An environmental unmanned detection system for air-sea interface

Abstract

The application discloses a kind of sea-air interface environment unmanned detection systems, belong to marine environment monitoring technical field, including unmanned autonomous detection platform and environmental element observation detection subsystem, integration is carried out between the two through general interface;Unmanned autonomous detection platform includes surface boat, umbilical cable, hydrodynamic glider, vector propeller, energy supply subsystem and unmanned navigation control subsystem, surface boat is connected with hydrodynamic glider by umbilical cable, vector propeller is connected to the tail of hydrodynamic glider, and energy supply subsystem and unmanned navigation control subsystem are installed on surface boat;Environmental element observation detection subsystem includes laser wind measurement radar, miniature weather station, temperature-salinity chain and wave meter, laser wind measurement radar, miniature weather station and wave meter are installed on surface boat, and temperature-salinity chain is installed on the bottom of hydrodynamic glider.The application can be used for long-term observation of marine sea-air interface environment, and can provide technical and data support for atmospheric and oceanic observation and prediction.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of marine environment monitoring, in particular to an unmanned detection system for marine atmosphere interface environment. BACKGROUND

[0002] As the largest water area on earth, the marine atmosphere interface environment element information plays a crucial role in climate prediction and disaster weather system (such as typhoon) prediction. These information covers the three-dimensional space area from the sea surface to the upper air, including but not limited to air wind field, sea surface temperature, air humidity, atmospheric pressure, sea water temperature, salinity and wave, etc. These key meteorological and hydrological elements are not only valuable data for scientific research, but also directly related to the development of economy and society and national defense security. Therefore, accurately and efficiently obtaining these marine environment data has become an important goal of marine scientific research and technology development.

[0003] With the rapid development of economy and society, higher requirements for real-time, accuracy and comprehensiveness of marine environment information are put forward. Traditional marine detection methods are often limited by equipment, energy and manpower, etc., and it is difficult to meet the needs of modern marine observation and detection. Under this background, marine detection equipment is developing towards "autonomous", "real-time", "mobile" and "controlled" to adapt to more complex and changeable marine environment.

[0004] As a new type of marine hybrid unmanned autonomous sailing platform, unmanned autonomous detection platform emerges as the times require and shows great application potential. Unmanned autonomous detection platform has a series of advantages such as no range limit, autonomous cruising, real-time data transmission, good stealth, long-term silence, low cost, etc. These characteristics make it have unique advantages in the field of marine environment observation and detection. Especially in the task of sea battlefield support, unmanned autonomous detection platform can play an important role and provide timely and accurate marine environment information. At the same time, the platform can be widely used in marine hydrology and meteorology monitoring, water quality monitoring, marine geophysical detection, seabed topography detection and other fields, and provide strong support for marine scientific research and technology development.

[0005] However, although unmanned autonomous detection platform has attracted widespread attention and research and development investment in the relevant technical field, there is no mature application-level product. Therefore, carrying out related technology research and development of unmanned autonomous detection platform is of great significance to promote the progress of marine detection technology and improve the ability of marine environment observation and detection. SUMMARY

[0006] The unmanned detection system for the sea-air interface environment provided by the application is used for long-term observation of the sea-air interface environment, and can provide technical and data support for atmospheric and oceanic observation and prediction.

[0007] To achieve the above object, the application provides the following scheme.

[0008] The unmanned detection system for the sea-air interface environment provided by the application is used for long-term observation of the sea-air interface environment, and can provide technical and data support for atmospheric and oceanic observation and prediction.

[0009] In an embodiment, the surface boat comprises a boat body, a navigation control cabin unit, a deck unit and an instrument cabin unit, the boat body is provided with installation cabins, the navigation control cabin unit and the instrument cabin unit are arranged in different installation cabins, the deck unit is installed at the middle part of the top of the boat body, and the deck unit is used for installing antenna equipment.

[0010] In an embodiment, the installation cabin comprises a stern buoyancy cabin, a bow buoyancy cabin, a midship equipment cabin and a bow equipment cabin, the stern buoyancy cabin is used for filling foamed material or as a self-sinking water storage cabin, the bow buoyancy cabin is used for filling foamed material or as a self-sinking water storage cabin, the midship equipment cabin is used for filling foamed material in the bottom and both sides cavities, and the bow equipment cabin is used for filling foamed material in the bottom and both sides cavities.

[0011] In an embodiment, the umbilical cable comprises a flexible armored cable, a load bearing structure unit and a watertight connector spring cable, the flexible armored cable comprises a load bearing steel wire, a cable core unit and an outer protective layer, the first end and the second end of the load bearing steel wire are connected to the surface boat and the hydrofoil vehicle through different load bearing structure units respectively, the first end and the second end of the cable core unit are connected to the surface boat and the hydrofoil vehicle through different watertight connector spring cables respectively.

[0012] In an embodiment, the hydrofoil vehicle comprises a hydrofoil frame, a hydrofoil fin, an adaptive hydrofoil mechanism, a damping buffer device and an electronic compass, the hydrofoil fin is connected to the hydrofoil frame through the adaptive hydrofoil mechanism, the umbilical cable is connected to the hydrofoil frame through the damping buffer device, and the electronic compass is installed on the hydrofoil frame.

[0013] In an embodiment, the vector propeller comprises a waterproof steering engine and an electric propeller, the driving end of the waterproof steering engine is connected with a rudder, the rudder adopts a NACA airfoil structure, the rudder is designed in an integrated manner with the electric propeller, the driving end of the electric propeller is connected with a propeller, and the propeller adopts a folding structure.

[0014] In an embodiment, the energy supply subsystem comprises a lithium ion battery pack, a solar photovoltaic module and a power supply controller, the solar photovoltaic module is installed on the top of the boat body and located on the front side and the rear side of the deck unit, the solar photovoltaic module is electrically connected with the lithium ion battery pack, the lithium ion battery pack is located in the installation cabin, and the power supply controller is electrically connected with the lithium ion battery pack and the solar photovoltaic module respectively.

[0015] In an embodiment, the laser wind finding radar is installed in the bow equipment cabin and installed symmetrically along the longitudinal section of the surface boat, and the bow equipment cabin is provided with a prefabricated fixing structure for fixing the laser wind finding radar.

[0016] In an embodiment, the temperature-salinity chain comprises an underwater sensor link, an underwater demodulation terminal and an automatic winch, the underwater sensor link comprises a fiber bragg grating temperature sensor, a fiber bragg grating pressure sensor and a salinity sensor; the underwater demodulation terminal is used for providing spectral information acquisition and physical quantity real-time calculation for each sensor of the underwater sensor link; and the automatic winch comprises a winch and an underwater motor connected to the winch, and the winch is used for accommodating or releasing the underwater sensor link.

[0017] In an embodiment, the working modes comprise a normal light working mode, a continuous working mode in high sea state without light, a high sea state typhoon observation mode and an underwater observation mode.

[0018] In the normal operation mode with light, the environmental element observation detection subsystem is all opened, time-sharing detection is performed, the automatic obstacle avoidance function based on AIS is opened, and 24-hour monitoring is performed.

[0019] In the high sea state continuous operation mode without light, only the micro weather station is opened, other environmental element observation detection subsystems are closed, and the automatic obstacle avoidance function based on AIS is closed.

[0020] In the high sea state typhoon observation mode, the environmental element observation detection subsystem is all opened, time-sharing detection is performed, and the automatic obstacle avoidance function based on AIS is closed.

[0021] In the underwater observation mode, only the temperature-salinity chain is opened, other environmental element observation detection subsystems are closed, and the automatic obstacle avoidance function based on AIS is opened, and 24-hour monitoring is performed.

[0022] The present application has the following technical effects relative to the prior art:

[0023] The present application uses an unmanned autonomous detection platform as a carrier, integrates a laser wind detection radar, a micro weather station, a temperature-salinity chain, and a wave detector to form an environmental element observation subsystem, and constructs an unmanned detection system for marine sea-air interface environment observation. The system can be used for long-term observation of the marine sea-air interface environment, meets the needs of modern marine observation and detection, and provides technical and data support for atmospheric and marine observation and prediction, so as to promote the in-depth development of marine scientific research and technical development.

[0024] The other technical solutions of the present application can also achieve the following technical effects:

[0025] The present application uses a water surface boat on the water surface and a hydrodynamic glider under the water surface to form a double-body structure, forms a complete power system, and the water surface boat can be provided with a solar cell panel. The water surface boat moves up and down with the wave, drives the hydrodynamic glider to move up and down, and then generates a continuous forward thrust through the passive overturning of the wing plate to drive the water surface boat to sail. Therefore, the present application can use the kinetic energy generated by the wind and wave floating to drive, and continuously provide energy supply by relying on solar energy, thereby providing stable energy support for data acquisition, transmission, and platform motion control. Thus, the endurance and adaptability of the platform are improved, and long-term, stable, and autonomous marine environment observation and detection are achieved. BRIEF DESCRIPTION OF DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0027] Fig. 1 Figure 1 is a schematic diagram of a marine atmospheric interface environment unmanned detection system in an embodiment of the present application;

[0028] Fig. 2 Figure 2 is a schematic diagram of a marine atmospheric interface environment unmanned detection system from another angle in an embodiment of the present application;

[0029] Fig. 3 Figure 3 is a top view of a marine atmospheric interface environment unmanned detection system in an embodiment of the present application;

[0030] Fig. 4 Figure 4 is a composition diagram of a marine atmospheric interface environment unmanned detection system in an embodiment of the present application

[0031] 1, solar photovoltaic module; 2, water surface boat; 3, umbilical cable; 4, temperature-salinity chain; 5, hydrodynamic glider; 6, micro weather station; 7, Beidou communication terminal; 8, GPS positioning antenna; 9, electric propeller; 10, waterproof rudder; 11, electronic compass cabin; 12, ADS-B antenna; 13, AIS antenna; 14, LoRa antenna; 15, Tian Tong communication terminal; 16, backup Beidou positioning; 17, laser wind measurement radar; 18, navigation control cabin unit; 19, unmanned navigation mainboard; 20, LoRa communication equipment; 21, instrument cabin unit; 22, wave meter; 23, self-sinking system equipment; 24, storage battery; 25, attitude sensor; 26, solar controller; 27, atmospheric waveguide detector; 28, data acquisition board; 29, industrial computer; 30, ADCP equipment. DETAILED DESCRIPTION

[0032] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0033] The purpose of the present application is to provide a marine atmospheric interface environment unmanned detection system to solve the problems existing in the prior art, to take an unmanned autonomous detection platform as a carrier, to integrate a laser wind measurement radar, a micro weather station, a temperature-salinity chain and a wave meter and other observation equipment to form an environmental element observation subsystem, and to construct an unmanned detection system for marine atmospheric interface environment observation. The system can be used for long-term observation of marine atmospheric interface environment, and can provide technical and data support for atmospheric and oceanic observation and prediction.

[0034] Some terms mentioned in the present application are explained as follows:

[0035] ADS-B: Automatic Dependent Surveillance-Broadcast, a technology for air traffic surveillance.

[0036] AIS: Automatic Identification System, a system used by ships to automatically transmit information about their static, dynamic, voyage, safety, etc. It uses GPS and communication technology (such as VHF frequency) to achieve automatic identification and information exchange between ships. AIS system not only helps to ensure the safety of ship navigation, but also improves the ability of traffic flow management and information service.

[0037] LoRa: Long Range, a low-power wide-area network (LPWAN) wireless communication technology designed for long-range communication.

[0038] ADCP: Acoustic Doppler CurrentProfiler, an instrument that measures the flow velocity profile of water body using acoustic Doppler effect.

[0039] NACA airfoil: a series of airfoils developed by the National Advisory Committee for Aeronautics (NACA). The code usually consists of the four letters "NACA" and a series of numbers, which can be substituted into a specific equation to obtain the exact shape of the airfoil.

[0040] Single-point direct-reading CTD: Single-point direct-reading conductivity-temperature-depth system, a marine measuring instrument that can measure temperature, salinity and depth simultaneously.

[0041] SMA coaxial interface: a widely used semi-precision miniature RF (radio frequency) and microwave connector, especially suitable for RF connection in electronic systems with frequencies up to 18GHz or even higher frequencies.

[0042] In order to make the above-mentioned purposes, features and advantages of the present invention more obvious and easy to understand, the present invention will be further described in detail below with reference to the drawings and specific embodiments.

[0043] As Figs. 1-4As shown, the present application provides an unmanned detection system for marine atmosphere interface environment, which comprises an unmanned autonomous detection platform and an environmental element observation detection subsystem, and the unmanned autonomous detection platform and the environmental element observation detection subsystem are integrated through a general interface. The unmanned autonomous detection platform comprises a water surface boat 2, an umbilical cable 3, a hydrodynamic glider 5, a vector propeller, an energy supply subsystem and an unmanned navigation control subsystem. The water surface boat 2 is connected with the hydrodynamic glider 5 through the umbilical cable 3, the vector propeller is connected to the tail of the hydrodynamic glider 5, the hydrodynamic glider 5 can not use the vector propeller when the power source is sufficient, and the vector propeller can be used for independent or auxiliary driving when the power source of the hydrodynamic glider 5 is insufficient or other working conditions (such as acceleration) are required. The energy supply subsystem and the unmanned navigation control subsystem are installed on the water surface boat 2, which can minimize the erosion of the underwater environment and can receive and send signals on the water surface. The environmental element observation detection subsystem comprises a laser wind measuring radar 17, a micro weather station 6, a temperature and salinity chain 4 and a wave meter 22, the laser wind measuring radar 17, the micro weather station 6 and the wave meter 22 are installed on the water surface boat 2, and the temperature and salinity chain 4 is installed at the bottom of the hydrodynamic glider 5. Different components are installed on the water surface or underwater according to their functions and states, realize the corresponding functions, and ensure the safety and durability of use.

[0044] The present application takes the unmanned autonomous detection platform as a carrier, integrates the environmental element observation detection subsystem composed of observation equipment such as laser wind measuring radar 17, micro weather station 6, temperature and salinity chain 4 and wave meter 22, and constructs an unmanned detection system for marine atmosphere interface environment observation. The system can be used for long-term observation of marine atmosphere interface environment, realizes real-time acquisition of wind direction and speed from sea surface to two kilometers high, sea surface temperature, salinity, wave height, wave direction and other observation data, meets the needs of modern marine observation, and provides technical and data support for atmospheric and marine observation and prediction, so as to promote the in-depth development of marine scientific research and technical development.

[0045] In an embodiment, the water surface boat 2 comprises a boat body, a navigation cabin unit 18, a deck unit and an instrument cabin unit 21, the boat body is provided with installation cabins, and can also be provided with hoisting components for hoisting. The navigation cabin unit 18 and the instrument cabin unit 21 are arranged in different installation cabins, and when arranged, the navigation cabin unit 18 can be arranged close to the bow of the boat, and the instrument cabin unit 21 can be arranged close to the stern of the boat. The navigation cabin unit 18 comprises an unmanned navigation mainboard 19, a LoRa communication device 20, a storage battery 24, an attitude sensor 25, a solar controller 26 and the like; the instrument cabin unit 21 comprises an atmospheric waveguide detector 27, a data acquisition board 28, an industrial computer 29 and a wave detector 22 and the like. The deck unit is arranged at the middle of the top of the boat body. The deck unit is used for installing antenna devices, and the antenna devices comprise a Beidou communication terminal 7, a GPS positioning antenna 8, an ADS-B antenna 12, an AIS antenna 13, a LoRa antenna 14, a Tian Tong communication terminal 15 and a positioning backup Beidou 16 and the like. An ADCP device 30 can also be arranged, and the ADCP device 30 is fixedly arranged in the stern of the boat body.

[0046] In an embodiment, the boat body is made of glass fiber reinforced plastic, the total length is not less than 2.9 m, the type width is not less than 0.7 m, and the thickness of the outer plate and the bulkhead plate is designed to be 4 mm. The boat is provided with a keel, a rib, a deck beam and a center girder, and the bone material is reinforced with PVC material. Other specified cavities of the boat body are filled with professional ship foaming material to improve the platform reserve buoyancy. The deck unit is provided with corresponding screw hole positions in advance, which are used to fix the solar photovoltaic module 1 and other antenna devices.

[0047] In an embodiment, the installation cabin comprises a stern buoyancy cabin, a bow buoyancy cabin, a midship equipment cabin and a bow equipment cabin, the stern buoyancy cabin is used for filling foaming material or as a self-sinking water storage cabin, the bow buoyancy cabin is used for filling foaming material or as a self-sinking water storage cabin, and a self-sinking system device 23 can be arranged close to the bow buoyancy cabin, for example, arranged in the bow equipment cabin or the midship equipment cabin. The bottom and the two side cavities in the midship equipment cabin are filled with foaming material, and the bottom and the two side cavities in the bow equipment cabin are filled with foaming material.

[0048] In an embodiment, the umbilical cable 3 is used as a connecting structure connecting the surface boat 2 and the hydrodynamic glider 5, which not only bears the periodic load of the unmanned autonomous exploration platform, but also transmits the electric energy and data between the surface boat 2 and the hydrodynamic glider 5. The umbilical cable 3 includes a flexible armored cable, a load-bearing structure unit, and a water-tight connector spring cable. The flexible armored cable includes a load-bearing steel wire, a cable core unit, and an outer protective layer. The first end and the second end of the load-bearing steel wire are connected to the surface boat 2 and the hydrodynamic glider 5 through different load-bearing structure units, respectively. The first end and the second end of the cable core unit are connected to the surface boat 2 and the hydrodynamic glider 5 through different water-tight connector spring cables, respectively. The load-bearing steel wire mainly realizes the function of mechanical bearing and can transmit the force between the surface boat 2 and the hydrodynamic glider 5, while the cable core unit is used for electrical connection to realize the communication and power supply between the surface boat 2 and the hydrodynamic glider 5.

[0049] In an embodiment, the umbilical cable 3 is designed to have a length of about 7.4 m and a weight of not more than 6.7 kg, and a designed breaking tension of 20 kN.

[0050] In an embodiment, the hydrodynamic glider 5 includes a hydrodynamic frame, a hydrodynamic fin, an adaptive hydrodynamic mechanism, a damping and buffering device, and an electronic compass. The hydrodynamic fin is connected to the hydrodynamic frame through the adaptive hydrodynamic mechanism. The umbilical cable 3 is connected to the hydrodynamic frame through the damping and buffering device. The electronic compass cabin 11 is installed on the hydrodynamic frame. The hydrodynamic glider 5 is used as a main component for providing the navigation power of the unmanned autonomous exploration platform. The wave amplitude of the surface boat 2 is transmitted to the hydrodynamic glider 5 at a depth of 7-8 meters under water through the umbilical cable 3. The hydrodynamic glider 5 uses the rising and falling swing of the hydrodynamic fin in the water depth environment with small wave amplitude to obtain the forward thrust.

[0051] In an embodiment, the vector propeller includes a waterproof steering engine 10 and an electric propeller 9. The driving end of the waterproof steering engine 10 is connected with a rudder. The rudder adopts a NACA airfoil structure. The rudder is designed in an integrated manner with the electric propeller 9. The driving end of the electric propeller 9 is connected with a propeller. The propeller adopts a folding structure. The vector propeller can be used as an auxiliary power for improving the navigation speed of the unmanned autonomous exploration platform under certain conditions. The waterproof steering engine 10 and the electric propeller 9 are installed at the tail of the hydrodynamic glider 5 to realize the auxiliary propulsion driving and improve the steering efficiency.

[0052] In an embodiment, the unmanned navigation control subsystem is composed of a navigation control unit, a communication unit, a navigation unit, and a supporting bottom software. The unmanned navigation control subsystem connects the unmanned autonomous exploration platform and the shore station control platform, timely sends the collected data including the platform position, the navigation state, the data, and the sensor equipment to the shore station control platform, and issues each instruction of the shore station display control station to the unmanned autonomous exploration platform.

[0053] In an embodiment, the energy supply subsystem includes a lithium ion battery pack, a solar photovoltaic assembly 1 installed on the top of the hull and located on the front and rear sides of the deck unit, and a power supply controller, the solar photovoltaic assembly 1 is electrically connected to the lithium ion battery pack, the lithium ion battery pack is located in the installation cabin, and the power supply controller is electrically connected to the lithium ion battery pack and the solar photovoltaic assembly 1 respectively. According to the weather conditions and the power consumption of the equipment, the power supply controller is used to realize the power supply control of the solar photovoltaic assembly 1 and the lithium ion battery pack, and control the charging and external output functions of the lithium ion battery pack. The solar photovoltaic assembly 1 generates electricity by using solar energy and stores the electrical energy in the lithium ion battery pack through the power supply controller, and the lithium ion battery pack can be used to supply power to the platform and the load at night or on rainy days.

[0054] In an embodiment, the laser wind measurement radar 17 is installed in the bow equipment cabin and is installed symmetrically along the longitudinal section of the surface boat 2, and the bow equipment cabin is provided with a prefabricated fixing structure for fixing the laser wind measurement radar 17. The laser wind measurement radar 17 is composed of a laser, an optical transceiver antenna (telescope), a main control circuit, a balanced detector, a collection module, a power module and the like. The laser is the core component of the laser wind measurement radar 17 and is used to generate laser for detecting the atmosphere. The optical transceiver antenna (telescope) emits laser pulses into the atmosphere and receives the backscattered return signals, which are then used to calculate the wind speed and direction. The main control circuit is responsible for controlling the operation of the entire laser wind measurement radar 17, including the emission of the laser, the reception of the receiver, the processing and storage of data, etc. The balanced detector is a key component of the laser wind measurement radar 17 and is used to receive the backscattered return signals. The collection module is responsible for collecting and converting the signals received by the balanced detector for subsequent data processing and analysis. The power module provides stable and reliable power supply for each component of the laser wind measurement radar 17.

[0055] In an embodiment, the miniature weather station 6 adopts an ultrasonic wind measurement type miniature weather station 6 to ensure adaptability to complex sea conditions. It includes a rain sensor, an ultrasonic wind direction and speed sensor, a temperature sensor, a humidity sensor and a pressure sensor.

[0056] In an embodiment, the temperature-salinity chain 4 includes an underwater sensor link, an underwater demodulation terminal and an automatic winch, the underwater sensor link includes a fiber Bragg temperature sensor, a fiber Bragg pressure sensor and a salinity sensor. The underwater demodulation terminal is used to collect spectral information and calculate physical quantities in real time for each sensor of the underwater sensor link. The automatic winch includes a winch and an underwater motor connected to the winch, and the winch is used to store or release the underwater sensor link.

[0057] In an embodiment, the underwater sensor link adopts space division multiplexing and wave division multiplexing to integrate and protect 16 temperature sensors, 3 salinity sensors and 3 pressure sensors to obtain a temperature-salinity-depth chain. The underwater sensor link has the advantages of arbitrary sensor arrangement distance, softness, easy coiling storage, high reliability and small flow resistance. It can be released by an unmanned autonomous exploration platform at the destination to ensure continuous measurement of the target depth temperature-salinity-depth information.

[0058] The underwater demodulation terminal adopts a specially designed embedded scheme, has the advantages of low power consumption, small size, high precision, good long-term stability and real-time temperature compensation. After being water-tightly packaged, the underwater demodulation terminal is placed in an automatic winch and rotates with the winch to provide real-time demodulation for the underwater sensor link. The power consumption of the underwater demodulation terminal is less than 3W, and the refresh frequency is 1Hz.

[0059] The automatic winch is installed and fixed to the hydrodynamic glider 5 of the unmanned autonomous exploration platform through mechanical bolts. It contains a power part, a water-tight slip ring, a winch and a cable arrangement system, a state monitoring, a buoyancy and a low flow resistance module, and a control board. With the movement of the hydrodynamic glider 5 or the virtual anchor, it can start, stop, release, store, communicate and protect the underwater sensor link according to the instructions on the shore. The device has the characteristics of small size, small flow resistance and light weight. In particular, because of the distributed sensor design, the automatic winch can release underwater sensor links of any length to adapt to different sea areas in shallow sea and deep sea. In terms of use mode, it can be used in motion type drag test to obtain spatiotemporal continuous test of temperature-salinity-depth information, or it can be used in the way of following the virtual anchor of the system to release the underwater sensor link and realize the equivalent application of the buoy to obtain typical ocean phenomena such as solitary wave and internal wave. This method can completely avoid the problems of high energy consumption caused by traditional single-point direct-reading CTD or continuous up-and-down release and recovery, and provide real-time underwater information for the prediction of typhoon generation and path change.

[0060] In an embodiment, the wave meter 22 is composed of a collection board, components and a shell. It adopts advanced accelerometers and digital integration algorithms, has the characteristics of high precision, high reliability and good stability, and reserves correction parameters for result correction of different wave characteristics. The sensor measures the vertical acceleration of the carrier by sensing the sinking and floating movement of the carrier in water. The wave height and period of the water body are calculated through twice digital integration and filtering methods. The inclination and direction of the carrier are measured by a three-dimensional electronic compass, and combined with the wave data, the inclination direction of the carrier at the zero-crossing point is extracted as the wave direction of a single wave. Finally, the actual physical characteristic values are obtained by statistics, including maximum wave height and period, 1 / 10 wave height and period, 1 / 3 wave height and period, average wave height and period, main wave direction, wave number, 16 azimuth wave direction distribution probability, etc.

[0061] In an embodiment, the unmanned autonomous exploration platform is designed as follows in combination with the environmental element observation subsystem:

[0062] (1) Structural integration design

[0063] The bow of the watercraft 2 is designed with a laser wind measurement radar 17, and the bottom and both sides of the cavity are filled with foaming materials. The space inside the cabin is about 600 mm x 510 mm x 225 mm, with a volume of 68.5 L, and is recommended to bear a weight of 40 kg, for installing and fixing the laser wind measurement radar 17. The equipment cabin of the laser wind measurement radar 17 is designed to bear a weight of 40 kg, meeting the weight requirement for installing the laser wind measurement radar 17.

[0064] The middle part of the watercraft 2 is designed with an equipment cabin, and the bottom and both sides of the cavity are filled with foaming materials. The space inside the cabin is about 700 mm x 510 mm x 225 mm, with a volume of 80.0 L, and is recommended to bear a weight of 50 kg, for installing and fixing the atmospheric waveguide detector 27 and the wave meter 22. Since the atmospheric waveguide detector 27 is composed of an industrial computer 29, a receiving module, and an antenna, without a unified waterproof shell, considering the marine application environment of the platform, the industrial computer 29 and the receiving module of the atmospheric waveguide detector 27 need to be installed and fixed in a waterproof equipment cabin, and then the equipment cabin is installed and fixed in the middle cabin of the watercraft 2.

[0065] In order to save installation space and make full use of the space size of the equipment cabin of the watercraft 2, the atmospheric waveguide detector 27 and the wave meter 22 are installed and fixed together in a waterproof equipment cabin. Screw mounting hole positions are reserved in the waterproof equipment cabin, and the atmospheric waveguide detector 27 and the wave meter 22 are fixed in the waterproof equipment cabin through fixed metal processing parts and bolts. The flange of the waterproof equipment cabin is provided with a sealing groove, which is sealed by a silicone seal ring. The seal ring is coated with lubricating silicone grease, and the cover plate is fixed by bolts. The waterproof level of the waterproof equipment cabin reaches IP68 or above, meeting the marine environment application scenarios of the unmanned autonomous exploration platform.

[0066] (2) Interface integration design

[0067] The navigation control cabin of the unmanned autonomous exploration platform has 11 physical interfaces. In addition to the 10 interfaces used by the platform itself (3 two-core interfaces for the solar photovoltaic assembly 1, 1 six-core interface for the umbilical cable 3, 1 six-core interface for the Beidou III terminal device, 1 eight-core interface for the water detection sensor, electromagnetic valve, and water pump device, 1 six-core interface for the Tianhong communication terminal 15, 1 coaxial interface for the LoRa antenna 14, 1 switch interface, and 1 debugging interface), another eight-core interface is provided for power supply or data transmission interface for the task load of the equipment cabin.

[0068] The equipment cabin considers the marine use environment of the platform, and also selects a watertight connector for connection, and has a total of 10 physical interfaces, of which one eight-core interface is used for connecting the navigation control cabin for power supply and data transmission, three SMA coaxial interfaces are used for ADS-B antenna 12, AIS antenna 13 and GPS positioning antenna 8 of the atmospheric waveguide detector 27, one eight-core interface is used for the miniature weather station 6, one eight-core interface is used for the laser wind measurement radar 17, one six-core interface is used for the backup Beidou 16, and the remaining three interfaces are used as backups for reserved ADCP equipment 30 and other load devices or debugging.

[0069] The electronic compass cabin 11 adopts a watertight connector for power supply or data transmission, and has a total of 3 physical interfaces, of which one six-core interface is used for connecting the navigation control cabin unit 18, one eight-core interface is used for connecting the cabin of the waterproof steering engine 10, and the other one is a backup debugging interface.

[0070] The cabin of the waterproof steering engine 10 adopts a watertight connector for power supply or data transmission, and has a total of 3 physical interfaces, of which one six-core interface is used for connecting the electronic compass cabin 11, one eight-core interface is used for connecting the electric thruster 9, and one eight-core interface is used for connecting the temperature-salinity chain 4.

[0071] (3) Integrated design of power consumption and heat dissipation

[0072] According to the power consumption of the platform and the load equipment, a semi-automatic control method of the load equipment switch is proposed. The atmospheric waveguide detector 27 and the laser wind measurement radar 17 mainly rely on the reception of laser beams or AIS signals to realize sample collection. In severe weather conditions, thick clouds will interfere with the accuracy of collection. The unmanned navigation control subsystem judges the environment around the boat body through the carried weather data. Since the main parameters collected by the weather station are temperature, humidity, wind speed, wind direction and rainfall, the power supply control of the atmospheric waveguide detector 27 and the laser wind measurement radar 17 can be realized by judging the rainfall.

[0073] In an embodiment, the long-endurance unmanned detection system of the sea-air interface environment performs a continuous stereoscopic detection task of the marine meteorological and hydrological environment, selects a low-power consumption designed load detection device, and each load device is provided with a remote on-off control switch, which can be remotely turned off according to the task requirements, and the stability requirements of the unmanned surface vehicle platform in the typhoon and other severe high sea state environment are considered, a customized large-capacity storage battery group is arranged at the position of the center of gravity of the whole vehicle to ensure the endurance time, which provides an effective means for realizing long-time environment observation in the open sea. In order to ensure the adaptability of the wind / wave hybrid unmanned autonomous detection platform to typhoon and other severe sea conditions, the line type of the water surface boat 2 and the hydrodynamic glider 5 is optimized, the simulation calculation result is iteratively optimized and designed, the survival ability of the platform under 10m wave height and the detection ability under typhoon condition are ensured, and the vector propeller is customized according to the simulation result, so that the maneuverability of the wind / wave hybrid unmanned autonomous detection platform in different sea conditions is improved.

[0074] In order to ensure the overall performance of the platform, the following modes are designed according to the task requirements, i.e. normal working mode with light, continuous working mode without light in high sea state, typhoon observation mode in high sea state, underwater observation mode, etc.

[0075] In the normal working mode with light, the environmental element observation and detection subsystem (laser wind measuring radar 17, micro weather station 6, temperature and salinity chain 4 and wave meter 22) is all turned on, the automatic obstacle avoidance function based on AIS is turned on, and 24-hour duty is performed.

[0076] In the continuous working mode without light in high sea state, only the micro weather station 6 is turned on, and the other environmental element observation and detection subsystems (laser wind measuring radar 17, temperature and salinity chain 4 and wave meter 22) are turned off, and the automatic obstacle avoidance function based on AIS is turned off.

[0077] In the typhoon observation mode in high sea state, the environmental element observation and detection subsystem (laser wind measuring radar 17, micro weather station 6, temperature and salinity chain 4 and wave meter 22) is all turned on, the automatic obstacle avoidance function based on AIS is turned off, and 24-hour duty is performed.

[0078] In the underwater observation mode, only the temperature and salinity chain 4 is turned on, and the other environmental element observation and detection subsystems (laser wind measuring radar 17, micro weather station 6 and wave meter 22) are turned off, and the automatic obstacle avoidance function based on AIS is turned on, and 24-hour duty is performed.

[0079] In the present application, specific examples are applied to illustrate the principles and embodiments of the present application, and the above examples are only used to help understand the method and core idea of the present application; meanwhile, for those skilled in the art, according to the idea of the present application, the specific embodiments and application range can be changed. In summary, the content of the specification should not be understood as a limitation of the present application.

Claims

1. An unmanned detection system for an air-sea interface environment, characterized in that, The unmanned autonomous exploration platform and the environmental element observation subsystem are integrated through a general interface. The unmanned autonomous exploration platform comprises a water surface boat, an umbilical cable, a hydrodynamic glider, a vector propeller, an energy supply subsystem and an unmanned navigation control subsystem, the water surface boat is connected with the hydrodynamic glider through the umbilical cable, the vector propeller is connected to the tail of the hydrodynamic glider, and the energy supply subsystem and the unmanned navigation control subsystem are installed on the water surface boat. The environmental element observation subsystem comprises a laser wind measuring radar, a miniature weather station, a temperature-salinity chain and a wave meter, the laser wind measuring radar, the miniature weather station and the wave meter are installed on the water surface boat, and the temperature-salinity chain is installed on the bottom of the hydrodynamic glider. The water surface boat comprises a hull, a navigation control cabin unit, a deck unit and an instrument cabin unit, the hull is provided with installation cabins, the navigation control cabin unit and the instrument cabin unit are arranged in different installation cabins, and the deck unit is installed at the middle of the top of the hull and is used for installing antenna equipment. A self-sinking system device is arranged near the bow buoyancy cabin. The installation cabins comprise a stern buoyancy cabin, a bow buoyancy cabin, a midship equipment cabin and a bow equipment cabin, the stern buoyancy cabin is used for filling foamed material or as a self-sinking water storage cabin, the bow buoyancy cabin is used for filling foamed material or as a self-sinking water storage cabin, the midship equipment cabin is used for filling foamed material in the bottom and both sides cavities, and the bow equipment cabin is used for filling foamed material in the bottom and both sides cavities. The system comprises a normal light working mode, a no-light high sea state continuous working mode, a high sea state typhoon observation mode and an underwater observation mode. In the normal light working mode, all the environmental element observation subsystems are opened and detect at different times, an automatic obstacle avoidance function based on AIS is opened, and 24-hour duty is implemented. In the no-light high sea state continuous working mode, only the miniature weather station is opened, other environmental element observation subsystems are closed, and the automatic obstacle avoidance function based on AIS is closed. In the high sea state typhoon observation mode, all the environmental element observation subsystems are opened and detect at different times, and the automatic obstacle avoidance function based on AIS is closed. In the underwater observation mode, only the temperature-salinity chain is opened, other environmental element observation subsystems are closed, the automatic obstacle avoidance function based on AIS is opened, and 24-hour duty is implemented.

2. The air-sea interface environment unmanned detection system according to claim 1, characterized in that: The umbilical cable comprises a flexible armored cable, a bearing structure unit and a water-tight connector spring cable, the flexible armored cable comprises a bearing steel wire, a cable core unit and an outer protective layer, the first end and the second end of the bearing steel wire are connected to the water surface boat and the hydrodynamic glider through different bearing structure units, and the first end and the second end of the cable core unit are connected to the water surface boat and the hydrodynamic glider through different water-tight connector spring cables.

3. The air-sea interface environment unmanned detection system according to claim 1, characterized in that: The water-powered glider comprises a water-powered frame, a water-powered wing, an adaptive water-powered mechanism, a damping and buffering device and an electronic compass, the water-powered wing is connected to the water-powered frame through the adaptive water-powered mechanism, the umbilical cable is connected to the water-powered frame through the damping and buffering device, and the electronic compass is installed on the water-powered frame.

4. The air-sea interface environment unmanned detection system of claim 1, wherein: The vector propeller comprises a waterproof steering engine and an electric propeller, the driving end of the waterproof steering engine is connected with a rudder, the rudder adopts a NACA airfoil structure, the rudder is designed in an integrated manner with the electric propeller, the driving end of the electric propeller is connected with a propeller, and the propeller adopts a folding structure.

5. The air-sea interface environment unmanned detection system of claim 1, wherein: The energy supply subsystem comprises a lithium ion battery pack, a solar photovoltaic assembly and a power supply controller, the solar photovoltaic assembly is installed on the top of the boat body and located on the front side and the rear side of the deck unit, the solar photovoltaic assembly is electrically connected with the lithium ion battery pack, the lithium ion battery pack is located in the installation cabin, and the power supply controller is electrically connected with the lithium ion battery pack and the solar photovoltaic assembly respectively.

6. The air-sea interface environment unmanned detection system of claim 1, wherein: The laser wind measurement radar is installed in the bow equipment cabin and is installed symmetrically along the longitudinal section of the water surface boat, and the bow equipment cabin is provided with a prefabricated fixing structure for fixing the laser wind measurement radar.

7. The air-sea interface environment unmanned detection system of claim 1, wherein: The temperature-salinity chain comprises an underwater sensor chain, an underwater demodulation terminal and an automatic winch, the underwater sensor chain comprises a fiber bragg grating temperature sensor, a fiber bragg grating pressure sensor and a salinity sensor; the underwater demodulation terminal is used for collecting spectrum information and calculating physical quantity in real time for each sensor of the underwater sensor chain; and the automatic winch comprises a winch and an underwater motor connected to the winch, and the winch is used for accommodating or releasing the underwater sensor chain.

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