satellite, and at least one high-altitude airship communicates with the near-Earth satellite; after the satellite transits, the virtual rectangular layout of the high-altitude airship is restored.

[0071] Five high-altitude airships are deployed over the entire sea area, and each independent high-altitude airship receives complete data from cross-medium aircraft in its respective area. After receiving the signal, the high-altitude airship completes information exchange transmission, allowing the five high-altitude airships to complete information sharing and encode the same transmission information as the information transmitted to the low-Earth satellite. At this time, according to the different orbital inclinations of the passing low-Earth satellites, different shape changes are made, mainly maneuvering to a position that coincides with the orbital inclination of the low-Earth satellite, continuously sending signals, and increasing the signal reception time of the low-Earth satellite. Figure 8 A maneuvering method for moving high-altitude airship No. 1 and high-altitude airship No. 5 is shown. In addition to the maneuvering method shown in the figure, there can be other maneuvering methods, and the result of the maneuvering is that the sum of the angles or distances between the fitted running trajectories of each high-altitude airship and the orbit of the near-Earth satellite is minimized.

[0072] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A multi-equipment coordinated ocean observation and monitoring system based on a deep-sea underwater bottom-mounted platform, characterized in that: include: Several deep-sea platforms are fixed at a certain depth below the water surface, used to generate electricity and store electricity locally under the action of ocean currents, and to conduct deep-sea monitoring in the immediate area to obtain deep-sea environmental information; Several cross-medium aircraft are used to receive deep-sea environmental information sent by deep-sea platforms, conduct joint detection in underwater areas near several deep-sea platforms, or conduct joint detection in low-altitude areas above the water surface, and send the obtained deep-sea environmental information or joint detection results to the outside; Several high-altitude airships are deployed at high altitudes in the sea area to communicate with several cross-medium aircraft and receive deep-sea environment information or joint detection results; The near-Earth satellite is used to communicate with several high-altitude airships, receive deep-sea environment information or joint detection results forwarded by several high-altitude airships, and realize background synchronization and remote storage.

2. The multi-equipment coordinated ocean observation and monitoring system based on a deep-sea underwater bottom-mounted platform according to claim 1 is characterized in that: The several deep-sea platforms all include a platform layer, several columns, several ocean current energy generators, energy storage equipment and deep-sea monitoring equipment; the platform layer is located underwater and arranged parallel to the sea level, and several columns are arranged on the side of the platform layer close to the seabed, one end of the several columns is fixedly connected to the platform layer, and the other end of the several columns extends vertically downward and extends into the seabed; the several ocean current energy generators are arranged on the outside of the several columns in a one-to-one correspondence; the energy storage equipment is arranged on the side of the platform layer close to the sea level; the output end of the ocean current energy generator is electrically connected to the energy storage equipment, and the energy storage equipment is also provided with several underwater charging connectors, and the several underwater charging connectors are used to charge several cross-media aircraft; deep-sea monitoring equipment is also arranged on the side of the energy storage equipment close to the sea level, the deep-sea monitoring equipment is electrically connected to the energy storage equipment, and the deep-sea monitoring equipment is used to obtain deep-sea environmental information and communicate with several cross-media aircraft.

3. The multi-equipment coordinated ocean observation and monitoring system based on a deep-sea underwater bottom-mounted platform according to claim 2 is characterized in that: The plurality of cross-medium aircrafts all include a body, a dual-purpose propeller, a pair of front winglets, a pair of main wings, a tail cabin, a tail wing and a pair of rear winglets; a dual-purpose propeller is provided at one end of the body, a pair of front winglets are symmetrically provided at the side of the body, a pair of main wings are provided at the top of the body, and the pair of front winglets and the pair of main wings are both hingedly connected to the body; a tail cabin is provided at the other end of the body, a tail wing is provided at the top of the tail cabin, a pair of rear winglets are symmetrically provided at the side of the tail cabin, and the tail wing and the pair of rear winglets are both hingedly connected to the tail cabin; the dual-purpose propeller is used to drive the body forward underwater or in the air, and the pair of front winglets and the pair of rear winglets are used to change the pitch attitude of the body underwater or in the air; A pair of main wings are used to unfold when flying in the air to increase lift, and to fold up when sailing underwater to reduce navigation resistance; airborne equipment and airborne communication units are also provided in the body, and the airborne communication units are respectively connected to the airborne equipment and deep-sea monitoring equipment to receive deep-sea environment information sent by the deep-sea monitoring equipment; several airborne equipment on cross-medium aircraft are used for joint detection of underwater areas or joint detection of low-altitude areas on the water surface, and obtain joint detection results, and send the joint detection results to the airborne communication unit.

4. The multi-equipment coordinated ocean observation and monitoring system based on a deep-sea underwater bottom-mounted platform according to claim 3 is characterized in that: The airborne equipment on several cross-medium aircraft is used for joint detection of underwater areas. First, the several cross-medium aircraft obtain the first position information of the area where the underwater target is located when sailing underwater; then the cross-medium aircraft floats up and completes the cross-medium, realizes low-altitude flight above the water surface, and sends the deep-sea environment information and the first position information to the outside. After traveling to the direction where the underwater target is located, the several cross-medium aircraft re-cross the medium and enter the water, update the second position information of the area where the underwater target is located, so that the underwater target is located in the virtual range formed by the several cross-medium aircraft, and send the second position information to the outside; the first position information and the second position information together constitute the joint detection result of the underwater area.

5. The multi-equipment coordinated ocean observation and monitoring system based on a deep-sea underwater bottom-mounted platform according to claim 4 is characterized in that: The first position information is obtained by performing underwater sonar detection through airborne equipment to obtain the current position of the underwater target, and a plurality of cross-medium aircraft are arranged in a first virtual regular hexagon, each cross-medium aircraft is located at a vertex position of the first virtual regular hexagon, and the spacing between adjacent vertices does not exceed half of the underwater sonar detection radius; according to the number of identification signals of the same underwater target returned by the plurality of cross-medium aircraft within the detection range, the position of the underwater target relative to the center of the first virtual regular hexagon is determined, which is the first position information; After obtaining the first position information, a number of cross-medium aircraft maneuvers according to the orientation of the underwater target; a number of cross-medium aircraft float up and complete the cross-medium, extend a pair of main wings, and realize low-altitude flight. During the flight, the layout of the first virtual regular hexagon is still maintained. A number of cross-medium aircraft send deep-sea detection information and the first position information to a number of high-altitude airships; when flying to the area directly above the underwater target, when the underwater target is within the projection range of the first virtual regular hexagon, five cross-medium aircraft enter the water in turn and maintain the five vertex positions of the first virtual regular hexagon, and only one cross-medium aircraft is retained, and the cross-medium aircraft that has entered the water is replaced by the other cross-medium aircraft. The entry position of the high-altitude aircraft is recorded, and the spacing between the several cross-medium aircraft that re-enter the water is scaled proportionally to obtain a second virtual regular hexagon. The entry positions of the five cross-medium aircraft, the proposed entry position of the cross-medium aircraft currently flying at a low altitude, and the side length of the second virtual regular hexagon are used as the second position information. After the cross-medium aircraft currently flying at a low altitude sends it to the several high-altitude airships, the cross-medium aircraft currently flying at a low altitude enters the water and reaches the vertex of the second virtual regular hexagon. The side length of the second virtual regular hexagon does not exceed the side length of the first virtual regular hexagon, and the underwater target is also located inside the second virtual regular hexagon.

6. The multi-equipment coordinated ocean observation and monitoring system based on a deep-sea underwater bottom-mounted platform according to claim 3 is characterized in that: The airborne equipment on several cross-medium aircraft is used for joint detection of low-altitude areas on the water surface. The several cross-medium aircraft are arranged in an array. Several cross-medium aircraft turn on the airborne equipment on their bodies to take images of the water surface directly below. Any cross-medium aircraft obtains all the water surface images in the array, stitches the water surface images to obtain a stitched image, identifies the water surface targets in the stitched image, and uses the stitched image and the water surface targets as the joint detection results of the low-altitude areas on the water surface. The cross-medium aircraft sends the joint detection results of the low-altitude areas on the water surface to several high-altitude airships.

7. The multi-equipment coordinated ocean observation and monitoring system based on a deep-sea underwater bottom-mounted platform according to claim 6 is characterized in that: Identifying the surface target in the stitched image includes the following steps: Pre-acquire images containing surface targets, including images of the same surface target under different lighting conditions and viewing angles; Use a labeling tool to label the water surface targets in the image containing the water surface targets to generate labeling samples for training; Convert the labeled samples into grayscale images and perform denoising to obtain a sample set; Use the YOLO model architecture to divide the sample set into a training set and a validation set for model training, and use the validation set to evaluate the accuracy of the trained model. The trained YOLO model is built into the airborne equipment of several cross-medium aircraft to perform real-time recognition of surface targets.

8. The multi-equipment coordinated ocean observation and monitoring system based on a deep-sea underwater bottom-mounted platform according to claim 7 is characterized in that: The deep-sea detection information, the first position signal, the second position signal and the position of the surface target are all coordinates in the world coordinate system.

9. The multi-equipment coordinated ocean observation and monitoring system based on a deep-sea underwater bottom-mounted platform according to claim 2 is characterized in that: Several high-altitude airships are arranged in a virtual rectangular layout high above the water surface, with the several high-altitude airships respectively located at the vertices and center of the virtual rectangle, and the model receiving ranges of adjacent high-altitude airships partially overlap; after the high-altitude airships receive deep-sea environmental information or joint detection results, the layout of the several high-altitude airships is changed to extend the signal transmission time with near-Earth satellites.

10. The multi-equipment coordinated ocean observation and monitoring system based on a deep-sea underwater bottom-mounted platform according to claim 9 is characterized in that: After receiving the deep-sea environment information or the joint detection result, the high-altitude airship changes the layout of several high-altitude airships and prolongs the signal transmission time with the near-Earth satellite. After any high-altitude airship receives the deep-sea environment information or the joint detection result, the received deep-sea environment information or the joint detection result is shared among the high-altitude airships in the virtual rectangular layout; according to the orbital inclination of the nearest near-Earth satellite and the satellite transit orbit, the position of each high-altitude airship is adjusted so that each high-altitude airship maneuvers to a curve that coincides with the orbital inclination of the near-Earth satellite, and at least one high-altitude airship communicates with the near-Earth satellite; after the satellite passes by, the virtual rectangular layout of the high-altitude airship is restored; several deep-sea platforms, several cross-medium aircraft, several high-altitude airships and near-Earth satellites together constitute an underwater-surface-above-water stereoscopic observation network, and construct a complete cross-medium and cross-altitude signal transmission link.

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