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

Abstract

The present invention proposes an ocean observation and monitoring system based on a deep-sea underwater bottom-mounted platform, which belongs to the technical field of ocean observation and monitoring; it includes several deep-sea platforms, which are fixedly arranged at a certain depth below the water surface, and are used to generate electricity and locally store electric energy under the action of ocean currents, and conduct deep-sea monitoring in the adjacent range to obtain deep-sea environmental information; several cross-media aircraft, which are used to receive deep-sea environmental information sent by the deep-sea platforms, conduct joint detection in underwater areas near the 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, which are deployed at high altitude positions in the sea area, and are used to communicate with the several cross-media aircraft and receive deep-sea environmental information or joint detection results; near-earth satellites, which are used to communicate with the several high-altitude airships and receive deep-sea environmental information or joint detection results forwarded by the several high-altitude airships, to achieve 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 boasts over 3 million square kilometers of marine territory. The development and protection of the marine environment and resources is crucial to national rejuvenation, as well as significantly improving the living environment in both urban and rural areas. The development and protection of underwater resources encompasses areas such as fish detection, marine ecosystem monitoring, coral reef protection, shipwreck exploration and salvage assistance, and seabed sediment exploration. Sea surface monitoring encompasses pollutant monitoring and tracking of smuggling vessels.

[0003] Conventional surface and underwater monitoring methods mainly use ships combined with towed unmanned underwater vehicles or released drones. They can only search and track limited areas underwater or on the surface. Moreover, due to the bottleneck of battery life, they cannot stay 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 the underwater deep-sea platform, the cross-media aircraft and the high-altitude airship that can perform cross-media 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 the adjacent cross-media aircraft underwater, build underwater-surface-above-water-air-space communication links, realize the grid connection of ocean data and long-term unmanned operation, and improve the shortcomings of existing ocean observation equipment with single functions and inability to achieve three-dimensional 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-media three-dimensional ocean monitoring.

[0006] The present invention provides a multi-equipment collaborative 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 influence 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 transmit the obtained deep-sea environmental information or joint detection results externally;

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

[0010] The low-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 solutions, 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 ends of the several columns extend vertically downward and extend into the seabed; the several ocean current energy generators are arranged one by one on the outside of the several columns; the energy storage equipment is provided 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 provided 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.

[0012] Preferably, the plurality of cross-medium aircraft each 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 hingedly connected 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 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 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 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 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 outward. 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 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 using airborne equipment to obtain the current position of the underwater target, and the plurality of cross-medium aircraft are arranged in a first virtual regular hexagon, with each cross-medium aircraft located at a vertex of the first virtual regular hexagon, and the spacing between adjacent vertices does not exceed half of the underwater sonar detection radius; the position of the underwater target relative to the center of the first virtual regular hexagon is determined based on the number of identification signals returned by the plurality of cross-medium aircraft within the detection range for the same underwater target, which is the first position information;

[0015] After obtaining the first position information, several cross-medium aircraft maneuver according to the orientation of the underwater target; several cross-medium aircraft float up and complete the cross-medium, extend a pair of main wings, and realize low-altitude flight, while still maintaining the layout of the first virtual regular hexagon during flight, and several cross-medium aircraft send deep-sea detection information and first position information to several high-altitude airships; when flying to the area directly above the underwater target, at this time, 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, leaving only one cross-medium aircraft, and replacing the cross-medium aircraft that has entered the water. The entry position of the high-altitude aircraft is recorded, and the spacing between the multiple 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 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 low altitude sends it to the multiple high-altitude airships, the cross-medium aircraft currently flying at 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 on the water surface, which is to arrange 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. Any cross-medium aircraft obtains all the images of the water surface in the array, stitches the images of the water surface 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.

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

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

[0019] Use annotation tools to annotate water surface targets in images containing water surface targets to generate annotated 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 onboard 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 several high-altitude airships are 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 airship receives 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 the near-Earth satellite.

[0025] It is further preferred that after receiving the deep-sea environment information or the joint detection results, 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 results, the received deep-sea environment information or the joint detection results will be 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, 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-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 platform provided by the present invention has the following beneficial effects compared to 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-media aircraft. Cross-media aircraft have greater autonomy and can track and locate underwater targets or surface targets as needed, eliminating the need for frequent recovery and launch workloads. High-altitude airships achieve continuous monitoring and data forwarding of corresponding sea areas, establishing a three-dimensional ocean monitoring system of deep sea-shallow sea-sea surface-low altitude-high altitude-low 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 flies across the medium at a low altitude on the water surface, relocates the underwater target, narrows the search range, and updates the precise second position information of the underwater target, thus achieving 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) High-altitude airships can adjust their layout according to the inclination of the route of the near-Earth satellite to achieve reliability in data transmission between them 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 following briefly introduces the drawings required for use in the embodiments or the description of the prior art. 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 any creative work.

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

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

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

[0035] Figure 4 This is a schematic diagram of the layout of a cross-medium aircraft for conducting joint underwater area detection in a multi-equipment collaborative ocean observation and monitoring system based on a deep-sea underwater platform according to the present invention;

[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 collaborative ocean observation and monitoring system based on the deep-sea underwater bottom-mounted platform of the present invention;

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

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

[0039] Figure 8 It is a schematic diagram of a high-altitude airship of the multi-equipment coordinated ocean observation and monitoring system based on a deep-sea underwater bottom-mounted platform according to the present invention maneuvering to a curve that coincides with the inclination of a low-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 embodiments described 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 making creative efforts are within the scope of protection of the present invention.

[0041] In view of this, if Figure 1 Combine Figure 2 As shown, the present invention provides a multi-equipment collaborative 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 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. The deep-sea platforms can be spaced apart at different underwater locations as needed.

[0043] Several cross-media 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-media 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 low-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 built 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 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 ends of the several columns extend vertically downward and extend 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; deep-sea monitoring equipment is also provided on the side of the energy storage device close to the sea level, the deep-sea monitoring equipment is electrically connected to the energy storage device, and the deep-sea monitoring equipment is used to obtain deep-sea environmental information and communicate with several cross-media aircraft.

[0048] The deep-sea platform primarily provides fixed-point deep-sea monitoring data, such as deep-sea hydrological data and fish data. Taking advantage of its fixed nature, it selects a suitable location for deployment, allowing its onboard ocean current generators to generate and store electricity under the influence of ocean currents. The electricity generated by the ocean current generators is stored within the deep-sea platform. When the trans-medium vehicle is running low on power, it can be charged underwater through the charging port on the deep-sea platform, allowing the trans-medium vehicle to be replenished in a timely manner and ensuring the integrity and reliability of the entire system's link communications. Deep-sea environmental information specifically includes underwater temperature at the corresponding depth, current direction at the corresponding depth, salinity at the corresponding depth, seawater pH at the corresponding depth, trace element content at the corresponding depth, and ocean sound signals at the corresponding depth. The ocean sound signals at the corresponding depth can be reflection signals from underwater fish schools, underwater salvage, or nearby trans-medium vehicles acquired through sonar.

[0049] like Figure 2As shown, several cross-medium aircraft 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; one end of the body is provided with a dual-purpose propeller, 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 hinged to the body; the other end of the body is provided with a tail cabin, the top of the tail cabin is provided with a tail wing, the side of the tail cabin is symmetrically provided with a pair of rear winglets, and the tail wing and the pair of rear winglets are 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 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.

[0050] Correspondingly, the onboard equipment on the cross-media aircraft body, when sailing underwater, can detect underwater temperature at a corresponding depth, current direction at a corresponding depth, salinity at a corresponding depth, pH value of seawater at a corresponding depth, trace element content of seawater at a corresponding depth, and ocean sound signals at a corresponding depth. The ocean sound signals here, similar to those of deep-sea platforms, are the reflected signals of underwater fish schools, underwater salvage, or neighboring cross-media aircraft acquired by the current cross-media aircraft underwater through sonar. When flying at low altitude over the water, the onboard equipment can capture images of the sea surface, acquire thermal images of the sea surface, and perform sea meteorological measurements, including wind direction and air pressure measurements. The cross-media aircraft has two different operating states, namely, joint detection of underwater areas and joint detection of low-altitude areas over the water. The two operating 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 first position information of the area where the underwater target is located while sailing underwater. Then the cross-medium aircraft surfaces and completes the cross-medium, achieving low-altitude flight above the water surface, and sends out 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 re-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 enclosed by the several cross-medium aircraft, and send out the second position information. 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 using airborne equipment to obtain the current position of the underwater target. The multiple cross-medium aircraft are arranged in a first virtual regular hexagon, with each cross-medium aircraft located at a vertex of the first virtual regular hexagon, and the spacing between adjacent vertices does not exceed half the underwater sonar detection radius. The position of the underwater target relative to the center of the first virtual regular hexagon is determined based on the number of identification signals returned by the multiple cross-medium aircraft within the detection range for the same underwater target, which is the first position information.

[0053] After obtaining the first position information, several cross-medium aircraft maneuver according to the orientation of the underwater target; several cross-medium aircraft float up and complete the cross-medium, extend a pair of main wings, and realize low-altitude flight, while still maintaining the layout of the first virtual regular hexagon during flight, and several cross-medium aircraft send deep-sea detection information and first position information to several high-altitude airships; when flying to the area directly above the underwater target, at this time, 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, leaving only one cross-medium aircraft, and replacing the cross-medium aircraft that has entered the water. The entry position of the high-altitude aircraft is recorded, and the spacing between the multiple 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 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 low altitude sends it to the multiple high-altitude airships, the cross-medium aircraft currently flying at 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 sequentially in 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 considered to be a limitation of 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-media aircraft is used. Since the relative azimuth outputted is based on a single cross-media aircraft as the reference system, it is based on the relative heading angle azimuth outputted by a single cross-media aircraft relative to the current cross-media aircraft. Translated into mathematical thinking, it is to use a single cross-media 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 school inside the six cross-media aircraft is detected, the six aircraft will return an identification signal. However, as the fish school deviates 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., a total of 6 types. The number of different signal sources corresponds to the area diagram as shown in the figure. Figure 5 As shown in (a), the shaded areas in the figure represent areas 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), 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 fish school, the cross-medium aircraft maneuvers according to the direction. First, the cross-medium aircraft makes an upward movement to complete the cross-medium, and transmits the first position information of the fish school to the high-altitude airship at low altitude. The signal receiving terminal 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, while flying at low altitude to the area where the fish school is located, completes another cross-medium mission. This cross-medium process is as follows: First, upon reaching the area directly above or in front of the area where the underwater target has been locked within a narrow range, cross-medium aircraft Nos. 5 and 6 complete the cross-medium operation first. When they reach the center of the locked area, cross-medium aircraft Nos. 3 and 4 perform the cross-medium maneuver. Finally, after passing the edge of the detection area, cross-medium aircraft Nos. 1 and 2 complete the cross-medium maneuver. After completing the cross-medium mission, the six cross-medium aircraft descend to the depth recorded in the first position information detected and recorded. After reaching the recorded depth, they continue detection. Considering the synchronized movement of the fish school, cross-medium aircraft Nos. 1 and 2 continue their movement after reaching the projection of the second virtual regular hexagon. Aircraft Nos. 5 and 6 enter the water early. After maneuvering to the vicinity of the corresponding position, they need to appropriately expand their search and detection range to avoid the fish school escaping the previously detected area due to the narrow detection range. At this point, the detected fish school should be within the second virtual regular hexagon enclosed by the six cross-medium aircraft. Following the maneuver, the No. 1 cross-medium aircraft completes the cross-medium movement and transmits the second position information to one or more high-altitude airships corresponding to the current sea area before entering underwater.

[0058] For other seabed observation needs, we also use the form of formation to conduct seabed detection in larger areas according to the water depth by selecting different detection equipment such as cameras and multi-beam sonar. 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 into 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 images of all the water surfaces 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 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, this array formation method is designed for ocean surface image stitching. This scheme monitors surface targets such as oil spills and smuggling vessel tracking, all of which require image signal acquisition and target recognition. Each cross-media aircraft is equipped with a camera, but due to its limited overhead viewing angle, it cannot cover a large area of ​​the monitored sea surface. Since the camera outputs rectangular images, for image stitching purposes, the six aircraft are grouped into a 2-row × 3-column square array. The specific formation is considered to ensure overlap between the overhead viewing angles of the cross-media aircraft cameras. This allows the images captured by the cross-media aircraft in this formation to be integrated into a single, larger image, expanding the reconnaissance, tracking, and monitoring range while also enabling effective information collaboration. When a larger range is required, the original formation is treated as the initial formation, and multiple formations can be further stitched together to further expand the observation range. Depending on the required observation range, additional cross-media aircraft formations can be connected to the grid to meet the requirements for a larger surface target monitoring range.

[0061] The recording device of the cross-medium aircraft recognizes the surface target in the stitched image, specifically including the following steps:

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

[0063] Use annotation tools to annotate water surface targets in images containing water surface targets to generate annotated 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 onboard 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 exploration information, first position signal, second position signal, and the position of the surface target are all coordinates in the world coordinate system. This is an absolute position signal, obtained by transforming the local coordinate system of the recording device of the cross-medium aircraft 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. The 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 the near-Earth satellite. Five high-altitude airships are designed for a large sea area and numbered. The rectangular layout is as follows: Figure 7 shown.

[0069] The deployment of high-altitude airships must be tailored to the specific maritime conditions. Given their primary function as a closed-loop communication loop between inter-medium aircraft and satellites, they must meet both inter-medium aircraft and satellite communication requirements. For inter-medium aircraft communication, full signal reception over the corresponding maritime area is sufficient. Regarding satellite communication, there are currently two methods. One involves exchanging information with communications satellites. However, communications satellites typically use geostationary orbits, which are located 35,786 kilometers above the equator. In this orbit, satellites orbit the Earth from west to east at a speed of 3,075 meters per second. The distance between communications satellites and Earth is relatively long, resulting in long signal transmission times, high latency, and low transmission efficiency. Another communication method involves high-altitude airships transmitting information to low-Earth satellites, which are much closer to Earth than communications satellites. For example, in SpaceX's Starlink program, the Starlink satellites are 550 kilometers from Earth. A characteristic of low-Earth satellites is that their orbits are angled less than 90° from the Earth's equator. This creates a window of opportunity for these satellites to pass through Earth, and different satellites have varying orbital angles. Based on these transit angles, this proposal utilizes a rectangular airship layout. Regardless of the layout, communication between the high-altitude airships must be unimpeded. When information sharing is possible between high-altitude airships, the small movements of the high-altitude airships can extend signal transmission time.

[0070] like Figure 8 As shown, after receiving deep-sea environment information or joint detection results, 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 deep-sea environment information or joint detection results, the received deep-sea environment information or joint detection results are 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, 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 fully receives the cross-medium aircraft data in its respective area. After receiving the signal, the high-altitude airship completes the 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 transformations are performed, 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 No. 5 is shown. In addition to the maneuvering method shown in the figure, other maneuvers are possible, and the result of the maneuvering is to minimize the angle or the sum of the distances between the fitted orbits of the high-altitude airships and the orbits of the near-Earth satellites.

[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 scope of protection of the present invention.

Claims

1. A multi-equipment collaborative ocean observation and monitoring system based on a deep-sea underwater 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 influence 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 transmit the obtained deep-sea environmental information or joint detection results externally; The onboard equipment on several cross-medium aircraft is used for joint detection of underwater areas. 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 surfaces and completes the cross-medium, achieving low-altitude flight above the water surface, and sends out 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 re-enter the water, update the second position information of the area where the underwater target is located, so that the underwater target is within the virtual range enclosed by the several cross-medium aircraft, and send out the second position information; the first position information and the second position information together constitute the joint detection result of the underwater area; The first position information is obtained by performing underwater sonar detection using airborne equipment to obtain the current position of the underwater target. The multiple cross-medium aircraft are arranged in a first virtual regular hexagon, with each cross-medium aircraft located at a vertex of the first virtual regular hexagon, and the spacing between adjacent vertices does not exceed half of the underwater sonar detection radius. The position of the underwater target relative to the center of the first virtual regular hexagon is determined based on the number of identification signals returned by the multiple cross-medium aircraft within the detection range for the same underwater target, which is the first position information. After obtaining the first position information, several cross-medium aircraft maneuver according to the orientation of the underwater target; several cross-medium aircraft float up and complete the cross-medium, extend a pair of main wings, and realize low-altitude flight, while still maintaining the layout of the first virtual regular hexagon during flight, and several cross-medium aircraft send deep-sea detection information and first position information to several high-altitude airships; when flying to the area directly above the underwater target, at this time, 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, leaving only one cross-medium aircraft, and replacing the cross-medium aircraft that has entered the water. The entry position of the high-altitude aircraft is recorded, and the spacing between the multiple 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 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 low altitude sends the second position information to the multiple high-altitude airships, the cross-medium aircraft currently flying at 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. Several high-altitude airships are deployed at high altitudes in the sea area to communicate with several cross-medium aircraft to receive deep-sea environmental information or joint detection results; The low-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-supported 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 ends of the several columns extend vertically downward and extend 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 provided 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 provided 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 the several cross-media aircraft.

3. The multi-equipment coordinated ocean observation and monitoring system based on a deep-sea underwater platform according to claim 2 is characterized in that: The plurality of cross-medium aircraft each 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 hingedly connected 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 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; the airborne equipment on several cross-medium aircraft is 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-supported 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 into 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 images of the water surface in the array, stitches the images of the water surface 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.

5. The multi-equipment coordinated ocean observation and monitoring system based on a deep-sea underwater bottom-supported platform according to claim 4 is characterized in that: Identifying water surface targets in the stitched image includes the following steps: Pre-acquire images containing water surface targets, including images of the same water surface target under different lighting conditions and viewing angles; Use annotation tools to annotate water surface targets in images containing water surface targets to generate annotated 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 onboard equipment of several cross-medium aircraft to perform real-time recognition of surface targets.

6. The multi-equipment coordinated ocean observation and monitoring system based on a deep-sea underwater platform according to claim 5 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.

7. The multi-equipment coordinated ocean observation and monitoring system based on a deep-sea underwater bottom-supported 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. Several high-altitude airships are 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 the near-Earth satellite.

8. The multi-equipment coordinated ocean observation and monitoring system based on a deep-sea underwater platform according to claim 7 is characterized in that: After receiving deep-sea environmental information or joint detection results, 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 deep-sea environmental information or joint detection results, the received deep-sea environmental information or joint detection results will be 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 build a complete cross-medium and cross-altitude signal transmission link.

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